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Functional Description Manual

1. sseeseeseeeereeerreerresrreen Parameterizing the Oscilloscope Feature ccsceeeseeseteeeseeeeeneeeeees 8 5 Probe Input Feature 2 c2ielie edie a Ea Main Function of the Probe Analvais A Signal Edge Selection for the Probe Inputs nae Signal Selection for the Probe INputs sssssseesseeesinesrresrnesrrssrresrresrresnns Connecting the Probe Inputs 8 6 Axis Error Correchon in a a a Reversal error Gortechon Precision Axis Error Correchon Temperature Correchlon Control Axis Error Correction 0 c ccceccceeeeceeeeeeeeneeseeeeeseaeeesaeeeeeeeeeeeess 8 7 Positive Stop drive procedure e eee eececeeeeeteeeeeneeeeeeeaeeeseeaaeeeeeeaeeeeeeaeeeeseaas 9 Glossary 10 Index Supplement A Parameter Description Supplement B Diagnostic Message Description Directory of Customer Service Centers IMIDR ARIAL IV Contents DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Oe Goals al DIAX03 Drive With Servo Function 1 System Overview 1 1 Range of Uses DIAX03 is a family of digital intelligent drives DIAX03 offers solutions for applications in the following markets e Converting e Printing e Packaging e General Industrial Automation DIAX03 consists of e A standardized digital drive SERCOS interface e Operation with the complete line of INDRAMAT motors e Complete power range from 1kW to 100kW e User friendly software features e Adaptability to various applications by configuring the drive with
2. Fences should be strong enough to withstand maximum possible momentum Mount the Emergency Stop E Stop switch in the immediate reach of the operator Verify that the Emergency Stop works before start up Do not use if not working gt Isolate the drive power connection by means of an Emergency Stop circuit or use a safe lock out system to prevent unintentional start up Make sure that the drives are brought to standstill before accessing or entering the danger zone gt Disconnect electrical power to the equipment using a master lock out and secure against reconnection for maintenance and repair work cleaning of equipment long periods of discontinued equipment use Avoid operating high frequency remote control and radio equipment near equipment electronics and supply leads If use of such equipment cannot be avoided verify the system and the plant for possible malfunctions at all possible positions of normal use before the first start up If necessary perform a special Electromagnetic Compatibility EMC test on the plant 2 6 Safety Instructions for Electrical Drives DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EE an DIAX03 Drive With Servo Function 2 5 Protection against magnetic and electromagnetic fields during operations and mounting Magnetic and electromagnetic fields in the vicinity of current carrying conductors and permanent motor magnets represent a serious health hazard to person
3. Note Only the bits indicated here are supported by the software See also the functional description S 0 0182 Manufacturer class 3 diagnostics S 0 0182 Attributes ID number S 0 0182 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable AT Input min max S 0 0185 Length of Configurable Data Record in the AT Description In the operating data of this ID number the drive indicates the maximum length in bytes which it can process in the configurable data record of the AT See also the functional description Configuration of telegram contents S 0 0185 Attributes ID number S 0 0185 Editability no Function Parameter Memory fixed Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 56 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function S 0 0186 Length of the Configurable Data Record in the MDT Description In the operating data of this ID number the drive indicates the maximum length in bytes which it can process in the configurable data record of the MDT See also the functional description Configuration of telegram contents S 0 0186 Attributes ID number S 0 0
4. contains the maximum input value of the operating data 6 Maximum Input Value 7 Operating Data actual parameter value Fig 3 1 Data Block Structure DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 General Instructions for Installation 3 1 DIAX03 Drive With Servo Function Oe aL a Changing the operating data depends on the communication phase All configuration and control settings are stored Only the operating data can be changed all other elements can only be read The operating data can be write protected either continuously or temporarily Possible Error Messages When Reading and Writing the Operating Data 0x7004 Data not changeable The operating data is write protected 0x7005 Data currently write The operating data cannot be written to in protected this communication phase see Supplement A Writing to Parameters 0x7006 Data smaller than The operating data is smaller than its minimum value minimal input value 0x7007 Data larger than The operating data is larger than its maximum value maximum input value 0x7008 Data is not correct The value could not be accepted as written because internal tests lead to a negative result Fig 3 2 Error messages while reading writing operating data Non Volatile Parameter Storage Registers Various non volatile parameter storage registers that buffer operating data are contained in the drive The operating data apply to e setting the config
5. Bits 0 14 Exponent Bit 15 Sign 0 positive 1 negative a a a n Fig 2 29 S 0 0162 Scaling exponent for acceleration data See also the functional description Display format of the acceleration data S 0 0162 Attributes ID number S 0 0162 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_MV Extreme value check no Unit ez Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0169 Probe Control Parameter Description This parameter is used to specify whether one or both of the probe inputs probe 1 DDS X12 E4 and probe 2 DDS X12 E5 have been activated and which edge positive negative should trigger the probe data memory DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 53 DIAX03 Drive With Servo Function Parameter structure URI Ce EE PA Es Ea TE EC L Bit3 Activation of negative flank probe 2 L Bit 4 Bit 0 Activation of positive flank probe 1 0 positive flank is not analyzed 1 positive flank is analyzed Bit 1 Activation of negative flank probe 1 0 negative flank is not analyzed 1 negative flank is analyzed Bit 2 Activation of positive flank probe 2 0 positive flank is not analyzed 1 positive flank is analyzed 0 negative flank is not analyzed 1 negative flank is analyzed Position feedback value selection 0
6. DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 39 DIAX03 Drive With Servo Function Oe ale ay Remedy Check and set the relevant parameters correctly as follows e S 0 0160 Acceleration data scaling type e S 0 0161 Acceleration data scaling factor e S 0 0162 Acceleration data scaling exponent e 0 0116 Rotational encoder resolution 1 e 0 0121 Input revolutions of load gear e 0 0122 Output revolutions of load gear e S 0 0123 Feed constant e P 0 0074 Motor encoder interface e 0 0277 Position feedback 1 type parameter See also the functional description S 0 0128 C2 communications phase 4 transition check C215 Attributes SS Display C2 15 Diagnostic message number C215 C216 Torque Force Data Scaling Error Cause The display format of the torque force data can be set for the torque force data using scaling parameters The factor for converting torque data from drive controlled format to display format or vice versa is outside the workable area Remedy Check and set the relevant parameters correctly as follows e 0 0086 Torque force data scaling type e 0 0093 Torque force data scaling factor e 0 0094 Torque force data scaling exponent e S 0 0110 Amplifier peak current e 0 0111 Motor current at standstill See also the functional description S 0 0128 C2 communications phase 4 transition check C216 Attributes SS Display C2
7. LR EX EE ai DIAX03 Drive With Servo Function S 0 0104 Position Loop KV Factor Closed Loop Control Description This parameter contains the value for the proportional gain of the position controller When the drive is being started it is possible to load a default value for the parameter using the command Basic load as long as a motor is available with feedback memory P 0 4014 Motor type 1 or 5 See also the functional description Setting the position loop S 0 0104 Attributes ID number S 0 0104 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit 1000 min Combination check no Decimal places 2 Cyc transmittable no Input min max 0 65535 S 0 0106 Proportional Gain 1 Current Regulator Description This parameter represents the proportional gain of the current controller The current controller proportional gain is fixed for each of the motor drive combinations It is dependent on the type of the motor and should not be changed It can be determined using the Basic load command or from the motor data sheets See also the functional description Setting the current controller S 0 0106 Attributes ID number S 0 0106 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit V A Combination check no Decimal places
8. This parameter is used to enable a probe input Changing this signal from O gt 1 activates the trigger mechanism for evaluating the positive and or negative slope of the probe signal The probe 2 enable can be assigned to a real time control bit and thus be communicated to the drive in the master control word P4 no no no no no 72 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function Parameter structure CEET EE SSSI eee Bit 0 Probe 2 0 not released 1 released Fig 2 42 S 0 0406 Probe 2 enable See also the functional description Probe feature S 0 0406 Attributes ID number S 0 0406 Editability P4 Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0409 Probe 1 Positive Latched Description Bit 0 in this parameter will be set by the drive if e Command S 0 0170 Probe cycle is active e Bit 0 in S 0 0169 Probe control parameter is set e 0 0405 Probe 1 enable is present and e The positive edge of S 0 0401 Probe 1 is recognized The drive simultaneously stores the value of the selected signal in S 0 0130 Probe value 1 positive edge The drive erases the bit if the NC erases command S 0 0170 Probe cycle or if S 0 0405 Probe 1 enable has been set from 1 to
9. e The axis must be homed DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 15 DIAX03 Drive With Servo Function Oe aL a The monitoring window must be determined according to the application The following basic procedure is recommended for doing this e Run through a typical operating cycle While doing this set the planned acceleration and velocity data of the axis e Enter progressively smaller values in the parameter S 0 0391 External Encoder Monitoring Window until the drive gives the error message F236 Excessive Actual Feedback Value Difference Depending on the mechanical system start with 1 2 mm and decrease the window in 0 3 0 5 mm steps e The value at which the monitor is triggered should be multiplied with a tolerance factor of 2 3 and entered in parameter S 0 0391 External Encoder Monitoring Window When determining the monitoring window make sure that the actual feedback value monitor works dynamically This means that even dynamic deviations of both actual feedback values in acceleration and braking phases are registered This is why it is not enough to use statistical axis errors as the basis for the setting Deactivating the Actual Feedback Value Monitor It is possible to turn off the actual feedback value monitor in applications where the externally connected measurement system does not control the axis position but is used for other measurements To do this enter 0 in the parameter
10. 274819 engineering mannesmann Rexroth DIA X03 Drive With Servo Function Functional description SSE 01VRS DOK DIAX03 SSE 01VRS FKB1 EN P e Indramat DIAX03 Drive With Servo Function INDRAMAL Title DIAX03 Drive With Servo Function Type of Documentation Functional description Documentation Type DOK DIAX03 SSE 01VRS FKB1 EN P Internal Filing Notation e Mappe 51 01V EN Register 3 e 209 0072 4312 00 What is the purpose of The following documentation describes the functions of the firmware this documentation FWA DIAX03 SSE 01VRS This documentation serves trained maintenance personnel e as a working guide for installation of the digital AC servo drive via a SERCOS compatible control system e for parameterization of the drive controller e for data security of the drive parameter e for error diagnosis and error removal Course of modifications Document identification of Release Remarks previous and present output Date DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Copyright INDRAMAT GmbH 1996 Transmission as well as reproduction of this documentation commercial use or communication of its contents will not be permitted without expressed written permission Violation of these stipulations will require compensation All rights reserved for the issuance of the patent or registered design DIN 34 1 Publisher INDRAMAT GmbH e Bgm Dr Nebel Str 2 e D 97816 Lohr a Main Telephon
11. DIAX03 Drive With Servo Function 3 General Instructions for Installation 3 1 Explanation of Terms Parameter A parameter is identified with its ID numbers It is helpful to explain the terms used in this document so that they will be better understood Communication with the drive occurs with a few exceptions with the help of parameters They can be used for e Setting the configuration e Parameterizing the control drive settings e Accessing control drive functions and commands e Configuring the cyclic telegrams All of the drive s operating data are identified by ID numbers All the parameter ID numbers available in the drive are listed in parameter S 0 0017 IDN list of all operation data The Data Status Each parameter is provided with a data status which can also be read It serves the following purposes e Identifying the validity invalidity of the parameter e Contains the command acknowledgment if the parameter acts as a command see Commands on page 3 5 Data Block Structure Each parameter has 7 different data block elements that can be read or written by a SERCOS control system Data Block Structure Element No Designation Remarks ID Number Parameter identification Name can be changed in language selection Attribute contains data length type and decimal places Unit can be changed in language selection contains the minimum input value of the operating data Minimum Input Value
12. DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 123 DIAX03 Drive With Servo Function Oe aL a P 0 0538 Motor Function Parameter 1 Description Bit 0 1 Function S1 Operation active See also the functional description Motor function parameter 1 P 0 0538 Attributes ID number P 0 0538 Editability P2 Function Parameter Memory Program Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 1201 Ramp 1 Pitch Description Parameter P 0 1201 Ramp 1 pitch takes effect in Velocity control operating mode and during execution of error response Velocity command value zero switch with pitch and filter The acceleration and delay entered here are used to create a pitch starting from the last effective command value to the new command value In Velocity control operating mode the resulting velocity command value is derived from the sum of the value resulting from the pitch function in S 0 0036 Velocity command value and the direct value in S 0 0037 Additive velocity command value When error response Velocity command value zero switch with pitch and filter is executed velocity proceeds from the current feedback velocity to 0 using the effective velocity command value with the delay specified by the parameter in P 0 1201 Ramp pitch See also the functional descrip
13. Input revolutions of load gear 41 Interface feedback 1 94 Interface feedback 2 95 Interface status 9 J Jerk bipolar 67 K Kipp current border 121 L Language selection 61 Last valid position command value 79 Length of master data telegram 6 Length of the configurable data record in MDT 57 Length of the configurable data record in the AT 56 Linear position data scaling exponent 27 Linear position data scaling factor 27 List of configurable data in the AT 57 List of configurable data in the MDT 57 List of serpe data 1 81 List of serpe data 2 81 List of valid samples for oscilloscope function 108 Longest breaking time 105 M Magnetizing current 126 Manufacturer class 3 diagnostics 55 Manufacturer version 14 Mask Class 2 diagnostic 33 Mask class 3 diagnostic 34 Master control word 46 Maximum model deviation 98 Maximum motor speed nmax 39 MDT error count 14 MDT transmit starting time T2 30 Memory address 79 Minimum AT Transmit Starting Time Timin 3 Minimum feedback acquisition time T4min 4 Modulo value 36 Moments of inertia of the rotor 118 Monitoring window 51 Motor current at standstill 39 Motor function parameter 1 124 Motor peak current 38 Motor shutdown temperature 59 Motor temperatur 67 Motor type 47 127 Motor voltage maximum 123 Motor voltage no load 123 Motor warning temperature 59 MST error count 13 N NC Cycle time TNcyc 3 NC reaction in error situation 101 Nega
14. Telefon 040 853157 0 Telefax 040 853157 15 Sales area South Sales area South West INDRAMAT GmbH D 80339 M nchen RidlerstraBe 75 Telefon 089 540138 30 Telefax 089 540138 10 INDRAMAT GmbH D 71229 Leonberg B blinger Stra e 25 Telefon 07152 972 6 Telefax 07152 972 727 Customer service locations in Germany INDRAMAT Service Hotline INDRAMAT GmbH Telefon D 0172 660 040 6 oder Telefon D 0171 333 882 6 Europe Austria Austria Belgium Denmark G L Rexroth Ges m b H G L Rexroth Ges m b H Mannesmann Rexroth N V S A BEC AS Gesch ftsbereich INDRAMAT Gesch ftsbereich INDRAMAT Gesch ftsbereich INDRAMAT Zinkvej 6 H gelingasse 3 A 1140 Wien Telefon 43 1 985 25 40 400 Telefax 43 1 985 25 40 93 England Mannesmann Rexroth Ltd INDRAMAT Division Broadway Lane South Cerney Cirencester Glos GL7 5UH Telefon 44 1285 86 30 00 Telefax 44 1285 86 30 03 Randlstra e 14 A 4061 Pasching Telefon 43 7229 644 01 36 Telefax 43 7229 644 01 80 Finnland Rexroth Mecman OY Riihimiehentie 3 SF 01720 Vantaa Telefon 358 9 84 91 11 Telefax 358 9 84 63 87 Industrielaan 8 B 1740 Ternat Telefon 32 2 582 31 80 Telefax 32 2 582 43 10 France Rexroth Sigma S A Division INDRAMAT Parc des Barbanniers 4 Place du Village F 92632 Gennevilliers Cedex Telefon 33 1 41 47 54 30 Telefax 33 1 47 94 69 41 DK 8900 Randers Telefon 45 87 11 90 60
15. The power supply voltage was not present during operation for at least 3 power periods As a result the drive controller was brought to a standstill according to the set error response Remedy Check the power supply connection according to the project planning specifications F281 Attributes SS Display F2 81 Error number 281 Diagnostic message number F281 Error class Non fatal if bleeder is present otherwise fatal F282 Phase Fault The power supply voltage is checked each time the control voltage is switched on and each time the controller enable is switched off A phase error was found during this check Cause A power supply phase has failed or is outside of the permissible tolerance Remedy Check the power supply connection according to the project planning specifications of the drive controller being used F282 Attributes SS Display F2 82 Error number 282 Diagnostic message number F282 Error class Non fatal if bleeder is present otherwise fatal F283 Net Overvoltage Cause The power supply voltage is above the permissible value gt 460V 15 Remedy Make sure the power supply is connected properly according to the project planning specifications of the drive controller being used F283 Attributes SS Display F2 83 Error number 283 Diagnostic message number F283 Error class Non fatal if bleeder is present otherwise fatal DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement
16. Unit Combination check no Decimal places 1 Cyc transmittable no Input min max 0 100 0 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 103 DIAX03 Drive With Servo Function Oe ale ay P 0 0123 Absolute Encoder Buffer Description All the data that the absolute encoder needs for position initialization is stored in this parameter P 0 0123 Attributes ID number P 0 0123 Editability no Function Parameter Memory Param E2prom Data length 2 byte variable Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0124 Assignment IDN gt DEA Output Description This parameter is used to assign a parameter value to a DEA output If the data capacity of the assigned parameter is greater than that of the DEA port then the higher valued bits will be truncated Parameter structure Bits 0 15 ID number of the assigned parameter Bits 16 19 DEA selection 4 DEA4 1 5 DEA5 1 6 DEA6 1 a aaam Fig 3 24 P 0 0124 Assignment ID number gt DEA output The contents of the parameter are written to the DEA output Note If an ID number is assigned to DEA 4 1 then parameter P 0 0081 Parallel output 1 can no longer be used The same restriction applies to e Assignment DEA 5 1 lt gt P 0 0110 Parallel output 2 e Assignment DEA 6 1 lt gt P 0 0112 Parallel ou
17. 0 The parameter Probe 1 positive latched can be assigned to a real time status bit and thus be continuously communicated to the NC in the drive status word see S 0 0305 Allocation of real time status bit 1 Parameter structure Bit 0 Measurement 1 positive 0 not latched 1 latched Fig 2 43 S 0 0409 Probe 1 positive latched See also the functional description Probe feature S 0 0409 Attributes ID number S 0 0409 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 73 DIAX03 Drive With Servo Function Oe ale vay S 0 0410 Probe 1 Negative Latched Description Bit 0 in this parameter will be set by the drive if e Command S 0 0170 Probe cycle is active e Bit 1 in S 0 0169 Probe control parameter is set e 0 0405 Probe 1 enable is present and e The negative edge of S 0 0401 Probe 1 is recognized The drive simultaneously stores the value of the selected signal in S 0 0131 Probe value 1 negative edge The drive erases the bit if the NC erases command S 0 0170 Probe cycle or if S 0 0405 Probe 1 enable has been set from 1 to 0 The parameter probe 1 negative latched can be assigned to a real time status bit
18. 0 1 110 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function P 0 0201 Signal select probe 2 Description This parameter is used to select what measured quantity will be used for probe input 2 The following signals can be selected P 0 0201 Selected signal 0 Position feedback value 1 or 2 dependent on S 0 0169 Probe control parameter bit 4 1 Time measurement in us Fig 3 31 P 0 0201 Measurement quantity for the probe input 2 See also the functional description Probe feature P 0 0201 Attributes ID number P 0 0201 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 1 P 0 0202 Difference Probe Values 1 Description The difference between the positive probe value and the negative probe value of probe 1 is stored in this parameter The value is always recalculated when a new positive or negative probe value is latched See also the functional description Probe feature P 0 0202 Attributes ID number P 0 0202 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_OV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable AT Input min
19. 1 active Fig 2 13 S 0 0055 Position polarity parameter Note Only the bits indicated here are supported by the software If bit 0 is changed by the control system bits 1 3 will also be set to the value of bit 0 by the drive See also the functional description Command polarities and actual value polarities 24 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function S 0 0055 Attributes ID number S 0 0055 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 31 S 0 0057 Position Window Description The drive will set the bit in position in S 0 0013 Class 3 diagnostic when the difference between the position feedback value and the position end value is less than the value in the position window During command S 0 0148 C6 Drive controlled homing procedure this parameter reports the end of the command if the position feedback value enters into the homing point range S 0 0057 Position window See also the functional description S 0 0182 Manufacturer class 3 diagnostic S 0 0057 Attributes ID number S 0 0057 Editability P234 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0
20. 2 Cyc transmittable no Input min max 0 65535 S 0 0107 Current Controller 1 Integral Action Time Description The value of this parameter depends on the motor and can be found on the motor data sheet See also the functional description Setting the current controller S 0 0107 Attributes ID number S 0 0107 Editability P234 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit ms Combination check no Decimal places 1 Cyc transmittable no Input min max 0 65535 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 37 DIAX03 Drive With Servo Function Oe ae a S 0 0108 Feedrate Override Description The feedrate override is only available when drive controlled travel commands such as e Drive controlled homing procedure command e Drive controlled interpolation operating mode are functioning In such instances the drive calculates the velocity command value itself The feedrate override has a multiplicative effect on these velocity command values S 0 0108 Attributes ID number S 0 0108 Editability P4 Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit Combination check no Decimal places 2 Cyc transmittable no Input min max 0 65535 S 0 0109 Motor Peak Current Description If the peak current of the motor is l
21. Col Parque Industrial la loma Apartado Postal No 318 54060 Tlalnepantla Estado de Mexico Telefon 52 397 86 44 Telefax 52 398 98 88 Rexroth Co Ltd INDRAMAT Division I R Building Nakamachidai 4 26 44 Tsuzuki ku Yokohama 226 Japan Telefon 81 45 942 72 10 Telefax 81 45 942 03 41 USA USA USA USA Rexroth Corporation INDRAMAT Division 5150 Prairie Stone Parkway Hoffman Estates Illinois 60192 Telefon 1 847 645 36 00 Telefax 1 847 645 62 01 Rexroth Corporation INDRAMAT Division 2110 Austin Avenue Rochester Hills Michigan 48309 Telefon 1 810 853 82 90 Telefax 1 810 853 82 90 Customer service locations outside Europe Rexroth Corporation INDRAMAT Division Northeastern Sales Office 7 Columbia Blvd Peabody MA 019660 Telefon 1 508 531 25 74 Telefax 1 508 531 2574 Rexroth Corporation INDRAMAT Division Southeastern Sales Office 3625 Swiftwater Park Drive Suwanee GA 30174 Telefon 1 770 932 3200 Telefax 1 770 932 1903 II Directory of Customer Service Centers DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 e Indramat
22. External feedback interface See also the functional description S 0 0128 C2 communications phase 4 transition check C210 Attributes SS Display C2 10 Diagnostic message number C210 C211 Invalid feedback data gt S 0 0022 If you are using an MDD or MKD motor a data storage area is available in the motor feedback An attempt has been made to read parameters stored there An error occurred during this process Causes 1 Defective motor feedback cable 2 Defective motor feedback 3 Defective drive controller DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 37 DIAX03 Drive With Servo Function Oe aL a Remedy For 1 Check the motor feedback cable For 2 Exchange the motor For 3 Exchange the amplifier See also the functional description S 0 0128 C2 communications phase 4 transition check C211 Attributes SS Display C2 11 Diagnostic message number C211 C212 Invalid Amplifier Data gt S 0 0022 During drive initialization the operating software retrieves data from an EEPROM in the drive controller If this access was unsuccessful an error message will be generated Cause Defective hardware in the drive controller Remedy Exchange the drive controller See also the functional description S 0 0128 C2 communications phase 4 transition check C212 Attributes SS Display C2 12 Diagnostic message number C212 C213 Position Data Scaling Er
23. Motor shutdown temperature are set at 140 C and 150 C for MKD and MDD motors respectively Cause The motor became overloaded The effective torque required of the motor was above the permissible continuous standstill torque for too long Remedy Check the layout of the motor For systems which have been in use for a long time check to see if the drive controller conditions have changed in regards to pollution friction components which have been moved etc See also the functional description Temperature monitoring E251 Attributes SS Display E2 51 Diagnostic message number E251 Warning class Non fatal E253 Target Position Out of Range Cause In Drive controlled interpolation operating mode a check is performed to see whether the specified S 0 0258 Target position is within the possible travel region of the drive This is defined by parameters S 0 0049 Positive position limit value and S 0 0055 Negative position limit value DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement B Diagnostic Message Description 25 DIAX03 Drive With Servo Function Oe ale ay Message E253 is generated if the target position lies outside of the travel range Additionally warning bit 13 is set in S 0 0012 Class 2 diagnostic Remedy Check the specified S 0 0258 Target position and correct it if necessary See also the functional description Drive Internal Interpolation E253 Attributes SS Display
24. P 0 0514 Editability no Function Parameter Memory Feedb Data length 4 bytes Validity check no Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0518 Amplifier Nominal Current 2 Description This parameter specifies the maximum nominal current of the amplifier at reduced peak current It specifies the length of the peak current characteristics line for the peak current limit of the amplifier Specifications are made with parameters S 0 0110 Amplifier peak current S 0 0112 Amplifier nominal current and P 0 0519 Amplifier peak current 2 No value can be entered since it is permanently programmed within the amplifier P 0 0518 Attributes ID number P 0 0518 Editability no Function Parameter Memory Amplf Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 0 500000 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 119 DIAX03 Drive With Servo Function Oe aL a P 0 0519 Amplifier Peak Current 2 Description The drive allows you to define a changed continuous peak current characteristic line with reduced amplifier peak current and therefore an increased amplifier continuous current Parameter P 0 0519 specifies an amplifier peak current for this case It determines the worki
25. Phases 0 and 1 are used to recognize the participants Phase 2 is used to provide the time and data protocols for communications phases 3 and 4 Initialization is performed in ascending order of the sequence The defaults of the communications phase are set by the control system When the switch to communications phase 4 takes place initialization is completed and input power is enabled If the delayed phase switch is interrupted the status display in the communications phase which has already been reached freezes If diagnostic message A000 Communication phase 0 is active the drive is in phase 0 and is waiting for a phase transfer to 1 by the control system See also the functional description Parameter mode operation mode A000 Attributes SS Display PO Diagnostic message number A000 A001 Communications Phase 1 The communication process is divided into four communications phases Phases 0 and 1 are used to recognize the participants Phase 2 is used to provide the time and data protocols for communications phases 3 and 4 Initialization is performed in ascending order of the sequence The defaults of the communications phase are set by the control system When the switch to communications phase 4 takes place initialization is completed and input power is enabled If the delayed phase switch is interrupted the status display in the communications phase which has already been reached freezes If diagnostic message A001
26. Probe 2 to store the instantaneous value of the selected signal in this parameter The signal to be measured is determined by parameters P 0 201 Signal select probe 2 and S 0 0169 Probe control parameter See also the functional description Probe feature S 0 0132 Attributes ID number S 0 0132 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0133 Probe Value 2 Negative Edge Description The drive uses the negative edge of the input signal from S 0 0402 Probe 2 to store the instantaneous value of the selected signal in this parameter The signal to be measured is determined by parameters P 0 201 Signal select probe 2 and S 0 0169 Probe conirol parameter See also the functional description Probe feature S 0 0133 Attributes ID number S 0 0133 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable AT Input min max DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 45 DIAX03 Drive With Servo Function Oe aL a S 0 0134 Master Control Word Description This makes it possible to display the master control word using the servi
27. Probe feature S 0 0412 Attributes ID number S 0 0412 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 75 DIAX03 Drive With Servo Function Pl CREPE Penns 76 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function 3 Product specific parameters P 0 0004 Smoothing Time Constant Description The time constant that can be activated in this parameter affects the output of the velocity loop controller It can be used to suppress quantization effects and limit the bandwidth of the velocity loop controller See also the functional description Setting the velocity controller P 0 0004 Attributes ID number P 0 0004 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max 250 65500 P 0 0008 Activation of E Stop Function Description Parameter P 0 0008 can be used to activate E Stop input and to select a response for bringing the drive to standstill Parameter structure Bit 0 E Stop activation 0 inactive i active
28. Telefax 45 87 11 90 61 France Rexroth Sigma S A Division INDRAMAT 17 Loree du Golf F 69380 Dommartin Telefon 33 4 78 43 56 58 Telefax 33 4 78 43 59 05 France Italy Italy Netherlands Rexroth Sigma S A Division INDRAMAT 270 Avenue de lardenne F 31100 Toulouse Telefon 33 5 61 49 95 19 Telefax 33 5 61 31 00 41 Spain Rexroth S A Centro Industrial Santiago Obradors s n E 08130 Santa Perpetua de Mogoda Barcelona Telefon 34 3 7 47 94 00 Telefax 34 3 7 47 94 01 Rexroth S p A Divisione INDRAMAT Via G Di Vittoria 1 20063 Cernusco S N MI Telefon 39 2 923 65 270 Telex 331695 Telefax 39 2 92 36 55 12 Spain Goimendi S A Division Indramat Jolastokieta Herrera Apartado 11 37 San Sebastion 20017 Telefon 34 43 40 01 63 Telex 361 72 Telefax 34 43 39 93 95 Rexroth S p A Divisione INDRAMAT Via Borgomanero 11 I 10145 Torino Telefon 39 11 771 22 30 Telefax 39 11 771 01 90 Sweden AB Rexroth Mecman INDRAMAT Division Varuvagen 7 S 125 81 Stockholm Telefon 46 8 727 92 00 Telefax 46 8 64 73 277 Hydraudyne Hydrauliek B V Kruisbroeksestraat 1a P O Box 32 NL 5280 AA Boxtel Telefon 31 41 16 519 51 Telefax 31 41 16 514 83 Switzerland Rexroth SA D partement INDRAMAT Chemin de Ecole 6 CH 1036 Sullens Telefon 41 21 731 43 77 Telefax 41 21 731 46 78 Telefon 41 52 720 21 00 Telefax 41 52 720 21
29. Value The feedback velocity is monitored in torque control mode This error is generated if the programmed velocity in parameter S 0 0091 Bipolar velocity limit value is exceeded by 1 125 times or min 100 rpms rotary motors or 100 mm min linear motors Cause The load torque was less than the torque command value This leads to an increase in the feedback velocity up to the maximum possible motor velocity 20 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function Remedy Assign the proper torque command value for the desired task Reduce parameter S 0 0092 Bipolar torque limit See also the functional description Limiting to bipolar velocity limit value F879 Attributes SS Display F8 79 Error number 879 Diagnostic message number F879 Error class Fatal F889 Regenerating Overcurrent Cause The feedback current of the drive is greater than 1 2 times the type current with DKR only Remedy Replace the drive F889 Attributes SS Display F8 89 Error number 889 Diagnostic message number F889 Error class Fatal F890 Regenerating Electronic Watchdog Cause The RSK processor on the plug in storage card is not working Remedy Exchange drive controller or the plug in storage card F890 Attributes SS Display F8 90 Error number 890 Diagnostic message number F890 Error class Fatal F891 Power Supply Fault
30. amp 2 Bits 8 amp 9 Actual type of operation 00 Main type of operation active 01 1 Secondary type of operation etc Bit 11 Bit change class 3 diagnostics Bit 13 Drive lock error in Class 1 Diagnostics Bits 14 amp 15 Ready to operate 00 Drive not ready for power to be switched on since internal checks are not positively connected 01 Ready to switch on power 10 Control and power supplies ready for operation torque free 11 In operation under torque Fig 4 2 Structure of the drive status word The drive status word is transferred through the service channel to the control with the parameter S 0 0135 Drive Status Word Confirmation of the Controller Enable The drive confirms the controller enable setting in the drive status word of the drive telegram Bits 14 and 15 of 10 control and power section enabled temporarily changes to 11 in operation temporarily enabled after the controller enable is activated and was accepted The confirmation of the controller enable setting in the status word is acknowledged after the drive has sufficient time to prepare for its operation mode For example the asynchronous motor uses this time to magnetize itself If the controller enable is disabled the drive performs its reaction through parameter P 0 0119 Best possible deceleration Here time passes between resetting and confirming the reset This time depends on DOK DIAX03 SSE 01VRS FKB1 DE P e 09 96 Comm
31. dependent indicates the longitudinal expansion of the spindle The correction factor can be taken directly from table books for corresponding mechanical systems or if necessary it must be determined with measurements of the longitudinal expansion at various temperatures To determine the factor the measurement array for determining the reference position can be used The sizes a and b thus arrived at determine the longitudinal expansion factor according to the following equation and are used by the drive to determine the linearized position error xk B axx b x x0 x 81 00 with a __ Result from help equation 1 b Result from help equation 2 x0 Reference position x Position value B Longitudinal expansion factor P 0 0406 G1 Actual temperature 00 Reference temperature Fig 8 51 Equation to determine the longitudinal expansion factor To ensure a factor as exact as possible use various temperatures for your determination For each new temperature measurement array the values of a and b must be newly determined The resulting longitudinal expansion factor is determined mathematically from the various longitudinal expansion factors Determining the Position Independent Temperature Correction Factor The position independent temperature correction factor P 0 0407 Pos corr Actual temperature position independent 0 1 K can be determined in 2 different ways If all data can be
32. drive in e 0 0185 Length of the Configurable data record in the AT e 0 0186 Length of the Config Data Record in the MDT e 0 0187 List of Configurable Data in the AT e S 0 0188 List of Configurable Data in the MDT The drive checks these settings while processing the command S 0 0127 C1 Transfer preparation to comm phase 3 The following error messages may appear e C104 Config IDN for MDT Not Configurable e C105 Configurated Length gt Max Length for MDT e C106 Config IDN for AT Not Configurable e C107 Configurated Length gt Max Length for AT 4 7 SERCOS Interface Error If conditions are detected in the drive that prevent the correct operation of the interface or if error values are recognized during the initialization phase the drive responds by resetting to communication phase 0 This means that no drive telegrams will be sent The drive proceeds with the programmed error reaction see P 0 0119 Deceleration as best as possible and waits for the reinitialization of the SERCOS ring through the master Possible errors could be e F401 Double MST Error Shutdown e F402 Double MDT Error Shutdown e F403 Invalid Communication Phase Shutdown e F404 Error During Phase Progression e F405 Error During Phase Regression e F406 Phase Switching Without Ready Signal Diagnostic of the Interface Status The parameter S 0 0014 Interface Status is used to analyze the existing initialization error and the cu
33. e 0 0392 Velocity Feedback Value Filter Time Constant The feature Load Default Settings can be activated in two different ways e Automatic activation during the command procedure S 0 0128 C200 Preparation of Switch to Comm Phase 4 for the first time operation of the motor type with this drive e With the command procedure S 0 0262 C700 Load Default DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Basic Drive Functions 7 39 DIAX03 Drive With Servo Function LRI Ee ER Pees Automatic Execution of the Load Default Feature The drive recognizes the motor type the first time the drive is used with this motor type The drive compares the parameter S 0 0141 Motor type during processing of the command _ S 0 0128 C200 Communication Phase 4 Transition Check If these parameters are different the error message F208 Motor type has changed will be generated On the seven segment display the message UL appears The user has the option to save the current drive parameters before he resets the error to start the load default The error F2 08 Motor type has changed can be reset in two different ways 1 Run the command S 0 0099 Reset Class 1 Diagnostics 2 Press the key S1 In both cases you activate the default settings If you cannot activate the default settings the corresponding command error message of the command S 0 0262 C700 Load Default appears See also Error Conditions of the Load Default Settings Procedure on
34. e Command value transmission error If the Position Control operating mode is active the velocity produced by the difference in successive values of parameter S 0 0047 Position Command Value is compared to e 0 0091 Bipolar Velocity Limit Value S 0 0001 NC Cycle Time acts as the time base for converting the position command value differences into a velocity It is assumed that position command values are given cyclically in the NC cycle time This is normally the case in the position control operating mode If the command velocity resulting from the position command value exceeds S 0 0091 Bipolar Velocity Limit the error e F237 Excessive Position Command Difference is generated For diagnostic purposes both of the parameters e P 0 0010 Excessive Position Command Value e P 0 0011 Last Valid Position Command Value will be saved The velocity produced by the difference of the two values generated the error 6 6 Operating Modes DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function S 0 0047 Position command value S 0 0091 Bipolar Velocity Limit Leech nee titi Ee resulting velocity position command value difference Generating the error F237 excessive position command value difference Fig 6 15 Monitoring the position command value differences and generating the error F237 Excessive Position Command Value Difference Setting Position Command Value Monitoring
35. flowing is also dependent on the premagnetization scaling factor For synchronous motors this parameter is automatically set to 0 See also the functional description Asynchronous motors P 0 4004 Attributes ID number P 0 4004 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit A Combination check no Decimal places 4 Cyc transmittable no Input min max 0 400000 126 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function P 0 4011 Switchfrequenz Description This parameter is used to set the switch frequency of the pulse switching controller to 4 8 or 16 kHz For DDS X 2 only 4 kHz is possible at this time For DKR 4 and 8 kHz can be set See also the functional description Setting the effective continuous current P 0 4011 Attributes ID number P 0 4011 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit kHz Combination check no Decimal places 0 Cyc transmittable no Input min max 4 8 P 0 4012 Slip Faktor Description The slip factor is the most important parameter for asynchronous motors It indicates the rotor frequency in relation to the torque producing current The lower the rotor time constant is the higher the slip factor Thi
36. no Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 88 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function P 0 0036 Trigger Control Word Description Parameter P 0 0036 controls the oscilloscope function e Bit 2 activates the function i e the lists of scope data are filled with the selected data e Bit 1 activates trigger monitoring e Bit 0 can initiate a trigger event If a valid edge is recognized the probe value memory will be completed as specified by parameter P 0 0033 Number of samples after the trigger and the oscilloscope function will be deactivated by resetting bits 1 and 2 in the trigger control word Parameter structure Bit 0 Trigger action input with external triggering Bit 1 Trigger release Bit 2 Oscilloscope function active Fig 3 11 P 0 0036 Activating the oscilloscope function See also the functional description Oscilloscope function P 0 0036 Attributes ID number P 0 0036 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0037 Trigger Status Word Status messages for the oscilloscope function Description Parameter P 0 0037 offers various pie
37. procedure the drive sets S 0 0047 Position command value to this value if the motor encoder has been homed See also the functional description Drive controlled homing S 0 0052 Attributes ID number S 0 0052 Editability P234 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0053 Position Feedback Value 2 ext feedback Description The position feedback value 2 is always related to an external encoder See also the functional description Setting the measurement systems S 0 0053 Attributes ID number S 0 0053 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable AT Input min max anf DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 23 DIAX03 Drive With Servo Function Oe aL a S 0 0054 Reference Distance 2 Description This parameter represents the distance between the machine zero point and the homing point for the external measuring system Position feedback value 2 After executing command S 0 0148 C6 Drive controlled homing command the drive sets the Position command value S 0 0047 to this value if the motor encoder has been homed
38. the correction must be at the same temperature Determining the Reference Position for Temperature Correction The parameter P 0 0403 Pos corr Reference position for temperature correction defines for position dependent correction types the position at which the axis error is always 0 It is compensated from the reference position in both directions If the reference position is not clearly defined by the mechanical system then the determination will be made through measurement In this procedure the position dependent errors will be measured over three measurement points in the entire travel range at one temperature that is not the reference temperature Internal correction value y A P3 x y VC HEET V2 Para Siete EE Machine zero point i x X3 Actual feedback value x Ee X P1 x y Reference position x0 i a Abb 8 47 Display of the reference position With the measurement points P1 P2 P3 the reference point can be determined with a mean straight line The following applies Bezugsposition x0 2 Fig 8 48 Equation to determine the reference position 8 28 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function with nx axy xx y a nx 3 x2 A x with n Number of measured values D X position of a measured value y y position of a measured value Fig 8 49 Equation 1 to determine referen
39. travel range Max travel range system rotary motor linear motor digital servo feedback 2 11 motor revolutions resolver 216 Encoder cycles S 0 0116 Resolution of motor encoder motor revolutions Incremental feedback 2421 Feedback cycles S 0 0116 Resolution of 2431 S 0 0116 Resolution of with sine signals motor encoder motor revolutions motor encoder mm gear type encoder 2420 Feedback cycles S 0 0116 Resolution of motor encoder motor revolutions Encoder with EnDat 2419 encoder cycles S 0 0116 Resolution of 2419 S 0 0116 Resolution of interface motor encoder motor revolutions motor encoder mm d Fig 7 17 Maximum travel range External encoder 0 A measurement system dependent absolute representable range exists with absolute encoders with an EnDat interface The maximum drive internal travel range is created out of this absolute range see Other Settings for Absolute Measurement Systems on page 7 17 The external encoder is parameterized with the e P 0 0075 External Encoder Interface e 0 0117 Resolution of Rotational Feedback 2 External Encoder e 0 0115 Position Feedback 2 Type Parameter parameters These specify the interface number to which the measurement system is connected the resolution of the external encoder as well as the direction of movement etc The parameter S 0 0053 Actual Feedback Value 2 displays the position of the ex
40. 0 0026 Trigger signal select then an address can be selected with parameter P 0 0145 that is monitored for the threshold parameter value Parameter structure 31 30 29 282726 252423 2221 2019 1817 1615 1413 12111098 76543210 16 bit mask for 16 bit threshold for trigger signals trigger signals Fig 3 26 P 0 0145 Expanded trigger edge oscilloscope function See also the functional description Oscilloscope function P 0 0145 Attributes ID number P 0 0145 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0146 Expand Trigger Address For service purposes only Description If bit 12 Expanded trigger level is selected in using parameter P 0 0026 Trigger signal select then an address can be selected with parameter P 0 0146 that is monitored for the threshold parameter value Parameter structure 31 30 29 28 27 2625 2423 2221 2019 1817 16 15 14131211109 8 76543210 16 bit mask for 16 bit threshold for trigger signals trigger signals Fig 3 27 P 0 0146 Expand trigger address The 16 bit value of the trigger edge is monitored and the trigger signal will have been previous ANDed via the mask for trigger signals See also the functional description Oscilloscope function DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Sup
41. 0015 Telegram type parameter then the configurable data record in the MDT will be configured application specifically using this list The list can contain only operating data that are listed in parameter S 0 0188 List of configurable data in the MDT See also the functional description Configuration of telegram contents S 0 0024 Attributes ID number S 0 0024 Editability P2 Function Parameter Memory Param E2prom Data length 2 byte variable Validity check Phase 2 Format IDN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max e Les S 0 0028 MST Error Count Description The MST error count counts all invalid MSTs in communications phases 3 and 4 If two MSTs fail in direct succession then error F401 Shutdown for two MST failures will be generated and the operation will return to phase 0 The MST error count has a limit stop at 2 16 1 This means that during a highly distorted transfer the MST Error count will show the value 65535 after a long time See also the functional description Error count for telegram interrupts DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 13 DIAX03 Drive With Servo Function Oe aL a S 0 0028 Attributes ID number S 0 0028 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit Combination check no
42. 0022 IDN list of invalid op data for comm ph 3 must be rewritten so they are correct See also the functional description S 0 0128 C2 communications phase 4 transition check C201 Attributes SS Display C2 01 Diagnostic message number C201 C202 Limit Error Parameter gt S 0 0022 Cause Parameters which are necessary to operate the drive in communications phase 4 are either outside of their minimum or maximum input values or the entered value can t be processed for BIT bars The incorrect parameters are listed in S 0 0022 IDN list of invalid op data for comm ph 3 Remedy The parameters of S 0 0022 IDN list of invalid op data for comm ph 3 must be rewritten so they are correct See also the functional description S 0 0128 C2 communications phase 4 transition check C202 Attributes SS Display C2 02 Diagnostic message number C202 C203 Parameter Calculation Error gt S 0 0022 Cause Parameters which are necessary to operate in phase 4 cannot be processed The incorrect parameters are listed in S 0 0022 IDN list of invalid op data for comm ph 3 For example in parameter P 0 0075 External feedback interface the value for the DLF module has been entered but it is actually not available Remedy Correct values must be written to the parameters in S 0 0022 IDN list of invalid op data for comm ph 3 See also the functional description S 0 0128 C2 communications phase 4 transiti
43. 0040 Scaling Factor for Velocity Data Channel 1 P 0 0041 Scaling Factor for Velocity Data Channel 2 P 0 0042 Scaling Factor for Position Data Channel 1 P 0 0043 Scaling Factor for Position Data Channel 2 P 0 0044 Scaling Factor for Power for Data Channel Output Pre defined channel selection numbers are available to select specific signals The selection can be made by entering the channel selection number hex format in parameters P 0 0038 and P 0 0039 The following predefined signals are available Number Signal selection Scaling 7 1x Torque producing current 40V S 0 0110 peak current amplifier 2x Velocity feedback value after mixing variable and filtering 0x3 S 0 0036 Velocity command value variable 0x4 Position command value difference variable 0x5 S 0 0051 Actual feedback value 1 variable 0x6 S 0 0053 Actual feedback value 2 variable 0x7 S 0 0189 Lag distance variable 0x8 Sine wave motor encoder 4 1 0x9 Cosine wave motor encoder 1 1 Oxd Velocity command value input variable velocity controller Oxe DC bus power variable Oxf Amount of DC bus power variable 0x10 Sine signal external encoder 1 1 0x11 Cosine signal external encoder 1 1 0x12 Torque producing feedback current 10V S 0 0110 peak current amplifier 0x13 Magnetization feedback current 10V S 0 0110 peak current amplifier 0x14 Velocity feedback value of the motor var
44. 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max 0 S 0 0076 S 0 0058 Reversal Clearance Description Reversal clearance describes the amount of slack between the drive and the load when direction is changed in respect to the position data In general with a negative command velocity the slack set by parameter is subtracted from the current actual feedback value 1 N Magnitude of slack areas upon reversal of direction of motion MB5001d1 drw Fig 2 14 Graphic representation of the motion play or slack when direction is changed DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 25 DIAX03 Drive With Servo Function See also the functional description Axis error correction S 0 0058 Attributes ID number S 0 0058 Editability Function Parameter Memory Data length Validity check Format DEC_OV Extreme value check Unit Combination check Decimal places 0 Cyc transmittable Input min max S 0 0076 S 0 0076 Position Data Scaling Type Description Various scaling types for the position data in the drive described below Parameter structure rear no Param E2prom Phase 3 yes can be set as OE O ER Bits 2 0 Type of scaling 000 unscaled 001 linear scaling 010 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 mete
45. 0124 Standstill Window cccccccceesnececeesneeeeesnaeeeeeceaeeeeesaaeesessaeeeescaaeeeesesaeeesssaeeseseseeseseaaes 43 S 0 0127 C1 Communications Phase 3 Transition Check 43 S 0 0128 C2 Communications Phase 4 Transition Check 44 S 0 0130 Probe Value 1 Positive doe 44 S 0 0131 Probe Value 1 Negative Edge eeseesseesseessessiesissistensttnttnttttnnttnnttnntnnntnnnsnnssnnnrnsnnn 44 S 0 0132 Probe Value 2 Positive doe 45 II Contents DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function S 0 0133 Probe Value 2 Negative Edge eseesseeseesseesseesistintinsttnttnnttnntttnntnnnen nnen nstrnnnnnnnnnna 45 S 0 0134 Master Control Word 46 0 0 135 Drive Status WOTA reio Nues Dad NEEN aed a asin deeediies 46 S 0 0138 Bipolar Acceleration Limit Value rere trnssttn rnnt rnnnsttn nentrn annern nnne nn nnne enne 46 S 0 0140 Controller Ke 47 S 0 0141 Motor Twpe E 47 S 0 0142 Application Type cccceecceceeececeneeeeeaeeeeneeeeeeeecaaeeeeaaesaeeesaaeeecaaeseeaeesgeeeseaeeeeaeeeaaeesenees 47 S 0 0143 SERCOS Interface Version 48 S 0 0147 Homing Parameter 48 S 0 0148 C6 Drive Controlled Homing Procedure Commande 49 S 0 0149 d400 Positive Stop Drive Procedure Commande 49 5 0 0150 Reference Offsot Toccasion arna a aera eI AAEREN AAEE AAEE EA ANAN 50 S 0 0151 Reference Offset iesse d e dE estat dit aeersh acai aetsitialacdyiiaaaaedee 50 S 0 0155 Friction COMpPeNSation rerne ern
46. 0x7 S 0 0189 Following error P 0 0043 0x8 Sine signal of motor encoder 1 1 0x9 Cosine signal of motor encoder 1 1 Oxd Velocity command value input P 0 0041 velocity controller Oxe DC bus power P 0 0044 Oxf Amount of DC bus power P 0 0044 0x10 Sine signal external encoder 1 1 0x11 Cosine signal external encoder 1 1 0x12 Torque producing current actual 10V S 0 0110 Peak value current amplifier 0x13 Magnetization current actual value 10V S 0 0110 Peak current amplifier DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 91 DIAX03 Drive With Servo Function Oe aL a 0x14 Velocity feedback value of the motor P 0 0041 encoder 0x15 Thermal load 10V 100 0x20 Synchronous position command P 0 0043 value 0x21 Synchronous velocity P 0 0041 Fig 3 14 Signal selection for analog output The following parameters should be considered for scaling e P 0 0041 Scaling factor for velocity data channel 2 e P 0 0043 Scaling factor for position data channel 2 e P 0 0044 Scaling power for analog output See also the functional description Analog output P 0 0039 Attributes ID number P 0 0039 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0040 Scaling Factor for Velocity Data C
47. 23 Modules needed for absolute measurement systems DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 17 DIAX03 Drive With Servo Function Oe ale a Except for the SSl encoder the measurement systems can be accessed by way of a data storage device from which information on whether it is an absolute measurement system is taken Bit 6 in the corresponding position encoder type parameter absolute non absolute is set during the command _ S 0 0128 Communication Phase 4 Transition Check Note The handling of single turn encoders as absolute measurement systems depends on whether the position data are scaled in modulo format Bit 7 of S 0 0076 Scaling Type of the Position Data equals 1 and whether the modulo value used in S 0 0103 Modulo Value is smaller than the single turn range i e one encoder revolution of the single turn encoder A single turn encoder will be handled as an absolute measurement system only if both of these conditions are met Bit 6 of the position encoder type parameter S 0 0277 for motor encoders or S 0 0115 for external encoders shows whether the measurement system is handled as an absolute or not absolute measurement system Set Absolute Measuring When an absolute measuring system is installed its actual feedback value displays a value that is arbitrary and has no relationship to the machine s zero point In this case the value of the S 0 0403 Actual Feedback Value Status para
48. 4 6 Transmission Power of the SERCOS Interface 4 6 Distortion LED H of the SERCOS Interface 4 6 4 6 SERCOS Telegram Configuration cccccececeeececeeeeeeeaeeeeaeeeeneeceeeeeceaeeeeeaeseeeeeseeeesaesseaeeseeeeeseeeeneeee 4 7 Configuration of the Telegram Send and Receive Times snnnnssnnsnnssnnnnennnntttr nentrn rnnr nnnnnnrrn nnne 4 7 Configuration of Telegram Content s sessesseeeseeesrnestr test nnstnstrnttnnstnnnstn nenntu nnnnnnnnnnnnnnennnnn nnna 4 7 4 7 SERCOS Interface Errors rrara reida A aaa Zeches geed 4 8 Diagnostic of the Interface Status 0 ccccecececeececeeeeeeeeeceeeeeceaeeeeaaeeeeeeeseeeesaeeeeaaesseeeeseieesseeeeeee 4 8 Error Count for Telegram Interrupts ccccccecceeeeeeneeceeeeeeaaeeeeeeeseeeeeesaaeeeeeeeseeaeeesaeseeaeeseeeeeeates 4 8 5 Motor Configuration 5 1 5 1 Characteristics of the Different Motor Tvpes 5 1 Motor Feedback Data Memory cccceeceeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeseneaeeeeeeaaeeeeeeaaeeeeeeaeeeesenaeeeeseaes 5 1 Linear Rotatlomall einnar a a NE a N a aN EE AAE aN 5 2 Synchronous ASynChronouS cece ceeneceeeeeceeeeceaeeeeaeeceaeeecaaeeeeaaeeeeaeeseaeeecaaeseeaaeseeeeeseaeeesaeeseneeeeaees 5 2 Temperature Monitorning sranani a N EE E N AN E era 5 2 Load Default Feature srennondian aa a A acct e A ENEE SNE 5 3 5 2 Setting the Motor Ty p tiics cacnccdli nah aide cans aeed dia aa iai reia aiai ina aiaa aa iiaa 5 3 Automatic Setting of the Motor
49. 7 DIAX03 Drive With Servo Function Vr CRRA The binary signal Target Position Reached is included in S 0 0013 Class 3 Diagnostics specifically for this operating mode See also S 0 0013 Class 3 Diagnostics The IZP signal is included in S 0 0182 Manufacturer Class 3 Diagnostics See also S 0 0182 Manufacturer Class 3 Diagnostics Target Position Velocity command Torque power position command value value command value FP0009Q1 WMF Internal Velocity controller Current controller Position interpolation controller Fig 6 17 Drive internal interpolation diagram Generator Function Drive Internal Interpolation The target value is entered in the parameter S 0 0258 Target Position The drive generates the posi tion command profile necessary to move to the target position using the following parameters as limits S 0 0259 Positioning Velocity S 0 0260 Positioning Acceleration e S 0 0193 Positioning Jerk e S 0 0108 Feedrate Override S 0 0258 Target position S 0 0259 Positioning velocity Tis yealeuton S 0 0047 Position command value acceleration S 0 0193 Positioning jerk S 0 0108 Feedrate override gm Positioning velocity gt max value S 0 0260 Positioning e E253 E253 Target position outside of travel range position outside E253 Target position outside of travel range travel range FP0010Q1 WMF Fig 6 19 G
50. 96 DIAX03 Drive With Servo Function Supplement B Diagnostic Message Description SSE 01VRS DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 DIAX03 Drive With Servo Function Pa CREE rA DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 ILRES DIAX03 Drive With Servo Function Contents 1 Description of Diagnostic Messages 1 1A Error Diagnostic Massages isss araia EA EER ENE S ENE AEREA T EEA AEE 1 F207 Switching to uninitialized operating mode 1 F208 Motor Type Has Change 1 F219 Motor Overtemperature Ghbutdowm nssr nntnnnsnnnnnsnnnnnnnrnnnn 2 F221 Error Motor Temperature Control 2 F222 Error Drive Overtemperature Watch Defekt c cccececeeceececeeeeeeeseeeeeeeaaeeeeaeeeseaeeesaeeseneees 2 F226 Undervoltage Error nrs hanenn aa i a a E a N aR 3 F220 Excess Wwe Devido asio a E et O 3 F229 Motor Encoder Failure Quadrant Error 4 F233 External Power Supply Error 5 F234 Emergency ee TEE 5 F236 Excessive Position Feedback Dterence AA 6 F237 Excessive Position Command Value Ditterence ccccccceeeceseeeeeeeeeeeeaeeeeeeeeeeeeeeeeaeeeeeeeee 7 F242 External Encoder Failure Signals Too Small ccccceeececeeeeceeeeeeaeeeeneeseeeeeseaeeesaeeeeeeessaees 7 F245 External Encoder Failure Quadrant Error ccccccecseeceeeeeeeeeeeceeeeeeaaeseeneeseeeeesaeeesaeeeeeeeeeaes 7 F248 Low Battery V Ola EA 8 F267 Incorrect Internal Hardware Synchronization cccccceeeeeeceeeeeeeceeeeeeaeeeeeeeseeeeeseaeeesaeeeee
51. Acceleration Feed Forward For Servo applications where you have to depend on exactness at high speeds you have the option to extend the exactness of an axis during acceleration and brake phases through activation of the acceleration feed forward Typical applications for the use of the acceleration feed forward e Free style surface editing e Smoothing editing To set the acceleration feed forward use the parameter e 0 0348 Proportional Gain Acceleration Feed Forward This value can be determined as follows Requirements for a Correct Setting of the Acceleration Feed Forward e Velocity and position loop have to be set appropriately e For the position controller a lagless operation mode must be selected e If frictional torque compensation should be activated you must set this before setting the acceleration feed forward A reversed procedure results in a limited operation of the acceleration feed forward after activation DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 45 DIAX03 Drive With Servo Function Oe ale ay Setting the Acceleration Feed Forward The setting of the correct acceleration feed forward can only be done by the user since it depends on the inertia momentum The setting is done in two steps e Calculation of the set value for the acceleration feed forward For this purpose you need the size of the complete inertia momentum reduced for the motor shaft JMotor Jactuated of the
52. As soon as bit 2 is set by the P 0 0036 Trigger Control Word the drive starts to record probe values If the trigger event is recognized after the bit is set the oscilloscope feature records the number of probe values after the trigger event and then stops recording The total probe value memory for the current measurement will not always be written dependent on the memory depth setting the time resolution the number of probe values after the trigger event and the time when the trigger event occurs That means there are still probe values in the memory that are not valid for the measurement The parameter P 0 0150 Number of Valid Oscilloscope Samples indicates the number of valid probe values for the current recording 8 5 Probe Input Feature For position and time measurement through two binary input signals there are two probe inputs on the communication control module DSS 2 1 that can be used to measure e the position feedback value 1 2 or e the relative internal time in usec Measurements are made for one through the edges of the defined time points for both inputs Note The sampling of the probe inputs occurs every 1 usec The measurement signal actual feedback value 1 2 is created only every 250 usec Linear interpolation occurs between each sampling step with an exactness of 1 usec Parameters can be used to read the absolute value of the signal at the time a positive or negative edge occurs as well as th
53. Bit 7 determines the processing format see Modulo Feature on page 7 8 The scaling type setting is checked for plausibility in S 0 0128 C200 Communication Phase 4 Transition Check and the command error message C213 Position Data Scaling Error is generated if necessary DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 3 DIAX03 Drive With Servo Function Oe aL a Velocity Data Display Format The scaling of the drive controller s velocity data is adjustable This is done with the parameters e S 0 0044 Velocity Data Scaling Type e 0 0045 Velocity Data Scaling Factor e 0 0046 Velocity Data Scaling Exponent The scaling type is set in S 0 0044 Velocity Data Scaling Type The parameter is defined as follows S 0 0044 Scaling mode for velocity data ll Bits 2 0 Scaling mode 000 unscaled scaling 001 linear scaling 010 rotary scaling Bit 3 0 Preferred scaling 1 Parameter scaling Bit 4 Unit of measure for linear scaling 0 Meter m 1 Inch in Unit of measure for rotary scaling 0 Revolutions 1 reserved Bit 5 Unit of time 0 minute min 1 second s Bit 6 Data relationship 0 to the motor cam 1 to the load Bits 15 7 reserved Fig 7 4 Parameter S 0 0044 The actual scaling type is set in bit 0 2 In bit 3 either preferred scaling parameters S 0 0045 Velocity Data Scaling Factor and S 0 0046 Velocity Data Scaling Exponent are pre defin
54. Current on page 7 22 The drive controller will generate the warning E257 Duration Current Limiting Active For diagnostic purposes a warning threshold can be set with P 0 0127 Overload Warning For practical purposes a value of 80 thermal load is parameterized here This value should not be exceeded during normal drive operation If the thermal load exceeds the value parameterized in P 0 0127 Overload Warning the drive controller will generate the warning E261 Continuous Duration Current Limit Warning A Thermal overload Duration current limiting and pre warning active E261 Duration current limiting active E257 ch Command Current Profile eg e Time Fig 7 3 Monitoring the thermal load and continous current limit 7 24 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO an Torque Force Limiting DIAX03 Drive With Servo Function Checking the Thermal Load The parameter P 0 0141 Thermal Drive Load is for diagnostic purposes In this parameter 0 corresponds to a chip over temperature of 0 Kelvin 100 corresponds to the maximum chip over temperature The thermal load should not exceed a value of 80 for the applied operating cycles if the drive is set up correctly It typically takes about 10 minutes to warm up a drive controller end stage to its final temperature To check the thermal load of a drive during installation without
55. Cyc transmittable no Input min max S 0 0044 S 0 0044 S 0 0348 Proportional Gain Acceleration Feed Forward Description The acceleration feed forward helps to reduce the following error during the acceleration phase in an operating mode without following error The current acceleration command value is multiplied by the Proportional gain acceleration feed forward and added to the current command value of the velocity controller S 0 0348 Proportional Amplification Acceleration Anticipatory Control a 1 AJ dial Position d Position Velocity Current ect controller controller controller value Fig 2 35 Acceleration feedforward Activation Writing a value greater than 0 to the parameter activates the acceleration feed forward Note The acceleration feed forward is only possible in the operating mode without following error Correct input value Jm JL Km 100 where KR proportional gain acceleration feed forward Jm moment of inertia of the rotor JL reduced load mass moment of inertia Km torque constant See also the functional description Setting the acceleration feed forward 66 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function S 0 0348 Attributes ID number S 0 0348 Editability no Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format
56. Default Command 7 39 Probing Cycle Procedure Command 8 17 Communication Phase Operating Mode 3 12 Parameterization Phase 3 12 Index 1 0 1 DIAX03 Drive With Servo Function 10 2 Index Compensation Torque 7 48 Confirmation of the Controller Enable 4 3 Connection and Configuration of the Zero Switch 7 58 Connection of the Emergency Stop Input 7 38 Controller enable 4 2 Current Controller Associated Parameters 6 3 Block diagram 6 3 Setting the Current Controller 7 41 Current Limit 7 22 D DAG Module Limiting Conditions 7 10 Setting the Encoder Interface 7 10 Data Block Structure 3 1 DEA Module Associated Parameters 8 4 Connector Assignment 8 5 Number of Inputs and Outputs 8 4 Use 8 4 Deactivation of the Position Control Loop Monitoring 7 45 DEA Input gt IDN Assignment 8 7 DEF Module Limiting Conditions 7 10 Setting the Encoder Interface 7 10 Definition of the Critical Proportional Gain and P 0 0004 Smoothing Time Constant 7 42 Determing the Correction Value 8 24 Determing the Critical Position Controller Gain 7 43 Determining the Critical Integral Action Time 7 42 Determining the Encoder Interface of the External Encoder 7 14 Determining the Feedback Interface of the Motor Feedback 7 12 Determining the Position Controller Setting 7 43 Determining the Reference Position for Temperature Correction 8 28 Determining the Velocity Controller Setting 7 42 DFF Module Limiting Condition
57. Determining the Smoothing Time Constant 7 42 Limiting the Command Value for the Current Controller 6 3 SSl Interface Parameterizing the Encoder 7 10 Start position 8 23 Starting interrupting and completing the command 7 59 Status Messages for the Oscilloscope Feature 8 14 T Telegram Configuration SERCOS Telegram Configuration 4 7 Telegram Contents 4 7 Telegram Transmit and Receive Times 4 7 Temperature Correction Factor 8 30 Temperature Monitoring of the motor temperature 5 2 The Data Status 3 1 Index 10 5 DIAX03 Drive With Servo Function 10 6 Index Thermal Load Checking the Drive Controller 7 25 Torque Disable Parameterizing Drive Error Reaction 7 35 Torque Force Control Associated Parameters 6 1 Block diagram 6 1 Diagnostic Messsages 6 1 Limiting the Command Value 6 1 Monitoring of the actual velocity 6 1 Torque Force Limit of the maximum allowed torque 7 26 Transmission Feed Constant 7 7 Transmission Ratio 7 7 Transmission Ratio 7 7 Travel Range Limits Monitoring as a Warning 7 29 Parameterization 7 28 Travel Zone End Limit Switch Connection 7 29 Travel Zone End Switch Connection to the DSS 2 1 7 29 Monitoring the allowable travel range 7 28 Travel Zone End Switch Monitoring 7 29 Travel Zone End Switches Activation 7 30 Polarity 7 30 Travel Zone End Switches Activation and Polarity 7 30 ULE ms Lal V Variable Scaling of Position Velocity and Power Data 8 2 Veloc
58. Error F861 Attributes SS Display Error number Diagnostic message number Error class DIAX03 Drive With Servo Function F8 61 861 F861 Fatal The drive controller found a malfunction in the 15 V power supply Cause 1 Defective control voltage bus cable 2 Defective supply module Remedy For 1 Check the control voltage bus cable or plug connection and exchange if necessary For 2 Check supply module see supply moduleinstructions for use F869 Attributes SS Display Error number Diagnostic message number Error class F8 69 869 F869 Fatal The drive controller found a malfunction in the 24 V power supply Cause 1 Defective control voltage bus cable 2 The 24 V power supply is overloaded 3 Defective supply module 4 Short circuit in the emergency circuit Remedy For 1 Check the control bus cable or plug connection and exchange if necessary For 2 Check the wiring and or replace the power supply module For 3 Check supply module see supply module instructions for use For 4 Check the emergency circuit for shorts F870 Attributes SS Display F8 70 Error number 870 Diagnostic message number F870 Error class Fatal The power supply voltage for the current sensors has been disrupted Cause A defect in the drive controller DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 19 DIAX03 Drive With Servo Function Oe aL a
59. FKB1 EN e 09 96 Supplement A Description of Parameters 125 DIAX03 Drive With Servo Function Oe ale ay P 0 4002 Current Amplify Trim Phase U Description This parameter is set in the test field of DDS X 2 devices to adjust the current sensor in relation to its amplifier error For DKR devices the default value 1 3333 is entered here The adjustment is made with a potentiometer on the RSK circuit board P 0 4002 Attributes ID number P 0 4002 Editability no Function Parameter Memory Amplf Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit 5 Combination check no Decimal places 4 Cyc transmittable no Input min max 0 65535 P 0 4003 Current Amplify Trim Phase V Description This parameter is set in the test field of DDS X 2 devices to adjust the current sensor in relation to its amplifier error For DKR devices the default value 1 3333 is entered here The adjustment is made with a potentiometer on the RSK circuit board P 0 4003 Attributes ID number P 0 4003 Editability no Function Parameter Memory Amplf Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal places 4 Cyc transmittable no Input min max 0 65535 P 0 4004 Magnetizing Current Description This parameter indicates the nominal or servo magnetization current set by Indramat for asynchronous motors The magnetizing current actually
60. Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function If only one absolute measurement system is available the command automatically refers to this measurement system If 2 absolute measurement systems are connected the selection is conducted according to bit 3 of S 0 0147 Homing Parameter When the command is executed 3 different cases can be distinguished 1 Set absolute measuring without controller enable 2 Set absolute measuring with controller enable function executed by subsequently starting the command Drive Controlled Homing Procedure 3 Set absolute measuring with controller enable function executed by subsequently removing the controller enable Set absolute measuring without controller enable When absolute dimension is set without controller enable the axis is moved to the exactly measured position and while the controller enable is turned off the command P 0 0012 C3 Command Get Absolute Dimension Measuring is started after the homing measure has been written with the desired actual feedback value at this position The command immediately sets the actual feedback value of the measurement system to the homing measure and the position status becomes 1 The command is finished in the drive and can be erased Normally this simple method of executing the command is all that is needed However if the application is dealing with a hanging axis or if
61. Motor Holding For motors with motor feedback data memory the parameters for the motor holding brake are set automatically Already from the S1 reference speed corner velocity P 0 0537 a controlled field weakening prevents a continued increase in iron losses If the motor typical S1 kink speed drops drastically below the DC bus voltage and the motor type dependent kink speed n1 then the iron loss in range S1 kink speed is kept constant until the output voltage is reached The peak torque does decrease but the motor losses are lower for resistances lt set rated loads So activation of S1 Operation is advantageous for drives that are used with constant velocity in the medium RPM range as would be the case for printing machines The S1 kink speed can be drastically below the electrical kink speed ni especially with non ventilated motors The S1 operation also can be used in connection with the reduced pre magnetizing scaling factor Motor Function Parameter 1 Bit No Meaning 0 0 no magnetizing current drop 1 S1 magnetizing current drop active since the S1 kink speed 1 0 Transmission reverse 1 Voltage reverse Fig 5 8 Meaning P 0 0538 motor function parameter Brake The drive controllers of the DIAX 03 series allow for control of a motor holding brake This is used to prevent undesired axis movements when the controller enable is turned off Note The holding brake is not designed as a service b
62. Output Channel 2 91 P 0 0040 Scaling Factor for Velocity Data Channel 92 P 0 0041 Scaling Factor for Velocity Data Channel 2 92 P 0 0042 Scaling Factor for Position Data Channel 1 93 P 0 0043 Scaling Factor for Position Data Channel 2 93 P 0 0044 Scaling Factor for Power for Analog Channel 94 P 0 0051 Torgus CONStAMt cassis cctedeedcexsasedipesusecevesssecdbedusdscubasnccehesascidsvessevapedasdscebeusecthesatendeeascedened 94 P 0 0074 Interface Feedback 94 P 0 0075 Interface Feedback eebe dee K une de deg asthe Ne E geg 95 P 0 0081 Parallel UO Output 1 96 IV Contents DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function P 0 0082 Parallel VO Itt NEEN 96 P 0 0090 Travel Limit Parameter 97 P 0 0097 Absolute Encoder Control Window 97 P 0 0098 Maximum Model Deviation ccccccccescessseseecececeseeesseecececeaeeusessceeseeseauensseceeeeeeseanaees 98 P 0 0099 Position Command Smoothing Time Constant 98 P 0 0109 Torque Force Peak Limitation 0 eccceeeeceeeeeeeeeeeeeeneeeeeeeeeeeeesaeeeeeseeeeeeeeeeneaeeeeeeenaeees 99 P 0 0110 Parallel VO Output 3 99 P20 04 11 Paralel VO Mul 99 P 0 0112 Parallel UO Output 3 99 P 0 0113 Parallel UO Input I onies N E eei e a Ea i aai 100 POTIS Analog MPU oeoa A E E AEE TAE EET EEE A 100 EAR Analog MPU Z rrara A AE E AE AR TA AS 101 P 0 0117 NC Reaction in Error Situation esesssesessssesssesesererernririrrrrririrrririririri
