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manuale dell`LVD in Inglese

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1. IDLE My XXXXX keypad EL S ES 01 XXXXX CO Ge M 1 fey T 02 XXXXX GD MJ G gt a dp a 3 M Z gt 0 0 HS Y Cen Pb 99 b99XX M xx one Qo 5 5 o 0 5 In 00 gt PLC inst p 1st oper 2nd oper M 3rd oper ge ete te oe ee 29 Parker Hannifin S p A Divisione S B C LVD User s Manual In addition to the parameter values and the pico PLC instructions the display may show the following messages r XX IdLE run Er xx Pr xx Pb xx bxx yy In xx donE rESet tESt At the time of power up this message indicates the software version installed At power up and in correspondence with PrO this message shows that no alarms are present and the system is disabled At the time of power up and in correspondence with PrO this message indicates that no alarms are present and the drive is enabled the motor shaft may be spinning In correspondence with PrO this message indicates that the drive has detected an alarm xx indicates the alarm code and has therefore been disabled When an alarm is detected the display automatically switches to parameter PrO and shows the alarm code Indication of parameter xx whose value be displayed by pressing Indication of bit paramet
2. 00 ii L nu JE o de s at 4H mo eee 1 j 1 1 0 30 4606 After having set the default values set the following parameters on the LVD Pr4 10 axis homing speed Pr31 9 b99 11 1 b40 2 1 b40 12 1 Pr51 profile acceleration ramp Pr52 profile execution speed Pr44 0 1 0 Pr44 2 3 position 1 up to Pr44 62 63 position 31 digital inputs 1 5 profile selection code 69 Parker Hannifin S p A Divisione S B C digital input 6 homing execute positioning pulse command digital input 7 PNP axis zero proximity sensor digital output 0 homing executed digital output 1 in position within error window Pr56 voltage free contact output Drive OK Drive pico PLC program LD ANDN SET LD ANDN SET SET LD ADD RST RST RST LDN AND AND SET RST SET SUB AND SET LDN OR OR OUTN RST LD OUT END 70 91 8 94 13 91 0 90 6 91 0 94 13 91 8 99 13 90 72 43 43 0 43 6 43 7 70 8 91 0 90 6 70 8 70 4 94 0 44 60 64 99 2 70 4 91 0 70 8 70 5 91 1 70 5 41 4 LVD User s Manual If homing 2 concluded set digital output 0 If digital output 6 execute homing 2 if not yet executed program Pr43 with the code of the required profile if execute positioning command no profile in progress and homing already executed
3. aa 61 4 1 DICO PECY ioe vat stan S T S a 61 4 2 Examples and applications sss eee eene 65 4 3 Prosramming with PC2DBVD tuta poti ea UR ad DAD 73 SERTAI INTERFACE us a eese pinta diae rero beide a q ss sies Dg 74 5 1 Communications protocol ot tet pean 74 Parker Hannifin S p A Divisione S B C LVD User s Manual 3 2 Serial addresses and parameter lengths ipt ct ehe ordi aU e 78 6 CAN BUSA ssa tiii dub bern t E N o o 81 6 1 Description of fields in real time mode poa aD M OC Ee 82 6 2 Description of fields in communication mode sse 86 Appendix LVD mechanical dimensions eene dente nd eiua 88 Appendix B MB series motor utate t at eret d Padre ERN 89 Appendix C hardware characteristics 90 Appendix Dz COTY CUE INS o rah tc au ot tee a CU E E ticae 9 Appendix E software timer Intervals ee t cbr ea ia Sauce aeo WON eene 9 Appendix F pico PLC default program rental pte Per de aer ea 92 Appendix G flash Informat onsere ieta UR un
4. D ed 23 213 Status TES RUE 23 PARAMETERS AND PROGRAMMING 24 3 1 Using he opli nglhkeypada o a aaa 25 3 2 Commissioning the LVD Drive 26 3 3 Haste parameters rape re M Rt ut WO RNC dit afud Rp atas Fr DAMNA cS 29 3 4 Basic rua eae undu q o MA eta euin 34 3 5 Speed control loop calibration Pa ae OS 35 3 6 COCR TODS T 41 3 7 TOV GUC ONTO ics 41 3 8 Acceleration GORIPOL 41 3 9 Maintenance and COMMISSIONING 42 3 10 aa 43 311 Digital 45 3 12 Stepper motor simulation era obe edis tuin d Habe tmc edit ed 46 343 e 47 2214 DBrelaltocking FOPOslliQHer cusa a va indita E yit dp etu t ous etus aot 47 3 15 Position control with CanBus or electronic 48 3 16 50 S WONBEF GIOI TRHONQRES se unuy EE 38 Programming digital inputs and outputs
5. Pr69 Pr68 V M N ANE absolute position Servo error BISE window um b70 5 servo error gt 1 1 T Pr 50 max regulator speed proportiona reserved gain reference Pr61 Pr60 Pr 57 Pr6 target position actual position Pr65 Pr64 Pr 59 Pr 54 ramps steady time speed reverse forward master speed digital lock feed forward ae positioner feed forward Pr63 Pr62 motor position slip speed i lt gt 58 encoder Tum S master 51 E DATA dt 52 Pr 53 b70 8 ramp feedforward speed from CanBus Pr 65 64 position reference from CanBus Pr 67 66 f motor position to CanBus gt b70 6 D reset 1 b70 10 b70 11 reset 2 a b70 7 target position motor position 0 target position motor position POSITION LOOP FOR CanBus Link feedforward speed servo error 215 L gt Pr 61 60 position reference Pr 63 Pr62 Pb70 8 Pb70 2 b70 1 Pr 58 1 proportional gain Pr 56 servo error window Pr 57 reserved reference resolver position
6. 24V 1 5 Only if the Power Supply output is unprotected 16 Parker Hannifin S p A Divisione S B C LVD User s Manual Y transformer with electrostatic shield between primary and secondary windings u MAINS 12 L3 MOTOR 200000 1 Earthing Bar Stud resolver connector E a a Power Supply 24V 1 5A Only if the Power Supply output is unprotected 17 Parker Hannifin S p A Divisione S B C LVD User s Manual Autotransformer O O O O MAINS gt gt filter L3 MOTOR O _ Earthing Bar Stud U resolver i connector E a A h X8 24V 1 5 Only if the Power Supply output is unprotected Note The EMC filter can be connected up or down line of the autotransformer if connected up line it may prove necessary to use a screened cable between autotransformer LVD if connected down line the cable between filter and LVD must be as short as possible and in any event no longer than 50 cm Use the following formula when sizing the system 1 73 4n42 Pt Paz 1 7 80 where Pt is transformer power in VA Paz is the sum of motor rated power in W n is the number of drives t
7. 2K2 PESES clock gt A 2K2 O2 3 4 65 X5 T 6 TO 7 8 Connecting the LVD drive in digital locking mode X4 LVD master X5 LVD X5 LVD ME UEM uM GNU GEO 40 re O 4 N ee See text for line end burden resistor values The above example shows the connection between two LVDs in digital lock with a master although it can be easily extended to several drives provided series connection is adopted On the final drive in the series connect the burden resistors by jumpering pin 1 with pin 9 pin 2 with pin 5 pin 3 with pin 6 and pin 4 with pin 8 on connector X5 The master can be an externally fed encoder or the simulated encoder output on another drive The signal from the master encoder must be differential type 5V RS422 it is therefore possible to connect a maximum of 10 slave LVDs If the master is an LVD drive then up to 21 Parker Hannifin S p A Divisione S B C LVD User s Manual 32 units can be connected in digital lock mode using the same simulated encoder signal RS422 standard For programming of the LVD consult the Digital locking chapter in this manual 2 10 Simulated encoder output Connector X4 carries the simulated encoder signals phase A phase B and phase C zero signal The signals are RS 422 format TO program the number of pulses per revolution refer to the chapter Fundamental parameters bits b42 0 b42 1 and b42 2 the default set
8. 5D SFD 00 1C The drive answers with 7E 20 Case 7 writing a PLC instruction Assume you want to set the first PLC instruction as LD 90 4 assume also that the drive serial address is 0 The message to transmit is 7Ej 60 02 00 40 5 A SFC The drive answers with 7E 20 5 2 Serial addresses and parameter lengths Parameter Address Length Meaning 78 Parker Hannifin S p A Divisione S B C 0 038h 2 Pri 034h 2 Pr2 03Ah 2 Pr3 03Ch 2 Pr4 036h 2 Pr5 03Eh 2 Pr6 040h 2 Pr7 042h 2 Pr8 OAEh 2 Pr9 0BOh 2 Pr10 0B2h 2 Pril 0B4h 2 Pr12 0B6h 2 Pr13 OB8h 2 Pr14 044h 2 15 046h 2 Prl6 048h 2 Pr17 OBAh 2 18 0 2 19 OBEh 2 Pr20 04Ah 2 Pr21 04Ch 2 Pr22 04Eh 2 Pr23 051h 1 Pr24 052h 1 Pr25 053h 1 Pr26 05 1 Pr27 05Fh 1 Pr28 0COh 2 Pr29 061h 1 Pr30 0C2h 2 Pr31 054h 1 Pr32 0C4h 2 Pr33 0C6h 2 Pr35 OC8h 2 Pr36 058h 2 Pr37 05Ah 2 Pr38 2 Pb40 05Ch 2 Pb41 056h 2 Pb42 060h 1 Pr43 OESH 2 Pr44 OE4h 2 2 Pr45 OEAh 2 Pr46 OECh 2 Pr47 OEEh 2 Pr48 OFOh 2 Pr49 OF2h 2 Pr50 064h 2 Pr51 066h 2 Pr52 068h 2 LVD User s Manual motor speed in rpm analog reference full scale 1 full scale 2 frequency full scale internal reference reserved reference chosen reference positive acceleration in seconds positive deceleration in seconds negative acceleration in seconds negative deceleration in seconds limit switch deceleration overspeed threshold upper speed limit
9. AXIS LVD CONTROL REF 115 Reference pep RR s X7 Reference in p ERE A Z 1471 2 B 13 Encoder in IB gt lt gt lt 14 X4 Encoder 15 sn gt A 6 7 24Vdc Enab ae Risas zs hak 5 Output with X7 Inputs contact 1X M Input Y h l 42 6 Outputs 14 voltage free contact output Vous drive ok TO EARTH BUSBAR 2 9 Frequency input connection The RS422 type frequency input can be software configured in two modes the first default to accept quadrature signals from encoders the second is frequency direction mode refer to the chapter Fundamental parameters bit b42 5 In the former case follow this connection diagram 20 Parker Hannifin S p A Divisione S B C LVD User s Manual LVD 16 151 19 1 X5 12 1 i31 v In the case of parallel connections to more than LVD connections to pins 9 5 6 and 8 must be made only on the last drive in the group If the frequency direction mode is adopted channel A is dedicated to frequency while channel B is dedicated to direction A 24V interface is often more convenient than the RS 422 If the CLOCK and DIR signals are push pull type the interface between the two standards can be performed easily directly on the external connector using the configuration shown in the following diagram 24V
10. lower speed limit integral gain damping factor filter time constant user current limit bus voltage reserved torque limit auxiliary reference current alarm code last alarm code software release code baud rate serial address shaft position 0 4095 number of poles offset operating mode motor rated speed rated current filter torque demand i t accumulation braking thermal image auxiliary analog output flags used by main block flags used by main block flags used by main block stack pointer table element analog input encoder in LSB encoder in MSB LSB dimension capture MSB dimension capture 79 Parker Hannifin S p A Divisione S B C LVD User s Manual Pr53 06Ah 2 Pr54 06Ch 2 Pr55 06 2 Pr56 070h 2 Pr57 072h 2 Pr58 074h 2 Pr59 076h 2 Pr60 078h 2 Pr61 07Ah 2 Pr62 07Ch 2 Pr63 07Eh 2 Pr64 080h 2 Pr65 082h 2 Pr66 084h 2 Pr67 086h 2 Pr68 088h 2 Pr69 08Ah 2 Pb70 062h 2 flags used by operating mode Pr80 OCEh 2 Pr81 0DOh 2 Pr82 0D2h 2 Pr83 0D4h 2 Pr84 0D6h 2 Pr85 0D8h 2 Pr86 2 87 0DCh 2 Pr88 ODEh 2 Pr89 OEOh 2 Pb90 OE2h 2 inputs Pb91 08Ch 2 outputs Pr92 O8Eh 2 timer number 1 Pr93 090h 2 timer number 2 Pb94 032h 2 flags used by PLC and commands Pr95 OF4h 2 quote compare 1 LSB Pr96 OF6h 2 quote compare 1 MSB Pr97 OF8h 2 quote compare 2 LSB Pr98 OFAh 2 quote compare 2 MSB Pb99 092h 2 flags used by PLC and commands PLC area length 256 bytes
11. 7 5 clearance above and below the drive 2 1 Safety instructions e Make sure the drive is appropriately sized for the motor you intend to connect Compare rated voltage and current values e Wire up the electrical panel drive motor in accordance with the instructions in this section of the manual taking into consideration EMC requirements and established safety regulations e The User is responsible for installing fuses on the drive AC power supply line e Power conductors and control circuits must be kept apart by at least 200mm 8 and when they must cross intersections must be at right angles Motor conductors and mains power conductors must never be parallel e All power wires must be sufficiently sized refer to the table in heading 2 7 compliance with IEC227 2 must be guaranteed in all cases e Wires connected to the drive by means of the terminal strip must not be soldered EN60065 art 15 3 5 e Make sure drive and motor are properly earthed e Make sure that the maximum voltage on terminals L1 L2 L3 does not exceed t he rated voltage by more than 1096 in the worst possible case see EN60204 1 section 4 3 1 Excessively high mains feeding voltage can damage the drive e Do not detach electrical connections when the drive is connected to the power supply e Follow all the installation instructions in this manual step by step If you are in doubt contact S B C Customer Service e Dangerous voltages may still b
12. Can be used by operating modes to restrict motor torque Pr22 Auxiliary analog reference Unit The displayed value will Pr22 Vinx100 9 76 Resolution is 0 2 Pr23 Alarm code This code shows the currently active alarm zero means that no alarms are active Consult the table of alarm codes for more details Pr24 Last alarm This parameter stores the last alarm Pr 24 is reset when the alarm reset command is entered b99 10 O 16 drveovertemperatre 1 Jovevotagg 17 external alarm 2 undervoltage 8 Jauxiliaryalrm _ overcurrent 9 digital outputs overcurrent 4 fresolveralarm 10 PLC checksum pO parameters checksum Pr25 Software release code Read only parameter describing the version of the software installed Pr26 Serial line baud rate code Default 8 This is the code for programming transmission speed For more information consult the section on the serial interface Pr27 Serial line address code Default 0 possible settings 0 31 For more information consult the relative section of the manual Pr28 Motor shaft position Unit steps range 0 4095 Read only parameter that shows the absolute position of the resolver 30 Parker Hannifin S p A Divisione S B C LVD User s Manual Pr29 Pr30 Pr31 Pr32 Pr33 Pr35 Pr36 Pr37 Pr38 Pr43 Pr44 Pr45 Number of motor poles Possible settings 2 64 default 8 Describes the relationship
13. CanBus on receipt of the SYNC type 0 Enable real time mode Default 0 If set to 1 enable the CanBus real time mode Low speed mode Default 0 If set to 1 the transmission rate of the CanBus real time mode is 500kbps otherwise the transmission rate is 1 Mbps Servo error b70 5 is set to 1 if the absolute value of the position error exceeds the value entered in Pr56 If b70 5 is utilised it must be reset by the user following servo errors e g by means of the PLC program Feedback transmission enable Default 0 If set to 1 Pr66 67 is transmitted via CanBus on receipt of the SYNC type 1 Feedback sampling If b70 7 is 0 the position sent back on receiving SYNC frame has been frozen at previous sampling time of the position loop if b70 7 is 1 the position will be frozen on the SYNC received Axis catch release On receipt of the SYNC b70 8 switches to 1 after performing the SYNC procedure it is automatically reset The SYNC procedure copy Pr55 on Pr54 Pr65 64 on Pr61 60 and Pr63 62 on Pr67 66 Cam encoder master Default 0 If b70 9 0 X5 is the encoder master input for the electronic cam if b70 9 1 a virtual encoder master is enabled and Pr51 define the speed Reset type 1 Resets the motor position and reference Reset type 2 Sets motor position and reference to the absolute shaft position Reset type 3 Sets reference to motor position Cam stop When this bit is set to 1 the cam is stopped at the end of the module Start 32 p
14. DIGITAL LOCK OPERATING MODE encoder locked master b70 6 b70 8 Pr52 ramp feed forward proportional gain NY Pr 61 Pr60 Pr 57 z target position Pr6 reserved reference C slip Pr 50 speed Pr 63 Pr62 max spee motor position T i servo error b70 10 target position motor position 0 b70 5 window servo error gt 55 Parker Hannifin S p A Divisione S B C LVD User s Manual STEPPER LIKE OPERATING MODE feed forward dt b70 6 EEE servo error b70 5 i window k mul servo error gt 1 pulses input Pr 51 proportional gain Pr 61 Pr60 Pr 57 O reserved reference target position Pr 50 Pr 63 Pr62 max regulator speed motor position reset 1 b70 10 gt target position motor position 0 b70 11 gt target position motor position shaft position reset 2 b70 12 gt target position motor position reset 3 SPINDLE ORIENTATION OPERATING MODE oriented window not oriented lt 0 proportional gain target position reserved reference max regulator speed shaft position motor speed 56 Parker Hannifin S p A Divisione S B C profile generator LVD User s Manual DIGITAL LOCK POSITIONER OPERATING MODE in progress
15. If b40 11 is equal to 1 the auxiliary analog output will be equal to 976 38 100 volts Stack pointer Pr43 is utilised as a pointer for the parameters table refer to Other useful functions Table element value Pr44 assumes the value of the table element on which Pr43 is pointed refer to Other useful functions Main analog input Unit 16000ths of 9 76V range 16347 Represents the value of the main analog input Pr47 46 Encoder input or frequency sign Unit steps Encoder input counter or frequency sign b42 5 Pr49 48 Motor catch position Value of the spinning motor catch position with the dedicated input refer to Other useful functions Pr96 95 Quote compare refer to Other useful functions Pr98 97 Quote compare refer to Other useful functions 31 Parker Hannifin S p A Divisione S B C LVD User s Manual BINARY PARAMETERS Binary parameter Pb40 can either be read or programmed bit by bit and stored in the memory Binary parameter Pb41 provides information regarding system status Parameters Pb42 and Pb99 can be read or programmed bit by bit and stored b40 0 b40 1 b40 2 b40 3 b40 4 b40 5 b40 6 b40 7 b40 8 b40 9 b40 11 b40 12 b40 13 b40 14 b40 15 b41 0 b41 1 b41 2 b41 3 32 Selection of 1st or 2nd speed reference full scale value Default 0 If set to 0 Pr2 is used to standardise the analog reference if set to 1 parameter Pr3 is used Activation
16. b70 6 Reserved b70 7 Reserved b70 8 Reserved 3 10 Positioner Operating mode 9 executes a simple trapezoidal profile For this profile the user must define acceleration with Pr51 steady speed time with Pr52 and displacement using the double word format parameters Pr64 Pr65 At each profile execution command b70 8 the motor executes Pr64 65 steps one motor revolution is equivalent to 4096 steps In the block diagram note the four different reset types the availability of servo error indication and the possibility of using space control with or without feed forward The incremental position must always be positive and if it is not the absolute value is assumed automatically movement direction must be selected with bit parameter b70 4 b70 4 0 for clockwise rotation Displacement can be defined using the drive frequency input If b70 1 0 feedback is provided by the resolver if b70 1 1 feedback is provided by an encoder X5 Additional features are available using the internal PLC Note that the profile execution command b70 8 is not performed in a constant time interval profile calculation can take anything up to 40 ms During profile execution as indicated by bit b70 7 1 the profile parameters can be modified and the profile can be pre calculated by means of b70 15 after this procedure command b70 13 provides profile execution without jitter caused by the calculation If command b70 13 is repeated the last calculated profile i
