User Manual Doc. n. 02490-0-B
Contents
1. 4 isu I 1 pz 99 tez 10 SISSH a E 2219 5 b Sa Oe a ee me 25 a pe aay E by i p hm L dou a E NOY 7 yO ONS Bojeuy y Configurable Moti AxM 01d S a 9 err A Ajddns AVZ jddns Apz LL Alddns AO ZL 8 6 Connection Example 51 AxM Configurable Motion Control Platform Me 9 Emergency and power fail condition handling 9 1 General Informations The AXM platform has been designed with two completely separate power supplies The power circuit is fed by the mains voltage without preload timing while the control circuit needs to be fed by a separate unregulated 24 V supply This is converted by the internal switching regulator in order to supply all internal services and motor encoders at the appropriate voltages This design solution overcomes all uncertainties of timing and synchronisation between drive and main control cabinet by unifying the same power supply for all services such as sensors PLCs switches and latches In this way all data are memorised and reset at the same time and a simple back up is possible for all machine information without backing up the main power too The power stage without preload and without storage capacitors ensures that the main power is available to the drive without delay whenever the mains power switch is operated We suggest anyway to connect an external auxiliary supply also with R option when emergency stop can occ2. is displayed To have a full list of active alarms use the monitor function of the Cockpit configurator see Software Manual In the table second column the error code is shown referred to the object 603Fh Device Control according to the Can Open DSP 402 specifications DSP communication 0x6188 error An internal error occurred in the Call the Phase Motion Control regulation and control firmware service 88006000 Short circuit 0x2110 A short circuit occurred in the ES ac tala Lo motor windings or into the drive p p to phase and phase to ground oaa aago power mogus into the motor Check the current loop gain Overcurrent 0x2280 The current reached a peak i a EN value higher than that supported an ond the comect mot obstacle and the correct motor QOABoaocacga Uy E GIN size for the use oe 0x3200 overvoltage A too high voltage level has Check presence and connection been detected on the D C Link of braking resistor ES IGBT module 0x4200 overtemperature The power module reached an excessive temperature Too heavy work cycle 688808080004 IGBT brake Resistenza di frenatura valore decahiration 0x4300 Guasto nel circuito di frenatura troppo basso o in corto oppure guasto nell IGBT di 54 AxM Configurable Motion Control Platf 0x7113 synchronization error controllo Il dissipatore ha raggiunto una temperatura eccessiva Il drive segnala un cattivo funzionamento del
3. Terminal Board Phoenix 12 pin cod FK MC 0 5 12 ST 2 5 Pol DO00000000 0 1234567 8 97101112 ROP 80 olo ovali RON Ul AGO m GND Analog pz P U2 Fol 13141516 17 18 17 20 21 22 23 24 GND Analog EVE ov ali R1P GND Analog Did DO2 NOTE To obtain a good performance of the analog input connect the RXN pin to the reference suorce side and apply the 10 10V to the RxP pin 38 AxM Configurable Motion Control Platform y N Name Function Analog l 10V Zin 10Kohm Direct differential input fF aatuced comectio GAD Analog Denied differential 10V Zin 10Kohm input input if not used connect to GND Analog Programmable output 10V f s 5 mA Analog Reference ground Analog signals reference aan Programmable input 6 6 kOhm to ground 20 30 V Dil a Programmable input 6 6 kOhm to ground 20 30 V Digital input 1 Digital A DI3 input Programmable input 6 6 kOhm to ground 20 30 V Digital PNP open collector 24 V DEJE Programmable output nat Digital PNP open collector 24 V Programmable output d max 11 24 ane le se Referred to Pin 12 OV Auxiliary Auxiliary supply ee __ key position DI2 Programmable input 6 6 kOhm to ground 20 30 V QG gt gt O o U o 39 AxM Configurable Motion Control Platform A Type Function ription Analog ground Reference ground Analog signals Reference l Direct differential 10V Zin 10
4. Thermal sensor PTC orKTY 10 Resolver energising 8 kHz sinusoidal wave 11 RESEXP Analog output Resolver energising 8 kHz sinusoidal wave RER EX Ax Encoder head SIKO signals MSK 100 HOOP OOS a WAVE motor EJ standard 3 terminal board input channel differential Me mere armia ent ee e away eee Mt cence TL eee input incremental channel kr temer prewar toser TTL Multifunction Encoder head input if available Indice encoder 477 Ax Configurable Motion Control Platform A a n ENCA Multifunction a 13 ENCB Multifunction Encoder TTL Endara input incremental channel ENC Encoder i i B Multifunction Encoder Entries input incremental channel 8 3 CAN connector C1 Cannon connector sub D 9 pin Male plug C1 connector can be used alternatively for CAN line or to the auxiliary encoder signals Y ou can connect either the CANopen netor pick up the encoder emulation or use the inputs for auxiliary encoder The selection and the configuration is made by some system parameters lame Type Function Digital 1 0 Encoder incremental TIL Diferential 9 channel line driver EN CAN L Digital 1 0 CAN interface CAN positive signal ah ee ea ee CAN CAN cable Shield Shield Logie Ground Logie Ground Encoder incremental TTL Differential TTL Differential line driver Digital 1 0
5. of the motor to the A B and C terminals of the power connector P1 according to the sequence specified in the connection diagram supplied with the motor and the connection outline shown in par 8 4 Use a shielded cable with section suitable for the motor nominal current When the connection cable is longer than 15 m the use of damping inductances in series with the cable is recommended WARNING The cable shield must be grounded on both sides motor and drive connecting it to the special screw provided for Auxiliary supply connection Connect a 24V 22 30V stabilized voltage minimum current 0 6A to the connector U1 according to the diagram of par 8 1 22 BF E A N Ax Ma Configurable Motion Control Platform Al h q TI pi Position sensor connection Connect the signals required by the used sensor to the Encoder connector E1 according to the relative correspondence specified in the wiring table of par 8 2 Use a shielded cable with twisted duplexes possibly of high flexibility type When the connection cable is longer than 25 m the use of adequate cable section is recommended in order to avoid excessive voltage drops WARNING The cable shield must be grounded both to the motor and connecting it to the drive connector frame NOTE If the chosen sensor is a Resolver the cable to be used must have the duplexes twisted and individually shielded in addition to the whole cable shield Connect the individual shi
6. power fail condition handling 52 9 1 Tera ION 110 y A E E 52 9 2 Emergency stop with inertial loads Safety Drakes 52 9 3 POWER fail with Nan enerdy 1020 eee 53 9 4 Thermal MOCO OEV pos 53 10 Error codes 54 10 1 A aa on anne 54 11 CE conformity 30 11 1 COUCH EU LE EC SR ne 58 11 2 a a nn 59 ie Fe nea 59 11 4 Application as directed Scope of application 59 11 5 A A do de 59 11 6 EC Declaration of Conformity and Directive EMCD ooocicicconocacacacicinininininnnss 60 11 7 metalation as SIMA rra 61 11 8 O 62 Confi gurable Motion Ci 1 Drive s overall outline 1 1 Overall dimensions and space required for installation Minimum distance for fan cooling AxM Configurable Motion Com rol Platform ridi i E i La ME AU Install inside a switchboard avoiding any obstacle for cooling fan air flux To avoid any derating of the product performance do not place objects less than 10 mm from the cooling plateside See par 4 3 Performances derating Allways check that inner temperature of the switchboard does nt exceed 40 C see par 6 1 Derating diagrams 1 2 Mounting options Two mounting options are available A screws fastening B DIN rails fastening otional DIN RAIL W SUPPORT W When option B is chosen is necessary to mount both the cable plate code PM 03822 0 and the DIN rail support code PM 03821 0 When the drive is engaged on the DIN rail it is enough to slide
