Home

Functional Description Manual

1. PC with 9 pin D SUB connector max 15 m Cable IKS 102 f 13 RxD 7 TxD N Dr anon I DTR 452 DSR 456 RTS BEC CTS 45 i PC with 25 pin Vind D SUB connector E e 1 Set the external screen on top of the device AP0224d1 drw Fig 11 19 RS 232 Connection Note Only point to point connection with maximum cable length of 15mis possible the PC and drive controller unit must share a common central ground DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Notes 11 22 Serial Communication DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL 12 Index ECODRIVE DKC01 1 DKC11 1 Drive Controllers A Absolute Format 10 4 Absolute Transmitter Monitoring 10 45 absolute value transmitter 10 44 AbsoluteEncoderMonitoring Window 10 45 Acceleration 5 30 Acceleration kinks 5 2 Activation and Parameters for Position Limit Monitoring 10 6 Activation and Parameters of Limit Switches 10 6 active mode 11 5 Actual position at start 10 14 Actual position value measurement 1 6 Actual Position Value Output 1 6 10 35 Additional interface parameters 3 3 Additive velocity command value 9 8 Additive velocity command value via an analog input 9 8 Addressin
2. FD5005B1 WMF Fig 11 9 Write accessing list parameters part 1 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA section 1 B previous page Error occurred during parameter acces Error code xxxx Next sign in receive buffer ae no e section 1 A previous page lt lt Further elements gt A DO L Step 8 Close list send end id lt CR Step 9 Sign received Sign sequence gt in received 7 buffer located ert gs Contents of receive buffers yes lt CR xxxx CR A01 gt Step 10 Delete request in receive buffer All signs up to and including 1 CR Next sign m r in receive Error occurred during gt yesp parameter acces buffer pp pe Error code xxxx no L Parameter list successfully written FD5006B1 WMF Fig 11 10 Write accessing list parameters part 2 It is important that the input is terminated with the lt symbol only then will the data be wrtten to the drive 11 10 Serial Communication DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Reading a List Type Parameter Reading a list parameter is done in the same manner as with a normal parameter The drive responds however with an answer of all the
3. NPOS NBWG Regulatoar release One Positioning input is valid for example positioning block No 01 XX State of positive input is not relevant Positioning acknowledgment output shows negated state of positioning input HE for example positioning block No 1 negated mei Positioning acknowledgment output after valid block is accepted shows non inverted state of the active positioning block for example positioning block No 1 SV0006D2 drw Fig 5 43 Acknowledgement and JN POS after drive enable off After activating the AH start signal and accepting the new positioning block time t lt 14ms and then INPOS signal 0 appears until the new target position is reached Acknowledging control voltage interrupt The last assumed positioning block is secured with control voltage off in parameter P 0 4052 last assumed positioning block This means that after control voltage is switched back on the last assumed positioning block is always generated DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Absolute encoder Singleturn encoder If an absolute encoder is used then it is possible to decide after switching control voltage on and off if the drive is still at the target position of the last assumed positioning block INPOS message is active The INPOS me
4. ccecceceeeeeeeeceeeee cece cae eeeaaeeeaaeeeceeeeeeeesaeesaeeesaaeseaeeeeeeeeeaes 3 17 P 0 0151 Synchronization Init Window for Modulo Format 3 18 P 0 0152 Evaluating analog gear adjustment ronnnannvvnnnnnnvvnnnnnnvvnnnnnnnnrnnnrnrnnnenrnnrnnrrrnnnnsrrnnnnne 3 18 P 0 0162 D9 Automatic control loop Setting 3 19 P 0 0163 Damping factor for automatic control loop Setting 3 20 P 0 0164 Automatic control loop setting applications oe eee eeeeeneeeeeenaeeeeeeaeeeeeeaeeeeneaaes 3 21 P 0 0165 Optional parameter for automatic control loop settimg see eeeeenee 3 21 P 0 0166 Lower traversing limit for automatic control loop setting eeeseessseeeeeerreseerrrssreessns 3 22 P 0 0167 Upper traversing range for automatic control loop settimg nnen 3 22 P 0 0168 Maximum Acceleration cccccccccceeeeeeneeceeeeeeeeseecaaaeaeceeeeeseesecaaaeeeeeeeeeeseesnniesaeeeeess 3 23 P 0 0500 Velocity Command Voltage for Max Motor Gpeed 3 23 P 0 0501 Motor Speed for Maximum Velocity Command Voltage neeese neneeese 3 24 P 0 0502 Line Count for the Incremental Encoder nnen 3 24 P 0 0503 Reference Pulse Offset 3 24 P 0 0504 Command Filter Smoothing Time Constant 3 25 P 0 0508 Commutation Offset cerr saranan si iara reaa aa k reiia REPNE ERE REUNEA RAS ERAN ARISKE TEA EIS EEA RRNK RICAANSE 3 25 P 0 0510 Moment of Inertia of the Hotor 3 25 P 0 0511 EE TE 3 26 P 0 0512 Default Position Loop Kv factor 2 ee cceeeeeece ee eee
5. f INBWG Regulatoar release ni e gt 14ms lt 14ms lt 14ms t Positioning input is valid for example positioning block No 01 XX State of positive input is not relevant Positioning acknowledgment output shows negated state of positioning input ne for example positioning block No 1 negated Positioning acknowledgment output after valid block is accepted shows non inverted state of the active positioning block for example positioning block No 1 SV0005d2 drw Fig 5 42 Acknowleding following block mode 5 34 pKkco1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIZAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Acknowledging drive enable off Exceptions Once the drive enable is off the last assumed positioning block appears at the acknowledgement output If the drive is at the target positon of the last accepted positioning block then the message INPOS is additionally generated Note The INPOS message is retained even if drive enable is off If the drive was referenced directly prior to removal of the drive enable or if jog mode was implemented then the INPOS signal of the drive enable could be cleared with shutdown In the example below the same absolute positioning block is started again Speed profile POS1 POS5 01 XX 02 XX 01 POSQ1 POSQ5 5 SN i KE H Wi D AH START
6. sseesseesseesseesseessessessnrsnnrrnneennsennens 4 1 le eege Le E 4 2 4 3 Drive Controller Gelechon res nnnsnnnnenennee 4 2 Selecting the Overload Factor netr netnnetnnsttnsttnnetnsennnsennenasennse nnne 4 3 Selecting the DWM Freouency nn 4 3 5 DKCO01 1 Drive Controller with Integrated Positioning Control 5 1 5 1 Fundamental Method of Operation for Position Control 5 1 5 2 Setting operation mode Position control with position Interface 5 1 Position control with following eo 5 2 Position control without following error ee eeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeseeaaeeeeeeaaeeeeeeaeeeesenaeeeeeaaes 5 2 Selecting the appropriate position control mode arrrrrrnnvrrrnrnnrrrrrnnvnrrrrnnnnrrrnnnnnrsrrnnnnrsrrnnnnesrrnnnnn 5 2 5 3 Positioning Operation 5 3 Absolute Positioning errara aa deveined ath vacd veces Pes eect eins dev nase teed vas id nee eee 5 3 Relative positioning block without save residual path 20 0 ce ceceeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeeeeaaeeeeneaas 5 4 Relative positioning block with residual path save eee cece ee eeenneeeeeeaaeeeeeeaaeeeeteaaeeeeeeaaeeeeneaas 5 6 Continuous Motion in Positive Negative Direchon 5 14 5 4 Following block mode iien ak a a a TA A E peke ket konene nekter teamet dude sents 5 15 General information on following block mode rannrnnnnrnnnnrrnnnnrnnnnnnnnrrrennnr ann nnnnennennnrnennnnnnennenennne 5 15 Selecting and activating a following block 5 15 Indexing in following blo