17. b90 10 1 digital input 2 for right hand limit switch enabled only if b90 10 1 digital input 3 for emergency stop enabled only if b90 10 1 digital input 4 for clockwise or counter clockwise rotation digital input 5 for start stop resets parameter Pr5 digital output 0 indicates speed greater than Pr13 digital output 1 indicates motor speed reference digital output 2 indicates motor speed 0 digital output 3 indicates clockwise or counter clockwise motor rotation digital output 6 indicates drive OK digital output 4 indicates motor thermal image ON if b90 11 1 the drive performs an inversion every 6 seconds at speed Pr5 digital input 5 for start stop disabled if b90 11 1 program end Parker Hannifin S p A Divisione S B C LVD User s Manual Appendix G flash information e TO SAVE PARAMETERS USE b99 15 e TO SAVE THE PLC PROGRAM USE b99 14 e TO CHANGE PLC INSTRUCTIONS b99 13 MUST BE SET TO 0 e WHEN CHANGING OPERATING MODE USE 99 11 TO LOAD RELATIVE DEFAULT PARAMETERS b40 2 MUST BE SET TO 0 e CAUTION BEFORE CHANGING Pr31 ENSURE b40 2 0 e SPEED REFERENCE WILL BE LIMITED TO VALUE OF Pr32 e WHEN USING TORQUE CONTROL Pr2 AND Pr3 MUST BE SET TO 1000 e TO USE THE ACTIVE OPERATING MODE b40 2 MUST BE SET TO 1 e IF USING Pr32 TO CHANGE FEEDBACK RESOLUTION ON THE FLY TORQUE COMPENSATION MUST BE DISABLED b42 6 0 e IF READ WRITE PARAMETERS CANNOT BE CHANGED USING THE KEYPAD MAKE SURE THAT b99
18. by means of the PLC program Pr57 Proportional gain of the position loop Default 100 range 0 32000 Pr60 61 Position loop reference Unit steps Pr62 63 Motor position Unit steps increases by 4096 steps each revolution b70 5 Servo error b70 5 is set to 1 if the absolute value of the position error exceeds the value entered in Pr56 If b70 5 is utilised it must be reset by the user following servo errors e g by means of the PLC program b70 6 Feed forward enable Default 0 If set to 1 feed forward is enabled on the position loop b70 8 Axis catch release This bit can be set to 1 to lock or 0 to release the axis in relation to the encoder reference input b70 9 Reserved b70 10 Reset type 1 Resets motor position and reference b70 11 Reset type 2 Sets motor position and reference to the absolute position of the shaft b70 12 Reset type 3 Sets the reference to the motor position 46 Parker Hannifin S p A Divisione S B C LVD User s Manual 3 13 Spindle orientation When this mode 12 is selected it becomes operational when b40 2 1 The motor reaches the speed in Pr50 on the ramps in Pr52 It now spins at constant speed until it reaches the position set in Pr54 at this point the position loop is closed OPERATING MODE 12 PARAMETERS Pr50 Maximum speed during spindle orientation Unit rpm default 200 range 0 500 This parameter makes it possible to limit maximum motor speed during the spindle orientation phas
19. default 500 range 0 30000 resolution 0 001 seconds The acceleration and deceleration requested of the motor can be limited so that it takes Pr52 thousandths of a second to change speed by 1000 rpm this function may prove useful during catch on fly cycles Reference division factor digital lock Default 1 range 32000 32000 With this parameter and with Pr51 it is possible to set the required ratio for the input reference frequency Steady state speed positioner Unit rpm default 1000 This is the operating speed that will be utilised during generation of the position profile Real speed requested digital lock Unit rpm Read only parameter shows the input reference frequency converted into rpm Servo error window Unit steps default 100 If the absolute value of the position error exceeds the value set in Pr56 b70 5 is set to 1 If b70 5 is utilised it must be reset by the user following servo errors e g by means of the PLC program Proportional gain of the position loop Default 100 range 0 32000 Slip speed Default 0 range 0 6000 Acceleration time positioner Unit s krpm range 0 002 30 000 resolution 0 001s default 0 500 s This is the acceleration ramp that will be utilised during the positioning profile Position loop reference Unit steps It is the positioner reference plus the digital lock reference Motor position Unit steps increases by 4096 steps each revolution Profile actual position Unit st
20. differential 90 Parker Hannifin S p A Divisione S B C LVD User s Manual Appendix D conventions Reference Positive viewed from motor shaft side Resolver counter B L ae Tachometric signal torque e sin 9 2 torque e sin 9 3 Positive auxiliary Input Pr22 positive Pr38 positive Positive auxiliary analog output B Jr L L Appendix E software timer intervals 256 us torque vector generator 512 us speed control fast operating mode management t torque limit management speed reference management Jbrakingresistormanagement FIN management digtalinpts O jpico PLCprogramscan digialoupus 9 Parker Hannifin S p A Divisione S B C LVD User s Manual Appendix F pico PLC default program 90 1 40 4 90 10 90 2 40 5 D 90 10 90 3 40 6 D 90 10 90 4 40 0 90 5 05 05 05 SUB 41 0 91 0 41 1 91 1 oO 92 41 2 91 2 41 3 91 3 41 4 91 6 41 11 91 4 e 90 11 99 0 92 78 92 90 11 LD ORN OUTN LD ORN OUTN LD ORN OUTN 90 1 90 10 40 4 90 2 90 10 40 5 90 3 90 10 40 6 90 4 40 0 90 5 05 05 05 41 0 91 0 41 1 91 1 41 2 91 2 41 3 91 3 41 4 91 6 41 11 91 4 90 11 99 0 92 78 92 05 71 05 90 5 90 11 40 12 digital input 1 for left hand limit switch enabled only if
21. encoder position Pr 59 enable auto answer sync b70 10 reset 1 H UU b70 11 reset 2 b70 12 reset 3 Pr 50 max regula speed or target position motor position 0 target position motor position shaft position target position motor position 57 Parker Hannifin S p A Divisione S B C LVD User s Manual 3 17 Other useful functions Table function The LVD drive features a table composed of 64 256 elements that can be used for a wide range of functions including storage of alternative values for basic parameters storage of up to 64 positionings generation of complex speed or position profiles generation of electronic cams see operating mode 15 The table is administrated by means of parameters Pr43 and Pr44 Pr43 is the stack pointer while Pr44 shows the value of the currently selected element Valid values for Pr43 are from 0 to 255 corresponding to the 256 elements of which only the first 64 can be retained in the memory while the elements from 64 to 255 are reset each time the drive is powered up There is a parameter designated Pr44 1 which is not accessible from the keypad and which assumes the value of the successive element after the element selected by Pr43 this function is invaluable when the table is organised in long format The LVD drive handles the table every 6 144ms as follows if the Pr44 value is changed or both Pr43 and Pr44 are ch
22. 1 if PrO lt Pr80 then b81 5 1 Parker Hannifin S p A Divisione S B C LVD User s Manual Example 6 filter 600 msec for parameter value reading 99 13 35 60 60 LD 99 13 Add Pr35 and Pr60 ADD ADD 35 60 60 99 0 60 76 81 LD 99 0 if timer 1 expired calculate filtered Pr35 DIV 60 76 81 setting 60 60 60 result in Pr81 SUB 60 60 60 zero set Pr60 922882 ADD 92 76 92 reset timer 1 to 600 milliseconds 81 15 817181 LD 81 15 MUL 81 71 81 MEL if Pr81 is negative its sign is changed Example 7 available zero speed window The object of this function is to cancel the main reference signal when the relative value falls below a programmable threshold level In practical terms a speed window is defined close to zero within which the speed is set to zero The threshold value is set in rpm in parameter Pr88 parameter Pr89 is used as an additional memory slot The following program must be entered in the pico PLC 99 13 07 72 89 LD 99 13 Copy the analog reference value in ADD ADD 07 72 89 Pr89 89 15 89 71 89 LD 89 15 if Pr89 lt 0 then invert Pr89 to obtain MUL MUL 89 71 89 the modulus eee LD 99 13 calculate the difference between Pr89 SUB SUB 89 88 72 and Pr88 99 2 40 6 AND 99 2 gt OUT 40 6 if the result is negative stop the drive 67 Parker Hannifin S p A Divisione S B C LVD User s Manual Example 8 Inter Drive Communication IDC Inter Drive Communication refers to a specific configuration of th
23. 2 For higher values of Pr17 system response will resemble the situation of figure 3 below Tek Run 500 S s Hi Res Trig 70 28 Mar 1996 08 43 22 The optimal value of Pr 17 can be considered when system response is as shown in figure 4 37 Parker Hannifin S p A Divisione 5 LVD User s Manual Tek Run 500 S s Hi Res Trig 2 Ch 500v M ooms Chi 7 07 28 mar 1996 08 44 37 Fig 4 We must now obtain approximately 10 overshoot Make sure that the overshoot is not followed immediately by undershoot Once you have set the optimal value for Pr17 pay attention to the movement of the motor shaft if it moves smoothly without vibration and noise you can deduce that system calibration procedures are terminated Otherwise repeat all the previous steps using lower values for Pr16 In certain applications you can reduce system acoustic noise levels by raising parameter Pr18 by a few points Fig 5 shows that the optimal system response is accompanied by a current fluctuation that can generate acoustic noise and mechanical vibration increasing Pr18 to the value 3 will improve this condition significantly fig 6 Tek Run 500 S s Sample rt TERT 1 70 28 Mar 1996 08 46 27 38 Parker Hannifin S p A Divisione S B C LVD User s Manual Tek Run 500 S s Hi Res a x BN M OV 28 Mar 1996 08 47 40 Fig 6 If the driven mechanical system is prone to osc
24. 8 0 b70 15 Reserved 3 12 Stepper motor simulation This operating mode emulates the operation of a stepper motor each pulse received on the frequency input connector X5 channel A frequency channel B direction is multiplied by Pr51 and the result is added to the reference position The frequency input must be set up as a direction sign signal by setting b42 5 0 Just as in all other operating modes it is possible to enable feed forward limit the action of the proportional part obtain servo error indication and select the most suitable type of reset Note that the frequency count is performed on the negative front of the signal and a change in the direction signal must be performed at least 1 uS before the negative frequency front Unlike conventional stepper motors this system is not subject to the risk of getting out of step For connection diagrams refer to the chapter Frequency input connection OPERATING MODE 11 PARAMETERS Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to restrict maximum motor speed Pr51 Reference multiplication factor Default 1 range 0 4096 This parameter can be used to program the required multiplication ratio for the input reference frequency Pr56 Servo error window Unit steps default 100 If the absolute value of the position error exceeds the value set in Pr56 b70 5 is set to 1 If b70 5 is utilised it must be reset by the user following servo errors e g
25. BB 8 BRB 9 BRA A UJA B Bo BRA 2 DB15 female DB15 male Parker Hannifin S p A Divisione S B C LVD User s Manual X6 Outputs X7 Inputs DIGITAL INPUT 4 ANALOG REFERENCE terminal board DB9 female power supply 9 resolver 14 Parker Hannifin S p A Divisione S B C LVD User s Manual 2 5 Power connections For the motor cable Choose between a cable for fixed or floating installation The cable must be shielded and suitably sized in terms of insulation and wire sections Reticulated polypropylene is the preferred insulation material Length max 35 m note that conductor conductor capacitance must not exceed 8 nF Minimum wire size is 1 5 mm for LVD1 LVD2 and LVD5 2 5 mm for LVD10 and 4 mm for LVD15 For the mains power cable Power cables must not be screened Minimum wire size is 1 5 mm for LVD1 LVD2 and LVD5 2 5 mm for LVD10 and 4 mm for LVD15 Input fuses must be rated as follows MODEL slo blo fuses A LVD1 6 02 6 The fuses can be replaced with a thermal magnetic circuit breaker selected in relation to the power cables utilised Resolver cable The cable must be composed of 3 twisted pairs with individual screens and one common screen Conductor conductor capacitance for the length of cable utilised must not exceed 10 nF wire section must be at least 0 35 mm Maximum permissible length is 35 m 24V Power supply It
26. City Tel 886 42 3594847 Fax 886 42 3591083 www autoaccuracy com tw autoauto msz2 hinet net Parker Hannifin S p A Parker Hannifin GmbH Divisione 5 EME Hauser Via Gounod 1 Robert Bosch Str 22 Parker Hannifin pic EME Digiplan 21 Balena Close 20092 Cinisello Balsamo MI Italia Tel 39 0266012459 Fax 39 0266012808 www sbcelettronica com sales sbc parker com D 77656 Offenburg Germania Tel 49 0 781 509 0 Fax 49 0 781 509 98 258 www parker eme com sales hauser parker com Poole Dorset BH17 7DX UK Tel 44 0 1202 69 9000 Fax 44 0 1202 69 5750 www parker eme com sales digiplan parker com
27. OR the bit loaded into the stack assumes the result of the logical H OR between itself and bit y of parameter Pa ORN the stack bit assumes the result of the logical OR between y y y sloe 15 1 2 y 2 12 5 9 9 MUL al lt 8 END bl lt FIN itself and the inverted bit y of parameter Pa ADD Pa Pb Pc if the stack bit it at 1 a parameter summing operation is performed hence Pc Pa Pb SUB If the stack bit is at 1 a parameter subtraction operation is performed hence Pc Pa Pb MUL if the stack bit is at 1 a parameter multiplication operation is performed hence Pc Pb DIV Pb Pc if the stack bit is at 1 a parameter division operation is performed hence Pc Pa Pb END program end FIN y O 1 fast scanning input Parker Hannifin S p A Divisione S B C LVD User s Manual OPERATIONAL DESCRIPTION The Pico PLC program is scanned every 6 144 msec at each sampling first the inputs are read then the two timers are updated Pr92 Pr93 b99 0 and b99 1 the user program is scanned and finally the outputs are updated Therefore reading of the inputs and output updates can deviate temporally by up to 6 144 mS with respect to the physical event If the microprocessor workload is excessive operational mode active frequent serial line demands long PLC program scanning of the entire PLC program
28. addresses from 00h to FFh 80 Parker Hannifin S p A Divisione S B C LVD User s Manual 6 CAN BUS The LVD drive is equipped with a CanBus interface based on Physical layer ISO DIS11898 the Data link layer is the full CAN version 2 0 part A ID 11bit and a subset of the application layer SBCCAN is utilised Hardware connection CanBus MASTER CANL se A A A A 120 u Ca Y NODE 1 NODE n FINAL NODE oso There are two CanBus operating modes on the L VD drive The first designated real time mode enables a real time digital link between 15 LVDs and a control that performs the calculation of traJectories and transmits the position reference the speed reference or both references to the LVDs which can respond with the current position of the motors b70 2 1 Real time mode is automatically assumed when Pr31 15 and b70 3 1 Transmission rate in real time mode is 1Mbps if b70 4 0 or 500kbps if b70 4 1 the maximum bus length is 40m at 1Mbps or 100m at 500kbps The second mode communication mode makes it possible to write or read each parameter of each LVD connected to the bus maximum 15 this facility is invaluable when using the motion functions already implemented in the LVD drive basic software Communication mode is automatically assumed when Pr31415 or when Pr31 15 and b70 3 0 the transmission rate is 125kbps and maximum bus length in this case is 500m The changes of transmission rate address or mode are a
29. are of critical importance when designing control panel configuration To get the best results from the filters follow the instructions in this chapter carefully because even a complex and expensive filter is ineffective unless it is installed taking EMC aspects into consideration Avoid routing noise emitting cables in parallel with clean cables parallel cables especially in the vicinity of the filter ensure physical separation cable loops keep cables as short as possible and close to the common potential Additional measures With the exception of mains cables to the filter all power and control wiring must be screened and wherever possible kept segregated minimum distance 20 cm If control and power cables must cross the intersection must be at a right angle Shielded cables must be installed on a copper bar by means of a high conductivity wire clamp The area of contact must be as large as possible and the shield must be unbroken In general the shield should be connected at each extremity In certain circumstances however control cable shields may be connected only at one end to eliminate mains hum that could interfere with the control signal Decide case by case as numerous factors must be considered Adopt the following general approach if the screen is solely for shielding connect at both ends If current flowing in the shield interferes with the shielded signals connect at one end only The incomin
30. ata e nn robs una epa duke 93 Appendix H troubleshooting ete ere edes eto sirop alere e eode e RR S CR RUE 94 Appendix 96 ROVISIOH DISIOLy a odis a sm qu Me Dt aun 98 Parker Hannifin S p A Divisione S B C LVD User s Manual 1 INTRODUCTION 1 1 General information This manual describes the procedure for installing and commissioning the LVD frequency converter for brushless motors Read all the chapters and the revision history thoroughly before using the equipment 1 2 Product description The LVD is a digital frequency converter for driving brushless motors The adoption of a parametric Operator Interface makes drive configuration procedures faster and more repeatable The large number of different configuration possibilities makes the drive suitable for a broad range of applications A high power 16 bit micro controller allows speed control with the characteristics required of a servo controller plus a range of auxiliary functions that can help reduce the presence of control electronics in the application and thus permit considerable economic savings In addition to the positioner functions with trapezoidal profile digital locking spindle orientation stepper motor simulation torque control and acceleration control the LVD drive also has
31. registers Dimension capture At each positive front of digital input 2 the value of Pr63 62 is captured and deposited in Pr49 48 and b94 15 is set to 1 to signal the event Instead of being automatic b94 15 is reset by means of the Pico PLC or the serial line Homing function 58 Parker Hannifin S p A Divisione S B C LVD User s Manual The homing function which is available exclusively with operating modes 9 10 11 13 and 15 provides a typical axis reset procedure Before using the homing function perform the following settings connect the homing sensor to digital input 7 set the homing speed in parameter Pr4 pay attention to the direction of rotation set Pr5 0 b40 12 1 b40 13 0 b40 2 0 To activate the homing procedure set b94 12 1 for a type 1 reset or b94 13 1 for a type 2 reset When the homing procedure is concluded the respective activation bit will be reset If you wish to abort the procedure reset the command bit stop the motor e g by resetting Pr5 and if necessary read b40 2 which will remain on zero RESET TYPE 1 DESCRIPTION When the procedure is activated b94 12 1 the axis is brought to the speed programmed in Pr4 Pr5 Pr4 the axis is then brought to zero speed Pr5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are reset the position loop is enabled by setting b40 2 1 and command b94 12 is reset The homing senso