7. service If the problem appears again contact the Phase Motion Control service se Configurable Motion Control Platform A i asaBaBaa 17 c we 0x6183 An error occurred during the If the problem appears again ete downloading of the drive s power contact the Phase Motion 05 Q A Q 4 O a O module firmware code Control senice OI moo Thediveisuced aera gages are ne et parameters saving 9 button Encoder counting 0x8500 error The drive found an uncorrect Check the encoder wiring and index position the shields cnnection Application not 0x6200 The drive has been started up loaded in application mode without Load a valid application into the loading any executable drive application Motor overtemperature or 0x4310 The PTC sensor has detected a M 2 PTC disconnected too high tempertaure of the and the real temperature of the O 2 O 4 Q 2 OS motor EN Endat alarm 0x6186 Error in endat communication or Check connections between device in alarm condition endat and AxM drive 6088600 Error in encoder 0x6189 In the encoder analog channels analog levels a ripple occurred higher than the Check the encoder and shields maximum limit set by parameter connection 18234 SYS AD RIPPLE LIM Auxiliary encoder counting error Check the configuration of the SYS_ENC2_CY_REV par and verify the encoder wiring and the shields cnnection 0x8500 The drive found an uncorrect index position o
8. sistema di raffreddamento The braking circuit is always active The power loss in the braking resistor is higher than allowed aoaaa 0x7111 aaoo Braking resistor Temporary warning preceding error the Brake Overpower signal Itis to allow braking motor before drive disabling The fast task time is longer than its activation period 250us Fast task overtime 0x6181 During a user program saving or 0x6320 a drive turn off the drive s parameters have not been correctly saved Unvalid system parameters Flash device error 0x5520 68860800 Fpga programming The flash sector where the parameters are saved is damaged An error occurred during the drive s onboard Fpga programming Si e verificato un errore interno nel firmware di regolazione e Contattare l assistenza Phase Motion Control Ciclo di lavorazione troppo pesante Verificare eventuali impedimenti restrizioni del flusso d aria di raffreddamento e dalla ventola The supply voltage is too high or the clamp level voltage is too low Check the parameter SYS _OV_CLM_LIM IPA 18108 Connect an external resistor of higher power See Brake Overpower If a user application is active try to optimize the Fast task performance time Try to repeat the saving and reset the drive If the problem appears again contact the Phase Motion Control service If the problem appears again contact the Phase Motion Control
9. to application fields 2 and 3 in accordance with IEC 22G 21 CDV The conformity with EMC directive cannot be verified on such components To assist its own customers Phase Motion Control declares that AXV drives running Ultract or Minact motors assembled in accordance with the instructions above and completed with the filter SHAFFNER FN251 16 07 or something equivalent with up to 100 meters of shielded conductor cable between the drive and the motor following the cabling normative explained in the user manual allows the active system PDS to satisfy the requirements of the IEC EN 55011 norm Class A and EN 50022 Class B As Components the AXV drives comply with the IEC 1000 4 2 IEC 801 2 and IEC 1000 4 4 IEC 801 4 without any accessory or protection 62
10. up the support and stop the screw on the cable plate AxM Configurable Motion Control Platform 4 2 Content of the package 2 1 The standard package contains The AxM Digital Programmable Drive including Firmware for standard application of motor torque and speed control and pre defined parameters table with default settings Connectors Set User Connectors U1 and U2 with identifiers and polarity keys Power connectors P1 and P2 Encoder connector E1 CAN connector Gender changer C1 User s Manual The manual containing AxM installation and use instructions Read it thoroughly to the end A CD with a copy of the Phase Motion Control Internet Site where You will find Cockpit configuration tool with Control Panel e GP Ic Standard application sets User s Software and GPLC Manuals Firmware and Software copy Other P M C Drives and Motors Documentation 2 2 Software supplied Configutation Utility Cockpit The Configuration Utility allows to create analyze modify and copy all parameters useful for applications and regulations of the drive This Utility must be installed on the same Pc further used for AxM drive installation The Cockpit operates as drive center of control during the installation it gives access to all drive functions and parameters it can identify the unit and its working life and it allows to copy data in and out the memory in order to duplicate the installation data Moreover C
11. when the SYS ENC1 TYPE parameter is set to ENDAT For the older drive with serial number of 4 number It is possibible to set the value of the encoder supply at 5 or 10V by a jumper iside the drive To modify the configuration itis necessary to open the plastic cover removing the two screws in back side of the drive and set the jumper as follow Setting for 5V supply Setting for 10V supply NOTE Using an auxiliary supply of 10V with a sincos or digital encoder or any other sensor with 5V supply can demage the sensor 14 AxM Configurable Motion Control Platform 3 6 Default Mode The Default mode allows the use of the drive avoiding any dedicated application loading SIE Phase Motion Control E l AX M Drive supplies the AxM drive Main Page set for default mode eS run This mode allows E Impostazioni the current and speed motor control Logical Operation selection Default Commands and controls are given by activation of proper signals to digital inputs while the current and speed values by analog inputs The following table resumes all the input configurations ut Digital 0 on Description mle Drive is enabled on the input rise edge enabling Digital 1 Digital zero All analog references are put to zero if this input is high Digital2 The reference settings are reversed If this input is high Mark l Control If this input is high the speed contr
12. D directive deals with all electrical machines operating in usual environments between 50 and 1000 V AC and between 75 and 1500 V DC This directive does not apply to applications in particular atmospheres and or anti explosion machines also it does not refer to lifting equipment The directive s general purpose is to guarantee a uniform electrical safety level from the point of view of user s risk and of possible damage to objects the directive dictates the product to be supported from the point of view of safety and of application prescriptions 11 3 Product safety 1 Transport installation and use of the drives is reserved to qualified staff IEC 364 2 The opening of the drive s enclosure or motors protections or a defective installation can lead to personal or material damage 3 Drives and motors can have hot rotating and live internal parts this can be the case even with power supply turned off 11 4 Application as directed Scope of application 1 AXV AX4 drives are intended for variable speed motion control application inside the entire machine control cabinets 2 When integrating the drives into machines they may only be commissioned i e operation as directed if the correspondence to the EC EMC directive 89 336 EWG is proved EN 60204 must be observed 3 The technical data on the units nameplates must be observed 4 The drives correspond to the LVD 73 23 EWG 11 5 Installation 1 The units must be installed and