7. Analog operating modes torque and speed control The INPOS message in these modes is meaningless The INBWG message is given if the drive is moving at a velocity which is larger than the value set in the standstill window parameter Note If an extremely small value is selected for the standstill window the drive may display INBWG even though it is not in motion This can be explained by the gradual dissipation of the actual velocity Entering larger values will solve this problem Standstill window 20 Rpm See also S 0 0331 status feedback 0 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL In Reference INREF ECODRIVE DKC01 1 DKC11 1 Drive Controllers INREF messages show that the internal position feedback value refers to the machine zero point The INREF message has the following properties e In applications with motors with resolver feedback the INREF message is only given after successful execution of the drive internally controlled homing procedure e In applications with motors with resolver feedback and absolute encoder option the INREF message is given after the supply voltage is switched on This requires that the Set Absolute Measurement command has previously been given See also S 0 0403 position feedback value status Position Switch Point WSP The DKC has a function for actualizing a position switch point A switching signal is given at a position set by parameter which can be sent to a
8. Bit 2 0 Scaling type 0 0 0 unscaled 0 0 1 linear scaling 0 1 0 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 degree angles reserved Bit5 reserved Bit 6 Data reference 0 to the motor shaft 1 to the lead Bit 7 Processing format 0 absolut format 1 modulo format Bit 15 8 reserved Fig 2 6 S 0 0076 Position Data Scaling Type Note Only the bits named here are supported by the product 1 Same as S 0 0044 Note 1 2 Same as S 0 0044 Notes 2 3 See example Parameter Scaling Position Data under S 0 0077 S 0 0076 Attributes ID number S 0 0076 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format BIN Extreme value check no Unit English Combination check yes Posit after the dec 0 Cyc transmittable no Input value min max Default value 1010b DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 0 0077 Linear Position Data Scaling Factor Description This ID number contains the scaling factor that is to be used to scale all position data in the drive The parameter is set to 1 if linear preferred scaling has been setin Bit 3 of S 0 0076 Position Data Scaling Type Example Sup
9. P 0 0083 Gear ratio adjustment O e Fig 9 8 Velocity synchronization diagram Relationship of master axis to following axis velocity Below depicts the relationship between master and following axis velocity nF nL transmissionratio 1 f nV Legend f gear adjustments Fig 9 9 Gear adjustments The transmission ratio is as follows following axis rotations transmission ratio master axis rotations Fig 9 10 Transmission ratio The transmission ratio is set in parametrization mode Electronic gearbox adjustment is available for changing the transmission ratio during operation 9 6 DKCO01 1 DKC11 1 with velocity and angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controller Setting velocity synchronization parameters Synchronisation Velocity acceleration command Velocity Master drive revolutions 184 Analog Channel Gain Adjust 100 Velocity Command Value additional 0 0000 Rem Fig 9 11 Velocity synchronization Gear adjustments via an analog input Velocity synchronization Synchronisation Velocity acceleration command Velocity command Master drive revolutions mn Analog Channel Fine adjustment 9 Weighting analog Smoothing Time fine adjustment 100 Velocity Command Value additional 0 0000 Rpm Fig 9 12 Gear adjustments via an analog input Gearbox transmission describes the per cen
10. Structure of the parameter d Bit 0 Position feedback value 0 are relative 1 applies to the machine zero point Fig 2 19 S 0 0403 Position Feedback Value Status DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 51 ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0403 Attributes ID number S 0 0403 Function Parameter Data length 2 Byte Format BIN Unit English Posit after the dec Input value min max 2 52 Supplement A Parameter Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value IMDR ARIAL no no no no no no DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 3 Specific Product Parameters P 0 0001 Diagnostic Message Number Description The diagnostic message number will be stored in parameter P 0 0001 Diagnostic message number as well as the visual seven segment display The controls generate specific diagnostics with the aid of the diagnostic message number for example diagnostics in additional languages not stored in the drive The machine control may utilize the diagnostic number to generate its own specfic set of diagnostic messages Example Diagnostic Message F822 Motor Feedback error Signals too small in paramater S 0 0095 Seven Segment Display variable F8 lt gt 22 Diagnostic message
11. 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers D906 Position Range Exvceeded nnna 1 41 1 5 State diagnostic message mrrnrnnrn vnr vnr rrannrennn vernet nrnnnnnnenen renner neennnnsenneenenreennrnsennnenennennesnnnnsennenen 1 42 A002 Communication Phase 3 1 42 A003 Communication Phase 3 1 42 POTO Drive Malt inget de Ge snadder d 1 42 A012 Control and Power Sections Ready for Operation annrnrnrrnrnrvvnnnvnnnnnvnnrrrnnnnrrvnnnvnnennnnrnnn 1 42 A013 Ready for Power ON 1 43 A100 Drive in Torque Mode mrrnnvnnnannnvnnnnannvnnnnannvnnnnannnnnnnnnnnnnenannnnennennnnnennnnnneenennnneenenneneennnnenne 1 43 A101 Drive in Velocity Mode mrrsannvnnnnnnnvnnnnannvnnnnannvnnnnnnnnnnnnannnnnennnnneenennnneenennnneennnnneennnneneennenee 1 43 A111 Velosity Synchronisation Real Lead Drive ranrrnnnvnnnnrrnnnnrnnnnvnnenrernrrennnrnnnnrnnennnernrenrrrreenn 1 43 A118 Phase Synchr Lagless Encoder 1 Real Lead Drive 1 44 A203 Postion MOJE anorrir aeae aA AAAA Rar bn Zeeche REAR PNA TAS deg Sege dees 1 44 A204 Position Mode Lagless Positioning errnvvnnnnnnvvrnnnnnvvnnnnnnvvnnnnnnnnnnnrnrnnnnnsrnnnnnnerennrnsrennnnne 1 44 A206 Position Mode POSITION Encoder 1 1 44 A207 Position Mode POSITION Lagless Positioning Encoder 1 1 45 AF Control Drive Enable A 1 45 JF Jogging in the Positive Direction 20 2 eee cece teeter ee eeeeaeeeeeeeaeeeseeaaeeeseaaeeeeseaaeeeeeetaeeeeseaees 1 45 JB J
12. Desired Position 5 29 Determining the Critical Integral Action Time 10 23 Determining the Critical Position Loop Gain 10 25 Determining the Direction of Movement During the Homing Procedure 10 38 Determining the Position Regulator Setting 10 25 Determining the Velocity Control loop Setting 10 23 diagnostic outputs 10 49 Direct power supply connection 1 6 documentation libary 3 13 Drive enable after error reaction 10 52 Drive enable or drive start signal 10 14 drive mode 3 14 Drive Response 10 12 DriveTop Menu Structure 3 13 E Easy Installation 1 6 Encoder monitor 10 9 Error Classes 10 11 F Features 11 1 Feedback Standard 10 32 Feedback and Absolute Encoder Optional 10 32 Fixing travel range limits 10 15 Following block sequence interrupt with absolute following block 5 25 Index 12 1 INDRA DIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Following block sequence interrupted with power failure 5 24 G Gear adjustments via an analog input 9 7 General information on following block mode 5 15 General information on password protection 3 9 Generating the master axis position 9 2 H home direction 10 39 10 40 home point 10 39 10 41 home point switching signal 10 39 Home Switch Configuration 10 42 Homing Parameters 10 41 Homing procedure 1 2 10 32 10 41 10 42 10 44 10 45 10 54 Homing to the Current Actual Value 10 41 Homing with Analysis of the Home Switch