32. several consecutive data in the following format 1 start bit 8 data bits following one byte between square brackets 1 parity bit even 1 stop bit The message structure is STX CMD ADDR LUN PAR DO Dn CHK where STX 7E transmission start indicator If a field other than STX should assume the value 7E in the message this field is followed by a zero 00 to ensure that it cannot be interpreted as an STX 74 Parker Hannifin S p A Divisione S B C LVD User s Manual CMD ADDR command and address of peripheral device always different from zero This datum is composed as follows the first 5 bits from 0 to 4 define the drive address from 0 to 31 the remaining 3 bits from 5 to 7 define the type of message as described in the following table bit 5 drive response read pico PLC instruction write pico PLC instruction read parameter write parameter change bit broadcast parameter to all slaves LUN number of bytes of transmitted datum parameter or PLC instruction can assume values from 1 to 4 This value must not hold zero characters 00 after values that coincide with the transmission start character 7E PAR parameter or PLC instruction read write address DO Dn transmitted datum CHK 256 modulus sum of all fields excluding STX checksum Message types CMD1 is the drive s answer to a data request the answer message has the following format ST
33. 000 32000 With this parameter and with Pr59 the encoder feedback pulses revolution can be standardised to 4096 Pr59 Feedback division factor Default 1 range 32000 32000 With this parameter and with Pr58 it is possible to standardise the pulses revolution of the encoder feedback to 4096 Pr60 61 Position loop reference Unit steps Pr62 63 Motor position Unit steps increases by 4096 steps each revolution Pr64 65 Position reference via CanBus This is the position reference received via CanBus on receipt of the SYNC Pb70 8 1 Pr64 65 will be copied into Pr60 61 and become active If the cam function is utilised this parameter is reserved Pr66 67 Motor position via CanBus On receipt of the SYNC Pb70 8 1 Pr62 63 is copied into Pr66 67 and if feedback transmission is enabled b70 2 1 it is automatically transmitted via CanBus Pr68 69 Master module If utilising the electronic cam function in Pr68 69 the master module must be programmed in steps 49 Parker Hannifin S p A Divisione S B C LVD User s Manual b70 1 b70 2 b70 3 b70 4 b70 5 b70 6 b70 7 b70 8 b70 9 b70 10 b70 11 b70 12 b70 13 b70 14 b70 15 Feedback Default 0 If set to 0 feedback is provided by the resolver if set to 1 encoder feedback is adopted X5 in this latter case parameters Pr58 and Pr59 are used to standardise pulses revolution at 4096 Feedback transmission enable Default 0 If set to 1 Pr66 67 is transmitted via
34. 07 5842446 www compumotor com CMR_Customer_Service parker com CENTRAL AMERICA MEXICO 2 PARKER HANNIFIN DE MEXICO Eje 1 Norte No 100 Parque Ind Toluca 2000 Toluca 50100 Tel 52 722 2754200 Fax 52 722 2790316 www parker com SOUTH AMERICA ARGENTINA CILE PARAGUAY R A MOENIERIA ELECTRONIC IND Y CO Arregui E 1408 Buenos Aires Tel 54 11 45675543 Fax 54 11 45662870 www raing com ar ra raing com ar BRAZIL AUTOMOTION LTDA Acesso Jose Sartorelli Km2 1 Parque das Arvores 18550 000 Boituva SP Tel 55 15 33639900 Fax 55 15 33639911 www automotion com br coml automotion com br VENEZUELA C A Avenida Manuel Diaz Rodriguez Edif Milano Local C Santa Monica Caracas Tel 58 212 6335657 Fax 58 212 6330466 teknomaq cantv net ASIA AUSTRALIA NEW ZEALAND MOTION SOLUTION AUSTRALIA PTY Factory 2 21 29 Railway Avenue Huntingdale 3166 Melbourne Victoria Tel 613 9563 0115 Fax 613 9568 4667 www motion solutions com au sales motion solutions com au ISRAEL AF ELECTRONICS MOTOR CONTROL PO BOX 741 52322 Ramat Gan Israel Tel 972 3 6745457 Fax 972 3 6776342 afmotor zahav net il MALAYSIA PRESTIGE MACHINERY No 46 Jalan Bateri 34 5 Bukit Kemuning Light Industrial Area 42450 Shah Alam Sengalor D E Tel 60 3 5880 9851 Fax 60 3 5880 8364 presmach maxis net my TAIWAN AUTO ACCURACY CO LTD No 18 35RD Taichung Industrial Park Taichung
35. 1 3 January 99 Appendix I IOBOX fixed mistake on power supply connections Rev 1 4 September 00 Appendix I IOBOX fixed mistake on canbus connections Rev 1 5 November 00 Chapter 4 3 Programming with PC2LVD fixed mistake on serial link connections Rev 1 6 November 01 Chapter 2 5 Add caracteristics of 24V power supply Set and complete the layout structure of the document Rev 1 7 November 02 Chapter 3 10 Add spec at Pr52 Rev 1 8 February 04 Correction to resolver cable For other informations log into website www sbcelettronica com Aranges to the manual data can be made by the manufacturer without advance notice The data shown in the manual correspond to the specifications relating to the revision date 98 Darker Divisione S m B C EUROPE BELGIUM LUXEMBURG PROCOTEC BVBA Lieven Bauwensstraat 25A 8200 Brugge Industriezone Waggelwater Tel 32 50 320611 Fax 32 50 320688 www procotec be info procotec be DENMARK SERVOTECH AS Ulvehavevej 42 46 7100 VEJLE Tel 45 7942 8080 Fax 45 7942 8081 www servotech dk servotech servotech dk FRANCE TRANSTECHNIK SERVOMECANISMES S A 7 Ahuy Suzon 17 Rue Des Grandes Varennes 21121 Ahuy Tel 33 380 550000 Fax 33 380 539363 www transtechnik fr infos transtechnik fr GREAT BRITAIN AMIR POWER TRASMISSION LTD Amir House Maxted Road Hemel Hempstead Hertfordshire HP2 7DX Tel 44 1442 212671 Fax 44 1442 2466
36. 4 if last digit most significant ADD 82 72 83 copy final value in Pr83 SUB 82 82 82 reset parameter Pr82 828282 LD 91 3 update outputs in order to enable OUT 914 reading of the next number LD 91 2 OUT 91 3 LD 91 1 OUT 912 if last digit already acquired restart LDN 91 2 digit scanning starting from units ANDN 91 3 ANDN 91 4 program end OUT 91 1 END 71 LVD User s Manual Parker Hannifin S p A Divisione S B C CONNECTION OF 4 DIGIT PRESELECTOR 12 te Parker Hannifin S p A Divisione S B C LVD User s Manual 4 3 Programming with PC2LVD MICROSOFT WINDOWS LLLI The LVD serial kit is supplied to enable communication between a PC and the drive The kit includes an RS422 RS232 converter relative 220V power supply and serial connection cable the enclosed communication software supplied free of charge designated PC2LVD has the following HW SW requirements 486 microprocessor or higher Windows 3 1 or more recent version mouse and serial port for drive connections The main features of PC2LVD are serial connection of up to 32 drives reading and setting of basic parameters and drive commands reading and setting of commands and parameters of operating modes functional block diagrams pico PLC program displayed as ladder diagrams display of pico PLC program status during operation status file storage of parameterisation including pico PLC program uploadi
37. 40 www amirpower co uk apt amirpower co uk QUIN SYSTEMS LIMITED Oakland Business Centre Oakland Park Wokingham Berkshire RG41 2FD U K Tel 44 118 9771077 Fax 44 118 9776728 www quin co uk sales quin co uk HOLLAND VARIODRIVE AANDRIJF EN BESTURINGSTECHNIK B V A van Leeuwenhoekstraat 22 3261 LT Oud Beijerland Tel 31 186 622301 Fax 31 186 615228 www variodrive nl sales variodrive nl PORTUGAL SIEPI LDA Parque Industrial do Arneiro Lote 46 Sao Juliao do Tojal 2660 456 Loures Tel 351 21 973733 Fax 351 21 9737339 www gruposiepi com Siepi mail Telepac Pt Worldwide distribution SPAIN INTRA AUTOMATION SL C ALABAU 20 E 46026 Valencia Tel 34 96 3961 008 Fax 34 96 3961018 www intraautomationsl com infoGintraautomationsl com SWITZERLAND INDUR ANTRIEBSTECHNIK AG Margarethenstrasse 87 CH 4008 Basel Tel 41 61 2792900 Fax 41 61 2792910 www indur ch info amp indur ch TURKEY SANPA LTD STI Plaj Yolu Ersoy Apt No 14 D 4 81070 Suadiye Istanbul Tel 90 216 4632520 Fax 90 216 3622727 www sanpaltd com sanpa turk net NORTH AMERICA CANADA PARS ROBOTICS GROUP INC 441 Esna Park Drive units 11 12 Markham Ontario L3R 1H7 Tel 1 905 4772886 Fax 1 905 4770980 www parsrobotics com pars parsrobotics com UNITED STATES PARKER HANNIFIN CORPORATION COMPUMOTOR DIVISION 5500 Business park Drive Rohnert Park CA 94928 Tel 1 707 5847558 Fax 1 7
38. 7 IS SET TO 0 IF THIS IS THE CASE THE PARAMETERS IN QUESTION ARE PROBABLY CHANGED BY THE PLC PROGRAM 93 Parker Hannifin S p A Divisione S B C LVD User s Manual Appendix H troubleshooting If problems are encountered with the drive or the control system use the following table to identify the fault and take the recommended corrective action To cancel the error on the drive first remedy the cause and then set Pb99 10 1 reset Fault or error type Corrective action Error Code LVD 1 Over Voltage on D C Link Check the three phase power line max 253 V Error Code LVD 2 Under Voltage on D C Link Check the three phase power line minimum voltage 130 V Error Code LVD 3 Overcurrent alarm Check motor connections and possible shorts between phase phase or phase ground Check that a mains filter is not connector to the motor Error Code LVD 4 Resolver alarm Check the resolver connections and the connectors on both sides drive motor Error Code LVD 6 Drive overtemperature alarm Check the cooling fans and ensure that the air flow is not obstructed or restricted Check the braking cycle Check internal temperature of the panel in which the drive is installed and external ambient temperature When the display Check the external fuses on the three phase power supply switches on it fails to line present the message IDLE or RUN or it remains blank Check that mains filters and motor filters if present ar
39. 9 0 parameter Pr5 by one unit every 614 92 76 92 ADD 05 73 05 msec ADD 92 76 92 90 2 99 0 057105 LD 902 digital input 2 in high status decreases AND 99 0 parameter Pr5 by one unit every 614 ADD 05 71 05 msec ADD 92 76 92 Example 3 command on positive front of a digital input 90 1 90 10 70 8 LD 90 1 digital input 1 sets bit b70 8 just once ANDN 90 10 when the signal changes from low to SET 70 8 high 90 1 90 10 LD 90 1 O OUT 90 10 65 Parker Hannifin S p A Divisione S B C Example 4 filtered digital input at 60 msec 72 75 92 LD ADD ANDN ADD 99 0 RES RST 72 75 92 LDN ADD AND 99 0 ADD RES RST LD 90 10 OUT 90 11 AND SET SET LDN 90 11 AND RES RST 99 13 00 80 72 LD 99 3 81 0 LD 66 90 1 90 10 72 75 92 99 0 90 1 90 10 72 75 92 99 13 0 80 72 99 3 81 0 99 2 81 1 99 3 81 2 99 2 99 3 81 3 99 2 81 4 99 3 99 2 81 5 LVD User s Manual if digital input 1 1s low load 60 msec on counter if digital input 1 1s high for 60 msec b99 0 will be set to 1 and b90 11 1 if digital input 1 1s high load 60 msec on counter if digital input 1 1s low for 60 msec b99 0 1 and b90 11 0 b90 11 is the status of filtered digital input 1 calculate difference between PrO and 80 to set b99 2 and b99 3 if PrO Pr80 then b81 0 1 if PrO lt Pr80 then b81 1 1 if PrO lt gt Pr80 then b81 2 1 if PrO gt Pr80 then b81 3 1 if PrO gt Pr80 then b81 4
40. A D then the analog value A is converted into the digital value B Maximum value of A is PrX 51 Parker Hannifin S p A Divisione S B C main ref full scale ref 1 Pr 2 Pr 3 full scale ref 2 enc in Pr 47 46 F D max fq ref O Pr 4 internal reference L Pr 5 c wa reserved reference Parameter Description R W Pr 25 SOFTWARE ISSUE N Pr 26 BAUD RATE Y Pr 27 SERIAL LINK ADDRESS Y Pr 28 SHAFT POSITION N Pr 29 MOTOR POLES Y Pr 30 RES PHASE SHIFT Y Pr 31 OPERATING MODE Y Pr 32 RATED SPEED Y Pr 36 12T ACCUMULATOR N Pr 37 BRAKE RESISTOR USE N Pr 20 DC BUS VOLTAGE N B40 1 VIBRATION STOP Y B42 0 B42 1 ENCODER OUT RESOL Y B42 2 42 5 QUADRATURE FD Y 52 left sw b40 4 mies right sw b40 5 stop b40 6 ramps values LVD User s Manual LVD MAIN BLOCK DIAGRAM b40 7 over over speed 9 torque demand band width speed control limitator Pr 16 Pr17 pm Pr 18 user current limit Pr 19 thermal image limit reserved current limit motor speed rated current max high lt H E er at speed MDK lt gt tp code low aux reference present gt 15 J over voltage under voltage over current gt zero speed resolver break power stage o
41. D drive performs a proportional position loop with feed forward the profile generator is considered to be external and it must transmit the information relative to the position and speed reference via CanBus in accordance with the SBCCAN protocol refer to the chapter CANBUS If b70 1 0 feedback is provided by the resolver if b70 1 1 encoder feedback is adopted X5 48 Parker Hannifin S p A Divisione S B C LVD User s Manual Alternatively operating mode 15 can be utilised together with the table function to create an electronic cam To use this function set the master modulus in steps in Pr68 69 and set the slave points in the table in long format Master points are considered to be equidistant and the distance between two slave points cannot exceed 32767 steps There can be 32 or 128 slave points in the table positive or negative value when using a table with 128 points the table cannot be saved in the eeprom memory As the table elements are in long format Pr43 will point to the element corresponding to the value of parameter Pr43 divided by 2 To use a cam profile set b70 14 to 1 for a 32 point cam or b70 15 to 1 for a 128 point cam the first cam point must be 0 and the last point must be 0 for a closed cam or the slave module for an open cam The cam function updates Pr54 and Pr60 61 and will be aborted by setting b70 14 or b70 15 to 0 In order to stop the cam on the module set b70 13 to 1 The master modulus Pr68 69 cannot be modi
42. Divisione S B C 2 x N LVD LVD1 LVD2 LVD5 LVD10 LVD15 I ER j i rely t Pod j ir i fi i pum s c r E E ue gt T J F User s Manual Rev 1 8 February 2004 Software Rel 55 Parker Hannifin S p A Divisione S B C SOFTWARE TOOLS AVAILABLE RS 485 or RS 422 SERIAL LINK CanBus interface Parker Hannifin S p A Divisione S B C 20092 Cinisello Balsamo Milano Italy Via Gounod 1 tel 39 02 66012478 fax 39 02 66012808 e mail drivesbc parker com LVD User s Manual DIGITAL LOCK VARIABLE RATIO POSITIONER ELECTRONIC CAM STEP MOTOR SIMULATION EASY MAINTENANCE TORQUE CONTROL ACCELERATION CONTROL SPINDLE ORIENTATION FOR TOOL CHANGING BUILT IN P L C LVD everywhere for any application Parker Hannifin S p A Divisione S B C LVD User s Manual DANGER HIGH VOLTAGE Internal circuits of the LVD drive carry high voltages that can cause serious injury or kill Do not open the drive or attempt to access internal parts while it is connected to the power supply If you need to access internal parts wait at least 15 minutes after power down before proceeding to allow the condensers to discharge The User is res
43. ED flashes between the pauses 23 Parker Hannifin S p A Divisione S B C LVD User s Manual 3 PARAMETERS AND PROGRAMMING The functions of torque speed acceleration and position control are performed by a digital electronic system This chapter describes how to enter the data the meaning of each programming parameter the functional block diagram and the relative description of advanced level functions When designing the system attention was paid to promoting the maximum ease of use without detracting from the flexibility of the drive The following figure shows the general block diagram of the parametrisable section of the drive analog digital REFERENCE LIMIT SWITCH SPEED CON e lt gt internal CONTROL aoe TROL LOOP TORQUE DEMAND TORQUE LIMITS MANAGEMENT OPERATING MODE SPEED ALARMS WINDOWS Pr31 MANAGEMENT TORQUE ACCEL WIRING POSITION DIGITAL STEPPER SPINDLE CAN CONTROL CONTROL TEST CONTROL LOCK MOTOR ORIENT CAM The Block diagrams chapter contains a more detailed description of the general block diagram and the block diagrams illustrating specific functions operating modes The chapter Pico PLC describes how to associate inputs outputs with the parametric functions of the drive Parameters can be divided on the basis of their functions as follows from Pr0 to Pr49 from Pr50 to Pr70 from Pr71 to Pr99 from In0 to In127 24 Parker Hannifi
44. X 001 ADDR LUN PAR D0 Dn CHK can also be a message confirming a write or data modification operation in this case the format is as follows STX 001 ADDR where ADDR always identifies the answering drive CMD2 read message relative to an instruction in the PLC area format STX 010 ADDR LUN PAR CHK CMD3 write message relative to an instruction in the PLC area format STX 011 ADDR LUN PAR DO Dn CHK CMD4 parameter read message format STX 100 ADDR LUN PAR CHK CMD5 parameter write message format STX 101 ADDR LUN PAR DO Dn CHK CMD6 byte parameter bit change message format STX 110 ADDR LUN PAR D0 D1 CHK In this case LUN 2 i e two bytes are transmitted for the data the first byte is the mask containing 0 in the positions of the bits to change and 1 in the positions of bits that must remain unchanged the second byte contains 1 in the positions of bits to be set to 1 and zeros in the other positions The address PAR corresponds to the parameter byte in which one or more bits are to be modified If the parameter is a word and the bit to be modified is among 75 Parker Hannifin S p A Divisione S B C LVD User s Manual the first 8 60 67 PAR parameter address otherwise if the bit to modify is one of the upper 8 b8 b15 PAR parameter address 1 CMD7 parameter write broadcast message to all drives connecte
45. a 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 not used Len 5 7 0 4 Number of significant bytes in Data field 87 Parker Hannifin S p A Divisione S B C LVD User s Manual Appendix LVD mechanical dimensions drivetype B C D weight kg 88 Parker Hannifin S p A Divisione S B C LVD User s Manual Appendix B MB series motor connectors CONNECTIONS FOR MBmax BRUSHLESS MOTORS resolver motor A white red B white yellow C blue COS D yellow COS E black SIN F red SIN G Ground cable shield H Ground cable shield J PTC B MOTOR D Ground E Ground eae 24V 10 G Brake TEOS G F G BRAKE C B A MOTOR FAN MOTOR CONNECTOR for MBmax 105 CONNECTOR Male CONNECTOR Female FAN MOTOR CONNECTOR for MBmax 145 and 205 CONNECTOR Male CONNECTOR Female 89 Parker Hannifin S p A Divisione S B C LVD User s Manual Appendix C hardware characteristics Digital Inputs Es oo o 5 Go Wola Digital outputs ype PNP open collector o for a single output 8 51 lt 15 3 5 E C d maximum voltage free contact voltage outputs 6A and 6B maximum voltage free contact current outputs 6A and 6B analog reference CMMR gt 60 d auxiliary analog input
46. abling the drive Pr16 defines system gain Pr33 16 stiffness angle Obviously before the formula be used Pr33 must be set to motor rated current To evaluate a correctly we shall consider that if the driven machine transmission is rigid not flexible and there is no transmission backlash the optimal stiffness angle could be around 4 degrees If the transmission is not sufficiently rigid it may be necessary to reduce gain If motor torque has been selected to achieve steep acceleration ramps while dynamic torque changes in normal operation are minimal stiffness angles of 20 30 or 40 degrees are acceptable without negatively affecting performance If you encounter difficulty in choosing the most appropriate stiffness angle start from 10 degrees which is the default value when using a motor with the same rated current as the drive Now enter the calculated value for Pr16 and start the motor with a square wave reference signal pay attention when setting the reference amplitude and frequency to avoid problems in the case of limited stroke axes On the oscilloscope note that the response changes as Pr 17 is altered Lowering Pr 17 will allow you to approach system response as shown in figure 2 To convert Pr16 into degrees for rated torque use the formula 28 where o is the 36 Parker Hannifin S p A Divisione S B C LVD User s Manual Tek Run 500 S s Hi Res Trig p psu OV 28 Mar 1996 08 42 16 Fig