63. PA In the position control operating modes this parameter displays the output error signal of the position controller See also the functional description Velocity control S 0 0036 Attributes ID number S 0 0036 Editability P234 Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check yes Unit S 0 0044 Combination check no Decimal places S 0 0044 Cyc transmittable MDT Input min max S 0 0044 Description S 0 0037 Additive Velocity Command Value The additional velocity command value is added to S 0 0036 Velocity command value in the drive See also the functional description Velocity control S 0 0037 Attributes ID number S 0 0037 Editability P234 Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check yes Unit S 0 0044 Combination check no Decimal places S 0 0044 Cyc transmittable MDT Input min max S 0 0044 S 0 0040 Velocity Feedback Value Description The velocity feedback value can be transferred from the drive control device to the control system either cyclically or via the service channel See also the functional description Preparation for setting the velocity controller S 0 0040 Attributes ID number S 0 0040 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0044 Combination check no Decimal
64. Position Dependent 113 Additive velocity command value 18 Aktiv duration current 130 Aktiv peak current 130 Allocation of real time control bit 1 64 Allocation of real time control bit 2 64 Allocation of real time status bit 1 65 Allocation of real time status bit 2 65 Amplifier nominal current 39 Amplifier nominal current 2 119 Amplifier peak current 38 Amplifier peak current 2 120 Analog input 1 100 Analog input 2 101 Application type 47 Assignment DEA input gt IDN 105 Assignment IDN gt DEA output 104 AT Transmission starting time T1 5 B Beginning address in master data telegram 6 Bipolar acceleration limit value 46 Bipolar torque force limit value 31 Bipolar velocity limit value 31 Brake control delay 120 Break current 118 C C1 Communications phase 3 transition check 43 C2 Communications phase 4 transition check 44 C6 Drive controlled homing procedure command 49 Circle voltage 128 Class 1 diagnostics 7 Class 2 diagnostics 8 Class 3 diagnostics 8 Command basic load 60 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 DIAX03 Drive With Servo Function Command Set absolute measurement 79 Command Valid Time T3 6 Command value mode for modulo format 69 Command value smoothing time constant 124 Command value transmit time TMTSG 31 Commutator offset 117 Commutator setting measurement value 120 Configuration list of the master data telegram 13 Contacted motor type 129 Con
65. Probe 1 to store the instantaneous value of the selected signal in this parameter The signal to be measured is determined by parameters P 0 200 Signal select probe 1 and S 0 0169 Probe conirol parameter See also the functional description Probe feature S 0 0130 Attributes ID number S 0 0130 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable AT Input min max S 0 0131 Probe Value 1 Negative Edge Description The drive uses the negative edge of the input signal from S 0 0401 Probe 1 to store the instantaneous value of the selected signal in this parameter The signal to be measured is determined by parameters P 0 200 Signal select probe 1 and S 0 0169 Probe control parameter See also the functional description Probe feature 44 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function S 0 0131 Attributes ID number S 0 0131 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable AT Input min max S 0 0132 Probe Value 2 Positive Edge Description The drive uses the positive edge of the input signal from S 0 0402
66. Remedy Exchange the drive controller F871 Attributes SS Display F8 71 Error number 871 Diagnostic message number F871 Error class Fatal F878 Velocity Control Loop Error If the difference between velocity command value and feedback value is greater than 10 of the maximum motor velocity while the velocity control loop is active then the feedback velocity value must move in the direction of the command value This error is generated if the feedback value does not come closer to the command value within 20 ms and the effective torque force command value is at the limit P 0 4046 Aktiv peak current Cause Motor cable is connected incorrectly Defective power section of the drive Defective feedback Parameters set incorrectly for velocity controller Parameters for acceleration or brake slope are too steep Effective peak current is too low Remedy For 1 Check motor cable connection For 2 Exchange the drive controller For 3 Exchange the motor O22 ON E e For 4 Check the velocity controller according to the user instructions see the velocity controller chapter For 5 Decrease the maximum acceleration in the control system or decrease P 0 1201 Acceleration slope 1 See also the functional description Determining the velocity controller setting F878 Attributes SS Display F8 79 Error number 878 Diagnostic message number F878 Error class Fatal F879 Crossing Velocity Limit S 0 0092
67. S 0 0006 AT Transmission Starting Time T1 See also the functional description Configuration of the telegram send and receive times DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 3 DIAX03 Drive With Servo Function Oe aL a S 0 0003 Attributes ID number S 0 0003 Editability no Function Parameter Memory fixed Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max sof S 0 0004 Transmit Receive Transition Time TATMT Description This parameter indicates the time required for the slave to switch to reception of the master data telegram after sending the drive telegram The transmission reception transition time is read in communications phase 2 by the master to calculate the time to send the master data telegram T2 S 0 0089 MDT Transmit starting time T2 See also the functional description Configuration of the telegram send and receive times S 0 0004 Attributes ID number S 0 0004 Editability no Function Parameter Memory fixed Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max e S 0 0005 Minimum Feedback Acquisition Time T4min Description This is the minimum time requirement between feedback value acquisition and the end of the master sync
68. S 0 0040 falls below a threshold set by parameter standstill window Bit 1 of the S 0 0013 Class 3 diagnostic is set in the standstill See also the functional description S 0 0182 Manufacturer class 3 diagnostic S 0 0124 Attributes ID number S 0 0124 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0044 Combination check no Decimal places S 0 0044 Cyc transmittable no Input min max 0 S 0 0044 S 0 0127 C1 Communications Phase 3 Transition Check Description The master control system uses this command to tell the slave drive that it has transmitted all of the necessary communications parameters for communications phase 3 After receiving this command the slave checks to see whether error free operation is possible in communication phase 3 from the slave s point of view The command is completed error free if the slave is ready to follow the prompt in communication phase 3 MST and to maintain the structure of the telegram If this is not the case then the command ends with an error The control system erases the command after acknowledgement of a positive command Not until then does the control system move into communications phase 3 in the MST See also the functional description S 0 0127 C1 communications phase 3 transition check S 0 0127 Attributes ID number S 0 0127 Editability P2 Function C
69. S 0 0053 is always used as the measurement if external feedback is connected and position feedback values are selected in signal selection 1 S 0 0051 is always used as the measurement if position feedback values are selected in signal selection Fig 2 30 S 0 0169 Probe control parameter Note Only the bits indicated here are supported by the software See also the functional description Probe feature S 0 0169 Attributes ID number S 0 0169 Editability P234 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max sji S 0 0170 Probing Cycle Procedure Command Description By setting and enabling the command probing cycle procedure the drive reacts to the following e S 0 0405 Probe 1 enable S 0 0406 Probe 2 enable and e 0 0401 Probe 1 S 0 0402 Probe 2 as is programmed in S 0 0169 Probe control parameter The NC can perform multiple measurements while this command is active If the NC no longer wants new measurements then it erases the command prompt Parameter structure Bit 0 Command in drive 0 clear l set Bit 1 Command execution 0 interrupt 1 execute Fig 2 31 S 0 0170 Probing cycle procedure command 54 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO a
70. Servo Function Oe aL a E843 Positive Travel Zone Limit Switch Activated The drive received a command value which resulted in an axis position outside the positive travel range The axis was brought to a standstill by setting the velocity command value to zero A class 1 diagnostic error is not generated The drive will automatically follow command values which lead to the allowable range after they are entered Handle travel range limit exceeded as warning is set in bit 2 of parameter S 0 0090 Travel limit parameter Cause Positive travel range limit switch detected Remedy Enter command values which lead back into the allowable range See also the functional description Travel Zone End Switch Monitoring E843 Attributes SS Display E8 43 Diagnostic message number E843 Warning class Fatal E844 Negative Travel Zone Limit Switch Activated The drive received a command value which resulted in an axis position outside the negative travel range The axis was brought to a standstill by setting the velocity command value to zero A class 1 diagnostic error is not generated The drive will automatically follow command values which lead to the allowable range after they are entered Handle travel range limit exceeded as warning is set in bit 2 of parameter S 0 0090 Travel limit parameter Cause Negative travel range limit switch detected Remedy Enter command values which lead back into the allowable range See also
71. T4 These parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface See also the functional description Configuration of telegram send and receive times C114 Attributes SS Display C1 14 Diagnostic message number C114 Cause The value set for S 0 0089 MDT transmit starting time T2 is incorrect The drive cannot work with this value Remedy Correct S 0 0089 MDT transmit starting time T2 These parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface See also the functional description Configuration of telegram send and receive times C115 Attributes SS Display C1 15 Diagnostic message number C115 C200 Communications Phase 4 Transition Check Meaning Command S 0 0128 C2 Communications phase 4 transition check is activated See also the functional description S 0 0128 C2 transition procedure to communications phase 4 C200 Attributes SS Display C2 00 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 35 DIAX03 Drive With Servo Function re CRRA Diagnostic message number C200 C201 Invalid Parameter gt S 0 0022 Cause Parameters which will be necessary to operate the drive in communications phase 4 are invalid The invalid parameters can be seen in S 0 0022 IDN list of invalid op data for comm ph 3 Remedy The parameters of S 0
72. The position command value monitor works with the parameter S 0 0091 Bipolar Velocity Limit Value S 0 0091 should be set approx 5 10 above the planned maximum velocity of the shaft Drive Internal Interpolation The drive is given a target position in the Drive Internal Interpolation operating mode When the operating mode is activated the diagnostic message is one of the following e A106 Drive Controlled Internal Interpolation Encoder 1 e A107 Drive Controlled Interpolation Encoder 2 e A108 Drive Controlled Interpolation Encoder 1 Lagless e A109 Drive Controlled Interpolation Encoder 2 Lagless The following checks are executed e If axis limit value monitoring is activated Bit 4 of S 0 0 0055 Position Polarity Parameter is set and the measurement system used for the operating mode has been homed the parameter S 0 0258 Target Position is monitored for staying within the axis limit values If these are exceeded the warning E253 Target Position Out of Range is generated The prescribed target position will not be accepted e Ifthe prescribed positioning velocity S 0 0259 Positioning Velocity exceeds the maximum allowable S 0 0091 Bipolar Velocity Limit the warning E249 Positioning Velocity S 0 0259 Greater Than S 0 0091 will be generated The drive will move at the velocity S 0 0091 Bipolar Velocity Limit to the new target position DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Operating Modes 6
73. Torque Force Limit The torque force generating command current Iqcom is derived according to these limits This is the command value for the effective current regulator DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Operating Modes 6 1 DIAX03 Drive With Servo Function Vr CRRA S 0 0107 Current controller integral action time 1 S 0 0106 Current controller proportional amplification 1 P 0 4046 Effective peak S 0 0080 Torque power command e Sf Oo cb m Actual current value Velocity Control Torque power creating Command current IGCOMM FP0002Q1 WME Fig 6 3 Torque Force Controller A velocity value is commanded to the drive in the Velocity Control operating mode The diagnostic message reads A101 Drive in Velocity Mode when the operating mode is active The command values are specified in the parameters S 0 0036 Velocity Command Value and S 0 0037 Additive Velocity Command Value Monitors specific to this operating mode are e The parameter S 0 0036 Velocity Command Value is limited to the value of the parameter S 0 0091 Bipolar Velocity Limit Value This generates the warning E263 S 0 0036 Velocity Command Value Greater Than Bipolar Limit FP0003Q1 WMF Velocity control Current control Velocity command Torque power value command value Fig 6 5 Velocity control block diagram Velocity Controller The effective velocity command value is d
74. Torque feedback value 0 positive polarity 1 negative polarity Fig 2 16 S 0 0085 Torque force polarity parameter Note If bit O of the control system is changed then bits 1 2 of the drive will also be set to the value in bit 0 See also the functional description Command polarities and actual value polarities S 0 0085 Attributes ID number S 0 0085 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check no Decimal places Cyc transmittable no Input min max e S 0 0086 Torque Force Data Scaling Type Description Currently only percentage scaling for torque force data is supported The following applies 100 S 0 0111 Motor current at standstill See also the functional description Adjustable scaling for position velocity and acceleration data DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 29 DIAX03 Drive With Servo Function Oe aL a S 0 0086 Attributes ID number S 0 0086 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max sof S 0 0088 Receive to Receive Recovery Time TMTSG Description This parameter defines the time needed for the slave to switch to readiness for
75. Type for Motors with Feedback Memory sses 5 3 Setting of the Motor Type Through P 0 4014 Motor Type ccceceecseeeeseeseeeeeseeeeeeaeeeneeeeeeeees 5 4 5 3 Asynchronous Motors eccuni ENEE a a en ded AN heed ENEE ENNEN eee ede 5 4 Basics for the Asynchronous Motor 5 5 Torque Evaluation EE 5 5 User Defined Settings for the Asynchronous Motor 5 6 5 4 Motor Holding CN 5 8 Connection of the Motor Holding Brake ssssssesseessesssessiessissrissrintnssttnsttntttnunnntnnnnnnnnnnnnnnnnnnnnt 5 8 Setting the Motor Brake Type 5 9 Setting the Brake Control Delai 5 9 Setting the Motor Brake Current ccccecceeceeeeeeeeeeaeeeeaeeeeeeeeceaeeeeaaeseeeeesaeeesaaeeseaeeseeeeesiaeeesaeees 5 9 6 Operating Modes 6 1 6 1 Operating Modes Definition 0 eee ec eee eee cnee cree eee eae cae ceaeceaeseaesseeeseeesaeesaaesaesaeseaesesaeesneesneeeaaes 6 1 6 2 Basic Operating Mode 6 1 TLorque Force Er te EE 6 1 Vleit 6 2 Position CONTON avarine f eeeeee tes id Seve tient age eens Peed ae ached eerie E geet Gh ieee 6 4 Drive Internal Interpolation eee eee ceceeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeeeeaaeeeeesaaeeeeeeaaeeeeeeaaeeeeesaeeeeseaeeeeneaaes 6 7 6 3 Setting the Operating Mode Parameters ssessesseessinesinesrrsstrssrrssirssrrsstnssrnnstnnstnnttnnstnnntnnntnnntnnnnernnt 6 8 6 4 Determining the Active Operating Mode ccccccceeeceeeeeceeeeeeeeeeeeaeeeeaaeseeeesaeeesaaeeseneesneeeseeeesiaaeeeeaes 6 9 7 Ba
76. Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0044 Combination check no Decimal places S 0 0044 Cyc transmittable MDT Input min max S 0 0044 S 0 0044 S 0 0260 Positioning Acceleration Description Positioning acceleration is used in the drive controlled interpolation operating mode to accelerate to S 0 0259 Positioning velocity See also the functional description Generator function Drive controlled interpolation S 0 0260 Attributes ID number S 0 0260 Editability P234 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0160 Combination check no Decimal places S 0 0160 Cyc transmittable MDT Input min max S 0 0160 S 0 0160 S 0 0262 Command Basic Load Description By setting and enabling this command the default parameters in the motor for current velocity and position controller will be loaded and activated The default parameters are not optimized for each of application Their purpose is rather to ensure problem free interplay between the amplifier and the motor Warning By performing this command the previously optimized parameters will in some cases be overwritten See also the functional description Basic load 60 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO an DIAX03 Drive With Servo Function S 0 0262 Attributes ID
77. Velocity command value switched to zero SERCOS Interface F4xx In accordance with best possible deceleration Non fatal F2xx In accordance with best possible deceleration Fig 3 3 Error class divisions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 General Instructions for Installation 3 3 DIAX03 Drive With Servo Function Oe aL a Errors must be externally cleared Warnings Warnings do not cause automatic shutdowns The warning class is evident from the diagnostic message Drive s Error Response If an error state is detected in the drive the drive s error response will automatically be executed as long as the drive is in control The H1 display flashes Fx xx The drive s reaction to SERCOS interface and non fatal errors can be parameterized with P 0 0119 Deceleration as Best as Possible The drive switches to torque free operation at the end of each error reaction Clearing Errors Errors are not automatically cleared they are cleared externally by Initiating the command S 0 0099 Reset Class 1 Diagnostics or Pressing the S1 key If the error state is still present then the error will be immediately detected again A positive edge bit on the controller enable signal is necessary in order to turn the drive on Clearing Errors When Controller Enable Is Set If an error is discovered while operating with set controller enable the drive will execute an error response The drive automatically deactivates itself at
78. a linear measurement system and the bit to 1 if the measurement system has a distance coded homing mark For measurement systems with their own data memory this setting is executed automatically See also Setting the Measurement Systems Setting the Homing Parameter The basic path depends on the setting of the parameter S 0 0147 Homing Parameter In that paramter you can set the following e Homing direction positive negative e Homing with motor external encoder e Evaluation of the homing switch yes no e Evaluation of the reference mark yes no 7 50 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function The structure of the parameter is as follows S 0 0147 Homing Parameter mememe PSR Bit0 Beginning direction 0 positive clockwise with view of motor shaft 1 negative counter clockwise with view of motor shaft Bit 3 Feedback selection 0 homing with motor feedback 1 homing with external feedback Bit 5 Home switch analysis 0 home switch is analyzed 1 home switch is not analyzed L Bit6 Reference mark analysis 0 Reference mark is analyzed 1 Reference mark is not analyzed Fig 7 31 Parameter structure S 0 0147 homing parameter The procedure also depends on the type and configuration of the homing marks for the homing encoder For distance coded homing marks Type 4 no homing switch evaluation will be performed e
79. active magnetization current The following applies Effective magnetization current magnetization voltage x scaling factor pre magnetizing Fig 5 1 Calculation of the Effective Magnetization Current If the pre magnetizing scaling factor is at 100 the motor is completely magnetized There is a linear connection between set current and torque according to the torque constant P 0 0051 The torque builds up without delay The drive has perfect servo properties 5 6 Motor Configuration DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function The disadvantages are the high iron loss and the higher noise level in idle and in work mode especially at 4kHz switching frequency when the full magnetization current is flowing For main spindle applications it has proven successful to reduce the pre magnetizing scaling factor to 50 Through this procedure the motor stays cooler and is not as noisy while peak power is maintained The extended start control time only for jumps that exceed half the peak torque and the missing linearity of torque and voltage do not distort the main spindle drives The qualitative connection between the pre magnetizing scaling factor and drive behavior is displayed in the following graphic 100 smf 100 smf 50 smf Fig 5 6 Connection of pre magnetizing scaling factor and drive behavior The
80. address of the SERCOS interface S 0 0096 Attributes ID number S 0 0096 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max saja S 0 0097 Mask Class 2 Diagnostic Description This parameter can be used to mask pre warnings in S 0 0012 Class 2 diagnostic in the drive status according to their effect on the change bit When changes are made to the masked early warnings the Class 2 diagnostic change bit will be set in the drive status The mask has no effect on the operating data of the Class 2 diagnostic See also the functional description Change bits in class 2 and class 3 diagnostics in the drive status word S 0 0097 Attributes ID number S 0 0097 Editability P234 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check yes Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max zf DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 33 DIAX03 Drive With Servo Function Oe ae a S 0 0098 Mask Class 3 Diagnostic Description This parameter can be used to mask pre warnings in S 0 0013 Class 3 diagnostic in the drive status according to their effect on the change bit When changes are made to the masked early warnings the Class 3 diagn
81. allocated clearly through the structure of the mechanical system for the following formula then the correction factor can be derived mathematically The following applies a a x lx TO a P 0 0407 Temperature Factor Position Independent win o Longitudinal expansion coefficient of the material Ix TO Material length to be compensated by the reference temperature Fig 8 52 Equation to determine the position independent temperature correction factor mathematically 8 30 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 R Ee Ed an Technical Measurement Determination DIAX03 Drive With Servo Function If a mathematical determination of the factor cannot be made then the factor will be determined from a measurement array The error of the correction object will be measured at various temperatures The measurement array thus determined offers a correction mean that can be optimized for the determination of a correction factor through a mean straight line Error y Temperature x Reference temperature x0 Abb 8 53 Graphic of the mean straight line determined with technical measurement for the determination of the position independent temperature factor The following applies for the calculation of the correction factor i nx xxy xx y nx SA Ge P 0 0407 Temperature Factor Position Independent n Number of measured values D x positi
82. assigned signal bit 0 will be controlled by the real time bit 2 component of the master control word See also the functional description Real time control and status bits S 0 0303 Attributes ID number S 0 0303 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 64 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 R Ee EE PA DIAX03 Drive With Servo Function S 0 0305 Allocation of Real Time Status Bit 1 S 0 0307 Allocation of Description In order to assign a signal to the real time status bit 1 the ID number of the signal is written to the operating data of the assignment for the real time status bit 1 If an assignment of this type is made then the assigned signal bit 0 thereafter appears in the real time status bit 1 component of the drive status word If the programmed IDN is not available then the drive responds with the service channel error message IDN is not available See also the functional description Real time control and status bits S 0 0305 Attributes ID number S 0 0305 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cy
83. axis has a brake or is self braking See also the functional description Absolute encoder monitoring P 0 0097 Attributes ID number P 0 0097 Editability P234 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max 0 S 0 0076 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 97 DIAX03 Drive With Servo Function Oe aL a P 0 0098 Maximum Model Deviation Description The maximum model deviation is the maximum deviation between the real position feedback value and the model position feedback value calculated by the drive This parameter can be read out by the user to help set parameters for S 0 0159 Monitoring window Two cases must be distinguished for determining the model position feedback value 1 Position control with following lag error In this operating mode the controlled system is simulated by a model The maximum deviation between the calculated position feedback module value and the real position feedback value is stored in parameter P 0 0098 The control system model represents a delayed component of the first order which is dependent only on the Kv factor of the position controller 2 Position control without following lag error In this operating mode the position command value is compared to
84. be recorded and the function will end Parameters P 0 0031 Timease and P 0 0032 Memory Size can define the recording duration and the time intervals for the probe values The probe values are stored in the P 0 0021 and P 0 0022 Probe Value List Parameters and can be read by the control DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Optional Drive Features 8 9 DIAX03 Drive With Servo Function Oe Ga abe al Parameterizing the Oscilloscope Feature Oscilloscope feature with defined recording signals Preset signals and output variables can be selected through the P 0 0023 and P 0 0024 Signal Selection Parameters The selection can be made by entering the signal number hex format in the corresponding signal selection parameter The selected signal number defines the unit of data stored in the probe list The following signals are predefined with numbers Number Signal selection Unit of the probe value list 0x00 Channel not activated 0x01 Actual feedback value dependent on position scaling dependent on operating mode S 0 0051 or S 0 0053 0x02 Velocity feedback value velocity scaling dependent Parameter S 0 0040 0x03 Velocity control velocity scaling dependent deviation P 0 0347 0x04 Lag distance dependent on position scaling Parameter S 0 0189 0x05 Torque Force command Percent value Parameter S 0 0080 0x06 not yet occupied Abb 8 14 Selection of predefined signals The parameter P 0 0149 S
85. before allowing a transition to phase 3 The timing parameter for SERCOS communication in phase 3 and 4 are checked for proper values The command errors C108 Time Slot Parameter gt SERCOS Cycle Time C109 Position of Data Record in MDT even S 0 0009 C110 Length of MDT odd S 0 0010 C111 S 0 0009 Record Length 1 gt S 0 0010 C112 TNcyc S 0 0001 or TScyc S 0 0002 Error C113 Relation TNcyc S 0 0001 to TScyc S 0 0002 Error C114 T4 gt TScyc S 0 0002 T4min S 0 0005 C115 T2 too small may occur S 0 0128 C2 Communication Phase 4 Transition Check The following checks are run when this command is activated e Parameter P 0 4014 Motor Type is checked for a proper value The command error C204 Motor Type P 0 4014 Incorrect occurs if 1 MDD or 5 MKD is entered in this parameter but the corresponding motor type is not found in the motor feedback data memory e The parameters are checked for proper values required for switching in phase 4 The command error C201 Invalid Parameter gt S 0 0022 occurs if one or more of the required parameters are invalid The SERCOS ID numbers of the invalid parameters are listed in S 0 0022 IDN List of Invalid Op Data for Comm Ph 3 and must be corrected e Parameters P 0 0513 Feedback Type and S 0 0116 Resolution of Rotational Feedback 1 Motor Encoder are checked for proper values in the feedback data memory If the data is invalid or cannot be read one of the fo
86. by command BR value filter P 0 1222 Delay by slope s P 0 1201 Rounding by command value filter P O 1222 Delay without Maximum braking time slope amp filter gt t An 1 1 1 gt DGS5000D2 ds4 Fig 7 19 Time sequence of velocity with activated filter You must ensure that the P 0 0126 Max Brake Time is larger than the time used by the drive to decelerate from its max velocity to v 0 Example vmax 1000 R min Comparison 100rad s tof 1000RPM to 0 RPM 1000 60 R Sec 2 Pi rad R 1 05 Sec The max brake time selected in the previous example was 1 5 Sec The time sequence of the control for the motor brake if available and the final release equals the velocity command value reset See also Velocity Command Value Reset on page 7 34 Power Supply Shutdown in Error Situation For compact drive controllers the shutdown of the power supply in an error situation is not recommended Modular devices can transmit an error signal to the power supply through a cable on the control voltage bus If such a message is transmitted to the supply module the DC bus voltage will be shut down All other drive controllers connected to the supply module can detect this condition and proceed to P 0 0119 Best Possible Deceleration Signalling of a drive error to the supply module can be enabled in parameter P 0 0118 Power Switch Off in Error Situation The following applies
87. by the parameter in P 0 1201 Ramp pitch It is also passes through the deep pass filter specified by P 0 1222 Command value smoothing time constant See also the functional description Velocity command value zero switch with filter and pitch P 0 1222 Attributes ID number P 0 1222 Editability no Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit msec Combination check no Decimal places 0 Cyc transmittable no Input min max 0 MaxTSmoothing P 0 4000 Current Zero Trim Phase U Description This parameter serves to display the determined result of the zero trim procedure for the current feedback sensor of phase U P 0 4000 Attributes ID number P 0 4000 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_MV Extreme value check no Unit Combination check no Decimal places 2 Cyc transmittable no Input min max 0 10000 P 0 4001 Current Zero Trim Phase V Description This parameter serves to display the determined result of the zero trim procedure for the current feedback sensor of phase V P 0 4001 Attributes ID number P 0 4001 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_MV Extreme value check no Unit K Combination check no Decimal places 2 Cyc transmittable no Input min max 0 10000 DOK DIAX03 SSE 01VRS
88. bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0160 Combination check no Decimal places S 0 0160 Cyc transmittable MDT Input min max 0 S 0 0160 46 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EE an DIAX03 Drive With Servo Function S 0 0140 Controller Type S 0 0141 Motor Type Description The manufacturer s controller type can be found in the operating data of the controller type Example DDS2 2 W015 B S 0 0140 Attributes ID number S 0 0140 Editability no Function Parameter Memory Amplf Data length 1 byte variable Validity check Phase 3 Format ASCII Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max Description The name and the motor type of the manufacturer are found in the operating data of the motor type For MDD and MKD motors this value is stored in the motor feedback and is loaded from there into the controller RAM when the drive is started for the first time Example MDD 065A N040 N2L 095GBO S 0 0141 Attributes ID number S 0 0141 Editability P23 Function Parameter Memory Param E2prom Data length 1 byte variable Validity check Phase 3 Format ASCII Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0142 Application Type Description A descriptive name for the d
89. check no Decimal places 0 Cyc transmittable no Input min max ral S 0 0017 IDN List of All Operation Data Description DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 11 DIAX03 Drive With Servo Function Oe aL va The ID numbers for all operating data available in the drive are accessible in this IDN list See also the functional description Parameters S 0 0017 Attributes ID number S 0 0017 Editability no Function Parameter Memory fixed Data length 2 byte variable Validity check no Format IDN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max af S 0 0021 IDN List of Invalid Op Data for Comm Ph 2 Description The drive checks whether all communications parameters are complete and correct before executing a delayed phase switch from 2 to S 0 0127 Communications phase 3 with the control system driven transition check command If the drive identifies one or more IDNs as invalid it will write the operating data that is still needed or is invalid to this ID No list This will be displayed to the drive by command error diagnostic message C101 Communications parameter incomplete See also the functional description S 0 0127 C1 communications phase 3 transition check S 0 0021 Attributes ID number S 0 0021 Editability no Function Parameter Memory no Data length 2 byte variable Validity check no Format
90. controller The drive is ready to be turned on See also the functional description Parameter mode operation mode A013 Attributes SS Display bb Diagnostic message number A013 A100 Drive in Torque Mode The drive is in the torque control operating mode It follows the torque command value sequence which was set by the control system See also the functional description Torque force control A100 Attributes SS Display AF Diagnostic message number A100 A101 Drive in Velocity Mode The drive is in the velocity control operating mode It follows the velocity command value sequence set by the control system The RPM control loop is closed in the drive See also the functional description Velocity control A101 Attributes SS Display AF Diagnostic message number A101 50 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function A102 Position Mode Encoder 1 The drive is in position control mode The position loop is closed in the drive by a position encoder The control system only sets the position command value sequence the drive follows the command value with following lag error Encoder 1 indicates that the position encoder is installed on the motor shaft indirect measurement of the axis position See also the functional description Position control A102 Attributes SS Display AF Diagnostic message number A102 A103 Pos
91. description Position command value monitoring S 0 0001 Attributes ID number S 0 0001 Editability P2 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 2 Format DEC_OV Extreme value check yes Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max 500 65000 S 0 0002 SERCOS Cycle Time Tscyc Description The interface cycle time indicates the time intervals for cyclical data transfer The interface cycle times are set to 500 us 1ms 2ms to 65 ms in increments of 1 ms The SERCOS cycle time must be transmitted from master to slave in communications phase 2 and from communications phase 3 on it must be activated in both See also the functional description Configuration of the telegram send and receive times S 0 0002 Attributes ID number S 0 0002 Editability P2 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 2 Format DEC_OV Extreme value check yes Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max 500 65000 S 0 0003 Minimum AT Transmit Starting Time T1min Description The slave uses this parameter value to indicates the minimum time requirement between the reception of the master synchronization telegram and transmission of the drive telegram The time T1min is read in communications phase 2 by the master to calculate the time to send the drive telegram T1
92. e 09 96 DIAX03 Drive With Servo Function Safety Instructions for Electrical Drives General These instructions must be read and understood before the equipment is used to minimize the risk of personal injury and or property damage Follow these safety instructions at all times Do not attempt to install use or service this equipment without first reading all documentation provided with the product Please read and understand these safety instructions and all user documentation for the equipment prior to working with the equipment at any time You must contact your local Indramat representative if you cannot locate the user documentation for your equipment A listing of Indramat offices is supplied in the back of this manual Request that your representative send this documentation immediately to the person or persons responsible for the safe operation of this equipment If the product is resold rented and or otherwise transferred or passed on to others these safety instructions must accompany it Improper use of this equipment failure to follow the attached safety instructions or tampering with the product including disabling of safety device may result in personal injury severe electrical shock WARNING death or property damage INDRAMAT GmbH is not liable for damages resulting from failure to observe the warnings given in these instructions e Operating maintenance and safety instruction in the appropriate langu
93. edge of the controller enable signal If the error condition is still present that is if the limit switch is still activated or if the axis limits are still exceeded only command values that lead back into the allowable range will be accepted Monitoring the command values is dependent on the active operating mode 7 28 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function The following applies Operating Mode Command Value Check Torque control polarity of S 0 0080 Torque Force Command Value All operating modes with drive polarity of the internal velocity internal velocity control command value all operating modes with drive polarity of the velocity created by the internal position control given position command values Fig 7 7 Monitoring the command values in error conditions If command values are entered that would lead out of the allowable travel range the travel range error will be generated again Exceeding the Travel Range as a Warning If a 1 is entered in bit 2 of P 0 0090 Travel Limit Switch Parameter then exceeding the travel range as a warning is handled with setting the velocity command value to zero The drive does not turn off its internal controller enable If the error condition is still present that is if the limit switch is still activated or if the axis limits are still exceeded only command values that le
94. eves davece sieves heehee tase tigen ARa AAE S GARANTAS 51 S 0 0159 Monitoring Window sssssesseesissirssirssirssirssirsstisstisstnsstnsstnnstnattnnttenttnnntnnntnnntnnntnn nenn tnt 51 S 0 0160 Acceleration Data Scaling Type ecseceeeeceeeeeeeeeeeeeeeceeeeeceaeeesaaeseeeeeseaeeesaeeeeaeeseeees 51 S 0 0161 Acceleration Data Scaling Factor ccccccccceeseeceeceeeeeeeeceaeeeeeaeeeeeeeseeeesaeeeeaaeseeeeeseaeess 52 S 0 0162 Acceleration Data Scaling Exponent ssseesseesssesersrrssrrssrnestnsstnnrnssrnssrnnsrnssrnnsrnnnnns 53 S 0 0169 Probe Control Parameter 53 S 0 0170 Probing Cycle Procedure Commande 54 S 0 01 7 7 Absolute Distance Tione ana a i a e iieii 55 5 0 0178 Absolute Distanc 2 eas i a EE E e cnstddadavi ended dE ta dee aaa EE ARS 55 S 0 0182 Manufacturer Class 3 Diagnositce trte ttnttte ttnn nttn ttn ntnnnn netune nnna 55 S 0 0185 Length of Configurable Data Record in the AT ccccccccsseceeeesneeecesseeeeeesaeeeeesnaeeeeeeaas 56 S 0 0186 Length of the Configurable Data Record in the MDT cccccssccccecsteeeeesteeeeesseeeeeeaes 57 S 0 0187 List of Configurable Data in the AT ccccccccccsseceesesneceeecceeesecaeeesecaeeeeseaeeeenenaeeeeeeaas 57 S 0 0188 List of Configurable Data in the MT 57 S 0 0189 Following Error AANEREN 58 S 0 0192 IDN List of Backup Operation Data 58 9 0 0193 Positioning BEE 58 S 0 0201 Motor Warning Temperature sseeseesseeeieereenesir
95. for Telegram Interrupts 4 8 Error Classes 3 3 Error Conditions of the Load Default Settings Procedure 7 40 Error messages during drive controlled homing 7 59 when reading and writing the operating data 3 2 when setting absolute dimension 7 20 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 TEI RO Por Error Number 3 8 Error Reaction as torque disable 7 35 Drive Error Reaction 3 4 NC Response in Error Situation 7 37 Power Switch Off 7 36 SERCOS Interface Error 4 8 to velocity command value deceleration to zero 7 34 Velocity command value set to zero with filter ramp slope 7 36 Errors Error Classes 3 3 E Stop Activation and Polarity 7 37 Connection to the DSS 2 1 7 38 Exceeding the Travel Range Warning 7 29 Exceeding the Travel Range as a Warning 7 29 Exceeding the Travel Range as an Error 7 28 Expanded Oscilloscope Recording Function 8 10 External Encoder Characteristics 7 16 Encoder Interface 7 14 Limitations 7 11 Parameterization 7 13 Resolution 7 14 External Encoder Resolution 7 14 F Feed Constant 7 7 Fiber Optics Connection to the SERCOS Interface 4 5 Filter Time Base Limiting the Velocity Feedback Value 6 3 for write access 3 2 Frictional Torque Compensation 7 45 7 47 G Gear Type Encoder Parameterizing the Encoder 7 10 General Operating Characteristics of Position Control Loop Monitoring 7 44 Generator Feature Position Command Value Interpolator 6 4 Generator Function
96. force limitation P 0 0109 Attributes ID number P 0 0109 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0086 Combination check no Decimal places S 0 0086 Cyc transmittable no Input min max 0 0X8000 P 0 0110 Parallel I O Output 2 Description The control system can use this parameter to address the outputs of the DEA 4 1 I O card See also the functional description Digital input output P 0 0110 Attributes ID number P 0 0110 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable MDT Input min max P 0 0111 Parallel UO Input 2 Description The input signals of DEA 5 1 are produced in this parameter See also the functional description Digital input output P 0 0111 Attributes ID number P 0 0111 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable AT Input min max P 0 0112 Parallel I O Output 3 Description The control system can use this parameter to address the outputs of the DEA 6 1 I O card See also the functional description Digital input output DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Su
97. having to run operating cycles during this period of time the drive controller load can be preset with 80 This can happen by writing an arbitrary value to the parameter P 0 0141 Thermal Drive Load A typical operating cycle must be simultaneously run for a short while The thermal load should be observed while this is being done and falling tendencies should be shown Otherwise the drive is incorrectly set up for the application To check the thermal load for further increase above 80 the e Overload warning by means of P 0 0127 Overload Warning e and or the output of the thermal load at the analog output may be used The following illustration shows the typical process of the thermal load as it can be observed by means of the analog output During the execution of an operating cycle the load is preset with 80 by writing to P 0 0141 Tendency of the thermal overload Thermal P 0 0141 to fall during a typical Overload operation cycle 100 g Ser aaa E EE aaa eer BOY Jee eran lc shat kN a cc acta i ag EE Threshold for overload pre warning P 0 0127 Writing an arbitrary value to P 0 0141 thereby setting the thermal overload at 80 Fig 7 4 Checking the Thermal Load The maximum allowable torque can be limited by the user with the parameters e 0 0092 Bipolar Torque Force Limit Value e P 0 0109 Torque Force Peak Limit These parameters determine what percentage of S 0 0111 Motor Current at
98. in the Drive Status Word Change Bit Class 3 Diagnostics This change bit is cleared by reading S 0 0013 Class 3 Diagnostics Warnings may be masked in regards to their effect on the change bit with the parameter S 0 0098 Mask Class 3 Diagnostic The following bits are supported in Class 3 Diagnostics S 0 0013 Class 3 Diagnostics BEBE EE SEB Bee Bit1 Actual speed lt Standstill window S 0 0124 Bit 4 L Bit 6 Md gt Mdiimir S 0 0092 In position Following error S 0 0189 lt Positioning window S 0 0057 Bit 12 Target position reached Internal position command value Target position S 0 0258 ee Fig 3 11 Composition of S 0 0013 Class 3 Diagnostics Class 2 and 3 Diagnostic Change Bits in the Drive Status Word If the condition of a bit in S 0 0012 Class 2 Diagnostics or S 0 0013 Class 3 Diagnostics changes the change bit class 2 or 3 diagnostics is set in the drive status word This change bit is cleared by reading both parameters Setting the change bit with bit toggling in S 0 0012 or 3 10 General Instructions for Installation DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function S 0 0013 can be masked with the help of the parameter S 0 0097 Mask Class 2 Diagnostics or S 0 0098 Mask Class 3 Diagnostics BEE SESE G he BBE Be S 0 0012 Class 2 Diagnostics SI ITUITIIITITIIITTITITTIT S 0 0012 at last read access LITT TITITTTIT
99. interrupted 5 e command properly executed 3 DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 General Instructions for Installation 3 5 DIAX03 Drive With Servo Function Oe aL a The Change Bit Command in the Drive Status Word helps the control recognize a change in the command acknowledgment by the drive The bit is set by the drive if the command acknowledgment changes from the condition in process 7 to the condition error command execution not possible OxF or command properly executed 3 The bit is cleared if the master clears the input 0 The control system will recognize if the drive sets the change bit It can read the corresponding data status of the command or the command itself which was set sometime but has not been cleared The control system will recognize from this if the command ended with or without an error in the drive Afterwards this command should be cleared by the control Date of command 4 aes of command 2 parameter R Command finished handicap KEE GE Handicap Data status of the 4 Ae ae command parameter Ge EM acknowledgment ML 3 Sbit command A z change in drive t lt 8msec status message Fig 3 5 Input acknowledgment and KA bit during proper execution Command finished Handicap ae Date of command 4 SE command parameter h handicap Ech Data status of the A command parameter acknowedgment ait command t lt 8msec
100. is present An overview of all diagnostic messages can be found in the diagnostic description in Supplement B cH Error t of Warning n Command 2 error E Command active Ready to operate yes s No Operation lock 5 active i Ready to operate EELER CIE BS Communication phase Drive ready Drive stop Drive is following operating mode HERR Fig 3 7 Priority dependent diagnostic formation in the H1 display DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 General Instructions for Installation 3 7 DIAX03 Drive With Servo Function Oe ale ay Diagnostic Message Composition Each operating condition is designated with a diagnostic message which consists of a e diagnostic message number and a e diagnostic text For example the diagnostic message for the non fatal error Excessive Control Deviation is displayed as follows F228 Excessive Control Deviation a Diagnostic message Diagnostic message number Fig 3 8 Diagnostic message composition with a diagnostic message number and text The H1 display alternates F2 and 28 The diagnostic message number appears in hexadecimal format in the parameter S 0 0390 Diagnostic Message Number In this example this would be 0x F228 The diagnostic message number and the diagnostic text are contained as a string F228 Excessive Control Deviation in the parameter S 0 0095 Diagnostic Message H1 Display T
101. it is possible that the zero switch edge will be detected after the homing mark has already approached This leads to an evaluation of the following homing mark first The selection of homing marks becomes unclear Ys Reference mark ast selected by zero 1 motor revolution 7 wich Inaccuracy of the zero switch determination _ _ ee Homing beginning direction Fig 7 41 Inexact selection of homing marks at small distances between zero switch edge and homing mark For this purpose the distance between the zero switch edge and the homing mark is monitored If the distance between the zero switch edge and the homing mark becomes smaller then a set value the command error C602 Distance Between Zero Switch and Homing Mark Erroneous will be generated The Critical Range for the distance is 0 25 Distance between homing marks Optimal distance Critical distance 0 5 Distance of 0 25 Distance of reference marks reference marks Distance of reference marks Homing beginning direction Fig 7 42 Critical and optimal distance between zero switch and homing mark The optimal distance between the zero switch edge and the homing mark is 0 5 Distance between homing marks To monitor the distance between the zero switch and the homing mark the optimal distance is entered in P 0 0153 Optimal Distance Home Switch Reference Mark 7 56 Basic Drive Functions DOK DIAX
102. min max 1 0x3FFFFFFF 82 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EE an DIAX03 Drive With Servo Function P 0 0024 Signal Select Channel 2 Description Parameter P 0 0024 determines the signal that will be recorded The following fixed defined signals are available Unit of the Signal selection scope data probe value list Channel not activated Actual feedback value Dependent on position dependent on operating scaling mode S 0 0051 or S 0 0053 0 x 02 Velocity value Dependent on parameter S 0 0040 velocity scaling 0 x 03 Velocity control Dependent on deviation S 0 0347 velocity scaling 0 x 04 Following error Dependent on position parameter S 0 0189 scaling 0x05 Torque force command value Percent parameter S 0 0080 0 x 06 Not in use Fig 3 4 P 0 0024 Signal numbers Expanded oscilloscope recording feature In addition to fixed defined signal selection it is also possible to record any memory addresses of the drive To do this bit 12 1 must be set Bit 13 defines the data length of the memory signal in question Expanded oscilloscope on function Bit 13 Data width of measurements 0 16 bits 0 32 bits Fig 3 5 P 0 0023 and P 0 0024 Oscilloscope function signal selection See also the functional description Oscilloscope function P 0 0024 Attributes ID number P 0 0024 Editability P234 Funct
103. not checked to see if they are correct See also the functional description Parameter mode operation mode A002 Attributes SS Display P2 Diagnostic message number A002 A003 Communications Phase 3 A010 Halt Drive The communication connection is divided into four communication phases Phases 0 and 1 are used to recognize the participants Phase 2 is used to provide the time and data protocols for communications phases 3 and 4 Initialization is performed in ascending order of the sequence The defaults of the communications phase are set by the control system When the switch to communications phase 4 takes place initialization is completed and input power is enabled If the delayed phase switch is interrupted the status display in the communications phase which has already been reached freezes If diagnostic message A002 Communication phase 3 is active the drive is in phase 3 Before the control system transfers to communications phase 4 operating mode command S 0 0128 C2 communication phase 4 transition check must be started If the command is acknowledged negatively transfer to communications phase 4 is not possible The problems that were diagnosed by the drive must be solved first Note The parameters are not checked to see if they are correct See also the functional description Parameter mode operation mode A003 Attributes SS Display P3 Diagnostic message number A003 The feature Halt dri
104. number 0x F228 would produce the error number 228 3 8 General Instructions for Installation DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR CX EE ai Collection of Status Toggling a bit is signaled by a change bit in the drive status word DIAX03 Drive With Servo Function The class diagnostics parameters provide a collection of status and diagnostic information for displaying operating conditions These parameters are e 0 0011 Class 1 Diagnostics e 0 0012 Class 2 Diagnostics e 0 0013 Class 3 Diagnostics e 0 0182 Manufacturer Class 3 Diagnostics S 0 0011 Class 1 Diagnostics Bits for the various errors are contained in parameter S 0 0011 Class 1 Diagnostics A bit is set in this parameter in the case of a drive error The bit Drive Interlock Error in Class 1 Diagnostics is set simultaneously in the drive status word All bits in Class 1 Diagnostics can be cleared by executing the command S 0 0099 Reset Class 1 Diagnostics see Clearing Errors on page 3 4 The following bits are supported in Class 1 Diagnostics S 0 0011 Condition Class 1 OTT Bit 1 Excess amplifier temperature switching off see also S 0 0114 Bit 2 Excess motor temperature switching off see also S 0 0203 Bit 4 Control voltage error Bit 5 Feedback error L Bit9 Under running voltage error L Bit 11 Excessive control deviation L Bit 12 Communication error L Bit 13 Position li
105. page 7 40 Run the Load Default Settings feature as a command With the parameter S 0 0262 C700 Load Default you can run the feature as a command This might be useful if you want to reset manually changed control parameters back to the default values If controller enable is active you cannot run this command Error Conditions of the Load Default Settings Procedure If the feature started by running the command S 0 0262 C700 Bootload see also basic load or load default is not successfully processed the reason for the error is displayed on either the 7 Segment Display or through the diagnostic parameter S 0 0095 The following reasons could cause an error during load default basic load SS Display Diagnostic Message C701 Bootload also basic load or load default impossible with active controller Cause At the start of the command the controller enable is set which is not enable permissible C702 No preset default Bootload basic load or parameter load default is impossible for the motor type selected only for MDD and MKD C703 Default parameter invalid Connection of drive to motor encoder data memory is interrupted or feedback is defective C704 Default parameter The existing default value defective cannot be processed since for example the extreme value limit was exceeded through the default value Fig 7 24 Possible Errors during Bootload Basic Load or Load Default Command If an error oc
106. parameters P 0 0147 Signal Address Expanded Signal Selection K1 and P 0 00148 Signal Address Expanded Signal Selection K2 During recording the contents of the selected addresses are saved in the probe value lists Note If a 16 bit data capacity is selected then the signal data will be stored as sign extended 32 bit values Oscilloscope Feature Trigger Source With the P 0 0025 Trigger Source parameter you can choose between two trigger types External trigger P O 0025 0x01 The trigger is activated by the control through bit O in the Trigger Control Word This makes it possible to transmit a trigger event to several drives This parameterization supports parameter P 0 0035 which is necessary to visualize the recording data Internal trigger P 0 0025 0x02 Triggering occurs through the monitoring of the parameterized trigger signal If the selected edge is recognized then the trigger will be released The Delay from Trigger to Start parameter will be set to zero Selection of Trigger Edges Various trigger edges can be selected with the parameter P 0 0030 Trigger Edge The following options are available Number Trigger Edge Flank 0x01 Triggering on the positive edge of the trigger signal 0x02 Triggering on the negative edge of the trigger signal Triggering on both the positive and negative edge of the trigger signal 0x04 Triggering when the trigger signal equals the trigger level Fi
107. permissible temperature The drive controller follows the command value input for a period of 30 seconds This makes it possible to bring the axis to a standstill with the control system while keeping true to the process for example close the operation leave the collision area etc 24 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function After 30 seconds the response set in parameter P 0 0119 Deceleration as best as possible will be performed by the drive controller Cause 1 Failure of the drive s internal blower 2 Failure of the control cabinet s climate control 3 Incorrect control cabinet dimensioning in regards to heat dissipation Remedy For 1 If the blower fails exchange the drive controller For 2 Install climatization feature in the cabinet For 3 Check the dimensions of the control cabinet E250 Attributes SS Display E2 50 Diagnostic message number E250 Warning class Non fatal E251 Motor Overtemperature Warning The motor is too hot The motor temperature which is displayed in parameter S 0 0383 Motor temperature has exceeded the value in S 0 0201 Motor warning temperature Warning E251 is generated If the temperature increases above the value in S 0 0204 Motor shutdown temperature error F219 Motor overtemperature shutdown will be generated The values for parameters S 0 0201 Motor warning temperature and S 0 0204
108. position 499 support point distance The positions from which the correction support points are taken can be defined with the parameters P 0 0410 Pos corr Support point distance for precision corr and P 0 0408 Pos corr Precision corr start pos Precision Correction The correction values are interpolated linearly between the correction support points If the axis is homed and if the parameters of the precision axis error correction are within permissible limits then the actual feedback value of the homed encoder dependent on S 0 0147 Homing Parameter Bit 3 will be corrected with the interpolated correction value see Fehler Verweisquelle konnte nicht gefunden werden The feature can be deactivated by setting the P 0 0410 Pos corr Support point distance for precision corr to zero The following applies Korrekturwert int ern xk n Interpolationsfaktor Xist X0 n ds with f Xist X Tabellenindex n a S xk n Correction value at the support point Xactual Actual feedback value X0 Start position ds Support point distance Fig 8 34 Influence of the actual feedback value during reversal error correction Correction value xk Actual feedback value uncorrected n support point distance ds Seet Interpolated correction value for pos velocity Interpolated correction value for neg velocity Abb 8 35 Error correction with precision axis er
109. reference to the equipment NC and drive installation Parameter structure Bit 6 L Bit 0 0 positive clockwise with view towards motor shaft 1 negative counter clockwise with view towards motor shaft Start direction Bit 3 Feedback selection 0 Homing with motor feedback 1 Homing with external feedback L Bit5 Home switch analysis 0 home switch is analyzed 1 home switch is not analyzed Reference mark analysis 0 1 reference mark is analyzed reference mark is not analyzed Ee Fig 2 25 S 0 0147 Homing parameter Note Only the bits indicated here are supported by the software In addition bit 5 activates the monitoring of the external 24V current See also the functional description Drive controlled homing 48 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function S 0 0147 Attributes ID number S 0 0147 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max S 0 0148 C6 Drive Controlled Homing Procedure Command Description When this command is set and enabled the drive switches automatically into internal position control and accelerates using the S 0 0042 Homing acceleration to
110. see if drive controller conditions have changed in regards to Friction Components which have been moved 26 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function See also the functional description Monitoring the thermal load E257 Attributes SS Display E2 57 Diagnostic message number E257 Warning class Non fatal E259 Command Velocity Limitation Active In the position control and velocity control operating modes the effective velocity command value is limited to the value in parameter S 0 0091 Bipolar velocity limit value The warning is given if the resulting velocity command value reaches this limit Cause Parameter S 0 0091 Bipolar velocity limit value was set too low Remedy In normal operating conditions set parameter S 0 0091 Bipolar velocity limit value to a value 10 greater than the NC effective velocity See also the functional description Limiting to bipolar velocity limit value E259 Attributes SS Display E2 59 Diagnostic message number E259 Warning class Non fatal E261 Continuous Current Limiting Prewarning Digital drives are monitored by a continually operating temperature model If the thermal load reaches 100 the continuous current limit will be activated shortly thereafter Before the torque is reduced a continuous current limit early warning is given via a switching threshold which is de
111. set to 0 since the actual values are reset when switching to phase 4 Actual Feedback Values After the Drive Controlled Homing Command The status of the actual feedback values from the motor encoder and if available from the external encoder after the drive controlled homing command is processed depends on bit 3 in S 0 0147 Homing Parameter and on the availability of an absolute encoder as a motor or external encoder 7 52 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function Actual Actual Motor Ext S 0 0147 feedback feedback encoder encoder Bit 3 value 1 value 2 absolute not 1 unchanged homing scale 2 absolute or not available not absolute 0 homing scale 1 unchanged absolute not not 0 homing scale 1 homing scale 1 absolute absolute not not 1 homing scale 2 homing scale 2 absolute absolute Fig 7 34 Actual feedback values after the drive controlled homing command Consideration of the Reference Offset For negative reference scale offset you can reverse the movement direction during the homing procedure If the evaluation of the homing mark is activated in the homing parameter then the homing point is always set based on the position of the selected homing point If a measurement system type 1 3 is available not distance coded you can shift the position of the homing point away from or t
112. signal the trigger event for several drives and the control bits for the control and to release the trigger simultaneously Since there is a delay between the recognition of the trigger event and the release of the trigger the delay is measured by the control drive and stored in the parameter P 0 0035 Trigger Delay Delay From Trigger to Start A time correct display of the signal can be guaranteed by using this parameter for the visualization of the probe values Trigger signal Trigger threshold Trigger status Bit 0 P 0 0033 Number of measurement values Trigger delay _after the trigger action Trigger control Bit 0 P 0 0035 Trigger control compounding A d ZE Recording length Abb 8 23 Delay from trigger to start Status Messages for the Oscilloscope Feature Information about the status of the oscilloscope feature is shared with the control through the parameter P 0 0037 Trigger Status Word 8 14 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function P 0 0037 Trigger Status Word Bit 0 Trigger action external message to control system internal activating the trigger delay function _ Bit 1 Signal lt Trigger threshold Bit 2 Recording is running ___Bit 3 Signal gt Trigger threshold WEE Fig 8 24 Structure of Parameter P 0 0037 Number of Valid Probe Values
113. start pos defines the start position of the correction table It is the smallest position in the correction range Correction value xk Actual feedback value uncorrected Starting position X0 Support point distance ds Fig 3 34 Graphic representation of start position and distance between support point See also the functional description Axis error correction DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 115 DIAX03 Drive With Servo Function Oe aL a P 0 0408 Attributes ID number P 0 0408 Editability P234 Function Parameter Memory Prog module Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0409 Pos corr Correction Table for Precision corr Description For highly accurate applications correction values for the encoder are determined by measuring the axis These correction values are stored in parameter P 0 0409 Pos corr correction table for precision corr 500 correction values can be stored for motion in each direction The first 500 correction values are reserved for motion in the positive direction and the second 500 are reserved for motion in the negative direction A correction value is defined as a 2 byte unit of data which limits input values to 2 15 in the selected direction
114. the position feedback value The maximum deviation encountered is stored in P 0 0098 A model for the controlled system is not necessary in this case See also the functional description Position loop monitoring P 0 0098 Attributes ID number P 0 0098 Editability P234 Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max 0 S 0 0076 P 0 0099 Position Command Smoothing Time Constant Description The position command smoothing time constant determines the maximum jerk possible with a cyclical position command setting The maximum jerk is determined by 2nd derivative of the position command values P 0 0099 Position command value smoothing filter time constant max jerk Fig 3 18 Max jerk If no filter is activated then P 0 0099 lt S 0 0001 NC cycle time must be set P 0 0099 Attributes ID number P 0 0099 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit ms Combination check no Decimal places 2 Cyc transmittable no Input min max 0 65535 98 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function P 0 0109 Torque Force Peak Limitation See the feature description Torque
115. the selected switch frequency via the applicable drive controller data e As the process continues the value determined under 1 is reduced in connection with P 0 4004 Magnetizing Current e The magnetizing current is O if it is dealing with a synchronous motor Limit to the value determined from P 0 4046 Active Peak Current DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Basic Drive Functions 7 23 DIAX03 Drive With Servo Function Oe ale va Chip over temperature ST max T pre warn P 0 4046 Peak Current P 0 4045 Duration Current P 0 4011 P 0 4004 P 0 4046 Switch Frequency Magnetizing Current Active Peak Current P 0 4045 Active Duration Current Selection of duration Reduction of current from switch magnetizing current frequency and device data Fig 7 2 Setting the active continuous current Monitoring the Thermal Load The thermal drive controller load indicates how heavily the drive controller s end stage unit is loaded by the command current being delivered Additionally information from the e drive controller specific data e the command current profile and e the selected switch frequency is used to continually calculate the power transistor chip over temperature This may not become larger than the allowed chip over temperature If this condition is reached the control drive will react by dynamically reducing the command current See also Setting the Active Peak
116. the approached position without controller enable is not stopped for another reason the command can also be executed under controller enable with specific conditions see 2 or 3 from Set absolute dimension measuring during controller enable then turn off the controller enable on page 7 20 Setting Absolute Dimension Under Controller Enable and Subsequent Drive Controlled Homing Homing Setting absolute dimension command the actual feedback value of a controlled axis can be changed This may be necessary with hanging axes for example The procedure is as follows e Move the axis to the measured position e Enter the desired actual feedback value in the appropriate homing measurement scale actual feedback value parameter e Start the command P 0 0012 C3 Command Ger Absolute Dimension The position data will not be switched yet e Start the command S 0 0148 C6 Drive Controlled Homing this feature recognizes that it is dealing with an absolute measurement system and executes Set Absolute Dimension or in other words the actual feedback value is set to the homing scale The position command value S 0 0147 Position Command Value is simultaneously set to the same value As with each execution of drive controlled homing the position command value is read via the service channel and the control system s position command value is set to this value before the homing command is cleared Warning Make sure that the enc
117. the next master synchronization telegram after receiving a master data telegram This parameter is read by the control system in phase 2 to calculate the time slot parameter See also the functional description Configuration of telegram sending and receiving times S 0 0088 Attributes ID number S 0 0088 Editability no Function Parameter Memory fixed Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max os S 0 0089 MDT Transmit Starting Time T2 Description This is the transmit starting time for the master data telegram after the end of a master synchronization telegram The value is transferred from the master to the slave in communications phase 2 and is activated in phase 3 See also the functional description Configuration of telegram sending and receiving times S 0 0089 Attributes ID number S 0 0089 Editability P2 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 2 Format DEC_OV Extreme value check yes Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max 0 65535 30 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function S 0 0090 Command Value Transmit Time TMTSG Description This is the time required by the slave to prepare the command values for the
118. to which the current limit reduces See also the functional description Setting the effective continuous current P 0 4045 Attributes ID number P 0 4045 Editability no Function Parameter Memory no Data length 4 bytes Validity check not Format DEC_OV Extreme value check no Unit A A Combination check no Decimal places 3 Cyc transmittable no Input min max 0 500000 P 0 4046 Aktiv Peak Current Description The effective peak current parameter P 0 4046 indicates the maximum current that the amplifier can currently deliver This value is limited by the current limiter Additional factors are e S 0 0092 Bipolar torque limit value e S 0 0109 Peak motor current See also the functional description Setting the effective peak current P 0 4046 Attributes ID number P 0 4046 Editability no Function Parameter Memory no Data length 4 bytes Validity check not Format DEC_OV Extreme value check no Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 0 500000 130 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Pal CEO Mei 4 Index A Absolute distance 1 55 Absolute distance 2 55 Absolute encoder buffer 104 Absolute encoder control window 97 Absolute encoder offset 119 Acceleration data scaling exponent 53 Acceleration data scaling factor 52 Acceleration data scaling type 51 Activation of E Stop function 77 Actual Temperature
119. to P 0 0106 Bipolar Jerk Limit Acceleration according to S 0 0138 Bipolar Acceleration Master control word _ Master control word Master control word OxExxx OxCxx OxExxx Fig 7 30 Drive Halt Diagram The position controlled deceleration is done with lagless positioning if the previous operating mode was lagless If this was not the case this feature proceeds without lagless control 7 9 Drive Controlled Homing Through homing of a servo axis you relate the actual feedback value to the machine start points Drive controlled homing means that the drive independently creates necessary motion which corresponds to the homing velocity settings and homing acceleration settings This feature can be used for either the motor encoder or the external encoder To run this feature use the following parameters e S 0 0148 C6 Drive Controlled Homing Command e 0 0147 Homing Parameter e 0 0298 Reference Cam Shifting e 0 0299 Home Switch Offset e 0 0052 Reference Distance 1 e 0 0054 Reference Distance 2 e 0 0150 Reference Offset 1 e 0 0151 Reference Offset 2 e 0 0041 Homing Velocity e 0 0042 Homing Acceleration e P 0 0153 Optimal Distance Home Switch Reference Mark The following parameters e 0 0108 Feedrate Override e 0 0057 Positioning Window e P 0 0099 Position Command Smoothing Filter Time Constant e 0 0403 Actual Feedback Value Status also can b
120. turned off 2 Activate the Reset class 1 diagnostic command with the control system see control system handbook See also the functional description Emergency stop feature F234 Attributes SS Display F2 34 Error number 234 Diagnostic message number F234 Error class Non fatal DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement B Diagnostic Message Description 5 DIAX03 Drive With Servo Function Oe aL a F236 Excessive Position Feedback Difference Cause Actual feedback value 1 and actual feedback value 2 are both set to the same value in the command for the transition check for communications phase 4 and cyclical evaluation of both encoders is started In cyclical operation phase 4 the actual feedback value difference of both encoders is then compared with S 0 0391 External encoder monitoring window If the difference is greater than the monitoring window error F236 Excessive position feedback difference is generated and the error response previously set by parameter is executed 1 Incorrect parameter for the external encoder S 0 0115 Position feedback 2 type parameter S 0 0117 Resolution of rotational feedback 2 2 Incorrect parameters have been set for the mechanical system between the motor axis and the external encoder S 0 0121 Input revolutions of load gear S 0 0122 Output revolutions of load gear S 0 0123 Feed constant 3 The mechanical system between the motor shaft and the ex
121. value This value must be read through the service channel by the control before ending the command and the control interpolator must be set to this value If this command is completed by the control and if the command values of the control for the drive become active again these values should be added to the value read out of the drive Starting interrupting and completing the command Drive Controlled Homing This feature is implemented as a command To start the feature you must set and execute the command by writing to the parameter S 0 0148 C6 Drive controlled homing Input 3 The drive confirmation has to be received from the data status out of the same parameter The command is finished when the command changing bit in the drive status word is set and the confirmation changes from in process 7 to command executed 3 or to command error OXF If the command is interrupted Input 1 during processing Confirmation 7 the drive responds by activating the drive halt feature The program continues if the interruption is canceled See also Drive Stop on page 7 48 Possible Error Messages During Drive Controlled Homing While the command is being executed the following command errors can occur e C601 Homing not possible if drive is not enabled While starting the command the controller enable was not set e C602 Distance Between Zero Switch Home Mark Erroneous The distance between the zero switch and h
122. value to be entered is 100 ms See also the functional description Motor brake 120 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function P 0 0526 Attributes ID number P 0 0526 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit ms Combination check no Decimal places 0 Cyc transmittable no Input min max 0 65000 P 0 0530 Slip Increase Description In asynchronous motors the rotor resistance and the rotor time constant change with the temperature The slip increase compensates for this change The slip increase per 100K is motor specific and is specified by Indramat for each individual motor See also the functional description Asynchronous motors P 0 0530 Attributes ID number P 0 0530 Editability P23 Function Parameter Memory Program Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit 1 100K Combination check no Decimal places 2 Cyc transmittable no Input min max 1 3 P 0 0531 Kipp Current Border Description The kipp current border is used to limit the peak current of the motor to reasonable values when operating at high velocities Higher currents lead only to higher losses not to more wave power The kipp current border is set by Indramat If zero is entered the limit is inactive See
123. velocity and position control loops for their appropriate settings e The axis in question should be checked mechanically and should be in its final state 7 44 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function The position control loop monitor settings are performed e through the connected control you should proceed in a typical operation mode In this mode you need to move at the maximum commanded velocity e In parameter P 0 0098 Max Model Deviation the maximum deviation between the actual feedback value and the expected feedback value is always displayed Note The contents of this parameter are not saved After enabling the drive this parameter equals zero e This value can be used to help set the monitoring window Parameter S 0 0159 Monitoring Window should be set to P 0 0098 Max Model Deviation multiplied by a safety factor A safety factor between 1 5 and 2 0 is recommended Example Content of P 0 0098 Maximum Model Deviation 0 1 mm gt Determination for the parameter S 0 159 Monitoring Window 0 2 mm 2 x 0 1 mm Deactivation of the Position Control Loop Monitoring It is strongly recommended to activate the position loop monitoring However there are exceptions for which the position loop monitoring has to be deactivated You can do that with the parameter S 0 0159 Monitoring Window if it is set to very large values Setting the
124. voltage is turned off while the battery is taken out the absolute reference point will be lost The reference point must then be reestablished Removing the Battery e Unscrew torx screw with a size 10 screwdriver e Pull out the resolver feedback RSF lid by hand e Pull off the battery connection e Loosen battery clamp and remove the battery e Place the factory made battery Part No 257101 in the housing and screw on the clamp WARNING Do not kink the battery cable e Attach connection to the battery Close the resolver feedback lid screw in 4 torx screws and tighten to 1 8 Nm with the torque wrench 8 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO an DIAX03 Drive With Servo Function F248 Attributes SS Display F2 48 Error number 248 Diagnostic message number F248 Error class Non fatal F267 Incorrect Internal Hardware Synchronization F268 Brake Error Cause The drive control of all drives in a SERCOS ring is synchronized by a phase control loop Proper functioning of the synchronization is monitored This error is generated if the average deviation is greater than 5 usec Remedy e Exchange DSS module e Exchange the drive controller F267 Attributes SS Display F2 67 Error number 267 Diagnostic message number F267 Error class Non fatal The drive controller takes control of the brake for motors with an integrated holding brake The br