13. Input value min max 2 20 Supplement A Parameter Description 0 Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value because only P23 Param E prom Phase3 no no no DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IMDR ARIAL S 0 0095 Diagnostic Message Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers The operating status for the drive that is relevant at the moment can be read in text form in this parameter The respective diagnostic message number from S 0 0390 Diagnostic Message Nummer will appear in front of this parameter Example A010 Drive Halt S 0 0095 Attributes ID number S 0 0095 Editability Function Parameter Memory Data length 1 byte variable up to 40 characters Validity check no Format ASCII Extreme value check Unit English Combination check Posit after the dec 0 Cyc transmittable Input value min max S 0 0097 Mask Class 2 Diagnostic Description Default value This parameter is not used in DKC01 DKC11 S 0 0097 Attributes ID number S 0 0097 Editability Function Parameter Memory Data length 2 Byte Validity check Format BIN Extreme value check Unit English Combination check Posit after the dec Input value min max Default value S 0 0098 Mask Class 3 Diagnostic Description 0 Cyc transmittable 1111 1111 1111 1111 b This parameter is not
14. This dialog can be used to change the existing password or to write 007 back into the drive The dialog can be called up with the menu Options Password protection Change password change password Please enter old password Please enter new password Ls Re enter the new password Fig 3 9 Dialog to change the password Procedure To enter a new password all three editing fields must be filled out The current password must be entered into the first field either 007 or an already existent user password The new password is entered into the other two fields A mouse or the tab key can be used for moving from one field to the next If the dialog is closed with the OK key and the other entered passwords are correct then the new password is active and the drive locked Cancel password protection If a user password is to be cancelled and the drive permanently unlocked then 007 must be entered as the new password 3 10 Preparing for Startup DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDPRAMAU ECODRIVE DKC01 1 DKC11 1 Drive Controllers Unlock drive If a parameter is to be changed with password protection active or if select menu item Options Password protection Unlock drive is selected then this dialog appears Password protection The drive is locked by a password Please enter D Password Fig 3 10 Unlock drive Procedure Enter the current user pas
15. 07 97 DKC01 1 DKC11 1 Drive Controller with Analog Speed Interface 7 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Note 7 4 DKC01 1 DKC11 1 Drive Controller with Analog Speed Interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 8 DKC01 1DKC11 1 Drive Controller with Analog Torque Interface 8 1 General Instructions for Operation with Torque Interface ECODRIVE can also be operated in torque regulation operating mode The drive may have to generate a defined torque in special applications Examples of this type of application are e Clamping of workpieces e Master slave operation for multiple axes Note INDRAMAT must be notified before ECODRIVE is used in this operating mode Danger of accidents caused by uncontrolled axis movements If ECODRIVE is to be used as a torque regulated control drive then protection mechanisms must be used to prevent people and machines from injury and damage Note without external supervision the motor velocity WARNING during torque regulation can reach maximum velocity as a result of a very small command value setting if there is no opposing torque in effect DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 DKC11 1 Drive Controller with Analog Torque Interface 8 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL 8 2 Setting the Operating Mode Torque Regulation with an Analog Command Value The Torque Regulation with
16. Connection of the Analog Override Signal Inputs Inputs voltage min max between IRED1 IRED2 10V 15 V between IRED1 0V IRED2 0V 10 V 15 V Input current E1 E2 0 5 mA Input resistance approx 20 kOhm Input drift 18 uV C AD converter 12 Bit Resolution per bit 4 8 mV 20k e _ ADC 12 Bit 20k AP0214d2 drw Fig 10 47 Connection of the analog override signal DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 47 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 10 13 Analog Output 10 48 General Drive Functions DKC drives operate digitally This means that all output variables are available as digital information from the DKC The DKC has two analog diagnostic outputs to make velocity values speed values current values etc visible via an oscilloscope The selection of the output signals include the following values Analog output Analog output 1 Signal Torque producing current command al Analog output 2 Signal Position actual value Scaling of position data 360 0 Scaling of velocity data 3000 ES Fig 10 48 Analog output Number e Selected signal Standard 0x1 torque generating command P 0 0136 current 0x3 S 0 0036 speed command P 0 0040 value position command difference P 0 0040 S 0 0051 actual position value P 0 0042 1 Deg 10 Rpm 10 S 0 0189
17. Default value 1100000000011011 b 2 4 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA RIZAL S 0 0036 Velocity Command Value Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers This parameter is used to set the velocity command value This together with S 0037 Additive Velocity Command Value determine the effective Velocity Command Value for the drive In the position control operating modes this parameter displays the output error signal of the position controller S 0 0036 Attributes ID number S 0 0036 Function Parameter Data length 4Byte Format DEC_MV Unit English S 0 0044 Posit after the dec S 0 0044 Input value min max S 0 0044 Description S 0 0037 Additive Velocity Command Value Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value The additive velocity command value is added to the S 0 0036 Velocity command value S 0 0037 Attributes ID number S 0 0037 Function Parameter Data length 4Byte Format DEC_MV Unit English S 0 0044 Posit after the dec S 0 0044 Input value min max S 0 0044 5 0 0040 Velocity Feedback Value Description The velocity feedback value is updated by the drive controller in the drive Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value P234 no no yes no MDT P