13. Doc n 02490 0 B M User Manual Release 1 4 English AxM Configurable Motion Control Platform 1 1 1 2 2 1 id 6 1 6 2 6 3 Configurable Motion Control Platform y SUMMARY Drive s overall outline 4 Overall dimensions and space required for installation 4 AI a a 5 Content of the package 6 The standard package Contains asrasraionaio rara io 6 o A a ar IT 6 First installation and tests 10 Te OU eed LESC monaimnanseenoniamuiemcnmmmumensmmmmeite 10 Minimum connections outline 10 Re 11 EE eer 12 A a de ou 14 DEMI Nara one 15 O nooo E AA A A A cn 16 Uero rme PLE tn Lee LE A EEE 17 EIA AN ia 20 Electric Installation 21 Connections general outline a aamemmmnaneneniunmueuni 21 PS a rad mar anna E 23 OA ne 24 Phisical specifications errors 25 Technical specifications 26 Electrical Performances al Output current derating vs room temperature eects 27 Cine ann area AX M OGIO A casinos 28 Operating area AX M 06144 29 AxM Configurable Motion Control Platform y 7 Hardware description 31 Jal PE TO N 31 7 2 Me E OE nn 31 7 3 Overall connections diagram norris 32 7 4 a a a nee 32 75 ES LE LUE LE A 33 7 6 A a viet 33 Ted A O A do 35 8 Electrical Connections 31 8 1 ero UI aiii 38 8 2 Zyl ats E PARAR PRE OO o one 41 8 3 ec OP o tes eacec nse sncrepenancresencastesatandnerbsanseeseusadoenn 48 8 4 Power Connectors A e 49 8 5 pes ePaper ooo gdl AAA 50 8 6 A o E 51 9 Emergency and
14. Encoder index 48 Configurable Motion Ca Digital 1 0 Encoder incremental TTL Differential channel line driver ER CAN H Digital 1 0 CAN D CANinterface CAN negative signal negative CAN negative signal UN incremental TTL Differential TTL Differential poe Tom NOTE Connect the shied of the encoder cable to the connector body 8 4 Power Connectors P1 P2 P1 Phoenix terminal board 10 pin cod GMSTB 2 5 10 ST DC Motor Phase A Motor Phase B Motor Phase C Pin 1 Supply Phase R lm Am Rel Common Supply Phase S Supply Phase T Name ame Ty type Function Description Sls ee were E Triphase power a e IEA IT 0 460V aTr are e DC bus parallel connection Rectified power HES Motor phase A Motor power supply SA Ges Motor phase B Motor power supply Red B Motor phase C Motor power supply 49 Ax Configurable Motion Control Platform Fil NC relay Relay normally closed contact Use itas Drive Ok signal or to manage oc NO relay Relay normally open contact the emergency braking Relay Common Common relay contact Phoenix terminal board 2 pin cod GMSTB 2 5 10 ST Pin 1 BR DC BR Name ENS Connect to the internal or external braking resistor gt BR DC Connect to the internal or external braking resistor DC bus parallel connection possible 8 5 RS232 Serial Connector S1 Cannon connector sub D 9 pin female plug AA D
15. Kohm if not used iN oa Denied differential 10V Zin 10Kohm if not used g np input connect to GND Programmable Analog output 10V f s 5 mA Analog ground Reference ground Analog signals Reference 14 Digital input ous 6 6 kOhm to ground 20 30 V af Programmable 15 Digital input input 7 02 03 OV 6 6 kOhm to ground 20 30 V 6 6 kOhm to ground 20 30 V o Digital input ous EX Digital input dos 6 6 kOhm to ground 20 30 V PNP open collector 24 V 100mA max Digital output b j Digital output bo Auxiliary Auxiliary supply supply negative __ Key position PNP open collector 24 V R R D D D D p 100mA max kil N 13 14 15 16 1 18 19 20 21 22 2 4 2 Digital signal reference 40 Configurable Motion Control 8 2 Encoder Connector El To allow the connection of different encoders some pins of this connector have more than one function Select the connection corresponding to your encoder and set the parameters SYS ENC1 TYPE and SYS ENC1 CY REV in the system table see par 3 4 Cannon connector subD 15 pin male plug Cos H2 EndatClock Sin H3 Cos H1 EndatClock Sin Vcc Enc At PTC Kty pin1 GND PTC AAA O gl Enc B Enc I EndatData ResExp Enc A Enc B Enc l EndatData ResExp Shield Connection To obtain a good connection without noise problems it is necessary to connect the shield of the encoder cable both on motor and drive side M
16. Vac Tamb 40C Comm Freq 8kHz Vout Vin x 0 95 4 Auxiliary supply losses not included 5 Not stabilized 1 Vpk pk ripple gt 0 6 A 26 AxM Configurable Motion Control F 6 Electrical Performances 6 1 Output current derating vs room temperature 20 140 Temperature output current variation versus room temperature 27 AxM Configurable Motion C 6 2 Operating area AX M 04094 Arms 08 06 02 0 100 200 300 400 volt M inom 400 volt nom 220 volt Operating area of AxM 04094 drive as function of output voltage with voltage supply 220V e 380V 20 ARM Configurable Motion 6 3 Operating area AX M 06144 Arms 14 12 10 M inom 400 volt nom 220 volt Operating area of AxM 06144 drive as function of output voltage with voltage supply 220V e 380V 29 AxM Configurable Motion Control Plat 6 4 Operating area AX M 06144 Arms 14 12 10 0 100 200 300 400 wolt M inom 400 volt nom 220 volt Operating area of AxM 09204 drive as function of output voltage with voltage supply 220V e 380V 30 7 1 7 2 AxM Configurable Motion Control Platform y Hardware description Power stage Innovative Ac Ac converter without DC bus electrolytic capacitor which provides instant availability at power on and correct input current waveform in line with the future IEC 555 norm Auto tuning
17. ace on hard disk Software installation 3 2 Insert the supplied CD Rom in the PC If the autorun function is active in the PC the main application self activates automatically if not open page index htm in the CD root directory with any Internet browser e g Internet Explorer Setup can be activated too by opening the setup exe file present in the folder d setup axvsetup disk1 When setup Is finished and PC restarted the folder AXV Cockpit will be added to the Windows menu Start gt Windows Programs Minimum connections outline Programming and configuration 10 Connect the 24 V supply on 24 V and 0 V of the terminal board see par 8 1 for connections outline of user connector U1 Connect the RS 232 line to PC In this condition the drive can be asked and programmed So far it is not necessary any power feeding AxM Configurable Motion Control Platform Al i N Power connections e Connect the motor terminals to the the A B and C terminals of the drive s power terminal board according to the sequence specified in the connection outline supplied with the motor Connect the power supply to the R S and T of the power terminal board see par 8 4 for power connection outline P1 The cable shield must be grounded on both sides motor and drive connecting it to the special screw provided for NOTE The AxM drives are designed to work with 3 phase supply only t
18. arameters Configuration If the motor isn t a ultract ll 4 5 7 10 o 13 or the encoder is different from the sincos is necessary to configure the principal parameters to obtain any motor operation To setting this parameters the connection with the drive must be enabled 232 interface port S1 2 Initially all the parameters are displayed on red because they are modified only in the PC side you can now read the actual configuaration or write the modiified parameters to activate the new settings in both case the parameters are now displaied on black V sysAxM_01_ eng Main Page Cockpit File View Application Parameters Target Service Help Re Hlaz r wE Sle f f mBtAB ARS E Read Read All Save Monitor Page onnest Write Write All Reset Control Panel To confirm the modifications and to maintain new parameters use the save button NOTE The Write All selection enable the tranfer of the visualized parameters only but the save selection enable the storing of all the parameters The main parameters you must set are the poles number of the motor the type and pulse number of the encoder You have also the nominal and limit current a AX M Drive 3 6 Main Page Motor and encoder 1 0 conf Settings Click here Motor and encoder configuration Via mecoder 2048 Number of pulses per turn SinCos Encoder type DI E Motor poles number 3 00 Arms Main current limi