125. watch defekt 23 Earth connection 10 Emergency stop 5 Error delet only in parameter mode 44 Error drive overtemperature control 2 Error during phase progression 13 Error during phase regression 13 Error motor temperature control 2 Supplement B Diagnostic Message Description 2 1 DIAX03 Drive With Servo Function Excessive deviation 3 Excessive position command value difference 7 Excessive position feedback difference 6 Ext feedback initialization error 42 External encoder failure quadrant error 7 signals too small 7 External feedback data reading error 41 External feedback required gt S 0 0022 37 External power supply error 5 F F282 Phase fault 11 F284 Main contactor nc low voltage 12 F819 Drive temperature control error 17 Feedrate override S 0 0108 0 26 H Halt drive 49 Homing not possible if drive is not enabled 45 Homing of absolute encoder not possible 45 I ID9 Record length 1 gt length of MDT S 0 0010 34 Incorrect internal hardware synchronization 9 Invalid communications parameter S 0 0021 31 Invalid communications phase shutdown 13 Invalid feedback data gt S 0 0022 37 Invalid parameter gt S 0 0022 36 K konfig Identnummern f r MDT nicht konfigurierbar 31 L Length of MDT S 0 0010 odd 33 Limit Error Communication Parameter S 0 0021 31 Limit error parameter gt S 0 0022 36 Low battery voltage 8 M Mains fault 11 Modul
126. with the command value 0 The drive stops with its maximum permissible torque force see also Current Limit The time elapsed from the start of the motor brake if available and the final release during velocity command value deceleration to zero is displayed in the following graphic Activating the set velocity command value to zero maximum braking time P 0 0126 e a Velocity profile Control of the motor brake End stage release E P 0 0526 Motor brake lag time Fig 7 16 Time sequence of the velocity command value reset P 0 0126 Maximum brake time is set to low Danger of damaging the motor brake The value for P 0 0126 Maximum Brake Time always has to be set larger than the time WARNING necessary taking into consideration the max possible velocity to decelerate the axis through the velocity command value reset If the setting is too low at P 0 0126 the error reaction may finish before the axis has stopped The holding brake will then be activated if velocity is not 0 which in the long run leads to damage of the brake 7 34 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR CEEA Max The response disable torque is not recommended when a motor has a brake DIAX03 Drive With Servo Function Activating the set velocity command value to zero maximum braking time P 0 0126 Velocity profile Control of the motor brake End sta
127. 0 0000 x100 Position control with encoder 2 0000 0000 0001 x011 Drive internal interpolation encoder 1 0000 0000 0001 x100 Drive internal interpolation encoder 2 Fig 6 20 Setting the Operating Mode Parameters 6 4 Determining the Active Operating Mode Bits 8 and 9 in the master control word determine which of the 4 preselected operating modes will be active Bit 8 and 9 in the master control Active operating mode word 00 Primary mode of operation 01 Secondary mode of operation 1 10 Secondary mode of operation 2 11 Secondary mode of operation 3 Fig 6 21 Determining the Active Operating Mode If 0 is entered in the operating mode parameters and the operating mode is activated then the error F207 Switched to a Non lInitialized Operating Mode will be generated DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Operating Modes 6 9 DIAX03 Drive With Servo Function Pa CREPE Pens 6 10 Operating Modes DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR EX EEO an DIAX03 Drive With Servo Function 7 Basic Drive Functions 7 1 Physical Values Display Format The combination of unit and number of decimal places is expressed with the term scaling Data exchange between the controller and the primary control system or user interface occurs by reading and writing controller parameters Information about the unit and the number of decimal places see also parameter is necessary for interpreting
128. 0 0115 8 gt Analog input 1 12 CO Gi S2 aps P 0 0116 KI gt Analog input 2 12 Stecker X36 Fig 8 4 Analog input schematic circuit diagram DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Optional Drive Features 8 3 DIAX03 Drive With Servo Function fF c aleve The input gain is determined by wiring connector X36 to the DRF 1 module The following applies X36 Pin 7 A1 X36 Pin 14 A0 Gain n C n c 2 1LSB 2 44mV n c Ground 1 1LSB 4 88mV Ground n c 4 1LSB 1 22mV Ground Ground 10 1LSB 0 49mV Fig 8 5 Setting the input gain for the analog inputs Connector Assignment DRF 1 The assignment of connector X36 of the DRF 1 module corresponds to the input analog processing as follows Pin No onConnector X 36 Function 2 s3 3 S4 6 Ground 7 A1 9 S1 10 S2 11 Ground 13 Ground 14 AO Fig 8 6 Connector Assignment DRF 1 8 3 Digital Input Output The digital input output feature allows for binary inputs and outputs through the DEA slide in module 15 binary inputs and 16 binary outputs are available per slide in module The following DEA modules are supported e DEA 4 1 e DEA 5 1 e DEA 6 1 Each drive controller can contain one DEA 4 1 one DEA 5 1 and one DEA 6 1 module A total of 45 inputs 3 15 and 48 outputs 3 16 are available per drive controller The following parameters are available for this feature e P 0 0081 Parallel UO Outpu
129. 0 Cyc transmittable no Input min max 1 65535 S 0 0046 Velocity Data Scaling Exponent Description This parameter defines the scaling exponent for all velocity data in the drive See also the functional description Velocity data display format S 0 0046 Attributes ID number S 0 0046 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_MV Extreme value check no Unit 5 Combination check no Decimal places 0 Cyc transmittable no Input min max e S 0 0047 Position Command Value Description In position control operating mode this parameter is transferred from the control system to the drive on a time grid of the NC cycle time See also the functional description Position control S 0 0047 Attributes ID number S 0 0047 Editability P234 Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable MDT Input min max S 0 0076 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 21 DIAX03 Drive With Servo Function Oe aL a S 0 0049 Positive Position Limit Value Description The positive position limit value describes the maximum extent of travel in the positive direction The position limit value is active only when all position data refers to the homing point bit 0 is set to 1 i
130. 00271 31 C104 Config IDN for MDT not Configurable ccccececeeeeseeeeeneeceeeeeceaeeeeaaeeeeeeeseaeeesaeeeeaaeeeeeeeeeas 31 C105 Configured Length gt Max Length for MDT sssssssnnssssnnssennnnneennnnennnnnennnnnennnntnnnnnennnnnenn nenne 32 C106 Config IDN for AT Not Configurable ccccceccceccceeeeeeeeeeeeeceeeesaaeeeeneeseeeesaeesaeeeeaaeseeeeeeaas 32 C107 Configured Length gt Max Length for AT 32 C108 Time Slot Parameter gt Sercos Cycle Time 33 C109 Position of Data Record in MDT S 0 0009 Even 33 C110 Length of MDT S 0 0010 Odd 33 C111 ID9 Record Length 1 gt Length of MDT S 0 0010 c eeeccceeceeeeeeeceeeeseeeeeteeeeeeeeeeeeeees 34 C112 TNeyc S 0 0001 or TScyc S 0 0002 Emor 34 C113 Relation of TNcyc S 0 0001 to TScyc S 0 0002 Ineorrect 34 C114 T4 gt TScyc S 0 0002 T4min S 0 0005 0 e cc eeecceceeeeeceeeeeeeeeeceeeeeeeaaeeseneeseeeeetaeeseneeeeaas 35 CHS T2 Too etic EE a as aa tree E a A ee 35 II Contents DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function C200 Communications Phase 4 Transition Check 35 C201 Invalid Parameter gt G O 00221 nt 36 C202 Limit Error Parameter gt S 0 0022 cceecseeeeeceeceneeeeeeeeeeeeeeeeaaeeeeaeeseeeeesaaeseeeeeessaeesenaeeeeaes 36 C203 Parameter Calculation Error gt S 0 0022 0 ceeecceeeececeeeeeeeeeeeeeaeeeeaeeseeeeseaeeeseaeeeeeeteeeeesaas 36 C204 Motor Type P 0 4014 In
131. 0153 Optimal Distance Home Switch Reference Mark Description During command Drive controlled homing when the zero switch and homing mark evaluation are activated the distance between the zero switch edge and the homing mark is monitored For reference marks home reference with equal intervals the optimal distance is half the home reference interval The optimal distance can be entered in parameter P 0 0153 Optimal distance home switch reference mark as per the following table DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 109 DIAX03 Drive With Servo Function Encoder type Rotational P 0 0153 Optimal distance homing switch home mark OL aa es Function The zero switch reference mark interval is monitored The optimal distance will be calculated internally and is equal to 1 2 of an encoder revolution for DSF or incr rotary encoders or 1 2 of an encoder revolution S 0 0116 Rotary encoder resolution 1 for resolvers Rotational Linear Linear The zero switch reference mark interval is monitored Half the reference mark distance must be entered in P 0 0153 Optimal distance zero switch reference mark The zero switch reference mark interval is not monitored The linear encoder does not affect reference marks with constant intervals The real distance between the zero switch and the reference mark must be large enough to ensure recogn
132. 027 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format DEC MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0028 Trigger Level for Velocity Data Parameter P 0 0028 determines the value at which the trigger will be released as long as the correct edge has been recognized See also the functional description Oscilloscope function P 0 0028 Attributes ID number P 0 0028 Editability P234 Function Parameter Memory Param E prom Data length 4 bytes Validity check no Format DEC MV Extreme value check yes Unit S 0 0044 Combination check no Decimal places S 0 0044 Cyc transmittable no Input min max S 0 0044 S 0 0044 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 85 DIAX03 Drive With Servo Function Oe aL a P 0 0029 Trigger Level for Torque Torce Data P 0 0030 Trigger Edge P 0 0031 Timebase Description Parameter P 0 0029 determines the value at which the trigger will be released as long as the correct edge has been recognized See also the functional description Oscilloscope function P 0 0029 Attributes ID number P 0 0029 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format DEC MV Extreme value check yes Unit Combination check no Decimal pla
133. 03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function The following requirements apply P 0 0153 Optimal Encoder Distance Home Switch type Reference Mark Function Rotational 0 The interval of the zero switch home mark will be monitored The optimal spacing will be calculated internally and amounts to a 1 2 encoder rotation for DSF or incremetnally rotational encoders or 1 2 encoder rotation S 0 0116 Resolution of Rotational Feedback 1 Motor Encoder for resolvers Rotational x The interval of the zero switch home mark will be monitored Half the home mark spacing must be entered in P 0 0153 Optimal Distance Home Switch Reference Mark Linear 0 The interval of the zero switch home mark will not be monitored The linear encoder does not affect home marks with constant intervals The real distance between the zero switch and the home mark must be large enough to achieve a sure recognition of the zero switch edge when considering the maximum homing velocity and the cycle time for the zero switch input request Linear D The interval of the zero switch home mark will be monitored Half the home mark spacing must be entered in P 0 0153 Optimal Distance Home Switch Reference Mark Fig 7 43 Interval Monitoring Zero Switch Home Mark For every homing with zero switch evaluation the difference between actual distance and optimal distance is monitored The difference is saved in par
134. 09 96 VELO DIAX03 Drive With Servo Function Each module is assigned a number that determines the feedback interface The module number is entered into the following parameters e P 0 0074 Motor Encoder Interface e P 0 0075 External Encoder Interface When writing to the encoder interface parameters a check is made to determine if the module is actually connected If it is not the drive reacts with the error message 0x7008 Incorrect Date see also Possible error messages when reading and writing the operating data This check is also made in the command S 0 0128 Communication Phase 4 Transition Check The command error C203 Parameter Conversion Error gt S 0 0022 is generated there Displaying the position feedback values of the individual measurement systems is done with the parameters e 0 0051 Actual Feedback Value 1 e 0 0053 Actual Feedback Value 2 Setting the absolute relationship of the actual feedback values 1 2 to the machine zero point is done with the command e 0 0148 C6 Drive Controlled Homing and e P 0 0012 C3 Setting Absolute Position Dimension Limiting Conditions for Encoder Evaluation The following limitations exist e The DLF DZF DEF 1 modules may not be simultaneously operated within a controller Danger of Damage The combination of DLF and DZF is not possible The DEF 2 module can be used to operate an incremental feedback with square wave signals while a DLF or DZF i
135. 1 EN P e 09 96 LR Ce EE an DIAX03 Drive With Servo Function P 0 0011 Last Valid Position Command Value Description If error F237 Excessive position command value difference occurs then the last valid position command value will be stored in this parameter See also the functional description Position command value monitoring P 0 0011 Attributes ID number P 0 0011 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0012 Command Get Absolute Measurement Description When an absolute measuring system is started for the first time the drive will indicate a random feedback value that is not referenced to the machine zero point In this case the value of parameter S 0 0403 Position feedback value status is 0 The position feedback of this measuring system can be set to the desired value with the command Set absolute measurement After the Set absolute measurement command is executed the position feedback value of the measurement supplied encoder will contain a defined reference to the machine zero point All information will be available after reset because all necessary data from the absolute measurement system is buffered in feedback data memory or in parameter data memory The position feedback value perm
136. 11 Switzerland Russia Rexroth AG Tschudnenko E B Gesch ftsbereich INDRAMAT Arsenia 22 GewerbestraBe 3 153000 Ivanovo CH 8500 Frauenfeld RuBland Telefon 7 93 22 39 633 European Customer service locations without Germany DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Directory of Customer Service Centers DIAX03 Drive With Servo Function O CEO on ri Outside Europe 54 1 756 02 40 Telex 262 66 rexro ar Telefax 54 1 756 01 36 Canada Basic Technologies Corporation Burlington Division 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 Telefon 1 905 335 55 11 Telefax 1 905 335 41 84 Telefon 54 1 790 52 30 China Rexroth China Ltd Shanghai Office Room 206 Shanghai Intern Trade Centre 2200 Yanan Xi Lu Shanghai 200335 P R China Telefon 86 21 627 55 333 Telefax 86 21 627 55 666 Telefax 61 3 93 59 02886 China Rexroth China Ltd Shanghai Parts amp Service Centre 199 Wu Cao Road Hua Cao Minhang District Shanghai 201 103 P R China Telefon 86 21 622 00 058 Telefax 86 21 622 00 068 Argentina Argentina Australia Brazil Mannesmann Rexroth S A 1 C Nakase Australian Industrial Machinery Mannesmann Rexroth Automa o Division INDRAMAT Asesoramiento Tecnico Services Pty Ltd Ltda Acassusso 48 41 7 Diaz Velez 2929 Unit 345 Horne ST Divisao INDRAMAT 1605 Munro Buenos Aires 1636 Olivos Campbellfield VIC 2061 Rua Georg Rexroth 609 Argentina Pr
137. 16 Diagnostic message number C216 C217 Motor Feedback Data Reading Error If you have entered these values into P 0 0074 Motor feedback interface e 1 for standard interface e 4 for DFF module or e 8 for DAG module Endat then the attached encoder must have a feedback data memory The values for the encoder resolution and the feedback type are taken from there An error was discovered while reading these values 40 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function Cause 1 Defective motor feedback cable 2 Defective motor feedback Remedy For 1 Check the motor feedback cable For 2 Exchange the motor See also the functional description S 0 0128 C2 communications phase 4 transition check C217 Attributes SS Display C2 17 Diagnostic message number C217 C218 External Feedback Data Reading Error If P 0 0075 External encoder interface is set at e 1 for standard interface e 4 for DFF module or e 8 for DAG module Endat then the attached encoder must have a feedback data memory The values for the encoder resolution and the feedback type are taken from there An error was discovered while reading these values Cause 1 Defective measurement system cable 2 Defective measurement system Remedy For 1 Check the measurement system cable For 2 Exchange the measurement system See also the functional d
138. 186 Editability no Function Parameter Memory fixed Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit e Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0187 List of Configurable Data in the AT Description This list contains the ID numbers of the operating data which can be configured in the drive telegram See also the functional description Configuration of telegram contents S 0 0187 Attributes ID number S 0 0187 Editability P2 Function Parameter Memory Param E2prom Data length 2 byte variable Validity check Phase 2 Format IDN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0188 List of Configurable Data in the MDT Description This list contains the ID numbers of the operating data which can be configured in the master data telegram See also the functional description Configuration of telegram contents S 0 0188 Attributes ID number S 0 0188 Editability P2 Function Parameter Memory Param E2prom Data length 2 byte variable Validity check Phase 2 Format IDN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 57 DIAX03 Drive With Servo Function Oe ae a S 0 0189 Following Error Description Th
139. 26 Brake control delay you set the time it can take for the brake to become effective The standard value for the direct connection of holding brakes for Indramat motors should be set at 100msec A Activating the motor brake ees Motor brake becomes effective i T stage release p Ml Time P 0 0526 Motor brake distortion time Fig 5 11 Setting the brake control delay Setting the Motor Brake Current The motor holding brake is controlled by the drive controller with connector X6 The supply voltage of 24V for the brake control has to be entered externally If the brake is actuated release for self locking brakes enable for self ventilating brakes the current flowing through the connection contacts of the brake will be monitored DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Motor Configuration 5 9 DIAX03 Drive With Servo Function Oe aL a Note The maximum output voltage for the control of the motor brake is 2 0A In P 0 0511 Motor brake current the rating of the brake current is defined If the actual brake current after actuation is outside 0 4 1 6 P 0 0511 then the error message F268 Brake Error will be generated The monitoring of the brake current is deactivated when P 0 0511 Motor brake current equals 0 is entered 5 10 Motor Configuration DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 DIAX03 Drive With Servo Function 6 Operating Modes 6 1 Operating Modes Definition Op
140. 3 Target position outside the travel range If the negative position limit value is exceeded the drive will set error bit 13 in S 0 0011 Class 1 diagnostic See also the functional description Axis limit values S 0 0050 Attributes ID number S 0 0050 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 22 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function S 0 0051 Position Feedback Value 1 Motor Feedback Description Position feedback value 1 represents the current position of the motor encoder It can be transferred from the drive to the control system See also the functional description Setting the measurement systems S 0 0051 Attributes ID number S 0 0051 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable AT Input min max S 0 0052 Reference Distance 1 Description This parameter displays the distance between the machine zero point and the homing point for the motor measurement system Position feedback value 1 After executing command S 0 0148 C6 Drive controlled homing
141. 4 S 0 0006 AT Transmission Starting Time Ti 5 S 0 0007 Feedback Acquisition Starting Time TA 5 S 0 0008 Command Valid Time IT 6 S 0 0009 Beginning Address in Master Data Telegram 6 S 0 0010 Length of Master Data Telegram 6 S 0 0011 Glass I DiAgnOStiCs EE 7 S 0 0012 Class 2 Diagnostics AE 8 S 0 0013 Class 3 Diagnostics 8 S 0 0014 Interface Status ticle teeieiieeieth caves haves dese Ed aaa Re a a A Raa e EES 9 S 0 0015 Telegram Type Parameter ccccccccccessessececeeneeeeceesaeeeeseaaeeeseesaeeeseseaeeesseaeeeeseneeeeseaas 10 S 0 0016 Custom Amplifier Telegram Configuration List cccccececseeceeeeeeeeeeeeeeeseeeeeseaeeeeenees 11 S 0 0017 IDN List of All Operation Data 12 S 0 0021 IDN List of Invalid Op Data for Comm Ph 3 12 S 0 0022 IDN List of Invalid Op Data for Comm Ph 3 12 S 0 0024 Configuration List of the Master Data Telegram cc ccceccceeeeeeeeeeeeeeeeeseeeeeeeaeeneeeeeaes 13 S 0 0028 MST Error E LE 13 5 0 0029 MDT Error COURE a a at aaaea E eaaa aaaea aaa deaa a iets 14 S 0 0030 Manufacturer Version 14 S 0 0032 Primary Mode of Operation cccccccccceeececeeeee cee eeeeaeeeeeeeeeaeeesaaeeeeaaeseeeeesaeeesaeeneneeee 15 S 0 0033 Secondary Operating Mode 1 15 S 0 0034 Secondary Operation Mode 3 16 S 0 0035 Secondary Operation Mode 3 17 S 0 0036 Velocity Command Value cccccccecssececeesneeeeeeeeeeeeeaeeeeesaeeeeesaeeeessaeeeessseeeenseeeene
142. 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 50 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function S 0 0155 Friction Compensation Description Friction compensation is factored into the torque force command value additively The sign of the compensation value is determined by the sign of the velocity command value The only way to change the sign is outside of what has been set in S 0 0124 Standstill window By programming the friction compensation it is possible to compensate for static friction resulting from acceleration from a standstill and change of direction See also the functional description Setting the friction torque compensation S 0 0155 Attributes ID number S 0 0155 Editability P234 Function Parameter Memory Prog module Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 1 Cyc transmittable no Input min max 0 P 0 4046 S 0 0159 Monitoring Window Description The maximum tolerated deviation between the measured and calculated actual feedback value is set with the help of the monitoring window If the position deviation exceeds the monitoring window then the drive responds with error F228 Excessive contro
143. 4 of S 0 0055 Position Polarities Parameter S 0 0055 Position polarity parameter BSE GS i AE Bit 4 Position limit values 0 not active 1 active Fig 7 12 Activating the axis limits 7 5 Drive Interlock Open Manufacturing systems transfer roll trains and tool machines often consist of physically separated work areas such as processing units transport distribution and storage systems Persons in one of these areas must often undertake work in danger ranges while other parts of the machine continue to operate If persons will be in the working area of a motor it should be brought to a standstill and secured against inadvertent operation The drive interlock provides a security margin for inadvertent operation of a connected motor when an error occurs It ensures that separate work areas in a machine or system are turned off The DDS and DKR series of control drives are equipped with a drive interlock Activating the drive interlock separates the power output control electronics from the power output with a relay contact Danger of accidents through uncontrolled axis movements The drive interlock is not for stopping an axis that is in motion If the drive interlock is activated the drives cannot be moved with the control system The motor becomes torque free instantly and the axis can no longer be brought to a controlled stop With vertical axes secure the axes with a mechanical brake before activ
144. 41 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Rpm 10V or mm min 10V depends on P 0 4014 Motor type Combination check no Decimal places 1 Cyc transmittable no Input min max 0 65535 P 0 0042 Scaling Factor for Position Data Channel 1 Description If position data have been selected with parameter P 0 038 Signal selection for analog channel 1 then scaling will be set with parameter P 0 0042 Scaling factor for position data channel 1 The unit degrees always refers to the motor See also the functional description Analog output P 0 0042 Attributes ID number P 0 0042 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Deg 10V or mm min 10V depends on P 0 4014 Motor type Combination check no Decimal places 2 Cyc transmittable no Input min max 0 0x7FFFFFFF P 0 0043 Scaling Factor for Position Data Channel 2 Description If position data were selected with parameter P 0 039 Signal selection for analog channel 2 then scaling will be set with parameter P 0 0043 Scaling factor for position data channel 2 The unit degree always refers to the motor See also the functional description Analog output P 0 0043 Attributes ID number P 0 0043 Editability P234 Function Parameter Memory Param E pro
145. 50178 1994 Electrical components with exposed live parts must be installed in a control cabinet to prevent direct contact European countries according to EN 50178 1994 U S A See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must consult the above noted items at all times DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Safety Instructions for Electrical Drives 2 3 DIAX03 Drive With Servo Function Oe ale va High discharge current Danger to life risk of severe electrical shock and risk of injury All units and the motors must be connected to a DANGER grounding point with the ground wire or must be grounded themselves before switching on power The discharge current is greater than 3 5 mA A permanent connection to the supply system is therefore required for all units European countries according to EN 50178 1994 section 5 3 2 3 U S See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must consult the above noted items at all times The ground wire must always be connected before start up even during the performance of tests Otherwise high voltages may be present at the unit housing which can result in severe electrical shock and personal injury 2 3 Protection by protective low voltage PELV against electrical shoc
146. 76 S 0 0076 S 0 0299 Home Switch Offset Description If multiple reference marks of the homed measurement system are detectable during the travel range of the axis then one of these marks must be selected as the relevant mark with the help of a zero switch You should be careful not to select too small a distance between the zero switch edge and reference mark because the edge may not be recognized at the correct time and the next mark will be selected as a result For measurement systems with multiple reference marks with known and constant distances between each other a monitoring of the distances from edge to mark will be performed The minimum allowed distance is 1 4 d where d equals the distance between the reference marks The optimum distance is 1 2 d If the distance is smaller than 1 4 d then S 0 0148 C6 Drive controlled homing procedure command will be erroneously interrupted with the negative acknowledgement of C602 Distance homing switch reference mark erroneous The distance can then be changed mechanically or by using this parameter See also the functional description Drive controlled homing DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 63 DIAX03 Drive With Servo Function Oe ae a S 0 0299 Attributes ID number S 0 0299 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value c
147. Attributes SS Display C2 13 Diagnostic message number C213 C214 Velocity Data Scaling Error Cause The display format of the velocity data can be set using scaling parameters The drive controlled format of the velocity data depends on what motor encoder and encoder resolution are used The factor for converting the velocity data from drive controlled format to display format or vice versa is outside the workable range Remedy Check and set the relevant parameters correctly as follows e 0 0044 Velocity data scaling type e 0 0045 Velocity data scaling factor e 0 0046 Velocity data scaling exponent e 0 0116 Rotational encoder resolution 1 e 0 0121 Input revolutions of load gear e 0 0122 Output revolutions of load gear e S 0 0123 Feed constant e P 0 0074 Motor encoder interface e 0 0277 Position feedback 1 type parameter See also the functional description S 0 0128 C2 communications phase 4 transition check C214 Attributes SS Display C2 14 Diagnostic message number C214 C215 Acceleration Data Scaling Error Cause The display format of the acceleration data can be set for the acceleration data using scaling parameters The drive controlled format of the acceleration data is dependent on what motor encoder and encoder resolution are used The factor for converting acceleration data from internal drive format to display format or vice versa is outside the workable range
148. B Diagnostic Message Description 11 DIAX03 Drive With Servo Function Oe aL ay F284 Main Contactor nc Low Voltage Cause When the main contactor was turned off the DC bus voltage went below 400 V while controller enable was set Remedy Switch off the controller enable before switching off the main contactor F284 Attributes SS Display F2 84 Error number 284 Diagnostic message number F284 Error class Non fatal if bleeder is present otherwise fatal F401 Double MST Error Shutdown The master sync telegram was not received in the drive controller in two successive SERCOS cycles Cause 1 Disruption in the LWL transmission line 2 Too much attenuation in the light signal 3 Malfunction in the SERCOS interface general Remedy For 1 Check all LWL connections in the SERCOS ring For 2 Measure the attenuation in the LWL cable The maximum attenuation between TX and RX must not fall below 12 5 dB For 3 Exchange the SERCOS interface module in the drive controller See also the functional description SERCOS interface error F401 Attributes SS Display F4 01 Error number 401 Diagnostic message number F401 Error class Interface F402 Double MDT Error Shutdown The master data telegram MDT was not received in the drive controller in two successive SERCOS cycles Cause 1 Disruption in the LWL transmission line 2 Too much attenuation in the light signal 3 Malfunction in the SERCOS interface gener
149. Bit 1 Type of reaction 0 Best possible standstill P 0 0159 1 Set velocity command value to zero Fig 3 1 P 0 008 Activation of E Stop function The input polarity cannot be selected It is always 0 active i e OV on E6 of the X12 connector means the E Stop is active Note Bit 0 also activates monitoring of the external 24V current See also the functional description Activation and polarity of the E Stop input P 0 0008 Attributes ID number P 0 0008 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 77 DIAX03 Drive With Servo Function Oe aL a P 0 0009 Error Message Number Description If an error occurs during cyclical operation it will be diagnosed by the drive and shown in the seven segment display At the same time a bit will be set in S 0 0011 Class 1 diagnostic and the change bit for that Class 1 diagnostic will be set in the operation status word The machine can now determine the queued error condition passed to the drive s diagnostic display by reading this parameter which contains only the last three significant decimals of the diagnostic message number in range 201 899 and determine a specific error response or custom diagnostic t
150. Bit 15 _ kg wm fr 16 DEA module Bit 0 Operating data of the ID Operating data of number assigned to the the parameter s parameter parallel output Fig 8 10 Diagram for IDN DEA Output Assignment If the data length of the current value for the assigned ID number is larger than 16 bits then the upper bits of the current value will be truncated 8 6 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 AEA ral DIAX03 Drive With Servo Function If the parameter P 0 0124 Assignment IDN gt DEA Output is written then the following checks will be undertaken ls the selected DEA No Error i Cancel available assignment Yes Is the parameter with the assigned ID number available Error Yes s the parallel output parameter wich belongs to Error the DEA contained in the Incorrect data cyclical data No Everything Ok Conduct assignment Abb 8 11 Review During Input of the Parameter P 0 0124 Assignment IDN gt DEA Output DEA Input gt IDN Assignment During the DEA Input gt ID Number assignment all binary inputs of the DEA are mapped onto the DEA Input parameter the parameter is then copied to the current value of the assigned parameter DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Optional Drive Features 8 7 DIAX03 Drive With Servo Function Bit 15 lb Eng keem 15 DEA module Bit 0 Operating data of the Operati
151. Communication phase 1 is active the drive is in phase 1 and transfer from phase 1 to 2 has not yet been initiated by the control system See also the functional description Parameter mode operation mode A001 Attributes SS Display P1 Diagnostic message number A001 A002 Communication Phase 2 The communication process is divided into four communications phases Phases 0 and 1 are used to recognize the participants Phase 2 is used to provide the time and data protocols for communications phases 3 and 4 Initialization is performed in ascending order of the sequence The defaults of the communications phase are set by the control system When the switch to communications phase 4 takes place initialization is completed and input power is enabled If the delayed phase switch is interrupted the status display in the communications phase which has already been reached freezes If diagnostic message A002 Communication phase 2 is active the drive is in phase 2 48 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO an DIAX03 Drive With Servo Function Before the control system transfers to communications phase 3 command S 0 0127 C1 Communications phase 3 transition check must be started If the command is acknowledged negatively transfer to communications phase 3 is not possible The problems that were diagnosed by the drive must be solved first Note The parameters are
152. DEC_OV Extreme value check yes Unit mAsec rad Combination check no Decimal places 1 Cyc transmittable no Input min max 0 P234 S 0 0349 Jerk Limit Bipolar Description The jerk limit bipolar limits the acceleration change during Drive halt See also the functional description The functional principle of drive halt S 0 0349 Attributes ID number S 0 0349 Editability no Function Parameter Memory Program Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit Combination check no Decimal places 1 Cyc transmittable no Input min max 0 0 S 0 0382 DC Bus Power Description Display of the DC bus power S 0 0382 Attributes ID number S 0 0382 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_MV Extreme value check no Unit KW Combination check no Decimal places 2 Cyc transmittable no Input min max 0 0 S 0 0383 Motor Temperature Description This parameter contains the measured motor temperature which is obtained from the motor temperature sensor attached to plug X6 Remark A PTC resistor is used as the temperature sensor for all motors except asynchronous motors Since its temperature characteristic in the higher temperature range exhibits a strong progression the value of parameter S 0 0383 in this range becomes much less exact See also the functional description Temperature monitoring DOK DIAX03 S
153. Data in P 0 0118 Function 0 no signal to the supply module during an error situation 1 signal to the supply module during an error situation Fig 7 20 Signal of a drive error 7 36 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Cx EEO an DIAX03 Drive With Servo Function Signals from devices connected to the power supply are received through connector X1 Pin 2 M NC Response in Error Situation NC response during an error situation is only possible during non fatal errors Otherwise the drive reacts immediately with an error response A message is sent to the control if the drive control device recognizes an Error The control can then decelerate the servo axes of the machine without possible damage If this is desired you have to delay the drive error reaction to allow the axes to continue movement to the values set by the control This is achived by setting the time delay between the recognition of the error and the drive s error reaction This can be set in parameter P 0 0117 NC Response in Error Situation The following applies Value of P 0 0117 Function 0 Drive proceeds immediately after error occurrence to reaction 1 Drive continues for 30 sec in the selected operating mode then follows the best possible deceleration Fig 7 21 NC Response in Error Situation Note Activating the NC Response in Error Situation is only recommended for c
154. Decimal places 0 Cyc transmittable no Input min max S 0 0029 MDT Error Count Description This parameter counts all invalid MDTs in communications phases 3 and 4 If two MDTs fail in direct succession then error F401 Shutdown for two MDT failures will be generated and the operation will return to phase 0 The MDT error counter has a limit stop at 216 1 This means that during a highly distorted transfer the MDT error count will show a value of 65535 after a long time See also the functional description Error count for telegram interrupts S 0 0029 Attributes ID number S 0 0029 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max fr S 0 0030 Manufacturer Version Description The version of the drive software can be read from this parameter Example DSM2 3 SSE 01V02 S 0 0030 Attributes ID number S 0 0030 Editability no Function Parameter Memory fixed Data length 1 byte variable Validity check no Format ASCII Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max zf 14 Supplement A Description of Parameters DOK DIAX03 SSE 01 VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function S 0 0032 Primary Mode of Operation Description The mode of operation defined in thi
155. Drive Internal Interpolation 6 8 H H1 Display 3 8 Homing Actual Feedback Values 7 52 Error Messages 7 59 Functional principle 7 49 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Produktbezeichnung Homing Marks 7 50 Parameterization 7 50 Reference Offset 7 53 Zero Switch 7 54 I IDN gt DEA Output Assignment 8 6 Incremental Interface Parameterizing the Encoder 7 10 Integral Action Time Determing the Critical Integral Action Time 7 42 Interface Start Up for the SERCOS Interface 4 5 Interface Error SERCOS Interface Error 4 8 L LAF 1 2 5 1 Language Selection 7 59 LAR 1 2 5 1 Limiting the Velocity of the command value in the velocity controller 7 27 Limiting to Bipolar Velocity Limit Value 7 27 Limiting to Maximum Motor Velocity 7 27 Limiting Velocity Associated Parameters 7 27 Bipolar Velocity Limit Value 7 27 Maximum Motor Velocity 7 27 Monitoring 7 27 Linear Rotary Scaling 7 2 LSF 1 2 5 1 M Main Function of the Precision Axis Error Correction 8 23 Master Control Word Structure 4 2 Maximum Representable Travel Range 7 13 MDD Automatic Setting of the Motor Type 5 3 Motor feedback data memory 5 1 Temperature Monitoring 5 2 Meaningful Use of Frictional Torque Compensation 7 47 MKD Automatic Setting of the Motor Type 5 3 Motor feedback data memory 5 1 Temperature Monitoring 5 2 Modulo Feature Command Value Processing 7 9 Modulo Processing Limiting Conditions 7 8 Modulo Range
156. E2 53 Diagnostic message number E253 Warning class Non fatal E255 Feedrate Override S 0 0108 0 The travel velocity used in drive controlled travel commands can be changed with parameter S 0 00108 Feedrate override This warning is given if the value of this parameter is 0 since the drive cannot then follow command values Cause 1 The control system s feed potentiometer is set to zero or is being evaluated incorrectly 2 The parameter was set to an incorrect value Remedy For 1 Check the feed potentiometer For 2 Set the parameter to the correct value for the application E255 Attributes SS Display E2 55 Diagnostic message number E255 Warning class Non fatal E257 Continuous Current Limiting Active The thermal controller load is monitored If a rated current profile is demanded of the drive controller which would require too high a power transistor load over time too much warming of the power output stage the drive controller will react by dynamically reducing the effective peak current This warning will be given at the same time Parameter P 0 4046 Aktiv peak current is reduced Before the peak current is actually limited the advance warning message E261 Continuous current limitation prewarning should have been generated Cause The drive controller was overloaded Remedy 1 Check the drive layout 2 Reduce acceleration With systems which have been used for longer periods of time check to
157. EC_OV The display format for the operating data should be decimal without a sign DEC_MV The display format for the operating data should be decimal with a sign ASCII the operating data is an ASCII string IDN the operating data is an ID number IDN DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 General Information 1 DIAX03 Drive With Servo Function Oe aL a Editability No the operating data cannot be edited P2 The operating data can only be edited in communications phase 2 P23 The operating data can only be edited in communications phases 2 and 3 P234 The operating data can be edited in any communications phase P3 The operating data can only be edited in communications phase 3 P4 The operating data can only be edited in communications phase 4 Memory fixed the operating data is programmed in the drive fixed value no The operating data is not buffered in the drive the value is undefined after the drive controller is switched on Param E prom The operating data is buffered in Eprom of the programming module DSM Verst E prom The operating data is buffered in E prom of the drive controller Feedb E prom The operating data is buffered in the Eprom of the motor feedback data memory only in MDD and MKD motors Validity check no the operating data is not checked for validity Phase2 the operating data is checked in the Communications phase 3 transition check command Pha
158. Error 3 14 Modulo Processing Limiting Conditions 7 8 Index 10 3 10 4 Index DIAX03 Drive With Servo Function Monitoring Absolute Encoder 7 21 Actual Feedback Value 7 15 Actual velocity in the torque force control 6 1 Axis Limit Values 7 30 Position Command Values 6 6 Position Loop 7 44 Monitoring the Distance Between Zero Switch and Homing Mark 7 56 Monitoring the Thermal Load 7 24 Motor Brake Switch to torque disable 7 35 with velocity command value set to zero 7 34 Motor Encoder Characteristics 7 12 Encoder Interface 7 12 Maximum Representable Travel Range 7 13 Parameterization 7 11 Resolution 7 12 Motor Encoder Resolution 7 12 Motor feedback Saved parameters 5 1 Motor Function Parameter 1 5 8 Motor Reference Load Reference 7 2 Motor Types Characteristics of the Motors 5 1 Linear Rotational 5 2 Setting the Motor Type 5 3 Supported Motor Types 5 1 Synchronous Asynchronous 5 2 N Non Volatile Parameter Storage Registers 3 2 Number of Valid Probe Values 8 15 O Operating Modes Determining the Active Operating Mode 6 9 Primary Operating Mode 6 1 Secondary Operating Mode 1 6 1 Secondary Operating Mode 2 6 1 Setting the Operating Mode Parameters 6 1 6 9 Oscilloscope Feature Activating the Feature 8 13 defined recording signals 8 10 Expanded Function 8 11 Expanded Trigger Signals 8 12 External Trigger and Internal Trigger Condition 8 14 Fixed Trigger Signals 8 11 Functional Pr
159. Homing Procedure or Preparation For Transistion Check of Phase 3 After 4 are defined as commands A primary control can start interrupt or erase a command Each command has a parameter with which the command can be controlled While a command is being executed the diagnostic message Cx or dx appears in the H1 display where x is the number of the command Command Types There are 3 command types e Drive Controlled Command Eventually leads to an automatic drive operation or motion Can be started only when controller enable is set Deactivates the active operating mode during its operation e Monitor Command Activates or deactivates monitors or features in the control drive e Management Command executes management tasks is not interruptable Command Input and Acknowledgment Control and monitoring of command execution occurs via the command input and command acknowlegment The command input tells the drive if the command should be started interrupted or ended The commanded value is the operating data of the applicable parameter The command input value can be e not set and enabled 0 e interrupted 1 e set and enabled 3 The drive gives the current condition of the command execution in the acknowledgment It is contained in the data status of the command parameter The condition can be e not set and enabled 0 e in process 7 e error command execution not possible OxF e command execution
160. IDN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0022 IDN List of Invalid Op Data for Comm Ph 3 Description Before the drive executes a delayed phase switch from 3 to S 0 0128 Communications phase 4 with the control system driven transition check commana the drive will check parameters for the following conditions e Validity of the parameter e The parameter value is found within the valid input range e Compatibility with other parameters If the result of a parameter check is negative this operating data will be entered in the ID No IDN list 12 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function The drive then responds to the transition command with the communications error diagnostic messages e C201 Parameter record incomplete or e C202 Parameter limit value error or e C203 Parameter calculation error See also the functional description S 0 0128 C2 communications phase 4 transition check S 0 0022 Attributes ID number S 0 0022 Editability no Function Parameter Memory no Data length 2 byte variable Validity check no Format IDN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max safis S 0 0024 Configuration List of the Master Data Telegram Description If the configured telegram is set in S 0
161. In addition The allowable peak amplifier current is limited to the S 0 0109 Motor Peak Current if this is smaller e As the process continues the value determined under 1 is reduced in connection with P 0 4004 Magnetizing Current The magnetizing current is 0 if it is dealing with a synchronous motor e Dynamic reduction during operation by monitoring the thermal load of the drive controller See also Monitoring the Thermal Load on page 7 24 e Limit to P 0 0109 Torque Force Peak Limit and S 0 0092 Bipolar Torque Force Limit Value See also Limiting to Bipolar Velocity Limit Value on page Fehler Textmarke nicht definiert P 0 0109 Peak Torque Force Limit Controller thermal overload S 0 0110 Amplifier Peak Current S 0 0109 Motor Peak Current eee S 0 0092 Bipolar agnetizing Torque Force Limit Current P 0 4046 Active Peak Current Smallest value of Reduction in Dynamic reduction Reduction by S 0 0109 and dependence on because of thermal bipolar torque force S 0 0110 magnetizing current overload limit Fig 7 1 Determining the torque producing peak current Setting the Active Continuous Current The content of the parameter P 0 4045 Active Duration Continuous Current is a factor of the following parameters e P 0 4011 Switching Frequency e P 0 4004 Magnetizing Current e P 0 4046 Active Peak Current In addition e The corresponding continuous current is determined from
162. Linear Physical Preferred Preferred Scaling Preferred Scaling Value Scaling mm Inch Position data 0 0001 Degrees 0 0001 mm 0 001 Inches 0 0001 RPM 10 6 m min 10 5 in min Fig 7 2 Preferred scaling parameter scaling Motor Reference Load Reference Either motor reference or load reference can be selected when adjusting the scaling With rotary load reference the scaled data from the motor format is converted to the transmission output format with the transmission ratio S 0 0122 Output Revolutions of Load Gear S 0 0121 Input Revolutions of Load Gear With linear load reference the scaled data from the motor format is converted to feed constant spindle format with the transmission ratio S 0 0122 Transmission Output Revolutions S 0 0121 Transmission Input Revolutions and the feed constant S 0 0123 Feed Constant The following restrictions apply in relationship to the motor type being used e Rotary motor reference cannot be set with linear motors e Linear motor reference cannot be set with rotary motors 7 2 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function Display Format of Position Data The scaling of drive controller position data is adjustable This is done with the parameters e S 0 0076 Position Data Scaling Type e 0 0077 Linear Position Data Scaling Factor e S 0 0078 Linear Position Data Scaling Exponent e 0 0079 Rotar
163. Memory Program Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Uzwk Combination check no Decimal places 1 Cyc transmittable no Input min max 50 100 P 0 0536 Motor Voltage Maximum Description The motor voltage in the field weakening range is set so that it reaches a value lower than the DC bus voltage During full load the motor voltage will rise to the maximum motor voltage The output voltage will be sinusoidal up to a value of 90 See also the functional description Asynchronous motors P 0 0536 Attributes ID number P 0 0536 Editability P234 Function Parameter Memory Program Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Uzwk Combination check no Decimal places 1 Cyc transmittable no Input min max 50 100 P 0 0537 S1 Kink Speed Description Starting with the S1 kink speed core losses result in This motor specific velocity determined by Indramat is only useful for the S1 operating mode From this velocity on the field quickly weakens so as to keep the motor temperature low See also the functional description Asynchronous motors P 0 0537 Attributes ID number P 0 0537 Editability P2 Function Parameter Memory Program Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit 1 min Combination check no Decimal places 4 Cyc transmittable no Input min max 0 MaxULong
164. Motor shutdown temperature the drive will generate this error message The value in S 0 0204 is fixed at 150 C for MDD and MKD motors The appropriate value must be entered from the motor s technical specifications for all other types of motors For motors of series 2AD 1MB LAF LAR and MBW the current motor temperature can be called up with parameter S 0 0383 Motor temperature Cause 1 The motor became overloaded The effective torque demand on the motor was above its permissible continuous torque level for too long 2 Short circuit or ground in the connection to motor temperature monitoring 3 Instability in the velocity control loop Remedy For 1 Check the layout of the motor For motors which have been in operation for longer periods of time check to see if the operating conditions have changed in regards to cleanliness friction moved components etc For 2 Check the wiring to the motor temperature monitor X6 1 and X6 2 for grounds and short circuits For 3 Check the velocity control loop parameters see the functional description See also the functional description Temperature monitoring F219 Attributes SS Display F2 19 Error number 219 Diagnostic message number F219 Error class Non fatal F221 Error Motor Temperature Control Cause Short circuit in the wiring to the motor temperature monitoring Remedy Check the wiring to the motor temperature monitoring X6 1 and X6 2 for short
165. NC cycle time and S 0 0002 SERCOS cycle time must be corrected These parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface See also the functional description Configuration of telegram send and receive times C112 Attributes SS Display C1 12 Diagnostic message number C112 C113 Relation of TNcyc S 0 0001 to TScyc S 0 0002 incorrect Cause The value of S 0 0001 NC cycle time can only be equal to or be a multiple of S 0 0002 SERCOS cycle time Here this is not the case 34 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO an DIAX03 Drive With Servo Function Remedy S 0 0001 NC cycle time and S 0 0002 SERCOS cycle time must be corrected These parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface See also the functional description Configuration of telegram send and receive times C113 Attributes SS Display C1 13 Diagnostic message number C113 C114 T4 gt TScyc S 0 0002 T4min S 0 0005 C115 T2 Too Small Cause The maximum permissible value for S 0 0007 Measurement time feedback value T4 is S 0 0002 SERCOS cycle time S 0 0005 minimum time feedback value determination T4min The value for S 0 0007 Feedback values acquisition starting time T4 is incorrect Remedy Correct S 0 0007 Feedback acquisition starting time
166. Not Copyable Cause The default parameters in use are not compatible with this software version Remedy Contact Indramat See also the functional description Run the load default settings feature as a command C704 Attributes SS Display C7 04 Diagnostic message number C704 D400 Positive Stop drive procedure command When the positive stop drive procedure command is activated all controller monitoring which would result in an error message for class 1 diagnostic while blocking the drive with a positive stop is turned off Cause Command D400 Positive stop drive procedure command was activated See also the functional description Positive stop drive procedure D400 Attributes SS Display D4 00 Diagnostic message number D400 D401 ZKL1 Error at Command Start Cause A class 1 diagnostic error was discovered while starting the command Positive stop drive procedure As a result the command could not be executed Remedy Eliminate the cause of the error clear the error and start the command again See also the functional description Positive stop drive procedure D401 Attributes SS Display D4 01 Diagnostic message number D401 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 47 DIAX03 Drive With Servo Function Oe aL a 1 4 Status Diagnostic Messages A000 Communication Phase 0 The communication process is divided into four communications phases
167. O DIAX03 Drive With Servo Function Parameter structure E Bit 0 Measurement 2 positive 0 not latched 1 latched Fig 2 45 S 0 0411 Probe 2 positive latched See also the functional description Probe feature S 0 0411 Attributes ID number S 0 0411 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0412 Probe 2 Negative Latched Description Bit 0 in this parameter will be set by the drive if e Command S 0 0170 Probe cycle is active e Bit 3 in S 0 0169 Probe control parameter is set e 0 0406 Probe 2 enable is present and e The negative edge of S 0 0402 Probe 2 is recognized The drive simultaneously stores the value of the selected signal in S 0 0133 Probe value 2 negative edge The drive erases the bit if the NC erases command S 0 0170 Probing cycle procedure command or if S 0 0406 Probe 2 enable is set from 1 to o The parameter probe 2 negative latched can be assigned to a real time status bit and thus be continuously communicated to the NC in the drive status word see S 0 0305 Allocation of real time status bit 1 Parameter structure l Bit 0 Measurement 2 negative 0 not latched 1 latched Fig 2 46 S 0 0412 Probe 2 negative latched See also the functional description
168. OE 3 5 3 2 RI Tele Greg tee re 3 7 Overview of Diagnostic Configurations ccccceeeeeeeeceeeeeeeeeeeeaeeeeeeeseaeeesaaeseeaeeseeeeeseaeeeeaeeeeneeee 3 7 Drive Internal DiagnOStieS cevcciccetteieeteeeetety EENE EE E E TAE E eege ger 3 7 Diagnostic Message Composition c cccccccecceeeeceeeceeeeeceeeeeeaaeeseeeeceaeeeceaeeeeaaeseeeeeseaeeesaessaeeeenees 3 8 Collection OF StA S attert Zeen feet oe ere eben leiere vergeet bd sees lense eter deleted 3 9 3 3 Parameter Mode Operation Mode AA 3 12 Monitoring in the Transition Check Commande 3 12 4 Communication Through the SERCOS INTERFACE 4 1 4 1 Overview of SERCOS Communtcaton nenn nnnn ne manna 4 1 4 2 Data Transfer Cycle Through SERCOS ccccecececeeeeeceneeeeeee teense saeeeeaaeseeeeeseeeeseaeeesaaesseaeeseieesenaeeeeeas 4 1 MasterControl Word e Ke eebe Ee e eer EE 4 2 RIVE Ee re EE 4 3 4 3 Real Time Control and Status Dis 4 4 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Contents DIAX03 Drive With Servo Function IMDR ARIAL 4 4 Transmission of Required Data Through GERCOS see eeeaaeeseeeeeteeeeseaeeeneeeees 4 4 4 5 Start Up for the SERCOS Interface ccc cececeeeeeeeeeeeeeaeeeeeee scenes ceaeeeeeaeeeeaeeseeeeesaeessaaeeeeeeeseaeeaeeseneeee 4 5 Setting the Drive Address of the SERCOS Interface 4 5 Connection of the Fiber Optics for the SERCOS Interface ccccceeeeeeeeeeeeeeeeeeeseneeeseaeeeeeneeeaes 4 5 Transmission Rate of the SERCOS Interface
169. Parameter Description Parameter P 0 0090 activates the travel limit switch In addition the inputs can be inverted OV on E2 3 gt Travel limit exceeded Parameter structure Bit 0 Negation 0 E2 3 not inverted 24 V gt travel range exceeded 1 E2 3 inverted 0 V gt travel range is exceeded L Bit 1 Activation 0 Travel range switch is not active 1 Travel range switch is active L Bit 2 Response 0 Exceeded travel range is handled as error 1 Exceeded travel range is handled as warning Fig 3 17 P 0 0090 Travel limit parameter Note In addition bit 1 activates monitoring of the external 24V current See also the functional description Transverse travel range limits P 0 0090 Attributes ID number P 0 0090 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit 5 Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0097 Absolute Encoder Control Window Description When absolute encoder monitoring is used the switch command 3 gt 4 compares the saved feedback value with the current feedback value of the axis If the difference is greater than what is set in parameter P 0 0097 error message C224 Absolute feedback error will be generated As a standard value 0 1 motor rotations 36 degrees in reference to the motor shaft can be given if the
170. Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 1 0xFFFFFFFF S 0 0123 Feed Constant Description This parameter describes the conversion from rotary to linear motion It is defined as the linear displacement of the load measured during one revolution of the gear drive shaft Characteristic value Ball screw spindle Rack and pinion Feed constant pitch of screw typical value 10 00 mm Feed constant effective pitch diameter of the pinion pi Fig 2 23 Characteristic value for the feed constant Note scaling type Note that Bit 4 S 0 0076 0 Bit 4 S 0 0076 1 gt mm rev gt inch rev The unit is dependent on bit 4 in S 0 0076 Position data 42 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function See also the functional description Feed constant S 0 0123 Attributes ID number S 0 0123 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit S 0 0076 Combination check no Decimal places 5 Cyc transmittable no Input min max S 0 0124 Standstill Window Description The motor s standstill is defined in such a manner that the Velocity feedback value
171. Position Data 7 3 of the Velocity Data 7 4 Preferred Scaling Parameter Scaling 7 2 Scaling Factor Pre Magnetizing 5 6 Selection of Trigger Edges 8 11 SERCOS Interface Allocation of Real Time Control Bit 4 4 Allocation of Real Time Status Bit 4 4 Connection to the Fiber Optics 4 5 Drive Status Word 4 3 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Produktbezeichnung Master Control Word 4 2 Transmission Power 4 6 Transmission Rate 4 6 SERCOS Interface Start Up for the SERCOS Interface 4 5 Servo Feedback Parameterizing the Encoder 7 10 Set Absolute Dimension Error Messages 7 20 Functional Principle 7 18 without controller enable 7 19 Set absolute dimension measuring during controller enable then turn off the controller enable 7 20 Set absolute measuring without controller enable 7 19 Set the actual feedback values according to the absolute dimension 7 20 Setting absolute dimension with CE and subsequent homing 7 19 Setting Absolute Dimension Under Controller Enable and Subsequent 7 19 Setting Position Command Value Monitoring 6 7 Setting the Acceleration Feed Forward 7 46 Setting the Active Continuous Current 7 23 Setting the Active Peak Current 7 22 Setting the Position Control Loop Monitor 7 44 Setting the Position Dependent Temperature Correction Factors 8 30 Setting the Time Resolution and the Memory Depth 8 13 Setting the Trigger Delays 8 13 Slack 8 21 Smoothing Time Constant
172. S 0 0391 External Encoder Monitoring Window Other External Encoder Characteristics To parameterize the important characteristics of the external encoder such as e Direction of movement not inverted inverted e Distance coded home mark yes no e Rotary linear measurement system e Absolute not absolute use S 0 0115 Position Feedback 2 Type Parameter The structure of this parameter is as follows S 0 0115 Position Feedback 2 Parameter E Feedback type 0 rotary 1 linear Bit 1 reserved L Bit 3 Direction of movement 0 not inverted diz inverted Bit 6 Feedback resolution 0 not absolute 1 absolute Fig 7 20 Parameter S 0 0115 Bit 6 is automatically set with absolute measurement systems see Other Settings for Absolute Measurement Systems on page 7 17 7 16 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EE an DIAX03 Drive With Servo Function Actual Feedback Values of Non Absolute Measurement Systems After Initialization If an absolute measurement system is not available the actual feedback values in the command S 0 0128 C2 Communication Phase 4 Transition Check are initialized as shown below depending on if the parameter P 0 0019 Position Beginning Value was written in the previous communication phase 2 or 3 or not P 0 0019 Actual feedback Actual feedback written value 1 value 2 no init motor encoder raw init motor encoder raw value valu
173. SE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 67 DIAX03 Drive With Servo Function Oe ale a S 0 0383 Attributes ID number S 0 0383 Editability no Function Parameter Memory no Data length 2 bytes Validity check not Format DEC_MV Extreme value check no Unit C Combination check no Decimal places 1 Cyc transmittable no Input min max S 0 0390 Diagnostic Message Number Description The diagnostic message number is stored in parameter Diagnostic message number It can also be viewed in the seven segment display This makes it possible for the control system to generate its own diagnostics using the diagnostic message number for example in diagnostics in additional languages which are not stored in the drive Example Diagnostic Message F8 22 Motor encoder error Signals are too small in parameter S 0 0095 Seven segment display Alternates between F8 lt gt 22 Diagnostic message number F822 hex in parameter S 0 0390 See also the functional description Diagnostic message number S 0 0390 Attributes ID number S 0 0390 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0391 External Encoder Monitoring Window Description This parameter defines the maximum allowable deviation of S 0 0051 Actual f
174. SSE 01VRS FKB1 EN P e 09 96 Teeter DIAX03 Drive With Servo Function Reset class 1 diagnostic error reset 44 S Set absolute measuring 44 Slave not scanned or address 0 28 Switching to uninitialized operating mode 1 T T2 too small 35 Target position out of range 25 Time slot parameter gt SERCOS cycle time 33 TNcyc S 0 0001 or TScyc S 0 0002 error 34 Torque force data scaling error 40 U Undervoltage error 3 V Velocity command value S 0 0036 greater than bipolar limit 28 Velocity control loop error 20 Velocity data scaling error 39 W Warning motor temperature control 24 Watchdog 21 Watchdog 55 Wrong code of current measuring unit 22 Z ZKL1 error at command start 47 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 2 3 DIAX03 Drive With Servo Function Pa CREPE Pens 2 4 Index DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 1 Pall Ce CO Mai DIAX03 Drive With Servo Function Customer Service Locations Germany Sales area Center INDRAMAT GmbH D 97816 Lohr am Main Bgm Dr Nebel Str 2 Telefon 09352 40 4817 Telefax 09352 40 4989 Sales area East INDRAMAT GmbH D 09120 Chemnitz BeckerstraBe 31 Telefon 0371 3555 0 Telefax 0371 3555 230 Sales area West INDRAMAT GmbH D 40880 Ratingen HarkortstraBe 25 Telefon 02102 4318 0 Telefax 02102 41315 Sales area North INDRAMAT GmbH D 22525 Hamburg Kieler Str 212
175. See also the functional description Determining the encoder feedback interface of the motor encoder P 0 0075 Attributes ID number P 0 0075 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit e Combination check no Decimal places 0 Cyc transmittable no Input min max 0 8 P 0 0081 Parallel UO Output 1 Description The control system can use this parameter to address the outputs of the DEA 4 1 I O card See also the functional description Digital input output P 0 0081 Attributes ID number P 0 0081 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable MDT Input min max P 0 0082 Parallel UO Input 1 Description The control system can use this parameter to address the inputs of the DEA 4 1 I O card See also the functional description Digital input output P 0 0082 Attributes ID number P 0 0082 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable AT Input min max 96 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function P 0 0090 Travel Limit
176. See also the functional description Drive controlled homing S 0 0054 Attributes ID number S 0 0054 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0055 Position Polarity Parameter Description This parameter can be used to invert the polarities of the given position data These polarities are switched outside of the control system e at the input and output of the control system Note the following in reference to rotary motors Motor clockwise rotation means the motor shaft turns in a clockwise direction facing the motor shaft if the position command value difference and the polarity are both positive The following applies to linear motors If the primary section of the linear motor drives in the direction facing the connecting lines then a positive direction will be used Bit 4 is used to activate or deactivate software position limits Parameter structure Bit 0 Position command value 0 positive polarity 1 negative polarity Bit 1 Position command value additive 0 positive polarity 1 negative polarity Bit 2 Position feedback value 1 0 positive polarity 1 negative polarity Bit 3 Position feedback value 2 0 positive polarity 1 negative polarity Bit 4 Position limit values 0 not active
177. Standstill is made available to the user The parameter S 0 0092 Bipolar Torque Force Limit Valueis designed to allow variable limits of the maximum drive torque to values smaller than the maximum allowable drive torque while it is in operation This is useful when temporarily moving toward a positive stop for example Each drive produces a specific peak torque based on the maximum allowable current of the applicable motor drive controller combination which is desirable for acceleration procedures in many applications Nevertheless there are times when the maximum peak torque must be limited to lesser values for technical reasons specific to an application The maximum peak torque of a drive can be limited as appropriate for an application with the parameter P 0 0109 Torque Force Peak Limitation The parameter overrides everything DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 25 DIAX03 Drive With Servo Function Oe aL a else to ensure that the maximum peak torque allowed for the application cannot be exceeded even if S 0 0092 Bipolar Torque Force Limit Value is set arbitrarily high The maximum output current is thus determined together with the current limit which is displayed in P 0 4046 Active Peak Current See also Fehler Verweisquelle konnte nicht gefunden werden on page Fehler Textmarke nicht definiert The following illustration shows the connection between the current limit and the torque force lim
178. Stop 0 inactive 1 active Bit 1 Type of reaction 0 Deceleration as best as possible P 0 0119 1 Set velocity command value to zero ee es Fig 7 22 Structure of P 0 0008 Activation of E Stop Function The input polarity cannot be selected It is always 0 active i e OV on E6 of the connector means the E Stop is active If the evaluation of the E Stop signal is activated the monitoring of UL external 24V is also activated if it has not yet been active Connection of the Emergency Stop Input The drive controllers are provided with a binary input connector that includes the emergency stop signal You can find it on the plug in module DSS 2 1 The input is separated potentially and has to be supplied through the same connector X 12 with 24V E Stop signal connection Ee Plug 12 on DSS Fig 7 23 Connection of E Stop Signal to X12 If the emergency stop input was activated but the 24 V supply failed then the error F233 External Power Supply Error is generated 7 38 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function 7 7 Control Loop Settings General Information for Control Loop Settings The control loop settings in a digital drive controller are important for the characteristics of the servo axis Determining the control loop settings requires expert knowledge prs Pits Soe a For this reason all digital INDRAMAT Drives have application sp
179. TTT S 0 0097 Masked Class 2 unequal to 0 Yes Bit change set in drive status message Fig 3 12 Composition of the class 2 diagnostics change bit S 0 0182 Manufacturer Class 3 Diagnostics The parameter S 0 0182 Manufacturer Class 3 Diagnostics contains the current operating status If the status changes this is not signaled with a change bit The following bits are supported in the Manufacturer Class 3 Diagnostics S 0 0182 Manufacturer Class 3 Diagnostics A A EEN Bit 0 1 Operation lock active Bit 1 Actual velocity lt S 0 0124 Standstill window Bit 6 IZP S 0 0258 Tar position Actual position lt S 0 0057 Posit window amp amp S 0 0189 Following error lt S 0 0057 Positioning window amp amp S 0 0040 Actual velocity lt S 0 0125 Standstill window Bit 7 90 LOAD message Amplifier is giving 90 of its current maximum torque Bit 8 IN SYNCHRONIZATION Main operating mode with subordinated position control synch position command value Xadditive S 0 0048 Xactual S 0 0051 or S 0 053 lt S 0 0228 Synchronized position Main operating mode velocity synchronization Synchronized velocity command value velocity command value add velocity command value lt S 0 0183 Synchronized velocity L Bit 9 Synchronization ended L Bit11 AHQ Drive Stop amp amp Actual velocity lt S 0 0124 Fig 3 13 Composition of S 0 0182 Manufacturer Cla
180. The DC bus voltage is not established after the main contactor has been switched on Cause If there is a short circuit in the DC bus voltage cannot build up after the drive has been switched on This error is generated if the voltage remains under 100 V for approx 200ms Remedy Exchange the drive controller F891 Attributes SS Display F8 91 Error number 891 Diagnostic message number F891 Error class Fatal DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 21 DIAX03 Drive With Servo Function Oe aL a F892 Wrong Code of the Current Measuring Unit A faulty current measuring unit was discovered after the control voltage was turned on Cause The current measuring unit has an incorrect code The coding does not work with the RSK circuit board Remedy Exchange the current measuring unit F892 Attributes SS Display F8 92 Error number 892 Diagnostic message number F892 Error class Fatal F893 No Regenerating Current to Net This error message is generated if the feedback current command value is at its maximum and no current is flowing for approx 50ms Cause 1 Power supply not properly connected 2 Defective feedback Remedy For 1 Check the power supply connection according to the project planning specifications For 2 Exchange the drive controller F893 Attributes SS Display F8 93 Error number 893 Diagnostic message number F893 Error class Fat
181. The master control word is part of the Master Data Telegram The most important control information for the drives is contained here such as e Drive ON and Drive enable e Drive Stop e interpolator cycle e Set operation mode e Real time control bit 1 and 2 e Control information for the service channel The master control word is structured as follows Master Control eer VAN Bit 0 5 Control information for service channel Bits 6 amp 7 Real time control bits 1 amp 2 Bits 8 amp 9 Actual type of operation 00 Main type of operation 01 1 Secondary type of operation etc Bit 12 IPOSYNG Interpolator cycle toggles when new command values are transferred Bit 13 Drive STOP 1 0 change stopping the drive while keeping the maximum acceleration S 0 0138 Bit 13 Drive RELEASE 1 0 change immediate torque disconnection Bit 14 Drive ON 1 0 change Best possible standstill Fig 4 1 Structure of the master control word The master control word is transferred through the service channel to the control by using the parameter S 0 0134 Master Control Word Controller enable The activation of the drive is done through a 0 1 edge of the controller enable signal For drive controllers with a SERCOS Interface the controller enable signal corresponds to bit 15 in the master control word of the master data telegram To have the controller enable signal accepted meaning that the drive is ready to accept commands fro
182. Those values are transferred to the drive in communication phase 2 through the parameters S 0 0002 SERCOS Cycle Time Tscyc S 0 0006 AT Transmission Starting Time T1 S 0 0007 Feedback Acquisition Starting Time T4 S 0 0008 Command Valid Time T3 S 0 0009 Beginning Address in Master Data Telegram S 0 0010 Length of Master Data Telegram S 0 0089 MDT Transmit Starting Time T2 The drive checks these settings while processing the command S 0 0127 C1 Transfer preparation to comm phase 3 The following error messages may appear C101 Invalid Communications Parameter S 0 0021 C108 Time Slot Parameter gt SERCOS Cycle Time C109 Position of Data Record in MDT Even S 0 0009 C110 Length of MDT Odd S 0 0010 C111 ID9 Record Length 1 gt Length MDT S 0 0010 C112 TNcyc S 0 0001 or TScyc S 0 0002 Error C113 Relation TNcyc S 0 0001 to TScyc S 0 0002 Error C114 T4 gt TScyc S 0 0002 T4min S 0 0005 C115 T2 Too Small Configuration of Telegram Contents The telegram contents are set through parameters S 0 0015 Telegram Type Parameter S 0 0016 Custom Amplifier Telegram Configuration List S 0 0024 Config List of the Master Data Telegram DOK DIAX03 SSE 01VRS FKB1 DE P e 09 96 Communication Through the SERCOS INTERFACE 4 7 DIAX03 Drive With Servo Function Oe aL a However the drive directed conditions for the type and number of configured data must be in the set range Those are provided by the
183. V Extreme value check yes Unit uS Combination check no Decimal places 0 Cyc transmittable no Input min max 250 100000 P 0 0032 Size of Memory Description The size of memory determines the number of recorded probe values per measurement A maximum of 512 probe values can be recorded per channel The memory size and time resolution together determine the recording duration The minimum recording duration is 128 ms and the maximum duration is 51 2 s Note that in general Recording duration Time resolution Size of memory us See also the functional description Oscilloscope function P 0 0032 Attributes ID number P 0 0032 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check no Format DEC OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 2 512 P 0 0033 Number of Samples After Trigger Description Parameter P 0 0033 defines the number of probe values or samples that will be entered in the probe value list after the trigger event In this way it is possible to set a parameter to define a trigger delay Parameter P 0 0033 is used for this Trigger threshold Trigger signal Trigger status bit 0 P 0 0033 Number of measurements after Trigger delay the trigger action Recording duration Fig 3 9 Triggering DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 S
184. Voltage Danger to life severe electrical shock and risk of injury Only those trained and qualified to work with or on electrical equipment are permitted to operate maintain and or repair this equipment Follow general construction and safety regulations when working on electrical installations Before switching on power the ground wire must be permanently connected to all electrical units according to the connection diagram At no time may electrical equipment be operated if the ground wire is not permanently connected even for brief measurements or tests Before beginning any work disconnect mains or the voltage source from the equipment Lock the equipment against being switched on while work is being performed Wait 5 minutes after switching off power to allow capacitors to discharge before beginning work Measure the voltage on the capacitors before beginning work to make sure that the equipment is safe to touch Never touch the electrical connection points of a component while power is turned on Before switching the equipment on covers and guards provided with the equipment must be installed to prevent contact with live parts Before operating cover and guard live parts properly so they cannot be touched A leakage current protective device must not be used for an AC drive Indirect contact must be prevented by other means for example by an overcurrent protective device European countries according to EN
185. a e P 0 0028 Trigger Level for Velocity Data e P 0 0029 Trigger Level for Torque Force Data e P 0 0030 Trigger Edge Flank e P 0 0031 Timebase e P 0 0032 Size of Memory e P 0 0033 Number of Samples After Trigger e P 0 0035 Delay From Trigger to Start cannot be written e P 0 0036 Trigger Control Word e P 0 0037 Trigger Status Word e P 0 0145 Expanded Trigger Edge e P 0 0146 Expanded Trigger Address e P 0 0147 Expanded Signal K1 Address e P 0 0148 Expanded Signal K2 Address e P 0 0149 Signal Selection for Oscilloscope Feature e P 0 0150 Number of Valid Samples for Oscilloscope Feature Main Functions of the Oscilloscope Feature The oscilloscope feature can be activated with parameter P 0 0036 Trigger Control Word by setting bit 2 From this point on all data will be recorded that were selected through the parameters P 0 0023 Signal Selection Channel 1 and P 0 0024 Signal Selection Channel 2 The selection will be defined with numbers that are assigned various signals The triggering is activated by setting bit 1 in the Trigger Control Word parameter The trigger conditions can be set with the parameters P 0 0025 Trigger Source P 0 0026 Trigger Signal Selection and P 0 0030 Trigger Edge The signal amplitude that releases the trigger can be set with the parameters P 0 0027 P 0 0029 Trigger Level If a trigger event is recognized the values in the parameter P 0 0033 Number of Samples After Trigger will