18. P 0 0013 Command value mode for modulo format Description The interpretation of the such position command values as S 0 0047 Position command value and S 0 0258 Target position with modulo function active is dependent on the mode set This parameter is functional only if S 0 0076 scaling type position data has been activated for modulo format The following value can be parameterized med Mening 0 shortest path 4 Positive direction 1 2 negative direction Fig 3 2 Parameter P 0 0013 With the step motor interface only 0 shortest path can be set WARNING Note Acts like S 0 0393 command value mode in modulo format P 0 0013 Attributes ID number P 0 0013 Editability P234 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English EG Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 2 Default value 0 P 0 0018 Numbers of Motor Pole Pairs Pole Pair Distance Description With rotating motors the number of pole pairs per motor revolution will be given This value is stored within the motor feedback data memory and must not be changed P 0 0018 Attributes ID number P 0 0018 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC OV Extreme value check no Unit English Pair of poles or mm dependent
19. The position feedback value status parameter corresponds to the output In reference See also Function description Executing Parameter Commands 5 0 0148 Attributes ID number S 0 0148 Editability P4 Function Command Memory no Data length 2 Byte Validity check no Format BIN Extreme value check yes Unit English a Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 11 b Default value S 0 0150 Reference Offset 1 Description This parameter describes the distance between the Position feedback reference mark 1 and the Reference distance 1 S 0 0052 At the end of the coming drive controlled homing procedure the drive will position itself at the point equal to the Reference distance 1 Reference offset 1 S 0 0150 Attributes ID number S 0 0150 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value 0 00 Deg DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA S 0 0159 Monitoring Window Description The monitoring window makes it possible to set the maximum tolerable deviation between the measured position and the calculated position feedback v
20. actual value 2 Position 32 FS0200d1 drw Fig 1 1 Servo drive with integrated positioning control e Up to 32 position settings can be stored in the DKC01 1 and DKC11 1 These settings can be selected via parallel inputs If block selection is conducted via a serial interface RS232 RS485 then it is possible to use up to 64 positioning blocks The DKC01 1 executes position settings independently e The drive controller can conform to mechanical transmission elements such as gear ratios or feed constants e All position speed and acceleration data can be weighted rotary or linear depending on axial kinetics e An internal homing procedure can help create a reference position e The axis can be controlled via the jog function for set up operations e The positioning speed can be influenced with the Feedrate Override e Limit switch inputs and parametrical position limits are available to set travel range limits e The drive controller status can be determined via status outputs 1 2 System Overview DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDPRAMAU Control with position regulator Parameter Diagnosis Operating data Position command value yw i X Position interface ECODRIVE DKC01 1 DKC11 1 Drive Controllers Servo Drive with Analog Velocity Interface and Integrated Actual Position Value Register Control drive DKC01 1 or AC servo mo
21. e one stop bit DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Preparing for Startup 3 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers TDi ZA DIZ 3 4 Preparing for Startup Response delay The response delay defines the minimum length of time that must pass after the last telegram symbol has been received via the serial interface and before the first symbol of the reaction may be sent by the drive This length of time is required when operating the RS485 when changing from transmit to receive mode or vice versa This parameter is not needed when operating the RS232 It should nonetheless be set at 1ms Depending on the PC used it may be necessary to set the response delay to 20 to 30 ms because of the higher priority interrupts in the PC interrupt serial communications Addressing method If several axes are to be connected to a shared master PC or PLC via the RS485 interface then each bus participant must have its own individual address When setting the address via software the address is fixed by inputting an address number into input field drive address DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 3 5 Connecting the PCs with the Drive Controller A serial communication cable is used for data transfer between the PC and the drive controller This cable can be purchased from INDRAMAT and can be either a 9 pin or 25 pin D SUB connector The pin diagram of the cable is shown in the
22. engineering mannesmann Rexroth ECODRIVE DKC01 1 DKC11 1 Drive Controllers Functional Description ASE 04VRS DOK ECODRV ASE 04VRS FKB1 EN P 275270 E Indramat ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Title ECODRIVE DKCO1 1 DKC11 1 Drive Controllers 04VRS Type of Documentation Functional Description Document Type Description DOK ECODRV ASE 04VRS FKB1 EN P Internal Filing Notation e Mappe 56 04V EN Register 3 e 209 0073 4332 01 e Based on 04V10 e DriveTop 04V03 What is the purpose of this The following document describes the functions of the fimware FWA documentation ECODRV ASE 04VRS MS The document serves e to describe all of the functional characteristics e for parameterization of the drive controller e for data security of the drive parameter e for error diagnosis and error removal Change Notice Document identification of previous Release Remarks and current releases Date DOK ECODRV ASE 04VRS FKB1 EN P 07 97 First Release Copyright Mark INDRAMAT GmbH 1997 Distibution as well as reproduction of this documentation commercial use or communication of its contents will not be permitted without expressed written permission Violation of these stipulations will require compensation All rights reserved for the issuance of the patent or registered design DIN 34 1 Validity All rights are reserved with respect to the content of this documentation and the availability of
23. 5 0 0122 2 S 0 0122 Attributes ID number S 0 0122 Editability P23 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC_OV Extreme value check yes Unit English Rev Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 4294967295 Default value 1 Rev Supplement A Parameter Description 2 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 0 0123 Feed Constant Description This parameter describes the conversion from rotary to linear motion It is defined as the linear displacement of the load measrued during one rotation of the loadside gear drive shaft Ball screw spindle Rack and pinion Feed constant pitch of screw Feed constant typical value 10 00 mm actual pitch diameter for the pinion Pi range of the effect of the pinion Fig 2 11 Characteristic value for the feed constant S 0 0123 Attributes ID number S 0 0123 Editability P23 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC OV Extreme value check no Unit English S 0 0076 Combination check no Posit after the dec 5 Cyc transmittable no Input value min max Default value 10 000 00 mm rev 5 0 0124 Standstill window Description The motor s standstill is defined by that condition that the value of the Velocity Feedback Value S 0 0040 remains below the threshold for which can be set in