19. ck up solution is not possible the auxiliary 24 V should be generated with a Switching power supply fed from the drive DC Bus The drive is equipped with a special power fail routine that irrespective of reference when the DC bus falls regenerates energy from the motor to keep the DC bus just above the undervoltage level In this way the auxiliary power is made available to the system as long as there is kinetic energy in the load A 0 speed reference or a braking ramp can be programmed as needed Once more a Safety brake can be safely released only at the end of the braking cycle The 24 V supply of the brake should be thus derived from the same switching power supply feeding the drive The drive relay can be used to release the brake when all the kinetic energy has been dissipated 9 4 Thermal protection delay When a load carries a high kinetic energy an untimely deenergization due to a protection tripping can be dangerous For this reason the thermal protection of drive and motor is delayed approx 2 s from the onset and the setting of the appropriate terminal signal so that the load can be braked safely before the drive trips 53 10 Error codes 10 1 AxM drive s alarm list The shorter the code the higher the alarm importance If more alarms are simultaneously activated the drive displays the more important one only e g if the alarms activated are Nr 9 Fan stop and Nr 22 Endat alarm the first one only Fan stop
20. cooled according to the regulations stated in the corresponding documentation 2 Ensure that no components are bent or insulation distances changed during transport The electronic components and contacts must not be touched 3 When working on an energized controller the valid national requirements for the prevention of accidents must be observed 59 Ax Configurable Motion Control Platform TI VA 4 The electrical installation must comply with applicable regulations cable cross sections fuses protective conductor connections 5 All control inputs and outputs of the drives are insulated with a basic insulation functional Another level of protection must be implemented for personal safety against electrical contact 6 When using current operated protective devices please note that The controller have internal DC rectification A DC fault current is therefore possible Some differential current protection systems are made inoperative by DC current leakage Use only universal or pulse operated protection devices The RFI filter which is built into the drives cause a certain amount of leakage current to flow in the ground wires This current may cause tripping of too sensitive differential device and need to be taken into account while sizing differential devices 7 Irrespective of the CE mark on both drives and motors it is reminded that the compliance of the required limit values with the legal EMC regulations r
21. dedicated applications The main features of Basic are e Digital and analog encoder support e Drive enable and control selection trough digital inputs DIO Enable D16 control selection e Standard analog differential references 10V e Parameters setting in running time The parameters allow the configuration of current and speed limits clockwise and counterclockwise Different linear ramps for accelerations and decelerations CW and CCW Digital speed ring gain with zero real speed P112D controller For a detailed description of the features and 1 0 please refer to HTML configuration pages to be opened trough Cockpit configuration software Everything stricly related to the software ring philosophy and implementation variables and parameters tables you can find in the Software Manual 3 1 Ax Configurable Motion Control Plat oi First installation and tests What you need for first tests AXM drive and motor Triphase supply 198 465 Vac not needed for applications programming and loading but necessary for drive testing 22 30 Vdc gt 0 6 A supply if drive option R is chosen the 24V feeding is required in case of mains failure only PC with Windows 9x Me 2000 NT 4 0 or better with a RS 232 serial line RS232 serial cable female female null modem The PC must have installed the Internet Explorer 4 0 browser present on the CD or better Minimum 15 Mbyte free sp
22. e 1Hz flashing Starting the system an initialization error Boot error of the control firmware occurred Ask Phase Motion Control Service A detailed description of all AxM drive alarms is shown on chap 10 NOTE Moreover the led 6 can be flashing or lighted fix in case of synchronisation and or firmware updating 34 AxM AIT ITY a toate pa ema A y E Configurable Motion Control Platform Al L ll 7 7 Diagnostic General description The diagnostic function enables a test control sequence and allows the setting of drive s fundamental parameters avoiding the use of software interfaces CLBLETE ES DIAGNOSTIC The use of diagnostic takes place by DIAGNOSTIC pressing the command push buttons Symbol Arrow IN and Symbol Arrow OUT OL S ee eu YS Dia In Dig In ESC ENTER eau ve TRE E 3 Ad Our on the drive ses ee ss my yy 16 Act Speed 4 RS 232 Ene a yyy 15 Speed Ref 5 CAN z sers uue l l 14 Act Curr 6 An Out 0 To have access to the diagnostic press E C RAT TE 13 Curr Ref 7 An Out 1 EN push button for about TE Y E CIT 67 12 Temp Motor 8 An In 0 o yy De yyy This mode is marked by the led 7 lighted 11 Temp Drive 9An in1 fix 2 10 DC Link l We have now two operatve phases Selection phase allows to select the desired diagnostic test Press the key to scroll the gt list of allowable diagnostics ascending mode the key desc
23. e drive however the auxiliary 24 V must be mantained so that the drive is alive and can brake at the same time the emergency condition must generate a 0 speed reference that brakes the motor at maximum torque using the kinetic energy of the motor The drives regenerates energy from the motor to the DC bus until the motor speed is so low that the motor back EMF is less than approximately 10 V At this speed the DC Bus voltage falls the drives locks in undervoltage and the motor is abandoned If the translation is vertical and the motor is equipped with safety brake only in this moment the safety brake can be released To time the release the relay contacts in the drive can be used The relay is switched by the DC Bus undervoltage that corresponds to motor almost at standstill When the emergency stop logic is realised as described the machine encoders are kept alive and no index search or initialisation is required when normal operation is resumed 9 3 Power fail with high energy load Mains power failure with a high kinetic energy load requires special control provisions In this case the auxiliary 24 V supply may not be available for a time long enough to stop the load Two solutions are possible To back up the 24 V supply with a small battery system This is the highest quality solution all encoders and sensors ride through the power failure and no reinitialization is required when the power supply is again available When the ba
24. elds to the pin 1 of the encoder connector El and the whole cable shield to the frame of the connector 4 2 EMC Filter AxM has an internal EMC filter not enough by itself to comply with the EN 55011 but it allows the choice of a very simple and cheap external filter The suggested filter is the FN 251 8 07 of the Shaffner list Connect such a filter between mains and drive or drives in case more drives should be used together 23 4 3 Causes of derating Cooling air flux To assure to the fan the requested breathing and thus the proper cooling of the heat sink the distance between the heat sink edge and the nearest flat surface e g other drives cabinet wall must be at least 10mm as shown in the following table The fan is automatically switched on when the heat sink temperature reaches 50 C 24 AxM Configurable Motion Control Platform 44 Phisical specifications Forced ventilation 78 5 x 148 x 167 IP20 0 5 g all directions 0 10 Hz O w EEC IEC ES O o maw E o gt e o a EE IEEE TT a fe ES 0 40 0 50 with 20 derating 20 70 C 0 95 0 1000 m over 1000 m current derating 3 every 100 m O 25 AxM Configurable Motion Control Platform A m a e o e e e O e fe Jes efe ccc Cu Vin x 0 95 ICAC E Vac 3 phase 100 of peak current NN If supplied with 230 Vac 1 Peak value 2 Input bridge losses included 3 Vin 380