186. aL a P 0 0023 Signal Select Channel 1 Description Parameter P 0 0023 determines the signal that will be recorded The following fixed defined signals are available Unit of the Signal selection scope data list 0 x 00 Channel not activated 0x01 Actual feedback value Dependent on position dependent on operating mode scaling S 0 0051 or S 0 0053 Velocity value Dependent on parameter S 0 0040 velocity scaling Velocity control Dependent on deviation S 0 0347 velocity scaling Following error Dependent on position parameter S 0 0189 scaling Torque force command value Percent parameter S 0 0080 0 x 06 Not in use E Fig 3 2 P 0 0023 Signal numbers Expanded oscilloscope recording feature In addition to fixed defined signal selection it is also possible to record any memory addresses of the drive To do this bit 12 1 must be set Bit 13 defines the data length of the memory signal in question Expanded oscilloscope on function Bit 13 Data width of measurements 0 16 bits 0 32 bits Fig 3 3 P 0 0023 amp P 0 0024 Oscilloscope function signal selection See also the functional description Oscilloscope function P 0 0023 Attributes ID number P 0 0023 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check no Format HEX Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input
187. activated 1 activated Fig 2 37 S 0 0400 Home switch See also the functional description Evaluation of the zero switch S 0 0400 Attributes ID number S 0 0400 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0401 Probe 1 Description This parameter is used to assign an ID number to Probe 1 external signal This makes it possible to assign Probe 1 to a real time status bit for example The signal Probe 1 is only polled by the drive and considered valid if command S 0 0170 Probing cycle procedure is active and S 0 0405 Probe 1 enable is present Parameter structure A 0 Probe 0 not activated 1 activated Fig 2 38 S 0 0401 Probe See also the functional description Probe feature S 0 0401 Attributes ID number S 0 0401 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 70 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an S 0 0402 Probe 2 DIAX03 Drive With Servo Function Description This parameter is used to assign an ID number to Probe 2 external signal This makes it possible to assign Probe 2 to a re
188. actor for position data channel 1 e P 0 0044 Scaling power for analog output See also the functional description Analog output P 0 0038 Attributes ID number P 0 0038 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0039 Signal Select Analog Output Channel 2 Description DIAX 03 offers you an Analog output function Two outputs make it possible to export drive controlled signals and status variables as analog voltage signals These can be examined by connecting an oscilloscope to the analog outputs The maximum output voltage is 10V with a resolution of 8 bits Predefined channel selection numbers are available to select specific signals For analog channel 2 the selection can be made by entering the channel selection number hex format in parameter P 0 039 The following predefined signals are available Number Signal selection Scaling 0x0 0x1 Torque producing command current 10V S 0 0110 Peak current amplifier 0x2 Velocity feedback value after mixing P 0 0041 and filtering 0x3 S 0 0036 Velocity command value P 0 0041 0x4 Position command value difference P 0 0041 0x5 S 0 0051 Position feedback value 1 P 0 0043 0x6 S 0 0053 Position feedback value 2 P 0 0043
189. ad back into the allowable range will be accepted Monitoring the command values is dependent on the active operating mode See previous chapter Travel Zone End Switch Monitoring The monitor for exceeding the travel zone end switch is only activated if e the monitor is switched on in bit 1 of P 0 0090 Travel Zone End Switch Parameter Exceeding the travel zone end switch is recognized when these are activated The diagnostic message depends on the type of reaction How handled SS display Diagnostic message As an error F643 F643 Positive travel range limit switch activated detected F644 F644 Negative travel range limit switch activated detected As a warning E843 E843 Positive travel range limit switch activated detected E844 E844 Negative travel range limit switch activated detected Fig 7 8 Diagnostic message when travel zone end switch is exceeded Travel Zone End Limit Switch Connection The drives in the DIAX 03 family have 2 binary inputs available for connecting travel zone end switches These can be found in the DSS 2 1 plug in module The inputs are divided by potential and must be supplied with 24V by the same connector X 12 Positive limit switch connection E2 Negative limit switch gt E3 Connector 12 on DSS Fig 7 9 Connecting the limit switches to X12 DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Basic Drive Functions 7 29 DIAX03 Dr
190. ae a S 0 0269 Parameter Buffer Mode Description Parameter buffer mode is used to specify whether the data which is transferred via the service channel will be saved temporarily in RAM or in permanent resident memory in EEPROM Note these settings 0 Data will be stored permanently 1 Data will be stored temporarily After the control voltage supply has been switched on the drive will initialize bit O to 0 To activate temporary storage mode bit 0 must be forced to 1 See also the functional description Parameter storage in programming module S 0 0269 Attributes ID number S 0 0269 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 1 S 0 0277 Position Feedback 1 Type Parameter Description This parameter is used to determine the significant properties of the motor encoder Position encoder 1 Parameter structure Bit 0 Feedback type 0 rotary 1 linear Bit 1 reserved L Bit3 Direction of movement 0 not inverted 1 inverted Bit 6 Feedback resolution 0 not absolute 1 absolute ees Fig 2 33 S 0 0277 Position feedback 1 type parameter Remark For absolute measurement systems with data memory bit 6 is set automatically When MDD and MKD motors are used bits 0 1 and 3 are set and write prot
191. age must be ordered and received before initial start up if the instructions in the language provided are not understood perfectly e Proper and correct transport storage assembly and installation as well as care in operation and maintenance are prerequisites for optimal and safe operation of this equipment e Trained and qualified personnel in electrical equipment Only trained and qualified personnel may work on this equipment or in its vicinity Personnel are qualified if they have sufficient knowledge of the assembly installation and operation of the product as well as of all warnings and precautionary measures noted in these instructions Furthermore they should be trained instructed and qualified to switch electrical circuits and equipment on and off to ground them and to mark them according to the requirements of safe work practices and common sense They must have adequate safety equipment and be trained in first aid e Use only spare parts approved by the manufacturer e All safety regulations and requirements for the specific application must be followed as practiced in the country of use e The equipment is designed for installation on commercial machinery e Start up is only permitted once it is sure that the machine in which the products are installed complies with the requirements of national safety regulations and safety specifications of the application European countries see Directive 89 392 EEC Machine Guid
192. aking current is monitored If the braking current is outside of the permissible range between 0 4 1 6 P 0 0511 Break current this error message will be generated Cause L The power supply for the brake is not connected properly or is outside of the 24 V 10 tolerance 2 The motor cable is incorrectly connected wiring error 3 Defective brake 4 Defective drive controller Note A metallic connection between the OV brake supply and the OV of the drive controller is required Remedy For 1 Check the power supply For 2 Check the motor cable For 3 Exchange the motor For 4 Exchange the drive controller See also the functional description Setting the motor brake current DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement B Diagnostic Message Description 9 DIAX03 Drive With Servo Function Oe aL a F268 Attributes SS Display F2 68 Error number 268 Diagnostic message number F268 Error class Non fatal F276 Absolute Encoder Error Deviation gt P 0 0097 F280 Earth connection When a drive controller with an absolute encoder motor multiturn is switched off the actual feedback position is saved When it is turned back on the position determined by the absolute encoder evaluation is compared with this stored position This error is given if the deviation is greater than the value set by parameter in P 0 0097 Absolute encoder control window Cause 1 Turning on for the first ti
193. al Remedy For 1 Check all LWL connections in the SERCOS ring For 2 Measure the attenuation in the LWL cable The maximum attenuation between TX and RX must not fall below 12 5 dB 12 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function For 3 Exchange the SERCOS interface module in the drive controller See also the functional description SERCOS interface error F402 Attributes SS Display Error number Diagnostic message number Error class F4 02 402 F402 Interface F403 Invalid Communications Phase Shutdown An invalid communications phase was given by the SERCOS master module phase gt 4 Cause Error in the SERCOS master module of the control system Remedy Consult the control system manufacturer See also the functional description SERCOS interface error F403 Attributes SS Display Error number Diagnostic message number Error class F404 Error During Phase Progression The prescribed order was not maintained during phase progression Cause F4 03 403 F403 Interface Error in the SERCOS master module of the control system Remedy Consult the control system manufacturer See also the functional description SERCOS interface error F404 Attributes SS Display Error number Diagnostic message number Error class F405 Error During Phase Regression Phase 0 was not switc
194. al F894 Checksum Error Cause The checksum is stored in the EPROM during the initial programming Each time the drive is turned on the processor checks to see if the checksum which was created from the processor corresponds to the one which has been stored This error is generated if this is not the case Remedy Exchange the RSK circuit board EPROM F894 Attributes SS Display F8 94 Error number 894 Diagnostic message number F894 Error class Fatal 22 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function 1 2 Warning Diagnostic Messages E201 No Mains Cause After the control voltage has been switched on the drive checks to see if the mains connection of the power supply has also been switched on This warning is given if this has not happened correctly with DKR only Remedy Check power connections external relay fuse etc E201 Attributes SS Display E2 01 Diagnostic message number E201 Warning class Non fatal E202 Not Ready for Power On Cause As usually happens the main contactor K1 was turned off when the controller enable was not set Because of the drive controller capacities the DC bus voltage must not decrease suddenly after the main contactor is turned off This message is generated as long as the DC bus voltage gt 250V and prevents the main contactor from being turned on This serves to protect discharging resis
195. al time status bit for example The signal Probe 2 is only polled by the drive and considered valid if command S 0 0170 Probing cycle procedure is active and S 0 0406 Probe 2 enable is present Parameter structure Bit 0 Probe 0 not activated 1 activated Fig 2 39 S 0 0402 Probe See also the functional description Probe feature S 0 0402 Attributes ID number S 0 0402 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0403 Position Feedback Value Status Description Bit O of this parameter will be set by the drive if the feedback position value which was selected with bit 3 by S 0 0147 Homing parameter is fixed in reference to the machine s zero point If command S 0 0148 C6 Drive controlled homing procedure command or P 0 0012 Command Get absolute measurement were executed in the drive then the bit will be reset at the start of those commands and then reset after successful termination of the same commands The position feedback value status can be assigned to a real time status bit and thus be continuously communicated to the NC in the drive status word see S 0 0305 Allocation of real time status bit 1 Parameter structure Bit 0 Position feedback values 0
196. alajn rm GEES NIN AJ 10 9 25 11 10 26 12 11 27 13 12 28 14 13 29 15 14 30 2 15 MSB 31 Fig 8 8 Digital Input Output Bit Output Assignment DEA Module The parameter parallel output is copied to the DEA port every 250 usec Likewise the DEA port is copied to the parallel input every 250 usec Note An external power supply must be connected to operate a DEA card Pin 37 24 Vext Pin 35 0 Vext If the power supply is missing the F233 External Power Supply Error will be generated DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Optional Drive Features 8 5 DIAX03 Drive With Servo Function Vr CREA Allocating ID Number Parallel UO The current value of any desired parameter can be exported to the binary output of a DEA Likewise the binary inputs of a DEA can be mapped onto the current value of any desired parameter This feature is set with the parameters e P 0 0124 IDN gt DEA Output Assignment e P 0 0125 DEA Input gt IDN Assignment The parameters are structured as follows 31 30 29 282726 252423 2221 2019 1817 1615 1413 12111098 7 65 43 2 1 Bits 0 15 ID numbers of the assigned Abb 8 9 Structure of Parameters P 0 0124 and P 0 0125 IDN gt DEA Output Assignment With the IDN gt DEA Output Assignment the current value of the assigned parameter is copied to the DEA output parameter this is exported to the DEA outputs
197. also the functional description Asynchronous motors P 0 0531 Attributes ID number P 0 0531 Editability P234 Function Parameter Memory Program Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit A Vmin Combination check no Decimal places 0 Cyc transmittable no Input min max 0 MaxULong P 0 0532 Scaling Factor Pre Magnetizing Description The pre magnetizing factor is used for application dependent decreases in the Servo magnetization current Together with parameter P 0 4004 Magnetization current it specifies the motor s magnetization current Effective magnetization current magnetization current pre magnetization scaling factor DOK DIAX03 SSE 01VRS FKB1 EN 09 96 Supplement A Description of Parameters 121 DIAX03 Drive With Servo Function Oe aL a With a pre magnetizing factor of 100 the Servo magnetization current in the motor will flow so that a torque proportional to the momentum producing current will result in the basic rotation range See also the functional description Scaling factor pre magnetizing P 0 0532 Attributes ID number P 0 0532 Editability P234 Function Parameter Memory Program Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 25 100 P 0 0533 Flux Loop Proportional Gain Description The flux loop controls the ma
198. ameter P 0 0036 Trigger Control Word The parameter is defined as follows P 0 0036 Trigger Control Word BO Trigger action Input with external triggering Bit 1 Trigger release Bit 2 Oscilloscope function active Fig 8 22 Structure of Parameter P 0 0036 DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Optional Drive Features 8 13 DIAX03 Drive With Servo Function URI CEEP Pees The oscilloscope feature is activated by writing bit 2 with 1 i e the internal probe value memory is continually written with the selected measurement signals If bit 1 is set then the trigger monitor is activated and the oscilloscope feature waits for the selected edge to occur If a valid edge is recognized then the probe value memory will be completed as set in parameter P 0 0033 and the oscilloscope feature will be deactivated by resetting bits 1 amp 2 in the trigger control word Oscilloscope Feature With External Trigger and Internal Trigger Condition If triggering is selected in parameter P 0 0025 Trigger Source with the control bit of the trigger control word then the trigger will be initiated with 0 gt 1 edge of bit 0 in the trigger control word With this drive it is also possible to monitor a trigger signal for the trigger condition If the trigger condition is recognized then bit 0 will be set in the trigger status but the trigger will not be released In this way it is possible with real time status to
199. ameter S 0 0298 Reference Cam Shifting The zero switch edge can be shifted mechanically for this value To avoid a mechanical shifting of the zero switch edge you can set this procedure in the software with the parameter S 0 0299 Home Switch Offset The value in parameter S 0 0298 Reference Cam Shifting is transferred to parameter S 0 0299 Home Switch Offset Optimal distance S 0 0299 Home Switch Offset 0 5 Distance of lt reference marks Actual zero switch D x Effective zero switch Homing beginning direction Fig 7 44 Operating characteristics of parameter S 0 0299 Home Switch Offset DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 57 DIAX03 Drive With Servo Function rw Cra The parameter S 0 0299 Home Switch Offset can be set as follows e Running the homing command with S 0 0299 Home Switch Offset 0 e If the distance is not in the range between 0 5 1 5 P 0 0153 Optimal Distance Home Switch Reference Mark the error message C602 Distance Error Between Zero Switch and Homing Mark will be generated In this case you have to enter the value S 0 0298 Reference Cam Shifting into S 0 0299 Home Switch Offset e Check You should see a 0 displayed in S 0 0298 Reference Cam Shifting when homing is restarted Connection and Configuration of the Zero Switch The zero switch is connected on pin E1 of the X12 connector on the DSS module If evaluation of the zero switch
200. ameters are stored in the motor feedback data memory in both MDD and MKD motors This makes it possible for the drive controller to work trouble free with this motor The control parameters have not been optimized for the application Modulo format Both actual feedback and command values can be processed in modulo or absolute format If modulo processing has been set then the position data move within the range of 0 S 0 0103 modulo value With this function it is possible to realize an endlessly turning axis Motor encoder The motor encoder is the measuring system that is used during commutation A measuring system is absolutely necessary The actual DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Glossary 9 1 DIAX03 Drive With Servo Function Oe ale a 9 2 Glossary feedback value of the encoder can be seen in S 0 0051 Actual position value 1 By activating the position control operating mode with encoder 1 the position control loop is closed with the help of the actual position of the motor encoder Operating data The operating data is data block element 7 of a parameter The value of the parameter is stored there Operating mode All drive internal initialization procedures have been completed in operating mode The phase progression commands switching from communication phase 3 to 4 have been completed The interface is in communication phase 4 Some parameters can now no longer be write accessed The drive can be activated
201. and thus be continuously communicated to the NC in the drive status word see S 0 0305 Allocation of real time status bit 1 Parameter structure Bit 0 Measurement 1 negative 0 not latched 1 latched Fig 2 44 S 0 0410 Probe 1 negative latched See also the functional description Probe feature S 0 0410 Attributes ID number S 0 0410 Editability no Function Parameter Memory no Data length 2 bytes Validity check not Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0411 Probe 2 Positive Latched Description Bit 0 in this parameter will be set by the drive if e Command S 0 0170 Probe cycle is active e Bit 3 in S 0 0169 Probe control parameter is set e 0 0406 Probe 2 enable is present and e The positive edge of S 0 0402 Probe 2 is recognized The drive simultaneously stores the value of the selected signal in S 0 0132 Probe value 2 positive edge The drive erases the bit if the NC erases command S 0 0170 Probing cycle or if S 0 0406 Probe 2 enable has been set from 1 to 0 The parameter Probe 2 positive latched can be assigned to a real time status bit and thus be continuously communicated to the NC in the drive status word see S 0 0305 Allocation of real time status bit 1 74 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VEL
202. and value profile for negative reference scale offset with type 2 or 3 Through setting a negative home reference scale offset you can position the homing between the start point and the homing mark If you then restart the command the drive will again find the homing mark to be evaluated Evaluation of the Zero Switch With the zero switch you can label a specific mark if the configuration of the homing marks for the homing measurement system is unclear If the zero switch is evaluated bit 5 in S 0 0147 0 then the homing mark will be evaluated which follows the positive edge of the zero switch if the drive is moving toward the homing point With the parameter S 0 0400 Homing Switch you can assign an IDN for the switch Example Homing of a motor encoder with 1 homing mark per rotation A A 4 Reference mark i selected by zero 1 motor revolution switch Zero switch ae Homing beginning direction Fig 7 37 Selection of a home mark depending on the movement direction If the zero switch evaluation is activated the drive searches at first for the positive edge of the zero switch If the zero switch is not actuated at the beginning of the command the drive moves in the preset homing path direction 7 54 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR EEEF ey If the movement direction is set incorrectly damage to the system could result DIAX03 Drive With Se
203. anently retains its reference to the machine zero point Parameter P 0 012 can be used to execute this function See also the functional description Set absolute measurement P 0 0012 Attributes ID number P 0 0012 Editability P4 Function Command Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 3 P 0 0015 Memory Address Description This parameter can be used to select a memory address in the drive for operation internal test purposes The contents will be displayed in parameter P 0 0016 Memory address contents DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 79 DIAX03 Drive With Servo Function Oe aL a P 0 0015 Attributes ID number P 0 0015 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0016 Contents of Memory Address Description This parameter displays the contents of the memory address set in parameter P 0 0015 Memory address for operation internal test purposes only P 0 0016 Attributes ID number P 0 0016 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format HEX Extreme value check no Unit Combination chec
204. ange start position 499 support point distance depending on P 0 0408 Pos corr precision corr start pos and defines the positions for which correction values in the table must be determined See also the functional description Axis error correction P 0 0410 Attributes ID number P 0 0410 Editability P234 Function Parameter Memory Prog module Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0508 Commutator Offset Description For synchronous motors this parameter indicates the offset between the raw value of the motor encoder and the resulting absolute electrical angle between the stator current vector and the rotor flux vector For motors with motor feedback data memory the commutator offset is stored in memory and therefore does not need to be entered For linear synchronous motors this value must always be redetermined if e The motor probe system encounters a change in its mechanical structure e A mechanical restructuring of primary and secondary portions is takes place See also the functional description Synchronous asynchronous P 0 0508 Attributes ID number P 0 0508 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination che
205. arameter S 0 0030 Manufacturer version 1 5 Basic Operating Modes and General Features Basic operating modes General features Torque mode Velocity mode Position mode Drive interpolated position mode Diagnostic possibilities Setting of torque force limits Current limit Limiting the velocity Travel range limit Drive error reaction P 0 0119 Best Possible Deceleration Velocity command switched to zero Best possible deceleration torque disable P 0 0119 Best Possible Deceleration Velocity command switched to zero with ramp slope and filter NC Response in Error Situation Emergency stop feature Control loop settings Load default feature Acceleration feed forward Velocity mix factor Velocity preset control Language selection Drive interlock Drive halt Drive controlled homing procedure DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 System Overview 1 3 DIAX03 Drive With Servo Function OLS aa es Evaluating absolute measurement systems by setting absolute dimension Analog output Oscilloscope feature Measuring feature with Measuring signal actual feedback value 1 2 Measuring signal time Modulo feature 1 6 Additional Firmware Features Drive With Servo Feature Axis error compensation Turnover consideration Positive stop drive procedure Frictional torque compensation 1 4 System Overview DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ex EE an 2 2 1 DOK DIAX03 SSE 01VRS FKB1 EN P
206. arameter structure EE OREO IES Bit 1 Amplifier over temperature Bit 4 L Bit 15 Manufacturer error L Bit 12 Communication error shutdown see also S 0 0114 L Bit 11 Excessive control deviation L Bit 13 Position limit has been exceeded Bit 2 Motor over temperature shutdown see also S 0 0203 Control voltage error L Bit5 Feedback error L Bug Under voltage error PO Fig 2 1 S 0 0011 Diagnostics Note Only the bits indicated here are supported by the software See also the functional description S 0 0011 Class 1 diagnostics S 0 0011 Attributes ID number S 0 0011 Function Parameter Data length 2 bytes Format BIN Unit Decimal places 0 Input min max Editability Memory Validity check Extreme value check Combination check Cyc transmittable no no no no no Supplement A Description of Parameters 7 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 DIAX03 Drive With Servo Function Oe ae a S 0 0012 Class 2 Diagnostics Description Function Shutdown warning When a warning appears or disappears in Class 2 diagnostics the change bit in the drive status word will be set to 1 When Class 2 diagnostics are read over the service channel the change bit is reset to 0 Parameter structure DO Overload warning Bit 1 Amplifier over temperature warning Bit 2 Motor over temperature war
207. are relative 1 are referenced to the machine zero point Fig 2 40 S 0 0403 Position feedback value status See also the functional description Drive controlled homing DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 71 DIAX03 Drive With Servo Function S 0 0403 Attributes ID number S 0 0403 Function Parameter Data length 2 bytes Format BIN Unit Decimal places 0 Input min max S 0 0405 Probe 1 Enable Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable This parameter is used to enable a probe input Changing this signal from O gt 1 activates the trigger mechanism for evaluating the positive and or negative slope of the probe signal The probe 1 enable can be assigned to a real time control bit and thus be communicated to the master control word in the drive Parameter structure Bit 0 Probe 1 0 not released 1 released URI Ce ER PAT no no no no no no Fig 2 41 S 0 0405 Probe 1 enable See also the functional description Probe feature S 0 0405 Attributes ID number S 0 0405 Function Parameter Data length 2 bytes Format BIN Unit Decimal places 0 Input min max S 0 0406 Probe 2 Enable Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable
208. arget position reached Internal position command value target position S 0 0258 Fig 2 3 S 0 0013 Class 3 Diagnostics Note Only the bits indicated here are supported by the software See also the functional description S 0 0013 Class 3 diagnostics S 0 0013 Attributes ID number S 0 0013 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max fs S 0 0014 Interface status Description This parameter indicates in bits 3 15 whether a communication error occurred Note that All bits 3 15 0 gt no error One bit in 3 15 1 gt error pending If a communications error occurs then bit 12 will be set in the Class 1 diagnostic parameter S 0 0011 The drive will not reset the communication error to 0 until no interface error remains and command S 0 0099 Reset class 1 diagnostic has been received via the service channel The current communications phase can be examined through the first three bits 0 1 2 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 9 DIAX03 Drive With Servo Function Oe ae a Parameter structure Bits 0 2 Communication phase Bit 3 Double MST failure Bit 4 Double MDT failure Bit5 Invalid phase phase gt 4 Bit 6 Error while switching to higher phase order Bit 7 Error whi
209. ase The instructions for calculating the command velocity are as follows Position command value k Position command value k 1 Vcommand S 0 0001 Vcommand Command velocity Fig 6 1 Calculating the command velocity 6 4 Operating Modes DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 cera DIAX03 Drive With Servo Function This velocity is monitored to see if it exceeds S 0 0091 Bipolar Velocity Limit If S 0 0091 is exceeded the error F237 Excessive Position Command Value Difference is generated The commanded position profile can be filtered with the parameter P 0 0099 Position Command Smoothing Filter Time Constant The position loop is closed every 250usec The position command value is also fine interpolated within the NC cycle time P 0 0099 Position command value smoothing filer time constant 4 Ss Eine D S 0 0047 Position interpolator Position command value command value F237 Excessive position Sat E command value difference S 0 0091 Velocity limit E bipolar Fig 6 13 Generator function position command value interpolator See also Position on page 6 5 See also Velocity Controller on page 6 2 See also Current Controller on page 6 3 Position Controller The position controller error is computed from the effective position command value from the generator function of the active operating mode and the actual position value motor encoder or
210. asured feedback current to the motor current at standstill S 0 0111 The value can be converted to a torque or force value by multiplying the command current by the torque force constant P 0 0051 S 0 0084 Attributes ID number S 0 0084 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0086 Combination check no Decimal places S 0 0086 Cyc transmittable AT Input min max S 0 0086 28 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function S 0 0085 Torque Force Polarity Parameter Description The polarities for the given torque data as related to the application can be switched in this parameter Polarities are switched externally at the input and output of a control system rather than inside the system Note the following in reference to rotary motors The motor will turn in a clockwise direction facing the motor shaft with a positive torque command value and positive polarity The following applies to linear motors If the primary section of the linear motor drives in the direction facing the connecting lines then a positive direction will be used Structure of the parameter Bit 0 Torque command value 0 positive polarity 1 negative polarity Bit 1 Torque command value additive 0 positive polarity 1 negative polarity L Bit 2
211. asurement system monitors To set the monitor function use the parameter e 0 0391 External Encoder Monitoring Window If an error occurs the error message F236 Excessive Actual Feedback Value Difference is generated Principal Operating Characteristics of the Actual Feedback Value Monitor The actual feedback value monitor compares the actual feedback value of the motor encoder with the external encoder If the deviation of both of the actual values is larger than S 0 0391 External Encoder Monitoring Window the error F236 Excessive Actual Feedback Value Difference is generated As a result the motor and external encoder position statistics are erased The actual feedback value is only active if an external encoder is available and is not being analyzed and if S 0 0391 External Feedback Encoder Monitoring Window is not parameterized with a o Position feedback value 1 motor encoder position feedback value S 0 0051 Position feedback value 2 external encoder position feedback value S 0 0053 S 0 0391 External Feedback Monitoring Window ER The error F236 Excessive Position Feedback Value Difference is generated Fig 7 19 Actual feedback value monitoring schematic Setting the Actual Feedback Value Monitoring Window The requirements for setting the actual feedback value monitor are e All drive regulator loops must be set correctly e The axis mechanical system must be in its final form
212. ating the drive interlock On motors with brakes this occurs by removal of the controller enable Only activate the drive interlock after this has been done DANGER DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 31 DIAX03 Drive With Servo Function Oe aL ay Activating the Drive Interlock The drive interlock is activated by putting a voltage of 24V on the AS and AS connecting terminals of the X3 connector The starting lockout relay found in the drive controller is switched by closing the potential free acknowledgment contact output ASQ ASQ starting at the control system AK1 OV M X3 DSS 1 1 00000000000 x2 Ee N lzzzzzzzl 0000000 1 AS AS Control input for delay spools Voltage 20 30V DC Power 1 5 W 2 ASQ ASQ potential free acknowledgement contact 24V 1A 3 Contact for controlling the power electronics ap5007d2 drw Fig 7 13 Drive interlock control output and message output on the drive controller When the drive interlock is activated the control drive s H1 condition display shows the message AS The diagnostic message reads A011 Drive Interlock Open 7 32 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Cx EEO an DIAX03 Drive With Servo Functi
213. axis This value is known approximately from the axis scaling Additionally you need the torque constant of the used motor This data can be retrieved from the motor data sheet or the parameter P 0 0051 Torque Force Constant The set value is calculated as Acceleration Feed Forward ae 1000 t Acceleration Feed Forward mA rad s JMotor Inertia momentum of the motor kgm JActuated Inertia momentum of the actuation kgm Kt Torque constant of the motor NM A Fig 7 27 Set Value for the Acceleration Feed Forward The determined set value is entered in parameter S 0 0348 Acceleration Feed Forward e Checking the reliability of the acceleration feed forward and the exactness makeup of the parameter S 0 0348 Proportional Corresp Acceleration Feed Forward The difference of the actual feedback value to the position command value is displayed through the analog diagnostic output of the drive controller To check the reliability of the acceleration feed forward you must oscilloscope the signal during movement of the axis along the desired operation cycle In acceleration and brake phases you have to reduce the dynamically controlled deviation of the acceleration feed forward Setting the Velocity Mix Factor With the help of the velocity mix factor you can create the velocity feedback value used for velocity control from the motor and the external measurement system This might be an advantage for play or torsion r
214. bility Memory Validity check Extreme value check Combination check Cyc transmittable P234 Param E2prom Phase 3 yes no no Various messages regarding operating status are stored here every 8ms If the status of a message changes this will not be signaled by a change bit DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 55 DIAX03 Drive With Servo Function Oe aL va Parameter structure COC CE Bit 0 1 Drive lock active Bit 1 Feedback Velocityl lt S 0 0124 Standstill window Bit6 IZP IS 0 0258 Target position Feedback positionl lt S 0 0057 Positioning Window amp amp IS 0 0189 Following errorl lt S 0 0057 Positioning Window amp amp IS 0 0040 Feedback velocityl lt S 0 0124 Standstill window Bit 7 Message 90 load Amplifier is producing 90 of its current maximum torque L D IN_SYNCHRONIZATION Main operating mode with subordinated position control lsynch position command value Xadditive S 0 0048 Xfeed S 0 0051 or S 0 053 I lt S 0 0228 Synchronized running position Main operating mode velocity synchronization lsynch velocity command value velocity command value additive velocity feedback valuel lt S 0 0183 Synchronized running velocity L Bit9 End synchronization L Bit11 AHQ Drive stop amp amp Feedback velocityl lt S 0 0124 Fig 2 32 S 0 0182 Manufacturer class 3 diagnostics
215. by powering up and applying the drive enable signal Operating mode Operating mode is set in parameters S 0 0032 35 It determines in what way a command value is processed in the drive and eventually initiates an axis movement The operating mode does not define how the command value reaches the drive Parameterization mode The drive is in parameterization mode if communication phases 1 3 have been set The drive cannot be activated drive enable signal applied Operating mode must first be switched into Some parameters can only be written into during parameterization mode Parameters Communication with the drive controller takes place via the reading and writing of data block elements of the drive parameters Parameters are addressed via their identification numbers data block element 1 Programming module The programming module contains the software and parameter memory It is mounted in slot U5 When exchanging the controller a simple insertion of the programming module out of the old into the new unit means that the features of the replaced unit have been transferred to the new one Scaling The combination of unit and number of decimal places of a parameter are defined as scaling It can be set for position velocity and acceleration data SERCOS INTERFACE Digital interface for communication between control and drives in numerically controlled machines One or multiple ring structures are implemented The physica
216. c transmittable no Input min max Real Time Status Bit 2 Description In order to assign a signal to the real time status bit 2 the ID number of the signal is written to the operating data of the assignment for the real time status bit 2 If an assignment of this type is made then the assigned signal bit 0 thereafter appears in the real time status bit 2 component of the drive status word See also the functional description Real time control and status bits S 0 0307 Attributes ID number S 0 0307 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0347 Velocity Loop Deviation Description Parameter S 0 0347 indicates the difference between the velocity command value and the velocity feedback value in the velocity controller S 0 0347 Vieed Fig 2 34 S 0 0347 Velocity loop difference See also the functional description Velocity controller DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 65 DIAX03 Drive With Servo Function Oe aL a S 0 0347 Attributes ID number S 0 0347 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0044 Combination check no Decimal places S 0 0044
217. caling 010 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 revolution 1 reserved Bit 5 Unit of time 0 minute min f second s Bit 6 Data reference 0 to the motor shaft 1 to the load Bit 15 7 reserved Fig 2 12 S 0 0044 Velocity data scaling type See also the functional description Velocity data display format S 0 0044 Attributes ID number S 0 0044 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Check_P3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max zl 20 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function S 0 0045 Velocity Data Scaling Factor Description This parameter defines the scaling factor for all velocity data in the drive If preferred scaling is set with S 0 0044 Velocity data scaling type this parameter will be set to 1 See also the functional description Velocity data display format S 0 0045 Attributes ID number S 0 0045 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal places
218. cccceeeceeeeeceseseeeeeeeseceseeeeeeeseeeeeeeeeseeeees 112 P 0 0402 Pos corr Reference Temperature 112 P 0 0403 Pos corr Reference Position for Temperature Correction ccccccssseeeeeesteeeeeeees 113 P 0 0404 Pos corr Actual Temperature Position Dependent 113 P 0 0405 Pos corr Aktual Temperature Position Independent 114 P 0 0406 Pos corr Temperature Position Dependent AAA 114 P 0 0407 Pos corr Temperature Position Independent 0 217 115 P 0 0408 Pos corr Precision Corr Start pos 115 P 0 0409 Pos corr Correction Table for Precision cort 116 P 0 0410 Pos corr Support Point Distance for Precision con 117 P 0 0508 Commutator Offset 117 P 0 0509 SIOt Apel s ae iar E E ANE E E EA EEA AE AE AEEA 118 P 0 0510 Moments of Inertia of the Hotor 118 P 0 0511 Break CUON sde engl EEN ee 118 P2070513 Feedbackty e EE 118 P 0 0514 Absolute Encoder Offset 119 P 0 0518 Amplifier Nominal Current 2 119 P 0 0519 Amplifier Peak Current 3 120 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Contents V DIAX03 Drive With Servo Function Oe aL a 4 Index P 0 0525 Type of Motor Drake 120 P 0 0526 Brake Control Delai 120 P 0 0530 Slip Increase uca fa tee ate i tata Ae eee ae aa 121 P 0 0531 Kipp Current Roder 121 P 0 0532 Scaling Factor Pre Magnetizing essseesseesseesseesseessessesirnstrntnntnutnnntnnstnnntnnsennsnnnnnt 121 P 0 0533 Flux Loop Proportional Gan 122 P 0 0534 F
219. ce channel on the display screen of the NC In addition the master control word offers a help setting with the startup procedure and error search See also the functional description Master control word S 0 0134 Attributes ID number S 0 0134 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0135 Drive Status Word Description This makes it possible to display the drive status word using the service channel on the display screen of the NC A help setting is available during the startup procedure and error search See also the functional description Drive status word S 0 0135 Attributes ID number S 0 0135 Editability no Function Parameter Memory Program Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0138 Bipolar Acceleration Limit Value Description Bipolar acceleration limit value describes the maximum permissible acceleration that is symmetrical in both directions acceleration and deceleration The drive brakes at this deceleration on velocity v 0 when the function Drive stop is executed S 0 0138 Attributes ID number S 0 0138 Editability P234 Function Parameter Memory Param E prom Data length 4
220. ce point Yyx e xx ty b nx x2 x Fig 8 50 Equation 2 to determine reference point Example measured values with Tx 45 C gt T0 23 C n mm xk error mm 1 10 0000 0 0300 2 70 0000 0 0100 3 105 0000 0 0250 Fig 8 1 Established measurement array for temperature correction x actual feedback value 1 Resulting measurement points P x Xist y xk P1 10 0mm 0 03mm P2 70 0mm 0 01mm P3 105 0mm 0 025mm ER Sum for help equations y 0 03 0 01 0 025 0 005 x 10 04 70 0 105 0 185 0 x 10 70 105 16025 xx y 03 4 0 7 2 625 3 025 Help equation 1 _ 3 3 025 185 0 0 005 8 15 0 0005884 3 16025 185 0 13850 Help equation 2 _ 0 005 16025 185 0 3 025 479 5 b 3 16025 185 0 13850 0 034620 Reference position 0 0 034620 0 0005884 58 83mm DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 8 29 DIAX03 Drive With Servo Function Oe ae ve Mathematical Determination To ensure an exact reference position several measurement arrays with differing temperatures should be collected during position dependent temperature correction The resulting reference position will be determined arithmetically from the various reference positions Setting the Position Dependent Temperature Correction Factors The parameter P 0 0406 Pos corr Temperature position
221. ceceneeeeeeeeeeeee scenes seaeeesaeeteeeeeieees 24 E250 Drive Overtemperature Warming 24 E251 Motor Overtemperature Warning cccccccceeceeceeeeeeeeeeeeeeeeeceaeeeeaaesecaeeecaaesesaaeeseeeesaeeeeeeeeee 25 E253 Target Position Out Of Range c cccceccesseeceeeeeceeeeeeeaeeeeeeeseeeeeseaeessaaeseeeseaeeeseaeeesaeeteneeeeaees 25 E255 Feedrate Override S 0 0108 0 26 E257 Continuous Current Limiting Actve 26 E259 Command Velocity Limitation Achhve tsen nstnnntunstnnsnnnsrnnnnnnen 27 E261 Continuous Current Limiting Prewarning ssssssesssessesssesssesssstriessnstnstnnttnntnnnnnnstnnennnsnnnenn 27 E263 Velocity Command Value S 0 0036 Greater Than Bipolar Limit 0 ccceccceeeeeeteeeeeeees 28 E410 Slave Not Scanned or Address 0 28 F825 Overvoltage ErrOh tatesct cite ic Aiwa inte a aae aa ea date 28 E829 Positive Position Limit Value Evceeded AA 29 E830 Negative Position Limit Value Exceeded AA 29 E843 Positive Travel Zone Limit Switch Activated c cccceeeeeeeeeeeeeeceeeeeeeaeeeeeeeseeeeeseaeeeeaaeeeeeeeees 30 E844 Negative Travel Zone Limit Switch Acthvated 30 1 3 Command Diagnostic Messages seseesseeseeesse ese tetr tett tetttsttnsttnsttnnttnntnsrnstnnstnnsrnnsnnnsrnnsnnn nnna nn nannat 31 C100 Communications Phase 3 Transition Check 31 C101 Invalid Communications Parameter S 0 0021 ceeccceceseeeeeeeeeeeeeeeaeeeeeeeeseeeeesaeeeseeeesaes 31 C102 Limit Error Communication Parameter G O
222. ces S 0 0086 Cyc transmittable no Input min max P 0 4046 P 0 4046 Description Parameter P 0 0030 defines the signal change at which a trigger event can be initiated Number Trigger edge Triggering on the positive edge of the trigger signal Triggering on the negative edge of the trigger signal Triggering on both the positive edge and negative edge of the trigger signal A w Triggering if the trigger signal equals the trigger level Fig 3 8 Selection of trigger edges See also the functional description Oscilloscope function P 0 0030 Attributes ID number P 0 0030 Editability P234 Function Parameter Memory Param E prom Data length 2 bytes Validity check no Format DEC 0V Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 1 4 Description Timebase defines the time intervals within which the probe values of the selected signals are defined Possible time intervals range from 250 us to 100 ms Note that in general Recording duration Time resolution Size of memory us See also the functional description Oscilloscope function 86 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function P 0 0031 Attributes ID number P 0 0031 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format DEC 0
223. ces of information about the current status of the oscilloscope function Parameter structure SERIES Bit 0 Trigger action external message to control system internal activation of the trigger delay function Bit 1 Signal lt Trigger threshold Bit 2 is recording L Bit 3 Signal gt Trigger threshold Fig 3 12 P 0 0037 Status of the oscilloscope function See also the functional description Oscilloscope function DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 89 DIAX03 Drive With Servo Function Oe aL a P 0 0037 Attributes ID number P 0 0037 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0038 Signal Select Analog Output Channel 1 Description DIAX 03 offers you an Analog output function Two outputs make it possible to export drive controlled signals and status variables as analog voltage signals These can be examined by connecting an oscilloscope to the analog outputs The maximum output voltage is 10V with a resolution of 8 bits Predefined channel selection numbers are available to select specific signals For analog channel 1 the selection can be made by entering the channel selection number hex format in parameter P 0 038 The followi
224. ch the velocity controller is active all operating modes except for Torque Control the velocity command valueBipolar Velocity Limit Value Limiting the Command Value that is entered is limited to the value of S 0 0091 Bipolar Velocity Limit Value If this condition is reached the warning e E259 Command Velocity Limitation Active is generated Limiting S 0 0036 Velocity Command Value in the Velocity Control Operating Mode In the velocity control operating mode the input of S 0 0036 Velocity Command Value is limited to S 0 0091 Bipolar Velocity Limit Value If the value entered in S 0 0036 exceeds this limit the warning e E263 S 0 0036 Velocity Command Value Greater Than S 0 0091 is generated DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 27 DIAX03 Drive With Servo Function Oe ale ay Travel Range Limits Two procedures exist to monitor the allowable travel range of an axis These are the monitors for e Travel zone end switches and e Axis Limit Values The travel range is exceeded when either a travel zone end switch is activated or one of the two axis limit values is exceeded by the homed actual feedback value that is the value referring to the machine zero point The drive s response to the travel range being exceeded is adjustable The following possibilities exist e An error with a Set Velocity Command Value to Zero reaction and automatic controller enable shutoff e A warning with a Se
225. change in drive status message Fig 3 6 Input acknowledgment and KA bit during erroneous execution A delay time of up to 8msec can occur in the drive between receiving the command input and setting the command acknowledgment 3 6 General Instructions for Installation DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function 3 2 Diagnostic Configurations Overview of Diagnostic Configurations The diagnostics are configured into 2 groups e Current operating status and diagnostics e Class diagnostics Parameters exist for all important operating data Drive Internal Diagnostics The current operating condition of the drive is evident by which errors warnings commands drive stop signals and drive interlock signals are available and which operating mode is active Whether the drive is in preparation for operation or in parameter mode also is displayed The current operating condition can be determined from e the 2 part seven segment display H1 display e the diagnostic parameter S 0 0095 Diagnostic Message e the parameter S 0 0390 Diagnostic Message Number e the parameter P 0 0009 Error Number The current diagnostic message with the highest priority is always shown in the H1 display in the diagnostic parameter S 0 0095 Diagnostic Message and in the parameter S 0 0390 Diagnostic Message Number The parameter P 0 0009 Error Number will contain a value unequal to O if an error
226. check the monitoring function two parameters are used e 0 0159 Monitoring Window e P 0 0098 Max Model Deviation If the drive detects an error in the position control loop the error message e F228 Excessive Deviation is issued General Operating Characteristics of Position Control Loop Monitoring To monitor the position control loop a model actual position value is computed which depends only on the commanded position value profile and the set position loop parameters This model position is compared continually to the actual position If the deviation exceeds S 0 0159 Monitoring Window for more than 50msec an error F228 Excessive Conirol Deviation will be generated Position command value Position feedback value Motor and mechanical system Position e controller Position M _ O S 0 0159 EE ee Window Peak value detector 3 P 0 0098 eee Model The error EE Excessive eyiatlon Control Deviation is generated Abb 7 26 Schematic of Position Control Loop Monitoring For accurate monitoring the actual feedback value from the position control is used This means that for position control with the motor encoder actual feedback value 1 is used and for position control with the external encoder the position feedback value 2 is used Setting the Position Control Loop Monitor Requirements for the setup of the position loop monitoring are e Check the
227. chine axis direct axis position measurement See also the functional description Drive internal interpolation A107 Attributes SS Display AF Diagnostic message number A107 A108 Drive Controlled Interpolation Encoder 1 Lagless Positioning The drive receives a position command value from the control system which is identical to the target position of the travel path Then the drive generates interpolates an internal position command value sequence which uses the control system to maintain maximum values for jerk velocity and acceleration sequences The drive moves without following error to the target position of the travel path Encoder 1 indicates that the position encoder is installed on the motor shaft indirect measurement of the axis position See also the functional description Drive internal interpolation A108 Attributes SS Display AF Diagnostic message number A108 52 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function A109 Drive Controlled Interpolation Encoder 2 Lagless Positioning The drive receives a position command value from the control system which is identical to the target position of the travel path Then the drive generates interpolates an internal position command value sequence which uses the control system to maintain maximum values for jerk velocity and acceleration sequences The drive moves without follo
228. circuits See also the functional description Temperature monitoring F221 Attributes SS Display F2 21 Error number 221 Diagnostic message number F221 Error class Non fatal F222 Error Drive Overtemperature Watch Defekt Temperature monitoring checks to see if the measured drive controller temperature is within reasonable bounds 2 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function If it determines that it is lower than 10 C then it is assumed the measuring unit is defective The error message is generated after the accompanying E219 warning has been given for 30 seconds Cause 1 Sensor not connected to the DRP3 circuit board 2 Broken cable in the drive controller or defective sensor Remedy Exchange or repair the drive controller F222 Attributes SS Display F2 22 Error number 222 Diagnostic message number F222 Error class Non fatal F226 Undervoltage Error The DC bus voltage is monitored in the power supply module The drive controller is told via the control voltage bus whether the DC bus voltage is above the minimum permissible value of 200 V for DDS and 250 V for DKR Going below this threshold stops the drive according to the error response which has been selected Requirement The NCB bridge is not installed on the supply module Cause 1 The power source has been interrupted without switching off the drive w
229. ck no Decimal places 0 Cyc transmittable no Input min max 0 65535 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 117 DIAX03 Drive With Servo Function Oe aL a P 0 0509 Slot Angle Description This parameter is not currently available for use P 0 0509 Attributes ID number P 0 0509 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0510 Moments of Inertia of the Rotor Description This parameter indicates the moment of inertia for the rotor and is saved in the feedback for motors with feedback memory P 0 0510 Attributes ID number P 0 0510 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit kgm Combination check no Decimal places 5 Cyc transmittable no Input min max 1 10000000 P 0 0511 Break Current P 0 0513 Feedbacktyp Description The brake current is monitored by the drive controller if the motor is equipped with a blocking brake and a value other than 0 is entered in this parameter H the brake current lies outside the range 0 7 1 3 P 0 0511 then error message F268 Brake error will be generated See also the functional description Motor brake P 0 0511 Attribute
230. command error C213 Position Data Scaling Error if necessary The following illustration elucidates the difference in displaying the position data in absolute format and modulo format Position displa E l e Position data with modulo function Modulo zg on PRSY value Absolute position of the measurement system Position data with absolute format Fig 7 11 Display value of positions in absolute format and modulo format Modulo Processing Limiting Conditions If modulo processing of position data is selected in connection with e the active operating mode and e the selected position scaling the following limiting conditions for error free processing of the position data must be observed Compliance with the limiting conditions is checked in S 0 0128 C2 Communication Phase 4 Transition Check and the command is ended with the error C227 Modulo Range Error if necessary 7 8 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function The limiting conditions for error free modulo value processing are as follows e The modulo range S 0 0103 Modulo Value may not be larger than half the maximum travel range The maximum travel range depends on the motor feedback being used see also Maximum Representable Travel Range on page 7 13 e f rotary or linear position scaling with load reference and without angle synchronization is used as the operat
231. connected to the same supply module These drives react with their P 0 0119 preset Deceleration as best as possible Parameter structure Bit 0 Activation 0 no message via X1 2 during errors 1 message via X1 2 during errors ee ee l Fig 3 22 P 0 0118 Power switch off in error situation See also the functional description Power switch off in error situation P 0 0118 Attributes ID number P 0 0118 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 1 P 0 0119 Deceleration as best as possible Description This parameter specifies the type of braking to a standstill for the drive in the event of e a non fatal error e an interface error e a phase relapse e switching off the controller enable signal 102 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function P P 0 0119 Reaction mode sstsi lt sSCid 0119 Reaction mode Velocity command value set to zero i e the motor brakes in regard to the torque limit value The Braking time is set in parameter P 0 0126 100 milliseconds before the brake time elapses the blocking brake is activated If the velocity has previously fallen below 10 rpm rotational motors or below 10 mm min linear mo
232. correct eee ceeeceeeeeceeeeeeeeeaeeeaeeeeeeeeseaeeeeaaeeeeaeeseeeeeseaeeesaeeneaeeseeneess 37 C210 External Feedback Required gt S 0 0022 00 eecccceeeeeeeeeeeeee eee eeeeaeeeeeeeseeeesaeeesaeeeeeeeees 37 C211 Invalid feedback data gt S 0 0022 0 0 ceeecececeeeceeeeeeeeeeeeee see eeeeaeeeeaeeseeeeeseaeeetaeeeeeeeeeeeeess 37 C212 Invalid Amplifier Data gt G 0 00221 scenes eee eesaeesaeeseeeseeeees 38 C213 Position Data Scaling Emor cee eeceaeeeeaeeseceeeceaeeeeaaeseeeeeseeeesaeeteeeseeeeess 38 C214 Velocity Data Scaling Error 39 C215 Acceleration Data Scaling Error 39 C216 Torque Force Data Scaling Error 40 C217 Motor Feedback Data Reading Error 40 C218 External Feedback Data Reading Emor nnt 41 C220 Mot Feedback Initialization Emor 41 C221 Ext Feedback Initialization Emor tennene eiaeaen aieea nane aaa naua ea adaa aaraa eaaa 42 C225 Coprocessor Not Ready For Initialization cccceceeceeeceeeeeeeeceeecaeeeeeeeseeeeeseaeeesaeeeeaeeesaees 42 C226 Coprocessor Acknowledge Faled nt 43 G227 Module Range Error A0 uerge EENEG 43 C228 Controller Type S 0 0140 Incorrect sense saeeeeaeeseeeseeeees 43 C300 Set Absolute Meaeurmg 44 C302 Absolute Measuring System Not Jnstaled eens eeeaeeeeeeeseeeeeseeeeeaeeeeeeseeneess 44 C500 Reset Class 1 Diagnostic Error Heset 44 C501 Error Delet Only in Parameter Mode c cceccceceeeeeeeeeeeeeeeseeeeeceaeeeeaaeseeeeeseaeeesaeeeeeeeeeeeeess 44 C600 Drive Controlled H
233. ctional description Configuration of telegram contents C105 Attributes SS Display C1 05 Diagnostic message number C105 C106 Config IDN for AT Not Configurable Cause Telegram type 7 was set in parameter S 0 0015 Telegram type parameter Parameters which are not contained in S 0 0187 List of configurable data in AT can be seen in S 0 0016 List of configurable data for the AT Remedy You must either set a priority telegram in parameter S 0 0015 Telegram type parameter telegram type 0 6 or you must provide S 0 0016 List of configurable data for the AT with parameters that are contained in S 0 0187 List of configurable parameters See also the functional description Configuration of telegram contents C106 Attributes SS Display C1 06 Diagnostic message number C106 C107 Configured Length gt Max Length for AT Cause Telegram type 7 was set in S 0 0015 Telegram type parameter The length of the configurable record in AT which is determined by S 0 0016 Configuration drive telegram exceeds the maximum permissible length S 0 0187 Length of the configurable record in AT 32 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function Remedy Either set a priority telegram with S 0 0015 Telegram type parameter telegram type 0 6 or reduce the number of configurable parameters in the AT S 0 0016 See also the functional desc
234. curs during this procedure you can set the default values for the indicated invalid parameters This serves for safety purposes and helps in diagnosing additional errors 7 40 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function Setting the Current Controller The parameters for the current loop are set by INDRAMAT and cannot be adjusted for specific applications The manufacturer defined parameter values can be retrieved from the drive data memory DRIVEDAT or can be accessed at operation startup in DRIVETOP and SERTOP The parameters for the current controller are set via the parameters e 0 0106 Proportional Gain 1 Current Controller e 0 0107 Current Controller 1 Integral Action Time Changing the values defined by INDRAMAT can result in damages to the motor and the drive controller Changes to the current controller parameters are not Warning permitted Setting the Velocity Controller The velocity controller is set via the parameters e 0 0100 Velocity Loop Proportional Gain e 0 0101 Velocity Loop Integral Action Time e P 0 0004 Smoothing Time Constant These can be set either by running the Load Default feature or by following the described procedure Preparations for Setting the Velocity Controller A number of preparations must be made in order to be able to set the velocity loop controller e The mechanical system must be set up in its fi
235. d bits 8 and 9 10 e The control and power sections are ready for operation e The controller enable RF is set The operating mode can be selected by entering a bit list Specific positions are defined in the bit list In bit 3 you can choose between working with position control without following lag error or with following error The following applies Bit3 0 position control with following error Bit 3 1 position control without following error Torque control Velocity control Position control with encoder 1 Position control with encoder 2 Drive controlled interpolation encoder 1 Drive controlled interpolation encoder 2 Fig 2 9 Bit list S 0 0034 See also the functional description Setting operating parameters 16 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function S 0 0034 Attributes ID number S 0 0034 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max sof S 0 0035 Secondary Operation Mode 3 Description The mode of operation defined in this parameter will be activated in the drive if e The primary mode of operation is selected in the master control word bits 8 and 9 11 e The control and power sections are ready for operation e The controlle
236. d in bit 3 of parameter S 0 0147 Homing Parameter will be analyzed as an absolute encoder See also Modulo Feature on page 7 8 Actual Feedback Values of Absolute Measurement Systems After Initialization The condition of the position feedback values of the motor feedback and if available of the external feedback after initializing the position feedback values in the command S 0 0128 C2 Communication Phase 4 Transition Check is dependent on e Bit 3 in S 0 0147 Homing Parameter e Availability of an absolute feedback as the motor or external feedback DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 21 DIAX03 Drive With Servo Function OLS aa es S 0 0051 S 0 0053 S 0 0403 Motor External Bit3 Position Position feedback Position feedback feedback S 0 0147 feedback value 1 value 2 status absolute not absolute value of absolute value of motor absolute 0 motor feedback feedback 1 absolute not absolute value of absolute value of motor absolute 1 motor feedback feedback 0 not absolute absolute value of absolute value of absolute 0 external feedback external feedback 0 not absolute absolute value of absolute value of absolute 1 external feedback external feedback 1 absolute absolute arbitrary absolute value of absolute value of motor feedback external feedback 1 Fig 7 25 Actual feedback values of absolute measurement systems after initialization 7 4 Drive Limitati
237. drive after reception of the master data telegram See also the functional description Configuration of telegram sending and receiving times S 0 0090 Attributes ID number S 0 0090 Editability no Function Parameter Memory fixed Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max sl S 0 0091 Bipolar Velocity Limit Value Description The bipolar velocity limit value describes the maximum permissible velocity that is symmetrical in both directions The maximum input value is determined by the Maximum velocity S 0 0113 of the motor See also the functional description Limiting the velocity S 0 0091 Attributes ID number S 0 0091 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0044 Combination check no Decimal places S 0 0044 Cyc transmittable MDT Input min max 0 8 0 0113 S 0 0092 Bipolar Torque Force Limit Value Description This parameter describes the maximum allowable torque that is symmetrical in both directions acceleration deceleration See also the functional description Torque force limitation S 0 0092 Attributes ID number S 0 0092 Editability P234 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_MV Extreme value c
238. e bits bytes to be exported should be entered 31 30 29 282726 252423 2221 2019 1817 1615 1413 12111098 7 6543210 Byte output 0x100 Bit number at bit output 0 LSB F MSB Number of shifts at byte output Bits 16 31 Word address Abb 8 2 Parameterizing bit or byte output 8 2 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LA EEEF Max DIAX03 Drive With Servo Function Connector Assignment for Analog Output 8 2 Analog Inputs Module DRF 1 can never be used in conjunction with DLF 1 or DZF 1 The analog signal is output over connector X3 of the basic device AK 1 AK 2 6 8 E Connector X3 Fig 8 3 Connector assignment for analog output Interface module DRF 1 can be used to measure analog voltages Two input channels are available The two channels lead to a 12 bit analog digital converter whose maximum input range is 10V The input gain can be set to 1 2 4 and 10 The digitized voltages are stored in the following parameters e P 0 0115 Analog Input 1 e P 0 0116 Analog Input 2 Note Module DRF 1 should never be used simultaneously with DLF 1 or DZF 1 modules The two analog signals are coupled through differential amplifiers then GO and G1 amplified and fed into a 12 bit ADU ADC This digitizes the analog voltages into 16 bit two s complement numbers the top 4 bits are sign extended St A P
239. e maximum memory depth is defined as 512 probe values If fewer probe values are needed then the value can be changed in the memory depth size parameter The time resolution can be set from 250usec to 100msec in a 250usec division This determines the time intervals in which the probe values are recorded The minimum recording duration is 128msec the maximum recording duration is 51 2sec Universally valid Recording duration Time resolution Memory depth usec Setting the Trigger Delays By setting the parameter P 0 0033 Number of Probe Values After a Trigger Event it is possible to record probe values before the trigger event trigger delay function of an oscilloscope The setting occurs in units of the parameterized time resolution The input value determines the number of probe values still recorded after a trigger event By entering O Zeitaufl6sung time resolution only data available before a trigger event will be recorded If the value of the P 0 0032 Memory depth size parameter is entered then only the probe values occurring after the trigger event will be recorded Trigger threshold Trigger signal Trigger status Bit 0 P 0 0033 Number of Trigger delay measurement values hb a ee eee ees Recording length Abb 8 21 Trigger delay number of probe values after a trigger event Activating the Oscilloscope Feature The oscilloscope feature can be activated with the par
240. e position beginning yes position beginning value value Fig 7 21 Non absolute measurement system actual feedback values after initialization No valid actual feedback values exist before the measurement system is initialized The initialization is executed in the transition command from phase 3 to 4 Warning Some measurement systems have limitations concerning the maximum velocity being used while the measurement system is being initialized Max Measurement system initialization velocity DSF 300 Rpm EnDat Initialization should occur at standstill Multiturn resolver 300 Rpm Fig 7 22 Velocity allowed during initialization 7 3 Other Settings for Absolute Measurement Systems Absolute measurement systems can be used as motor measurement systems or external measurement systems The following table shows which absolute measurement systems can be used as a motor encoder or as an external encoder and which plug in module is necessary for this As As Feedback System Module No motor encoder external encoder Single Multiturn DSF Standard 1 yes yes Single Multiturn DSF DFF 4 no yes Multiturn resolver Standard 1 yes no SSl encoder with 4096 Inc Rev DAG 1 2 7 no yes Heidenhain linear scale DAG 1 2 8 no yes with EnDat interface Heidenhain single multiturn rotary DAG 1 2 8 no yes encoder with EnDat interface Fig 7
241. e 09 96 Supplement B Diagnostic Message Description 33 DIAX03 Drive With Servo Function Oe aL a Remedy Parameter S 0 0010 Length of master data telegram must be set to an even value These parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface See also the functional description Configuration of telegram sending and receiving times C110 Attributes SS Display C1 10 Diagnostic message number C110 C111 ID9 Record Length 1 gt Length of MDT S 0 0010 Cause Parameter s are set incorrectly for S 0 0009 Beginning address in master data telegram and S 0 0010 Length of master data telegram The length of the record in MDT for the drive plus the starting address in MDT is greater than the total length of the MDT Remedy The parameters for S 0 0009 Beginning address in master data telegram and S 0 0010 Length of master data telegram must be corrected Those parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface See also the functional description Configuration of telegram send and receive times C111 Attributes SS Display C1 11 Diagnostic message number C111 C112 TNcyc S 0 0001 or TScyc S 0 0002 Error Cause Only 500 us or even multiples of 1ms are permitted as valid values for S 0 0001 NC cycle time and S 0 0002 SERCOS cycle time Here this is not the case Remedy S 0 0001
242. e 09352 40 0 Tx 689421 e Fax 09352 40 4885 Abt END HP WR Liability The content of the documentation and availability of the products are subject to change without notice DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 INDRAMNAL DIAX03 Drive With Servo Function Contents 1 System Overview 1 1 ti Rangera EE 1 1 1 2 Drive Controllers neste Aina el Aine gece eegend 1 1 13 Oe 1 2 1 4 Firmware OVenWiew EE a AAG Ri AA EEN 1 3 1 5 Basic Operating Modes and General Features 1 3 Basic perating ue 1 3 General features EE A iA E E EA E 1 3 1 6 Additional Firmware Features Drive With Servo Feature ccccceecceceeeeeeeeeeeeeeeseeeeeseaeeesaeeseeeeeeaees 1 4 2 Safety Instructions for Electrical Drives 2 1 DM Generale EE 2 1 2 2 Protection against contact with electrical parts 2 3 2 3 Protection by protective low voltage PELV against electrical SHOCK AA 2 4 2 4 Protection against dangerous movemente cc cceeeeeeeee sence te eeeeaeeeeeeeaeeeeeeaaeeeeeeaaeeeeeeaaeeesseaaeeeeseaeeeaaes 2 5 2 5 Protection against magnetic and electromagnetic fields during operations and mounting 2 7 2 6 Protection during handling and installation eee eee eeeeeeeeeeeeeeaeeeeeeeeeeeeeaaeeeseeaaeeeseeaaeeeeeeaeeeeeeaaes 2 8 2 7 Baton SALLY E 2 8 3 General Instructions for Installation 3 1 3 1 Explanation Of Terms EE 3 1 NET EE 3 1 Operating Mode Sre i aa airaa a LEE leen eege tie taal abated 3 3 Warning EE 3 4 Eo ae aA PE A E
243. e 121 Slot angle 118 smoothing time constant 77 Standstill window 43 Start position precision 115 Support Point Distance for Precision corr 117 Switchfrequenz 127 T Table for precision 116 Target position 59 Telegram type parameter 10 Temperature position dependence 114 Temperature position independence 114 Thermal drive load 106 Time source 86 Torque constant 94 Torque force command value 28 Torque force data scaling exponent 32 Torque force data scaling factor 32 Torque force data scaling type 29 Torque force feedback value 28 Torque force peak limitation 99 Index 4 3 DIAX03 Drive With Servo Function 4 4 Index Torque force polarity parameter 29 Transmit receive transition time TATMT 4 Travel limit parameter 97 Trigger control word 89 Trigger edge 86 Trigger level for position data 85 Trigger level for torque torce data 86 Trigger level for velocity data 85 Trigger signal select 84 Trigger source 84 Trigger status word 89 Trim current 129 Type of motor brake 120 V Velocity command value 17 Velocity data scaling exponent 21 Velocity data scaling factor 21 Velocity data scaling type 20 Velocity feedback value 18 Velocity feedback value filter time base 69 Velocity loop deviation 65 Velocity loop integral action time 35 Velocity loop proportional gain 34 Velocity mix factor feedback1 amp feedback2 103 Velocity polarity parameter 19 DOK DIAX03 SSE 01VRS FKB1 EN P e 09
244. e With Servo Function 1 General Information Using This Manual All standard and product specific parameters are listed in this chapter in a numerically ascending order This chapter supplements the feature description and represents a complete description of all parameters used in the DIAX03 software The description of the individual parameters is divided into two subsections 1 General description This section contains the feature or meaning of the parameter and tips for setting parameters 2 Description of attributes The characteristic values or features listed here help to classify the parameter They are necessary for a complete description of the parameter However they are not required to get a general idea of the meaning of the parameter Definitions The following abbreviations are used Data length 2 byte the data length for the operating data is 2 bytes 4 byte the data length for the operating data is 4 bytes 1 byte variable this is a piece of operating data of variable length list The length of a data unit is 1 byte 2 byte variable this is a piece of operating data of variable length list The length of a data unit is 2 bytes 4 byte variable this is a piece of operating data of variable length list The length of a data unit is 4 bytes Format BIN the display format for the operating data should be binary HEX the display format for the operating data should be hexadecimal D
245. e With Servo Function Mechanical Transmission Elements Mechanical transmission elements are transmission and feed mechanisms between the motor shaft and the load Entering this data is necessary for the load to convert the position velocity and acceleration physical values if these are scaled for the load see also Adjustable Scaling for Position Velocity and Acceleration Data on page 7 1 To see if this parameter has been entered correctly move the shaft and compare the path followed with the position feedback value and the path actually taken Transmission Ratio The transmission ratio can be determined with the parameters e 0 0121 Input Revolutions of Load Gear e 0 0122 Output Revolutions of Load Gear The ratio between transmission input and transmission output is parameterized here Example Transmission input motor shaft Transmission output Fig 7 8 Transmission ratio parameterization In the illustration above 5 transmission input revolutions motor revolutions were equivalent to 2 transmission output revolutions The proper parameterization for this would be S 0 0121 Input Revolutions of Load Gear 5 S 0 0122 Output Revolutions of Load Gear 2 Feed Constant The feed constant defines which linear path the load should follow per transmission output revolution It is specified in the parameter S 0 0123 Feed Constant The value programmed here is used along with the trans
246. e drive stores the current difference between the position command value and the feedback position value relevant for the control system S 0 0051 Position feedback value 1 or S 0 0053 Position feedback value 2 in this operating data See also the functional description Determining the position controller setting S 0 0189 Attributes ID number S 0 0189 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_OV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable AT Input min max S 0 0192 IDN List of Backup Operation Data Description The ID numbers for all operating data that must be loaded in the drive for proper operation are kept in the IDN list Generally these are the parameters which are buffered in the programming module The control system uses this IDN list to create a backup copy of the drive parameters See also the functional description Parameter storage in programming module S 0 0192 Attributes ID number S 0 0192 Editability no Function Parameter Memory fixed Data length 2 byte variable Validity check no Format IDN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0193 Positioning Jerk Description The positioning jerk limits the acceleration change in the operating mode Drive controlled interpolation See also the f
247. e edge 44 Probe value 2 negative edge 45 Probe value 2 positive edge 45 Probing cycle procedure command 54 Proportional gain 1 current regulator 37 Proportional gain acceleration feed forward 66 R Ramp 1 pitch 124 Receive to receive recovery time TMTSG 30 Reference cam shifting 63 Reference distance 1 23 Reference distance 2 24 Reference offset 1 50 Reference offset 2 50 Reference position for temperature correction 113 Reference temperature 112 Reset class 1 diagnostic error reset 34 Resolution of rotational feedback 2 41 Reversal clearance 25 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 DIAX03 Drive With Servo Function Rotational feedback 1 resolution 41 Rotational position resolution 27 S S1 kink speed 123 Scaling factor for position data channel 193 Scaling factor for position data channel 2 93 Scaling factor for power for analog channel 94 Scaling factor for velocity data channel 292 Scaling factor of velocity data channel 1 92 Scaling factor pre magnetizing 121 Secondary operating mode 1 15 Secondary operation mode 2 16 Secondary operation mode 3 17 SERCOS cycle time TScyc 3 SERCOS interface version 48 Signal select analog output channel 1 90 Signal select analog output channel 2 91 Signal select channel 1 82 Signal select probe 1 110 Signal select probe 2 111 Signal selection channel 2 83 Size of memory 87 Slave arrangement SLKN 33 Slip faktor 127 Slip increas