47. an internal PLC The drive PLC adopts the most diffused industrial programming standards and offers considerable freedom for use of inputs and outputs It also enables users to develop a range of additional functions that are not among the basic features of the drive such as electronic cams adaptation of loop gains in relation to speed or space torque monitoring for controlling tool wear etc The LVD drive is complete with an RS422 RS485 serial interface which can be used for configuration monitoring and simultaneous transmission of commands to a multiple system comprising up to 32 LVD units The drive is also compatible with standard operator panels that support the S B C protocol The drive is also equipped with a CanBus interface in communication mode and in real time mode Using the CanBus interface makes it possible to obtain a high bandwidth digital link t thereby simplifying system wiring requirements With the CanBus interface LVD s I Os can be used as remote master I Os LVD User s Manual Parker Hannifin S p A Divisione S B C 1 3 Identification LVD drives are available in five models LVD1 LVD2 LVD5 LVD10 and LVD15 where the number stands for rated current in amperes The right hand side of LVD drives bears an identification label showing all the most important identification data Please make a note of the information on this label before requesting technical information from Parker Hannifin S p A Division
48. anged the LVD stores the value of Pr44 in the location pointed by Pr43 if Pr43 is changed the LVD shows the pointed value in Pr44 When Pr43 is changed Pr44 is updated in the next scan of pico PLC if pico PLC has to write a table value first set Pr43 and then Pr44 only one change is allowed in the same scan cycle In the same way in order to read a table value via serial link it is necessary to set Pr43 and after 6 144ms it is possible to read Pr44 value to write a table value via serial link it is necessary to set Pr43 and Pr44 waiting for 6 144ms before reading or writing another value If the table function is not utilised Pr43 can be used as a general purpose parameter In the pico plc programme the parameters from 128 to 255 correspond to the first 128 parameters of the table Note that Pr43 Pr44 have the priority so set Pr43 with a value higher then 128 to avoid overwrite if you access directly to the table from the plc programme Quote compare functions Parameters Pr96 95 and Pr98 97 have an alternative role as quote compare functions With b94 10 0 b94 8 1 if Pr96 95 gt Pr63 62 With b94 10 1 b94 8 1 if Pr96 95 gt Pr61 60 With b94 11 0 b94 9 1 if Pr98 97 gt Pr63 62 With b94 11 1 b94 9 1 if Pr98 97 gt Pr61 60 This function is performed every 6 144 ms If the quote compare functions are not utilised parameters Pr95 Pr96 Pr97 Pr98 b94 10 and b94 11 can be used by the PLC program as general purpose
49. ation if it is executed on a double word the most significant part of the result contains the remainder of the division 1 if you set b94 0 1 and perform DIV 79 77 80 the result will be Pr80 4 and Pr81 96 63 Parker Hannifin S p A Divisione S B C LVD User s Manual Note that parameters Pr23 Pr24 Pr25 Pr26 Pr27 Pr29 Pr31 and Pr34 are bytes like Pb42 and Pb94 therefore mathematical operations cannot be used for these parameters and logical operations must be used to alter their values FIN instruction Three instructions are provided for high speed input acquisition in this case the scan is executed at 512ms normal scanning is 6 144mS If used FIN instructions must be the first PLC instructions The first FIN instruction copies digital input 1 into bit y of parameter Pb40 second operand 0 or Pb70 second operand 1 The second FIN instruction copies digital input 2 into bit y of parameter Pb40 second operand 0 or Pb70 second operand 1 The third FIN instruction copies digital input 3 into bit y of parameter Pb40 second operand 0 or Pb70 second operand 1 If the second operand is added to value 2 before the input is copied it will be inverted If a FIN instruction is included at any other position in the program it will have no effect FIN instructions can be enabled disabled by means of a bit parameter for each FIN 1st FIN enabled if b94 5 0 2nd FIN enabled if b94 6 0 3rd FIN enabled if b94 7 0 A FIN instructi
50. b41 11 b41 12 b41 13 b41 14 b41 15 b42 0 b42 1 b42 2 b42 4 b42 5 b42 6 b42 7 b94 3 b99 6 b99 7 b99 8 b99 13 Drive healthy If 1 no alarms are present otherwise 0 Hardware enable status 1 when hardware enable is set External alarm Alarm for user s equipment Auxiliary alarm Second alarm for user s equipment Speed control saturation b41 10 1 when the speed control loop is delivering the maximum current active Indicates that Pr36 has reached 100 0 and therefore the drive is restricting current to the rated value Drive enabled Keypad communication b41 13 1 if communication between keypad and drive is problematic Busoff error There is an abnormal rate of occurrences of errors on the SBCCAN Can bus watchdog Each message that has been successfully received on Can bus put this bit at one Selector to configure encoder simulation Default 0 Selector to configure encoder simulation Default 0 Selector to configure encoder simulation Default 0 Pr32 up to 9000 rpm Pr32 up to 3500 rpm ENCODER OUT 4096 2048 1024 512 256 128 b42 0 e 0 1 0 1 0 1 542 1 1 1 0 0 1 1 542 2 0 0 1 1 1 1 The double lines show the available encoder resolution in the various speed bands 24V overcurrent If on 1 indicates that the digital output protection has tripped due to excess absorption read only Frequency input connector X5 If set to 1 the frequency i
51. between the number of motor poles and the sets of resolver poles Resolver position offset Default 0 use Pr 30 for electronic correction of the mechanical position of the resolver Operating mode Default 0 Use Pr 31 to select the active operating mode 0 indicates no operating mode Rated speed Unit rpm range 0 9000 default 3200 Nominal motor speed Should be programmed with the motor speed at which rated voltage corresponds to drive power feeding voltage reduced by 13 Consult the formula in the section entitled Commissioning the LVD Drive Motor rated current Unit of peak current range 10 0 50 0 resolution 0 1 default 50 0 Enter motor rated current Torque monitor Unit of torque at peak current resolution 0 1 This parameter indicates the percentage of torque or current that the motor is delivering Thermal image of motor winding Unit of reference temperature This read only parameter indicates an estimation of the heat on the innermost windings of the motor If the value reaches 100 0 which is equal to the nominal value b41 11 switches to 1 so that current can be limited to the rated value Thermal image of the braking resistor Unit of nominal temperature This read only parameter indicates an estimation of the heat on the braking resistor If the value reaches 100 0 or more consider using an external braking resistor Auxiliary analog output Unit of 9 76V default 0 range 100 0 resolution 8 bit
52. bit to zero Parameters Pr60 Pr69 are considered as double words so an operation like ADD 71 72 64 will write the result 1 in the double word Pr64 65 without having to set b94 0 1 before the operation If 80 1 and Pr81 0 the operation ADD 80 72 64 will give the result Pr64 65 1 while the same operation performed with b94 0 1 will assume Pr81 as the high part of the double word Pr80 81 so the result will be Pr64 65 65535 In the first case therefore operands other than Pr60 Pr69 are treated as words while in the second case they are treated as double words Note that in mathematical operations on double words operands and results are defined as follows the operand parameter defines the least significant part while the most significant part is represented by the word with the next serial address see chapter Serial addresses and parameter lengths Parameters from Pr50 to Pr69 and from Pr80 to Pr89 are successive At the completion of each mathematical operation b99 2 is set to 0 if the result is positive and to 1 if the result is negative likewise b99 3 0 if the result is zero and b99 3 1 if it is different from zero These settings remain valid until the next mathematical operation is performed the operation is executed only if the stack bit is equal to one A mathematical operation can be performed setting the result in one of the constant parameters Pr71 Pr79 in order to set bits b99 2 and b99 3 In the case of the DIV oper
53. calculate space between current position and required position select direction and start profile indicates that motor shaft is required position with precision defined by error window Pr56 Drive OK signal program end Parker Hannifin S p A Divisione S B C LVD User s Manual Example 10 reading of 4 digit preselector To change the value of parameter Pr83 by means of a 4 digit preselector This procedure involves the use of four digital outputs and four digital inputs pin 9 of X6 output for selection of first preselector digit least significant pin 2 of X6 output for selection of second preselector digit pin 10 of X6 output for selection of third preselector digit pin 3 of X6 output for selection of fourth preselector digit pins 9 2 10 3 of X7 inputs for reading digit in BCD pin 9 is the least significant bit connection diagram shown on next page LD 90 1 Copy 0 digit BCD 90 1 e OUT 80 0 LD 90 2 copy bit 1 digit BCD ean OUT 80 1 LD 90 3 copy bit 2 digit BCD pes e OUT 802 LD 90 4 copy 3 digit BCD 1 OUT 80 3 LD 91 1 if first digit ie 81881 MUL 80 73 81 calculate units MUL LD 91 2 if second digit a ee MUL 80 75 81 calculate tens MUL LD 91 3 if third digit puree MUL 80 76 81 calculate hundreds MUL LD 91 4 if fourth digit EE por el MUL 80 77 81 calculate thousands MUL LD 99 13 sum the number just calculated in 2 AN ADD 81 82 82 auxiliary parameter Pr81 ADD 914 82 72 83 LD 91
54. ch LVD store the current motor position Cyclic message from LVD to Master Cyclic reply Data length Field Name Data Status Data Pr27 1 motor position 32 bits Pr53 Identifier ID D1 ipo mio 2 Al AO X X X 1 X X 0 0 051520 1 0 A0 A4 Slave LVD address Pr27 1 valid values 1 15 Parameter Pr53 is utilised to define the drive status 82 Parker Hannifin S p A Divisione S B C LVD User s Manual Acyclic data write or parameter request from Master to LVD Cmd amp Len Data Address 5 bit command and 3 bit length Identifier iDi0 ID9 ID8 ID7 ID6 ID5 ID4 ID3 E79 1e A0 A4 Slave LVD address Pr27 1 valid values 1 15 Data In the case of parameter writing this portion contains the value of the parameter In the case of modification of one or more bits contains the mask of the bits to be modified In the case of a parameter read request this field is insignificant Data Address This is the address of the parameter involved in the operation see the table in the heading Serial addresses and parameter lengths Cmd amp Len Sub field Value Significance Cmd 0 4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 not used Len 5 7 0 4 Number of significant bytes in Data field Acyclic answer message to a parameter request fr
55. could take longer than 6 144 msec All pico PLC instructions with the exception of mathematical instructions operate on single bits moreover available stack depth is a single bit Instruction LD LDN loads the bit defined as operand into the stack while all other logical instructions operate on the stack Mathematical operations are executed only if the stack bit is at 1 The following logic operations truth tables are provided for the user s convenience logical AND operation logical OR operation 0 0 0 0 0 0 1 0 0 1 1 1 0 0 1 0 1 1 1 1 1 1 1 The relative inverted ANDN and ORN operations follow the same logic except they use the inverted value of the specified bit There are 8 bits with save facility from b90 8 to b90 15 reserved for the PLC a further 8 bits from b91 8 to b91 15 are available for the PLC these are not stored and are always at zero at drive power up Also 10 word parameters are reserved specifically from Pr80 to Pr89 with save facility and option for use as 5 double word parameters For mathematical operations the pico PLC has 9 constants available from Pr71 to Pr79 selected from those that are most frequently utilised in standard applications When using mathematical instructions ADD SUB MUL DIV note that operators are assumed as words with their relative signs If a double word operation is necessary parameter b94 0 must be set to 1 before the operation after the operation the PLC will automatically set the
56. ctivated by the command b42 3 or at the next power on The drive address assignment could be automatically done following this procedure connect the drives via serial link and power them on disabled set the binary code of the desired serial address for each drive using digital inputs 3 4 5 and 6 so you have 16 codes at disposal digital input 3 is the least significant bit send the broadcast message to set the byte at the address 0x9C equal to 128 In this way each drive having Pr27 0 default set Pr27 equal to the code at its digital inputs set b40 14 1 and initialise the serial communication 81 Parker Hannifin S p A Divisione S B C LVD User s Manual 6 1 Description of fields in real time mode Cyclic message from Master to LVD Field Name position ref 32 bits speed ref 16 bits Pr52 ID2 IDI IDIO ID9 ws ID7 Wwe IDS ID4 ID3 00 159 31 97 20 0 9 0 E 29 1 A0 A4 Slave LVD address Pr27 1 valid values 1 15 Pr52 is used as a command and it must be controlled by the pico PLC Synchronism message from Master to LVD no meaning 16 bits I2 ID 150 1010 rps ws ID7 we IDS ID4 ID3 x OO OO Os SITI Synchronism message type 0 Sync 0 each LVD activates the speed and position references and store the current motor position Synchronism message type 1 Sync 1 ea
57. ctor Default 0 If set to 0 the analogue output will carry a signal proportional to motor torque If set to 1 it carries a value proportional to Pr 38 Digital analog reference selection Default 0 If set to 0 the analogue input is selected as the main reference If set to 1 the reference will be digital and by means of b40 13 it can be selected between parameter Pr4 or parameter Pr5 Internal reference Pr5 or frequency reference Pr4 selector Default 0 If b40 12 1 b40 13 serves to select the internal reference when set to 0 and the frequency input reference encoder in when set to 1 the frequency input in turn can be configured as frequency direction or quadrature signal by means of b42 5 Serial communication enable Default 0 Set this parameter to 1 to enable serial comms Reserved Must always be set to 0 Overspeed When the absolute motor speed value exceeds the value set in Pr 13 b 41 0 1s on 1 otherwise it is on O At speed With b40 7 0 if the speed difference between motor and reference is lower than Pr 14 and higher than Pr 15 b41 1 will be 1 otherwise it will be 0 With b40 7 1 if motor speed is lower than Pr 14 and higher than Pr 15 b41 1 will be 1 otherwise it will be 0 Zero speed If motor speed Pr0 is zero rpm b41 2 1 otherwise b41 2 0 Forward If motor speed Pr0 is positive b41 3 1 otherwise b41 3 0 Parker Hannifin S p A Divisione S B C LVD User s Manual b41 4 b41 5 b41 7 b41 8 b41 10
58. d Unit rpm Read only parameter shows the input reference frequency converted into rpm Pr56 Servo error window Unit steps default 100 If the absolute value of the position error exceeds the value set in Pr56 b70 5 is set to 1 If b70 5 is utilised it must be reset by the user following servo errors e g by means of the PLC program Pr57 Proportional gain of the position loop Default 100 range 0 32000 Pr58 Slip speed Default 0 range 0 6000 Pr60 61 Position loop reference Unit steps Pr62 63 Motor position Unit steps increases by 4096 steps each revolution b70 2 Locked on During the catch cycle with the ramp programmed Pr52 other than Zero this bit indicates that the transitory phase is concluded b70 3 Enable position Default 0 When b70 8 0 this bit can be set to 1 to maintain the position entered in Pr61 60 b70 5 Servo error b70 5 is set to 1 if the absolute value of the position error exceeds the value entered in Pr56 If b70 5 is utilised it must be reset by the user following servo errors e g by means of the PLC program 45 Parker Hannifin S p A Divisione S B C LVD User s Manual b70 6 Feed forward enable Default 0 If set to 1 feed forward is enabled on the position loop b70 8 Axis catch release This bit can be set to 1 to lock or 0 to release the axis in relation to the encoder reference input b70 9 Reserved b70 10 Reset type 1 Resets motor position and reference Activated only if b70
59. d to the serial line format STX 11100000 LUN PAR DO Dn CHK The peripheral device address ADDR must be zero Notes Parameters shown on the display with decimals must be treated as integer values e g 978 5 will be read and written as 9785 All values preceded by the symbol are hexadecimal numbers The value in square brackets is the basic unit byte of the message To be considered valid all messages must be terminated within a clearly defined time interval time out which is a function of speed and they must have correct parity and checksum The drive responds to data requests or transmission only if the message is received correctly if the message contains an error no answer will be transmitted The only exception is message type 7 with which a datum is transmitted with a single message addressed to all drives connected to the serial line Serial line initialisation and management Drive serial communication can be enabled or disabled by means of bit b40 14 The drive is factory set with b40 14 0 i e serial line disabled default However the serial line is automatically enabled if the drive is disabled b41 12 0 If you want to use the serial line first set the baud rate in Pr26 set the serial address in Pr27 enable serial communication by setting b40 14 1 and finally initialise serial comms with command b42 3 At this point save the configuration using command b99 15 The drive addres
60. drive The PLC can be used to copy a digital input into a bit parameter copy a bit parameter into a digital output and perform mathematical and Boolean calculations The PLC program must be entered as a list of instructions from the keypad alternatively the PLC can be programmed with the ladder diagram system using a PC on the serial line with an interface such as PC2LVD Default parameterisation b99 12 provides a PLC program see appendix F designed to fill the requirements of the broadest possible range of applications therefore it is not necessary to reprogram the PLC in the majority of cases Main features of the pico PLC are Program steps 128 scan time 6 144 ms number of timers 2 number of instructions 15 stack depth 1 mathematical operations 16 32 bits fast inputs 3 512 us PLC PARAMETERS Pr71 Constant value 1 Double word Pr72 Constant value 0 Double word Pr73 Constant value 1 Double word Pr74 Constant value 2 Double word Pr75 Constant value 10 Double word Pr76 Constant value 100 Double word Pr77 Constant value 1000 Double word Pr78 Constant value 1024 Double word Pr79 Constant value 4096 Double word Pr80 Free parameter Parameter with storage facility at user s disposal word Pr81 Free parameter Parameter with storage facility at user s disposal word Pr82 Free parameter Parameter with storage facility at user s disposal word Pr83 Free parameter Parameter with s