25. emain the responsibility of the manufacturer of the system or machine 11 6 EC Declaration of Conformity and Directive EMCD Ref to EC Low Voltage Directive 72 23 EWG ULTRACT and MINACT series motors and AxV AxM series brushless amplifier are designed manufactured and tested in conformity with the EC Low Voltage Directive 72 23 EWG and under the responsibility of Phase Motion Control s r l Lungobisagno Istria 27r 16141 Genova The applied standards are the following IEC 34 1 34 5 34 6 34 11 34 14 e IEC 72 EN 60529 IEC 249 1 10 86 IEC 249 2 15 12 89 IEC 326 1 10 90 EN 60097 9 93 60 AX A 3 E N a A y Pi A Configurable Motion Control Platform The EMCD Directive 89 336EWG The EMCD directive relating to electromagnetic compatibility is effective for equipment which may either cause electromagnetic disturbances or be affected by such disturbances The aim is the limitation of the generation of electromagnetic disturbances so that the operation of radio and telecommunication systems and other equipment is possible and that a suitable immunity of the equipment against electromagnetic disturbances is ensured so that the operation can be achieved Controllers cannot be driven in stand alone operation and therefore the controllers themselves cannot correspond to the EMC directive The controllers must be integrated into a drive system to check the compliance with the EC directive relati
26. ending mode The selection is shown by led 0 6 in binary code D 2s b Standard Lights e g if diagnostic Nr 2 is selected Digital input diagnostic this should be shown as follows 8880004 35 A y i Confi durable Motion Control Platform f TT The diagnostics presently available are Nr Type Encoder diagnostic Digital input diagnostic Digital output diagnostic RS 232 serial baud rate diagnostic Can baud rate diagnostic Analog output 0 diagnostic Analog output 1 diagnostic Analog input 0 diagnostic Analog input 1 diagnostic 0 Dc bus voltage diagnostic 1 Power module temperature diagnostic me Re O NOOU E Q N Fo To exit from diagnostic keep pressed minus key for at least 2 s Execution phase carries out the selected diagnostic test Being in the selection phase keep pressed the key 8 for at least 2s The selected diagnostic is carried out The led display depends from sac type chosen To come back to the selection phase keep pressed the key s long This enables the parameters changes if needed by saving and drive s reset To exit from diagnostic pressing both command keys together The display wil come back to that of drive s normal run In this case the parameters change will not be saved NOTE The center key allows the drive s hardware reset 36 AxM Configurable Motion Control Plat orm 8 Electrical Connections cr 8 1 User Connectors U1 U2 Remuvable
27. f auxiliary encoder l The difference between the T Electric shaft 0 Check the Auxiliary Encoder position error pen ponon ean iy Veena configuration and verify that the Me position ofthe master shaft Shaft controlled by the drive is O 3 4 O O value allowed free to follow the master shaft 56 AXM Configurable Motion Control Pla 242866800 ms Medium task en HSIEH The zmes task time orga Te re Medium ak its activation period p QONOADBaagadg performance time ES Slow task overtime 0x6185 The Slow task time is longer of a 7 its activation time 8ms p 006060406000 performance time Fieldbus devices Refer to specific alarm code a e e 0x8100 Li ee Software Manual for detailed g informations Check the protocol mistake configuration parameters Endat initialization 0x6187 error Error in the initial phase of endat Check the encoder and shields configuration connection 57 Ax ih 3 An Configurable Motion Control Platform ll Bn A 11 CE conformity CE Wiring recommendations and CE typical system for conformity to EMCD and LVD EC Declaration of Conformity for the purposes ofEMCD e LVD Declaration of conformity Manufacturer s declaration Installation instructions EC1 8 1 96 11 1 Introduction EC directives The EC Directives are manufacturing prescriptions intended to guarantee a standard level of quality reliability and safety for all industrial goods produced and
28. he voltage value must be less than 460V 10 In case of the R option is chosen and the main voltage is lower than 340 V an auxiliary 24 V supply is anyhow needed WARNING Correct performance of the drive requires a braking resistor connection The internal braking resistor normally connected to the power terminal board can dissipate 10W only When a higher dissipation is required an external suitable resistor must be connected on the same terminals where the internal one is connected Minimum and maximum ohmic values for the external resistor are shown in the par 4 1 Position sensor connection e Connect the position sensor to El port through a suitable multipolar shielded cable The shield must be grounded on motor side and to connector body on drive side 33 Startup After switched on the drive lights briefly all leds then in sequence led 0 lights about 1 second and led 7 keeps flashing at 1 Hz frequency thus indicating the correct operation of the drive Stat the Cockpit configuration tools in order to basic parameters configure SysAxM_02 eng par parameters table such as those regarding the motor the encoder type and specifications inputs and outputs speed and acceleration limits NOTE only if the motor is a PMC Ultract Il type except Minact with ENDAT encoder you can control the motor without any configuration of the drive 11 3 oy Configurable Motion Control Platform 3 4 Basic P
29. ion E AX M Drive a El Main Page E Motore ed Enc o ur E conf 1 0 eTault Mode Logical Operation selection Default E Remote Ple To looking if an application is now loaded inside the drive select the AxM link from the main page of the cockpit by a click on the picture 17 ATT ar A N LN Configurable Motion Control Platform Welcome in Cockpit Il is the configuration and diagnostic tool for all Phase Motion Control digital drives of AX V AX M and UL TW family By means of this software you will be able to load into the drive and configure any application developed with GPLC programming software Cockpit Il also embodies some useful functions for the testing and dignostic of your drive With The integrated Control Panel you will be able to take direct software control of all Os of your drive to test the operation of the system For AX V and AX m fanily drives also some base applications are supplied which satisfy the most common requirements of motion control automation All these applications are developed with GPLC programming software and the source code is availble for simple customisation SELECT YOUR PRODUCT AX V AX M ULTRACT TW In this page are indicated the installed firmware and PLC application releases In the same page there are the links to the applications supplied from Phase Motion Control Selecting the desired application you will have a new window where you can direct
30. ly download the PLC code press LOAD button and follow the istruction li IL SELECT THE APPLICATION YOU WANT TO CREATE gt Base App gt Speed V Positioner 18 Configurable Motion Control Platform Otherwise choosing the men New application Ax M drive from the main page window all the standard applications are displaied A Application e New application e av drive Ee AXx M drive Aa Speedy 4XM Ita AGE Positioner AxM Ita gt Base App AXM Ita e SvsAxh _O1 eng ag TA motor In both cases a new application and a new directory will be created inside your PC Two windows will ask You to check the connections and verify the address of the drive therefore the PLC project will be compiled and downloaded in the drive If You want download a old application just created inside your PC You can open the parameters table of this application and select Rebuild application from the menu Application In the application table there are some parameters copied from the System table Ex Current limit Encoder type and some specifical parameters of the application A detailed description of the applications supplied is available in the chap 6 of the Software Manual NOTE Using Cockpit configuration interface it is ever possible to activate de activate the default running mode entering the system parameter SYS SEL MODE IPA 18051 Default acti