248. e iowertnegativ 2 Fig 7 29 Frictional Torque Compensation The drive halt feature serves to stop the axis with defined acceleration and defined jerk The feature is activated either through deletion of the drive halt bit bit 13 in the master control word or through interruption of the drive control commands i e drive controlled homing The following parameters are used e 0 0138 Bipolar Acceleration Value e 0 0349 Jerk limit bipolar For diagnostics the following parameters e 0 0124 Standstill Window e S 0 0182 Manufacturer Class 3 Diagnostics can be used Drive Halt Feature Description If in the master control word bit 13 is changed from 1 to 0 then this feature will be activated The drive no longer follows the command values of the active operating mode but changes to position control and decelerates the axis with the parameters S 0 0138 Bipolar Acceleration Value and S 0 0349 Jerk limit bipolar The LED displays AH and the diagnostic message in S 0 0095 is A010 Halt Drive If the actual velocity falls below the value of the parameter S 0 0124 Standstill Window the bit Drive Halt Confirmation will be set in S 0 0182 Manufacturer Class 3 Diagnostics If bit 13 in the master control word is reset to 1 the selected operation mode will be reactivated 7 48 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function Jerk according
249. e is deactivated Parameterizing the Start Position The start position for the precision axis error compensation xs defines the position of the first correction support point Correction value Pos Travel limit x max sep SS Actual feedback value lt gt ds Starting position xs Correction range 499 ds Abb 8 41 Start position for precision correction Temperature Correction Position independent temperature correction The temperature correction feature can be used to correct errors resulting from temperature dependent longitudinal expansions on the servo axis There are two different correction types e Position independent temperature correction e Position dependent temperature correction The position independent temperature correction is used to compensate for temperature dependent longitudinal expansions of tools work pieces and carriages see Fehler Verweisquelle konnte nicht gefunden werden The expansion of these parts of a Servo axis always are equally sized independent of their position DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Basic Drive Functions 8 25 DIAX03 Drive With Servo Function TAEA rail To set the position independent temperature correction the following parameters are available e P 0 0402 Pos corr Reference temperature e P 0 0403 Pos corr Reference position for temperature correction e P 0 0405 Pos corr Actual temperature position independ
250. e used DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 49 DIAX03 Drive With Servo Function Oe ale a Type and Configuration of Homing Marks in the Measurement System For better understanding you can divide the measurement systems into 4 groups according to the type and configuration of their homing marks e Type 1 Measurement systems with absolute single turn range such as the Single Turn DSF or Resolver These measurement systems have an absolute range in the size configuration of one encoder rotation or parts of an encoder rotation resolver Typical applications are encoders for the MDD or MKD motors and the GDS measurement system e Type 2 Incremental rotational measurement systems with a homing mark for each encoder rotation such as the ROD or RON types from the Heidenhain Company e Type 3 Incremental translation measurement systems with one or several homing marks such as the LS linear scaling of the Heidenhain Company e Type 4 Incremental measurement systems with differential coded homing marks such as the LSxxxC linear scaling of the Heidenhain Company The drive internal detection for the configuration of the homing marks is done with the settings of the corresponding position encoder type parameter S 0 0277 Position feedback 1 type parameter for motor encoder or S 0 0115 Position Encoder Type 2 for external encoder In these parameters you set the bit to 0 if it is a rotational or
251. e value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 1 65531 S 0 0010 Length of Master Data Telegram Description The length in bytes of the MDT contains the data records of all the drives The MDT length is transmitted by the master to all drives in communications phase 2 It is activated by the master and slave beginning with communications phase 3 See also the functional description Configuration of the telegram send and receive times 6 Supplement A Description of Parameters DOK DIAX03 SSE 01 VRS FKB1 EN e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function S 0 0010 Attributes ID number S 0 0010 Function Parameter Data length 2 bytes Format DEC_OV Unit Decimal places 0 Input min max 4 65534 S 0 0011 Class 1 Diagnostics Description Function Drive lock Editability Memory Validity check Extreme value check Combination check Cyc transmittable P2 Param E2prom Phase 2 yes no no A Class 1 diagnostic error situation discovered by drive leads to 1 The drive s error response as described in the functional description under Error 2 Setting the static error bits to 1 for Class 1 diagnostic in the drive status The error bit will not be set back to 0 by the drive until no Class 1 diagnostic error remains and command S 0 0099 Reset class 1 diagnostic has been received by the drive via the service channel P
252. ecific Optimizing the regulator control parameters These parameters can be retrieved from the drive settings E generals not data resource DRIVEDAT or are accessible at start up through the SE programs SERCTOP or DRIVETOP see also Load Default on page 7 39 In some exceptions however it may be necessary to adjust the control loop settings for a specific application The following section gives a few simple but important basic rules for setting the control loop parameters in cases such as these In each situation the prescribed methods should only be viewed as guidelines that lead to a strong control setting Specific aspects of some applications may require settings that deviate from these guidelines Load Default With the feature Load Default for motor types with motor feedback data memory such as e MDD e MKD you can activate the default controller parameters With these parameters you set the corresponding control parameters for the appropriate motor type used The parameters are pre defined by the manufacturer for moment of inertia relation of Jown Jforeign Most applications can work with those values Default values can be set for the following parameters e 0 0106 Current Conirol Proportional Gain e 0 0107 Current Loop Integral Action Time e 0 0100 Velocity Loop Proportional Gain e S 0 0101 Velocity Loop Integral Action Time e P 0 0004 Smoothing Time Constant e 0 0104 Position Loop Kv Factor
253. ected by the drive Note Only the bits indicated here are supported by the software See also the functional description Other characteristics of the motor encoder 62 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function S 0 0277 Attributes ID number S 0 0277 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max S 0 0298 Reference Cam Shifting Description A reference switch can be evaluated by the drive for drive controlled homing travel There is an optimal setting for the relative position of the homing switch signal to the motor encoder zero mark To help the installer who is positioning the mechanical cam the distance from the home switch to optimal switch position is given in this parameter The display is dependent on the set position data scaling type S 0 0076 Position data scaling type and is given in mm grad or inch See also the functional description Drive controlled homing S 0 0298 Attributes ID number S 0 0298 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 00
254. ed and cannot be changed or parameter scaling scaling is determined by entering this parameter can be selected see Preferred Scaling Parameter Scaling on page 7 2 Bit 4 indicates the measurement unit With linear scaling either m or inch can be selected here Bit 5 specifies the unit of time either minutes or seconds Bit 6 defines motor or load reference The scaling type setting is checked for plausibility in S 0 0128 C200 Communication Phase 4 Transition Check and the command error message C214 Velocity Data Scaling Error is generated if necessary 7 4 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function Acceleration Data Display Format The scaling of the drive controller s acceleration data is adjustable This is done with the parameters e 0 0160 Acceleration Data Scaling Type e S 0 0161 Acceleration Data Scaling Factor e S 0 0162 Acceleration Data Scaling Exponent The scaling type is set in S 0 0160 Acceleration Data Scaling Type The parameter is defined as follows S 0 0106 Scaling mode for acceleration data ill Bits 2 0 Scaling mode 000 percentual scaling 001 linear scaling 010 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 radians rad 1 reserved Bit 5 Unit of time 0 second s 1 reserved B
255. edback interface of the motor encoder P 0 0074 Attributes ID number P 0 0074 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 1 3 P 0 0075 Interface Feedback 2 Description This parameter determines the encoder interface to which the external encoder is connected The number of the corresponding interface module should be entered in this parameter este Rogers P 0 0075 Measurement system No external encoder interface available eet dig servo feedback or resolver Incremental encoder with sine signal from Heidenhain inc with either uA or 1V signals Gear tooth encoder dig Servo feedback DEF 1 5 Incremental feedback with square wave signals from Heidenhain inc DEF 2 Incremental feedback with square wave signals from Heidenhain inc DAG 1 Encoder with SSI interface DAG2 8 Encoder with ENDAT interface Fig 3 16 P 0 0075 Interface module DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 95 DIAX03 Drive With Servo Function Oe aL a Restriction Modules DLF DZF DRF and DEF 1 must not be operated simultaneously in a controller gt Danger of Damage It is not possible to combine DLF and DZF Module DEF 2 can be used to operate an incremental encoder along with DLF or DZF
256. eedback value 1 and S 0 0053 Actual feedback value 2 If this value is exceeded by longer than 20ms then error F236 Excessive position feedback difference will be generated Monitoring can be turned off by entering a 0 for the value of this parameter See also the functional description Actual feedback value monitoring S 0 0391 Attributes ID number S 0 0391 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 68 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function S 0 0392 Velocity Feedback Value Filter Time Base Description A VZ1 filter is used as the velocity feedback value filter Its filter time constant can be adjusted within this parameter The filter becomes non functional if you enter a value of 250 us See also the functional description Preparation for setting the velocity controller S 0 0392 Attributes ID number S 0 0392 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max 250 65500 S 0 0393 Command Value Mode for Modulo Format Desc
257. eedback value with position independent temperature correction vi let reference length Tool Servo drive Recirculating ball screw Abb 8 43 Example of use for position independent temperature correction 8 26 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function The following graphic shows the correction schematic for the position independent temperature correction Actual feedback value Feedback temperature Actual feedback A value corrected Internal correction value Reference temperature P 0 0047 Temp factor position independent Abb 8 44 Correction schematic for position independent temperature correction Homing the drive is not required to make the correction Note With the position independent temperature correction the actual feedback value of the motor encoder or the external encoder dependent on S 0 0147 Homing Parameter is corrected Position Dependent Temperature Correction If the drive is homed the corresponding correction value xk is determined and added to the actual feedback value with the parameter P 0 0406 Pos corr Temperature position dependent with the P 0 0403 Pos corr Reference position for temperature correction x0 and with the P 0 0402 Pos corr Reference temperature T0 The following applies xk xist x0 Tist TO a with xactua
258. eeeaas 9 F268 Brake Errotecc cceei essed cdi chiciiniee eal el eles tiated ie eile 9 F276 Absolute Encoder Error Deviation gt PD O 0O00 10 F280 E arth eene dE 10 F281 Mains Faalen ara AE A EEE et et eig E E S ARRA 11 F282 Phase LE 11 F283 Net Overvoltage isei iriden eaae a a aa a aai a a a eaaa 11 F284 Main Contactor nc Low Voltage ntentis 12 F401 Double MST Error Shutdown ccccceeeeeeceeee eens eeeeaeeeeeeeseeeeeseaeeesaaeeseaeeseeeeseaeeesaeenaeeeeeeeee 12 F402 Double MDT Error Shutdown ssssssessiessinesissirssiresrissiisstisstnsstnnstnnttnnttenntnnntnnntenntnnntnnnnnn nnt 12 F403 Invalid Communications Phase Ghutdown 13 F404 Error During Phase Progression ccccceeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeeeeaaeeeseeaaeeeeeeaeeeeeeaeeeeneaas 13 F405 Error During Phase Regression ccccscccceeseneeeeeeeeeeeeeneneeeeeneneeseeneneeseenneeeeeneneesesnenaeeeenaes 13 F406 Phase Switching Without Ready Gional 14 F629 Positive Travel Limit Value Is Evceeded AA 14 F630 Negative Travel Limit Value Is Exceeded AA 15 F643 Positive Travel Limit Switch Deiected nnt 15 644 Negative Travel Limit Switch Detected ttn tetnnstnnntnnnnnnntnnnsnnnnnnnna 16 F818 Drive Overtemperature Shutdown cececeeeeeee cece eeeeeeceeeeeeaeeeeaaeeseaeeseeeesaeesaeeeeaeseeeeeeaas 16 F819 Drive Overtemperature Watch Defekt ccccccseeeeeececeeeeeeeeeeeeeeeeseaeeesaaeeeeeeeeseeeeesaeeeeeeeess 17 SEET Ei ne WEE 17 F822 Motor Encod
259. eeesaeeseeeeeeeees 32 S 0 0095 Diagnostic Message E 32 S 0 0096 Slave Arrangement GURN eee ee seas eesaaeeeeeeseeeeesaeeeeaeeneeeeeeeeess 33 S 0 0097 Mask Class 2 Diagnostic ccccceceeeeeeeceeeeeeeeeeeeeeeceeeeeceaeeesaaeeseaeeseeeesaeeesaeeeeeeeeeeeeas 33 9 0 0098 Mask Class 3 Diagnostics s lt ssaccssccet seecetirevenanieeie haziven AAR EEe iv EE a aAa REA TAi 34 S 0 0099 Reset Class 1 Diagnose 34 S 0 0100 Velocity Loop Proportional Gan 34 S 0 0101 Velocity Loop Integral Action Time 35 20 0103 MOGUIO EU 36 S 0 0104 Position Loop KV Factor Closed Loop Control 37 S 0 0106 Proportional Gain 1 Current PHeoulator cece eeceeeeeeaeeeaeeseeeeeteaeeesaeeneeeeees 37 S 0 0107 Current Controller 1 Integral Action Time 37 S 0 0108 Feedrate Override A 38 S 0 0109 Motor Peak Current 38 S 0 0110 Amplifier Peak Cumrent rreri iieii ker EA Eii EEEN TEAN 38 S 0 0111 Motor Current at Grande 39 S 0 0112 Amplifier Nominal Cumert ttn nnnttn annt tn nanan rnanan ennnen 39 S 0 0113 Maximum Motor Speed NMAX ccceeecceceeeeeeeeeeeeeeeeeeaeeeceaaeseeeeesaaeeeeaaeseeeeeesaeeeeaeeneaes 39 S 0 0115 Position Feedback 2 Type Parameter ccccccecceeeeeeeeeeeeeaeeeeseeseeeeeseaeeseaeeeeaeeeeeeeee 40 S 0 0116 Resolution of Rotational Feedback 1 41 S 0 0117 Resolution of Rotational Feedback 3 41 S 0 0121 Input Revolutions of Load Gear 41 S 0 0122 Output Revolutions of Load Gear 42 S 0 0123 E Feed EE IT EE 42 S 0
260. eir difference DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Optional Drive Features 8 15 DIAX03 Drive With Servo Function TAEA ral The following parameters are available for this feature e S 0 0170 Probing Cycle Procedure Command e 0 0401 Probe 1 e 0 0402 Probe 2 e 0 0169 Probe Control Parameter e P 0 0200 Signal Select Probe 1 e P 0 0201 Signal Select Probe 2 e 0 0405 Probe 1 Enable e 0 0406 Probe 2 Enable e S 0 0130 Probe Value 1 Positive Edge e 0 0131 Probe Value 2 Negative Edge e P 0 0202 Difference Probe Values 1 e 0 0132 Probe Value 2 Positive Edge e 0 0133 Probe Value 2 Negative Edge e P 0 0203 Difference Probe Values 1 e 0 0409 Probe 1 Positive Latched e S 0 0410 Probe 1 Negative Latched e 0 0411 Probe 2 Positive Latched e 0 0412 Probe 2 Negative Latched Main Function of the Probe Analysis S 0 0170 Probing Cycle Procedure Command activates the feature The feature is activated as a command but does not send a command acknowledgment The KA bit is not used To activate the feature S 0 0170 must be written with 3 From this point on the status of the probe signals will be displayed in the parameters S 0 401 Probe 1 and S 0 402 Probe 2 A probe input is enabled with parameter S 0 0405 Probe 1 Enable or S 0 0406 Probe 2 Enable With a 0 1 switch of the signal the trigger mechanism is activated to evaluate the positive and or negative edge of t
261. eline e Operation is only permitted if the national EMC regulations for the application are met Safety Instructions for Electrical Drives 2 1 DIAX03 Drive With Servo Function 2 2 Safety Instructions for Electrical Drives OL aa es The instructions for installation in accordance with EMC requirements can be found in the INDRAMAT document EMC in Drive and Control Systems The machine builder is responsible for the adherence of the limiting values as prescribed in the national regulations and specific regulations for the application concerning EMC European countries see Directive 89 336 EEC EMC Guideline U S A See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must consult the above noted items at all times Technical data connections and operational conditions are specified in the product documentation and must be followed DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LA CX EEO ai DIAX03 Drive With Servo Function 2 2 Protection against contact with electrical parts Note This section pertains to equipment and drive components with voltages over 50 Volts Touching live parts with potentials of 50 Volts and higher applied to them can be dangerous and cause severe electrical shock In order for electrical equipment to be operated certain parts must have dangerous voltages applied to them DANGER High
262. elocity command value to zero A class 1 diagnostic error is not generated The drive will automatically follow command values which lead into the allowable range after they are entered Handle travel range exceeded as warning is set in bit 2 of parameter S 0 0090 Travel limit parameter Cause S 0 0049 Positive position limit value exceeded Remedy Enter command values which lead back into the allowable range See also the functional description Axis Limit Values E829 Attributes SS Display E8 29 Diagnostic message number E829 Warning class Fatal E830 Negative Position Limit Value Exceeded The drive received a command value which resulted in an axis position outside the negative travel range The axis was brought to a standstill by setting the velocity command value to zero A class 1 diagnostic error is not generated The drive will automatically follow command values which lead into the allowable range after they are entered Handle travel range exceeded as warning is set in bit 2 of parameter S 0 0090 Travel limit parameter Cause S 0 0050 Negative travel limit value exceeded Remedy Enter command values which lead back into the allowable range See also the functional description Axis Limit Values E830 Attributes SS Display E8 30 Diagnostic message number E830 Warning class Fatal DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement B Diagnostic Message Description 29 DIAX03 Drive With
263. encoder Actual Actual Motor External S 0 0147 feedback feedback encoder encoder bit 3 value 1 value 2 Absolute Non Any value Reference Reference absolute or distance 1 distance 1 not available Non Absolute Any value Reference Reference absolute distance 2 distance 2 Absolute Absolute 0 Reference Unchanged distance 1 Absolute Absolute 1 Unchanged Reference distance 2 Fig 7 24 Set actual feedback values according to absolute dimension Actual feedback values from absolute encoder after switching on see Actual Feedback Values of Non Absolute Measurement Systems After Initialization on page 7 17 possible error messages when setting the absolute dimension While the command is being executed the following command errors can occur e The command P 0 0012 C3 Set Absolute Dimension Command was started without an absolute measurement system being available Absolute Encoder Monitoring If a measurement system with absolute position feedback is used activating the absolute encoder monitor can create an additional margin of safety The monitor feature works as follows 7 20 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function When turning off the drive s power supply the current actual position of the axis is loaded into resident memory When the axis is turned back on the difference between the stored position and the new posi
264. encoder cable 3 Defective DLF module DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 7 DIAX03 Drive With Servo Function Oe ale ay Remedy For 1 Exchange the encoder cable For 2 Keep the encoder cable well away from the power cables For 3 Exchange the DLF module F245 Attributes SS Display F2 45 Error number 245 Diagnostic message number F245 Error class Non fatal F248 Low Battery Voltage Cause For motors of series MKD the absolute position information is stored by a battery powered buffer in the motor feedback The battery is designed for a 10 year life span If the battery voltage falls below 2 8 V this message appears The absolute encoder function will still be preserved for about 2 weeks CAUTION Source of danger Malfunction in the control of motors and moving elements Possible damages Mechanical injuries Precautionary measures Replace the battery as soon as possible Instructions for Exchanging Batteries Have the following tools and accessories ready e Torx screwdriver size 10 e Needle nose pliers torque wrench e New packaged battery Part No 257101 CAUTION Source of danger A malfunction in the control of motors and moving elements Possible damages Mechanical injuries Precautionary measures Turn off the power supply Make sure it will not be turned back on Exchange the battery while the control voltage is turned on If the control
265. eneeteaes 77 P 0 0009 Error Message Number 78 P 0 0010 Excessive Position Commande 78 P 0 0011 Last Valid Position Command Value ssnssssnnenesnneeennnnseen nester nnne nn nnrtn nnne nnnnnrnn anneer nenene 79 P 0 0012 Command Set Absolute Measurement 79 P 0 0015 Memory Address A 79 P 0 0016 Contents of Memory Address 80 P 0 0018 Number of Pair of Pols Pole Pair Distance cccccccceeeeceeceeeeeeeeeeeaeeeeeeeeeeeeenneeeees 80 P 0 0019 Position Start Valte cccccccccecccceesneceeessneeeeeeaeeeeeceaeeeeeseaeeeseceaeeeescaeeessssaeeseesseeseseaaes 80 P 0 0021 List of Scope Data 81 P 0 0022 List of Scope Data Aaii irsini sheeda fh eadedvadccvuvesedusichiacch icd ealethaasienvsccdsatsatiades 81 P 0 0023 Signal Select Channel 82 P 0 0024 Signal Select Channel 3 83 SE EUREN 84 P 0 0026 Trigger Signal Geert 84 P 0 0027 Trigger Level for Position Data 85 P 0 0028 Trigger Level for Velocity Data 85 P 0 0029 Trigger Level for Torque Torce Data 86 P 0 0030 Trigger e 86 P202003 1 Nu 86 P 0 0032 Size of MEMO iz 23 vi eh eee een a es ales Wen eae ee 87 P 0 0033 Number of Samples After Trigger ccccceeeeeeeceeeeeeeneeseeeeeceaaeeeeaaeeeneeeeseaeeesnaeeseenees 87 P 0 0035 Delay from Trigger to Grat 88 P 0 0086 Trigger Control Ward issnin NEA eE EAEN EATER 89 P 0 0037 Trigger Status Word 89 P 0 0038 Signal Select Analog Output Channel 90 P 0 0039 Signal Select Analog
266. enerator function drive internal generator function If the drive internal interpolation operating mode is active and a zero is entered in parameter S 0 0108 Feed Rate Override the warning E255 Feed Rate Override S0 0108 0 is given See also Position on page 6 5 See also Velocity Controller on page 6 2 See also Current Controller on page 6 3 6 3 Setting the Operating Mode Parameters With the help of the parameters e 0 0032 Primary Mode of Operation e 0 0033 Secondary Operating Mode 1 e 0 0034 Secondary Operating Mode 2 e 0 0035 Secondary Operating Mode 3 4 different operating modes can be preselected simultaneously 6 8 Operating Modes DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO an DIAX03 Drive With Servo Function Bits 8 and 9 of the master control word define which of the four modes will be operative The operation can be switched between the 4 operating modes The operating modes can be preselected in parameters S 0 0032 35 The operating modes can be selected by entering a bit code Certain positions are fixed in this bit list In bit 3 you can choose between working with position control with or without lag The following applies Bit 3 0 position control with lag Bit 3 1 position control without lag Bit code Meaning 0000 0000 0000 0001 Torque control 0000 0000 0000 0010 Velocity control 0000 0000 0000 x011 Position control with encoder 1 0000 000
267. ent e P 0 0407 Pos corr Actual temperature position independent 0 1 K Position dependent The position dependent temperature correction is used to compensate temperature correction for temperature dependent longitudinal expansions of the mechanical system of a Servo axis or a measurement system The expansion of the mechanical system or the measurement system depends on the relative position of the work component to the thermal zero point and it is not constant To set the position dependent temperature correction the following parameters are available e P 0 0402 Pos corr Reference temperature e P 0 0403 Pos corr Reference position for temperature correction e P 0 0404 Pos corr Actual temperature position dependent e P 0 0406 Pos corr Temperature position dependent Position Independent Temperature Correction The correction value is determined with the parameter P 0 0407 Pos corr Actual temperature position independent 0 1 K and the P 0 0402 Pos corr Reference temperature By writing 0 to the parameter P 0 0407 Pos corr Actual temperature position independent 0 1 K the compensation is deactivated The following applies Internal correction value correction factor temperature deviation with Temperature deviation reference temperature actual temperature Correction factor P 0 0407 Temperature factor position independent Fig 8 42 Influence of the actual f
268. er Failure Signals Too Gmail 17 F827 Drive Interlock While Drive Acthvated AA 18 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Contents DIAX03 Drive With Servo Function Pa CREE Pac F860 Overcurrent Short in Powerstage nnna 18 F861 Overcurrent Short to Ground ccccceeeeeceeeeeeeeeeeeeaeeeeaaeceeeeesaeeesaaeeseaeeseeeeseaeessaeesaeeeeeees 18 Se E Volt EMOT ints eit seine A Stee oa ech eee ee caves teh ee ed ae 19 F870 24 Volt EE 19 F871 410 VOlt EE 19 F878 Velocity Control Loop Em 20 F879 Crossing Velocity Limit S 0 0092 Value 0 eeceeeeeceeeeeeneeceeeeeceaeeeeeaeeeeeeeseaeeesaeeeeaaeseeeeesaas 20 F889 Regenerating Overcurrent cccccccceeeeceeceeeeeeeeeaeeeeaaeseaeeceaeeeceaeeeaaesdeaeeseeeesaeeeeaaesseneeesaees 21 F890 Regenerating Electronic Watchdog nn nnnnnn nnt 21 F891 Power Supply Fale dnl tie ie at A ee ed ee een 21 F892 Wrong Code of the Current Measuring Unit 00 ccceeceeeeeeeeeeeeeeeeeeeesaeeeseeeeseeeeeaeeeeeneeees 22 F893 No Regenerating Current to Nei 22 F894 ChecksuniiE EE eek atthe agi A a baton eit ated 22 1 2 Warning Diagnostic Messages eee ceeeceeeneceeeeneeeeceeaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaaeeeeseaaeeeeseaeeeeneaas 23 SHARE 23 E202 Not Ready for Powel ON eiman etaa a A aao araa A aa AEn EE a AEA AE a ended 23 E219 Warning Drive Temperature Watch Defekt AA 23 E221 Warning Motor Temperature Control 24 E249 Positioning Velocity S 0259 Greater S 0 0091 0 eeeceeee
269. er equipment is switched on or even after an unspecified time of trouble free operation Although the monitoring circuits in the drive components make improper operation almost impossible personnel safety requires that proper safety precautions be taken to minimize the risk of electrical shock personal injury and or property damage This means that unexpected motion must be anticipated since safety monitoring built into the equipment might be defeated by incorrect wiring or other faults DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Safety Instructions for Electrical Drives 2 5 DIAX03 Drive With Servo Function ODS aa es DANGER Dangerous movements Danger to life electrical shock and risk of injury or equipment damage gt In the drive component monitoring units every effort is made to avoid the possibility of faulty operation in connected drives Unintended machine motion or other malfunction is possible if monitoring units are disabled by passed or not activated Safe requirements of each individual drive application must be considered on a case by case basis by users and machine builders Avoiding accidents electrical shock personal injury and or property damage Keep free and clear of the machine s range of motion and moving parts Prevent people from accidentally entering the machine s range of movement use protective fences use protective railings install protective coverings install light curtains
270. erating modes define how command values should be processed With the help of the parameters e S 0 0032 Primary Mode of Operation e S 0 0033 Secondary Operating Mode 1 e S 0 0034 Secondary Operating Mode 2 e 0 0035 Secondary Operating Mode 3 4 different operating modes can be preselected simultaneously The following gives a more detailed explanation of the operating modes supported by the DIAX03 ELS software 6 2 Basic Operating Modes Torque Force Control A torque force value is commanded to the drive in the Torque Force Control operating mode When the operating mode is activated the diagnostic message reads A100 Drive in Torque Mode The command value is specified in the parameter S 0 0080 Torque Force Command Value Monitors specific to this operating mode are e Monitoring of the actual speed at 1 125 times the value of the parameter S 0 0091 Bipolar Velocity Limit Value See also Limiting to Bipolar Velocity Limit Value If this value is exceeded the error F879 Crossing Max Velocity Torque power control Feedback Value is generated FP0001Q1 WMF Torque power command value Fig 6 1 Torque Force Control Block Diagram Torque Force Controller The command value in S 0 0080 Torque Force Command Value is limited with the effective peak current P 0 4046 Effective Peak Current The effective peak current is derived from the current and torque force limit See also Current Limit and
271. erived from the addition of the value S 0 0036 Velocity Command Value filtered via P 0 1201 Ramp 1 Pitch Velocity Ramp 1 and P 0 1222 Command Value Smoothing Time Constant and the direct value of S 0 0037 Additive Velocity Command Value If the parameter S 0 0036 Velocity Command Value is entered greater than S 0 0091 Bipolar Velocity Limit Value the message E263 S 0 0036 Velocity Command Value Greater Than Bipolar Limit is generated The command value from S 0 0036 is limited to S 0 0091 The effective velocity command value is further limited to S 0 0091 Bipolar Velocity Limit Value see also Limiting to Bipolar Velocity Limit Value If the resulting command value is at the limit the warning E259 Command Velocity Limitation Active is displayed 6 2 Operating Modes DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 P 0 1201 Velocity slope 1 S 0 0037 Velocity command value additive P 0 1222 Smoothing time constant command value DIAX03 Drive With Servo Function The velocity control difference is produced by including the actual velocity in the control loop The raw feedback velocities of the motor and if available the external encoder can be combined into an effective actual velocity value see also Setting the Velocity Mix Factor This can be band limited by using a low pass filter Set with S 0 0392 Velocity Feedback Value Filter Time Base on the actual velocity before it enters the velocity control
272. ermination for precision axis error correction This error is entered into the correction table as the correction value for the corresponding support point If not all correction support points are needed then the non measured support points must be written with the correction value 0 Note To avoid actual feedback jumps the first xk1 xk501 and the last xk500 xk1000 correction values must always be written with the correction value 0 The reference position xs must especially be selected Correction value ds Direction of travel od 1 2 A 499 xk500 0 Starting position xs xk1 0 Abb 8 38 Correction table for positive travel direction 8 24 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LA Ee EE an DIAX03 Drive With Servo Function Correction value ds Direction of travel 4 501 X de xk1000 0 A 502 Starting position xs xk501 0 Abb 8 39 Correction table for negative travel direction Parameterizing the Support Point Distance The parameter P 0 0410 Support Point Distance Precision Correction can be used to define the correction range Since a maximum of 500 support points per direction are possible the correction range is determined by Korrekturbereich ds x 499 with ds Support point distance Fig 8 40 Determining the support point distance If the parameter is set with 0 then the precision axis error correction featur
273. ers 49 DIAX03 Drive With Servo Function Oe aL va Parameter structure REISER Bit 0 Command in drive 0 delete 1 set Bit 1 Execution of command 0 abort 1 execute E Fig 2 26 S 00 0149 Positive stop drive procedure command See also the functional description Positive stop drive procedure S 0 0149 Attributes ID number S 0 0149 Editability P4 Function Command Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit z Combination check no Decimal places 0 Cyc transmittable no Input min max 0 3 S 0 0150 Reference Offset 1 Description This parameter describes the distance between the position encoder home reference 1 and S 0 0052 Reference distance 1 See also the functional description Drive controlled homing S 0 0150 Attributes ID number S 0 0150 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 S 0 0151 Reference Offset 2 Description This parameter describes the distance between the position encoder home reference 2 and S 0 0054 Reference distance 2 See also the functional description Drive controlled homing S 0 0151 Attributes ID number S 0 0151 Editability P234 Function Parameter Memory Param E2prom Data length
274. ers for specific motors according to the Indramat default e P 0 4004 Magnetization Current e P 0 4012 Slip Factor e P 0 0530 Slip Increasing e P 0 0531 Sweep Current Limit e P 0 0533 Flux Loop Proportional Gain e P 0 0534 Flux Loop Integral Action Time e P 0 0535 Motor Voltage No Load e P 0 0536 Motor Voltage Maximum e P 0 0537 S1 Kink Speed The user has two additional parameters to adjust the drive to his requirements e P 0 0532 Scaling Factor Pre Magnetizing e P 0 0538 Motor Function Parameter 1 5 4 Motor Configuration DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR CELF an DIAX03 Drive With Servo Function Basics for the Asynchronous Motor Torque Evaluation Asynchronous motors are divided in three working ranges P Fig 5 4 Subsections of Work Ranges Section 1 Basic RPM Range is defined by a constant torque and locked rotation constant parameter P 0 0051 In idle the programmed magnetization current flows The motor voltage is less than the maximum control output voltage The corner RPM n1 is directly proportional to the DC bus voltage Section 2 Range of Constant Power The motor voltage is constant the idle voltage and the corresponding magnetization and torque constants fall with increasing velocity The slip is increased correspondingly The adjustment of magnetization current and slip is executed automatically by the field control The voltage is decreased during id
275. ersal Play The following procedure will determine the correct value for the parameter S 0 0058 Reversal Play e Move axis in a positive direction in jog mode e Move the measurement clock to an appropriate point on the mechanical system of the axis and set to zero e Jog the axis in a negative direction until a change can be seen in the pointer position of the measurement clock The following calculation determines the reversal play Umkehrspiel AXSteuerung AXMeBuhr AXSteuerung Path traveled according to control display AXSteuerung Path traveled according to measurement clock Fig 8 33 Calculating the reversal play Precision Axis Error Correction The precision axis error correction can be used to correct non linear encoder errors and non linear errors in the mechanical system 8 22 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 DIAX03 Drive With Servo Function The following parameters are available to set the correction e P 0 0408 Pos corr Precision corr start pos e P 0 0409 Pos corr Correction table for precision corr e P 0 0410 Pos corr Support point distance for precision corr Main Function of the Precision Axis Error Correction With the table P 0 0409 Pos corr Correction table for precision corr the position and velocity dependent correction values the so called correction support points can be defined within the correction range correction range reference
276. es 17 S 0 0037 Additive Velocity Command Value cccccceceeeeeeeeceneeceeeeeceaeeesaaeeeeneeseaeeesaeeeeaeeeenees 18 S 0 0040 Velocity Feedback Value rrenari ee a S An E ANSERA RE ESENTE A AEAEE REER 18 S 0 0041 Homing Veloclhy 18 S 0 0042 Homing Acceleration esseseseseeesinesrnesrnssrnstrestrsstnsstnnstnsstnsstessrenstenstensnnnstnnsnnnsnnnnnnn nt 19 S 0 0043 Velocity Polarity Parameter 19 S 0 0044 Velocity Data Scaling Type 20 S 0 0045 Velocity Data Scaling Factor cccccceesceeeeeeeceeeeeeeeeceeeeeeeaeeesaaeeeeaeeseeeeseaeeesaeeeeaeeeeeees 21 S 0 0046 Velocity Data Scaling Exponent sseesseseesisssiesriesriesississtinttinstinttnnnttnntnnntnnntnnnenn nnt 21 S 0 0047 Position Command Value nnt 21 S 0 0049 Positive Position Limit Value ccceecececeeeeeceneeeeeaeeeeeeeseeeeeseaeeeeaaeseeeeeseaeeesaeeesaeeeeeees 22 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Contents DIAX03 Drive With Servo Function Oe ale ay S 0 0050 Negative Position Limit Value ce ccccccesssececeesneceeeseneeecesaeeeeesaeeeeessaeeeeesseeeessnaeeees 22 S 0 0051 Position Feedback Value 1 Motor Feedback ceccceceeeeeeeeeeeeeceeeeeseaeeeeeeeeeeeeeaas 23 S 0 0052 Reference Distance 1 ceccccccceeeseeeeeececeeeeeeeaeceaaeseeeeeeeaeeesaaeeseaaeseeneeseaeeesaeeseaaesseneeee 23 S 0 0053 Position Feedback Value 2 ext feedback 23 S 0 0054 Reference Distance 3 24 S 0 0055 Position Polarity Pa
277. es in the units and the number of decimal places will be made by the parameters The following table displays the differences in scaling of these parameters ID number Rotational Linear S 0 0100 0 1 Amin m 0 1Amin m S 0 0113 0 0001 RPM 0 0001 mm min S 0 0116 Cycles Rev 0 00001 mm P 0 0018 Pair poles 0 1mm P 0 0040 RPM 10V 0 1 m min 10V P 0 0041 RPM 10V 0 1 m min 10V P 0 0042 degree 10V 0 001 mm 10V P 0 0043 degree 10V 0 001 mm 10V S 0 0348 mAsec rad mAsec mm Fig 5 2 Scaling in Linear or Rotational Motors The selected motor type also affects the scaling of the position data For example it is impossible to set rotational motor settings for linear motors and linear motor settings for rotational motors This would generate the command error C213 Position Data Scaling Error during a delayed phase switch Synchronous Asynchronous Specific parameters are used only for synchronous motors others only for asynchronous motors There are differences in the use and review of the parameters in the command S 0 0128 Communication phase 4 transition check They are Synchronous e P 0 4004 Magnetizing Current is set to 0 e P 0 0508 Commutator Offset is checked for validity Asynchronous e P 0 4004 Magnetizing Current is initialized e P 0 0508 Commutator Offset is not checked Temperature Monitoring The switch off limit for the motor temperature check is fixed at one point for MDD and MKD moto
278. es the standstill torque according to the motor data sheet For MDD and MKD motors this value is stored in the motor feedback and is loaded from there into the controller RAM when the drive is started for the first time This value must be taken from the data sheet with other types of motors S 0 0111 Attributes ID number S 0 0111 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 1 500000 S 0 0112 Amplifier Nominal Current Description The permissible continuous current for the drive control device The value is set by the drive itself S 0 0112 Attributes ID number S 0 0112 Editability no Function Parameter Memory Amplf Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 1 500000 S 0 0113 Maximum Motor Speed nmax Description The maximum velocity of the motor cannot be exceeded It is also limited by parameter S 0 0091 Bipolar velocity limit value For MDD and MKD motors this value is stored in the motor feedback and is loaded from there into the controller RAM when the drive is started for the first time This value must be taken from the data sheet for other types of motors See also the functional descript
279. escription S 0 0128 C2 communications phase 4 transition check C218 Attributes SS Display C2 18 Diagnostic message number C218 C220 Mot Feedback Initialization Error A number of tests are performed when the motor encoder is initialized An error was detected during this process This error may be e Error while reading the angle rectification data e Error while copying the angle rectification data e Interruption of communication with the encoder e Assembly error with the position of an initialization track e Error while reading the analog signal of an initialization track e Error in the pointer length of the analog signal of an initialization track e Invalid offset between the high and low resolution track e Error in the measuring system micro controller DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 41 DIAX03 Drive With Servo Function Oe ale ay Cause 1 Defective motor feedback cable 2 Defective motor feedback 3 Defective measurement system interface Remedy For 1 Check the motor feedback cable For 2 Exchange the motor For 3 Exchange the measuring system interface module See also the functional description S 0 0128 C2 communications phase 4 transition check C220 Attributes SS Display C2 20 Diagnostic message number C220 C221 Ext Feedback Initialization Error Several checks are performed during the initialization of an external encoder A
280. escription Temperature monitoring S 0 0204 Attributes ID number S 0 0204 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit Cc Combination check no Decimal places 1 Cyc transmittable no Input min max 45 155 S 0 0258 Target Position Description The target position is assigned to the drive as a command value by the controller in the Drive controlled interpolation operating mode The drive moves to the target position taking into account S 0 0259 Positioning velocity S 0 0260 Positioning acceleration and S 0 0193 Positioning jerk S 0 0258 Attributes ID number S 0 0258 Editability P234 Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable MDT Input min max S 0 0076 S 0 0076 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 59 DIAX03 Drive With Servo Function Oe ale a S 0 0259 Positioning Velocity Description Positioning velocity is used in the operating mode Drive controlled interpolation to reach S 0 0258 Target position See also the functional description Generator function Drive controlled interpolation S 0 0259 Attributes ID number S 0 0259 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes
281. ess than the peak current of the amplifier then the value will be automatically limited to the peak current of the motor For MDD and MKD motors this value is stored in the motor feedback and is loaded from there into the controller RAM when the drive is started for the first time This value must be taken from the data sheet with other types of motors See also the functional description Setting the active peak current S 0 0109 Attributes ID number S 0 0109 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 1 500000 S 0 0110 Amplifier Peak Current Description The peak current available from the drive controller The value is set by the drive itself See also the functional description Current limitation 38 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function S 0 0110 Attributes ID number S 0 0110 Editability no Function Parameter Memory Amplf Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 1 500000 S 0 0111 Motor Current at Standstill Description The motor current at standstill is the current from which the motor continuously generat
282. essive position command values is greater than or equal to the value in S 0 0091 Bipolar velocity limit position command value monitoring is initiated The Excessive position command value is stored in parameter P 0 0010 The last valid position command value is stored in parameter P 0 0011 Remedy Compare S 0 0091 Bipolar velocity limit value with the velocity in the program and adjust to match it if necessary See also the functional description Position command value monitoring F237 Attributes SS Display F2 37 Error number 237 Diagnostic message number F237 Error class Non fatal Failure Signals Too Small Cause The analog signals of an external measurement system are used for high resolution analysis of that measurement system These are monitored according to two criteria 1 The pointer length which is calculated from the sine and cosine signals must be at least 1 V 2 The maximum pointer length resulting from the sine and cosine signals must not exceed 11 8 V Remedy 1 Check the measurement system cable 2 Check the measurement system F242 Attributes SS Display F2 42 Error number 242 Diagnostic message number F242 Error class Non fatal Failure Quadrant Error A hardware error was discovered in the high resolution position interface for DLF sine signals of the external measurement system Cause T Defective encoder cable 2 Disruptive electro magnetic interference on the
283. estricted clutches between motor and load To set the mix condition use the parameter e P 0 0121 Velocity Mixfactor Feedback1 amp Feedback The use of this function is appropriate only for external measurement systems If this is not available you have to set P 0 0121 automatically to 0 The mixture of the velocity feedback value can be continually varied between e 100 Velocity feedback value of the motor encoder 0 actual value of the external encoder P 0 0121 0 and e 0 Velocity feedback value of the motor encoder 100 actual value of the external encoder P 0 0121 100 7 46 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function Motor measurement system Load _ Motor _ External measurement system Vfeed Vieed motor external feedback feedback P 0 0121 Velocity mix Velocity Mix Factor Feedback 1 amp 2 SS O gt a Abb 7 28 Velocity Mixture Diagram Setting the Frictional Torque Compensation The drive internal frictional torque compensation allows for directional dependent switching of the torque command value S 0 0155 Friction Compensation The reason for this is to equalize the frictional torques of the connected mechanical system so that the deviations can be reduced during a directional reverse and so that the exactness of an axis can be increased Frictional torque compensation can be used in p
284. ext message If no error is pending then the value of this parameter is 0 Example Pending error F822 Motor feedback error signal amplitude error P 0 0009 822 See also the functional description Error number P 0 0009 Attributes ID number P 0 0009 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0010 Excessive Position Command Description Position command value monitoring triggered error F237 Excessive position command value difference and decelerated the drive according to the error handling defined in parameter P 0 0119 Deceleration as best as possible The excessive position command value that triggered the error is stored in parameter P 0 0010 and the last valid position command value is stored in parameter P 0 0011 Last valid position command value Only command values preset by the NC are monitored See also the functional description Position command value monitoring P 0 0010 Attributes ID number P 0 0010 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 78 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB
285. external encoder used for the controller This is given to the position controller whose control gain is set with S 0 0104 Position Loop KV Factor See also Setting the Position Controller Bit 3 in the operating mode parameters S 0 0032 35 indicates if positioning should be subject to the following errors With lagless position control an acceleration feed forward component can be included with parameter S 0 0348 Proportional GainAcceleration Feed Foraward see also Setting the Acceleration Feed Forward DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Operating Modes 6 5 DIAX03 Drive With Servo Function Vr CRRA S 0 0348 Proportional amplification acceleration anticipatory control S 0 0032 a 0034 0035 a type bit 3 Acceleration Before see Velocity control 1 HE R Position T S 0 0036 Velocity command value command Sege H 5 0 0104 Position osition actual value control KV factor FP0008Q1 WMF value Fig 6 14 Position controller block diagram See also Velocity Controller on page 6 2 See also Current Controller on page 6 3 Position Command Value Monitoring If the drive is operated in the position control mode with cyclical position commands new position values are transmitted to the drive every SERCOS cycle The difference between the current and the last position command value is checked for validity Reasons monitoring is activated e Erroneous control system command values
286. face Enter the number of the module to which the motor feedback is connected in the parameter The motor encoder interface in P 0 0074 is automatically set with certain types of motors The parameter is then write protected see also Characteristics of the Different Types of Motors The following measurement systems and modules may be used with motors with motor encoder interfaces that can be parameterized Feedback System Module Number digital servo feed back or resolver Standard 1 incremental encoder with sine signals DLF 2 from the Heidenhain company with either uA or 1V signals gear type encoder DZF 3 Encoder with EnDat interface DAG 1 2 8 Fig 7 15 Determining the encoder interface for the motor encoder Motor Encoder Resolution The motor encoder resolution is parameterized in the parameter S 0 0116 Resolution of Rotational Feedback 1 Motor Encoder Enter the graduation scale of the motor feedback If using a measurement system with its own feedback data storage the resolution will be taken from this and does not need to be entered Measurement systems with feedback storage are available if e Standard 1 or e DAG 1 2 8 is used as the motor encoder interface Depending on if a rotary or linear motor is being used the units and the number of decimal places are changed via S 0 0116 Resolution of Rotational Feedback 1 Motor Encoder see also linear rotary Other Motor E
287. fixed 1 2AD ADF no asynchronous param param 1MB no asynchronous param param LAF LAR no asynchronous param param LSF no mode possible no no no no synchronous param fixed 8 Fig 5 1 Characteristics of the Motor Types Motor Feedback Data Memory The motor feedback data memory contains all motor related parameters For MDD and MKD motors a motor feedback data memory is provided in which all motor dependent parameters are stored The drive controller recognizes this automatically and reads those parameters after turning on the device from the data memory with the command S 0 0128 C2 Communication phase transition check The following parameters are stored in this data memory e 0 0109 Motor Peak Current e S 0 0111 Motor Current at Standstill e 0 0113 Maximum Motor Velocity nmax e S 0 0141 Motor Type e P 0 0018 Number of Pair of Poles Pole Distance e P 0 0051 Torque Force Constant e P 0 0510 Moment of Inertia of the Rotor e P 0 0511 Brake Current and don t have to be entered for start up or after exchanging the motor DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Motor Configuration 5 1 DIAX03 Drive With Servo Function Linear Rotational Depending on the setting of either rotational or linear motor the units of measurement and the decimal places are changed by the parameters OD a ey Depending on whether a linear or rotational motor is being used chang
288. g 8 17 Trigger edge selection Selection of Fixed Trigger Signals The parameter P 0 0026 Trigger Signal Selection determines the signal that is monitored for the parameterized edge reversal Just as in the signal selection there are drive internal fixed trigger signals in the trigger signal selection These are activated by entering the corresponding number DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Optional Drive Features 8 11 DIAX03 Drive With Servo Function Oe aL ay The following signal numbers are valid Trigger signal Trigger signal Associated number trigger edge 0x01 Actual feedback value Position data P 0 0027 according to active operating mode 0x02 Velocity feedback value Velocity data P 0 0028 Parameter S 0 0040 0x03 Velocity Velocity data P 0 0028 deviation Parameter 0x04 Lag distance Position data P 0 0027 Parameter S 0 0189 0x05 Torque command value Torque data P 0 0029 Parameter S 0 0080 0x06 Torque feedback value Torque data P 0 0029 Parameter S 0 0084 0x07 Position command value Position data P 0 0027 Parameter S 0 0047 Fig 8 18 Selection of fixed trigger signals Selection of Expanded Trigger Signals In addition to a trigger signal selection with preset signals DIAX03 also allows for triggering to any desired internal signal Use of this feature is meaningful only with information about the structure of t
289. ge release P 0 0526 Motor brake lag time Fig 7 17 Time sequence of the velocity command value reset in case of setting maximum brake time too low Disable Torque If Best Possible Deceleration is set to 1 then the drive is set to torque disable during an error The brake will be activated instantly Disable torque as error response when motor brake is connected Danger of damaging the motor brake WARNING gt Avoid setting this error reaction Switching to torque free mode Velocity profile Via Control of the motor brake Ee e gt E End stage release Time Fig 7 18 Time sequence of torque disable DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 35 DIAX03 Drive With Servo Function Oe aL va Velocity command value reset with filter and slope If the setting for the Best Possible Deceleration is 2 the drive will be decelerated to a target of zero during an error The acceleration or deceleration of the command value will be set with the parameter P 0 1201 Rising Slope 1 The velocity command value is passed through jerk limiting filter whose time constant is defined with P 0 1222 Command Value Smoothing Time Constant The velocity profile is equal to the profile of the velocity control with comparison and filter with a preset value of 0 Activating the set A velocity command value to zero with slope amp filter gt v A 1 Rounding
290. gnals are available Trigger Corresponding signal Trigger signal trigger threshold numbers 0 x 00 Not defined Not defined 0x 01 Actual feedback value Position data P 0 0027 based on mode of operation 0 x 02 Velocity feedback value Velocity data Parameter S 0 0040 P 0 0028 0 x 03 Velocity deviation Velocity data parameter P 0 0028 0 x 04 Following error Position data P 0 0027 parameter S 0 0189 0x05 Torque command value Torque data parameter S 0 0080 P 0 0029 Fig 3 6 P 0 0026 Signal numbers Additional trigger signals can also be defined by setting bit 12 84 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function Bit 12 Expanded on trigger function Fig 3 7 P 0 0026 Trigger signal select See also the functional description Oscilloscope function P 0 0026 Attributes ID number P 0 0026 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check no Format HEX Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0x0000 0x3FFF P 0 0027 Trigger Level for Position Data Description Parameter P 0 0027 determines the value at which the trigger will be released as long as the correct edge has been recognized See also the functional description Oscilloscope function P 0 0027 Attributes ID number P 0 0
291. gnetization current in the field weakening range The parameter value is set by Indramat See also the functional description Asynchronous motors P 0 0533 Attributes ID number P 0 0533 Editability P234 Function Parameter Memory Program Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit A V Combination check no Decimal places 3 Cyc transmittable no Input min max 0 MaxUlnt P 0 0534 Flux Loop Integral Action Time Description The flux loop controls the magnetization current in the field weakening range The parameter value is set by Indramat See also the functional description Asynchronous motors P 0 0534 Attributes ID number P 0 0534 Editability P234 Function Parameter Memory Program Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit ms Combination check no Decimal places 1 Cyc transmittable no Input min max 0 MaxUlInt 122 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function P 0 0535 Motor Voltage No Load Description The motor voltage in the field weakening range is set so that it reaches a value lower than the DC bus voltage Under load the motor voltage will be raised to the maximum motor voltage See also the functional description Asynchronous motors P 0 0535 Attributes ID number P 0 0535 Editability P234 Function Parameter
292. h SERCOS Required data are not transmitted cyclically they are transmitted through the service channel The transmission through the service channel is done in several steps for the MDT and AT and the transmission of an element could last over several Sercos cycles The service channel is used for e Parameterization and e Diagnostic 4 4 Communication Through the SERCOS INTERFACE DOK DIAX03 SSE 01VRS FKB1 DE P e 09 96 LR CX EE an DIAX03 Drive With Servo Function 4 5 Start Up for the SERCOS Interface To start the interface you have to connect the fiber optic cable set the drive address set the transmission rate set the transmission power All settings can be done with switches on the front plate or directly on the plug in card of the interface module DSS 2 1 The settings should be complete before connecting communication to the fiber optic ring H3 ERR Distortion LED X10 transmitter S2 and S3 Setting the drive address Ve X11 receiver Fig 4 4 Control communication module DSS2 See also Supplement B Diagnostic Explanations E410 Slave not scanned or address 0 Setting the Drive Address of the SERCOS Interface The drive address is set on the front plate of the DSS 2 1 through switches S2 and S3 You can set addresses in the range of 0 to 99 The drive address is not dependent on the sequence of drive connections through the fiber optic ring Connecti
293. h have been set to drive address 0 indicate this by generating warning E410 Communication with these slaves in higher communications phases is not possible They work only in the repeater mode Cause The slave was not scanned in phase 1 or 0 address is set Remedy e Set the correct slave address e Check the SERCOS master configuration See also the functional description Start Up for the SERCOS Interface E410 Attributes SS Display E4 10 Diagnostic message number E410 Warning class Non fatal E825 Overvoltage Error The DC bus voltage has reached impermissibly high values Ud gt 475 V The drive controller was switched to torque free operation so as not to endanger the drive s power amplifier Cause The energy regenerated by a braking drive controller a main spindle drive for example cannot be converted by the bleeder resistors quickly enough 28 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function Remedy The braking slope should have a flatter parameter or the bleeder capacity can be increased by adding an additional bleeder E825 Attributes SS Display E8 25 Diagnostic message number E825 Warning class Non fatal E829 Positive Position Limit Value Exceeded The drive received a command value which resulted in an axis position outside the positive travel range The axis was brought to a standstill by setting the v
294. hannel 1 Description If velocity data have been selected with parameter P 0 038 Signal selection analog channel 1 then scaling will be set in parameter P 0 0040 Scaling factor for velocity data channel 1 The unit Rom 10V or m min 10V with a linear motor always refers to the motor in this case If a gear ratio is present it will not be considered See also the functional description Analog output P 0 0040 Attributes ID number P 0 0040 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC OV Extreme value check no Unit Upm 10V bzw mm min 10V abhangig von P 0 4014 Motorart Rpm 10V or mm min 10V depends on P 0 4014 Motor type Combination check no Decimal places 0 Cyc transmittable no Input min max 0 65535 P 0 0041 Scaling Factor for Velocity Data Channel 2 Description If velocity data have been selected with parameter P 0 039 Signal selection for analog channel 2 then the scaling will be set in parameter P 0 0040 Scaling factor for velocity data channel 1 The unit Rom 10V or m min 10V with a linear motor always refers to the motor in this case If a gear ratio is present it will not be considered 92 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function See also the functional description Analog output P 0 0041 Attributes ID number P 0 00
295. he diagnostic number appears on the two part seven segment display The form of the display emerges from the graphic Priority Dependent Display of the Diagnostic Message With the help of this display it is possible to quickly determine the current operating status without using a communication interface The operating mode cannot be seen on the H1 Display If the drive follows the operating mode and no command was activated then the symbol AF appears on the display Diagnostic Message The diagnostic message contains the diagnostic number followed by the diagnostic text as shown in the example Excessive Control Deviation It can be read with the parameter S 0 0095 Diagnostic Message and directly displays the operation status on an operator interface The diagnostic message language can be changed Diagnostic Message Number The diagnostic message number contains only the diagnostic number without the text It can be read with the parameter S 0 0390 Diagnostic Message Number Error Number The error number contains only the error number without the diagnostic text It can be read with the parameter P 0 0009 Error Number and can indicate an error condition without a language barrier This parameter contains a value unequal to 0 if an error is present in the drive An error is formed from the bottom 3 digits of the diagnostic number For example the error F228 Excessive Control Deviation with the diagnostic message
296. he internal data memory therefore this feature can be used effectively only by the corresponding developer This feature can be activated with the P 0 0026 Trigger Signal Selection parameter by setting bit 12 1 P 0 0026 Trigger Signal Selection CO Pa a Bit 12 Expanded trigger function ON Fig 8 19 Structure of Parameter P 0 0026 If the expanded trigger feature is activated then the trigger signal address must be defined over the parameter P 0 00146 Trigger Signal Address for Expanded Signal Selection The associated trigger level will be entered in parameter P 0 0145 Trigger Level for Expanded Trigger Signals This parameter is defined as follows P 0 0145 Trigger Threshold Expanded Oscilloscope Function 31 30 29 282726 252423 2221 2019 1817 1615 1413 12111098 76543210 16 Bit mask for 16 Bit threshold for trigger signals trigger signals Fig 8 20 Structure of Parameter P 0 0145 The 16 bit value of the trigger edge is monitored and the trigger signal will be UND linked over the trigger signal screen mask 8 12 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function Setting the Time Resolution and the Memory Depth The recording ranges for the oscilloscope feature can be defined with the parameters P 0 0031 Timebase and P 0 0032 Memory Depth Th
297. he machine was last switched off the error F276 Absolute Encoder Error will be generated The transition command will not be acknowledged as an error but the error may be cleared by executing the command S 0 0099 C5 Reset Class 1 Diagnostics See also Clearing Errors on page 3 4 A determination is made whether the coprocessor has processed and accepted its initialization values If this is not the case the command error C226 Coprocessor Acknowledge Failed will appear Various internal settings are made depending on the controller type If the parameter S 0 0140 Controller Type cannot be read the command error C228 Controller Type S0 0140 Incorrect is issued 3 14 General Instructions for Installation DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO an DIAX03 Drive With Servo Function 4 Communication Through the SERCOS INTERFACE 4 1 Overview of SERCOS Communication Communication of devices with DIAX 03 software can be done only through the SERCOS Interface at this time The basic features of this interface are e Data exchange cycle of set and actual values with exact time equidistance e Synchronization of measurement point and command value input e Overall synchronization of all drives connected to the control e Minimum cycle time 0 5 msec maximum cycle time 65msec e Baud rate selectable either 2 or 4 MBaud e Service channel for settings and diagnostics e Data transfer through fiber optic ring e C
298. he probe signal From this point on if a probe signal edge is recognized then the selected signal will be stored in the positive or negative probe value parameter At the same time the difference between the positive probe value and the negative probe value will be computed and saved in the probe value difference parameter The following status messages will be set to 1 S 0 0409 Probe 1 Positive Latched and S 0 0410 Probe 1 Negative Latched or S 0 0411 Probe 2 Positive Latched and S 0 0412 Probe 2 Negative Latched When the probe enable is canceled the following status messages will be erased S 0 0409 Probe 1 Positive Latched and S 0 0410 Probe 1 Negative Latched or S 0 0411 Probe 2 Positive Latched and S 0 0412 Probe 2 Negative Latched Note Only the first positive and the first negative signal edge of the input will be evaluated after the 0 1 edge of the probe enable For each new measurement the probe enable must be reset to 0 and then to 1 When the probe enable is canceled the corresponding probe value latched parameters are also canceled 8 16 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function Probe command 3 Probe release Probe latched negatively Probe latched positively Latching the selected signal Latching the selected signal at this point of time in the at this point of time in the measurement negatively
299. heck yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 S 0 0301 Allocation of Real Time Control Bit 1 Description In order for a signal to assign the real time control bit 1 the ID number of the signal is written to the operating data of the assignment for the real time control bit 1 If an assignment of this type is made then the assigned signal bit 0 will be controlled by the real time control bit 1 component of the master control word If the IDN which was set by parameter is not available then the drive responds with the service channel error message IDN is not available If the programmed IDN is available but is not editable in phase 4 then the drive responds with the error message Data is not correct See also the functional description Real time control and status bits S 0 0301 Attributes ID number S 0 0301 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0303 Allocation of Real Time Control Bit 2 Description In order for a signal to assign the real time control bit 2 the ID number of the signal is written in the operating data of the assignment for the real time control bit 2 If an assignment of this type is made then the
300. heck yes Unit S 0 0086 Combination check no Decimal places S 0 0086 Cyc transmittable MDT Input min max 0 P 0 4046 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 31 DIAX03 Drive With Servo Function Oe aL a S 0 0093 Torque Force Data Scaling Factor Description The scaling factor for all torque force data in the drive is set in this parameter See also the functional description Adjustable scaling for position velocity and acceleration data S 0 0093 Attributes ID number S 0 0093 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit e Combination check no Decimal places 0 Cyc transmittable no Input min max aa fire S 0 0094 Torque Force Data Scaling Exponent Description This parameter determines the scaling exponent for all torque force data in the drive See also the functional description Adjustable scaling for position velocity and acceleration data S 0 0094 Attributes ID number S 0 0094 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC_MV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max e Les S 0 0095 Diagnostic Message Description This parameter contains the currently relevant operating status of the drive The respective diagn
301. hed to while switching back from a communications phase Cause F4 04 404 F404 Interface Error in the SERCOS master module of the control system Remedy Consult the control system manufacturer See also the functional description SERCOS interface error DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement B Diagnostic Message Description 13 DIAX03 Drive With Servo Function Oe aL a F405 Attributes SS Display F4 05 Error number 405 Diagnostic message number F405 Error class Interface F406 Phase Switching Without Ready Signal The SERCOS masier attempted a phase switch without waiting for the drive controller s ready signal Cause Error in the SERCOS master module of the control system Remedy Consult the control system manufacturer See also the functional description SERCOS interface error F406 Attributes SS Display F4 06 Error number 406 Diagnostic message number F406 Error class Interface F629 Positive Travel Limit Value Is Exceeded The drive received a command value which resulted in an axis position outside the positive travel range The axis was brought to a standstill with the Set velocity command value to zero error response Bit 2 of paramater P 0 0090 Travel range limit switch is set for Exceeding travel range as an error or exceeding the position limit began a drive control command such as the drive controlled homing procedure Cause S 0 0049 Positive posit
302. hould be set in this direction during installation see Other Motor Encoder Characteristics on page7 12 The command polarity and actual value polarity of the drive is thereby fixed If the drive s definition of the positive direction does not conform to the requirements of the machine the parameters e 0 0055 Position Polarity Parameter e 0 0043 Velocity Polarity Parameter e 0 0085 Torque Force Polarity Parameter can invert the command and actual value polarities Note If the polarity needs to be changed all 3 parameters should always be inverted at the same time so that the polarities of the position velocity and torque force have the same sign The following illustration shows the operating characteristics of the polarity parameters Torque force controller Torque force feedback Position feedback alue 1 S 0 0051 S 0 0053 Position feedback value 2 Fig 7 7 Polarity parameter operating characteristics The polarity parameters affect only the display values not the control feedback values The drive software only allows all bits within a polarity parameter to be inverted If bit O is inverted all other bits of the parameter are also inverted This prevents setting positive feedback in the regulator loops because of faulty command and feedback value polarities 7 6 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Driv
303. hronization telegram This value is indicated by the drive in such a manner that the current feedback values can be transmitted to the NC in the next drive telegram The master reads this value in communications phase 2 to set the acquisition starting time of the feedback values T4 S 0 0007 Feedback acquisition starting time T4 for all drives See also the functional description Configuration of the telegram send and receive times S 0 0005 Attributes ID number S 0 0005 Editability no Function Parameter Memory fixed Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max Safire S 0 0006 AT Transmission Starting Time T1 Description 4 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function The transmission telegram determines when the slave must send its drive telegram to communications phases 3 and 4 Transmission occurs after the end of the master synchronization telegram This parameter is transmitted from the master to the slave in communications phase 2 and is active from communications phase 3 on The transmission drive telegram must be set equal to or greater than the transmission reaction time S 0 0003 Minimum AT transmit starting time T1min The following must apply T1imin lt T1 See also the functional description Conf
304. iable encoder 0x15 thermal load 10V 100 Fig 8 1 Signal selection for analog output DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Optional Drive Features 8 1 DIAX03 Drive With Servo Function Oe Ga abe al Variable Scaling of Position Velocity and Power Data If position velocity or power data are selected with the signal selection then scaling can be set with the following parameters e P 0 0040 Velocity Scaling Analog Channel 1 e P 0 0041 Velocity Scaling Analog Channel 2 e P 0 0042 Position Data Scaling Analog Channel 1 e P 0 0043 Position Data Scaling Analog Channel 2 e P 0 0044 Power Scaling for Analog Output The unit rpm 10V is always applied to motor rotations This unit will not change for any other available gear ratios The same applies to the unit degree 10V If a linear motor is connected e 3 is set for synchronous linear motors in the parameter P 0 4014 Motor Type or 4 is set for asynchronous linear motors then the unit of the scaling parameter changes from Rpm 10V to m min 10V and Degree 10V to mm 10V Bit and Byte Outputs of the Data Memory This feature can be used only with the information about the structure of the drive processor s data memory The structure changes from version to version The feature can be loaded only by the developers The selection can be made with the signal selection parameter instead of a preset number the address and bit number or shift number of th
305. iagnostic message D400 Command Positive stop drive procedure The switching off of the controller monitors occurs in all drive operating modes If there is a Class 1 Diagnostics error message at the start of the command the error D401 ZKL1 Error at Command Start will be generated The drive will acknowledge the command as properly executed when e the controller monitors are switched off e Md S 0 0084 gt MdLimit S 0 0092 and e nis 0 Note The message nis 0 is influenced by the parameter S 0 0124 Standstill Window If the command is canceled by the control after execution then all regular controller monitors are reactivated A Positive stop drive procedure Command start gt NC Position command values gt Torque force Ma limit command values Velocity Command acknowledgement gt SV5001d1 drw Fig 8 56 Time sequence when activating the command Positive stop drive procedure 8 32 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ee EE ai 9 Glossary DIAX03 Drive With Servo Function Command Complex functions in the drive can be controlled with the help of commands Each command is allocated a parameter The drive signals the current extent to which the command has already been conducted via command acknowledgment a part of the data status Data status Every parameter has at its disposal a data status It can be read b
306. iania a ae aa aaa iaaa ran Saaie aS Ae a aadar adorada danara aeda Eei 7 22 Torge Force LEUN WEE 7 25 Limiting Wee TEE 7 27 Travel Range Lg aaa ieena dashed secede stadt EERSTEN 7 28 7 5 Drive Interlock OPen RE 7 31 Activating the Drive Interlock AA 7 32 426 Drive TE tee Le IT 7 33 Best Possible Deceleration cceccccceeeeneeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeseaaeeeseeaaeseseeaaeeeseeeeeeeneeneneeenes 7 33 Power Supply Shutdown in Error Gituatton eese eserestnssrrssrssrnssrnnsrnntnnsnnnnnnnenn nnen 7 36 NC Response in Error Situation ccccceccceeeeeceeneeceeeeeceaeeeceaeeeeeeeseeeeeceaeeeeaaeseaaeseeeeeseeeessaeeeeaees 7 37 Emergency Te TT 7 37 LF Control LOOP Settings EE 7 39 General Information for Control Loop Gettngs 7 39 Beie MII 7 39 Setting the Current Controller nesr nesrnsrnssrnsrnsstnsstnsstnsstnsstnnsnenstennnnnstnnsnnnnnnnsnnnnnnnnt 7 41 Setting the Velocity Controller ecccececceeseeceeeeceeeeecaeeeeaaeseeeeecaeeeseaeseeeeeseeeeseaeeeseaeeneaeesseeeeaes 7 41 Setting the position controller ssessessseesseeseeesteee tsen tetnnstnnntnnntrnssrnssnnsnnstnasinnstnssrnnsnnnnnnnnnnnnnnnt 7 43 Position Control Loop Monitoring cccccceeeeeceeeeeceeeeeeeaeeeaaeseeneeceeeeecaaeeeeaaeseeeeeseaeeesaeeeeeeseenees 7 43 Setting the Acceleration Feed Fonward tt 7 45 Setting the Velocity Mix Fachor 7 46 Setting the Frictional Torque Compensaton nennen nnna 7 47 TERA DINE EE 7 48 Drive Halt Feature DeSCrip
307. idity check Phase 3 Format DEC_OV Extreme value check yes Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 0 500000 P 0 4036 Contacted Motor Type Description The value of parameter S 0 0141 Motor type is stored in this parameter every time the Basic load function is executed Every time the controller is turned on the value of parameter S 0 0141 from the motor feedback data memory is compared to P 0 4036 If the data differ then a different motor has been contacted The message UL will then appear on the SS display By pressing S1 the default control parameters of the new motor will be activated This feature is relevant only for motors with motor feedback data memory such as MDD or MKD motors See also the functional description Automatic execution of the basic load function P 0 4036 Attributes ID number P 0 4036 Editability P234 Function Parameter Memory Param E prom Data length 1 byte variable Validity check Phase 3 Format ASCII Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 129 DIAX03 Drive With Servo Function Oe aL a P 0 4045 Aktiv duration Current Description This value is used to display the continuous current that has been set The device is not overloaded with this current It is also the current
308. if the controller enable is set Remedy 1 Disable controller enable 2 Start the command again See also the functional description Run the load default settings feature as a command C701 Attributes SS Display C7 01 Diagnostic message number C701 C702 Default Parameters Not Available For motors of series MDD and MKD the machine mechanics are adjusted to the digital drive by activating the velocity controller parameters stored in the motor feedback The drive controller signals with message C702 that command S 0 0262 Command basic load was activated but no data memory is available in the contacted motor Remedy Order the parameter information sheet from Indramat customer service and enter the parameters See also the functional description Run the load default settings feature as a command C702 Attributes SS Display C7 02 Diagnostic message number C702 46 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function C703 Default Parameters Invalid Cause The default parameters are read from the motor feedback data memory At least one of these parameters is invalid Remedy Check the connection to the motor feedback Exchange motor if necessary See also the functional description Run the load default settings feature as a command C703 Attributes SS Display C7 03 Diagnostic message number C703 C704 Parameters