24. 6 4 Stepping Motor Interface 6 4 DKC01 1 Drive Controller with Stepping Motor Interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 6 5 Types of Stepping Motor Signal Connections Signals can be exchanged with the stepping motor control in two ways e Differential signals e Open collector signals max 20 m Channel Channel Channel Channel 0 Vext Inputs DV 30 V Clock frequency max 175 kHz Input voltage min max 5V 200 AP0219d1 drw Fig 6 5 Stepping Motor Transmission with Differential Signals DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Stepping Motor Interface 6 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IMIDR ARIAL Lt ER NINJA Inputs Input voltage min max OV 30 V Clock frequency max 175 kHz AP0218d1 ds4 Fig 6 6 Stepping Motor Signal Transmission with Open Collector Signals Note Transmitting the stepping motor signals as differential signals is recommended because the differential signals have a higher interference resistance 6 6 DKC01 1 Drive Controller with Stepping Motor Interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 7 DKCO1 1 DKC11 1 Drive Controller with A
25. Bit 12 reserved Bit 13 reserved Bit 14 reserved Bit 15 reserved Fig 2 1 S 0 0014 Interface Status Note This parameter is not available for DKCO01 1 DKC11 1 firmware S 0 0014 Attributes ID number S 0 0014 Editability no Function Parameter Memory no Data length 2Byte Validity check no Format BIN Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 2 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL S 0 0017 IDN List of all operational Data Desrciption The identification numbers of all drive data are included in this list The parameters included in this IDN list are displayed by the IDN number name and value in DriveTop through the menu selection Parameter List of all Parameters S 0 0017 Attributes ID number S 0 0017 Editability no Function Parameter Memory fixed Data length 2Byte variable Validity check no Format IDN Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value 5 0 0021 IDN List of Invalid Op Data for Comm Ph 2 Description Before the drive executes the delayed phase switch from 2 to 3 that was initiated with command S 0 0127 Communication phase 3 check it will check to see if all communica
26. Cause If only one of these limits is exceeded then command error D906 is generated and the drive brought to standstill speed controlled Possible causes e actual position outside of defined traversing range e limits redefined after command start Remedy e clear command error and end command e redefine limits so that the actual position is within defined traversing range e retart command using sensible traversing range See also Function description Prerequisites for starting the automatic control loop setting D906 Attributes SS Display D9 06 Diagnostic message number D906 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 1 5 State diagnostic message A002 Communication Phase 2 Parameter Mode A002 Attributes Diagnostic message number A002 A003 Communication Phase 3 A010 Drive Halt Parameter Mode A003 Attributes Diagnostic message number A003 Description With the set control the function drive halt would be activated The drive stop function serves to stop the motor with a defined acceleration and defined jerk The acceleration or the jerk limit of the inputted position block functions during linked block operation The acceleration limit and bipolar jerk value function during jogging operation and stepper motor interface The drive will be brought to stand still by the velocity command ze
27. Default value P2 P3 parallel EEProm yes yes no no Supplement A Parameter Description 3 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL P 0 0539 Emulated absolute encoder position Description This is purely a display value of the SSI emulated position indicated in degrees P 0 0539 Attribute ID number P 0 0539 Editability no Function Parameter Memory no Data length 4 Byte Validity check no Format DEC_MV Extreme value check no Unit English Degree Combination check no Posit after the dec 2 Cyc transmittable no Input value min max Default value P 0 1003 Velocity Feedback Value Filtertimebase Description The velocity feedback value filter will be used as a VZ1 low pass filter This filter time constant is adjusted within this parameter The filter is not effective if input is smaller equal to 500usec See also Function Description Setting the velocity loop Note Acts like S 0 0392 actual speed value filter P 0 1003 Attributes ID number P 0 1003 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC ON Extreme value check yes Unit English US Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 500 65535 Default value 1500 3 30 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers
28. E209 Attributes SS Display E2 09 Diagnostic message number E209 Warning class Non fatal E248 Interpolation acceleration equals 0 E249 Positioning vel Description Note that the currently effective acceleration in the position command value is equal to zero This is possible for example if the selected positioning block has a parametrized acceleration of a 0 Remedy Enter a sensible accel value gt 0 E248 Attributes SS Display E2 48 Diagnostic message number E248 Warning class Non fatal S 0 0259 greater S 0 0091 Cause For modes drive internal interpolation and the block controlled mode a speed must be entered in parameter S 0 0259 Positioning speed must be entered with which the target position can be reached If this exceeds permissible maximum value S 0 0091 bipolar speed limit value then message E249 is generated Remedy 5 0 0259 Positioning speed or S 0 4007 process block speed must be reduced 1 16 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers E249 Attributes SS Display E2 49 Diagnostic message number E249 Warning class Non fatal E250 Heatsink Overtemperature Warning Description The temperature of the heatsink in the drive controller has reached the maximum allowable temperature Within a time frame of 30 seconds the drive follows the command value input Cons
29. FKB1 EN P 07 97 Supplement A Parameter Description 3 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL See also Function Description DKC01 1 with speed and angle synchronization P 0 0108 Attributes ID number P 0 0108 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC_OV Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 1 Default value P 0 0109 Torque Force Peak Limit See also Function Description Torque Limits P 0 0109 Attributes ID number P 0 0109 Editability P234 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC OV Extreme value check no Unit English S 0 0086 Combination check no Posit after the dec S 0 0086 Cyc transmittable no Input value min max 0 S 0 0086 Default value 500 0 P 0 0119 Error Reaction best possible braking Description This parameter specifies drive braking to standstill following e non fatal error e interface error e switching off of the controller enable signal P 0 Reaction type 0119 Velocity command is set to zero i e the motor will be braked under control of the bipolar torque limit parameter value The braking time may amount to a maximum of 500ms 100 milliseconds before the actuation of brake time the holding brake will be activated Should the velocity alread