61. e Pr52 Deceleration ramp Unit s krpm default 500 range 2 30000 resolution 0 001 seconds When the spindle orientation command is transmitted b40 2 1 the deceleration requested of the motor can be limited by this parameter so that a speed change of 1000 rpm takes Pr52 thousandths of a second Pr54 Motor shaft position for spindle orientation Unit step default 0 range 0 4095 One revolution of the motor shaft corresponds to 4096 steps Pr56 window Unit steps default 100 If the absolute value of the position error exceeds the value set in Pr56 b70 5 is set to 1 Pr57 Proportional gain of the position loop Default 100 range 0 32000 b70 5 Servo error b70 5 is set to 1 if the absolute value of the position error exceeds the value entered in Pr56 otherwise it is set to zero 3 14 Digital locking Positioner Operating mode 13 is a digital locking plus a dynamic positioner plus a slip speed that can be used at the same time About the digital lock the ratio between master and slave can be programmed using parameters Pr51 and Pr53 You can also select the ramp to utilise during catch or release cycles Pr52 and add slip speed Pr58 using Pr52 the main ramps and the internal PLC makes it possible to program various different catch and release modes with or without phase recovering For connection diagrams refer to the chapter Frequency input connection If using a digital input for catch commands to minimi
62. e correctly connected Check the keypad connection and ensure it is correctly installed The LVD drive LED The converter enters PT limiter function because of an display shows decimal overload current demands are higher than the maximum points in the place of all Output current characters Check Wiring between LVD motor no inverted phases Pay special attention in the case of motors with a terminal strip rather than a connector as incorrect connections are more easily made Follow wiring plans scrupulously Physical sizing The motor overruns when The most probable cause is incorrect connect ion between the drive is enabled the drive encoder output X4 and the encoder input on the axis controller Another possibility is an incorrect connection between the 94 Parker Hannifin S p A Divisione S B C Motor spins slowly when the drive is enabled Motor stationary with no torque Motor spins direction in wrong analog output terminals on the axes DRV1 and Gnd and the analog reference input of the LVD drive Check wiring of the analog reference signal cable and the feedback signal cable encoder If correct invert the analog input on the LVD drive See below if the motor now runs in the wrong direction The drive is not governed by the Axis Controller Check the cable between the encoder output and the Axis Controller Check the analog reference connecting cable between t he drive and the Axis C
63. e S B C An example of the identification label is shown in the following figure Parker Hannifin S p A VIA GOUNOD 1 20092 CINSELLOB MILANO ITALY LVD5 S N 980001 POWER OUTPUT POWER INPUT 3XAC230V 4 6 50 60 Hz 0 500 Hz READ INSTALLATION USE COPPERWIRE INSTRUCTION MANUA BEFORE NSTALLING RATED60 75 C 3XAC230 5A Parker Hannifin S p A Divisione S B C LVD User s Manual 1 4 Main hardware specifications Value Parameter Power circuit power supply Control circuit power suppl Models Rated output current Peak output current 4 s Output power at motor shaft Dissipation from control electronics Dissipation from power stage Ambient temperature Internal braking resistor dissipation Feedback Power stage switching frequenc Maximum basic output frequenc Protection catego 24V digital inputs 24V digital outputs 100 PNP Voltage free contact digital outputs n or encoder input Frequency si 18 resolver speed 1 kHz 6G 16 Z IP 20 N M 22 7 E 0 24 Encoder simulation RS 422 128 4096 ps rev kH 2 800 200 10 diff 15 bit Auxiliary analog input 10 diff 10 bit Auxiliary analog output 10 8 bit Tacho generator emulation output Serial line RS 422 RS 485 Field bus Parker Hannifin S p A Divisione S B C LVD User s Manual 1 5 Main software specifications The following functionalities are implemented in the ba
64. e a motor controlled by a drive with speed demand of zero rpm The motor shaft will appear immobile but if we apply torque to the shaft it will rotate through an angle that depends on the amount of torque applied We can then apply the rated torque of the motor and then measure the stiffness angle in degrees The resulting value provides an indication of the fidelity of the drive thus parameterised although it is clearly not the only fidelity indicator WHAT S NEEDED To calibrate an LVD drive correctly we recommend using an oscilloscope with memory Obviously the technician in charge must be well versed in the use of the instrument If it 1s impossible to use an oscilloscope we illustrate at the end of this section of the manual an alternative although less accurate method 35 Parker Hannifin S p A Divisione 5 LVD User s Manual GETTING STARTED Before starting observe the following figure Fig 1 Tek Run 500 S s Hi Res Trig Wi 200v ths 300v 770 28 1996 08 40 26 Fig ANOUT The fi h dren g OND e 1gure SDOWS system response toa square Wave spee gt TACHO Channel 1 Chl represents speed channel 2 Ch2 motor current In practical terms the probes were connected to the test points on terminal board X8 The V div scale and the timebase are not mentioned because xg they can vary widely CALCULATING Pr16 The value of PR16 should be calculated before en
65. e of 1000 rpm takes Pr8 seconds Pr9 Positive speed deceleration ramp Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Deceleration for positive speeds required of the motor by way of the speed reference is internally limited so that a speed change of 1000 rpm takes Pr9 seconds Pr10 Negative speed acceleration ramp Unit s krpm 0 002 65 535 resolution 0 001 s default 0 002 s Acceleration for negative speeds required of the motor by way of the speed reference is internally limited so that a speed change of 1000 rpm takes 10 seconds Pril Negative speed deceleration ramp Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Deceleration for negative speeds requested of the motor by way of the speed reference is internally limited so that a speed change of 1000 rpm takes 11 seconds 29 Parker Hannifin S p A Divisione S B C LVD User s Manual Pri2 Deceleration ramp for stroke end and stop functions Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Deceleration requested of the motor by the stroke limit and stop functions is internally limited so that a speed change of 1000 rpm takes Pr12 seconds Pr13 threshold Unit rpm range 0 13000 default 3500 If the absolute motor speed value exceeds the value entered in Pr13 b41 0 must be 1 otherwise it will be 0 14 High speed threshold Unit rpm range 13000 defaul
66. e present for up to 60 seconds following mains disconnection and system power down do not touch power cables during this time interval e Do not open the drive casing This action is potentially dangerous and will automatically invalidate the warranty Installation and wiring must be carried out with the entire electrical panel disconnected from the power supply Make sure that the drive enable command is disconnected from the emergency circuit Qualified technical personnel must preside when the power panel is powered up for the first time Parker Hannifin S p A Divisione S B C LVD User s Manual 2 2 Tips for interference suppression Because of the high speed voltage wavefronts in PWM high levels of stray current may sometimes flow through capacitive couplings and earth systems Stray currents of this type can affect other functional units Therefore in relation to the geometrical dimensions of the system drive motor cables motor it is advisable to calculate a certain amount of spurious energy Spurious energy generates EM radiation that can interfere with the operation of nearby systems Existing standards do not impose limits for this type of radiation Preventive measures Basic methods of preventing spurious emissions are decoupling of the drive from its surroundings a properly executed conductor system to neutralise voltages earthing and adequate shielding Screens filters and drives must have a large contact ar
67. e serial port of the LVD drive that makes it possible to interchange parameters between two or more units With IDC enabled Pr26 10 if bit b99 5 is set to 1 the LVD activates a broadcast command by sending the value of Pr81 to the address of Pr80 LVDs that receive broadcast commands with Pr26 10 automatically set b99 5 to 1 causing automatic transmission of Pr81 to the address of Pr80 in broadcast mode Using this potential it is extremely simple to connect two LVD drives in a loop via the serial ports and a short program on the internal PLC will suffice to start transmission at power on and restore it in the event of communication errors The following example describes the PLC program required to copy parameter Pr81 of the two drives in parameters Pr80 Connection function drive 1 drive 2 drive 1 drive 2 U 81 80 80 Pr81 99 5 75 74 92 LD 99 5 If broadcast is received DIV timer is set to 30mS DIV 75 74 92 99 0 99 5 if time out is present LD 99 0 pr reset serial line SET 99 5 75 74 92 and set timer DIV 75 74 92 These PLC instructions must be entered on only one of the drives both drives must have parameter Pr26 10 to enable the IDC function 68 Parker Hannifin S p A Divisione S B C LVD User s Manual Example 9 32 positionings Referring to the figure below assume you need to move the carriage to 32 different positions selected by means of five digital signals MOTOR PROXIMITY SWITCH
68. ea to achieve the maximum possible decoupling and hence optimum noise suppression attention must be paid however to the entire installation as this is one of the most important precautions for obtaining efficient noise suppression High frequency interference takes the form of radiation especially from motor lines This effect can be reduced with appropriate shielding Another essential counter measure for noise suppression is the use of filters The use of filters is aimed at reducing conducted interference on wiring and the return of conducted interference to source Drive through routes offering the lowest impedance This method provides effective protection for other systems connected to the same electrical line also protecting the drive from interference originating from other systems When installing filters consider the mains input and motor feeding output There are various ways of connecting the power supply to the LVD drive by using a transformer with an electrostatic screen between primary and secondary windings it is possible to dispense with the installation of EMC filters on the contrary EMC filters are required if you use an autotransformer a transformer without an electrostatic screen or a direct mains connection 10 Parker Hannifin S p A Divisione S B C LVD User s Manual 2 3 Mains filter installation instructions To obtain electromagnetic compatibility in compliance with established standards EMC requirements
69. eps read only parameter it shows the actual position of the trapezoidal profile Profile final position Unit steps When you set this parameter the positioner executes a trapezoidal profile from the actual position Pr64 65 to this one Positioner flag During profile generation Pr64 65zPr68 69 this bit is on Reserved Locked on Refer to the digital lock during the catch cycle with the ramp programmed Pr52 other than zero this bit indicates that the transitory phase is concluded Profile direction Read only flag if set to 1 the direction is counter clockwise Servo error b70 5 is set to 1 if the absolute value of the position error exceeds the value entered in Pr56 If b70 5 is utilised it must be reset by the user following servo errors e g by means of the PLC program Feed forward digital lock Default 1 If set to 1 digital lock feed forward is enabled on the position loop Feed forward positioner Default 0 If set to 1 positioner feed forward is enabled on the position loop Axis catch release This bit can be set to 1 to lock or 0 to release the axis in relation to the encoder reference input Reserved Reset type 1 Resets motor position and reference Reset type 2 Copy the motor position Pr62 63 on main reference position Pr60 61 and positioner reference Pr64 65 and resets the digital lock reference Reserved Position control with CanBus or electronic Cam If operating mode 15 is enabled the LV
70. er xx Indication of bit yy of parameter xx press M to display bit status Indication of instruction xx of PLC program Displayed for approximately 1 second each time a command is entered Displayed for approximately 1 second each time an alarm reset command is entered b99 10 Displayed during wiring test b70 3 3 2 Commissioning the LVD Drive The steps described in this section must be followed carefully when the drive is started up for the first time 1 Connect the motor to the drive in compliance with the wiring diagrams in the manual 2 Make sure the drive is disabled connector X7 pin 1 open 3 Power up the drive 4 The message IdLE appears on the display 5 Setting basic parameters Pr33 evaluation rated current where InM InD 2 Pr33 100 InM is rated motor current at zero rpm in Ampere InD is rated drive current in Ampere The maximum value of Pr33 is 50 0 Pr19 evaluation peak current 19 x Pr33 3 The maximum value must be no higher than three times the value of Pr33 26 Parker Hannifin S p A Divisione S B C LVD User s Manual Pr29 evaluation number of poles Use the following table for MB series motors Flange mm Pr29 56 70 4 105 145 205 8 Pr32 evaluation rated speed Pr32 Vmax 1 12 Vmax is the maximum effective motor speed Evaluation of Pr16 and Pr17 speed control loop gain The default values of Pr16 and Pr17 have been chosen c
71. ere Vin is the voltage on the analog input Pr3 Second full scale of analog reference Unit rpm range 10000 default 3000 If b40 0 1 and b40 12 0 Pr7 will be equal to Vin Pr3 9 76 where Vin is the voltage on the analog input When Pb94 3 is 1 Pr3 becomes the speed of the virtual axis Pr4 Frequency reference full scale connector X5 Unit rpm range 32767 default 3000 If b40 12 1 and b40 13 1 Pr7 will have the following value ifb42 5 0 7 4 2000000 frequency sign signals if b42 5 1 7 Pr4 500000 quadrature signals where Fin is the encoder input frequency Pr5 Internal reference Unit rpm range 9000 default 0 If b40 12 1 and b40 13 0 Pr7 will be identical to Pr5 Pr6 Reserved read only speed reference Unit rpm range 9000 If b40 2 1 Pr6 is only utilised as a speed reference for the control loop The active operating mode will enter its speed request in parameter Pr6 Pr7 Main reference read only parameter Unit rpm range 9000 If b40 2 0 Pr7 is utilised as a reference for the speed control loop In some operating modes Pr7 can be used as a reference for other factors torque acceleration In these cases Pr7 is expressed in the most suitable unit Pr8 Positive speed acceleration ramp Unit s krpm range 0 002 65 535 resolution 0 001 s default 0 002 s Acceleration for positive speeds required of the motor by way of the speed reference is internally limited so that a speed chang
72. fied during the cam execution The encoder master must be connected to the X5 input if b70 9 is set the parameter Pr51 define the speed of a virtual master OPERATING MODE 15 PARAMETERS Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to limit the maximum motor speed requested by the position loop The limit does not however affect feed forward speed Pr51 Virtual master Default 0 range 0 20000 If b70 9 is set this parameter define the speed of a virtual master for the electronic cam Set the value of Pr51 using the following formula 524288 Pr51 speed pm 234375 52 CanBus commands refer to the chapter CANBUS 53 CanBus status refer to the chapter CANBUS Pr54 Speed feed forward Unit rpm default 0 0 9000 The value of this parameter is summed to the position loop output to obtain the speed request Pr6 Pr55 Speed feed forward via CanBus This is the feed forward value received via CanBus when the SYNC is received Pb70 8 1 Pr55 is copied into Pr54 and becomes active Pr56 window Unit steps default 100 If the absolute value of the position error exceeds the value set in Pr56 b70 5 is set to 1 If b70 5 is utilised it must be reset by the user following servo errors e g by means of the PLC program Pr57 Proportional gain of the position loop Default 100 range 0 32000 Pr58 Feedback multiplication factor Default 1 range 32
73. g cable must be connected to an earth terminal by means of a screw to ensure proper contact between screen and earth RF interference suppression filters must be installed as close as possible to the drive and must have a large area of contact with the power panel or the mounting plate Remove all paint The filter earth terminal must be connected to the earth bar along the shortest possible route It is the installer s responsibility to protect the filter terminals As far as possible keep the power side drive and control side PLC or NC physically separated by separating the metal mounting plates Do not route any cables through the mounting plates 11 Parker Hannifin S p A Divisione S B C 2 4 Connector layout 12 LV D 2 0 lt 4 lt gt 0 0 2 0 24V Q X1 O ae status K ON ra SES X3 d N 4 amp FN 5 4 Xo lt lt N A 7 gt N PW S cy pA E X9 5 lt lt LVD User s Manual Parker Hannifin S p A Divisione S B C Terminal Board X10 Power MOTOR PHASE U MOTOR PHASE V MOTOR PHASE W LIVE 1 LIVE 2 LIVE 3 DB9 male X2 CanBus DB9 male X4 Encoder Out PHA LVD User s Manual DB9 female X1 Keypad Programming keypad connector DB9 female X3 Serial Link DB9 female X5 Encoder In 1 2 3 4 5 BRA
74. ge of the rated peak current of the drive Pr35 Instantaneous current requested by the motor expressed as a percentage of drive rated peak current Pb99 Bit parameter for basic commands In addition to the previous parameters the extended menu provides access to all the other parameters and the pico PLC instructions Restoring default parameter values If you wish to set up the drive using the manufacturer s factory default values proceed as follows disable the drive via hardware connector X7 pin 1 open power up the drive the display will show the message IdLE set b99 7 and b99 13 to zero enter command b99 12 save the settings with b99 14 and b99 15 28 Parker Hannifin S p A Divisione S B C LVD User s Manual 3 3 Basic parameters To access all the following parameters open the extended menu by setting b99 6 to one For this procedure b99 7 must be set to zero DECIMAL PARAMETERS 0 Motor speed this is a read only parameter expressed in rpm the message PrO never appears on the display In its place a message corresponding to drive status is shown 1 Analog reference offset This is expressed in input A D converter counts Programming limits are 10000 and 10000 while the range of the A D converter is from 16384 to 16383 in the scale 10 V Pr2 First full scale of analog reference Unit rpm range 10000 default 3000 If b40 0 0 and b40 12 0 Pr7 will be equal to Vin Pr2 9 76 wh