309. ignal Selection List for Oscilloscope Feature was introduced so the control can recognize if the number of preset numbers changes The parameter is structured as a list parameter and transmits the ID numbers of possible signals List entries ID number from S 0 0051 or S 0 0053 S 0 0040 S 0 0347 S 0 0189 S 0 0080 S 0 0051 S 0 0053 P 0 0147 P 0 0148 Bn Fig 8 15 Parameter P 0 0149 Occupancy Expanded Oscilloscope Recording Function In addition to the oscilloscope feature with preset signals DIAX03 also allows for recording of any desired internal signals Use of this feature is meaningful only with information about the structure of the internal data memory therefore this feature can be used effectively only by the corresponding developer The feature can be activated with the Signal Selection P 0 0023 amp P 0 0024 parameters by setting bit 12 1 The format for the data to be protected can be defined with bit 13 8 10 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LA EX EE ai DIAX03 Drive With Servo Function P 0 0023 amp P 0 0024 Oscilloscope Function Signal Selection LEE Bit 12 Expanded oscilloscope function ON Bit 13 Data width of the measurement values 0 16 Bit 1 32 Bit Fig 8 16 Structure of Parameters P 0 0023 and P 0 0024 If the expanded signal selection is parameterized then the desired signal address can be defined in the
310. iguration of the telegram send and receive times S 0 0006 Attributes ID number S 0 0006 Editability P2 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 2 Format DEC_OV Extreme value check yes Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max 12 65535 S 0 0007 Feedback Acquisition Starting Time T4 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Description This is the feedback acquisition starting time set by the master after the end of the master synchronization telegram The master can set the same feedback acquisition starting time for all drives that work together This guarantees synchronized feedback value acquisition among the affected drives Also the cyclically transferred command values are processed at time T4 The master must set the feedback acquisition starting time equal to or less than the difference between the S 0 0002 SERCOS cycle time and the polled S 0 0005 Minimum feedback acquisition time The following must apply T4 lt TScyc T4min See also the functional description Configuration of the telegram send and receive times S 0 0007 Attributes ID number S 0 0007 Editability P2 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 2 Format DEC_OV Extreme value check yes Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max 0 65535 Supplement A Descripti
311. inciple 8 9 Status Messages 8 14 Trigger Delay 8 13 Trigger Edge 8 11 Triggering 8 11 Ue a Val Oscilloscope Feature Trigger Source 8 11 Oscilloscope feature with defined recording signals 8 10 Oscilloscope Feature With External Trigger and Internal Trigger Condition 8 14 Other External Encoder Characteristics 7 16 Other Motor Encoder Characteristics 7 12 Overload Warning Parameterizing the Warning Threshold 7 25 P P 0 4045 Active Duration Continuous Current 7 23 Parameter Buffer Mode 3 3 Parameter Storage in Motor Feedback 3 3 Parameterizing the Reference Temperature 8 28 Parameterizing the Start Position 8 25 Parameterizing the Support Point Distance 8 25 Parameters Stored in DSM Programming Module 3 3 Parameters Stored in the Digital Drive 3 2 Peak current Saving in the motor feedback 5 1 Polarity Actual Value Polarity 7 6 Command Value Polarity 7 6 Position Command Value Interpolator Associated Parameters 6 4 Block diagram 6 4 Position Command Value Monitoring 6 6 Position Control Associated Diagnostic Messages 6 4 Block diagram 6 4 Setting the Position Controller 7 43 Position Controller 6 5 Associated Parameters 6 5 Block diagram 6 5 Critical Position Controller Gain 7 43 Setting the Acceleration Feed Forward 7 45 position feedback values after switching on 7 21 Position Dependent Temperature Correction 8 27 Position Independent Temperature Correction 8 26 Possib
312. ing mode the product of S 0 0103 Modulo Value S 0 0116 Resolution of Rotational Feedback 1 Motor Encoder and S 0 0121 Input Revolutions of Load Gear must be smaller than 263 e If rotary position scaling with load reference and angle synchronization is used as the operating mode the product of S 0 0237 Following Drive Revolutions 1 S 0 0116 Resolution of Rotational Feedback 1 Motor Encoder and S 0 0121 Input Revolutions of Load Gear must be smaller than 263 e H the angle synchronization operating mode is used linear position scaling may not be selected If in addition to this an external measurement system is used the additional requirements are e f rotary position scaling with motor reference and no angle synchronization operating mode is used the product of S 0 0103 Modulo Value S 0 0117 Resolution of Rotational Feedback 2 External Encoder and S 0 0122 Output Revolutions of Load Gear must be smaller than 2 63 e f rotary position scaling with motor reference and angle synchronization operating mode is used the product of S 0 0237 Following Drive Revolutions 1 S 0 0117 Rotary Feedback 2 Resolution External Encoder and S 0 0122 Output Revolutions of Load Gear must be smaller than 2 63 Processing Command Values in Modulo Format Shortest Path Direction Selection The interpretation of position command values such as S 0 0047 Position Command Value andS 0 0258 Target Position when the modulo functi
313. ing picture P In this case 160 d corresponds to the 160 effective peak Pmax DEEG current 160 7 a 7 o X 100 i Os Faj Pn ef 75 nl n2 Fig 5 5 Torque assignment In range 1 the torque value is the actual torque 100 rated torque In range 2 the torque value is equal to the power 100 rated power according to selection list The rated power of the motor rating plate is not relevant here since it could relate to another DC bus voltage Range 3 is similar to the evaluation of range 2 except that the preset torque decreases in correspondence to the increasing velocity of the peak power For high velocity the maximum torque value can drop below 100 In braking mode you can reach 50 higher torque values in this range than in motor operation mode User Defined Settings for the Asynchronous Motor To operate an asynchronous motor you have to set the specific DIAX03 motor parameters in the controller The parameters are stored on the DSM module and are therefore transferable to another controller Note Motor specific parameters are used by all DIAX03 controls DKR DDS2 2 in the same manner The resulting power characteristics curve depends on the current and especially on the DC bus voltage Several additional parameters are available so the user can optimize the drive to his requirements Scaling Factor Pre Magnetizing With the pre magnetizing scaling factor P 0 0532 you can set the
314. ion e The controller enable RF is set The operating mode can be selected by entering a bit list Specific positions are defined in the bit list In bit 3 you can choose between working with position control without following lag error or with following error DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 15 DIAX03 Drive With Servo Function Vr CREA The following applies Bit3 0 position control with following error Bit 3 1 position control without following error Bit list Meaning 0000 0000 0000 0001 0000 0000 0000 0010 0000 0000 0000 x011 0000 0000 0000 x100 0000 0000 0001 x011 0000 0000 0001 x100 Fig 2 8 Bit list S 0 0033 Torque control Velocity control Position control with encoder 1 Position control with encoder 2 Drive controlled interpolation encoder 1 Drive controlled interpolation encoder 2 See also the functional description Setting operating parameters S 0 0033 Attributes ID number S 0 0033 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max sof S 0 0034 Secondary Operation Mode 2 Description The mode of operation defined in this parameter will be activated in the drive if e The main operating mode is selected in the master control wor
315. ion Limiting the velocity DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 39 DIAX03 Drive With Servo Function Oe aL a S 0 0113 Attributes ID number S 0 0113 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0044 Combination check no Decimal places S 0 0044 Cyc transmittable no Input min max 0 S 0 0044 S 0 0115 Position Feedback 2 Type Parameter Description Essential characteristics of the external encoder position encoder 2 are established is this parameter Parameter structure Bit 0 Feedback type 0 rotary 1 linear Bit 1 reserved L Bit3 Direction of movement 0 not inverted 1 inverted Bit 6 Feedback resolution 0 not absolute 1 absolute Fig 2 20 S 0 0115 Position feedback 2 type parameter Remark For absolute measurement systems with data memory bit 6 is set automatically When MDD and MKD motors are used bits 0 1 and 3 are set and write protected by the drive Note Only the bits indicated here are supported by the software See also the functional description Other external feedback characteristics S 0 0115 Attributes ID number S 0 0115 Editability P23 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combina
316. ion Position control A105 Attributes SS Display AF Diagnostic message number A105 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 51 DIAX03 Drive With Servo Function Oe aL a A106 Drive Controlled Interpolation Encoder 1 The drive receives a position command value from the control system which is identical to the target position of the travel path Then the drive generates interpolates an internal position command value sequence which uses the control system to maintain maximum values for jerk velocity and acceleration sequences The drive moves with following lag error to the target position of the travel path Encoder 1 indicates that the position encoder is installed on the motor shaft indirect measurement of the axis position See also the functional description Drive internal interpolation A106 Attributes SS Display AF Diagnostic message number A106 A107 Drive Controlled Interpolation Encoder 2 The drive receives a position command value from the control system which is identical to the target position of the travel path Then the drive generates interpolates an internal position command value sequence which uses the control system to maintain maximum values for jerk velocity and acceleration sequences The drive moves with following lag error to the target position of the travel path Encoder 2 indicates that the position encoder is installed on the ma
317. ion Parameter Memory Param E2prom Data length 2 bytes Validity check no Format HEX Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 1 0x3FFFFFFF DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 83 DIAX03 Drive With Servo Function Oe aL a P 0 0025 Trigger Source Description Parameter P 0 0025 defines the source that initiates the trigger signal There is a choice between e External trigger e Internal trigger External trigger P 0 0025 0x01 If an external trigger is chosen then the trigger will be initiated by bit 0 of the trigger command word Internal trigger P 0 0025 0x02 If an internal trigger is selected then the trigger signal set by parameter will be monitored for the trigger condition and the trigger will be initiated as soon as the condition is met See also the functional description Oscilloscope function P 0 0025 Attributes ID number P 0 0025 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check no Format DEC 0V Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 1 2 P 0 0026 Trigger Signal Select Description For internal trigger sources parameter P 0 0026 defines the signal that is monitored for the trigger condition that was set by parameter The following fixed defined si
318. ion limit value exceeded Remedy 1 Check S 0 0049 Positive position limit value 2 Check the software limits of the control system 3 Activate the axis after the error response Procedure e Clear the error e If the power supply was turned off turn it back on e Move the axis into the permissible working range Note Only command values which lead to the permissible working area will be accepted All other command values will result in bringing the drive controller to a standstill again See also the functional description Axis Limit Values F629 Attributes SS Display F6 29 Error number 629 Diagnostic message number F629 Error class Transverse range 14 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function F630 Negative Travel Limit Value ls Exceeded The drive received a command value which resulted in an axis position outside the negative travel range The axis was brought to a standstill with the Set velocity command value to zero error response Bit 2 of paramater P 0 0090 Travel range limit switch is set for Exceeding travel range as an error or exceeding the position limit began a drive control command such as the drive controlled homing procedure Cause S 0 0050 Negative travel limit value exceeded Remedy 1 Check S 0 0050 Negative travel limit value 2 Check the software limits of the control system 3 Acti
319. ious optional connector modules have metallically separated input and output To use these inputs and outputs properly you must install an external power supply If this supply lies outside the permissible range the error message explained here will be generated The following functions require an external power supply 1 Homing switch for module DSS2 activated by parameter S 0 0147 Homing parameter bit 5 2 Travel range limit switch for module DSS activated by parameter P 0 0090 Travel range limit switch parameter bit 1 3 Sensor inputs activated by S 0 0170 Command sensor cycle 4 Emergency stop input for module DSS2 activated by parameter P 0 0008 Activation E Stop function bit 0 5 Use of a DEA module 6 Evaluating a measurement system with a DAG module Remedy Check external power supply Description Unit min typ max External V 18 24 32 operating voltage UL External mA op current consumption IL Tab 1 2 External power supply voltage F233 Attributes SS Display F2 33 Error number 233 Diagnostic message number F233 Error class Non fatal F234 Emergency Stop Cause The emergency stop function E Stop was activated by turning off the 24V current at the X12 6 input The drive was brought to a standstill by the error response which had previously been set Remedy 1 Eliminate the condition which caused the 24V current at the X12 6 input to be
320. iption 43 DIAX03 Drive With Servo Function Oe aL a C300 Set Absolute Measuring Command P 0 0012 eet absolute measurement was activated by the control system in use See also the functional description Set absolute measuring C300 Attributes SS Display C3 00 Diagnostic message number C300 C302 Absolute Measuring System Not Installed Command P 0 0012 Set absolute measurement was started without an absolute measuring system being present The command cannot be processed because no absolute measuring system is available Cause 4 The command should not have been activated 2 The contacted motor or the external measurement system was not executed as an absolute encoder Remedy For 1 Stop execution of the command For 2 Equip the motor or external measurement system with an absolute encoder function See also the functional description Possible error messages when setting absolute dimension C302 Attributes SS Display C3 02 Diagnostic message number C302 C500 Reset Class 1 Diagnostic Error Reset The command for clearing errors S 0 0099 Reset class 1 diagnostic was activated by the control system in use See also the functional description Clearing errors C500 Attributes SS Display C5 00 Diagnostic message number C500 C501 Error Delet Only in Parameter Mode Cause An attempt was made to delete error F8 22 Motor encoder error signals too small in communications phase 4 This i
321. is activated in the homing parameter then the external power supply is monitored on the X12 connector Zero switch connection Plug 12 on DSS Fig 7 45 Connection of the zero switch to the DSS The zero switch should be set up far enough that the actuated range covers more than the permissible motion range Otherwise the travel range may be overrun at command start if the start position is in an unfavorable position Damage is possible to the system Travel range limits Correct zero switch order Incorrect zero switch order a_i Homing beginning direction Fig 7 46 Configuration of the zero switch in reference to the travel range If the drive controlled homing and zero switch evaluation feature is activated and if the 24V supply is missing the error F233 External Power Supply Error will be generated 7 58 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function Functions of the Control During Drive Controlled Homing The control s interpolator must be set to the position command value read from the drive During drive controlled homing the drive independently generates position command values Preset command values of the control will be ignored If the command is confirmed by the drive as completed the position command value corresponding to the machine zero point will be made available in the parameter S 0 0047 Position command
322. isplay C6 02 Diagnostic message number C602 C604 Homing of Absolute Encoder Not Possible Command S 0 0148 Drive controlled homing was activated An absolute measuring system was selected using the encoder selection in S 0 0147 Homing parameter This command can only run if command P 0 0012 Get absolute measurement has been previously activated Remedy First activate command P 0 0012 Get absolute measurement and then start command S 0 0148 Drive controlled homing procedure This procedure will define the absolute reference point DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 45 DIAX03 Drive With Servo Function Oe aL a C700 Basic load See also the functional description Possible error messages during drive controlled homing C604 Attributes SS Display C6 04 Diagnostic message number C604 For motors of series MDD and MKD the machine mechanics are adjusted to the digital drive by activating the velocity controller parameters stored in the motor feedback The drive controller signals with message C700 that command C700 Basic load was activated by command S 0 0262 Command basic load Cause Command C700 Basic load was activated See also the functional description Load default C700 Attributes SS Display C7 00 Diagnostic message number C700 C701 Basic Load Not Possible If Drive Is Enabled Cause Command S 0 0262 Command basic load cannot be run
323. ission S5 B S5 A Power 11 dBm OFF OFF 9 dBm OFF ON 8 dBm ON OFF 7 dBm ON ON Fig 4 7 Setting the transmission power Distortion LED H3Err of the SERCOS Interface The distortion LED indicates if the power of the received signal is too high or too low or if no input is recognized on the receive signal By adjusting the transmission power of the previous ring participant you can change to the permissible signal range The LED turns off when the signal is no longer distorted 4 6 Communication Through the SERCOS INTERFACE DOK DIAX03 SSE 01VRS FKB1 DE P 09 96 LR Cx EE an DIAX03 Drive With Servo Function 4 6 SERCOS Telegram Configuration To operate the drive properly the settings of the telegram send and receive times their lengths and content have to be transmitted from the SERCOS master to the drive Configuration of the Telegram Send and Receive Times The requirements to calculate the time slot parameter telegram send and receive times are stored in the following parameters S 0 0003 Minimum AT Transmit Starting Time T1min S 0 0004 Transmit Receive Transition Time TATMT S 0 0005 Minimum Feedback Acquisition Time T4min S 0 0088 Receive to Receive Recovery Time TMTSG S 0 0090 Command Value Transmit Time TMTSG within the drive The SERCOS Master calculates from the information received from all drives the time slot parameters for the operation of the communication phase 3
324. istance coded an offset will not be used When the drive enters the positioning window at the homing point the position command value is switched to the feedback value The position command value S 0 0047 Position command value is set to e Reference distance 1 for motor encoder or e Reference distance 2 for external encoder at this point The actual feedback values are calculated from the internally measured position of the homing mark and the desired feedback value for this mark The drive internal coordination system is therefore shifted and the command is acknowledged Velocity Mig S 0 0057 Positioning Window gt __ gt KD S 0 0052 54 Reference Distance Position Feedback Value v x SE Switching the position command p Machine and feedback values Home point zero point Report command as completed Position status 1 Fig 7 33 Switching from command to actual feedback values After the position command values are switched to the actual values the S 0 0403 Status of the Actual Feedback Values is set to 1 This means that the actual feedback value now refers to the machine setup point The parameter S 0 0403 displays the positioning status of the measurement system which was selected in bit 3 of the S 0 0147 Homing Parameter Note If the drive is switched back into phase 2 after running the homing command then the parameter S 0 0403 Status of the Actual Feedback Values is
325. it 6 Data relationship 0 to the motor shaft 1 to the load Bits 15 7 reserved Fig 7 5 Parameter S 0 0160 The actual scaling type is set in bit 0 2 Either preferred scaling parameters S 0 0161 Acceleration Data Scaling Factor and S 0 0162 Acceleration Data Scaling Exponent are pre defined and cannot be changed or parameter scaling scaling is determined by entering this parameter can be selected in bit 3 see Preferred Scaling Parameter Scaling on page 7 2 Bit 6 defines motor or load reference The scaling type setting is checked for plausibility in S 0 0128 C200 Communication Phase 4 Transition Check and the command error message C215 Acceleration Data Scaling Error is generated if necessary DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 5 DIAX03 Drive With Servo Function Vr CREA Command Polarities and Actual Value Polarities The drive internal polarities of position velocity torque force and actual value are fixed The following applies Drive internal positive Motor type direction definition Rotary motors Clockwise rotation facing the motor shaft Linear motors Move in the direction of the frontal area of the power cable on the primary component Fig 7 6 Drive internal positive direction definition The positive direction is specified by the manufacturer for MDD and MKD motors Asynchronous motors and linear synchronous motors s
326. it 6 are set for absolute not absolute to 0 in the parameter S 0 0277 Position feedback type 1 parameter e all motor dependent parameters will be read from the motor feedback data memory see Motor Feedback Data Memory on page 5 1 e the value of S 0 0201 Motor warning temperature will be set to 140 0 C and the S 0 0204 Motor switch off temperature will be set to 150 0 C This procedure is followed right after switching on as in the command S 0 0128 C200 Communication phase 4 transition check The command error message C204 Motor type P 0 401 4 incorrect will be generated in case an MDD or MKD motor is selected in P 0 4014 Motor type but the corresponding character sequence cannot be found in the motor feedback data memory Setting of the Motor Type Through P 0 4014 Motor Type For motors without motor feedback data memory you have to set the motor type through P 0 4014 Motor type The following values are planned for the different motor types Motor type Data Remarks MDD 1 auto detect 2AD 1MB ADF 2 must be set Linear synchronous 3 must be set motor Linear asynchronous 4 must be set motor MKD 5 auto detect Fig 5 3 Setting the Motor Type 5 3 Asynchronous Motors With DIAX03 Firmware ELSO4VRS you can use asynchronous motors in the entire rom range including constant power range In addition to the general motor parameters you have to set the following asynchronous motor paramet
327. it of the maximum allowed torque in determining the maximum output current S 0 0080 Torque force Torque Force producing Command Value command current IqCOM ae Imax P 0 4946 Active Peak Current Current limit from torque force Current limit from limiting current limiting Current AM Torque force limiting limiting P 0 4046 Active Peak Current P 0 4045 Active Duration Current S 0 0092 Torque Force Limit P 0 0109 Peak Torque Force Limit Fig 7 5 Current limitation and torque force limitation The current limit and the torque force limit both affect the torque producing command current limit The active value is always the smaller value of e Current limit value from current limitation e Current limit value from torque force limitation This is displayed in parameter P 0 4046 Active Peak Current 7 26 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR CX EE an Limiting Velocity DIAX03 Drive With Servo Function The following parameters limit the velocity of the drive e 0 0113 Maximum Motor Velocity e 0 0091 Bipolar Velocity Limit Value The parameter S 0 0091 Bipolar Velocity Limit Value is designed to allow variable limits of the maximum velocity to values smaller than the maximum allowable velocity while it is in operation The parameter S 0 0113 Maximum Motor Velocitydesignates the maximum possible m
328. itches to torque free state immediately Remedy The drive interlock should not be activated when controller enable is set Check the control system of the drive interlock input F827 Attributes SS Display F8 27 Error number 827 Diagnostic message number F827 Error class Fatal F860 Overcurrent Short in Powerstage The current in the power transistor bridge has exceeded the value of the peak current of the drive by a factor of two As a result the drive will be switched immeediately to torque free operation An optional holding brake is activated immediately Cause 1 Short circuit in the motor cable 2 Defective power section in the drive controller Remedy For 1 Check the motor cable for a short circuit For 2 Exchange the drive controller F860 Attributes SS Display F8 60 Error number 860 Diagnostic message number F860 Error class Fatal F861 Overcurrent Short to Ground The sum of the phase currents is monitored During normal operation the sum 0 If the sum of the current is greater than 0 5 x lu the short circuit to ground fuse is activated Cause 1 Defective motor cable 2 Short circuit to ground in the motor Remedy Check the motor cable and motor for a short circuit to ground and exchange if necessary 18 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an F869 15 Volt Error F870 24 Volt Error F871 10 Volt
329. ith the controller enable signal RF 2 Activation of the drive via the control enable RF without prior activation of the power supply 3 Supply module malfunction Remedy a Check the logic for activating the drive controller within the contacted control system 2 If there is a supply module malfunction eliminate it See the explanation in the supply module user manual See also the functional description Controller enable F226 Attributes SS Display F2 26 Error number 226 Diagnostic message number F226 Error class Non fatal F228 Excessive Deviation If the position loop is closed the drive will monitor whether the command value that was set can be followed In doing this the drive will calculate a model feedback value and compare it to the actual feedback value This error is generated if the difference between the theoretical and actual feedback values exceeds the value in parameter S 0 0159 Monitoring window on a continuous basis DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement B Diagnostic Message Description 3 DIAX03 Drive With Servo Function Cause 1 DF wn ODS aa es The acceleration capacity of the drive was exceeded The axis was blocked Parameter error in the drive parameters Parameters set incorrectly for S 0 0159 Monitoring window The power supply was turned off with control enable present Possible cause an error in an AC servo drive at the common supply module Re
330. ities are switched externally at the input and output of a control system rather than inside the system The following applies to rotary motors Clockwise rotation when facing the motor shaft is the rule for a positive velocity command value and a positive polarity The following applies to linear motors If the primary section of the linear motor drives in the direction facing the connecting lines then a positive direction will be used Parameter structure OOOO Bit 0 Velocity command value 0 positive polarity 1 negative polarity Bit 1 Velocity command value additive 0 positive polarity 1 negative polarity Bit 2 Velocity feedback value 0 positive polarity 1 negative polarity Fig 2 11 S 0 0043 Velocity polarity parameter DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 19 DIAX03 Drive With Servo Function Oe aL a See also the functional description Command polarities and actual value polarities S 0 0043 Attributes ID number S 0 0043 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0044 Velocity Data Scaling Type Description Various scaling types can be defined for the velocity data in the drive Parameter structure Bits 2 0 Type of scaling 000 unscaled 001 linear s
331. ition Mode Encoder 2 The drive is in position control mode The position loop is closed in the drive by a position encoder The control system only sets the position command value sequence the drive follows the command value with following lag error Encoder 2 indicates that the position encoder is installed on the machine axis direct axis position measurement See also the functional description Position control A103 Attributes SS Display AF Diagnostic message number A103 A104 Position Mode Encoder 1 Lagless Positioning The drive is in position control mode The position loop is closed in the drive by a position encoder The control system only sets the position command value sequence the drive follows the command value without following lag error Encoder 1 indicates that the position encoder is installed on the motor shaft indirect measurement of axis position See also the functional description Position control A104 Attributes SS Display AF Diagnostic message number A104 A105 Position Mode Encoder 2 Lagless Positioning The drive is in position control mode The position loop is closed in the drive by a position encoder The control system only sets the position command value sequence the drive follows the command value without following lag error Encoder 2 indicates that the position encoder is installed on the machine axis direct axis position measurement See also the functional descript
332. ition of the zero switch edge taking into account the maximum homing velocity and the cycle time for the zero switch input request The zero switch reference mark interval is monitored Half the reference mark distance must be entered in P 0 0153 Optimal distance zero switch reference mark Fig 3 29 Interval monitoring home switch reference mark See also the functional description Drive controlled homing P 0 0153 Attributes ID number P 0 0153 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format DEC_OV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0200 Signal Select Probe 1 Description This parameter is used to select what measured quantity will be used for probe input 2 The following signals can be selected P 0 0200 Selected signal 0 Position feedback value 1 or 2 dependent on S 0 0169 Probe control parameter bit 4 1 Time measurement in us Fig 3 30 P 0 0200 Measurement value for probe input 2 See also the functional description Probe feature P 0 0200 Attributes ID number P 0 0200 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max
333. ity Command Value Reset 7 34 Velocity command value reset with filter and slope 7 36 Velocity Command Value Set to Zero Time Elapsed 7 34 Velocity Command Value Zero Switching Drive Error Reaction 7 33 Velocity Control Block diagram 6 3 Diagnostic Messsages 6 2 Limiting the Command Value 6 2 Velocity Controller Block diagram 6 3 Settings 7 41 Velocity Limit of the Command Value in the Velocity Controller 6 2 Velocity Mix Factor Functional Principle 7 46 W Warning Classes 3 4 Warnings 3 4 Exceeding the Travel Range 7 29 Warning Classes 3 4 Z Zero Switch Connection to the DSS 2 1 7 58 Use during Homing 7 54 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 DIAX03 Drive With Servo Functions Supplement A Parameter Description SSE 01VRS DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 DIAX03 Drive With Servo Function Pa CREE rA DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Cx EEO an DIAX03 Drive With Servo Function Contents 1 General Information 1 Using This Manette N EN clive nails 1 A2 UN ue EE 1 2 Standard Parameters 3 S 0 0001 NC Cycle Time ThNowe 3 S 0 0002 SERCOS Cycle Time Tscyc esssssseseesesssnsssessressreesstesrrnsrresrrnntinstnnntnnntnnnernsennsennnenn 3 S 0 0003 Minimum AT Transmit Starting Time min 3 S 0 0004 Transmit Receive Transition Time TATMI 4 S 0 0005 Minimum Feedback Acquisition Time T4imin ceccceceseeeeeeeceeeeeeeeeeseeeeeseaeeeseneeeeaees
334. ive With Servo Function Oe ale a The travel zone limit switches are connected to the E2 and E3 inputs of the X12 connector Travel Zone End Switches Activation and Polarity The travel zone end switches are activated with the parameter P 0 0090 Travel Zone End Switch Parameter Additionally the inputs can be inverted in this parameter OV on E2 3 gt Travel range exceeded Bit 0 Negation 0 E2 3 not inverted 24V gt travel range exceeded 1 E2 3 inverted OV gt travel range is exceeded L Bit 1 Activation 0 Travel range switch is not active 1 Travel range switch is active L Bit 2 Response 0 Exceeded travel range is handled as error 1 Exceeded travel range is handled as warning Fig 7 10 Activating and negating the limit switches bit 0 or 1 If the monitor in bit 1 of P 0 0090 is turned on the 24V DSS 2 1 UL input monitor is simultaneously activated if it was not already activated by using other X12 connector ports l e if the UL voltage falls below 18V the error F233 External Voltage Supply Error Axis Limit Values The monitor for exceeding the axis limit parameters e 0 0049 Positive Axis Limit Value Position Limit e 0 0050 Negative Position Limit is executed only if e the encoder system of the active operating mode has been homed i e the position encoder values are in relation to the machine zero point The S 0 0403 Position Feedpack Value Stat
335. k All connections and terminals with voltages ranging between 5 and 50 volts on INDRAMAT products are protective low voltages designed in accordance with the following standards on contact safety e International IEC 364 4 411 1 5 e European countries within the EU see EN 50178 1994 section 5 2 8 1 High electrical voltages due to incorrect connections Danger to life and limb severe electrical shock and or serious bodily injury Only that equipment or those electrical components and cables may be connected to all terminals and clamps with 0 to 50 volts if these are of the protective low voltage type PELV Protective Extra Low Voltage Only connect those voltages and electrical circuits that are safely isolated Safe isolation is achieved for example with an isolating transformer an optoelectronic coupler or when battery operated WARNING 2 4 Safety Instructions for Electrical Drives DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function 2 4 Protection against dangerous movements Dangerous movements can be caused when units have bad interfaces or motors are connected incorrectly There are various causes of dangerous movements e Improper or incorrect wiring or cable connections e equipment is operated incorrectly e probe parameters or encoder parameters are set incorrectly e broken components e errors in software or firmware Dangerous movements can occur immediately aft
336. k no Decimal places 0 Cyc transmittable no Input min max P 0 0018 Number of Pair of Pols Pole Pair Distance Description This indicates the number of pole pairs per motor revolution for rotating motors This value does not need to be indicated here for motors with motor feedback data memory For linear motors the length of a pole pair must be indicated here P 0 0018 Attributes ID number P 0 0018 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC OV Extreme value check no Unit Pole pairs or mm depends on P 0 4014 Type of motor Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0019 Position Start Value Description The position start value sets a parameter for a defined initialization value for position feedback values 1 and 2 in non absolute measurement systems 80 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function During initialization of the position feedback value with command S 0 0128 C1 transition check for communications phase 4 the drive checks whether the position start value was written in communications phase 2 or 3 Only then will position feedback values 1 and 2 be set to that value The position start value is used only for non absolute encoders See also the functional description Non absolute meas
337. ke error 9 C C212 Invalid amplifier data gt S 0 0022 38 Checksum error 22 Command velocity limitation active 27 Communications phase 0 48 Communications phase 1 48 Communications phase 2 48 DIAX03 Drive With Servo Function Communications phase 3 49 Communications phase 3 transition check 31 Communications phase 4 transition check 35 Config IDN for AT not configurable 32 Configured length gt max length for AT 32 Configured length gt max length for MDT 32 Continuous current limiting active 26 Continuous current limiting prewarning 27 Controller type S 0 0140 incorrect 43 Coprocessor acknowledge failed 43 Coprocessor not ready for initialization 42 Crossing velocity limit S 0 0092 value 20 D Dafault parameter invalid 47 Default parameters not available 46 Distance homing switch reference mark erroneous 45 Double MDT error shutdown 12 Double MST error shutdown 12 Drive in torque mode 50 Drive in velocity mode 50 Drive interlock open 50 Drive interlock while drive activated 18 Drive overtemperature shutdown 16 Drive overtemperature warning 24 Drive controlled homing procedure command 45 Drive controlled interpolation encoder 1 52 Drive controlled interpolation encoder 2 52 Drive controlled interpolation encoder 1 lagless positioning 52 Drive controlled interpolation encoder 2 lagless positioning 53 E E201 No mains 23 E219 Warning drive temperature
338. l Actual feedback value XO P 0 0403 Reference Position Temperature Correction TO P 0 0402 Reference Temperature Oo P 0 0406 Tempeprature Factor Position Dependent xk Correction value Tactual Actual temperature Fig 8 45 Influence of the actual feedback value for position dependent temperature correction This feature works only on the actual feedback value 1 and is deactivated by setting the parameter P 0 0406 Pos corr Temperature position dependent to 0 Internal correction value Abb 8 46 Correction schematic position dependent temperature correction DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 8 27 DIAX03 Drive With Servo Function Oe ale a Mean Straight Line Note The actual feedback value of the motor encoder is corrected with the position dependent temperature correction Parameterizing the Reference Temperature To determine the correction values for temperature dependent correction features a reference temperature is needed to which the actual feedback temperatures P 0 0404 Pos corr Actual temperature position dependentand P 0 0405 Pos corr Actual temperature position independentcan refer The parameter P 0 0402 Pos corr Reference temperaturedetermines the temperature at which the temperature dependent axis error equals 0 independent of the position Requirement When setting the reference temperature all machine parts included in
339. l connection of the participants generally implements a fiber optic cable Warning Warnings support the diagnosis of states that cannot or cannot yet bring about an independent shutdown of the drive The causes for these warnings must be cleared as they otherwise generate errors at some later point in time and then bring about an independent shutdown of the drive DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 1 Pal RO Poe ed 10 Index 1 1MB 1 2 5 1 5 4 2 2AD 1 2 5 1 5 4 7 7 Segment Display Diagnostic Number 3 8 A Absolute Encoder Absolute Encoder Monitoring 7 21 Available Measurement Systems 7 17 Available Modules 7 17 Modulo Analysis 7 21 Absolute Measurement Systems Absolute Encoder Monitoring 7 21 Available Measurement Systems 7 17 Available Modules 7 17 Modulo Analysis 7 21 Acceleration Feed Forward Setting 7 45 Activating the Oscilloscope Feature 8 13 Activation and Polarity of the E Stop Input 7 37 Active Correction Value 8 21 Actual Feedback Value Monitoring 7 15 Actual feedback values from absolute encoder after switching on 7 20 ADF 5 1 Analog Input Connector Assignment DRF1 8 4 Input Gain 8 4 Analog Ouput Scaling 8 2 Analog Output Associated Parameters 8 1 Bit and Byte Output 8 2 Channel Selection 8 1 Connector Assignment 8 3 Functional Principle 8 1 Preset Signals 8 1 Ascertaining the Reversal Play 8 22 Automatic Execution of the Load Default Feature 7 40 Axis Limit Value
340. l deviation in the class 1 diagnostic The greatest deviation that occurs will always be stored in parameter P 0 0098 Maximum model deviation Procedure for setting the parameter See the feature description Position loop monitoring S 0 0159 Attributes ID number S 0 0159 Editability P234 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max 0 S 0 0076 Description S 0 0160 Acceleration Data Scaling Type Various scaling types can be set as described below for the acceleration data in the drive as defined by the bit values of this parameter DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 51 DIAX03 Drive With Servo Function Vr CREA Parameter structure Bits 2 0 Type of scaling 000 unscaled 001 linear scaling 010 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 radian rad 1 reserved Bit 5 Unit of time 0 second s 1 reserved Bit 6 Data reference 0 tothe motor shaft 1 tothe load Bits 15 7 reserved e Fig 2 27 S 0 0160 Acceleration data scaling type Note Only the bits indicated here are supported by the software See als
341. le Error Messages When Reading and Writing the Operating Data 3 2 possible error messages when setting the absolute dimension 7 20 Power Switch Off Power Switch Off in Error Situation 7 36 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 DP CREE rae Preferred Scaling Parameter Scaling 7 2 Preparations for Setting the Position Control Loop 7 43 Preparations for Setting the Velocity Controller 7 41 Probe Connection to the DSS 2 1 8 18 Main Function 8 16 Probing Cycle Procedure Command 8 17 Signal Edge Selection 8 17 Signal Selection 8 18 Probe Inputs Associated Parameters 8 15 Processing Command Values in Modulo Format Shortest Path Direction Selection 7 9 Programming Module Parameter Storage 3 3 Proportional Gain Determining the Critical Proportional Gain 7 42 R Rated current Saving in the motor feedback 5 1 Read access 3 10 Real Time Control Bit 4 4 Real Time Status Bit 4 4 Requirements for a Correct Setting of the Acceleration Feed Forward 7 45 Resolver Parameterizing the Measurement System 7 10 Results of Writing 8 17 Run the Load Default Settings feature as a command 7 40 S S 0 0012 Class 2 Diagnostics 3 9 S 0 0127 C1 Communication Phase 3 Transition Check 3 13 S 0 0128 C2 Communication Phase 4 Transition Check 3 13 S 0 0182 Manufacturer Class 3 Diagnostics 3 11 Scaling Linear Rotary 7 2 Motor Reference Load Reference 7 2 of the Acceleration Data 7 5 of the
342. le ay S 0 0079 Attributes ID number S 0 0079 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 1 OxFFFFFFFF S 0 0080 Torque Force Command Description In the torque control operating mode the torque command values are transferred by the control system to the drive If the velocity controller is active the torque required for the corresponding velocity can be derived from this parameter At present only percentage based scaling is supported The date value corresponds to the current command value in respect to the motor current at standstill S 0 01 11 The value can be converted to a torque or force value by multiplying the command current by the torque force constant P 0 0051 See also the functional description Torque force controller S 0 0080 Attributes ID number S 0 0080 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_MV Extreme value check yes Unit S 0 0086 Combination check no Decimal places S 0 0086 Cyc transmittable MDT Input min max P 0 4046 S 0 0084 Torque Force Feedback Value Description The current torque force feedback value can be derived from this parameter At present only percentage based scaling is supported The data value corresponds to the me
343. le switching to lower phase not to phase 0 Bit 8 Phase switching without ready message Bit9 reserved Bit 10 reserved Bit 11 reserved Bit 12 reserved Bit 13 reserved Bit 14 reserved Bit 15 reserved Fig 2 4 S 0 0013 Interface status See also the functional description Diagnostic message for the interface status S 0 0014 Attributes ID number S 0 0014 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0015 Telegram Type Parameter Description In this parameter you can choose between a priority telegrams and configured telegrams The telegram type that is selected will be activated in the master and slave from communications phase 3 on Parameter structure Bit0 2 Telegram selection Fig 2 5 S 0 0015 Telegram parameter 10 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function Note Only the bits indicated here are supported by the software Telegrams Bit 0 2 MDT AT 0 PTO No cyclical data No cyclical data 1 PT 1 DF1 S 0 0080 Torque command No cyclical data 2 PT 2 DF1 S 0 0036 Velocity command value DF1 S 0 0040 Velocity feedback value 3 PT 3 DF1 S 0 0036 Velocity command value DF1 S 0 0051 S 0 0053 Positi
344. le to the motor idle voltage P 0 0535 and when fully in use it is increased to the maximum motor voltage P 0 0536 Section 3 Range of Decreasing Peak Power The motor works at the sweep limit an actual sweep is eliminated with the vector control According to the parameter sweep current limit the peak current will be decreased enough so that the maximum power cannot be exceeded An increase in current would lead only to wasted power and reduced shaft power The peak power in range 3 is proportional to the square of the DC bus voltage It is ensured that the maximum power always is reached for each DC bus voltage without parameter adjustment The power in range 3 cannot be extended through the use of more powerful controllers In contrast to the RAC 100 torque is not the peak value but the motor set value according to the ID plate Since the peak torque of asynchronous motors is limited to 2 5 times of the set value you can reach torques up to 250 The significance of the torque values changes in the field weakening range since the torque in the controller is set equal to the torque producing current Iq The torque however is the product of Iq and air gap induction which decreases in the field weakening range DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Motor Configuration 5 5 DIAX03 Drive With Servo Function OL aa es The assignment of the torque values in the different velocity ranges is displayed in the follow
345. ler The output from the velocity controller is added with a feed forward component when a lagless position control mode is activated and S 0 0348 Proportional Gain Acceleration Feed Forward is set to a non zero value This value is commanded according to the current and torque force limit See also Current Limit and Torque Force Limit The command value for the current controller can be band limited with P 0 0004 00004 Smoothing Time Constant O O OOOOO Time Constant S 0 0036 Velocity command value S 0 0091 Bipolar velocity limit value S 0 0100 Velocity control proportional amplification S 0 0101 Velocity control integral action time P 0 4046 Effective peak current P 0 0004 Smoothing time constant U O 8 S 0 0080 Torque power command value Acceleration Before from position control SEN age L Warning E259 Actual velocity FP0004Q1 WMF Fig 6 7 Velocity Controller See also Setting the Velocity Controller See also Current Controller Current Controller The current controller is parameterized with S 0 0106 Current Regulator Proportional Gain 1 and S 0 0107 Current Regulator 1 Integral Action Time see also Setting the Current Controller DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Operating Modes 6 3 DIAX03 Drive With Servo Function Vr CRRA S 0 0107 Current control integral action time 1 S 0 0106 Cur
346. lifting or moving equipment Refer to the user manual for the product Take precautions to avoid pinching and crushing Only use suitable tools specified in the user manuals and use them according the instructions gt Use lifting devices and tools correctly and safely Wear appropriate protective clothing e g protective goggles safety shoes protective gloves gt Never stand under suspended loads Clean up liquids form the floor to prevent personnel from slipping 2 7 Battery safety Batteries contain reactive chemicals Incorrect handling can result in injury or equipment damage CAUTION Risk of injury due to incorrect handling Do not attempt to reactivate dead batteries by heating or other methods danger of explosion and corrosion gt Never charge batteries danger from leakage and explosion Never throw batteries into a fire Do not take batteries apart Handle carefully Incorrect extraction or installation of a battery can damage equipment Uu Note Environmental protection and disposal The batteries contained in the product should be considered as hazardous material for land air and sea transport in the sense of the legal requirements Danger of explosion Dispose of batteries separately from other refuse Observe the legal requirements in the country of installation 2 8 Safety Instructions for Electrical Drives DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an
347. llowing command errors C217 Motor Feedback Data Reading Error C218 External Feedback Data Reading Error will be generated e Acheck is done to see if an external encoder is needed according to the operating mode parameters S 0 0032 35 or homing parameter S 0 0147 but is not available because a O is entered in the parameter P 0 0075 Interface Feedback The invalid parameters are listed in S 0 0022 IDN List of Invalid Op Data for Comm Ph 3 The command error C210 External Feedback Required gt S 0 0022 is issued DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 General Instructions for Installation 3 13 DIAX03 Drive With Servo Function OL aa es The parameters stored in memory are read from motors with feedback data storage If an error is found the command error C211 Invalid Feedback Data appears The drive controller reads operating data from the EEPROM If an error is found the command error C212 Invalid Amplifier Data appears The scaling format is checked for position acceleration velocity and torque for proper configuration If an error is found one of the following errors C213 Position Data Scaling Error C214 Velocity Data Scaling Error C215 Acceleration Data Scaling Error C216 Torque Force Data Scaling Error is issued Values are checked for each parameter The minimum and maximum values of each of the parameters are checked and parameters with bit format are checked for proper configuration If an error is fo
348. lux Loop Integral Action Tune 122 P20 0535 Motor Voltage No Load casi ieee Aua RENE EER AE NAR E a tadeec vise execs aepeee ian 123 P 0 0536 Motor Voltage Maximum 1 0 2 ceeccceeeeeeeeeeeeeeeeeeeseaeeeeeeaeeeeeseaeeeeeseaeeeeeeeeeaeeseneaeeeseeeaees 123 P 0 0537 ST Kink Gpeed E 123 P 0 0538 Motor Function Parameter 124 P2021 2015 RaMmpd e EE 124 P 0 1222 Command Value Smoothing Time Constant 124 P 0 4000 Current Zero Trim Phase UA 125 P 0 4001 Current Zero Trim Phase NV 125 P 0 4002 Current Amplify Trim Phase UA 126 P 0 4003 Current Amplify Trim Phase NM 126 P 0 4004 MagnetiZing Current cccccceceeeceeeeeeeeeeeeeeeceaeeeeaaeeeeeeeceaeeesaaesesaaeseeeeeseaeeesaeeseaetennees 126 SEET OR HEEN 127 esst Spi Faktor arnai eege Eugen 127 P 0 4014 Motor Ke 127 NET Orce oltag E EE 128 P 0 4028 Impulse Wire Feedback Offset cccccssececseseeceeceeaeeeseeeaeeesseaeeeeeseaeeeesenaeeeeeeaas 128 P 0 4029 Impulse Wire Feedback PIC Counter Value ssnnnnnssnnneennnnnnesnnnnnennnneennnnnernn nenene nnn 128 P 0 4035 Tri C ME ri ele aaeei enen ER Eege dereen DEEN Kies 129 P 0 4036 Contacted Motor Type 129 P 0 4045 Aktiv duration Current ttrt rt ttrt rrtt rr rr rtrt rnrn nn nennn nnen En 130 P 0 4046 Aktiv Peak Current 00ccccccccceceseseeeeeeeeeeeeeeseeeseeeseseeeeeseseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeees 130 4 1 VI Contents DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Driv
349. ly small Kv 1 e For the determination of the position controller parameter no compensation function should be activated Determing the Critical Position Controller Gain e Operate the drive in mode that closes the position loop in the drive e Move axis at a slow velocity i e with a jog function at a connected NC Control Rotational Motors 10 20RPM Linear Motors 1 2 m min e Raise the K factor until it begins to be unstable e Reduce the Kv factor until the continuous oscillation ends by itself The Kv factor determined through this process is the Critical position control loop gain Determining the Position Controller Setting In most applications an appropriate position controller setting will lie between 50 and 80 of the critical position controller loop gain This means S 0 0104 Position Loop KV Factor 0 5 0 8 x Kvcrit Position Control Loop Monitoring The position control loop monitor helps to diagnose errors in the position control loop Reasons for errors in the position control loop e Exceeding the torque or acceleration capability of the drive e Blocking of the axis mechanical system e Disruptions in the position encoder DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 43 DIAX03 Drive With Servo Function Oe Gaile al The monitoring of the position circuit is only active if an operation mode is activated that has the position loop connected to the drive To set and
350. m Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Deg 10V or mm min 10V depends on P 0 4014 Motor type Combination check no Decimal places 2 Cyc transmittable no Input min max 0 0x7FFFFFFF DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 93 DIAX03 Drive With Servo Function Oe aL a P 0 0044 Scaling Factor for Power for Analog Channel Description DC bus power can be sent to the analog channels P 0 0038 Signal select analog output channel 1 or P 0 0039 Signal select analog output channel 2 The power can be resolved according to various requirements by using parameter P 0 0044 Scaling power for analog channel See also the functional description Analog output P 0 0044 Attributes ID number P 0 0044 Editability P234 Function Parameter Memory Program Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit W 10V Combination check no Decimal places 0 Cyc transmittable no Input min max 0 0x7FFFFFFF P 0 0051 Torque Constant Description The torque force constant determines what drive torque or force the motor will deliver at a specific effective current For synchronous motors this value depends entirely on the design of the motor In asynchronous motors this value is valid only when the motor is not operated in the field weakening range For MKD and MDD motors this parameter is sto
351. m the control the following requirements must be fulfilled e SERCOS Interface in operating mode Communication phase 4 e No drive error e Power section enabled In this condition the drive displays Ab on the seven segment display and the drive diagnostic from the parameter S 0 0095 Diagnostic is A012 Control and Power Sections Ready for Operation If the controller enable is set the seven segment display changes to AF After that it displays the drive diagnostic for the activated operation mode Le A101 Position control Encoder 1 If the controller enable is activated without a DC bus voltage Ab doesn t appear on the H1 display the error message F226 Undervoltage Error will be displayed 4 2 Communication Through the SERCOS INTERFACE DOK DIAX03 SSE 01VRS FKB1 DE P e 09 96 LR Ce EE an Drive Status Word DIAX03 Drive With Servo Function The drive status word is part of the drive telegram All important status information for the drive is contained here e Readiness for use of the control and power sections e Drive error e Change bits for diagnostics class 2 and 3 e Current operation mode e Real time status bits 1 and 2 e Status information for the service channel The drive status word is structured as follows Drive Status Message Bit 12 Bit change class 2 diagnostics Bits 0 2 Control information for service channel Bit 5 Bit change command Bits 6 amp 7 Real time status bits 1
352. max P 0 0203 Difference Probe Values 2 Description The difference between the positive probe value and the negative probe value of probe 2 is stored in this parameter The value is always recalculated when a new positive or negative probe value is latched See also the functional description Probe feature DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 111 DIAX03 Drive With Servo Function Oe aL a P 0 0203 Attributes ID number P 0 0203 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_OV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable AT Input min max P 0 0400 Pos corr Correction Value External Description The control system can use parameter P 0 0400 Pos corr correction value external to assign correction values directly for the encoder specified by S 0 0147 Homing parameter The correction value set in the parameter will be added to the appropriate actual feedback value See also the functional description Axis error correction P 0 0400 Attributes ID number P 0 0400 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable MDT Input min max S 0 0076 S 0 0076 P 0 0401 Pos corr Correction Value Ac
353. mber F643 Error class Transverse range DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement B Diagnostic Message Description 1 5 DIAX03 Drive With Servo Function Oe aL a 644 Negative Travel Limit Switch Detected The negative travel limit switch was encountered The axis was brought to a standstill with the Set velocity command value to zero error response Bit 2 of parameter P 0 0090 Travel range limit switch is set for Exceeding travel range as error or exceeding the position limit began a drive control command such as the drive controlled homing procedure Cause The negative travel limit switch was detected Remedy 1 Reset the error 2 Turn the power supply on again 3 Move the axis into the permissible travel region Note The drive will not accept command values which lead out of the permissible travel range Entering these command values in the drive controller will result in this error See also the functional description Travel Zone End Switch Monitoring F644 Attributes SS Display F6 44 Error number 644 Diagnostic message number F644 Error class Transverse range F818 Drive Overtemperature Shutdown A temperature level which was too high was reached in the power stage of the drive controller In response the drive controller has issued the warning E250 Drive overtemperature warning for 30 seconds The drive controller is then brought to a standstill according to the error
354. me invalid stored position 2 The axis was moved further in switched off state than allowed by parameter P 0 0097 Absolute encoder control window 3 Incorrect position initialization Remedy For 1 Clear the error and set the reference point For 2 The axis was moved while turned off and is located outside of its permissible position Check to see if a new travel command would cause damage Then clear errors For 3 Danger of Accident through Unwanted Axis Motion Check reference point If the reference point is incorrect there is a problem with the feedback The feedback should be exchanged with MDD or MKD absolute motor encoders exchange the whole motor See also the functional description Absolute encoder monitoring F276 Attributes SS Display F2 76 Diagnostic message number F276 Error class Non fatal Cause Ground short in the DC bus or in the motor This error is reported only in compact devices Remedy Isolation test of the motor and motor power supply cable Disconnect the power supply cable from the motor to the drive and turn on the drive and the power If the error recurs the drive should be exchanged 10 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function F280 Attributes SS Display F2 80 Diagnostic message number F280 Error class Non fatal if bleeder is present otherwise fatal F281 Mains Fault Cause
355. measurement positively creates new measurement creates new measurement difference difference eebe Abb 8 25 Evaluation of probe signal edges when positive and negative signal edge analysis is set in the probe control parameter Results of Writing 3 to the S 0 0170 Probing Cycle Procedure Command The probe feature begins when the parameter S 0 0170 Command Probing Cycle Procedure is written with 3 The following will occur e The data status will be set to 7 by the S 0 0170 Probing Cycle Procedure Command e All probe values and probe value differences will be set to 0 e All probe value latched parameters will be canceled e The external voltage monitor will be activated if it has not yet been activated Signal Edge Selection for the Probe Inputs A positive probe value and a negative probe value are available for one probe input The positive probe value is assigned the 0 1 edge of the probe signal and the negative probe value is assigned the 1 0 edge The S 0 0169 Probe Control Parameter determines whether both occurring edges will be evaluated and will lead to the positive negative probe values being saved The parameter should be set before activating this feature The parameter is structured as follows DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Optional Drive Features 8 17 DIAX03 Drive With Servo Function Oe ale va S 0 0169 Probe Control Parameter Bit 0 Activating Positive Flank P
356. medy For 1 For 2 For 3 For 4 For 5 Check parameter S 0 0092 Bipolar torque limit and set it equal to the maximum permissible value for the operation Reduce the acceleration setting of the control system see control system handbook Check the mechanical system and eliminate any jamming of the motor axis Check the drive controller parameters Set parameters for S 0 0159 Monitoring window Check the AC servo drive for an error message other than 28 See also the functional description Position control loop monitoring F228 Attributes SS Display F2 28 Error number 228 Diagnostic message number F228 Error class Non fatal F229 Motor Encoder Failure Quadrant Error A hardware error was discovered in the motor encoder interface being used Cause 1 Defective encoder cable 2 Disruptive electro magnetic interference on the encoder cable 3 Defective motor encoder interface 4 Defective drive controller Remedy For 1 Exchange the encoder cable For 2 Keep the encoder cable well away from the power cables For 3 Exchange the motor encoder interface For 4 Exchange the drive controller F229 Attributes SS Display F2 29 Error number 229 Diagnostic message number F229 Error class Non fatal 4 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function F233 External Power Supply Error Cause Var
357. meter is 0 The actual feedback value of this measurement system can be set to the desired value with the command Set Absolute Measuring After absolute measuring dimension is set the actual feedback value of the encoder has a defined relationship to the machine s zero point All information will be available after reset because all necessary data from the absolute dimension system is stored in encoder data memory or in parameter data memory The position feedback value retains its reference to the machine s zero point The following parameter is available for executing the function e P 0 0012 C3 Command Set Absolute Measurement In addition the following parameters are needed or are affected by the function e 0 0147 Homing Parameter e 0 0052 Reference Distance 1 e 0 0054 Reference Distance 2 e 0 0403 Actual Feedback Value Status Set Absolute Measuring Functional Principle The feedback connected to the mechanical system is brought to an exactly measured position The value desired for the actual feedback value of the measurement system is entered in the parameter S 0 0052 Reference Distance 1 for motor encoder or S 0 0054 Reference Distance 2 for external encoder Then the command P 0 0012 C3 Command Get Absolute Measurement Absolute Dimension is started The actual feedback value is set to the value in the respective homing measure and the position status becomes 1 7 18 Basic Drive
358. meter storage areas Diagnostic Message Display 5 During basic initialization an error was reported by the coprocessor Cause 1 Control voltage error 24 V or 15 V 2 10 V error Remedy For 1 Check the control voltage supply For 2 Replace the drive 54 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function Diagnostic Message Display 6 Cause A fatal processor or program error was encountered Remedy The error in question is a system error Please contact the appropriate software development company Diagnostic Message Display Watchdog e Cause A fatal processor or program error Watchdog was encountered Remedy Replace the drive DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 55 DIAX03 Drive With Servo Function Pa CREPE Pens 56 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Pl CEO Mei DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 10 Volt error 19 24 Volt error 19 15 Volt error 19 0 54 154 2 54 3 54 5 54 6 55 A A012 Control and power sections ready for operation 50 Absolute encoder error deviation gt P 0 0097 10 Absolute measuring system not installed 44 Acceleration data scaling error 39 B Basic load 46 Basic load not possible if drive is enabled 46 Bleeder overload 17 Bra
359. mission ratio for converting the position velocity and acceleration data from motor reference to load reference Example f Feed module Transmission output Fig 7 9 Feed constant parameterization DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 7 DIAX03 Drive With Servo Function TAEA ral Modulo Feature When the modulo function is activated all position data within the modulo range are displayed In the illustration above the feed module would cover 10 mm per transmission output revolution The proper parameterization for this would be S 0 0123 Feed Constant 10 mm Rev If the modulo function is activated all position data in the range 0 modulo value 1 are displayed This makes it possible to have shafts continuously moving in one direction without an overflow in the position data The modulo value is set with the parameter S 0 0103 Modulo Value The modulo function is activated by the parameter S 0 0076 Position Data Scaling Type See also Display Format of Position Data on page 7 3 S 0 0076 Position data scaling mode CSU TS CS eT Ee Bit 7 Processing format 0 absolute format 1 modulo format Fig 7 10 Setting absolute format modulo format Note Processing position data according to modulo is only allowed with rotary motor types This is checked in S 0 0128 C2 Communication Phase 4 Transition Check and acknowledged by the
360. mit has been exceeded L Bit 15 Manufacturer error E Fig 3 9 S 0 0011 Class 1 Diagnostics S 0 0012 Class 2 Diagnostics Bits for various warnings are contained in this parameter A bit is set in this parameter when a warning occurs The bit Change Bit Class 2 Diagnostics is set simultaneously in the drive status word This change bit is cleared by reading S 0 0012 Class 2 Diagnostics Warnings may be masked in regards to their effect on the change bit with the parameter S 0 0097 Mask Class 2 Diagnostics The following bits are supported in class 2 diagnostics DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 General Instructions for Installation 3 9 DIAX03 Drive With Servo Function OL aa es S 0 0012 Class 2 Diagnostics DEE Bit 0 Overload warning Bit 1 Excess amplifier temperature warning Bit 2 Excess motor temperature warning Bit3 Cooling error warning Bit4 reserved L Bit5 L Bit 6 Bit 7 Bit 8 L Bit9 Bit 10 reserved Positioning speed gt Nimit reserved reserved reserved reserved L Bit 11 reserved L Bit 12 reserved L Bit 13 Target position exceeds position limits Bit 14 reserved L Bit 15 Manufacturer error Fig 3 10 Composition of the parameter S 0 0012 Class 2 Diagnostics S 0 0013 Class 3 Diagnostics Various operating status messages are stored here If the status of a message changes a bit will also be set here
361. mming Module Depending on the setting of SERCOS parameter S 0 0269 Parameter buffer mode all the application parameters are either stored in programming module DSM 2 3 EEPROM or temporarily kept RAM These parameters are listed in the S 0 0192 IDN List of Backup Operation Data In addition parameters stored in the motor feedback of MDD or MKD motors are included in this list If programming modules are exchanged these parameters must be read from the old module so that after the exchange they can be written to the new module Parameter Buffer Mode The drive controller is capable of storing data that is transmitted via the service channel either temporarily in RAM or permanently in the EEPROM The parameter S 0 0269 Parameter Buffer Mode determines what will be done with the parameters Operating modes define which command values will be processed in which format leading to the desired drive motion They do not define how these command values will be transmitted from a control system to the drive One of the four selectable operating modes is active when the control and power supply is ready for operation and the controller enable signal is positive The drive displays AF in the H1 display Error Classes Errors are separated into four different error classes They determine the drive s error response Diagnostic Error Class Message Drive Response Fatal F8xx Torque free switching Travel range F6xx
362. n Note DIAX03 Drive With Servo Function Only the bits indicated here are supported by the software Bit O also activates monitoring of the external 24V current See also the functional description Probe feature S 0 0170 Attributes ID number S 0 0170 Function Parameter Data length 2 bytes Format BIN Unit Decimal places Input min max S 0 0177 Absolute Distance 1 Description 0 0 3 Editability Memory Validity check Extreme value check Combination check Cyc transmittable P4 no no yes no no The distance from the machine s zero point to the zero point of motor encoder can be indicated here as an absolute measurement S 0 0177 Attributes ID number S 0 0177 Function Parameter Data length 4 bytes Format DEC_MV Unit S 0 0076 Decimal places Input min max S 0 0178 Absolute Distance 2 Description S 0 0076 S 0 0076 S 0 0076 Editability Memory Validity check Extreme value check Combination check Cyc transmittable P234 Param E2prom Phase 3 yes no no The distance from the machine s zero point to the zero point of the external measuring system can be indicated here as an absolute measurement S 0 0178 Attributes ID number S 0 0178 Function Parameter Data length 4 bytes Format DEC_MV Unit S 0 0076 Decimal places S 0 0076 Input min max Description S 0 0076 S 0 0076 S 0 0182 Manufacturer Class 3 Diagnostics Edita
363. n The axis error correction serves to correct systematic failure in the mechanical system and in the measurement system of a Servo axis These systematic failures are classified as follows e Error resulting from thermal expansion of the machine elements e Error resulting from inexactness in the measurement system e Error resulting from mechanical inexactness in the gearbox coupling and spindle The following correction features are available in the DIAX03 firmware to compensate for the errors e Reversal error correction e Precision axis error correction e Position dependent temperature correction e Position dependent temperature correction e Control axis error correction These correction features are independent of one another but they can be combined in any combination needed The resulting correction value indicates the sum of the individual correction values Note All position dependent correction features work only if the drive contains a reference point Reference dimension can be created with the help of the drive internal referencing procedure Active Correction Value Since it is possible to activate several correction features simultaneously there can be several correction values In parameter P 0 0401 Pos corr Correction Value Aktive all internally created correction values will be added to the correction value and displayed in this parameter The created correction value refers to the encoder selec
364. n error was detected during this process This error may be e Error while reading the angle rectification data e Error while copying the angle rectification data Interruption of communication with the encoder e Assembly error with the position of an initialization track e Error while reading the analog signal of an initialization track e Error in the pointer length of the analog signal of an initialization track e Invalid offset between the high and low resolution track e Error in the measuring system micro controller e External 24V set for SSI interface with DAG 1 2 Cause ale External encoder cable defect 2 Defective feedback 3 Defective measurement system interface Remedy For 1 Check the external feedback cable For 2 Exchange feedback For 3 Exchange the measuring system interface module See also the functional description S 0 0128 C2 communications phase 4 transition check C221 Attributes SS Display C2 21 Diagnostic message number C221 C225 Coprocessor Not Ready For Initialization The drive controller has a coprocessor This coprocessor is initialized during the transfer command The coprocessor signals that it is ready for initialization If it is not ready this error is generated 42 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function Cause Coprocessor failed Remedy Exchange the drive controller See als
365. n parameter S 0 0403 Position feedback value status The position limit values can be switched off using bit 4 in S 0 0055 Position polarity parameter If a Target position S 0 0258 beyond the positive position limit value is set for the drive then the drive sets warning bit 13 in S 0 0012 Class 2 diagnostic and also generates warning E253 Target position outside the travel range If the positive position limit value is exceeded the drive sets error bit 13 in S 0 0011 Class 1 diagnostic See also the functional description Axis limit values S 0 0049 Attributes ID number S 0 0049 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0050 Negative Position Limit Value Description The negative position limit value describes the maximum extent of travel in the negative direction The position limit value is active only when all position data refer to the homing point bit 0 is set to 1 in parameter S 0 0403 Position feedback value status The position limit values can be switched off using bit 5 in S 0 0055 Position polarity parameter If a target position beyond the negative position limit value is set for the drive then the drive sets warning bit 13 in S 0 0012 Class 2 diagnostic and also generates warning E25
366. n to the control became inoperative The drive proceeds instantly with P 0 0119 Best Possible Deceleration The drive proceeds with P 0 0117 Activation of the NC Response During Error and P 0 0119 Best Possible Deceleration If during an error the NC response is active then the drive continues for 30 sec as if no error had been reported This time can be used by the control to decelerate the axis Afterwards the response P 0 0119 is activated by the drive Best Possible Deceleration The drive s response to interface and non fatal errors can be parameterized by P 0 0119 Best Possible Deceleration At the end of each error response the drive s torque is disabled following settings are possible Value of P 0 0119 Response Velocity Command Value Reset Disable Torque Velocity Command Decelerated to Zero Fig 7 15 Saline Options for Best Possible Deceleration DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 33 DIAX03 Drive With Servo Function Oe ae ay The drive response which is defined as Best Possible Deceleration controls the response of the drive if e the controller enable signal changes from 1 to 0 disable controller enable e the operating mode is switched to parameter mode while the drive is enabled Reset of the communication phase Velocity Command Value Reset If 0 is set for Best Possible Deceleration the drive will stop the velocity control during an error
367. nal form in order to have original conditions while setting the parameters e The drive controller must be properly connected as described in the user manual e The safety limit switches must be checked for correct operation if available e The velocity control operating mode must be selected in the drive The controller setting must be selected for the start of parameterization as follows S 0 0100 Velocity Loop Proportional Gain default value of the connected motor S 0 0101 Velocity Loop Integral Action Time 6500 ms P 0 0004 Smoothing Time Constant Minimum value 250us S 0 0392 Velocity Feedback Value Filter Time Constant 500us For the determination of the velocity control parameters no compensation function should be activated DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 41 DIAX03 Drive With Servo Function Oe Goals al Application Type Feed shaft on standard tool machine Velocity controller Proportional gain Definition of the Critical Proportional Gain and P 0 0004 Smoothing Time Constant e After turning on the controller enable let the drive move at a low velocity Rotational motors 10 20RPM Linear Motors 1 2 m min e Raise the S 0 0100 Velocity loop proportional gain until unstable operating behavior continuous oscillation begins e Frequency of the oscillation has to be determined by oscilloscoping the actual velocity see also Analog Output If the freq
368. nalyzeed with the DIAX 03 series of controllers e digital servo feedback e resolver e incremental encoder with sine signals e incremental encoder with square wave signals e gear type encoder e measurement system with SSI interface e measurement system with EnDat interface Where the analysis of the measurement system as Analysis as Comments Motor encoder required External encoder optional Fig 7 13 Measurement system analysis can occur The drive is connected to an encoder interface standard either a digital servo feedback or a resolver Additional plug in cards are available for evaluating different types of encoders Specifically the following measurement systems can be implemented with the corresponding module shown below Feedback System Module Number digital servo feedback or resolver Standard 1 Incremental feedback with sine signal DLF 2 from the Heidenhain company with either uA or 1V signals gear type encoder DZF 3 digital servo feedback DFF incremental encoder with square wave DEF 1 5 signals from the Heidenhain company incremental encoder with square wave DEF 2 6 signals from the Heidenhain company only 4096 incr rev Encoder with EnDat interface DAG 1 2 8 Fig 7 14 Feedback systems gt necessary plug in modules Encoder with SSI interface DAG 1 2 7 7 10 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e