31. marketed across the European Union The EC Directives are general documents that establish base specifications for the certifications which are subsequently converted into national laws by all member states A certification issued by a member state is valid automatically in all other member states Technical details are not included in the directives They are determined by the relevant European harmonized standards EN After verification affixing a CE mark certifies the conformity to the CE directives Within the EU there are no commercial barriers for a product with the CE mark A conformity certificate however is generally not required for most directives Consequently itis not always evident which of the so far 21 EC directives is considered in the CE mark of a product and which standards are considered in the conformity verification In the field of Brushless motor drives the CE mark is referred exclusively to the Low Voltage Directive As for the EMCD directive a drive is only a component and nota system and the conformity of the system to the EMCD remains the sole responsibility of the system designer or user In order to assist their Customers Phase Motion Control have already proved and certified the conformity of a CE typical system to the EMC directive see following chapter with the AXV digital platforms and the ULTRACT II brushless motors 58 Ax Configurable Motion Control Platform y 11 2 LVD Directive The LV
32. nfigurable Motion Control Platform j 4 Electric Installation 4 1 Connections general outline Pp Brake Resistor Connect the cable shield both to motor and drive side Power connections Connect power supply to the R S and T terminals of the power connector using a 3 1 Shielded cable use one GND screw of the drive to connect the shield NOTE AxM drives are designed for tri phase supply only voltage must be lower than 460V 10 21 AxM Configurable Motion Control Platform f Braking resistor connection The internal braking resistor connected to the power terminal board P2 can dissipate a maximum 10W braking power If the power to dissipate is higher it becomes necessary the use of an external resistor of adequate power To do this disconnect the internal resistor and connect the external one on the same terminals The min and max ohmic values for such external resistor are Model Min Max IN AE AX M 04094 AX M 06144 AxM 09204 rs EN Tab n 4 If an external braking resistor is used the following system parameters must be configurated SYS R_BRAKE resistance values expressed in ohm IPA n 18106 and SYS PBRAKE MAX nominal power values expressed in Watt IPA n 18107 The firmware will use these values to activate the thermal protection of the resistor itself For further details see chap 4 ofthe Software Manual Power connection of the Motor Connect the phase windings
33. ng to EMC of the Regulation about the electromagnetic compatibility of devices Phase Motion Control has verified the conformity of controllers integrated into a typical drive system see below The user can use this example as a reference to design a system in according to EMCD 11 7 Installation as specified 1 The RFI filter needs a ground connection The typical application is not operable without ground connection 2 The drives are not domestic appliances and are not intended for domestic use 3 For installations different from the typical application e g use of unscreened cables use of multiple drives etc the conformity to the CE EMC directive requires a check of the machine or system regarding EMC limit values 4 The user of the machine is responsible for the compliance with the EMC directive 5 Screen all power cables from filters to drive and from drive to motor with a shield coverage greater than 85 6 Signal cables must always be shielded as above 7 In order to reduce the interference caused by the motor cable and the induced noise in the encoder connection cable such wiring must be shorter than 15 meters This limitation is necessary also for the protection of the drive itself For longer cables use appropriate snubber inductors 8 For shield and ground connections refer to fig 1 9 Itis important that the power wires are inserted in wire ways different from the signal and supply one and that any c
34. ockpit is a powerfull diagnostic tool interfaced with the real time drive recording function it allows by Control Panel and Oscilloscope the drive troubleshoouting without any phisical operation on the drive s terminals 6 A BF N y a A NY Configurable Motion Control Platform A q The software loaded on AxM drives is composed of Firmware and Application Firmware The Firmware runs the operative system and all basic drive s resources current speed and position control rings protections and diagnostics A basic running mode is integrated in the firmware it allows to control motor s current and speed without any particular application loaded This special basic application planned for usual classic drive control current turns AxM in a versatile brushless servomotors digital control Main features are e Choice between current or speed control e Standard analog differential 10V interface use e Internal ramp generastor The configuration parameters of the basic features are specified beginning from the paragraph 3 4 Further peculiar features of the firmware are e Full digital control of the direct and quadratic current updated at 8 kHz frequency and 2 kHz bandwidth e Digital speed ring with zero real speed PID controller with generalized feedforward e Analog encoder interpolation to increase resolution e Encoder simulation output configuration enabled from applicati
35. of current limit vs supply voltage and ambient temperature single drive for 198 465 Vac supply 16 kHz carrier power IGBT stage 16 kHz ripple frequency built in full power limited duty cycle brake resistor full power braking chopper Forced ventilation controlled by the drive temperature the fan is turned on only above 50 C to limit dust accumulation the drive temperature is monitored and available for programmable cycle self limiting Full power stage intrinsic protection overtemperature short circuit to ground and between motor wires with fault condition non volatile storage Control and power stages have separate and independent power supplies for emergency shutdown and debugging Real time temperature observer for each power chip with adaptive current limit Connectors High speed sensor interface El andC1 two independent inputs configurable a main analog digital encoder input E1 200 kHz BW which can be programmed to receive the following signals e ENDAT serial Encoder default encoder e SINCOS 5 channel encoder 2 absolute analog tracks 2 incremental analog tracks index e Digital 6 track encoder 3 Hall commutation 2 incremental index e Resolver A secondary encoder 1 0 C1 500 kHz which can be programmed as incremental digital encoder without commutation tracks si aF AIII Bi aoe PAM Configurable Motion Control Platform A ll Till WARNING The encoder supply can be programmed