30. P 0 4009 Process Block Jerk aieri iiopinsa aperea raoran sapasar a i adtapet redoa naa sandet anaE 3 34 P 0 4010 1640 MOT WEE 3 35 P 0 4011 Switch Frequency c cccecceceeeeeeeeeeeeeeeceeeeecaeeeeeaeeeeaeeseeeeesaaeeesaaeseneeeseeeeeeaeeeeaeeseneeees 3 35 DOC ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 4 Index P 0 4014 Motor Ee 3 35 P 0 4015 Gircle Volt ge visar AE e A aE A EARE aE a RENAS AeA IS EASTER a AAA Aat 3 36 P 0 4017 Offset of the Analog Torque Commande 3 36 P 0 4018 Offset of the Analog Velocity Command Input 3 36 P 0 4019 Process Block Mode sin nracuran neee ansan 3 37 P 0 4020 Encoder Emulation Type c cccceceeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeeeeeaeeeseeaaeeeeeeaaeeeeeeaaeeeeeeaas 3 37 P 0 4021 Baud Rate DG22231409b teene 3 38 P 0 4022 DIEN e ele 3 39 P 0 4023 C4 Command Switch to Parameter Mode seesesesesssesesesesesseererererererererrrerrerererrrrrene 3 39 P 0 4024 T 6SE SAUS HSA de dad 3 40 2024025 P ssworduansalstaamaedam v r karat a en 3 40 P 0 4026 Process Block Selection morrerei innreda piita aap anaie i trea ea aid aanb Paaa idaan keidas 3 40 P 0 4027 Function Parameter 3 41 P 0 4028 Impulse Wire Feedback Ofteei rnst tnnnnsttnnnnttnnnnnrtn rnnt en nnne rennan 3 42 P 0 4029 Impulse Wire Feedback PIC Counter Value 3 42 P 04030 JOG VGlOCILY unde EE 3 42 P 0 4031 Absolute Encoder Emulator Offset 3 43 P 0 4032 C3 Command Set
31. Process block speed 5 1 PSM EG RS232 RS485 P 2D Interface Converter 11 18 R Reaction to Traverse Range Violations 10 7 ready for operation relay 10 12 Reference point 1 6 Reference point switch signal 10 41 referencing procedure 1 4 1 6 10 37 Relationship of master axis position to following axis position 9 11 Relationship of master axis to following axis speed 9 6 Relative positioning block with residual path save 5 6 Relative positioning block with residual path save after activating drive enable 5 9 Relative positioning block with residual path save after interrupt in jog mode 5 10 Relative positioning block with residual path save after powering the control voltage of the drive controller down and up after interrupt 5 12 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Relative positioning block without save residual path 5 4 Requirements for Activating the Control Drive 10 52 Requirements for operating an absolute positioning command 5 3 Requirements for Setting the Position Loop Monitor Correctly 10 28 Requirements for Using Absolute Transmitter Imitation 10 36 Response delay 3 4 rotary scaling as applied to load 10 5 RS232 mode 11 1 RS485 mode 11 1 S Searching for and integrating help systems 3 12 Selecting the speed command value filter 9 3 selection lists 4 1 4 3 set absolute dimension command 11 12 Set Absolute Measure 10 44 10 45 Set Absolute Unit of Measure 10 32 Settin
32. Remedy Check the installation of the motor For systems which have been in use for a long time check to see if the drive conditions have changed in regards to pollution friction components which have been moved etc E251 Attributes SS Display E2 51 Diagnostic message number E251 Warning class Non fatal E252 Bleeder Overtemperature Warning Cause The dampening resistance in the DKC is balanced through the energy that is reflected from the motor about 90 The bleeder overtemperature warning shows that an overload of the bleeder is expected with continued increasing feedback energy Remedy Reduce acceleration value or velocity Check the drive installation E252 Attributes SS Display E2 52 Diagnostic message number E252 Warning class Non fatal E253 Target Position Out of Range Description If a position is entered which would exceed the target position it will not be accepted With command controlled operation the drive will not move Cause 1 Position limit value monitor was activated 2 In the Drive Internal Interpolation operating mode the S 0 0258 Target Position will be checked to determine if it s in the possible travel range of the drive 3 In the Command Controlled Operation operating mode the target position of the selected process block will be checked to see if it lies within the travel range The possible travel range is defined through the two parameters S 0
33. Synchronization Acceleration Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value P234 no no yes no no Acceleration or deceleration with which the synchronous velocity is accepted in dynamic synchronization Ramp up and lock on When running an angle offset the following drive is either accelerated or decelerated with synchronization acceleration See also Function Description synchronization P 0 0143 Synchronization Velocity P 0 0142 Attributes ID number P 0 0142 Function Parameter Data length 4Byte Format S 0 0160 Unit English S 0 0160 Posit after the dec S 0 0160 Input value min max gt 0 S 0 0160 Description The velocity that leads to absolute synchronization synchronization ramp up and lock on See also Function Description synchronization P 0 0143 Attributes ID number P 0 0143 Function Parameter Data length 4Byte Format S 0 0044 Unit English S 0 0044 Posit after the dec S 0 0044 Input value min max gt 0 S 0 0044 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 with speed and angle Editability P2 P3 P4 Memory Param E prom Validity check Phase3 Extreme value check yes Combination check no Cyc transmittable no Default value 1000 000 in dynamic DKC01 1 with speed and angle Editability P2 P3 P4 Memory Param E prom Validity check Phase3 Extreme value check yes Combinatio
34. The feed constant for rack and pinion mechanism can be calculated as follows Feed advance cons tant effective diameter z Fig 10 2 Calculation of the feed constant with a rack and pinion mechanism Dm Actual pinion diameter AP0004d1 drw Fig 10 3 Drive system with rack and pinion The unit of the feed constant to be entered depends on the unit of measure which has been selected for the position data Data References When using linear scaling all output variables such as position velocity and acceleration are interpreted in terms of the load Units of Measure When using linear scaling the unit of measure in which position velocity and acceleration data will be displayed is selectable to be either inch or mm The feed constant should be entered in the unit per revolution that has previously been selected DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRAMAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Example Unit of measure mm Unit for feed constant mm revolution Negating Position Velocity and Torque Data Position velocity and torque data can be negated in order to adapt the output variables to the logical direction of motion of an axis Negating this data has absolutely no effect in the control logic sense Positive feedback in the velocity or position control loops cannot be caused by changing these polarities Note To reverse the direction of motion in the torque control and velocity control
35. Upon completion of the command the drive always returns to the drive halt AH state DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL Interrupting a command with Speed AH start profile Standstill window AH START 7 i INBWG automatic controller setting duration Regulatoar release Start autom controller 1 setting Diagnostics display H1 Ab AF D9 AH AF gt 1 Start automatic controller setting with start button in DriveTop or via command D9 P 0 0162 SV5009D1 DRW Fig 10 16 Signal flow chart Note There can be additional runthrough with altered settings Two options are possible 1 by removing and then re applying the drive enable signal 2 by ending and then restarting the D9 command Chronological sequence of the automatic control loop setting The setup routine can be broken down into seven individual steps 1st step Check for any command errors at command start 2nd step Autonomous positioning at the center position between the two travel range limits P 0 0166 and P 0 0167 in position control 3rd step Determining the total and extrinsic moment of inertia by evaluating accel and decel procedures The drive in this case moves within the previously set limits P 0 0166 and P 0 0167 4th step Calculating and using the co