369. ncoder Characteristics To parameterize the other motor encoder characteristics such as e Direction of movement not inverted inverted e Distance coded home mark yes no e Rotary linear measurement system e Absolute not absolute use S 0 0227 Position Feedback Type Parameter 1 The structure of this parameter is as follows S 0 0277 Position Feedback 1 RSR T Bito Feedback Type 0 rotary 1 linear Bit 1 reserved Bit 3 Direction of movement 0 not inverted 1 inverted L Bit6 Feedback resolution 0 not absolute 1 absolute Fig 7 16 Parameter S 0 0277 7 12 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function This parameter is automatically set with MDD and MKD motors and does not need to be entered Bit 6 is automatically set with absolute measurement systems See also Other Settings for Absolute Measurement Systems on page 7 17 Maximum Representable Travel Range The maximum representable actual feedback value range is produced in connection with the motor measurement system The position values of the motor encoder can be displayed in absolute or modulo format See also Display Format of Position Data on page 7 3 If absolute format is set the maximum representable actual feedback value range is the same as the maximum possible travel range of the drive Motor measurement Max
370. ng data of parameter s assigned the parameter s ID number parallel input Fig 8 12 Diagram for DEA Input gt IDN Assignment If the data length of the current value for the assigned ID number is larger than 16 bits then the upper bits of the current value will be truncated If the parameter P 0 0125 Assignment DEA Input gt IDN is written then the following checks will be undertaken Enter P 0 0124 No Error Is the selected DEA Cancel available i assignme nt Yes s the parameter with the assigned ID number available Yes Can the assigned Parameter be written in phase 4 Eas Incorrect data No Everything O K Conduct assignment Fig 8 13 Review During Input of the Parameter P 0 0125 Assignment DEA Input gt IDN 8 8 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function 8 4 Oscilloscope Feature The oscilloscope feature is used to diagram internal and external signals and output variables Its function is comparable to a simple 2 channel oscilloscope The following parameters are available to set the oscilloscope feature e P 0 0021 List of Scope Data 1 always 4 byte data e P 0 0022 List of Scope Data 2 always 4 byte data e P 0 0023 Signal Select Channel 1 e P 0 0024 Signal Select Channel 2 e P 0 0025 Trigger Source e P 0 0026 Trigger Signal Selection e P 0 0027 Trigger Level for Position Dat
371. ng points on the peak current characteristic line No value for this parameter can be entered since it is permanently programmed in the amplifier P 0 0519 Attributes ID number P 0 0519 Editability no Function Parameter Memory Amplf Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 0 500000 P 0 0525 Type of Motor Brake Description This parameter specifies whether a self stopping or self ventilating brake is being used If an MDD or MDK motor is used then the brake will be self stopping if there is a brake The parameter will be set automatically to 0 If other motor types are used this parameter must be entered during the startup procedure See also the functional description Motor brake P 0 0525 Attributes ID number P 0 0525 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 1 P 0 0526 Brake Control Delay Description If a holding brake is being used the time delay between the start of the brake and when it becomes effective must be set in this parameter This value is entered automatically when MDD or MKD motors are used If Indramat brakes are used in conjunction with asynchronous motors then the standard
372. ng predefined signals are available Number Signal selection Scaling 0x0 8 0x1 Torque producing command current 10V S 0 0110 Peak current amplifier 0x2 Velocity feedback value after mixing P 0 0040 and filtering 0x3 S 0 0036 Velocity command value P 0 0040 0x4 Position command value difference P 0 0040 0x5 S 0 0051 Position feedback value 1 P 0 0042 0x6 S 0 0053 Position feedback value 2 P 0 0042 0x7 S 0 0189 Following error P 0 0042 0x8 Sine signal of motor encoder 1 1 0x9 Cosine signal of motor encoder 11 Oxd Velocity command value input P 0 0040 velocity controller Oxe DC bus power P 0 0044 Oxf Amount of DC bus power P 0 0044 0x10 Sine signal external encoder 1 1 0x11 Cosine signal external encoder 1 1 0x12 Torque producing current actual 10V S 0 0110 Peak value current amplifier 0x13 Magnetization current actual value 10V S 0 0110 Peak current amplifier 0x14 Velocity feedback value of the motor P 0 0040 encoder 0x15 Thermal load 10V 100 0x20 Synchronous position command P 0 0042 value 0x21 Synchronous velocity P 0 0040 Fig 3 13 Signal selection for analog output 90 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function The following parameters should be considered for scaling e P 0 0040 Scaling factor for velocity data channel 1 e P 0 0042 Scaling f
373. ning Bit 3 Cooling error warning L Bit4 reserved Bit5 Positioning velocity gt nlimit Bit 6 reserved L Bit 7 reserved Bit 8 reserved L Bit9 reserved Bit 10 reserved Bit 11 reserved L Bit 12 reserved Bit 13 Target position outside of position limits L Bit 14 reserved Bit 15 Manufacturer warning Fig 2 2 S 0 0012 Class 2 Diagnostics Note Only the bits indicated here are supported by the software See also the functional description S 0 0012 Class 2 diagnostics S 0 0012 Attributes ID number S 0 0012 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places Cyc transmittable no Input min max sl S 0 0013 Class 3 Diagnostics Description Function Operating status messages When a message appears or disappears in Class 3 diagnostics the change bit for Class 3 diagnostic in the drive status word will be set to 1 When Class 3 diagnostics are read via the service channel the change bit is reset to 0 8 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function Parameter structure L Biti Feedback velocityl lt Standstill window S 0 0124 Bit 4 Mdl gt IMdLIMIT S 0 0092 Bit 6 In position Following error S 0 0189 I lt Positioning window S 0 0057 Bit 12 T
374. nnnttnnnntannnnnuanennnnnnnnnnannna 50 A101 Drive in Velocity Mode ecccceecescceceeeeeceeeeeeeceeeenseceeeeseececesaeaeeesaeeeesneeaeeesnneaeeesneeaeeseninaes 50 A102 Position Mode Encoder 1 51 ATO Position Mode Encoder 2 kens Hira in AE efits ati RA ta AEA ite EE A DEEE 51 A104 Position Mode Encoder 1 Lagless Posittoning 51 DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Contents III DIAX03 Drive With Servo Function OL aes A105 Position Mode Encoder 2 Lagless Positonimg 51 A106 Drive Controlled Interpolation Encoder 1 52 A107 Drive Controlled Interpolation Encoder 3 52 A108 Drive Controlled Interpolation Encoder 1 Lagless Posttioning 52 A109 Drive Controlled Interpolation Encoder 2 Lagless Posttioning 53 1 5 Diagnostic Messages for Basic Initialization and After Fatal System Erors 54 Diagnostic Message Display Diagnostic Message Display Diagnostic Message Display Diagnostic Message Display Diagnostic Message Display Diagnostic Message Display 2 Index EC 54 IV Contents DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 i CREO PA DIAX03 Drive With Servo Function 1 Description of Diagnostic Messages 1 1 Error Diagnostic Messages F207 Switching to uninitialized operating mode Cause At least one of the 4 operating mode parameters S 0 0032 35 is set to 0 When the drive controller is activated this operating mode can be selected via bits 8 and 9 in the master control word Remedy Ente
375. no Decimal places 0 Cyc transmittable no Input min max 0 1000 P 0 4028 Impulse Wire Feedback Offset Description The offset of the impulse wires to the resolver feedback is set in this parameter It is set before the product is delivered to you and stored in feedback memory P 0 4028 Attributes ID number P 0 4028 Editability no Function Parameter Memory Feedb Data length 4 bytes Validity check no Format HEX Extreme value check no Unit en Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 4029 Impulse Wire Feedback PIC Counter Value Description This parameter contains the information for the absolute position of the encoder The value is updated at each position initialization The value is read only cannot be edited 128 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO an P 0 4035 Trim Current DIAX03 Drive With Servo Function P 0 4029 Attributes ID number P 0 4029 Editability no Function Parameter Memory Feedb Data length 4 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max Description This parameter is used to adjust the current measurement amplification and cannot be changed P 0 4035 Attributes ID number P 0 4035 Editability no Function Parameter Memory Amplf Data length 4 bytes Val
376. not need to convert this data 2 this data to conform to machine kinematics Linear movements can be described with linear units for example and rotary movements can be described with rotary units It is possible to select between linear and rotary scaling and preferred and parameter scaling as well as between motor and load reference DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 1 DIAX03 Drive With Servo Function Oe aL a Linear Rotary Scaling Adjustable scaling allows either linear or rotary scaling to be selected Linear motors normally use a linear scale Rotary motors use either a rotary or linear scale if their rotary movement is converted into a linear movement with a ball roll spindle for example Preferred Scaling Parameter Scaling Adjustable scaling allows either preferred scaling or parameter scaling to be selected If preferred scaling is selected the appropriate scaling factor parameters and scaling exponent parameters in S 0 0128 C200 Communication Phase 4 Transition Check are overwritten with preferred values This sets a pre defined scaling The scaling factor parameter and the scaling exponent parameter do not need to be entered The concrete preferred scaling adjusts itself to the selection of linear or rotary scaling The following preferred scalings are available Velocity Data Acceleration Data or 10 6 R sec 0 001 rad sec 10 6 m sec Rotary Linear
377. number S 0 0262 Editability P234 Function Command Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 3 S 0 0265 Language Selection S 0 0267 Password Description All parameter names units and diagnostic warning messages within the drive controller are stored in several languages This parameter determines the output language for the text e 0 German e 1 English More languages are in preparation See also the functional description Language selection S 0 0265 Attributes ID number S 0 0265 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 1 Description The parameter is used to unlock access to customer service features Warning Your drive can be destroyed if it is handled by someone who is not professionally trained S 0 0267 Attributes ID number S 0 0267 Editability P234 Function Parameter Memory no Data length 1 byte variable Validity check no Format ASCII Extreme value check no Unit s Combination check no Decimal places 0 Cyc transmittable no Input min max DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 61 DIAX03 Drive With Servo Function Oe
378. o range error 43 Mot feedback initialization error 41 Motor encoder failure quadrant error 4 1 Pa CEO nr signals too small 17 Motor feedback data reading error 40 Motor overtemperature shutdown 2 Motor overtemperature warning 25 Motor type P 0 4014 incorrect 37 Motor type has changed 1 N Negative Position Limit Value Exceeded 29 Negative travel limit switch detected 16 Negative travel limit value is exceeded 15 Negative travel zone limit switch activated 30 Net overvoltage 11 No regenerating current to net 22 Not ready for power on 23 O Overcurrent short in powerstage 18 short to ground 18 Overvoltage error 28 P Parameter calculation error gt S 0 0022 36 Parameters not copyable 47 Phase switching without ready signal 14 Position data scaling error 38 Position mode encoder 1 51 Position mode encoder 1 lagless positioning 51 Position mode encoder 2 51 Position mode encoder 2 lagless positioning 51 Position of data record in MDT S 0 0009 even 33 Positioning velocity S 0 0259 greater S 0 0091 24 Positive Position Limit Value Exceeded 29 Positive stop drive procedure 47 Positive stop drive procedure command 47 Positive travel limit switch detected 15 Positive travel limit value is exceeded 14 Positive travel zone limit switch activated 30 Power supply fault 21 R Ready for power ON 50 Regenerating electronic watchdog 21 Regenerating overcurrent 21 DOK DIAX03
379. o the functional description Display format of the acceleration data S 0 0160 Attributes ID number S 0 0160 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max S 0 0161 Acceleration Data Scaling Factor Description When parameter scaling is set in S 0 0160 Acceleration data scaling type the scaling factor for all of the acceleration data in the drive is determined by this parameter Parameter structure Bits 0 15 Factor Fig 2 28 S 0 0161 Acceleration data scaling factor 52 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function See also the functional description Display format of the acceleration data S 0 0161 Attributes ID number S 0 0161 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0162 Acceleration Data Scaling Exponent Description When parameter scaling is set in S 0 0160 Acceleration data scaling type the scaling exponent for all of the acceleration data in the drive is determined by this parameter Parameter structure
380. o the functional description S 0 0128 C2 communications phase 4 transition check C225 Attributes SS Display C2 25 Diagnostic message number C225 C226 Coprocessor Acknowledge Failed The drive controller has a coprocessor This coprocessor is initialized during the transfer command If the coprocessor does not confirm the initialization by the master processor this error will be generated Cause The coprocessor failed Remedy Exchange the drive controller See also the functional description S 0 0128 C2 communications phase 4 transition check C226 Attributes SS Display C2 26 Diagnostic message number C226 C227 Module Range Error See the feature description Modulo processing limiting conditions C227 Attributes SS Display C2 27 Diagnostic message number C227 C228 Controller Type S 0 0140 Incorrect Several internal software settings are made based on parameter S 0 0140 Control device type If the content of this parameter cannot be used then this error will be generated Cause 1 The controller type cannot be processed by this software 2 Amplifier EEProm defective Remedy For 1 Contact Indramat For 2 Exchange repair the control device See also the functional description S 0 0128 C2 communications phase 4 transition check C228 Attributes SS Display C2 28 Diagnostic message number C228 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Descr
381. oder to be set is selected in bit 3 of S 0 0147 Homing Parameter e Clear the command P 0 0012 C3 Command Get Absolute Dimension DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 19 DIAX03 Drive With Servo Function Cnr Set absolute dimension measuring during controller enable then turn off the controller enable Setting absolute dimension with CE and subsequent CE switch off the actual feedback value of a controlled axis can be changed Switching the actual feedback value occurs after the controller enable is turned off The procedure is as follows e Move the axis to the measured position e Enter the desired actual feedback value in the appropriate homing measurement scale actual feedback value parameter e Start the command P 0 0012 C3 Command Ger Absolute Dimension Measuring The position data will not be switched yet e Turn off the controller enable the actual feedback value is set to the homing scale the command is ended in the drive e Clear the command P 0 0012 C3 Command Get Dimension Measuring Absolute Set the actual feedback values according to the absolute dimension Actual Feedback Value Set according to absolute dimension of the motor encoder and if available of the external encoder after executing the set absolute dimension command depends on bit 3 in S 0 0147 Homing Parameter and the availability of an absolute encoder as the motor encoder or external
382. of motion The difference between two adjacent correction values must not be greater than the value of parameter P 0 0410 Pos corr support point distance for precision corr To avoid excessive leaps in feedback values the first and last correction value in each direction must be defined as 0 All 1000 correction values must always be written Support points which are not needed can be set to 0 The table is composed as follows Correction values for positive direction of motion Correction value 500 0 Correction value 501 0 KorrWert 502 Correction values for negative direction of motion Correction value 1000 Fig 3 35 Structure of the correction table 116 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function See also the functional description Axis error correction P 0 0409 Attributes ID number P 0 0409 Editability P234 Function Parameter Memory Prog module Data length 2 byte variable Validity check Phase 3 Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max 3 2767 3 2767 P 0 0410 Pos corr Support Point Distance for Precision corr Description Parameter P 0 0410 Pos corr support point distance for precision corr defines the distance between two adjacent correction values It is constant for the entire correction r
383. ome mark is too small see Monitoring the Distance Between Zero Switch and Homing Mark on page 7 56 e C604 Homing of absolute encoder not possible The homing encoder is an absolute encoder The command Drive Controlled Homing was started without first starting the command Absolute Scale Setting 7 10 Language Selection With the parameter S 0 0265 Language Selection you can switch between e Parameter names and units e Diagnostic texts DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Basic Drive Functions 7 59 DIAX03 Drive With Servo Function Oe ale a At this time the following languages are implemented Value of S 0 0265 Language 0 German 1 English Fig 7 47 Language Selection 7 60 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 KEE EEN Pars DIAX03 Drive With Servo Function 8 Optional Drive Features 8 1 Analog Output With the analog output feature drive internal signals and output variables can be transmitted as an analog voltage signal These can be examined by connecting an oscilloscope to the analog outputs The digital values in the drive are converted with two 8 bit digital analog converters The maximum output voltage is 10V the cycle time of the output is 250usec The following parameters are available for this feature Analog Output of Preset Signals P 0 0038 Signal Select Analog Output Channel 1 P 0 0039 Signal Select Analog Output Channel 2 P 0
384. oming Procedure Commande 45 C601 Homing Not Possible if Drive is Not Enabled cccceeeececeeeeeeeeeeeeeeeseeeesaeeeeaaeseeeeeeeees 45 C602 Distance Homing Switch Reference Mark Erroneous ssesseesseesiresresrrssrrssiresirssrresrresrns 45 C604 Homing of Absolute Encoder Not Poselble 45 G 00 Basic load EE 46 C701 Basic Load Not Possible If Drive Is Enabled c cccccceeesceceeeeeeeeeeeaeeeeaeeseeeeeseaeeseaeeeeeeeees 46 C702 Default Parameters Not Available cceccceceeeceeeeeceeeeeceeeeeceaeeeeaaeseeeeeeneeeesaeeeeaaeseeeeeseaeess 46 G703 Default Parameters INVAlIG 2 4 2ccsetese eegen atanan aiaia aeaaaee REENEN 47 C704 Parameters Not Copyable 0 c ccccccceceeeeeseeeeeeee cee eeceaeeeceeeseeeesaaeeesaaeseeeeeseaeeesaeeseaeeseeeeess 47 D400 Positive Stop drive procedure commande 47 D401 ZKL1 Error at Command Giart cece eeeaeeeeeeeseeeeecaeeeeeaeseeeeeseeessaeeseeeseeeees 47 1 4 Status Diagnostic Messages 48 A000 Communication Phase 0 48 A001 Communications Phase 1 48 A002 Communication Phase 3 48 A003 Communications PhaSe 3 vis s 000 iat iad ata adding tia aie 49 AUTO baten bets ends Manito oe Megat abi Leet hehe toe wash Manned etek ba 49 AOTT DriveJnterock Cpent ed eh ten ee ele vn tee eee Wile anes avid 50 A012 Control and Power Sections Ready for Operation 50 A013 Ready for Power ON 50 A100 Drive in Torque Mode ssssssssssessrrssssrresssrnesrnnnesrnnnenttnnnsnnnnnntnannsnnn
385. ommand Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 3 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 43 DIAX03 Drive With Servo Function Oe ae a S 0 0128 C2 Communications Phase 4 Transition Check Description The master control system uses this command to tell the slave drive that it has transmitted all of the necessary communications parameters for communications phase 4 After receiving this command the slave checks to see whether error free operation is possible in communication phase 4 from the slave s point of view The command will be completed error free if the slave is ready for the cyclical operation in communications phase 4 The control system erases the command after acknowledgement of a positive command Afterwards the control system moves into communications phase 4 in the MST See also the functional description S 0 0128 C2 communications phase 4 transition check S 0 0128 Attributes ID number S 0 0128 Editability P3 Function Command Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 3 S 0 0130 Probe Value 1 Positive Edge Description The drive uses the positive edge of the input signal from S 0 0013
386. on 7 6 Drive Error Reaction The error response depends on the current error class Error Class Fatal Travel range Interface Non fatal Fig 7 14 Error Response of the Drive Diagnostic Messages F8xx F6xx F4xx F2xx If an error is recognized in the drive controller a preset error response occurs This drive error response depends on the error class of the current error and the setting of the parameters P 0 0117 Activation of NC Response During an Error P 0 0118 Power Switch Off in Error Situation P 0 0119 Best Possible Deceleration Note The error class determines if the parameter selected responses are activated There are 4 error classes which have different priorities see Error Classes Drive Response The error response parameter settings in P 0 0117 Activation of NC Response During an Error and P 0 0119 Best Possible Deceleration will be ignored since a driver response is impossible Torque force is instantly disabled Independent of the settings in parameters P 0 0117 Activation of NC Response During an Error and P 0 0119 Best Possible Deceleration the velocity command value is immediately set to zero This response corresponds to the setting P 0 0117 0 no NC Response P 0 0119 0 Velocity Command Value Reset This setting provides the fastest stop of the axis if the drive range is exceeded A control response is impossible since the communicatio
387. on check C203 Attributes SS Display C2 03 Diagnostic message number C203 36 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function C204 Motor Type P 0 4014 Incorrect An MDD or MKD motor value 1 or 5 is entered into parameter P 0 4014 Motor type The appropriate abbreviation MDD or MKD however was not found in parameter S 0 0141 Motor type in the motor feedback data memory Cause 1 Incorrect parameter set for type of motor 2 The motor feedback memory cannot be read Remedy For 1 Enter the type of motor used in parameter P 0 4014 Type of motor For 2 Check feedback connection If feedback is defective exchange motor See also the functional description Setting motor type automatically for motors with feedback memory C204 Attributes SS Display C2 04 Diagnostic message number C204 C210 External Feedback Required gt S 0 0022 Cause Values are entered in parameters S 0 0147 Homing parameter or S 0 0032 35 Operating type parameters which require the use of an external encoder However only 0 e no setting is entered in parameter P 0 0075 External encoder interface Remedy S 0 0147 Homing parameter or Operating mode parameters S 0 0032 35 need to be changed for use with the motor encoder instead of external encoder Activate an external measurement system by entering a non zero value for P 0 0075
388. on feedback value 1 4 PT 4 DF1 S 0 0047 Position command value DF1 S 0 0051 S 0 0053 Position feedback value 1 5 PT 5 DF1 S 0 0047 Position command value DF1 S 0 0051 S 0 0053 Position feedback DF2 S 0 0036 Velocity command value value 1 DF2 S 0 0040 Velocity feedback value 6 PT 6 DF1 S 0 0036 Velocity command value No cyclical data 7 Configurable telegram Fig 2 6 Supported bits where PT Priority telegram DF 1 2 Data field 1 2 See also the functional description Configuration of telegram contents S 0 0015 Attributes ID number S 0 0015 Editability P2 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 2 Format BIN Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max a S 0 0016 Custom Amplifier Telegram Configuration List Description If a configured telegram is set in S 0 0015 Telegram type parameter then this list will be used for application specific configuration of the data record in the AT The list can contain only operating data that are listed in parameter S 0 0187 List of configurable data in the AT See also the functional description Configuration of telegram contents S 0 0016 Attributes ID number S 0 0016 Editability P2 Function Parameter Memory Param E prom Data length 2 byte variable Validity check Phase 2 Format IDN Extreme value check no Unit Combination
389. on has been activated is dependent on the mode that has been selected The following possibilities exist e Shortest Path e Positive Direction e Negative Direction The parameter S 0 0393 Command Value Mode for Modulo Format can be used to set the mode This parameter is effective only if modulo format has been activated in S 0 0076 Position Data Scaling Type The following settings can be entered S 0 0393 Meaning 0 Shortest Path amp 4 Positive Direction 2 Negative Direction Fig 7 12 Selecting modulo mode DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 9 DIAX03 Drive With Servo Function Oe ale ay Modulo Mode Shortest Path The next command value is reached with the shortest path If the difference between two successive command values is larger than half of the modulo value the drive moves toward the command value in the opposite direction Modulo Mode Positive Direction The command value is always approached in a positive direction regardless of whether or not the difference between two successive command values is larger than half of the modulo value Modulo Mode Negative Direction The command value is always approached in a negative direction regardless of whether or not the difference between two successive command values is larger than half of the modulo value 7 2 Setting the Measurement System The following feedback systems can be a
390. on of Parameters 5 DIAX03 Drive With Servo Function Oe aL a S 0 0008 Command Valid Time T3 Description The command valid time indicates the time after which the drive may access new command values The master can set the same command valid time for all drives that work together The drive activates the command valid time beginning with communications phase 3 See also the functional description Configuration of the telegram send and receive times S 0 0008 Attributes ID number S 0 0008 Editability P2 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 2 Format DEC_OV Extreme value check yes Unit us Combination check no Decimal places 0 Cyc transmittable no Input min max 0 65535 S 0 0009 Beginning Address in Master Data Telegram Description This parameter displays the start address of a drive s data record in the MDT expressed as a byte position It begins with 1 for the first data byte after the address field in the MDT The start address of the drive s data record in the MDT is transmitted to each drive by the master in communications phase 2 The address is activated beginning with communications phase 3 See also the functional description Configuration of the telegram send and receive times S 0 0009 Attributes ID number S 0 0009 Editability P2 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 2 Format DEC_OV Extrem
391. on of a measured value y y position of a measured value Fig 8 54 Equation to determine the position independent correction factor from the values of a mean straight line Control Axis Error Correction Since it is not possible to examine the axis in isolation for some applications the control is given the option to cyclically add a correction value to the actual feedback value with the control axis error correction The P 0 0400 Pos corr Correction value external will be added to the actual feedback value with the S 0 0147 Homing parameter Bit 3 Reference dimension does not need to be established in the drive internal homing procedure in order to use this correction feature Actual feedback value Actual feedback value corrected P 0 0400 External correction value Abb 8 55 Correction schematic Control axis error correction Note With the control axis error correction the actual feedback value of the motor encoder or the external encoder dependent on S 0 0147 Homing parameter is corrected DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 8 31 DIAX03 Drive With Servo Function Oe aL a 8 7 Positive stop drive procedure The command S 0 0149 d400 Positive stop drive procedure turns off all controller monitors that would lead to an error message in Class 1 Diagnostics during the blocking of a drive during a fixed limit stop If the command is started the drive generates the d
392. on of the Fiber Optics for the SERCOS Interface The fiber optic communication structure requires that the transmitter of the previous device has to be connected with the next device The fiber optic cable with the receive signal has to be connected to X11 If a signal is being sent through the cable you can see a red light here DOK DIAX03 SSE 01VRS FKB1 DE P e 09 96 Communication Through the SERCOS INTERFACE 4 5 DIAX03 Drive With Servo Function rw CREA The received light signal is amplified in the interface module and appears transmit output X10 if the control voltage is turned on at the drive power supply You have to connect the fiber optic cable that leads to the receiver of the next device to X 10 H3Err H3Err O O S Drive k Drive k 1 Fig 4 5 General connection to a fiber optic ring Transmission Rate of the SERCOS Interface The transmission rate is set by the manufacturer to 2MBaud The rate can be set with switch S4 on the interface module DSS 2 1 To do this you have to remove the card from the slot Remarks Shipping condition 2 MBaud OFF 4 MBaud ON Fig 4 6 Setting the transmission rate Baud Rate Switch S4 Transmission Power of the SERCOS Interface The transmission power is set by the manufacturer to 9dBm The transmission power can be set with switch S5 on the interface module DSS 2 1 To do this you have to remove the card from the slot Transm
393. onfiguration of the telegram contents The features of the interface are mentioned here briefly More detailed information is included in the SERCOS interface specification 4 2 Data Transfer Cycle Through SERCOS You can configure the master data and drive telegram To synchronize the drives in a ring the Master Synchronization Telegram MST is sent at the beginning of every SERCOS cycle The MST contains only the preset communication phase information from the master Once during every Sercos cycle a Master Data Telegram MDT is sent from the control to every drive The master control word the service channel and a configurable data block are included here In this data block the command and limit values are contained which are sent by the control according to the operation mode of the drive The contents of this data block can be configured through the telegram settings The master data telegram is received by all drives in the ring at the same time In addition a Drive Telegram AT is sent during each Sercos cycle time from every drive to the control The drive status word the service channel and a configurable data block are contained here This data block contains mainly actual and status values which are needed to operate the corresponding drives by the control DOK DIAX03 SSE 01VRS FKB1 DE P e 09 96 Communication Through the SERCOS INTERFACE 4 1 DIAX03 Drive With Servo Function Oe ale a Master Control Word
394. ons Current Limit The current limit limits the command current to the parameters e P 0 4046 Active Peak Current or e P 0 4045 Active Continuous Current Duration Current The active continuous current designates the current that can be continually taken from the drive whereas the active peak current is only available for short periods of time If the peak current is demanded from the drive for longer periods of time the drive controller s internal thermal load monitor will make sure that the allowable output current is reduced from the active peak current to the active continuous current Both parameters are produced from the applicable drive controller data such as the peak amplifier current S 0 0110 Amplifier Peak Current etc as well as the contents of the following parameters e P 0 4004 Magnetizing Current e 0 0109 Motor Peak Current e S 0 0111 Motor Current at Standstill e 0 0092 Bipolar Torque Force Limit Value e P 0 0109 Torque Force Peak Limit e P 0 4011 Switching Frequency Setting the Active Peak Current The parameter P 0 4046 Active Peak Current may not be set separately but is instead a factor of the following parameters e 0 0110 Amplifier Peak Current e 0 0109 Motor Peak Current e P 0 4004 Magnetizing Current e 0 0092 Bipolar Torque Force Limit Value 7 22 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function e
395. ontroller will be brought to a standstill according to the selected error response and message F221 Motor temperature control error will be generated Cause 1 Motor temperature sensor not connected 2 Broken cable 3 Defective sensor 4 Broken cable in drive controller Remedy For 1 Connect the sensor to the drive controller and to the motor see project planning specifications for the motor For 2 Exchange the wiring between the drive controller and the motor For 3 Exchange the motor For 4 Exchange the drive controller See also the functional description Temperature monitoring E221 Attributes SS Display E2 21 Diagnostic message number 221 Warning class Non fatal E249 Positioning Velocity S 0259 Greater S 0 0091 Cause In Drive controlled interpolation operating mode a velocity is given in parameter S 0 0259 Positioning velocity at which the given target position is to be approached Message E249 is generated if this is greater than the permissible maximum value S 0 0091 Bipolar velocity limit value Message bit 4 is set in S 0 0013 Class 3 diagnostic simultaneously Remedy Reduce S 0 0259 Positioning velocity See also the functional description Drive Internal Interpolation E249 Attributes SS Display E2 49 Diagnostic message number E249 Warning class Non fatal E250 Drive Overtemperature Warning The temperature of the heatsink in the drive controller has reached the maximum
396. ontrols that have a corresponding error reaction procedure Emergency stop feature The emergency stop feature is used to shutdown the drive through a hardware input on the drive controller After activation of the E Stop Input the drive is prompted to proceed to the selected shutdown of the drive The Error diagnostic F234 Emergency Stop Activated is displayed and parameter S 0 0011 Class 1 Diagnostics is set to bit 15 You can reset this error with the command S 0 0099 Reset Class 1 Diagnostics if the E Stop Input is deactivated The E Stop generally is handled the same as any other drive issued error You can select an error response via bit 1 P 0 0008 Activation E Stop Function If bit 1 0 the drive shuts down according to P 0 0119 Best Possible Deceleration This corresponds to a non fatal error If bit 1 1 then the drive stops with maximum torque to velocity 0 after activation of the emergency stop regardless of the reaction set in P 0 0119 The error response is the same as if P 0 0119 was set to 0 Activation and Polarity of the E Stop Input For the activation of the E Stop input and the selection of a response for shutdown of the drive use parameter P 0 0008 Activation of the E Stop Function DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 37 DIAX03 Drive With Servo Function Oe aL a The following applies P 0 0008 Activation E Stop Function Ni Bit0 Activation E
397. optional plug in cards 1 2 Drive Controllers The DIAX03 family consists of five drive controllers Modular Digital Servo Drives Drive Controllers e DDS2 2 e DDS3 2 Digital Vector Drives for high performance and high horsepower applications e DKR2 1 e DKR3 1 e DKR4 1 DOS SHBOITAI THI Fig 1 1 Drive controllers The type of digital drive used is stored in parameter S 0 0140 Controller type DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 System Overview 1 1 DIAX03 Drive With Servo Function 1 3 Motors Rotary and linear motors can be driven with the DIAX03 drive family Rotary motors Linear motors MDD LAR MKD LAF 2AD LSF ADF 1MB MBW ZAD motor MOD motor MAD motor IMB motor SMSO1TAD TIP Fig 1 2 Rotary motors LAF motor LAR motors SSO Te LSF motor Fig 1 3 Linear motors The motor type used is stored in parameter S 0 0141 Motor type 1 2 System Overview DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EE ai DIAX03 Drive With Servo Function 1 4 Firmware Overview Within the DIAX03 family there are three user specific firmware variations Drive with servo functionality Drive with main spindle functionality Drive with electronic line shafting functionality The drive with electronic line shafting function servo feature is described in the following documentation The software version used is stored in the p
398. ostic change bit will be set in the drive status The mask has no effect on the operating data of the Class 3 diagnostic See also the functional description Change bits in class 2 and class 3 diagnostics in the drive status word S 0 0098 Attributes ID number S 0 0098 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max safis S 0 0099 Reset Class 1 Diagnostic Description If the drive receives this command via the service channel then the Class 1 diagnostic the interface status and the drive lock will be deleted in the drive status if no more errors are pending See also the functional description Clearing errors S 0 0099 Attributes ID number S 0 0099 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 3 S 0 0100 Velocity Loop Proportional Gain Description This parameter contains the value for the velocity loop proportional gain The proportional gain unit depends on the contacted motor type Motor type Unit Rotary motor A sec rad Linear motor A min m Fig 2 18 Units for motor types As the drive is being started it is possible to load a default value for the pa
399. ostic message number from S 0 0390 Diagnostic message number will appear in front of the operating status Example AdQ1O0ODrive Stop 11 ole 00 41 30 31 30 41 6E 74 72 69 65 62 20 48 61 6C 74 lt t Length of diagnostic message text 15 characters Bytes 3 and 4 specify the maximum available length for the operating data in the control drive length specifications 40 bytes 0028 Bytes 1 and 2 specify the length of the programmed operating data in the control drive length specifications 16 bytes 0011 Fig 2 17 S 0 0095 Diagnostic message See also the functional description Plaintext diagnostic message 32 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function S 0 0095 Attributes ID number S 0 0095 Editability no Function Parameter Memory no Data length 1 byte variable Validity check no Format ASCII Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max sof S 0 0096 Slave Arrangement SLKN Description During initialization the master must know which drives are available under which slave numbers in order to execute an optimal automatic time slot calculation The master receives this information from the drives in communications phase 2 Valid address range 01 99 Example 03 03 See also the functional description Setting the drive
400. otor velocity It is contained in the motor encoder data storage of MDD and MKD motors and does not need to be entered but with other types of motors this value must be taken from the motor parameter specifications Limiting to Maximum Motor Velocity The maximum motor velocity defines the maximum velocity of the drive It becomes active as e the maximum value entered in the parameter S 0 0091 Bipolar Velocity Limit Value Limiting to Bipolar Velocity Limit Value The bipolar velocity limit value defines the maximum velocity of the drive for the user It becomes active as e the monitor of the encoder velocity in the Torque Control operating mode e the limit for the resulting command value in the velocity controller e the monitor of the position command value difference in the Position Control operating mode see also position command value monitoring e the limit of S O 0036 Velocity Command Value in the velocity control operating mode Monitoring the Feedback Velocity in the Torque Control Operating Mode Monitoring the Feedback Velocity in Torque Control in the Torque Control operating mode occurs at 1 125 times the value of S 0 0091 Bipolar Velocity Limit Value If this value is exceeded the fatal error e F879 S 0 0092 Crossing Maximum Velocity Feedback Value is generated The drive switches to torque free operation afterwards Limiting the Resulting Command Value in the Velocity Controller In all operating modes in whi
401. ovincia de Buenos Aires Australia Vila Padre Anchieta Argentina g BR 09 951 250 Diadema SP Telefon 54 1 756 01 40 Argentina Telefon 61 3 93 59 0228 Caixa Postal 377 BR 09 901 970 Diadema SP Telefon 55 11 745 90 65 55 11 745 90 70 Telefax 55 11 745 90 50 China Rexroth China Ltd 1430 China World Trade Centre 1 Jianguomenwai Avenue Beijing 100004 P R China Telefon 86 10 50 50 380 Telefax 86 10 50 50 379 China Hongkong India Japan Rexroth China Ltd A 5F 123 Lian Shan Street Sha He Kou District Dalian 116 023 P R China Telefon 86 411 46 78 930 Telefax 86 411 46 78 932 Korea Rexroth Seki Co Ltd 1500 12 Da Dae Dong Saha Gu Pusan 604 050 Telefon 82 51 264 90 01 Telefax 82 51 264 90 10 Rexroth China Ltd 19 Cheung Shun Street 1st Floor Cheung Sha Wan Kowloon Honkong Telefon 852 2741 13 51 54 und 852 741 14 30 Telex 3346 17 GL REX HX Telefax 852 786 40 19 852 786 07 33 Korea Seo Chang Corporation Ltd Room 903 Jeail Building 44 35 Yoido Dong Youngdeungpo Ku Seoul Korea Telefon 82 2 780 82 07 9 Telefax 82 2 784 54 08 Mannesmann Rexroth India Ltd INDRAMAT Division Plot 96 Phase III Peenya Industrial Area Bangalore 560058 Telefon 91 80 839 21 01 91 80 839 73 74 Telex 845 5028 RexB Telefax 91 80 839 43 45 Mexico Motorizaci n y Dise o de Controles S A de C V Av Dr Gustavo Baz No 288
402. oward the homing mark Therefore you can select any position after homing The offset is set with the parameters e Reference Offset 1 for motor encoder e Reference Offset 2 for external encoder If the reference scale offset is positive it will be interpreted that the homing mark is positioned closer to the start point than the homing point Therefore the homing mark will always be crossed before the drive stops at the homing point The drive does not reverse the movement direction after the homing mark has been crossed Reference distance offset Velocity A Starting point Reference mark Home point a a ee ee Fig 7 35 Command value profile for positive reference scale offset If the reference scale offset is set negative the offset will be interpreted such that the homing mark will be farther away from the start point than the homing point If a measurement system type 1 is used the drive moves immediately to the homing point after the command starts without going to the homing mark If the measurement system type 2 or 3 is used the homing mark will be crossed After going to the homing mark the drive reverses the direction and goes to the homing point DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Basic Drive Functions 7 53 DIAX03 Drive With Servo Function Oe ale a Reference distance offset Velocity D A a Home point Starting point Home point Fig 7 36 Comm
403. peration Data Phase 2 The parameters are edited with valid values in S 0 0021 C102 Attributes H1 Display C1 02 Diagnostic message number C102 C104 Config IDN for MDT not configurable Cause Telegram type 7 was set in parameter S 0 0015 Telegram type parameter Parameters which are missing in S 0 0188 List of configurable data in MDT are kept in S 0 0024 Configuration list for the master data telegram DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 31 DIAX03 Drive With Servo Function Oe aL a Remedy You must either set a priority telegram Telegram type 0 6 or else provide S 0 0024 Configuration list for MDT with parameters These parameters are also contained in S 0 0188 List of configurable data See also the functional description Configuration of telegram contents C104 Attributes SS Display C1 04 Diagnostic message number C104 C105 Configured Length gt Max Length for MDT Cause Telegram type 7 was set in parameter S 0 0015 Telegram type parameter The length of the configured record in MDT which is determined by S 0 0024 Configurations list of the master data telegram exceeds the maximum permissible length S 0 0186 Length of the configurable record in MDT Remedy You must either set a priority telegram in S 0 0015 Telegram type parameter telegram type 0 6 or else reduce the number of configurable parameters in MDT See also the fun
404. places 0 Cyc transmittable no Input min max fr S 0 0078 Linear Position Data Scaling Exponent Description This ID number contains the scaling exponent to be used to scale all position data in the drive if linear scaling has been selected If linear preferred scaling is selected this parameter will be set by the drive See also the functional description Display format for position data S 0 0078 Attributes ID number S 0 0078 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_MV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max vn S 0 0079 Rotational Position Resolution Description If rotary position scaling is selected the LSB valence for all position data will be set in this parameter The LSB bit can be specified in the following manner Example If you would like a resolution of 0 01 degrees for the LSB set the parameter to a value of 36000 The input value will then be 8CAOH If preferred scaling was set in parameter S 0 0076 Position data scaling type the rotational position resolution will be set at 3 600 000 That means that the resolution for the LSB will be 0 0001 degrees See also the functional description Display format for position data DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 27 DIAX03 Drive With Servo Function Oe a
405. places S 0 0044 Cyc transmittable AT Input min max S 0 0044 S 0 0041 Homing Velocity Description The product of S 0 0041 Homing velocity and the Feedrate override forms the velocity at which the drive executes command S 0 0148 Drive controlled homing procedure 18 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function See also the functional description Drive controlled homing S 0 4041 Attributes ID number S 0 0041 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0044 Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0044 S 0 0042 Homing Acceleration Description This parameter indicates the acceleration value at which the drive executes command S 0 0148 Drive controlled homing procedure See also the functional description Drive controlled homing S 0 0042 Attributes ID number S 0 0042 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0160 Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0160 S 0 0043 Velocity Polarity Parameter Description This parameter is used to switch the polarity of the velocity data in relation to the application Polar
406. plement A Description of Parameters 107 DIAX03 Drive With Servo Function Oe aL a P 0 0146 Attributes ID number P 0 0146 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0147 Expanded Signal K1 Address Description If an expanded signal selection is made with parameters P 0 0023 Signal select channel 1 and P 0 0024 Signal select channel 2 then an address to be recorded can be chosen in the drive with parameter P 0 0147 See also the functional description Oscilloscope function P 0 0147 Attributes ID number P 0 0147 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0148 Expanded Signal K2 Address Description If an expanded signal selection is chosen with parameters P 0 0023 Signal select channel 1 and P 0 0024 Signal select channel 2 then an address to be recorded can be chosen in the drive with parameter P 0 0148 See also the functional description Oscilloscope function P 0 0148 Attributes ID number P 0 0148 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format HEX E
407. possible during phase 0 Parameterization mode is given during communication phases 1 3 Monitoring in the Transition Check Command Transition check commands must be activated in the drive in order to switch from communication phase 2 to 3 and from 3 to 4 This commences a series of checks and parameter calculations 3 12 General Instructions for Installation DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Cx EEO an The descriptions and solutions for transition check errors can be found in Supplement B Diagnostic Message Descriptions DIAX03 Drive With Servo Function S 0 0127 C1 Communication Phase 3 Transition Check The following checks are run when this command is activated The telegram configuration is checked The SERCOS cyclic telegram is checked for valid parameters configured in the MDT or AT data blocks and to ensure that the maximum length is not exceeded The command errors C104 Config IDN for MDT not configurable C105 Configurated Length gt Max Length for MDT C106 Config IDN for AT not configurable C107 Configurated Length gt Max Length for AT may Occur Parameters are checked for proper values before the drive can switch into phase 3 If a parameter has an improper value the following command error will occur C101 Communications Parameter Incomplete S 0 0021 The SERCOS ID numbers of invalid parameters are listed in S 0 0021 IDN List of Invalid Op Data for Comm Ph 2 and must be corrected
408. pplement A Description of Parameters 99 DIAX03 Drive With Servo Function Oe aL a P 0 0112 Attributes ID number P 0 0112 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable MDT Input min max P 0 0113 Parallel UO Input 3 Description The input signals of DEA 6 1 are produced in this parameter See also the functional description Digital input output P 0 0113 Attribute ID number P 0 0113 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format BIN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable AT Input min max P 0 0115 Analog Input 1 Description Two differential inputs are available to acquire measurement values in drive controller devices equipped with the additional plug in module Analog signal interface DRF type The voltage for the differential input is converted with a 12 bit resolution and prepared in parameters P 0 0115 Analog input 1 and P 0 0116 Analog input 2 Note the following assignment Input voltage Value gt 10V 2047 OV 0 lt 10V 2048 Fig 3 19 Assignment table These values are valid for the input amplification 1 For higher input amplifications 2 4 or 10 the voltage values are reduced correspondingly See also
409. r m 1 inch in Unit of measure for rotary scaling 0 revolution 1 reserved Bit5 reserved L Bit6 Data reference 0 to the motor shaft 1 to the load Processing format 0 absolute format 1 modulo format Bit 15 8 reserved Bit 7 26 Supplement A Description of Parameters Fig 2 15 S 0 0076 Position data scaling type Note Only the bits indicated here are supported by the software See also the functional description Display format for position data S 0 0076 Attributes ID number S 0 0076 Editability Function Parameter Memory Data length 2 bytes Validity check Format BIN Extreme value check Unit Combination check 0 ale Decimal places Cyc transmittable Input min max P23 Param E2prom Phase 3 no yes no DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VEER DIAX03 Drive With Servo Function S 0 0077 Linear Position Data Scaling Factor Description This ID number contains the scaling factor to be used to scale all position data in the drive The parameter is set to 1 if linear preferred scaling has been set in S 0 0076 Position data scaling type See also the functional description Display format for position data S 0 0077 Attributes ID number S 0 0077 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Combination check no Decimal
410. r Situation Description This parameter allows the NC 30 seconds to bring the drive controller to a coordinated deceleration in an error situation The drive reacts with the preset P 0 0119 Deceleration as best as possible This feature works for non fatal errors and interface errors Parameter structure B 0 Activation 0 instant control drive reaction to non fatal errors with best possible standstill 1 reaction to non fatal errors delayed 30 sec Fig 3 21 P 0 0117 NC reaction in error situation See also the functional description NC response in error situation DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 101 DIAX03 Drive With Servo Function Oe aL a P 0 0117 Attributes ID number P 0 0117 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 1 P 0 0118 Power Switch Off in Error Situation Description If a Class 1 Diagnostic error is recognized the drive reacts either with the preset P 0 0119 Deceleration as best as possible or in the case of a fatal error with an immediate switch to torque free state If this parameter is set to 1 then the X1 2 signal for the supply module will be removed As a result the signal and the DC bus voltage will be switched off on all other drives
411. r enable RF is set The operating mode can be selected by entering a bit list Specific positions are defined in the bit list In bit 3 you can choose between working with position control without following lag error or with following error The following applies Bit3 0 position control with following error Bit 3 1 position control without following error Bit list Meaning 0000 0000 0000 0001 0000 0000 0000 0010 0000 0000 0000 x011 0000 0000 0000 x100 0000 0000 0001 x011 0000 0000 0001 x100 Fig 2 10 Bit list S 0 0035 Torque control Velocity control Position control with encoder 1 Position control with encoder 2 Drive controlled interpolation encoder 1 Drive controlled interpolation encoder 2 See also the functional description Setting operating parameters S 0 0035 Attributes ID number S 0 0035 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max sof S 0 0036 Velocity Command Value Description This parameter indicates the velocity command value This is combined with S 0037 Additive velocity command value to produce the effective velocity command value for the drive DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 17 DIAX03 Drive With Servo Function URI Ce EE
412. r the desired operating mode in the activated operating mode parameter Permissible operating modes Bit list of the operating Meaning mode parameters Torque control 0000 0000 0000 0001 Velocity control 0000 0000 0000 0010 Position control with actual feedback 0000 0000 0000 x011 value 1 Position control with actual position 0000 0000 0000 x100 value 2 Drive controlled interpolation with actual 0000 0000 0001 x011 feedback value 1 Drive controlled interpolation with actual 0000 0000 0001 x100 feedback value 2 Tab 1 1 Operating modes Parameters Main operating mode S 0 0032 Secondary operation mode 1 S 0 0033 Secondary operation mode 2 S 0 0034 Secondary operation mode 3 S 0 0035 Check these parameters for input of permissible interpolation type See also the functional description Setting operating mode parameters F207 Attributes SS Display F2 07 Error number 207 Diagnostic message number F207 Error class Non fatal F208 Motor Type Has Changed See also the functional description Automatic execution of the load default feature F208 Attributes SS Display UL Error number 208 Diagnostic message number F208 Error class Non fatal DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Description of Diagnostic Messages 1 DIAX03 Drive With Servo Function Oe aL a F219 Motor Overtemperature Shutdown If the motor temperature exceeds the value in S 0 0204
413. rake The brake will be worn out after 20 000 rotations while brake is locked To set the motor holding brake use the parameters e P 0 0525 Type of Brake e P 0 0526 Brake Control Delay e P 0 0511 Brake Current The parameters will be set automatically for the MDD or MKD motors For all other motor types you have to retrieve the values from the data sheet for the motor or the motor brake Connection of the Motor Holding Brake You connect the motor brake through connector X6 on the drive controller Up 24V 10 Br Br OVB Connector X6 i Fig 5 9 Connection of the motor brake 5 8 Motor Configuration DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function To provide the required brake control voltage you have to connect 24V external voltage The brake is controlled with the contacts Br and Br Note To ensure error free monitoring a connection between the OV of the brake supply and the OV of the drive controller is recommended Setting the Motor Brake Type In P 0 0525 Motor brake type you set either a self locking MDD and MKD motors or a self releasing brake P 0 0525 Motor brake type Bit 0 0 Self stopping brake U Br Br 0V Brake is switched on 1 Self ventilating brake U Br Br 24V Brake is switched on Fig 5 10 Setting the motor brake type Setting the Brake Control Delay In P 0 05
414. rameter 24 S 0 0057 Position WiINdOW esiaren nn EAE EEEE AE E EAE AES 25 0 0058 Reversal Clearance areln due AERE EENEG NA aa ERGS 25 S 0 0076 Position Data Scaling Type cccccceeesesceeeeeeeceeeeeaaeeeeeeeeaeeesaaeeeeeeeseeeeesaaeeesaeeeaeeeeeees 26 S 0 0077 Linear Position Data Scaling Fachor esses seeeeeseeeeseaeeeeeeeeeeees 27 S 0 0078 Linear Position Data Scaling Exponent ccccccceeeeeeeeeceeeeeeeaeeeeeaeeeeeeeseaeeesaeeesaaeeennees 27 S 0 0079 Rotational Position Hesoltion 27 S 0 0080 Torque Force Commande 28 S 0 0084 Torque Force Feedback Value nentet nnrten rnnt tnnnnttnnnntrn nnne en nnnn ennnen ennnen 28 S 0 0085 Torque Force Polarity Parameter 29 S 0 0086 Torque Force Data Scaling Type c ccceccesseeceeneeeeeeeeceaeeeeaaeseeeeeseeeesaeeeeaaeseeeseenees 29 S 0 0088 Receive to Receive Recovery Time TMTSG c ccceecceceeeeeeeeeeeeeeeeeeeeeseaeeeeaeeeeeeeeaas 30 S 0 0089 MDT Transmit Starting Time TI 30 S 0 0090 Command Value Transmit Time TMIGO 31 S 0 0091 Bipolar Velocity Limit Value ccc eeecceeeeeceneeeeeaeeeeaeeceeeeeeaaeeeeaaeeeceeeseaeeeseaeeeeaeeeeneessaees 31 S 0 0092 Bipolar Torque Force Limit Value cee eeseaeeeeeeeseeeeeseaeetaeeseaaeeeeneeee 31 S 0 0093 Torque Force Data Scaling Factor ccccccceseceeeeeceeeeeceeeeeeeaeeeeaeeseeeeesaeesaeeeeaeseeeeeeas 32 S 0 0094 Torque Force Data Scaling Exponent 0 ccccceeeeeceeeee eens eeeaeeeeaee scenes sea
415. rameter using the command Basic load as long as a motor is available with feedback memory P 0 4014 Motor type 1 or 5 See also the functional description Setting the velocity controller 34 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function S 0 0100 Attributes ID number S 0 0100 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit As rad Combination check no Decimal places 1 Cyc transmittable no Input min max 0 65535 S 0 0101 Velocity Loop Integral Action Time Description The velocity controller forms a current command value derived from the difference between the velocity command value and the velocity feedback value velocity control deviation This current command value consists of a proportional component and an integral component The velocity loop integral action time is the time constant with which the integral component of the current command value increases by a constant speed control deviation Icomm do kp Integral portion dw kp Proportional portion TN adjusting with TN Velocity controller adjusting time ms Kp Velocity controller proportional amp A sec rad K Integral amp A rad icomm Current command value do Velocity controller deviation Fig 2 19 Definition of the integral action
416. recision machines Meaningful Use of Frictional Torque Compensation e The frictional torque of the axis must be a relevant size If the frictional torque portion is less than 10 of the rated torque of the active drive then the frictional torque compensation has negligible results e The frictional torque to be compensated must remain constant completely independent from the current processing Preparation for Setting the Frictional Torque Compensation e Velocity and position loops must be set according to specification e The NC control system must be connected and must allow for the jog feature e Travel range limits of the axis must be set and activated e f the axis has a temperature dependent friction characteristic then the axis must be brought to operating temperature before determining the compensation value DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 47 DIAX03 Drive With Servo Function Oe aL a 7 8 Drive Stop Determining the Compensation Torque 1 Move the axis in jog mode at the maximum determined operating velocity During this process the torque command value should be recorded read in the phase constant velocity 2 This procedure should be done in both movement directions of the axis 3 The value to be set for the frictional torque compensation should be taken from the value determined in this process The following applies Reibmomentkompensation Reibwertpositiv R
417. red in feedback data memory Note the equation Ma Nm N P 0 0051 S 0 0080 where Ma Drive torque P 0 0051 Torque constant N A S 0 0080 Torque force command value A P 0 0075 Attributes ID number P 0 0051 Editability P3 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Nm A Combination check no Decimal places 2 Cyc transmittable no Input min max 1 65535 P 0 0074 Interface Feedback 1 Description This parameter determines the encoder interface to which the motor encoder is connected The number of the corresponding interface module should be entered in this parameter 94 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function Module P 0 0074 Measurement system Standard 1 dig Servo feedback Heidenhain or Stegmann or Resolver 2 Incremental encoder with sine signal from Heidenhain inc with either uA or 1V signals 3 Gear tooth encoder DAG 2 8 Encoder with ENDAT interface Fig 3 15 P 0 0074 Interface module Restriction Modules DLF DZF DRF and DEF 1 must not be operated simultaneously in a controller gt Danger of Damage It is not possible to combine DLF and DZF Module DEF 2 can be used to operate an incremental encoder along with DLF or DZF See also the functional description Determining the encoder fe
418. rent control proportional amplification 1 Si S 0 0080 Torque power H command value 0O _ Cu Actual current value P0005Q1 WMF Fig 6 9 Current Controller Position Control A position value is commanded to the drive every NC cycle time in the Position Control operating mode When this mode is activated the diagnostic message is one of the following e A102 Position Control Encoder 1 e A103 Position Control Encoder 2 e A104 Position Control Encoder 1 Lagless Positioning e A105 Position Control Encoder 2 Lagless Positioning The command value is specified in the parameter S 0 0047 Position Command Value Monitors specific to this operating mode are e Monitoring the command velocity at the value of the parameter S 0 0091 Bipolar Velocity Limit Value If this value is exceeded the error F237 Excessive Position Command Difference is generated The command value specified in S 0 0047 Position Command Value is interpolated within the NC cycle time and is then given to the position controller Position Velocity command Torque power value command FP0006Q1 WMF Position Current controller Position controller Velocity controller value Fig 6 11 Position control block diagram Generator Feature Position Command Value Interpolator An actual velocity is formed from two successive position command values The S 0 0001 NC Cycle Time acts as the time b
419. response which has been selected and gives this error message Cause 1 Failure of the drive s internal blower 2 Failure of the control cabinet s climate control 3 Incorrect control cabinet dimensioning in regards to heat dissipation Remedy For 1 If the blower has failed exchange the drive controller For 2 Install climatization feature in the cabinet For 3 Check the dimensions of the control cabinet Note Temperature monitoring must not lead to a fatal error class F818 Attributes SS Display F8 18 Error number 818 Diagnostic message number F818 Error class Fatal 16 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function F819 Drive Overtemperature Watch Defekt Cause An NTC resistor is used to measure the drive temperature If the resistor is defective or is not connected the previously mentioned error message is generated Remedy Exchange or connect the NTC resistor F819 Attributes SS Display F8 19 Error number 819 Diagnostic message number F819 Error class Fatal F820 Bleeder Overload Cause The energy of a braking motor cannot be converted quickly enough by the bleeder resistors The energy converted by the internal bleeder is analyzed When the maximum energy capacity of the bleeder is exceeded it is shut off The bleeder overload error is generated Remedy The braking slope should have a flat
420. ription The interpretation of position command values such as S 0 0047 Position command value and S 0 0258 Target position when the modulo function has been activated is dependent on the mode which has been selected The purpose of parameter S 0 0393 Command value mode for modulo format is to set the mode This parameter works only in the case where S 0 0076 Position data scaling type had been activated in modulo format S 0 0393 Meaning 0 Shortest path 1 Positive direction 2 Negative direction Fig 2 36 Values which can be set by parameter See also the functional description Processing command values in modulo format shortest path direction selection S 0 0393 Attributes ID number S 0 0393 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable MDT Input min max 0 2 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 69 DIAX03 Drive With Servo Function Oe ale a S 0 0400 Home Switch Description This parameter is used to assign an IDN to the home switch external signal Possible Application The IDN and thus the feedback status of the home switch can be assigned to a real time status bit Construction of the parameter i SEE EES ae Bit 0 Home point switch 0 not
421. ription Configuration of telegram contents C107 Attributes SS Display C1 07 Diagnostic message number C107 C108 Time Slot Parameter gt Sercos Cycle Time Cause One of the time slot parameters e 0 0006 AT transmission starting time T1 e 0 0089 MDT transmission starting time T2 e 0 0007 Feedback acquisition starting time T4 e 0 0008 Command valid time T3 exceeds S 0 0002 SERCOS cycle time Remedy Correct the appropriate parameter s These times are determined by the manufacturer of the control system and are specified by the SERCOS interface See also the functional description Configuration of telegram sending and receiving times C108 Attributes SS Display C1 08 Diagnostic message number C108 C109 Position of Data Record in MDT S 0 0009 Even Cause Parameter S 0 0009 Starting address in MDT contains an even value This is not permitted Remedy Parameter S 0 0009 Starting address in MDT must be set to an odd value These parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface See also the functional description Configuration of telegram send and receive times C109 Attributes SS Display C1 09 Diagnostic message number C109 C110 Length of MDT S 0 0010 Odd Cause Parameter S 0 0010 Length of master data telegram contains an odd value This is not permitted DOK DIAX03 SSE 01VRS FKB1 EN P
422. rive can be stored in this parameter for example main spindle swivel axle etc It has no functional significance S 0 0142 Attributes ID number S 0 0142 Editability P234 Function Parameter Memory Param E2prom Data length 1 byte variable Validity check Phase 3 Format ASCII Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 47 DIAX03 Drive With Servo Function S 0 0143 SERCOS Interface Version Description OD a a The version of the SERCOS interface specifications are found in the operating data Current valid settings v V 01 01 V 01 02 SERCOS specification German 01 00 SERCOS SERCOS update English specification German English Version 5 90 Version 4 91 Versiong 91 Fig 2 24 S 0 0143 Version of the SERCOS interface specification See also the functional description Overview of SERCOS communication S 0 0143 Attributes ID number S 0 0143 Editability no Function Parameter Memory fixed Data length 1 byte variable Validity check no Format ASCII Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max S 0 0147 Homing Parameter Description This parameter contains operating sequences for S 0 0148 C6 Drive controlled homing procedure command in
423. robe 1 0 positive flank is not analyzed 1 positive flank is analyzed Bit 1 Activating Negative Flank Probe 1 negative flank is not analyzed 1 negative flank is analyzed Bit 2 Activating Positive Flank Probe 2 0 positive flank is not analyzed 1 positive flank is analyzed L Bit3 Activating Negative Flank Probe 2 0 negative flank is not analyzed 1 negative flank is analyzed L Bit 4 Position Feedback Value Selection 0 S 0 0053 is always used as the measurement if an external feedback is connected and position feedback values are chosen in the signal selection 1 S 0 0051 is always used as the measurement if position feedback values are chosen in the signal selection Fig 8 26 Structure of Parameter S 0 0169 Probe Control Signal Selection for the Probe Inputs The following signals are available for measurement e Actual feedback value 1 motor encoder e Actual feedback value 2 external encoder only if available e Internal time The selection can be made with parameters P 0 0200 Signal Select Probe 1 and P 0 0201 Signal Select Probe 2 and with bit 4 of the S 0 0169 Probe Control Parameter In P O 0200 and P 0201 you can indicate individually for the probe inputs whether a position feedback value or an internal time will be measured Value of P 0 0200 201 Signal 0 Actual feedback value 1 2 a a Time Fig 8 27 Signal determination for the probe feature The
424. ror Cause The display format of the position data can be set with the position data scaling parameter The internal drive controller format of the position data is dependent on the motor encoder being used and the resolution of the controller The factor for converting the position data from the internal drive format into display format or vice versa is outside of the workable area because either e The motor is linear and positional scaling of the motor is rotary or e the motor is rotary and positional scaling in reference to motor is linear or e Linear motor and module scaling is set or e The calculated factor for converting the position data from display format to internal format or vice versa cannot be represented Remedy Check and set the relevant parameters correctly as follows e S 0 0076 Position data scaling type e 0 0077 Position data scaling factor e S 0 0078 Position data scaling exponent e 0 0079 Rotary position resolution e S 0 0116 Resolution of motor encoder e 0 0121 Input revolutions of load gear 38 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function e 0 0122 Output revolutions of load gear e S 0 0123 Feed constant e P 0 0074 Motor encoder interface e 0 0277 Position feedback 1 type parameter See also the functional description S 0 0128 C2 communications phase 4 transition check C213
425. ror correction DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 8 23 DIAX03 Drive With Servo Function Oe aL a The following graphic displays the correction schematic for precision axis error correction awu Vcommand gt 0 xk x Vcommand lt 0 S 0 0036 Velocity command value E S 0 0124 Standstill window Actual feedback value Internal correction value Abb 8 36 Correction schematic for precision correction Note With precision axis error correction the actual feedback value of the motor encoder or external encoder dependent on S 0 0147 Homing Parameter is corrected Determing the Correction Value The correction table for the precision axis error correction consists of 2x500 correction values The first 500 correction value are for the positive travel direction the second 500 correction values are for the negative travel direction The correction value can be determined with a reference measurement system i e Laser Interferometers Within the desired correction range the support points for the various directions are sequentially approached and the corresponding position errors are measured The following applies Fehler xk x mess x Anzeige with xk position error x measured measured position value x display S 0 0051 or S 0 0053 Fig 8 37 Correction value det
426. rrent communication phase Error Count for Telegram Interrupts The drive checks every received master synchronization and master data telegram for e the correct receive time set point e the assigned telegram length and e the correct CRC check sum A telegram interrupt is registered with an incrementation in the error counter For this purpose these two parameters are used S 0 0028 MST Error Count and S 0 0029 MDT Error Count These parameters are canceled by switching the communication phase from 2 to 3 S 0 0028 or from 3 to 4 S 0 0029 4 8 Communication Through the SERCOS INTERFACE DOK DIAX03 SSE 01VRS FKB1 DE P e 09 96 LR Ce EE an DIAX03 Drive With Servo Function 5 Motor Configuration 5 1 Characteristics of the Different Motor Types You can use the following motor types made by Indramat with the DIAX 03 software e MDD e MKD e 2AD 1MB ADF e LAF LAR e LSF The individual motor types differ in the following points e Availability of data memory in the motor feedback e Synchronous motor Asynchronous motor e Linear motor Rotational motor e Temperature check can be changed or not e Basic load load default possible or not e Motor encoder interface setting can be changed or one setting only The individual motor types have the following characteristics Motorfeed back Motor type data memory Motor encoder Syn Asyn Temp check interface Load default MDD MKD yes synchronous fixed
427. rrririririririrrrerrrn 101 P 0 0118 Power Switch Off in Error Situation oo ccccccccccccccceceeeeeeeeeeseeeseseseseeeseeeseseseeseeeeees 102 P 0 0119 Deceleration as best aS possible 102 P 0 0121 Velocity Mixfactor Feedback1 amp Feedback 103 P 0 0123 Absolute Encoder Buffer cccccccccccesssssseecececesesssseceececeseensesseceeeeseauanseseeeeeeeeeanees 104 P 0 0124 Assignment IDN gt DEA Output 104 P 0 0125 Assignment DEA Input gt IDN 105 P 0 0126 Maximum Braking Time 105 P 0 0427 OVerlOad Warning EE 106 P 0 0141 Thermal Drive Load a a aa a ataa a aatan 106 P 0 0145 Expand Trigger Edge serasa e rE a o EAA E TI EE EAA RST 107 P 0 0146 Expand Trigger Address eekkNNEEEEKRNEEEENNEEEENN NEEN 107 P 0 0147 Expanded Signal K1 Address 108 P 0 0148 Expanded Signal K2 Address 108 P 0 0149 List of Valid Samples for Oscilloscope Function cccceceeeeeeeeeeeeeeeeeeeeeeetaeeennees 108 P 0 0150 Number of Valid Samples for Oscilloscope Function ccceeeeeseeeeeeeeeeeteeeeneeeetaees 109 P 0 0153 Optimal Distance Home Switch Reference Mark 109 P20 0200 Signal Select Erobech oeieienegidesgiegdekdetdeeRede e ee EEANN ARNE E ENE ANEAN AARRE TA 110 P 0 0201 Signal select probe 3 1114 P 0 0202 Difference Probe Vales 1 111 P 0 0203 Difference Probe Values 2 111 P 0 0400 Pos corr Correction Value Evtemmal 112 P 0 0401 Pos corr Correction Value Active cccccccccccccccccc
428. rs The following parameters are used to monitor the motor temperature S 0 0201 Motor Warning Temperature S 0 0204 Motor Switch Off Temperature For MDD and MKD motors the parameter default values are S 0 0201 Motor Warning Temperature 140 0 C S 0 0204 Motor Switch Off Temperature 150 0 C Those default values can be used to help set the parameters for all other motor types However you must ensure that the switch off limit is not set higher than the maximum permissible temperature of the motor 5 2 Motor Configuration DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function The maximum input value for S 0 0201 Motor warning temperature is S 0 0204 Motor switch off temperature If the temperature of the motor exceeds the value in S 0 0201 Motor warning temperature the warning message E251 Motor overtemperature warning is generated If the temperature rises to the motor switch off temperature the error message F219 Motor Overtemperature Shutdown is displayed The minimum input value for S 0 0204 Motor switch off temperature is S 0 0201 Motor warning temperature To display the motor temperature the parameter S 0 0383 Motor temperature is used The drive controller checks for proper functioning of the motor temperature monitoring system If discrepancies occur temperature drops below 10 degrees the warning E221 Warning motor temperature control will be displayed for 10 seconds Af
429. rvo Function The homing motion direction has to be set to be able to find the positive edge Command value profile Zero switch r Beginning direction Fig 7 38 Correct setting of the movement direction If the homing direction setting is incorrect the drive command value then generates away from the positive zero switch edge Here the danger exists that the drive may reach the travel range limits This may result in damages to the system ge Command value profile Zero switch mg Beginning direction Fig 7 39 Incorrectly set movement direction Command value profile with actuated zero switch at the start of the command If the zero switch is actuated at the command start the drive generates set values in the opposite movement direction to remove from the zero switch If the zero switch detects a 1 0 edge the drive reverses its directional motion and continues the procedure without acknowledging the start point in the non active zero switch range Zero switch Command Ki en Time value profile Starting o tere g point i cf Beginning direction Fig 7 40 Command value at the start position of the zero switch DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Basic Drive Functions 7 55 DIAX03 Drive With Servo Function Oe Ga abe asl Monitoring the Distance Between Zero Switch and Homing Mark If the distance becomes too small between the zero switch edge and the homing mark then
430. s ID number P 0 0511 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit A Combination check no Decimal places 3 Cyc transmittable no Input min max 0 500 000 Description This value is available for all measuring systems with feedback data memory It describes important properties of the measuring system in addition to encoder resolution The coding of the parameter is set by the manufacturer of the drive or encoder 118 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function The parameter cannot be written to read only and serves merely to provide information about the contacted feedback Measurement systems with feedback data memory are contacted via the following encoder interfaces e 1 Standard e 4 DFF1 e 8 DAG2 P 0 0513 Attributes ID number P 0 0513 Editability no Function Parameter Memory Feedb Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0514 Absolute Encoder Offset Description This parameter is used for position initialization of absolute encoders that contain feedback data memory and are not defined as modulo axes P 0 0514 cannot be written to read only P 0 0514 Attributes ID number
431. s Monitoring the allowable travel range 7 28 Axis Limit Values 7 30 Axis Limit Values Activation 7 31 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 DIAX03 Drive With Servo Function B Best Possible Deceleration as torque disable 7 35 as velocity command value decelerated to zero 7 34 Drive Error Reaction 3 4 SERCOS Interface Error 4 8 Setting the Drive Reaction 7 33 velocity command value set to zero with filter ramp slope 7 36 Bipolar Velocity Limit Limiting the Command Value 6 2 Bipolar Velocity Limit Value Limiting Velocity 7 27 Monitoring of the actual velocity in the torque force control 6 1 Brake Switch to torque disable 7 35 with velocity command value set to zero 7 34 C Channels Max Input Range 8 3 Checking the Thermal Load 7 25 Class 1 Diagnostics 3 9 7 37 8 32 Class 2 and 3 Diagnostic Change Bits in the Drive Status Word 3 10 Class Diagnostics Class 1 Diagnostics 3 9 Class 2 Diagnostics 3 9 Class 3 Diagnostics 3 10 Manufacturer Class 3 Diagnostics 3 11 Mask Class 2 Diagnostics 3 10 Mask Class 3 Diagnostics 3 10 Reset Class 1 Diagnostics 3 4 Clearing Errors 3 4 Clearing Errors When Controller Enable Is Set 3 4 Command Input and Acknowledgment 3 5 Command Types 3 5 Command value profile with actuated zero switch at the start of the command 7 55 Commands Change Bit Command 3 6 Command Input and Acknowledgment 3 5 Command Types 3 5 Drive Controlled Homing Command 7 49 Load