75. he green one is the link status if it is always on the link is OK if it flash once the link is in busoff if it flash twice the link is in bus warning Header points and Wiring header points 1 LED GREEN status Can bus 2 RED power supply 3d 2 power supply OV 6 C 8 O CO 10 17 OUT 0 7 P91 8 P91 15 18 25 N 0 7 P89 0 P89 7 26 24V out 27 24 28 35 8 15 P89 8 P89 15 96 Parker Hannifin S p A Divisione S B C Mechanical dimensions mm 70 OOOOOOOOOOOOOOOOOO 105 LVD User s Manual 97 Parker Hannifin S p A Divisione S B C LVD User s Manual Revision history Rev 1 First issue August 98 Rev 1 1 December 98 Chapter 1 1 General information Chapter 2 6 Power connection diagrams added transformer sizing formula Chapter 2 8 Signal cable connection diagram Chapter 6 CANBUS modified identifier SBCCAN Rev 1 2 January 99 Contents new chapter 3 14 appendix I and page numbers Chapter 3 3 Basic parameters added b41 15 Chapter 3 14 Digital locking Positioner new operating mode 13 Chapter 3 15 Position control with CanBus or electronic Cam added b70 6 Chapter 3 16 Block diagrams modified operating mode 9 added operating mode 13 Chapter 3 17 Other useful functions last paragraph of table function homing function also with operating mode 13 Virtual axis function Added Appendix I IOBOX Rev
76. illation we recommend using very low values for Pr16 in this configuration the LVD drive will smooth out motor torque requests to prevent the generation of mechanical oscillation Figure 7 shows this type of configuration Tek Run 250 S s Hi Res 70 28 Mar 1996 08 50 13 39 Parker Hannifin S p A Divisione S B C LVD User s Manual CALIBRATION WITHOUT INSTRUMENTS If an oscilloscope is not available proceed as follows A Calculate the value of Pr16 as described earlier B Calculate Pr17 using the following formula 135 41 Prl6 J Nm 17 1488 peak where J tot 15 total inertia motor load in kgm Nm peak 1S available torque at drive peak current C Start the drive and moving the axis with an external control change Pr17 to seek the value at which the axis moves as required D Calculate the value of Pr18 using the following formula Pr17 Pr16 18 017 If the result is less than 1 set Pr18 to 1 If the resulting calibration is unsatisfactory repeat the procedure with lower values for Pr16 40 Parker Hannifin S p A Divisione S B C LVD User s Manual 3 6 Operating modes Operating modes are selected by means of parameter Pr31 default 0 Each operating mode commands a speed control loop by means of parameter Pr6 and can limit motor torque with parameter Pr21 see block diagrams Speed control uses Pr7 or Pr6 as a reference depending on the value of b40 2 Befo
77. in the US and worldwide 73 Parker Hannifin S p A Divisione S B C LVD User s Manual 5 SERIAL INTERFACE The drive communication protocol is master slave half duplex type on an asynchronous RS 485 RS 422 line The drives assume control of the line only following interrogation by the master Up to 32 drives can be connected on the same serial line allocating each a different serial address in parameter Pr27 Transmission speed can be programmed in parameter Pr26 as specified in the table Pr26 decimal base 0 600 512 l 1200 256 2 2400 128 3 4800 64 4 9600 32 5 9600 32 6 19200 16 7 38400 12 8 57600 8 9 125000 4 57600 8 The version with code Pr26 4 differs from Pr26 5 because of the 25 ms response delay This version was developed to interface with PLCs that require this characteristic The version with code Pr26 10 was developed to allow data communication between two LVD drives Refer to the heading Serial line connection for connection diagrams 5 1 Communications protocol The right hand column in the table shows the time out value in milliseconds for each communication speed this is the time starting from the beginning of each message STX within which the transmission of the message must terminate Therefore if the message is interrupted after the time out the drive will ignore the information already received and stand by to receive a new message Messages are made up of
78. ion is terminated b94 14 is reset automatically The table must be set up as shown below 59 Parker Hannifin S p A Divisione S B C LVD User s Manual Copied from TABLE to OPM aa CMM MEC NN NET XL LL E i 2 i zz j 2 Before transmitting the command b94 14 1 the value of parameter Pr43 must be set as t he index of the first element N in the table if b40 2 1 the command should be transmitted when the motor shaft is at a standstill This function is performed every 6 144 ms Note that Pr61 60 and Pr63 62 are not copied because they hold information relating to the current position of the motor Virtual axis When b94 3 is 1 the function Virtual axis is enabled on the connector X4 will be available a virtual encoder whose speed will be set in the parameter Pr3 its resolution is 1 r p m and its value range is between 3500 and 3500 rpm the signal coming out from X4 will simulate an encoder of 1024 steps revolution without phase C zero signal To use this function must be b42 0 0 b42 1 0 and b42 2 1 Pr3 loses the meaning of 2 full scale speed b94 3 is unstorable parameter so the pico plc will be used to set it 60 Parker Hannifin S p A Divisione S B C LVD User s Manual 4 Programming digital inputs and outputs 4 1 The pico PLC The internal pico PLC makes it possible to connect peripheral systems inputs outputs to the parametric system of the LVD
79. is parameter and with Pr58 it is possible to standardise the pulses revolution of the encoder feedback to 4096 Pr60 61 Position control loop reference Unit steps Pr62 63 Motor position Unit steps increases by 4096 steps each revolution Pr64 65 Incremental position Unit steps On transmission of the profile execution request b70 8 the motor will perform Pr64 65 steps in the direction programmed in b70 4 Pr68 69 Final position Unit steps read only parameter When a new positioning is required b70 1 b70 2 b70 3 b70 4 b70 5 b70 6 b70 7 b70 8 b70 9 b70 10 b70 11 b70 12 b70 13 44 Pr68 69 is updated with the final position Feedback Default 0 If at zero feedback is provided by the resolver if set to 1 encoder feedback is utilised X5 in this latter case parameters Pr58 and Pr59 are utilised to standardise pulses revolution to 4096 Incremental position reset Command utilised to reset Pr64 65 This command is useful when programming incremental dimensions by means of the frequency input Reserved Forward reverse On receipt of the start profile command b70 8 if b70 4 0 the motor will perform Pr64 65 steps in the positive speed direction If b70 4 1 the same distance will be covered but this time in the negative speed direction Servo error b70 5 is set to 1 if the absolute value of the position error exceeds the value entered in Pr56 If b70 5 is utilised it must be reset by the user following
80. les Pr52 add slip speed Pr58 and limit speed demands of the proportional part of the loop Pr50 Further information available master and slave locked and servo error Using Pr52 the main ramps and the internal PLC makes it possible to program various different catch and release modes with or without phase recuperation For connection diagrams refer to the chapter Frequency input connection If using a digital input for catch commands to minimise phase errors use digital input 1 in FAST IN mode OPERATING MODE 10 PARAMETERS Pr50 Maximum speed Unit rpm default 200 range 0 9000 This parameter makes it possible to restrict maximum motor speed it may be useful to limit motor speed during catch on fly cycles or during sudden speed changes cf Pr58 Pr51 Reference multiplication factor Default 1 range 32000 32000 With this parameter and with Pr53 it is possible to program the required ratio for the input reference frequency Pr52 Acceleration and deceleration ramp Unit s krpm default 500 range 0 30000 resolution 0 001 seconds The acceleration and deceleration requested of the motor can be limited so that it takes Pr52 thousandths of a second to change speed by 1000 rpm this function may prove useful during catch on fly cycles Pr53 Reference division factor Default 1 range 32000 32000 With this parameter and with Pr51 it is possible to set the required ratio for the input reference frequency Pr55 Real speed requeste
81. lid values 1 15 If the Drive enters alarm status it will transmit this message on the bus To calculate the minimum sampling time use the formula Temin Nr Nt 5 0 12 where TCmin is minimum sampling time in msecs Nr is the number of LVDs that receive the reference Nt is the number of LVDs that transmit the feedback signal Typical SBCCAN timing in real time mode is shown in the figure on the next page 84 Parker Hannifin S p A Divisione S B C LVD User s Manual SBCCAN feedback from LVD 1 feedback from LVD 2 feedback from LVD 3 feedback from LVD 4 Fs Se Sti hana rr vx 777777 cyclic msg to LVD 1 cyclic msg to LVD 2 cyclic msg to LVD 3 cyclic msg to LVD 4 85 Parker Hannifin S p A Divisione S B C LVD User s Manual 6 2 Description of fields in communication mode Data write or parameter request message from Master to LVD data write or request 7 bytes Cmd amp Len Data Address 5 bit command and 3 bit length Identifier I2 wo rs A vm AO UE SC TEC aban RAR E 15 6 1 0 115857 A0 A4 Slave LVD address Pr27 1 valid values 1 15 Data In the case of a parameter write message contains the value of the parameter In the case of modification of one or more bits contains the mask of the bits to be modified In the event of a parameter read request this field is insignificant Data Address Address of the parameter i
82. lt CARRIAGE POSITIONS 0 1 5 az 30 31 The positions are set in the first parameters memorizable in the table in resolver steps taking the position of the proximity sensor as the zero value The table parameters are assumed as long format so the zero position corresponds to Pr43 0 Pr44 0 and Pr43 1 44 0 position 1 corresponds to Pr43 2 Pr44 least significant part of the long format and Pr43 3 Pr44 most significant part of the long format and so forth When the machine is powered up the drive remains in standby mode awaiting the homing execution command when a pulse command is supplied to digital input 6 of the LVD drive homing procedure 2 will be performed cf chapter Other useful functions At this point digital inputs 1 2 3 4 and 5 select the position to be reached while a pulse on digital input 6 makes it possible to perform positioning by means of a trapezoidal profile the binary selection code for the profile must be set at least 13 msec before transmitting the execution command The following diagram shows the relationship between the parameters in the table and the encoding on the 5 digital inputs for example only input 1 when set to 1 selects position 1 while the distance in steps between the zero axis point and position 1 is set in steps in parameter Pr44 2 3 bearing in mind that one revolution of the motor shaft corresponds to 4096 steps p ceri
83. meter is on zero If it is on one the first mathematical operation performed by the Pico PLC is carried out setting the three operands to double word format after the operation has been performed b94 0 is automatically reset If Pr60 Pr68 are utilised the double word format is implicit Disables the first fast input b94 5 1 Zero at power up Disables the second fast input b94 6 1 Zero at power up Disables the third fast input b94 7 1 Zero at power up Status of first timer Equal to 1 if Pr92 0 Status of second timer Equal to 1 if Pr93 0 Equal to 1 if the result of the last PLC operation is negative Equal to 1 if the result of the last PLC operation is zero not executed and the facility for editing PLC instructions is enabled PLC INSTRUCTIONS ae LD Pa y load bit y of parameter Pa in the stack Pa A LDN load inverted bit y of parameter Pa in the stack Pay C OUT Pay set bit y of parameter Pa to the value loaded in the stack Pay OUTN Pay set bit y of parameter Pa to the stack value and invert it Pa y SET SET if the stack is at 1 set bit y of parameter Pa to 1 Pa y RES Pa y if the stack is at 1 set bit y of parameter Pa to 0 Pay AND Pay the bit loaded in the stack assumes the result of the logical AND between itself and bit y of parameter Pa Pay ANDN the stack bit assumes the result of the logical AND between itself and the inverted bit y of parameter Pa Pay
84. must deliver at least 2A for each drive connected with max ripple voltage It must be reserved to the drive supply only In fact the condivision with e g brakes relais etc may generate electrical noises and or malfunctions Connection of an EMI filter if required If the 230V mains connection is direct the length of the wire connecting LVD and filter must be no more than 50 cm to obtain the maximum efficiency If an autotransformer is utilised the filter can be installed either up or down line in this latter case the cable utilised for the connection between autotransformer and LVD must be screened Earth connections The length of individual wires connected to earth must be kept as short as possible it is therefore advisable to use an earth busbar located as near as possible to the drive The earth busbar must be made of copper to ensure low inductance and Length m width mm thickness mm supports The minimum dimensions 02 20 6 it must be mounted on insulated E E 12 sj 15 Parker Hannifin S p A Divisione S B C LVD User s Manual of the bar in relation to the length are shown in the adjacent table 2 6 Power connection diagrams A transformer with electrostatic shield between primary and secondary windings MOTOR S Earthing Bar Stud V resolver N connector E a Power Supply
85. n S p A Divisione S B C LVD User s Manual The units of measurement and main resolutions of the parameters are as follows Parameter Type 144 1 Resolution seconds 1000 rpm 0 001 0 44 4096 steps revolution 1 4096 of a revolution Drive peak current percentage 3 1 Using the optional keypad The keypad display module is designed to provide an intuitive operator interface It can be used to program operating data monitor system status and enter commands The module has only three keys located at the top of the front panel just below the display The keys are marked M and M is used to change the display mode and consequently also the function of and There are two display modes parameter mode and parameter value mode When the unit is powered up the message IdLE drive disabled or run drive enabled is displayed provided there are no active alarms this is also the position of parameter Pr0 Press or to scroll through the parameters If you want to check a parameter value press M when the value is shown it can be updated using and To return to parameter mode press M again Data can be displayed in various forms depending on the parameter in question If you need to increase or decrease a parameter value quickly press M while the up key or down key is pressed
86. n usa 3 1 3 6 1 4 Main hardware specifications 7 1 5 Main software specifications tacet ate t 8 1 6 Compliance with EMC standards sse 1 7 Safely erana aqa S 8 aaa 9 2 1 Sa EV A 9 2 2 Tips for interference suppresSsion 10 2 3 Mains filter installation instructions Pete C Uca aq ol Ee Cui Dod 11 2 4 Connector layout 12 2 9 P wer connections hu S due suce M ated anced ecd 15 2 6 Power connection diagrams OR OON eR BRE I Ra Ree ed 16 27 Signal cable ConnigCRONHS e arte potete eite 20 2 8 Signal cable connection diagram deans sh odi Us LORI 20 29 Frequency input connection 20 210 Sim lateden der outp t diio Ee taire pie bn dt cut dtt euros 22 21 GEI line CONNCCHION vada este eme ebat uu bete oars obe coda esa esie ud 22
87. ng of parameterisation including pico PLC program from a file that can be selected from among those previously stored speed control loop and position loop simulation auto tuning oscilloscope function easy commissioning PC LVD connection diagram LVD serial kit CL 422 X3 LVD personal computer 47 STI E S ey s 5 o 2 3 O11 207 5 14 2 121 2 o Lo 4 l l 5 oa ran i7 o see text for burden resistors To create line load burden resistances jumper pins 2 and 6 and pins 4 and 7 on connector X3 of the last drive on the serial line If the PC is a battery powered laptop i e not connected to ground use the following connection layout personal computer X3 LVE DB9 0825 d 50 7 1 2 20 3 3 30 2 4 To install PC2LVD open WINDOWS insert the diskette in drive A select the File menu in Program Manager and then the Run option Now run Setup exe on A by typing on the command line A setup exe or by selecting the file with the Browse button The following installation procedure automatically creates a new icon for PC2LVD Once the program is installed launch it by double clicking the relative icon or select the icon and then press ENTER Set the following parameters on the drive b40 14 1 Pr26 6 b42 3 1 e Windows and the Windows logo are registered trade marks of Microsoft Corporation
88. not accepted if a checksum error alarm is active in this case set default parameters reset the alarm and then save the new parameterisation Parker Hannifin S p A Divisione S B C LVD User s Manual 3 5 Speed control loop calibration IMPORTANT CONCEPTS SPEED LOOP the main task of any drive is to control motor speed so that it follows as faithfully as possible the required speed which is generally referred to as the REFERENCE High fidelity reproduction of the reference implies that motor speed is identical to reference speed in static conditions and also that it follows speed requirements closely also in the case of sudden changes in the speed reference dynamic conditions To perform this task the drive must be informed of various characteristics of the motor and the mechanical system to which the motor is coupled this type of information is set in the CALIBRATION PARAMETERS ERROR the error refers to the difference between reference speed and motor speed The error value is utilised by the speed control loop to calculate using calibration parameters how much current to supply to the motor TORQUE current flowing through the motor windings is converted into torque which allows the motor to accelerate and decelerate GAIN in consideration of the typical applications of the LVD drive the expression gain in this section of the manual refers to the stiffness of the motor shaft To understand the concept of stiffness imagin
89. nput is programmed to receive two phases in quadrature This is the default value If set to 0 it is enabled to receive a frequency direction type input Torque compensation Default 0 When set to 1 torque compensation is implemented to improve linearity of response Reserved Virtual axis validation refer to Other useful functions Extended menu enable Default 0 If set to 1 the extended menu is enabled Safety Default 0 Parameters cannot be edited when set to 1 UV autoreset Default 0 When set to 1 an undervoltage alarm will be automatically reset when power is restored Pico PLC status Default 1 When set to 1 the PLC program is executed if set to 0 the pico PLC is in stop status and the PLC instructions can be edited if required 33 Parker Hannifin S p A Divisione S B C LVD User s Manual 3 4 Basic commands To transmit the following commands b99 7 must be set to 0 In addition for commands b42 3 and b94 1 b99 6 must be set to 1 b42 3 b94 1 b94 8 b94 9 b94 10 b94 11 b94 12 b94 13 b99 10 b99 11 b99 12 b99 14 b99 15 34 Serial line re initialisation This commands serves to re initialise serial line communications if the serial line transmission rate Pr26 has been altered The serial line 1s initialised whenever the drive is powered up Main reference offset zero setting command This command is used to set parameter Pr1 automatically in such a way as to reset possible voltage offse