36. according to EN 50178 1994 Electrical components with exposed live parts must be installed in a control cabinet to prevent direct contact European countries according to EN 50178 1994 U S A See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must consult the above noted items at all times Safety Instructions for Electrical Drives 2 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers DANGER INIDR ARIAL High discharge current Danger to life risk of severe electrical shock and risk of injury All units and the motors must be connected to a grounding point with the ground wire or must be grounded themselves before switching on power The discharge current is greater than 3 5 mA A permanent connection to the supply system is therefore required for all units European countries according to EN 50178 1994 section 5 3 2 3 U S See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must consult the above noted items at all times The ground wire must always be connected before start up even during the performance of tests Otherwise high voltages may be present at the unit housing which can result in severe electrical shock and personal injury 2 3 Protection by protective low voltage PELV against electrical shock All connectio
37. are no jerk limit values then the warning non programmed process block will be given With an input of 0 the jerk limitation can be turned off P 0 4009 Attributes ID number P 0 4009 Editability P2 P3 P4 Function Parameter Memory yes Data length list with 64 elements each with 4 Byte 256 Byte Validity check yes Format Parameter Extreme value check no Unit English S 0 0160 Combination check no Posit after the dec S 0 0160 Cyc transmittable no Input value min max S 0 0160 Default value 0 3 34 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 INDRA RIZAL P 0 4010 Load Inertia ECODRIVE DKC01 1 DKC11 1 Drive Controllers Description The load moment of inertia determined with the automatic control loop setting is entered in this parameter without P 0 0510 rotor moment of inertia This is important when optimizing the speed control loop The inertia relates to the motor and is rotary in nature P 0 4010 Attributes ID number P 0 4010 Editability P234 always Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase 3 Format DEC ON Extreme value check yes Unit English kg m Combination check no Posit after the dec 5 Cyc transmittable no Input value min max 0 21474 83647 Default value 0 P 0 4011 Switch Frequency P 0 4014 Motor Type Description With this parameter the switch frequency of the pulse switching contro
38. decimal Extreme value check yes Unit English ms Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 200 Default value 0 P 0 4051 Process block Acquittance Description This parameter reflects the positioning command selection acquittance It is also accessible in the profibus outputs provided for this purpose At Drive_Start 0 Drive Halt the acquittance displays the preselected positioning command inverted complement if controller enable 1 At Drive Start 1 acquittance displays the current positioning command and is not inverted if it was accepted See also Functional Description Acknowledging position block select with drive enable active P 0 4051 Attributes ID number P 0 4051 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format DEC_OV Extreme value check no Unit in Ger Eng Combination check no Posit after the dec 0 Cyc transmittable no Input min max Default value P 0 4052 Last Process block Description This parameter contains the number of the last accepted positioning command This last process command number is also available after switching off and back on as the positioning block selection acquittance as long as controller enable has not been given P 0 4052 Attributes ID number P 0 4052 Editability P2 Function Parameter Memory Param EEPROM Data length 2 bytes Validity c
39. ei av 04 JES n gt TTT FT EE EEE gt AH START Ta ER e INPOS pa NG ES Li L z gt INBWG i Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV5017d1 drw Fig 5 32 Following block interrupt with new block selected Note The incremental reference dimension is lost if the folowing block is interrupted Following block sequence interrupted with power failure If the 24V power source fails then the incremental reference dimension could be lost Reference position In this case the actual positon at the time of powering up is assumed If an absolute encoder is used multiturn then the actual positon at shutdown Xo and the actual position when powering up Xon are identical if it has not been moved If a singleturn encoder is used however then Xo and Xo are not identical as X can still be any value within a motor period Note All previously recognized indexing conditions e g switch cams are deleted 5 24 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDR ARIAL Example With select a new block number With select the same block number ECODRIVE DKC01 1 DKC11 1 Drive Controllers Interrupt
40. no Function Parameter Memory Feedb E prom Data length 4 Byte Validity check no Format HEX Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value 100 0000 Description Limit value for the movement velocity during movement via the jog input The value must be smaller than that in parameter S 0 0091 bipolar limit velocity value The movement velocity will also be controlled by S 0 0108 feed rate override and the maximum positioning speed S 0 0259 P 0 4030 Attributes ID number P 0 4030 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length 4 Byte Validity check yes Format decimal Extreme value check yes Unit English S 0 0044 Combination check no Posit after the dec S 0 0044 Cyc transmittable no Input value min max S 0 0044 Default value 100 0000 3 42 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRAMA P 0 4031 Absolute Encoder Emulator Offset Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers The parameter supports the initializing position of the absolute encoder emulation SSI output The parameter will be edited by the absolute measurement emulator setting from the company product P 0 4031 Attributes ID number P 0 4031 Function Parameter Data length 4 Byte Format HEX Unit English Posit after the dec I
41. positioning the mechanical cam during the first start up the distance from the home switch cam to the optimum switch position is given in this parameter The value displayed is dependent on the selected set position data scaling type S 0 0076 position data scaling type and is displayed in unit degree or inch Note Acts like S 0 0298 shifting reference cam by P 0 0020 Attributes ID number P 0 0020 Editability no Function Parameter Memory no Data length 4Byte Validity check no Format DEC_MV Extreme value check no Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value 3 6 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0038 Signal Selection for Analog Output Channel 1 Description Two outputs make it possible to read internal drive operational signals and output variables as analog voltage signals Via an oscilliscope connection to the analog outputs these signals can be queried The maximum output voltage is or 10 volts with a definition of 8 bits To select a specific signal a predefined channel number is available For the analog channel 1 the choice is indicated through the display of the channel selection number in the parameter P 0 0038 The following predefined signals are available Weer Signar choice et