432. s 7 10 Setting the Encoder Interface 7 10 Diagnostic Message 3 8 Composition of the Diagnostic Message 3 8 Diagnostic Message Display 3 7 Diagnostic Number 3 8 Diagnostic Message Number 3 8 Diagnostic Messages Diagnostic of the Interface Condition 4 8 Digital Input Output Associated Parameters 8 4 DEA Input gt IDN 8 7 1 Pal RO a DEA Module Connector Assignment 8 5 IDN gt DEA Output 8 6 Number of Inputs and Outputs 8 4 Disable Torque 7 35 Display Format of the Acceleration Data 7 5 of the Position Data 7 3 of the Velocity Data 7 4 DLF Module Limiting Conditions 7 10 Setting the Encoder Interface 7 10 DRF Module Limiting Conditions 7 10 DRF 1 Module Connector Assignment 8 4 Input Gain During Analog Inputs 8 4 Drive Halt Associated Parameters 7 48 Functional Principle 7 48 Drive Internal Interpolation Associated Parameters 6 7 Block Diagram 6 7 Diagnostic Messages 6 7 Drive Status Word Structure 4 3 Drive Controlled Homing 7 52 Drive s Error Response 3 4 DSS 2 1 Module Connection of the Emergency Stop Input 7 Drive Address 4 5 Transmission Rate 4 6 DSS 2 1 Module Probe 8 18 Travel Zone End Switch 7 29 Zero Switch 7 58 DZF Module Limiting Conditions 7 10 Setting the Encoder Interface 7 10 E Emergency Stop Connection to the DSS 2 1 7 38 Emergency Stop Activation and Polarity 7 37 EnDat Interface Parameterizing the Encoder 7 10 Error Cancel Error 3 4 Drive Error Reaction 3 4 Error Counter
433. s also being used e The DAG 1 2 contains a switch that allows the interface to be changed to an SSI interface 7 or an EnDat interface 8 Make sure that the switch is set correctly e f attempting to evaluate an external encoder with an SSI interface only measurement systems with a resolution of 4096 Incr Rev and absolute resolution can be used If the position loop is closed via this measurement system only a limited dynamic can be achieved because of the serial transmission from the feedback to the controller e Only the standard module DLF DZF or DAG 1 2 can be used to analyze a motor encoder e tis not possible to use a resolver as an external measurement system Motor Encoder The following parameters e P 0 0074 Motor Encoder Interface e 0 0116 Resolution of Rotational Feedback 1 Motor Encoder e 0 0277 Position Feedback Type Parameter 1 are used to parameterize the motor feedback These specify the interface number to which the measurement system is connected the motor feedback resolution as well as the direction of movement etc The parameter S 0 0051 Actual Feedback Value 1 displays the position of the motor feedback DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 11 DIAX03 Drive With Servo Function Oe ale a Determining the Feedback Interface of the Motor Feedback Determining the encoder interface of the motor encoder occurs with the parameter P 0 0074 Motor Encoder Inter
434. s only possible in communications phases lt 4 Remedy 1 Set communications phase back 2 Retry command C501 Attributes SS Display C5 01 Diagnostic message number C50 44 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function C600 Drive Controlled Homing Procedure Command Command _ S 0 0148 Drive controlled homing procedure was activated by the control system in use See also the functional description Drive controlled homing C600 Attributes SS Display C6 00 Diagnostic message number C600 C601 Homing Not Possible if Drive is Not Enabled Cause The command was started without control enable being turned on This is not permissible Remedy 1 Turn the controller enable on 2 Start the command again See also the functional description Possible error messages during drive controlled homing C601 Attributes SS Display C6 01 Diagnostic message number C601 C602 Distance Homing Switch Reference Mark Erroneous Cause Evaluation of the zero switch is turned on The distance between the positive off switch transition and the reference mark to be evaluated is outside the permissible range Remedy Transfer the value in parameter S 0 0298 Shift reference cam by to parameter S 0 0299 Home switch offset See also the functional description Connection and configuration of the zero switch C602 Attributes SS D
435. s parameter is set motor specifically by Indramat See also the functional description Asynchronous motors P 0 4012 Attributes ID number P 0 4012 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Hz 100A Combination check no Decimal places 2 Cyc transmittable no Input min max 1 5000 P 0 4014 Motor Type Description The motor type can be selected with this parameter e 1 MDD e 2 2AD 1MB e 3 LSF e 4 LAR LAF e D MKD See also the functional description Setting the motor type with P 0 4014 Motor type DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 127 DIAX03 Drive With Servo Function ODS aa es P 0 4014 Attributes ID number P 0 4014 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 1 5 P 0 4015 Circle Voltage Description The DC bus voltage is stored in the amplifier as a parameter The parameter cannot be edited and can be used only for display and internal calculations P 0 4015 Attributes ID number P 0 4015 Editability no Function Parameter Memory Amplf Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit V Combination check
436. s parameter will be activated in the drive if e The primary mode of operation is selected in the master control word bits 8 and 9 00 e The control and power sections are ready for operation e The controller enable RF is set The operating mode can be selected by entering a bit list Specific positions are defined in the bit list In bit 3 you can choose between working with position control without following lag error or with following error The following applies Bit3 0 position control with following error Bit 3 1 position control without following error Bit list Meaning Torque control Velocity control Position control with encoder 1 Position control with encoder 2 Drive controlled interpolation encoder 1 Drive controlled interpolation encoder 2 Fig 2 7 Bit list S 0 0032 See also the functional description Setting operating parameters S 0 0032 Attributes ID number S 0 0032 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format BIN Extreme value check no Unit Combination check yes Decimal places 0 Cyc transmittable no Input min max E Na S 0 0033 Secondary Operating Mode 1 Description The mode of operation defined in this parameter will be activated in the drive if e The primary mode of operation is selected in the master control word bits 8 and 9 01 e The control and power sections are ready for operat
437. s with heart pacemakers metal implants and hearing aids WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment Persons with pacemakers and metal implants are not permitted to have access to the following areas Areas in which electrical equipment and parts are mounted operating or are being commissioned Areas in which parts of motors with permanent magnets are being stored repaired or mounted gt H it is necessary for a person wearing a heart pacemaker to enter into such an area then a physician must be consulted prior to doing so Persons with metal implants or hearing aids must take care prior to entering into areas described above It is assumed that metal implants or hearing aids will be affected by such areas and a physician must be consulted prior to doing so DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Safety Instructions for Electrical Drives 2 7 DIAX03 Drive With Servo Function OD a ay 2 6 Protection during handling and installation All INDRAMAT products should be handled and assembled according to the instructions in the documentation CAUTION Risk of injury due to incorrect handling Bodily injury caused by crushing shearing cutting and thrusting movements Observe installation instructions and safety regulations before handling and working on the product Use suitable installation in using
438. se3 the operating data is checked in the Communications phase A transition check command Extreme value check no the operating data is not checked for its extreme values when it is written to yes the operating data is checked for its extreme values when it is written to Combination check no the operating data is not checked bitwise for a valid combination with other parameter values when it is written to yes The operating data is checked bitwise for a valid combination with other parameter values when it is written to Cyc transmittable no The operating data cannot be configured as cyclical data in the master data telegram or in the drive telegram AT The operating data can be configured as cyclical data in the drive telegram MDT The operating data can be configured as cyclical data in the master data telegram 2 General Information DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function 2 Standard Parameters S 0 0001 NC Cycle Time TNcyc Description The NC cycle time indicates the time intervals between new command values being made available by the NC The NC cycle time must be transmitted in communications phase 2 from the master to the slave from communications phase 3 on it must be considered in the slave The NC cycle time must be an integral multiple of S 0 0002 SERCOS cycle time TScyc TNeyc Tscyc j where j Sc KK Ve See also the functional
439. sic Drive Functions 7 1 7 1 Physical Values Display Format 7 1 Adjustable Scaling for Position Velocity and Acceleration Data 7 1 Il Contents DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 INDRAMAL DIAX03 Drive With Servo Function Display Format of Position Data 7 3 Velocity Data Display Format ce ccccceeeceeeeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeseeeaeeeeeeaaeeeseeaaeeeseeaaeeeenaeeeenaaes 7 4 Acceleration Data Display Fomat 7 5 Command Polarities and Actual Value PolaritieS c cccccceceeeceeeeeceeeeeeaeeeeaeeseeeeeseaeeseaeeeeeeeees 7 6 Mechanical Transmission Elements AAA 7 7 Oe Hl BEE 7 8 7 2 Setting the Measurement System cccceeeeeceeeeeeeeeeeeeaeeeeneeeeeeeeseaeeesaaeeeeeeeseaeeseaaeeeeaeeseeeeeseaeeeeeeneeee 7 10 Limiting Conditions for Encoder Evaluation ccccccccceeeeeeeeceeeeeceeeeeseaeeeeneeseeeeeseaeeesaeeseneeenaees 7 11 MOOT ue Le EE 7 11 GENEE EE 7 13 Actual Feedback Values of Non Absolute Measurement Systems After Initialization 7 17 7 3 Other Settings for Absolute Measurement Gystems nenn 7 17 Set Absolute Meaeuring eserini dairunidaodaia danaa daioni eniad a idiac edn aai aa idurian dadd reai 7 18 Absolute Encoder Monitoring A 7 21 Modulo Analysis of Absolute Measurement Systems sseesseeseesseeneeenetenrsenr tennen retn nstnnsen nees 7 21 Actual Feedback Values of Absolute Measurement Systems After Initialization 006 7 21 HA Drive ul ET 7 22 C rrent LM ce
440. sneeeessieeeenees 66 9 0 0349 Jerk Limit Bipola eia ae ranna aaa aaraa aaa a an aAa ana aa aa Aaa EARE a AAE Aa liste ees 67 S 0 0382 DC BUS Power 67 S 0 0383 Motor Temperature 67 S 0 0390 Diagnostic Message Number 68 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Contents III DIAX03 Drive With Servo Function Oe ale a S 0 0391 External Encoder Monitoring Window 0 c ccccsceceeeeeeeeeeeeeaeeeeaeeseeeeesaeeeseaeeseneeseneeeas 68 S 0 0392 Velocity Feedback Value Filter Time Dase nenne 69 S 0 0393 Command Value Mode for Modulo Fomat 69 S 0 0400 Home SWitCh cc ce ecccccccecsnececesnneeeeeeaeeeeeesaeeeseeaeeeesesaeeesecaeeeeccaeeseceaeeeeseaeeessnaeeseneaas 70 9 0 0401 Prope EE 70 9 0 0402 Probe EE 71 S 0 0403 Position Feedback Value Status 0 cecccccceeeeeeeeeeeeeeeeeeeeaeeeeeaeeeeeeeseeeesaeeeeaaeseeeeeeeaeees 71 9 0 0405 Probe E EE 72 S 0 0406 Probe 2 Enable teeren nennen 72 S 0 0409 Probe 1 Positive Latched nesta nnnttn anattar annt tn nnet nn nnne nn nenene 73 S 0 0410 Probe 1 Negative Latched nenene 74 S 0 0411 Probe 2 Positive Latched risiini enin ianuas Aa AES AAA EANET EA NAESER eTEN 74 S 0 0412 Probe 2 Negative Latched c ccccseeeeececeeeeeeeeeeeeeaeeeeee sents caaeeeeaaeeeeeeeseaeeesaeeeeaeeteeeeess 75 3 Product specific parameters 77 P 0 0004 Smoothing Time Constant 77 P 0 0008 Activation of E Stop Function cccceceeeeeceneeeeeaeeeeeeeceeeeeceaeeeeaaeeeeeeeseeeeesaeeeeees
441. ss 3 Diagnostics Refer to the Phase Synchronization Chapter for more information about bit 8 IN SYNCHRONIZATION and bit 9 Synchronization Completed DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 General Instructions for Installation 3 11 DIAX03 Drive With Servo Function Vr CRE 3 3 Parameter Mode Operation Mode After the drive is turned on it does not automatically switch to the The SE GEN sets the operating mode The drive is put through a series of checks before the COmMUMCANON Piases SERCOS control can switch the drive into operation mode including parameter mode Switching the drive to the operating mode is dependent on making the SERCOS INTERFACE system ready to operate This must occur in steps and is controlled by the master control by entering the communication phase 0 through 4 and starting ending the commands S 0 0127 C1 Communication Phase 3 Transition Check and S 0 0128 C2 Communication Phase A Transition Check If the drive reaches phase 4 without errors bb will appear on the H1 display The diagnostic message is A013 Ready for Power ON Operating mode Communication phase 4 Prepare to switch phase 3 after 4 command Communication phase 3 Prepare to switch phase 2 after 3 command Parameter Communication phase 2 mode Communication phase 1 Communication phase 0 a a i ee Fig 3 14 Communication Phases Communication between the SERCOS control and the drive is not
442. ss or chip cutter machines Feed drive on following separation device High proportional gain no Kp 0 8 x Kpcrit Tn 0 l part to achieve shorter transient periods Kp 0 5 x Kpcrit Tn 0 relatively undynamic control setting without part to avoid structural tension between the part and the machine Fig 7 25 Identification of Velocity Controller Settings See also Supplement B Diagnostic Explanations F878 Velocity Coniroller Error 7 42 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function Setting the position controller The position controller can be set with the parameter e 0 0104 Position Controller Kv Factor This can be set by either executing the load default settings procedure once or by following the process below Preparations for Setting the Position Control Loop A number of preparations must be made in order to be able to set the position controller e The mechanical system must be set up in its final form in order to have original conditions while setting the parameters e The drive controller must be properly connected as described in the user manual e The safety limit switches must be checked for correct operation if available e The position control operating mode must be selected in the drive e The velocity controller must be properly tuned The beginning value selected for the K factor should be relative
443. ssinssrrssrnnssrnnsrnnsrnnsnnnnnsstn nnen nnnn nnna 59 S 0 0204 Motor Shutdown Temperature 59 9 0 0258 Target POSHO oaren Ri e AAAA E R Eain AAAA REELE A EAERI EAA AREE EERTE KARRAR HAARAAN 59 S 0 0259 Positioning Velocty nesr nosnssensstnsstnsstnsstesstnnstnsstenstensnenstnnntnnstnnntnnntnnntnnnnt 60 S 0 0260 Positioning Acceleration sesssessseessessseessesssesssnttntrtntttnnennetnnetnnnennntnnnennsnnnnnnsennnnns 60 S 0 0262 Command Basic LOA cccccsccccesseceeeeeeeeceeeaeeeceeeaeeesseaaeeesecsaeeeseceaeeeesesaeeesseqaeeeeneaas 60 5 0 0265 Language Selection siniese Dee ege edd daer teat 61 0 0267 E EE 61 S 0 0269 Parameter Buffer Mode s nssssnnanssnnnssernnnnttnrrnstnnnnnttntnnsttn rnnt tnnnnnttn annern anant rnant ennnen 62 S 0 0277 Position Feedback 1 Type Parameier 62 S 0 0298 Reference Cam Shifting ccccecceceeeeeeeeeeeeeeeeeeeseeeeeceaeeecaaeeeaaeseeeeeeeeeesaeeseaaeseeeeesaas 63 5 0 0299 Home Switch Ofteet easier anihia anaE EE AEKA N E OEA EANNA NARA PAAA RAAEN AEE 63 S 0 0301 Allocation of Real Time Control DT 64 S 0 0303 Allocation of Real Time Control Bit 2 64 S 0 0305 Allocation of Real Time Status Dn 65 S 0 0307 Allocation of Real Time Status Dn 65 S 0 0347 Velocity Loop Deviation ceccccccceceeeeeceeeee cee eeceaeeeeaeeseeeeeceaeeesaaeseceeeseeeseaeeeeaeeseneeeeaes 65 S 0 0348 Proportional Gain Acceleration Feed Forward cccccccccccssccecessnececessneeeees
444. t Cycl Rev or inch depends on S 0 0115 bit 5 Combination check no Decimal places Se Cyc transmittable no Input min max S 0 0121 Input Revolutions of Load Gear Description A mechanical gear is often used between the motor and the load The gear ratio is defined by Transmission input S 0 0121 Transmission output S 0 0122 Fig 2 21 Gear ratio Example 5 motor revolutions result in 2 gear output revolutions gt S 0 0121 5 S 0 0122 2 See also the functional description Transmission ratio DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 41 DIAX03 Drive With Servo Function S 0 0121 Attributes ID number Function Data length Format Unit Decimal places Input min max Description S 0 0121 Parameter 4 bytes DEC_OV 0 1 0xFFFFFFFF S 0 0122 Output Revolutions of Load Gear Editability Memory Validity check Extreme value check Combination check Cyc transmittable OD a a P23 Param E2prom Phase 3 yes no no A mechanical gear is often used between the motor and the load The gear ratio is defined by Transmission input S 0 0121 Transmission output S 0 0122 Fig 2 22 Gear ratio Example 5 motor revolutions result in 2 gear output revolutions gt S 0 0121 5 S 0 0122 2 See also the functional description Transmission ratio S 0 0122 Attributes ID number S 0 0122 Editability P23 Function
445. t 1 e P 0 0082 Parallel UO Input 1 e P 0 0110 Parallel UO Output 2 e P 0 0111 Parallel UO Input 2 e P 0 0112 Parallel UO Output 3 e P 0 0113 Parallel I O Input 3 e P 0 0124 Assignment IDN gt DEA Output e P 0 0125 Assignment DEA Input gt IDN 8 4 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR Cx EEO an DIAX03 Drive With Servo Function It is also possible to assign a DEA output or DEA input to the current value of a parameter Digital I O Functional Principle The parameters parallel input and parallel output can be configured cyclically The 15 binary inputs and 16 binary outputs are mapped on two parameters parallel input and parallel output Two parameters are available for each DEA The following assignment applies Parameter for Parameter for DEA Module Input Output DEA 4 1 P 0 0082 P 0 0081 DEA 5 1 P 0 0111 P 0 0110 DEA 6 1 P 0 0113 P 0 0112 Fig 8 7 Digital Input Output Assigned Parameters By reading the parameter parallel input you can obtain an image of all 15 binary inputs of a DEA By writing the parameter parallel output all 16 binary outputs are updated The assignment of individual binary inputs and outputs to the bit numbers of the corresponding parameters is divided as follows Pin No Input Bit No in the Parameter Pin No Output 0 LSB e Ww Ph Er w 1 ch a 1 a Oo CO N O N Ola a loj
446. t Velocity Command Value to Zero reaction and automatic reset when the error conditions are no longer present This is set in bit 2 of P 0 0090 Travel Zone End Switch Parameter Bit 0 Negation 0 E2 3 not inverted 24V gt travel range exceeded 1 E2 3 inverted OV gt travel range is exceeded L Bit 1 Activation 0 Travel range switch is not active 1 Travel range switch is active L Bit 2 Response 0 Exceeded travel range is handled as error 1 Exceeded travel range is handled as warning Fig 7 6 Setting the drive reaction to the travel range being exceeded bit 2 Note It is not possible to bring the axis to a standstill when using a command ramp slope over P 0 1201 Ramp 1 pitch velocity ramp 1 Best possible standstill 2 The standstill always occurs with the maximum allowable torque force See P 0 4046 Active Peak Current Exceeding the Travel Range as an Error If a 0 is entered in bit 2 of P O 0090 then exceeding the travel range as an error is handled with the reaction of the velocity command value being set to zero See also Velocity Command Value Set to Zero After the velocity command value has been set to zero the drive turns off the internal controller enable and becomes torque free The ready to operate contact opens For re installation e clear the error with the command S 0 0099 Reset Class 1 Diagnostics or press the S1 button e reactivate the drive with the 0 1
447. t min max P 0 0126 Maximum Braking Time Description The maximum braking time for the drive is set in this parameter The value should always be set higher then the time needed considering the maximum possible velocity to decelerate the shaft using velocity command value zero switching The velocity command value is switched to zero if P 0 0119 Deceleration as best as possible is set to 0 and either e The controller enable RF is removed e The drive is switched to Set parameter mode with RF switched on e A drive error is recognized that still allows a reaction from the drive all non fatal errors e Inthe case of separately supplied devices DDS a drive connected to the same supply module reports an error to that module so that the intermediate voltage is switched off See also the functional description Velocity command value zero switch DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 105 DIAX03 Drive With Servo Function OL aa es P 0 0126 Attributes ID number P 0 0126 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit ms Combination check no Decimal places 0 Cyc transmittable no Input min max 500 100000 P 0 0127 Overload Warning Description To protect the final stage the temperature is calculated with a temperature model for the transistor final s
448. tage If the temperature exceeds 125 C then the torque producing command current will be limited To avoid an unexpected disruption of the torque from the drive a warning threshold can be set in this parameter If the thermal load rises above the set value warning E2 58 Continuous current limitation early warning will be generated If 100 is entered this warning will be deactivated since then the message E2 57 Continuous current limitation active will be generated See also the functional description Monitoring the thermal load P 0 0127 Attributes ID number P 0 0127 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 100 P 0 0141 Thermal Drive Load See the feature description Checking the thermal load P 0 0141 Attributes ID number P 0 0141 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit Percent Combination check no Decimal places 0 Cyc transmittable no Input min max 0 100 0 106 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function P 0 0145 Expand Trigger Edge For service purposes only Description If bit 12 Expanded trigger level is selected using parameter P
449. ted in Homing Parameter Bit 3 Reversal error correction A slack in the axis mechanism can be corrected easily with the reversal error correction Play between the tooth surfaces causes slack in the transmissio n of rotational motion MB5001d1 drw Fig 8 30 Diagram of slack in gear The feature can be activated by inputing the slack in the parameter S 0 0058 Reversal play The actual feedback value 1 S 0 0051 Actual DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 8 21 DIAX03 Drive With Servo Function Oe Goals al Feedback Value 1 is corrected with the parameterized correction value while taking into account the current command velocity S 0 0036 Velocity Command Value The following applies For v command gt standstill window S x 0124 x1 actual feedback x1 actual feedback For v command lt standstill window S x 0124 x1 actual feedback x1 actual feedback correction value x1 actual feedback actual feedback value 1 Fig 8 31 Influence of the actual feedback value during reversal error correction S 0 0051 Actual feedback value 1 Ga Se EE S 0 0058 Reversal clearance S 0 0036 Velocity command 0 1 value Eg S 0 0124 Standstill window o Abb 8 32 Reversal error correction Note The actual feedback value of the motor encoder is corrected during reversal error correction Ascertaining the Rev
450. tents of memory address 80 Controller type 47 Correction value active 112 Correction value external 112 Current amplify trim phase U 126 Current amplify trim phase V 126 Current controller 1 integral action time 37 Current zero trim phase U 125 Current zero trim phase V 125 Custom amplifier telegram configuration list 11 D DC bus power 67 Deceleration as best as possible 102 Delay from trigger to start 88 Diagnostic message 32 Diagnostic message number 68 Difference probe values 1 111 Difference probe values 2 111 Drive status word 46 E Error message number 78 Excessive position command 78 Expand trigger address 107 Expand trigger edge 107 Expanded signal K1 address 108 Expanded signal K2 address 108 External encoder monitoring window 68 F Factor for position independence 115 Feed constant 42 Feedback Acquisition Starting Time T4 5 Feedbacktyp 118 Index 4 1 DIAX03 Drive With Servo Function Feedrate override 38 Flux loop integral action time 122 Flux loop proportional gain 122 Following error 58 Friction compensation 51 H Home switch 70 Home switch offset 63 Homing acceleration 19 Homing parameter 48 Homing velocity 18 I IDN list of all operation data 12 IDN list of backup operation data 58 IDN list of invalid op data for comm ph 2 12 IDN list of invalid op data for comm ph 3 12 Impulse wire feedback offset 128 Impulse wire feedback PIC counter value 128
451. ter parameter or the bleeder capacity can be increased by adding an additional bleeder The drive can be used again after the bleeder has cooled down F820 Attributes SS Display F8 20 Error number 820 Diagnostic message number F820 Error class Fatal F822 Motor Encoder Failure Signals Too Small The analog signals of an external measurement system are used for high resolution analysis of that measurement system These are monitored according to two criteria 1 The pointer length which is calculated from the sine and cosine ignals must be at least 1 V 2 The maximum pointer length resulting from the sine and cosine ignals must not exceed 11 8 V Note The error cannot be cleared in communications phase 4 Before clearing the error switch to communications phase 2 Remedy e Check the measurement system cable e Lay the feedback cable well away from the motor power cable The cover must be placed over the drive controller see drive controller project specifications e Check the measurement system and exchange if necessary DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 17 DIAX03 Drive With Servo Function F822 Attributes OLS aa es SS Display F8 22 Error number 822 Diagnostic message number F822 Error class Fatal F827 Drive Interlock While Drive Activated Cause The drive interlock was activated while controller enable was set The drive controller sw
452. ter that the error message F221 Error motor temperature control is generated Load Default Feature MDD and MKD motors have a data memory in their feedbacks The data memory contains a set of default control parameters in addition to all motor dependent parameters These parameters are activated with the load default feature see also Load Default feature 5 2 Setting the Motor Type The setting of the motor type is done either e automatically by reading the motor feedback memory or e through the input of the parameter P 0 4014 Motor type This depends on the motor type used The motor type should be set before start up because the motor type affects the following drive functions e Motor temperature monitor e Load default feature e Setting of the motor parameters e Commutation Automatic Setting of the Motor Type for Motors with Feedback Memory MDD and MKD motors have a motor feedback data memory in which the motor type is stored along with other information The drive controller recognizes these motor types automatically and e the value of the parameter P 0 4014 Motor type is set to its proper value and will be write protected e the value of the parameter P 0 0074 Motor encoder interface is set to the defined value for the corresponding motor type and will be write protected DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Motor Configuration 5 3 DIAX03 Drive With Servo Function Oe ale vay e all bits except b
453. termined by parameter P 0 0127 Overload warning To deactivate the warning enter P 0 0127 100 into the parameter Cause The drive controller was overloaded Remedy 1 Check the drive layout 2 Reduce acceleration 3 Increase the switching threshold in parameter P 0 0127 Overload warning 4 With systems which have been used for longer periods of time check to see if drive controller conditions have changed in regards to Friction Components which have been moved Feed during processing See also the functional description Monitoring the thermal load DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 27 DIAX03 Drive With Servo Function Oe aL ay E261 Attributes SS Display E2 61 Diagnostic message number E261 Warning class Non fatal E263 Velocity Command Value S 0 0036 Greater Than Bipolar Limit Cause The value given to the drive for S 0 0036 Velocity command value was greater than permissible Remedy It is limited to S 0 001 Bipolar velocity limit value See also the functional description Velocity control E263 Attributes SS Display E2 63 Diagnostic message number E263 Warning class Non fatal E410 Slave Not Scanned or Address 0 While the SERCOS ring is being initialized in communications phase 1 each slave which is to participate in the additional phase uptake must be addressed by the SERCOS master Slaves which are not addressed or whic
454. ternal encoder The external encoder feedback should always be parameterized such that S 0 0053 Actual Feedback Value 2 and S 0 0051 Actual Feedback Value 1 run parallel if they are moved with the measurement system connected to the machine s mechanical system Determining the Encoder Interface of the External Encoder The encoder interface of the external encoder is determined with the parameter P 0 0075 External Encoder Interface Enter the number of DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Basic Drive Functions 7 13 DIAX03 Drive With Servo Function Oe ale ay the module to which the external encoder is connected here The following measurement systems and modules for analyzing an external encoder are allowed Feedback System Module Number digital servo feedback Standard 1 Incremental encoder with sine signals DLF 2 from the Heidenhain Company with either uA or 1V signals gear type encoder DZF 3 digital servo feedback from the DFF 4 Heidenhain or Stegmann companies Incremental encoder with square wave DEF 1 5 signals from the Heidenhain company Incremental encoder with square wave DEF 2 signals from the Heidenhain company Encoder with SSI interface DAG 1 2 7 Encoder with EnDat interface DAG 1 2 8 Fig 7 18 Encoder interface of the external encoder If a 0 is entered for the module number the encoder analysis of the external encoder is switched off Do not use an encoder
455. ternal encoder is not rigid for example there is play in the transmission Defective encoder cable 5 The module DLF or DEF for evaluating the external measuring system is defective 6 The maximum input frequency of the encoder interface has been exceeded 7 External encoder not attached to the axis which is being controlled Remedy For 1 Check S 0 0115 Position feedback 2 type parameter and S 0 0117 Resolution of rotational feedback 2 For 2 Check S 0 0121 S 0 0122 Load gear input and output revolutions and S 0 0123 Feed constant For 3 Enlarge S 0 0391 External encoder monitoring window For 4 Exchange the encoder cable For5 Exchange the module for evaluating the external measurement system For 6 Reduce velocity For 7 Set S 0 0391 External encoder monitoring window to 0 turn off monitoring See also the functional description Actual feedback value monitoring F236 Attributes SS Display F2 36 Error number 236 Diagnostic message number F236 Error class Non fatal 6 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR CX EEO an DIAX03 Drive With Servo Function F237 Excessive Position Command Value Difference F242 External Encoder F245 External Encoder Cause When the drive is operating in position control position command values which come via the SERCOS interface are monitored If the velocity required of the drive by two succ
456. the Homing velocity S 0 0042 as long as it is in operating status AF Bit 0 in S 0 0403 Position feedback value status will be deleted As long as the command is inactive changes in the cyclic position command values will be ignored The process for the homing procedure can be specified with S 0 0147 Homing parameter After the command has been properly executed drive is at standstill and position feedback value is related to the homing position the drive sets bit O 1 in parameter S 0 0403 Position feedback value status End command The control system reads S 0 0047 Position command value via the service channel and sets its position command to this value The control system finally erases the command and the drive follows the cyclical position command value again See also the functional description Drive controlled homing S 0 0148 Attributes ID number S 0 0148 Editability P4 Function Command Memory no Data length 2 bytes Validity check no Format BIN Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 3 S 0 0149 d400 Positive Stop Drive Procedure Command Description When this command is set and enabled all controller monitoring which would otherwise result in an class 1 diagnostic error message when the drive is blocked by a positive stop will be turned off DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Paramet
457. the end of each error response in other words the power stage is switched off and the drive switches from an energized to a de energized state To reactivate the drive e clear the error e enter a 0 1 edge bit into the controller enable Note To reactivate the drive after an error has been detected not only must the error be cleared but a 0 1 edge bit of the controller enable signal must also follow This function differs from the DIAX 02 series drives Many areas are monitored in connection with operating modes and parameter settings A warning will be generated if a state is detected that allows proper operation for the time being but will eventually generate an error and thereby lead to a shutdown of the drive if this state continues Warning Classes Warnings can be separated into 2 classes They are differentiated by whether the drive executes an automatic reaction when the warning appears Diagnostic Warning Class Message Drive Response With drive response E8xx Drive stop Without drive response E2xx Fig 3 4 Division of the Warning Classes Warnings cannot be cleared externally 3 4 General Instructions for Installation DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ex EE an Commands Each command that is started must also be cleared DIAX03 Drive With Servo Function Commands are used to control complex functions in the drive For example the functions Drive Controlled
458. the functional description Analog inputs P 0 0115 Attributes ID number P 0 0115 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_MV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable AT Input min max 100 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function P 0 0116 Analog Input 2 Description Two differential inputs are available to acquire measurement values in drive controller devices equipped with the additional plug in module Analog signal interface DRF type The voltage for the differential input is converted with a 12 bit resolution and prepared in parameters P 0 0115 Analog input 1 and P 0 0116 Analog input 2 Note the following assignment Input voltage gt 10V OV lt 10V Fig 3 20 Assignment table Value 2047 0 2048 These values are valid for the input amplification 1 For higher input amplifications 2 4 or 10 the voltage values are reduced correspondingly See also the functional description Analog inputs P 0 0116 Attributes ID number P 0 0116 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_MV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable AT Input min max P 0 0117 NC Reaction in Erro
459. the functional description Travel Zone End Switch Monitoring E844 Attributes SS Display E8 44 Diagnostic message number E844 Warning class Fatal 30 Supplement B Diagnostic Message Description DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function 1 3 Command Diagnostic Messages C100 Communications Phase 3 Transition Check Cause Command S 0 0127 C1 Communications phase 3 transition check is activated See also the functional description S 0 0127 C1 transition procedure to communications phase 3 C100 Attributes SS Display C1 00 Diagnostic message number C100 C101 Invalid Communications Parameter S 0 0021 Cause Communications parameters which are needed to operate the drive in communication phase 3 are invalid Remedy A list of the invalid parameters can be seen in parameter S 0 0021 List of invalid op data for comm ph 2 The invalid parameters must be rewritten so they are correct See also the functional description S 0 0127 C1 communications phase 3 transition check C101 Attributes SS Display C1 01 Diagnostic message number C101 C102 Limit Error Communication Parameter S 0 0021 Cause Parameters which are used for the operation of the communications phase 3 have to be outside of their minimum or maximum input values or the entered value can not be processed Remedy The erroneous parameters are listed in S 0 0021 IDN List of Invalid O
460. the operating data of a parameter The LSB valence of the operating data is produced from these data The following illustration shows this with an example Operating S 0 0109 data 100 Unit A NK digits 3 Drive control Fig 7 1 Example for interpreting operating data in the drive The operating data of the parameter S 0 0109 is given the value 100 in the picture shown above When combined the unit A mps that belongs to this parameter and the number of decimal places produce the physical value 0 100 A Each parameter can therefore be called up with a unit and the number of decimal places The combination of these two criteria is united under the term scaling When interpreting operating data these must always be included in the analysis Units and number of decimal places are listed along with all other parameter attributes in Supplement A Parameter Description for each parameter Adjustable Scaling for Position Velocity and Acceleration Data The LSB valence of position velocity and acceleration data can be set by adjustable scaling The parameter scaling for position velocity and acceleration data can be adjusted It can be set by the user with scaling parameters It enables 1 the valence of this data to be made compatible for exchange between control system and control drive or in other words the data can be exchanged in the control system s internal format The control system will
461. time The value of the time axis for which the integral component is equal to the proportional component is described as integral action time Entering an input value of 0 msec will turn off the integral component See also the functional description Setting the velocity controller S 0 0101 Attributes ID number S 0 0101 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit ms Combination check no Decimal places 1 Cyc transmittable no Input min max 0 65535 DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 Supplement A Description of Parameters 35 DIAX03 Drive With Servo Function Oe aL a S 0 0103 Modulo Value Description When a modulo format is set parameter S 0 0076 Position data scaling type the modulo value determines with which numeric value the modulo calculation should be executed in the drive and in the control system See also parameter S 0 0393 Command value mode for modulo format See also the functional description Modulo feature S 0 0103 Attributes ID number S 0 0103 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max 0 S 0 0076 36 Supplement A Description of Parameters DOK DIAX03 SSE 01 VRS FKB1 EN e 09 96
462. tion 00 2 cece ee eene ee ee eete ee eee ae cette Aea ae eset eaaeee ee taaeeeeenaeeeeeeaeeeeneeea 7 48 7 9 Drive Controlled Homing nennt 7 49 Type and Configuration of Homing Marks in the Measurement Gvstem 7 50 Setting the Homing Parameter 7 50 Feature Procedure Drive Controlled Homing ccccceeeeeeeeneeeeeeeeceaeeeeeaeseeeeeseaeeesaaeeseneeseeeeeaas 7 51 Consideration of the Reference Offset 7 53 Evaluation of the Zero Gwtch nsen nna 7 54 Functions of the Control During Drive Controlled Homing esessssssesssessrssrresrissrresrissrresrssre 7 59 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Contents III DIAX03 Drive With Servo Function Possible Error Messages During Drive Controlled Homing 7 10 Language Selection cecccceccceceeeceeeaeeeeeeeeeeeeeceaeseeaaesseeeeeeeeseaeeesaeseeneeesaes 8 Optional Drive Features 8 1 Analog Output EE Analog Output of Preset Signals c cccccccecseeeeeseeceeeeeseeeesaeeeeneeenaees Bit and Byte Outputs of the Data Memonm Connector Assignment for Analog Output 8 2 Analog Inputsi i c 3cca8 ila dai aa N aAA Connector Assignment DEI 8 3 Digital Input Output eee ceeee cence eeeeeeeaeeeeeeee seas eeeaaeeeeeeeseaeeeseaeeesaaeeeeeeeeaas Digital UO Functional Prince Allocating ID Number Parallel IO 8 4 Oscilloscope Feature cccececeeeeeeeceeeeeeaeeeeeeeceeeeeeaeeeeaeeseeeeeseaeeesaeeeeeeseeeeees Main Functions of the Oscilloscope Feature
463. tion Velocity command value zero switch with filter and pitch P 0 1201 Attributes ID number P 0 1201 Editability no Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0160 Combination check no Decimal places S 0 0160 Cyc transmittable no Input min max 0 S 0 0160 P 0 1222 Command Value Smoothing Time Constant Description Parameter P 0 1222 Command value smoothing time constant works in Velocity control operating mode and in response to the error Velocity command value zero switch with slope and filter The time constant entered here is used in velocity control operating mode to pass the value in S 0 0036 Velocity command value which has been pitched by P 0 1201 Ramp 1 pitch through a deep pass filter 124 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function This serves to diminish surges in acceleration over the course of command values The resulting velocity command value results from the sum of the sloped and filtered value in S 0 0036 Velocity command value and the direct value in S 0 0037 Additive velocity command value When error response Velocity command value zero switch with pitch and filter is executed velocity proceeds from the current feedback velocity to 0 using the effective velocity command value with the delay specified
464. tion as read by the measurement system is formed If this difference is larger than the parameterized position window in parameter P 0 0097 Absolute Encoder Monitoring Window the error message F276 Absolute Encoder Error Deviation gt P 0 0097 is given The absolute encoder monitor is appropriate for the following applications e The motor is equipped with a holding brake e The drive mechanical system is self locking and cannot be moved manually Setting the Absolute Encoder Monitor The absolute encoder monitoring window must be set by the user Set the window according to how much the axis may move when it is turned off Assuming that the axis has a brake or is self locking 0 1 motor revolutions 36 in reference to the motor shaft can be entered for the parameter P 0 0097 Absolute Encoder Monitoring Window Deactivating the Absolute Encoder Monitor The absolute encoder monitor cannot be effectively used with axes that can or must be moved manually after being turned off The absolute encoder monitor should be turned off in situations such as this in order to prevent unnecessary error conditions The absolute encoder monitor can be turned off by writing 0 to P 0 0097 Modulo Analysis of Absolute Measurement Systems Modulo Feature Modulo Feature of Absolute Measurement Systems of the position data has been activated If both the motor encoder and the external encoder are absolute measurement systems only the one selecte
465. tion check no Decimal places 0 Cyc transmittable no Input min max 40 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function S 0 0116 Resolution of Rotational Feedback 1 Description Depending on parameter P 0 4014 Motor type rotary or linear motors the resolution of the motor encoder is indicated by S 0 0116 Resolution of Rotational Feedback 1 This value contains the number of cycles per motor revolution for rotational motors or the segment spacing per mm for linear motors See also the functional description Motor encoder resolution S 0 0116 Attributes ID number S 0 0116 Editability P23 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit Cycl Rev or inch depends on P 0 4014 Combination check no Decimal places Cyc transmittable no Input min max S 0 0117 Resolution of Rotational Feedback 2 Description The resolution of the external encoder contains the cycles per external encoder revolution for rotational encoders The segment spacing is given in mm for linear external encoders See also the functional description Resolution of the external encoder S 0 0117 Attributes ID number S 0 0117 Editability P23 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Uni
466. tive Description Parameter P 0 0401 Pos corr correction value active indicates the correction value used to correct the encoder defined with S 0 0147 Homing parameter It contains the sum of the correction values from the various correction functions See also the functional description Axis error correction P 0 0401 Attributes ID number P 0 0401 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0402 Pos corr Reference Temperature Description Parameter P 0 0402 Pos corr reference temperature is required for temperature dependent correction functions It defines the temperature reference point for determining the portion of the correction value that is temperature dependent 112 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO an DIAX03 Drive With Servo Function See also the functional description Axis error correction P 0 0402 Attributes ID number P 0 0402 Editability no Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_MV Extreme value check no Unit C Combination check no Decimal places 1 Cyc transmittable no Input min max 20 00 200 00 P 0 0403 Pos corr Reference Position for Tempera
467. tive position limit value 22 Number of pair of pols pole pair istance 80 Number of samples after trigger 87 Number of valid samples for oscilloscope function 109 O Optimal distance home switch reference mark 109 Output revolutions of load gear 42 Overload warning 106 P Parallel I O input 1 96 Parallel I O input 2 99 Parallel UO input 3 100 Parallel UO output 1 96 Parallel UO output 2 99 Parallel UO output 3 99 Parameter buffer mode 62 Password 61 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Pal CEO Mei Position command smoothing time constant 98 Position command value 21 Position data scaling type 26 Position feedback 1 type parameter 62 Position feedback 2 type parameter 40 Position feedback value 1 motor feedback 23 Position feedback value 2 ext feedback 23 Position feedback value status 71 Position loop KV factor closed loop control 37 Position polarity parameter 24 Position start value 80 Position window 25 Positioning acceleration 60 Positioning jerk 58 Positioning velocity 60 Positive position limit value 22 Positive stop drive procedure command 49 Power switch off in error situation 102 Primary mode of operation 15 Probe 1 70 Probe 1 enable 72 Probe 1 negative latched 74 Probe 1 positive latched 73 Probe 2 71 Probe 2 enable 72 Probe 2 negative latched 75 Probe 2 positive latched 74 Probe control parameter 53 Probe value 1 negative edge 44 Probe value 1 positiv
468. torque buildup is delayed by about 200ms during pre magnetizing because the air gap range can only increase slowly in relation to the rotor time constant By reducing the pre magnetizing scaling factor you can achieve a better synchronous operation in the one thousandth degree range This will reduce distorted torques which result from saturation effects in the motor and from unavoidable deviations from an ideal sine form To keep the torque linear in this case the slip factor must be increased in the same measure at which the pre magnetizing scaling factor was decreased Warning Torque constant continual torque and peak torque are reduced Example The synchronous operation should be improved in a servo drive The pre magnetizing scaling factor is set to 40 and the slip factor is set to 2 5 times of the original value The continual and peak torque decrease to approximately 40 The reference speed increases to 2 5 times the velocity S1 Operation Function By setting Bit 0 in the parameter Motor function parameter the function S1 Operation is activated Motor voltage simultaneous peak power max transverter voltage normal I I I I I I I S1 operation I I I I I I I S1 corner velocity nl Fig 5 7 Operating characteristics of the reference speed DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Motor Configuration 5 7 DIAX03 Drive With Servo Function Oe ale ay 5 4
469. tors Remedy The warning is automatically recalled by the drive controller when the DC bus voltage falls below 250V E202 Attributes SS Display E2 02 Diagnostic message number E202 Warning class Non fatal E219 Warning Drive Temperature Watch Defekt Temperature monitoring checks to see if the measured drive controller temperature is within reasonable bounds If it determines that it is lower than 10 C then it is assumed the measuring unit is defective Warning E219 Warning Drive temperature watch defekt will appear for 30 seconds Afterwards the drive will be brought to a standstill according to the selected error response and message F220 Error drive temperature control error will be generated Cause 1 Sensor not connected to the DRP3 circuit board 2 Broken cable in the drive controller or defective sensor Remedy Exchange or repair the drive controller E219 Attributes SS Display E2 19 Diagnostic message number E219 Warning class Non fatal DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Supplement B Diagnostic Message Description 23 DIAX03 Drive With Servo Function Oe aL a E221 Warning Motor Temperature Control Temperature monitoring checks to see if the measured motor temperature is within reasonable bounds If it determines that it is lower than 10 C then it is assumed the measuring unit is defective Warning E221 Warning motor temperature control will appear for 30 seconds Afterwards the drive c
470. tors then the blocking brake will be engaged immediately 100 milliseconds after the mechanical brake is set the motor is torque free 1 Switch to torque free state Velocity command value set to zero with command value slope and filter Fig 3 23 Deceleration mode for the drive See also the feature description Deceleration as best as possible P 0 0119 Attributes ID number P 0 0119 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 1 P 0 0121 Velocity Mixfactor Feedback1 amp Feedback2 Description The Velocity mixfactor parameter determines the relation of the velocity feedback values between the motor encoder and the external encoder The input is percentage based Note the following 0 0 The velocity controller works solely with the velocity of the motor encoder encoder 1 100 0 The velocity controller works solely with the velocity of the external encoder encoder 2 If no external encoder is available then the parameter will be set to 0 See also the functional description Setting the velocity mix factor P 0 0121 Attributes ID number P 0 0121 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes
471. tput 3 See also the functional description Digital input output P 0 0124 Attributes ID number P 0 0124 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 104 supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function P 0 0125 Assignment DEA Input gt IDN Description This parameter can be used to assign a DEA input to the value of a parameter The input status of the DEA is written in the corresponding parameter Bits 0 11 ID number of the assigned parameter Parameter structure Bit 12 14 0 Bit 15 0 S Parameter 1 P Parameter L Bits 16 19 DEA selection 4 DEA4 1 5 DEA5 1 6 DEA6 1 ee Fig 3 25 P 0 0125 Assignment DEA input gt ID number Note If a DEA is assigned an ID number using parameter P 0 0125 then the operating data of the assigned ID number will be cyclically overwritten by the DEA input See also the functional description Digital input output P 0 0125 Attributes ID number P 0 0125 Editability P234 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format HEX Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Inpu
472. ture Correction Description Parameter P 0 0403 Pos corr reference position for temperature correction defines the position at which the correction value for position dependent temperature correction is zero It can be determined by measurement of the axis Error actual feedback value T T1 _ T T2 Machine zero point Actual feedback ie value x Reference position x0 Fig 3 32 Definition of the reference position See also the functional description Axis error correction P 0 0403 Attributes ID number P 0 0403 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format DEC_MV Extreme value check yes Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0404 Pos corr Actual Temperature Position Dependent Description If position dependent correction has been selected parameter P 0 0404 Pos corr actual temperature position dependent defines the current temperature of the hardware to be corrected It must be transmitted to the drive by the control system See also the functional description Axis error correction DOK DIAX03 SSE 01VRS FKB1 EN 09 96 Supplement A Description of Parameters 113 DIAX03 Drive With Servo Function Oe aL a P 0 0404 Attributes ID number P 0 0404 Editability P234 Function Parameter Memory no Data length 2 bytes Validi
473. ty check Phase 3 Format DEC_MV Extreme value check no Unit C Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0405 Pos corr Aktual Temperature Position Independent Description If position independent correction has been selected parameter P 0 0405 Pos corr temperature position independence defines the current temperature of the hardware to be corrected It must be transmitted to the drive by the control system See also the functional description Axis error correction P 0 0405 Attributes ID number P 0 0405 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_MV Extreme value check yes Unit C Combination check no Decimal places 1 Cyc transmittable no Input min max 20 0 200 0 P 0 0406 Pos corr Temperature Position Dependent Description Parameter P 0 0406 Pos corr temperature position dependent defines the coefficient of linear expansion of the hardware to be corrected with a position dependent correction function It can be derived from standard reference tables or direct measurement See also the functional description Axis error correction P 0 0406 Attributes ID number P 0 0406 Editability P234no Function Parameter Memory Prog module Data length 2 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit 1 K Combination check no Decimal places 5 C
474. uency of the oscillation is substantially higher than 500Hz raise the P 0 0004 Smoothing Time Constant until the oscillation ends After this increase the S 0 0100 Velocity Control Proportional Gain until it becomes unstable again e Reduce the S 0 0100 Velocity loop proportional gain until the oscillation ends on its own The value found using this process is called the critical velocity loop proportional gain Determining the Critical Integral Action Time e Set S 0 0100 Velocity Loop Proportional Gain 0 5 x critical proportional gain e Lower S 0 0101 Velocity controller integral action time until unstable operating behavior results e Raise S 0 0101 Velocity controller integral action time until continuous oscillation stops The value found using this process is called the Critical Integral Action Time Determining the Velocity Controller Setting The critical value that is determined can be used to derive a control setting with the following features e Independent from changes to the axis since there is a large enough safety margin to the stability boundaries e Safe reproduction of the characteristics in production machines The following table shows many of the most frequently used application types and the corresponding control loop settings Velocity loop Integral Action Time Comments Good force allocation and Kp 0 5 x Kpcrit Tn 2 x Tncrit good responsiveness Feed shaft on forming pre
475. unctional description Generator function Drive controlled interpolation S 0 0193 Attributes ID number S 0 0193 Editability P234 Function Parameter Memory Param E2prom Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check yes Unit S 0 0160 Combination check no Decimal places S 0 0160 Cyc transmittable no Input min max S 0 0160 S 0 0160 58 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function S 0 0201 Motor Warning Temperature Description If the motor temperature exceeds the motor warning temperature then the motor warning high temperature bit will be set by the drive in S 0 0012 Class 2 diagnostics This parameter will be set by the drive at 140 for MDD and MKD motors See also the functional description Temperature monitoring S 0 0201 Attributes ID number S 0 0201 Editability P23 Function Parameter Memory Param E2prom Data length 2 bytes Validity check Phase 3 Format DEC_MV Extreme value check yes Unit Cc Combination check no Decimal places 1 Cyc transmittable no Input min max 45 155 S 0 0204 Motor Shutdown Temperature Description If the motor temperature exceeds the motor shutdown temperature then the motor overtemperature switch bit in S 0 0011 Class 1 diagnostic will be set by the drive and error F219 Motor overtemperature switch will be generated See also the functional d
476. und the command error C202 Parameter Limit Error gt S 0 0022 is issued The SERCOS ID numbers of the invalid parameters are listed in S 0 0022 IDN List of Invalid Op Data for Comm Ph 3 and should be corrected The parameter S 0 0103 Modulo Value is checked for its ability to be processed when modulo scaling is activated If the parameter cannot be processed the command error C227 Modulo Range Error is generated Determines if the coprocessor is ready for initialization If it is not the error message C225 Coprocessor Not Ready for Initialization will appear Special checks executed for specific parameters For example the encoder interface parameters P 0 0074 75 76 are checked to see if the selected encoder interface is actually available If discrepancies are found the command error C203 Parameter Calculation Error gt S 0 0022 is issued The ID numbers of the invalid parameters are listed in S 0 0022 IDN List of Invalid Op Data for Comm Ph 3 and should be corrected Encoder initializations are executed Depending on the type of encoder specific errors may occur during initialization for example invalid position with DSF feedback One of the following command errors C220 Mot Feedback Initializing Error C221 Ext Feedback Encoder Initializing Error will be issued Absolute encoder monitoring If the actual position is outside the actual position range P 0 0097 Absolute Encoder Control Window before t
477. unication Through the SERCOS INTERFACE 4 3 DIAX03 Drive With Servo Function ee e the setting of the parameter P 0 0119 Best possible deceleration e the existence of a motor brake and its parameterization e the velocity of the axis before the reset of the controller enable Control release Control release acknowledgment tRrout Ventilating the motor brake Fig 4 3 Confirmation of the controller enable tRFIN Typical values for trrein are about 8msec for synchronous motors or 300msec for asynchronous motors Note During the time trren the control should set its command values to reach a set velocity of 0 The activation of the optional motor brake takes place after the controller enable confirmation time 0 1 edge from confirmation of controller enable 4 3 Real Time Control and Status Bits In the master control and drive status words there are 2 configurable real time bits The configuration of these binary signals is achieved through parameters e 0 0301 Allocation of Real Time Control Bit 1 e 0 0303 Allocation of Real Time Control Bit 2 e 0 0305 Allocation of Real Time Status Bit 1 e 0 0307 Allocation of Real Time Status Bit 2 The parameter number that will be assigned to the corresponding real time status bit is set here Bit 0 of this parameter will be sent cyclically to the master or the drive via the real time status or control bit 4 4 Transmission of Required Data Throug
478. units and decimal places of the positive negative and difference probe value parameters will be switched depending on the selection made If position feedback value is selected in the signal selection parameter then bit 4 in the S 0 0169 Probe Control Parameter will determine whether S 0 0051 Actual Feedback 1 or S 0 0053 Actual Feedback 2 will be used as the signal Connecting the Probe Inputs The probe can be connected to E4 or E5 of connector X12 on the DSS 2 1 slide in module 8 18 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 LR CX EE an DIAX03 Drive With Servo Function Probe 1 connection Probe 2 connection a HEEB Connector 12 on DSS Fig 8 28 Connecting the probe to the DSS The following levels are valid for the probe inputs Low 0 6V High 14V U ex max The inputs need an external power supply because they are electrically isolated The following applies 32V Max Uext 24V Nom 18V Min Fig 8 29 Permissible input voltage range of the external power supply If the external voltage is not in this range then the error message F233 External Power Supply Error will be generated DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 Optional Drive Features 8 19 DIAX03 Drive With Servo Function Pa CREPE Pens 8 20 Optional Drive Features DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 VELO DIAX03 Drive With Servo Function 8 6 Axis Error Correctio
479. upplement A Description of Parameters 87 DIAX03 Drive With Servo Function Oe ae va See also the functional description Oscilloscope function P 0 0033 Attributes ID number P 0 0033 Editability P234 Function Parameter Memory Param E2prom Data length 2 bytes Validity check no Format DEC 0V Extreme value check yes Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 512 P 0 0035 Delay from Trigger to Start Description Parameter P 0 0035 indicates the number of cycles between the trigger event internal and the release of the trigger bit 0 trigger control word in external triggering Trigger signal Trigger Sc Trigger status bit 0 i P 0 0033 i eet Number of measurements i Trigger delay after the trigger action i Triggersteuer i i i Bit 0 ee Pw P 0 0035 Trigger control mixing Recording duration Fig 3 10 Triggering Since there is a delay between transmission of the trigger event by the control system and release of the trigger the delay is measured by the drive controller and stored in parameter P 0 0035 Trigger delay parameter A time correct display of signals is ensured by using this parameter for visualizing the probe values See also the functional description Oscilloscope function P 0 0035 Attributes ID number P 0 0035 Editability no Function Parameter Memory no Data length 2 bytes Validity check
480. uration or e parameterizing the control drive settings Each time operating data is written to it is stored Memory is available in the following structural component groups e Control drive e Motor feedback optional e Programming module Parameters Stored in the Digital Drive All operating data that apply only to the drive controller and that cannot be changed by the user are stored in the digital drive This consists of the following parameters e 0 0110 Peak Amplifier Current e 0 0112 Rated Amplifier Current e 0 0140 Controller Type e P 0 0518 Rated Amplifier Current 2 e P 0 0519 Peak Amplifier Current 2 e P 0 4002 Amperage Amplifier Equalization Phase U e P 0 4003 Amperage Amplifier Equalization Phase V e P 0 4015 DC Bus Voltage e P 0 4035 Equalization Current 3 2 General Instructions for Installation DOK DIAX03 SSE 01VRS FKB1 EN P 09 96 LR Ce EEO an By switching the programming module when devices are exchanged the characteristics of the device that has been exchanged can be easily transferred to the new device Operating Modes The error class is evident from the diagnostic message DIAX03 Drive With Servo Function Parameter Storage in Motor Feedback All motor dependent parameters are stored in the motor feedback with MDD and MKD motors Additionally parameters for the load default function and the motor feedback are stored here Parameters Stored in DSM Progra
481. urement systems after initialization P 0 0019 Attributes ID number P 0 0019 Editability P23 Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max S 0 0076 S 0 0076 P 0 0021 List of Scope Data 1 Description Captured values from the recording signal are stored in parameter P 0 0021 List of scope data 1 See also the functional description Oscilloscope function P 0 0021 Attributes ID number P 0 0021 Editability no Function Parameter Memory Param E2prom Data length 4 bytes Validity check no Format P 0 0023 Extreme value check no Unit P 0 0023 Combination check no Decimal places P 0 0076 Cyc transmittable no Input min max P 0 0022 List of Scope Data Description Captured values from the recording signal are stored in parameter P 0 0022 List of scope data 2 See also the functional description Oscilloscope function P 0 0022 Attributes ID number P 0 0022 Editability no Function Parameter Memory Param E prom Data length 4 bytes Validity check no Format P 0 0023 Extreme value check no Unit P 0 0023 Combination check no Decimal places P 0 0076 Cyc transmittable no Input min max DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement A Description of Parameters 81 DIAX03 Drive With Servo Function Oe
482. us is therefore W AND e the monitor for the axis limit values in S 0 0055 Position Polarities Parameter bit 4 was activated It is recognized that the axis limit values have been exceeded if the actual feedback value of the active operating mode exceeds the travel range set by the axis limit values Bit 3 of the parameter S 0 0147 Homing Parameter determines if the actual feedback value of the motor encoder or of the external encoder is brought up H drive internal interpolation is used as the active operating mode the drive checks to see if the target position is outside of the axis limit values If it is the drive will not move and the warning E2 53 Target Position Outside of Travel Range is generated and bit 13 in parameter S 0 0012 Class 2 Diagnostics is also set 7 30 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function The diagnostic message for when the axis limit values have been exceeded depends on the type of reaction Howhandled SS display Diagnostic message As an error F629 F629 Positive position limit value exceeded F630 F630 Negative position limit value exceeded As a warning E829 E829 Positive position limit value exceeded E830 E830 Negative position limit value exceeded Fig 7 11 Diagnostic message when axis limits have been exceeded Axis Limit Values Activation The axis limit value monitor is activated in bit
483. vate the axis after the error response Procedure e Clear the error e If the power supply was turned off turn it back on e Move the axis into the permissible working range Note Only command values which lead to the permissible working area will be accepted All other command values will result in bringing the drive controller to a standstill again See also the functional description Axis Limit Values F630 Attributes SS Display F6 30 Error number 630 Diagnostic message number F630 Error class Transverse range F643 Positive Travel Limit Switch Detected The positive travel limit switch was encountered The axis was brought to a standstill with the Set velocity command value to zero error response Bit 2 of parameter P 0 0090 Travel range limit switch is set for Exceeding travel range as error or exceeding the position limit began a drive control command such as the drive controlled homing procedure Cause The positive range limit switch is detected Remedy T Reset the error 2 Turn the power supply on again 3 Move the axis into the permissible travel region Note The drive will not accept command values which lead out of the permissible travel range Entering these command values in the drive controller will result in this error See also the functional description Travel Zone End Switch Monitoring F643 Attributes SS Display F6 43 Error number 643 Diagnostic message nu
484. ve was activated The halt drive feature serves to stop the motor at a defined deceleration and a defined jerk This feature can either be activated by deleting the drive halt bits BIT 13 in the master control word or by interrupting a drive control command i e in drive controlled homing See also the functional description Drive halt feature description A010 Attributes SS Display AH Diagnostic message number A010 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 49 DIAX03 Drive With Servo Function Oe aL a A011 Drive Interlock Open Digital drive controllers are equipped with a drive interlock It prevents undesired starting of a servo axis When drive interlock is activated the control electronics of the power output stage are disconnected from the power output stage by a relay contact To terminals AS AS of connector plug X3 24V of power has been applied See also the functional description Drive interlock open A011 Attributes SS Display AS Diagnostic message number A011 A012 Control and Power Sections Ready for Operation The drive is supplied with control voltage and the power is switched on The drive is ready for power delivery See also the functional description Controller enable A012 Attributes SS Display Ab Diagnostic message number A012 A013 Ready for Power ON The drive is supplied with a control voltage there are no errors in the drive
485. ven if it is configured in S 0 0147 Feature Procedure Drive Controlled Homing The command profile depends on the parameters S 0 0041 Homing path velocity S 0 0108 Feed rate override and S 0 0042 Homing acceleration To limit the acceleration changes you can additionally activate a jerk limit You can do this by entering the parameter P 0 0099 Position command smoothing filter time constant The following diagram explains S 0 0042 Homing Velocity 4 S 0 0108 Feed Rate Override Velocity 4 S 0 0042 Homing Velocity x lt Starting point Home point Abb 7 32 Command value profile of homing velocity and acceleration The maximum velocity is influenced like all driven functions by the feedrate The effective maximum velocity is the result of the product of S 0 0041 Homing velocity and S 0 0108 Feedrate Override If the parameter S 0 0108 Feedrate Override is set to zero the warning E255 Feedrate Override S0 0108 0 will be displayed DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Basic Drive Functions 7 5 1 DIAX03 Drive With Servo Function Oe ale ay The transfer of the coordination system to the machine zero setup is done after entering the positioning window of the homing point For drive controlled homing the drive always positions to the homing point This point is defined for types 1 3 by the position of the selected homing marks and an optional offset setting For Type 4 d
486. wing error to the target position of the travel path Encoder 2 indicates that the position encoder is installed on the machine axis direct axis position measurement See also the functional description Drive internal interpolation A109 Attributes SS Display AF Diagnostic message number A109 DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 Supplement B Diagnostic Message Description 53 DIAX03 Drive With Servo Function Oe aL a 1 5 Diagnostic Messages for Basic Initialization and After Fatal System Errors Diagnostic Message Display 0 Cause The data storage for the controller is tested for its functional capability If an error is detected this display will remain Remedy The drive controller is defective DRP3 and must be exchanged Diagnostic Message Display 1 Cause The data storage for the DSS 2 1 Module is tested for its functional capability If an error is detected this display will remain Remedy The DSS Module or the connection to the main device is defective e lf DSS module is defective gt exchange e If drive controller is defective gt exchange Diagnostic Message Display 2 Cause Makeup of the parameter structure If the EPROMS are exchanged for another version of the firmware the parameter memory on the programming module is erased duration appx 5 sec Diagnostic Message Display 3 Cause The motor type and the type of the motor feedback are determined by reading their para
487. with an SSl interface in the velocity control and position control operating modes Long dead times occur when analyzing the SSI Warning interface External Encoder Resolution To parameterize the resolution of the external encoder use the parameter S 0 0117 Resolution of Rotational Feedback 2 External Encoder Enter the graduation scale of the external encoder here If using a measurement system with its own feedback data storage the resolution will be taken from this and does not need to be entered Measurement systems with feedback storage are available if e Standard 1 e DEE 4 or e DAG 1 2 8 is used as the external encoder interface Depending on if a rotary or linear measurement system was parameterized in bit 0 of S 0 0115 Position Encoder Type Parameter 2 the unit and number of digits after the decimal is switched by S 0 0117 Resolution of Rotational Feedback External Encoder Rotational Cycles Rev Linear 0 00001 mm 7 14 Basic Drive Functions DOK DIAX03 SSE 01VRS FKB1 EN P e 09 96 VELO DIAX03 Drive With Servo Function Actual Feedback Value Monitoring In applications in which an external measurement system is being used the actual feedback value monitor can offer an additional margin of safety The actual feedback value monitor can diagnose the following shaft errors e Slippage in the drive mechanical system e Measurement system error as far as this is not recognized by the me
488. xtreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0149 List of Valid Samples for Oscilloscope Function Description The control system can read drive supported defined signals with parameter P 0 0149 108 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 LR Ce EEO ai DIAX03 Drive With Servo Function List entries ID number of 1 S 0 0051 or S 0 0053 S 0 0040 S 0 0347 S 0 0189 S 0 0080 P 0 0147 P 0 0148 Fig 3 28 P 0 0149 List of valid samples for oscilloscope function Mi See also the functional description Oscilloscope function P 0 0149 Attributes ID number P 0 0149 Editability no Function Parameter Memory fixed Data length 2 bytes variable Validity check no Format IDN Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max P 0 0150 Number of Valid Samples for Oscilloscope Function Description Parameter P 0 0150 indicates the number of measured values in the samples list See also the functional description Oscilloscope function P 0 0150 Attributes ID number P 0 0150 Editability no Function Parameter Memory fixed Data length 2 bytes variable Validity check no Format DEC_OV Extreme value check no Unit Combination check no Decimal places 0 Cyc transmittable no Input min max 0 512 P 0
489. y Position Resolution This differentiates between linear and rotary scaling S 0 0079 Rotary Position Resolution sets the rotary position scaling S 0 0077 Position Data Scaling Factor and S 0 0078 Position Data Scaling Exponent set the linear position scaling The scaling type is set in S 0 0076 Position Data Scaling Type The parameter is defined as follows S 0 0076 Scaling mode for position data ii Bits 2 0 Scaling mode 000 not scaled 001 linear scaling 010 rotary scaling Bit 3 0 Preferred scaling 1 Parameter scaling Bit 4 Unit of measure for linear scaling k Meter m 1 Inch in Unit of measure for rotary scaling 0 Angle degrees 1 reserved L Bit 5 reserved L Bit6 Data relationship 0 to the motor cam 1 to the load Bit 7 Processing format 0 Absolute format 1 Modulo format Li tt Bits 15 8 reserved Fig 7 3 Parameter S 0 0076 The actual scaling type is set in bit 0 2 In Bit 3 either preferred scaling parameters S 0 0077 Position Data Scaling Factor S 0 0078 Position Data Scaling Exponent or S 0 0079 Rotary Position Resolution are pre defined and cannot be changed or parameter scaling scaling is determined by entering this parameter can be selected see Preferred Scaling Parameter Scaling on page 7 2 Bit 4 indicates the measurement unit With linear scaling either mm or inch can be selected here Bit 6 defines motor or load reference
490. y the control via the required data channel The information on the validity of the parameter or the command acknowledgment of the command are contained therein Diagnostics Drive diagnostics informs about the current state of the drive It is made up of a diagnostic number and a diagnostic text It is made available in the form of a 7 segment display H1 Display and in parameters S 0 0390 Diagnosis number and S 0 0095 Diagnosis Error During operations a number of monitoring functions are run in the drive If a state is thus detected that no longer guarantees an orderly operation then the drive generates an error By executing an error reaction the drive can bring itself to a standstill Error reaction or response If an error is detected in the drive then the drive reacts independently by executing an error reaction At the end of each error reaction there is a deactivation of the drive The error reaction type is dependent on the error class of the error that occurred as well as the setting in parameters P 0 0117 119 External encoder An external measuring system is optional It is generally mounted directly to the load The actual feedback value of the encoder can be seen in S 0 0053 Actual feedback value 2 By activating the position control operating mode with encoder 2 the position control loop is closed with the help of the actual feedback value of the external encoder Load default or basic load The control par
491. yc transmittable no Input min max 0 00000 0 65535 114 Supplement A Description of Parameters DOK DIAX03 SSE 01VRS FKB1 EN e 09 96 VELO DIAX03 Drive With Servo Function P 0 0407 Pos corr Temperature Position Independent 0 1 K Description Parameter P 0 0407 Pos corr temperature position independent 0 1 K defines the coefficient of linear expansion for the hardware to be corrected with position independent correction function In specifying the coefficient the length of the hardware to be corrected must be taken into account Formula a a x1 TO OT Length dependent coefficient of temperature Q Coefficient of linear expansion Length of the hardware to be corrected TO Reference temperature Fig 3 33 Calculating the temperature coefficient See also the functional description Axis error correction P 0 0407 Attributes ID number P 0 0407 Editability P234 Function Parameter Memory Prog module Data length 4 bytes Validity check Phase 3 Format DEC_OV Extreme value check no Unit S 0 0076 Combination check no Decimal places S 0 0076 Cyc transmittable no Input min max 1 0 1 0 P 0 0408 Pos corr Precision corr start pos Description The precision correction function is for use in extremely accurate applications It consists of a table of correction values which are assigned to specific positions of the encoder Parameter P 0 0408 Pos corr precision corr

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