90. ns the remaining 4 bits of the first byte b4 b7 contain the value y while the second byte contains the value Pa For instructions ADD SUB MUL and DIV the second byte contains the value Pa the third Pb and the fourth Pc The second byte is not utilised for the END instruction For the FIN instruction the fifth bit b4 of the first byte selects the parameter b4 0 refers to Pb40 b4 1 refers to Pb70 the sixth bit b5 of the first byte is used for a logical inversion if required b5 0 the bit is copied b5 1 the bit is inverted and then copied The second byte of the FIN instruction contains the value of y If FIN instructions are used they must be the first of the program and there must be no more than 3 so they will occupy addresses from Oh to 5h If a FIN instruction is included from address 6h onward or after any other instruction it will lose its original functionality and be disregarded NOP The instructions must be one after the other starting from address Oh without any free bytes There is just one program and it terminates with the END instruction Serial line application examples For a better understanding of how to implement the serial line communication protocol we have provided a few examples for each type of message The values are entered simply by way of example Case 1 reading a 1 byte parameter Assume you want to read the value of parameter Pr31 operating mode and that the value of the parameter is 9 a
91. nvolved in the operation see the table in the heading Serial addresses and parameter lengths Cmd amp Len Sub field Value Significance Cmd 0 4 0 Read request 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 not used Len 5 7 0 4 Number of significant bytes in Data field Parameter request answer message from LVD to master Data reply Data length 5 bytes Field Name Addr amp Spare Data Pr27 1 32 bit reply data Identifier 102 D1 mol ID9 ID8 ID7 ID6 ID5 ID4 ID3 2 Al AO X X X X X 0 0 05151 0 A0 A4 Slave LVD address Pr27 1 valid values 1 15 86 Parker Hannifin S p A Divisione S B C LVD User s Manual Broadcast message to write a parameter from Master to LVD Cmd amp Len Data Address 5 bit command and 3 bit length Identifier 110 ID9 ID8 ID7 ID6 ID IDA ID3 EX EX IX 1 9 E91 1 99 11 Data In the case of parameter writing this portion contains the value of the parameter In the case of modification of one or more bits contains the mask of the bits to be modified Data Address This is the address of the parameter involved in the operation see the table in the heading Serial addresses and parameter lengths Cmd amp Len Sub field Value Significance Cmd 0 4 0 not used 1 Write 2 SET bit Pr Pr OR Dat
92. o be powered 18 Parker Hannifin S p A Divisione S B C LVD User s Manual Direct connection to 230V mains supply Earthing Bar MOTOR L Stud resolver connector E al A 24V 1 5A X8 Only if the Power Supply output is unprotected Note The cable between filter and LVD must be as short as possible and in any event no longer than 50 cm In the case of single phase connections the power available from the LVD drive is derated the maximum power output of the LVD with a single phase supply is given by the formula Pmax 27 10 3 Vmains2 watt When using a direct mains connection take into consideration that current up to 100A may be required for a period of less than 3ms at the time of start up For this reason use fuses instead of thermal magnetic circuit breaker and if several units are to be installed in parallel sequential power feeding procedure is strongly recommended Parker Hannifin S p A Divisione S B C LVD User s Manual 2 7 Signal cable connections A twisted and screened pair must be employed for the analogue reference The cable for simulated encoder signals must comprise three twisted pairs with a common screen Screened cables are recommended also for digital inputs and outputs Minimum size of all signal wires is 0 35 mm 2 8 Signal cable connection diagram
93. of algorithm for vibration suppression at 0 rpm Default 0 Set to 1 to activate the algorithm User reserved reference selection If set to 1 the reserved reference is used in accordance with the currently active operating mode If set to zero the reference selected by b40 0 b40 12 and b40 13 is adopted Default is 0 Reference hold Default 0 If set to 1 the reference will not be updated so the motor will not follow input reference modifications If set to zero the reference will follow variations in the reference input Left hand stroke end Default 0 If set to 1 and the selected reference requires negative speed the reference will be forced to zero in accordance with the ramp in Pr 12 If set to zero no type of control is performed Right hand stroke end Default 0 If set to 1 and the selected reference requires positive speed the reference will be forced to zero in accordance with the ramp set in Pr 12 If set to zero no control Is performed Stop function Default 0 If set to 1 the motor is stopped according to the ramp set in Pr 12 Absolute relative speed window selection Default 0 If set to 0 speed windows Pr 14 Pr 15 b 41 1 will operate in relative mode if set to 1 the speed windows will operate in absolute mode Analog torque limit Default 0 If set to 1 Pr 22 i e auxiliary analogue input will be used to limit motor torque Software enable Default 1 Of set to 0 the drive cannot be started Auxiliary analog output sele
94. oint cam b70 14 1 initialises and activates the 32 point cam Start 128 point cam b70 15 1 initialises and activates the 128 point cam 3 16 Block diagrams The main block diagram provides a graphic description of how to use the drive Each rectangular block represents one or more read write parameters each rhomboid shape represents read only parameters In the diagram there are other functional blocks such as greater than equal to the smallest among logical and or we have used standard symbols for all these blocks Binary parameters are shown as switches and the position depicted is the default value 50 Parker Hannifin S p A Divisione S B C LVD User s Manual A B C D E F Pr X Pr X 36 bx y et B C 7 rx Read write parameter PrX A value of parameter PrX Read write parameter PrX B value that depends on the values of A and PrX Read only parameter PrX indicates the value of A can be binary Read write binary parameter switch position indicates that bx y 0 switch is positioned in respect of the value of binary parameter bx y If A is less than B C 1 true otherwise C 0 false The value of G is the lowest among A B C D E and F C 1 only if A 1 and B 1 otherwise C 0 or B is 1 otherwise C 0 values derived from hardware values transmitted to hardware The value of A is converted into B For example if the triangular symbol is marked
95. om LVD to Master Data reply Data length 5 bytes Field Name Addr amp Spare Data Pr27 1 32 bit reply data Identifier 102 D1 mol ID9 ID8 ID7 ID6 IDs ID4 ID3 2 Al ao X X X 1 X X 0 o o 1 1 00 A A0 A4 Slave LVD address Pr27 1 valid values 1 15 83 Parker Hannifin S p A Divisione S B C LVD User s Manual Broadcast message to write a parameter from Master to LVD Data length Field Name Cmd amp Len Data Address 5 bit command and 3 bit length 16 bit data address 32 bit data Identifier Data In the case of parameter writing this portion contains the value of the parameter In the case of modification of one or more bits contains the mask of the bits to be modified Data Address This is the address of the parameter involved in the operation see the table in the heading Serial addresses and parameter lengths Cmd amp Len Sub field Value Significance Cmd 0 4 0 not used 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 not used Len 5 7 0 4 Number of significant bytes in Data field Alarm message from LVD to Master Error Data length 3 bytes Field Name Addr Pr27 1 Identifier ID2 wi IDO ID8 ID7 we ID5 ID4 13 2 a A0 A4 Slave LVD address Pr27 1 va
96. ompatible 3 number of motor poles and Pr29 incompatible 4 resolver phase error 5 Pr30 set to value other than zero 99 procedure aborted By setting vartous values in Pr57 you can get further useful information for Installation and maintenance see table in block diagrams OPERATING MODE 8 PARAMETERS Pr50 Manual speed Unit rpm default 100 This is the speed at which manual movements are performed as executed using b70 1 b70 2 with b70 0 0 and b40 2 1 Pr51 Profile execution speed Unit rpm default 1000 Speed during execution of the profile Pr52 Stroke Unit revs default 30 Distance in motor shaft revolutions to be completed during profile generation 53 Starting point Default 1 When set to 1 at start profile b70 0 the motor will start spinning and perform Pr52 revolutions in a positive direction if set to 2 the motor will start moving and perform Pr52 2 revolutions in a positive direction If set to 3 the motor will start moving and perform Pr52 revolutions in a negative direction Pr54 Delay Unit 0 1 secs default 1 During profile execution the drive pauses for an interval Pr54 at zero rpm between positive speed movement and negative speed movement Pr55 Deviation index During profile execution assuming the same Prl6 value the optimum value of Pr17 is obtained by reducing the value Pr55 to a minimum Pr56 Value of requested information Returns the information requested by means of Pr57 Pr57 Requested info
97. on in the PLC program after the first three instructions or after any other type of instruction will be disregarded There are two timers Pr92 and Pr93 at the disposal of the user To use the first timer simply load the time in terms of number of samplings 6 144 mS in parameter Pr92 for example Pr92 100 is equivalent to 614 milliseconds Pr92 automatically decreases through time bit b99 0 remains on zero until the timer interval has elapsed when Pr92 0 then b99 0 1 The same functionality applies to the second timer regarding parameter Pr93 and bit b99 1 Attention note that Pr92 Pr93 b99 0 and b99 1 are refreshed only before the pico PLC program scan The maximum number of instructions is 128 Note that mathematical operations occupy the space of two logical operations so when they are used the maximum number of instructions available is decreased accordingly The PLC program must always be terminated with an END instruction The pico PLC program can be edited on a PC see Programming with PC2LVD or directly from the keypad In this latter case to facilitate procedures when you need to delete an instruction select it and then press M to display the type of instruction now keep M pressed and simultaneously press when both keys are released the instruction will be deleted On the contrary in order to add an instruction after In06 for example select the next instruction In07 press M to display the type of instruction now keep M
98. onsidering identical motor and drive rated currents if this is not the case correct the values of parameters Pr16 and Pr17 with the ratio of the motor rated current drive rated current This compensation will eliminate the risk of motor vibration at the first start up 6 Set the analog reference signal to 0 V pins 15 8 of connector X7 and enable the drive 24 V on pin 1 of connector X7 7 The motor shaft must be stationary when the analog reference voltage is changed motor speed should change proportionally If this does not occur check your wiring 8 Save your settings with b99 15 The drive is factory set with default values designed to meet the requirements of the majority of applications In default conditions the built in pico PLC runs the program described in Appendix F so t he following functions will be present on the input and output connectors 1 real speed gt Pr13 motor speed reference 20 rpm 0 clockwise anti clockwise rotation start stop 2 0 real speed gt 0 N X7 3 motor thermal image active 1 terminal A drive ready terminal B contact ES 9 2 The functions on pins 9 2 and 10 of connector X7 must be enabled by setting bit b90 10 to one This requires access to the extended parameters menu The default PLC program controls parameter Pr5 in addition to timer 1 Pr92 and bits b40 0 b40 4 b40 5 b40 6 b40 12 so in this case the above bit parame
99. ontrol Check that the analog output of the Axis Control is carrying voltage Check that with the drive enabled the display shows the message run If not re check LVD programming and wiring Check the I O signals to and from the Axis Control Invert encoder signals A amp A and the analog reference inputs on the LVD drive LVD User s Manual 95 Parker Hannifin S p A Divisione S B C LVD User s Manual Appendix I accessoires IOBOX S S SSSSSSSSSSSSSS 0123 45 6 7 24V 8 9 1011 12 13 14 1 input I O BOXES 225 MOTOVARIATORE 16 8 serial forLVDdrve 1 C le outputs Inkon 24V0 OVCHCL 012 3 4 5 6 090 9009909099 Product description It is aI O expansion module for the LVD drive with DIN rail mounting capability The number of digital inputs is 16 they are 24V pnp compatible The digital outputs are 8 24V pnp able to drive up to 50 mA each but the total current fed from the digital outputs has not to exceed 150 mA The link between the IOBOX and the LVD drive is made using the SBCCAN protocol in communication mode at 125Kbps Every 5ms the IOBOX send the status of the digital inputs using the broadcast command in the Pr89 and read the status of the outputs from the drive addressed with 0 Pr27 0 in Pr91 8 Pr91 15 performing physically the output operation On IOBOX are present two led for a easy diagnostic the red one is the power supply status t
100. ponsible for ensuring that the drive is installed in compliance with established work health and safety regulations For the purposes of applicable regulations note that the drive is classified as a component and not a machine All tampering or unauthorised work performed on the drive will automatically invalidate the warranty Warranty cover is otherwise provided for 1 one year This user manual is applicable to the standard version of the drive Parker Hannifin S p A Divisione S B C declines all liability for any whatsoever form of damage deriving from improper use of the drive Installation and maintenance of the drive and connected equipment must be performed exclusively by qualified and trained personnel with basic skills in electronics Commissioning of the drive must be performed exclusively by qualified and trained personnel with advanced skills in electronics and drive technology Training courses can be supplied by Parker Hannifin S p A Divisione 5 on request The quoted performance of the LVD drive is quaranteed only when used with series MB synchronous permanent magnet motors manufactured by Parker Hannifin S p A Divisione S B C ISBN 0402041600 Parker Hannifin S p A Divisione S B C LVD User s Manual TABLE OF CONTENTS INTRODUCTIONS as p usa E LL 5 1 1 General V DRHIGU OH Sn GAL yh 3 1 2 Product deseriptio
101. pressed and press simultaneously when both keys are released an FIN instruction will be inserted When inserting instructions make sure that the instructions in the program are no more than the maximum number or you will lose the last one s The pico PLC program be edited or altered only when the PLC is in stop status b99 13 0 64 Parker Hannifin S p A Divisione S B C LVD User s Manual 4 2 Examples and applications The following examples illustrate possible functionalities obtained by suitable programming of the LVD pico PLC The suggested solutions offer the possibility of reducing the components required to build the machine or part of the machine while in many cases also cutting the overall cost of the application Note that the pico PLC scanning time is 6 144 msec and the maximum number of instructions is 128 moreover the PLC is designed principally to manage the drive s digital inputs and outputs In addition to a concise description of the application the examples show the settings required for LVD parameters and the pico PLC program The program is shown in ladder diagrams and instruction lists Example 1 two inputs for on off functions 90 1 90 2 91 2 LD 90 1 digital input 1 sets bit b91 2 to on OR 91 2 digital input 2 sets bit b91 2 to off 91 2 ANDN 90 2 OUT 91 2 Example 2 changing a parameter value with the up down keys 90 1 99 0 05 73 05 LD 09 1 digital input 1 in high status increases AND 9
102. r signal must be maintained active in high status for the entire duration of the motor stopping phase If the homing sensor is already engaged when the procedure is activated the axis moves at the speed programmed in Pr4 but in the opposite direction until the homing sensor is freed At this point the procedure continues as described above RESET TYPE 2 DESCRIPTION When the procedure is activated b94 13 1 the axis is brought to the speed programmed in Pr4 Pr5 Pr4 the axis is then brought to zero speed Pr5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are programmed with the value of parameter Pr28 the position loop is enabled by setting b40 2 1 and command b94 13 is reset The homing sensor signal must be maintained active in high status for the entire duration of the motor stopping phase If the homing sensor is already engaged when the procedure is activated the axis moves at the speed programmed in Pr4 but in the opposite direction until the homing sensor is freed At this point the procedure continues as described above Rapid download of an operating mode The parameter values of a given operating mode can be set in the table and then instantly downloaded on transmission of an appropriate command by setting b94 14 to 1 the elements of the table selected by Pr43 will be copied into parameters Pr50 Pb70 thereby activating a new operating mode When the operat
103. re changing Pr31 b40 2 must be set to 0 to prevent undesired motor movement it is now possible to set Pr31 to the value of the chosen operating mode and load default values by means of parameter b99 11 The operating mode will be enabled by setting b40 2 to 1 3 Torque control This operating mode does not perform classic torque control because the speed loop remains active to monitor limit speed the torque reference is the main reference Pr7 To set torque control first program the speed loop to create a stable system and then set Pr31 1 to program the operating mode setting default values with command b99 11 Now set Pr2 1000 10 V 100 0 torque b40 0 0 b40 12 0 and b40 2 1 to program the reserved reference and Pr50 to limit maximum motor speed OPERATING MODE 1 PARAMETERS Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter allows you to restrict maximum motor speed during torque control operation 3 8 Acceleration control Instead of performing closed loop acceleration control this mode uses main reference Pr7 for dynamic modulation of the ramps To program analogic acceleration control the first requirement is a stable speed loop When this is obtained set Pr31 2 to program the operating mode and set default values with command b99 11 Now set Pr 2 ACC 3 2 where ACC is required acceleration in rad s with a 10V reference signal b40 0 0 b40 12 0 b40 2 1 to enable the reserved reference Also se