36. ol is selected if not the J Selector current control is selected Speed When the speed control is selected this analog input changes Analog 0 the speed reference Current When the current control is selected this analog input changes Analog 1 the current reference Tab n 1 The drive activates the digital outputs related to its run state i This outputis enabled when the drive is on and no Digital 0 EE Drive OK alarms is present a i This outputis enabled when the drive activates the set Tab n 2 15 Axv Control Panel Diga Dare Ana ing 0 Situar ON LINE 3 7 Settings Bigot Dija Dangi Ana re 104 10 Ui aw Cg ut Digo Donz Darei Dared Ane out 0 104 Ana ing 2 ov ow Free P Denne cudputs entr ft Digos Dipmet Lil CS RE ee eee A Dorph 65 a a Are out Dres Dare Ana quiz v gy sv Uv w ov Arbok 10 104 104 ttii When you take the control by control panel the real input are not used It is now possible that you need some parameters modification to obtain a right behaviour in the settings window you can find the main speed loop parameters Menu selection a AX M Drive Main Page Motor and encoder 1 0 conf Aly Wy Aile TD al mae Ramps C Disabled Clockwise Counter Clockwise Acceleration 250000 rad s 250000 radis dei Deceleration 2500 00
37. ons The firmware is originated in the Phase Motion Control Labs and it cannot be altered by the end user Periodically firmware updates are released and they are made allowable on the Internet site http www phase eu Compatibility of new updates with previous applications is allways assured PID controller 4 compensation terms are available proportional speed differential acceleration integral position and integral of position to obtain a zero position error AxM J Configurable Motion Control Platform Application The Application includes the motion program and the logics runs Global PLCis the applications developement tool This tool allows the customer to make his own automation programs Within the limits of the allowable 1 0 and program memory standard automation functions of IEC 1131 3 PLC can be used but they are usable in a so fast tool that a very refined real time motion control can be accomplished moreover a data acquisition function from two separate encoders is included The PLC software performs in cycle two different tasks one fast used for the motion control functions with a 4 kHz cycle frequency the other slow with 125 Hz cycle frequency for all general auxiliary uses The GPLC language is so powerfull that very fast functions as positioners electronic path control are easily executable by the end user Which can therefore upgrade the AxM to be a control center of the whole driven sys
38. otor side connect the shield to the apposite screws or in the terminal board Drive side connect the shield to the connector body If You are using a Resover sensor adopta cable with individually shielded twisted pairs and connect all the internal shields to the pin 1 of the connector connect the external shield to the connector body NOTE check paragraph 3 5 for the encoder supply selection 41 Ax Configurable Motion Control Platf DAMIAN Ultract Il Interconnectron Motors Signal Standard Connector Terminal Board 17 pin 00000000 EA TT Pin Name Type al CTIA est FUNCUON signal UC GND PTC Encoder ground SV 7 5V Positive supply a Vcc Auxiliary supply Encoder supply voltage 1 Encoder incremental ENCA Multifunction input e hanmal 1 Vpp differential 42 A Configurable Motion Control Plat PTC or KTY ground connected A ENC Multifunction input 1 Vpp differential Cn A ht Ss AAA DE Endat Encoder Connections Table PIC KIY Multifunction input Thermal sensor Interconnectron Ultract Il Signal Motor Connector Standard 17 pin Terminal Board Ar i DOC PAS ars 12 de A 7 y F E P ARAARA ISL T y SRE Ei 4 15 MOCO E FRERES 16 WARNING Maximum cable length with ENDAT encoder 40 mt 43 Ax Configurable Motion Control Platform A Type Supply ground and GND PTC Sup
39. ply OV thermal sensor 3 ENDATCLK Multifunction input ENDAT clock NE Ea ENDATCLK Multifunction es ENDAT clock m SV 7 5V Positive ary AIR SAF PTC or KTY TEN DEZA PTC KTY Multifunction input Thermal sensor connected ENDAT _ Ex DATA Multifunction input ENDAT data laica Ultract Il Motor Standard Terminal Board En e a LA Cr ar A e e e e D a N 44 Supply ground and DC GND PTC Supply OV Encoder ground channel feei tc ema Pep a al o IE peu R ree r incremental 13 ENC B Multifunction input eee TTL channel 15 ENC B Multifunction input dalla TTE channel 45 An A Ultract l Interconnectron Motor Signal Standard Connector Terminal Board 47 pin INESIS EEES 4 _7 ee ee edie EE 410 narra a 14 OSEA GEO GOO f 4 4 1 6 TH 6 ttl TE ecc 8 KL 16 9 Adopt a cable with individually shielded twisted pairs and connect all the internal shields to the pin 1 of the connector connect the external shield to the connector body 1 Supply OV Analog input Multifunction input Multifunction input Multifunction input Multifunction input RESEXP Analog output Supply ground and Encoder ground thermal sensor 9 Absolute channel 1 Vpp differential Absolute channel 1 Vpp differential 1 Vpp differential TIL 1 Vpp differential T Absolute channel Absolute channel
40. rad s2 250000 rad s2 Speed limits Cw speed limit 310 000 rad s H Cow speed limit 310 000 rad s p Speed Loop Gain Integral position gain o Position gain Fono Speed gain 000 He p Acceleration gain CE Current Loop Gain Proportional gain 4000 Integral gain 2000 Differential gain The current loop parameters depend from motor type only You can have a good settings following the specification in table n 3 16 Gain SYS IC P FAK SYS IC FAK SYS IC D FAK hr L is the fase inductance value of the motor The speed loop parameters depend from the load and the transmission type therefore is possible that you need some settings For this you can begin incresing the speed gain When the motor becomes noisly or instable set this gain near at one half of the actual values Use the same procedure for the position gain looking the positioning overshoot The integral gain is needed to keep the position reached with zero speed NOTE Instead of the Html pages you can use the parameters tables 3 8 Use of the PLC Application In addition to the basic functions of the drive it could be useful to develop additional features Regarding to this Phase Motion Control supplies some standard applications that generally satisfying the most common control requests The use of dedicated applications implies their downloading into the drive and the setting to PLC of the SYS_SEL_ MODE system parameter Menu select
41. ross between the power and signal cables is carried out at right angle 10 ground cable between the motor and the drive is always necessary with a layout similar to that of the power cables 61 Al Configurable Motion Control Platform 11 If sensitive instruments are used for example analogue non preamplified transducers load cells thermocouples etc keep a safe distance between the instrumentation ground and the power ground 12 The RFI filter which is built into the drives as well as the high chopper frequency cause a certain amount of leakage current to flow in the ground wires This current may cause tripping of sensitive differential device and need to be taken into account while sizing differential protection devices For the same reason high frequency noise is normally conducted through the ground wire all sensitive devices or cables should be wired ata distance from the ground wire and cross the same wire at a right angle 13 All devices drives filters motors must be grounded on a single ground bar with ground wires as straight and shortas possible NOTE As specified in the EMC IEC 22G 21 CDV norm AXV drives are not domestic appliances and can cause interference to radio and tv reception 11 8 EC Declaration of conformity Ref to EC Directive Electromagnetic Compatibility 89 336 EWG NOTE ULTRACT and MINACT series motors and AXV brushless drives series are not stand alone systems and are specified