104. rmation This parameter serves to request various information from the drive The table of available information is shown in the block diagram of operating mode 8 Pr58 Reserved Pr59 Reserved Pr60 61 Reserved Pr62 63 Reserved 42 Parker Hannifin S p A Divisione S B C LVD User s Manual Pr64 65 Reserved Pr66 67 Reserved Pr68 69 Reserved b70 0 Start profile When set to 1 the programmed profile will be executed Remember to set b40 2 1 to effectively transmit the speed reference to the control loop b70 1 Manual forward speed If set to 1 with b70 0 0 and b40 2 1 the axis will move at the speed programmed in Pr50 b70 2 Manual reverse speed If set to 1 with b70 0 0 and b40 2 1 the axis will move at he speed programmed in Pr50 but with the opposite sign b70 3 Wiring test When this command is transmitted the drive performs a test routine and returns the result in an ERROR CODE which can be displayed using the two parameters Pr56 and Pr57 Before transmitting this command make sure that the motor is disconnected from all loads including pure inertia loads Ensure also that b40 9 0 and b40 2 1 b70 4 Reserved b70 5 Vibration test If none of the above functions are active when this bit is set to 1 the degree of vibration of the motor shaft is evaluated increasing parameter Pr64 by a value proportional to the level of vibration The technician is provided with the facility to read and reset Pr64 if and when necessary
105. s assignment could be automatically done following this procedure connect the drives via serial link and power them on disabled set the binary code of the desired serial address for each drive using digital inputs 3 4 5 and 6 so you have 16 codes at disposal digital input 3 is the least significant bit send the broadcast message to set the byte at the address 0x9C equal to 128 that is 7E EO0 01 9C 80 FD In this way each drive having Pr27 0 default set Pr27 equal to the code at its digital inputs set b40 14 1 and initialise the serial communication For parameter addresses and lengths refer to the relative table In the case of pico PLC instructions each one occupies 2 or 4 bytes the format of which is described below 76 Parker Hannifin S p A Divisione S B C LVD User s Manual LD LDN OUT Pay OUTN Pay AND ANDN Pa y OR Pa y ORN Pay ADD Pb Pc SUB Pb Pc MUL Pb Pc DIV Pb Pc SET RES FIN Pb40 y Pb70 y END 2 2 2 2 2 2 2 2 4 4 4 4 2 2 2 2 The memory area available for PLC instructions is 256 bytes with addresses from Oh to FFh As the minimum length for each instruction is 2 bytes the PLC program can hold a maximum of 128 instructions The first four bits of the first byte in each instruction b0 b3 contain the instruction code For the first 8 instructions in the table LD ORN and the SET and RES instructio
106. s repeated Don t change any profile parameter during calculation b70 15 1 43 Parker Hannifin S p A Divisione S B C LVD User s Manual OPERATING MODE 9 PARAMETERS Pr50 Pr51 Pr52 Pr56 Pr57 Pr58 Pr59 K multiplication factor for input pulses Default 1 If b70 9 1 pulses on the frequency sign input will be multiplied by Pr50 and the result will be summed to Pr64 65 The frequency input direction signal must be forced to a fixed level Refer to the chapter Frequency input connection for connection diagrams Acceleration time Unit s krpm range 0 002 30 000 0 0015 default 0 500 s This is the acceleration ramp that will be utilised during the positioning profile Steady state speed Unit rpm range 0 9000 default 1000 absolute value This is the operating speed that will be utilised during generation of the position profile Servo error window Unit steps default 100 If the absolute value of the position error exceeds the value entered in Pr56 bit b70 5 is set to 1 If b70 5 is utilised it must be reset by the user following servo errors e g by means of the PLC program Proportional gain of the position control loop Default 100 range 0 32000 Feedback multiplication factor Default 1 range 32000 32000 With this parameter and with Pr59 it is possible to standardise the pulses revolution of the encoder feedback to 4096 Feedback division factor Default 1 range 32000 32000 With th
107. se phase errors use digital input 1 in FAST IN mode The positioner executes a trapezoidal profile For define the motion the user have to define acceleration with Pr59 steady time speed with Pr54 and absolute target position using the double word parameter Pr68 Pr69 one motor revolution is equivalent to 4096 steps It is possible to change all the parameters during motion The actual demanded position can be read on parameter Pr64 65 The position loop has proportional gain Pr57 with a limit speed demands Pr50 and a servo error window Pr56 Further information are available master and slave locked profile on profile direction servo error flag and master speed Pr55 OPERATING MODE 13 PARAMETERS Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to restrict maximum motor speed it may be useful to limit motor speed during catch on fly cycles or during sudden speed changes cf Pr58 Pr51 Reference multiplication factor digital lock Default 1 range 32000 32000 With this parameter and with Pr53 it is possible to program the required ratio for the input reference frequency 47 Parker Hannifin S p A Divisione S B C LVD User s Manual Pr52 Pr53 Pr54 Pr55 Pr56 Pr57 Pr58 Pr59 Pr60 61 Pr62 63 Pr64 65 Pr68 69 b70 0 b70 1 b70 2 b70 4 b70 5 b70 6 b70 7 b70 8 b70 9 b70 10 b70 11 b70 15 3 15 Acceleration and deceleration ramp digital lock Unit s krpm
108. servo errors e g by means of the PLC program Feed forward enable Default 0 If set to 1 feed forward is enabled on the position loop Profile in execution If set to 1 the drive is executing a position profile Start profile This is the positioning execution command Frequency input enable Default 0 If set to 1 parameter Pr64 65 can be programmed by means of the frequency input Reset type 1 Resets the motor position and reference Activated only when there is no profile in execution Reset type 2 Command to set the motor position and the reference to the absolute position of the shaft Activated only when there is no profile in execution Reset type 3 Command to set the reference to the motor position Activated only when there is no profile in execution Profile execution Execution of profile pre calculated with b70 15 Parker Hannifin S p A Divisione S B C LVD User s Manual b70 14 Reserved b70 15 Profile calculation Can be performed during profile execution if necessary 3 11 Digital locking Operating mode 10 is a tracking function referred to the frequency input signal connector X5 set as an encoder signal by setting b42 5 1 the encoder signal is counted on each switching front of signals A and B The motor position counter increases by 4096 steps per revolution The ratio between master and slave can be programmed using parameters Pr51 and Pr53 You can also select the ramp to utilise during catch or release cyc
109. sic software supplied with the LVD drive Speed control Advanced torque limits manager Speed windows management Positioning with trapezoidal speed profile Digital locking functions with variable transmission ratios and phase shifting Spindle orientation Stepper motor simulation Torque control with superimposed speed control Acceleration ramp control with superimposed speed control Simplified maintenance and start up mode Built in PLC for advanced input output programming functions 1 6 Compliance with EMC standards Immunity EN50082 1 EN50082 2 Basic immunity specifications IEC1000 4 2 ex IEC 801 2 level 3 Electrostatic discharge immunity IECI000 4 3 IEC 801 3 level 3 Electromagnetic field immunity IEC1000 4 4 ex IEC 801 4 level 4 Fast transient burst conducted immunity Compatibility EN50081 1 EN50081 2 Basic radio interference specifications 55011 group 1 class Measurement limits for radio interference EN55011 group 1 class B Measurement limits for radio interference 1 7 Safety Safety standard EN60065 EN50178 Low voltage directive 73 23 EEC amended by 93 68 EEC Applied standard EN60204 1 Conformity for use in domestic or industrial surroundings depends on the nature of the installation Parker Hannifin S p A Divisione S B C LVD User s Manual 2 INSTALLATION e The LVD drive must be installed in a vertical position with the power terminal board at the top e Leave at least 190 mm
110. ssume also that the drive serial address is 0 The message to transmit is T Parker Hannifin S p A Divisione S B C LVD User s Manual 7E 80 01 54 D5 The drive answers with the message 7E 20 01 54 09 7E 00 Case 2 reading a 2 byte parameter Assume you want to read the reference speed Pr7 and that the relative value is 2000 assume also that the drive serial address is 1 The message to transmit is 7E 81 02 42 C 5 The drive answers with the message 7E 21 02 42 D0 07 3C Case 3 writing a 1 byte parameter Assume you want to select operating mode 1 Pr31 assume also that the drive serial address is 3 The message to transmit is 7E A3 01 54 01 F9 The drive answers with the message 7E 23 Case 4 writing a 2 byte parameter Assume you want to set rated current at 25 3 Pr33 assume also that the drive serial address is The message to transmit is 7E A3 02 C6 SFD 00 68 The drive answers with 7E 23 Case 5 setting a bit to 1 Assume you want to enter the command to save the PLC program b99 14 1 assume also that the drive serial address is 0 The message to transmit is 7E CO 02 93 SBF 40 54 The drive answers with 7E 20 Case 6 setting a bit to 0 Assume you want to disable the drive via software b40 9 0 assume also that the drive serial address 1s 0 The message to transmit is 7E CO 02
111. t 20 When b40 7 0 if the speed difference between motor and reference is less than Pr14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 In the case of b40 7 1 if motor speed is less than Pr14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 15 Low speed threshold Unit rpm range 13000 default 20 When b40 7 0 if the speed difference between motor and reference is less than Pr14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 In the case of b40 7 1 if motor speed is less than Pr14 and greater than Pr15 b41 1 will be 1 otherwise it will be 0 16 Integral gain of speed control loop Range 0 32767 default 120 Pr17 Speed control loop damping Range 0 32767 default 2000 If Pr16 is set to zero Pr17 sets the value for proportional gain of the speed control loop Pr18 Bandwidth limiter Unit 512uS range 0 1000 default 1 Use Pr 18 to set the time constant of a first order filter located on the digital torque demand signal The filter cut off frequency will be 310 Pr18 Hertz Pr19 Peak current Unit range 0 100 0 resolution 0 1 default 100 0 Maximum current that the drive can deliver to the motor expressed as a percentage of drive peak current It is good practice to maintain this value to within 3 times the rated motor current Pr20 DC bus voltage Unit volt read only parameter Shows the value of DC bus voltage Pr21 Torque limiter Unit read only parameter
112. t the required motor limit speed in Pr50 OPERATING MODE 2 PARAMETERS Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter serves to limit maximum absolute motor speed 55 Acceleration deceleration this is a read only parameter of the acc dec reference Unit s krpm range 2 30000 resolution 0 001 secs 41 Parker Hannifin S p A Divisione S B C LVD User s Manual 3 9 Maintenance and commissioning mode This operating mode is designed to assist technical personnel during commissioning Mode 8 provides various tests to check drive wiring It s also possible to move the move the axis manually by means of Pr50 b70 1 and b70 2 or using the internal profile generator which simplifies speed control loop set up and ensures that there is no overrun of the programmed movement Programming parameters for generating internal profiles are speed stroke in motor revolutions starting position and interval in seconds between forward and reverse movement To perform a wiring test the motor must be disconnected from all loads including inertia loads disable the drive via software b40 9 0 set Pr30 0 enable the drive via hardware and set b70 3 1 The drive will now execute the test routine When terminated b70 3 0 the error code in Pr56 can be displayed after setting Pr57 0 The error codes are as follows 0 no error 1 b40 9 1 or drive not enabled via hardware 2 motor phase sequence and resolver direction inc
113. t values on the main analog reference This procedure is only permitted if the absolute value of the offset is less than 200 mV Quote compare see heading Other useful functions Quote compare see heading Other useful functions Quote compare see heading Other useful functions Quote compare see heading Other useful functions Homing function 1 see heading Other useful functions Homing function 2 see heading Other useful functions Alarm reset This command resets Pr23 and P124 if the alarm persists it will appear on the display This command is not accepted in the presence of checksum errors Pr23 10 11 in this case set default parameters b99 12 and then reset the alarm Operating mode parameters default values This command sets the current operating mode parameters to the default values It is executed only if b40 2 0 Default values Sets all parameters to their default values zero setting those utilised by the operating modes also it applies the pico PLC program as described in appendix F If checksum alarms are present Pr23 and Pr24 these will be reset thereby allowing subsequent alarm reset The command is executed only if b99 13 0 Store pico PLC instructions Saves the pico PLC program This command is not accepted if a checksum error alarm is active in this case set default parameters reset the alarm and then save the new parameterisation Store parameters Stores all parameter settings This command is
114. ters and switches cannot be utilised unless the pico PLC is disabled b99 13 0 or the basic program is modified 27 Parker Hannifin S p A Divisione S B C LVD User s Manual Short and extended menus When the LVD drive is in default status only a limited number of parameters are displayed These parameters are the only ones required for applications in which the LVD is employed as a straightforward frequency converter i e you are not using the advanced functions of the drive e g using LVD with a Numerical Control or an intelligent axis control card Switch between short and extended menus using b99 6 short menu with status 0 extended menu with status 1 Short menu parameters are PrO Real speed of motor shaft in rpm Prl Main analog reference offset Pr2 Analog reference full scale speed value in rpm corresponding to 10V reference signal Pr8 Acceleration deceleration ramp values in seconds per 1000 rpm with millisecond resolution If the acceleration and deceleration ramps required different settings use parameters Pr9 Pr10 and Pr11 which are available only in the extended menu Prl6 Integral gain of speed control loop Pr17 Speed control loop damping Pr19 Peak current delivered to drive expressed as a percentage of the peak rated value of the drive Pr29 Number of motor poles Pr32 Rated speed rpm Pr33 Rated current that can be delivered by the drive can be maintained indefinitely expressed as a percenta
115. ting is 1024 pulses rev 2 11 Serial line connection The LVD drive serial line can be configured as RS422 or RS485 depending on the connection Burden resistors 150 are required in both cases If there is more than one drive connected on the same line the last node must be terminated as shown below The two connection types are illustrated in the following figures RS 485 MASTER NODE 1 NODE n FINAL NODE 22 Parker Hannifin S p A Divisione S B C LVD User s Manual RS 422 MASTER X3 X3 X3 FINAL NODE 2 12 Backup When you need to keep the drive electronics powered up during mains losses for example to preserve the simulated encoder function it is sufficient to maintain power on terminals 1 and 2 of connector X8 If bit b99 8 is set to one the undervoltage alarm will be reset automatically when power is restored 2 13 Status LEDs When the programming keypad is not connected there are two LEDs visible on the drive panel the first indicates the presence of the electronics power supply the second communicates the following drive status information LED OFF Drive disabled with no active alarms LED ON Drive enabled LED flashing at high frequency 10Hz Drive enabled no active alarms but control of t is active LED flashing slowly with pause between 2 sets of flashes Drive disabled with active alarm you can identify the type of alarm by counting the number of L
116. torage facility at user s disposal word Pr84 Free parameter Parameter with storage facility at user s disposal word Pr85 Free parameter Parameter with storage facility at user s disposal word Pr86 Free parameter Parameter with storage facility at user s disposal word Pr87 Free parameter Parameter with storage facility at user s disposal word Pr88 Free parameter Parameter with storage facility at user s disposal word Pr89 Free parameter Parameter with storage facility at user s disposal word b90 X Status of digital input X If X is greater than 7 it represents a memory storable bit at the disposal of the user b90 0 drive enable b91 Y Status of digital output Y If Y is greater than 7 it represents a bit at the disposal of the user Pb91 is not stored in the memory and it is always at zero when the drive is powered up Pr92 First PLC timer Every 6 144 ms if Pr92 is other than zero the timer is decreased if Pr92 is equal to zero bit parameter b99 0 is set to 1 61 Parker Hannifin S p A Divisione S B C LVD User s Manual Pr93 Second PLC timer Every 6 144 ms if Pr93 is other than zero the timer is decreased if b94 0 b94 5 b94 6 b94 7 b99 0 b99 1 99 2 b99 3 b99 13 PLC status Default 1 If on one the PLC program is executed if on zero the program is pr93 is equal to zero bit parameter b99 1 is set to 1 Force a double word formatted operation When the drive is powered up this para
117. ver temp lt gt external trip L gt forward 70508 b418 output short circuit PLC check sum PAR check sum torque demand b40 11 analog out last hardware enable software enable Pr 38 Vout aux drive enabled Parker Hannifin S p A Divisione S B C LVD User s Manual REFERENCE SELECTION offset full scale main ref ref 1 b40 0 ramps values full scale ref 2 b40 12 max fq ref internal reference 640 13 reserved reference TORQUE CONTROL OPERATING MODE reserved reference main ref reserved current limit 53 Parker Hannifin S p A Divisione S B C LVD User s Manual ACCELERATION CONTROL OPERATING MODE reserved reference main ref MAINTENANCE amp COMMISSIONING manual speed _ Hi OPERATING MODE zi b70 2 profile generator reserved Em reference wiring test selector pos I b70 3 57 T 0 670 0 error code 1 T 1 2 3s start stop motor poles 2 resolver phase 3 value reference input 704 lt s Pr 51 Pr 52 Pr 53 Pr 54 aux analog input lt P 56 gt digital input status 1 6 err std dev test speed test stroke starting point delay digital input status 2 7 encoder in counter 8 bus voltage 54 Parker Hannifin S p A Divisione S B C LVD User s Manual

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