42. rrent and drive monitoring cycle 8 kHz Position and speed ring 4kHz Fast task user programmable 4 kHz Slow task user programmable 125 Hz Position and position target register 32 bit word 7 6 Led display Led meaning During the drive s normal run the following operating conditions are monitored on the led display more than one led can light together Dr y T de je D es C if IF yt n 1Hz flashing Drive s normal run Disabled Drive Disabled Drive s normal run Enabled SERIAL Variable frequency The drive is connected to a remote PC Communication flashing through the serial line Always ON Drive in OPERATIVE state cti x ane Drive in PRE OPERATIVE state Always OFF OFF Drivein ERROR Hardware Bus OF in ERROR Drivein ERROR Hardware Bus Of Bus Off Current limit ES A Drive is supplying the maximum current The enable of the CANopen interface select also the Led 6 mode 33 Ax Configurable Motion Control Platform When the drive is in alarm or error condition all run condition signals are cancelled the leds show the alarm codes only Alarm conditions Lignting mode The drive is in alarm condition the binary 1 Hz flashing code of the active alarm is displayed Refer to chap 10 for codes description System fault due to a control firmware error Check the ground connection and correct closure of the plastic cover of the drive Ask Phase Motion Control Servic
43. t 12 1200 Arms Nominal current limit Configurable Motion Cot This is the example for UL T motor with Endat encoder Motor and encoder configuration J y fi 024 Endat 20 3 00 2 00 Arms Arms Main encoder Number of pulses per turn Encoder type Motor Motor poles number Main current limit Nominal current lint To activate the encoder simulation on the C1 port select SYS SE ENABLE ON in the default mode it can repeat only 1024 pulses per turn A detailed description of the drive parameters see Software manual Cap 4 To verify the motor to drive connections and the settings there is the Monitor Page 13 PEA Pa Configurable Motion Control Platform In this page you have the DC link voltage value the heat sink temperature and the encoder reading values position and turn number Turning clockwise the motor shaft drive diabled You must read a position increment up to 65535 that is the maximum When one turn is completed you must read the initial value in the position number and the initial value 1 in the turn number 3 5 Encoder Supply Setting The new AxM drives product starting from the second half of the 2006 with serial number type 20XXXX are able to automatically select the encoder supply If the main encoder parameter SYS_ENC1 TYPE IPA 18230 is setto ENDAT the encoder supply voltage is setto 7 5V WARNING Do not connect any other encoders
44. tem using his proprietary software entirely protected against imitation and competition Standard applications Together with AxM drives a set of Standard Applications is supplied with source code they can be loaded by Cockpit see Software Manual In details following applications are supplied Speed V Itis an extended form of the basic mode moreover implementing e Store capacity till 8 complete series of parameters tasks enabling to shift from one set of parameters to another set in running time by digital inputs e Electric shaft e Encoder simulation allows to emulate a step motor running with the simulated encoder resolution programmable from the application itself Positioner This application allows the use of the AxM drive as programmable multi position positioner The main features of Positioner are e 32 positions to be selected by digital inputs Every position can be configurated Position unit is chosen by the final user e Choice between absolute and incremental offset e Speed acceleration and deceleration to be used during motion 8 Ax 3 A Configurable Motion Control P lat form Space and time units chosen by the user Zero cycle carried out by zero sensor and encoder pulses to get the best precision and repeatability of the cycle itself e jogging e Limit switch inputs The Basic Application Is a starting program suitable for teaching the user to develop its own
45. to 5V or 10V by internal jumper J P5 A wrong connection of the encoder may cause its damage See par 3 5 for the correct configuration Phase Motion Control recommends the 10V choice and the use ofa 7 10V Encoder supply in order to avoid voltage drop e Encoder simulation output line driver with programmable conversion rate with reference to the main one allovable on C1 connector NOTE the encoder simulation output can be used alternatevely with the auxiliary encoder input The C1 connector can also be used for Can interface See the connection list on par 8 3 7 3 Overall connections diagram User Interface connectorsi U1 U2 and P1 2 analog differential programmable inputs 2 analog programmable outputs 8 digital programmable inputs 4 digital programmable outputs 1 Watch dog relay with N O and N C contacts 1A 250V See connection tables beginning on Cap 8 Communications connectors 1 C1 X3 e X4 e Serial synchronous interface RS 232 e CanOpen field bus interface 7 4 Hardware e P 20 Cabinet protection with internal RFI shield e Control and power interfaces with removable terminals and connectors e Encoder and serial interface with D standard connectors e Integrated ground bar 4xM4 for shields and groundings 7 5 Architecture Dual processor architecture Non volatile programmable memory area 256 Kbyte Processors speed 40 MIPs DSP 25 MIPs microcontroller Task frequency Cu
46. ure in case of mains failure 9 2 Emergency stop with inertial loads safety brakes Many applications involving brushless servo drives move high inertia loads in short fast cycles typical example are Cartesian robots or pick and place machines When the load is moving at top speed a significant amount of energy is stored in the load so that a sudden deenergization of the brake could be dangerous It is therefore essential that in the event of an emergency the load is braked as quickly as possible To resolve this problem the use of a servo motor with a safety brake is sometimes considered The simple use of a safety brake however is wrong and dangerous for the following reasons e Safety brakes designed for servo motors are stationary brakes They are designed exclusively to hold a motor still when deenergized typically for vertical translations They are not designed to absorb any significant energy also because their torque to size ratio is extreme If used to stop a motor instead of keeping it at standstill they would wear quickly and eventually seize e The braking torque of an electrically driven brushless motor is always higher than that of the brake and the corresponding braking time is shorter Consequently the function emergency stop must be realized as follows de AXM Al Dye Configurable Motion Control Platform the emergency condition because of safety regulation must turn off the mains power to th
47. vated PLC default de activated see also par 4 3 of the Software Manual Any application loaded on the drive will be de activated until such parameter is reset to PEC 19 ih Configurable Motion Control Platform 3 9 Firmware uploading Firmware upgrades are periodically available on the web site www phase eu New functionality and or software evolution processing from Phase Motion Control laboratories are fuse and a new firmware version Is released To upload this open a system table and select Load firmware from Service menu the follow window will appear Load firmware File to load C Programmi Phase Motion Controleyst Browse Module ID slds Syncro Firmware A Operation Syncronization eszecuted Parameters i Preserve drive values Load table values Load Verity OF With Browse button select the firmware file to download Ex MPlc2_0 sre Press before Syncro and after Reset to syncronize the drive When Syncronization executed appear press Load to star the downloading NOTE The drive will be unusable if any troubles occurs during this operation Ex Lost of 24V Supply PC connection problem You have to repeat the firmware upload in order to bet back the drive working If is not possible connecting the drive with the PC syncronize it pressing Syncro button then remove the 24V supply and connect now them 20 AxM Co
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