42. velocity the drive should move In other words at 100 the control drive will move at 100 of the homing velocity value A continual reduction of the velocity can be made via the analog command value input To do this the Feedrate Override Variable via Analog Input field must be activated Detailed information on this can be found in the chapter feedrate override function The function positioning with limited speed also affects referencing speed Home Switch Configuration The home switch cam should be conFig d as shown the Fig shown below to ensure that the homing procedure can be started from any position in the transversing range Limit switch cams Reference switch point cams XX0001d1 ds4 Fig 10 37 Configuration of the home switch cam DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMAL Connecting the Home Command and Home Switch Inputs max 20 m e to reset 0 5 2 fee EE 0 Vext Inputs Input voltage HIGH 16V 30 V LOW 0 5 V 8V Input resistance approx 8 kOhm AP0223d1 drw Fig 10 38 Connecting the home command and switch inputs Ending the Drive Controlled Homing Procedure The homing procedure can be interrupted by the following series of signals The homing procedure is selected at the NF signal input Activating the START signal begins the homing procedure After successful complete of the
43. vibrational inducement 5 31 vibrations 5 2 7 3 Voltage monitoring 10 10 W What affects speed during drive guided referencing 10 42 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ECODRIVE DCKO1 1 DKC11 1 Drive Controllers Supplement A Parameter Description ASE 04VRS DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA About this documentation ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Contents 1 General Information 1 1 Structure of this Documents eege dE NEEN dei kruset 1 1 DeTININONS 2 44 Sates aie eat is iit ale Ale hats 1 2 2 Standard parameters 2 1 S 0 0014 Interface Status 0 cccccccccecsneceeessneeeeeeneeeeeeeeeeecesaeeesesaeeesesaeeeessseeesesseeeessseeeeeeeneas 2 1 S 0 0017 IDN List of all operational Data 2 2 S 0 0021 IDN List of Invalid Op Data for Comm Dh 3 2 2 S 0 0022 IDN List of Invalid Op Data for Comm Dh 3 2 2 S 0 0030 Manufacturer Version 0 cccccccccessecceceesneceeecsneeececceeecesaeeeeecsaeeeessaeeeessaeeeessseeeensnaeea 2 3 S 0 0032 Primary Mode of Operation 2 4 S 0 0033 Secondary Operation Mode 1 2 4 S 0 0036 Velocity Command Value s ssssnnsesnineeenn nnee rn tnne tt rnnt tn tnnt tn nnsttn annt tn nant rn nnet tn annn rn tnnt ennnen 2 5 S 0 0037 Additive Velocity Command Value 2 5 S 0 0040 Velocity Feedback Value nnnnsnnnnnennnneennnnnerr nnne ttnnnttn tnnt tn rnnt tn nnne tn nnne nt annen nnnn mnane e
44. 01720 Vantaa Telefon 358 9 84 91 11 Telefax 358 9 84 63 87 Italy Rexroth S p A Divisione INDRAMAT Via G Di Vittoria 1 20063 Cernusco S N MI Telefon 39 2 923 65 270 Telex 331695 Telefax 39 2 92 36 55 12 Spain Goimendi S A Division Indramat Jolastokieta Herrera Apartado 11 37 San Sebastion 20017 Telefon 34 43 40 01 63 Telex 361 72 Telefax 34 43 39 93 95 Russia Tschudnenko E B Arsenia 22 153000 Ivanovo RuBland Telefon 7 93 22 39 633 Belgium Mannesmann Rexroth N V S A Gesch ftsbereich INDRAMAT Industrielaan 8 B 1740 Ternat Telefon 32 2 582 31 80 Telefax 32 2 582 43 10 France Rexroth Sigma S A Division INDRAMAT Parc des Barbanniers 4 Place du Village F 92632 Gennevilliers Cedex Telefon 33 1 41 47 54 30 Telefax 33 1 47 94 69 41 Italy Rexroth S p A Divisione INDRAMAT Via Borgomanero 11 1 10145 Torino Telefon 39 11 771 22 30 Telefax 39 11 771 01 90 Sweden AB Rexroth Mecman INDRAMAT Division Varuv gen 7 S 125 81 Stockholm Telefon 46 8 727 92 00 Telefax 46 8 64 73 277 Sales area North INDRAMAT GmbH D 22525 Hamburg Kieler Str 212 Telefon 040 853157 0 Telefax 040 853157 15 INDRAMAT Service Hotline INDRAMAT GmbH Telefon D 0172 660 040 6 oder Telefon D 0171 333 882 6 Denmark BEC AS Zinkvej 6 DK 8900 Randers Telefon 45 87 11 90 60 Telefax 45 87 11 90 61 France Rexroth Sigma S A
45. 0x3 S 0 0036 P 0 0040 velocity command value position command value diff 0x5 S 0 0051 position value 1 P 0 0042 Ox7 S 0 0189 gollowing error P 0 0042 0x8 sine signal of motor feedback 0x9 cosine signal of motor 1 1 feedback 0x12 torque producing current P 0 0136 actual value magnetization current P 0 0136 0X16 bleeder load 10V 100 Fig 3 3 Possible analog outputs The following scaling parameters should be considered e P 0 0040 Scaling for velocity data on analog channel 1 e P 0 0042 Scaling for position data on analog channel 1 e P 0 0136 Scaling torque force channel 1 P 0 0038 Attributes ID number P 0 0038 Editability P234 Function Parameter Memory Param E prom Data length 4Byte Validity check Phase3 Format HEX Extreme value check no Unit English F Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value 1 DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 3 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0039 Signal Selection for Analog Output Channel 2 Description Two output channels make it is possible to read internal drive operational signals and output variables as analog voltage signals Via an oscilliscope connection to the analog outputs these signals can be queried The maximum output voltage is or 10 volts with a definition of 8 bits To select a specific signal a predefined chan
46. 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Example Relative positioning without residual path save with target position 700 current position 200 Speed profile Standstill window _ __ POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release peme r lt 14ms Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the Ea position inputs are in an iverted condition SV0002 d2 drw Fig 5 5 Relative positioning block without residual distance save Example Relative positioning without residual distance save with target position 700 current position 200 Interrupting and restarting a relative positioning block without residual distance save Speed profile Standstill window _ _ POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release gt Le lt 14ms Positioning inputs valid p Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the EG position inputs are in an iverted condition V5002_d1 drw Fig 5 6 Interrupting a relat
47. 15 Absolute Encoder Count Direction 3 29 Absolute Encoder Emulator Offset 3 43 Absolute Encoder Offset 3 27 AbsoluteEncoderMonitoring Window 3 12 Acceleration Data Scaling Exponent 2 38 Acceleration Data Scaling Factor 2 37 Acceleration Data Scaling Type 2 36 Active Continuous Current 3 49 Active Peak Current 3 50 Additive position command value 2 10 Additive Velocity Command Value 2 5 Amplifier Nominal Current 2 27 Amplifier Nominal Current 2 3 28 Amplifier Peak Current 2 27 Amplifier Peak Current 2 3 28 Analog Output 1 3 16 Analog Output 2 3 16 Application Type 2 34 ast Process block 3 52 Automatic control loop setting applications 3 21 B Baud Rate RS232 485 3 38 Bipolar Acceleration Limit Value 2 32 Bipolar Torque Force Limit Value 2 19 Bipolar Velocity Limit Value 2 19 Bleed Overload Factor 3 48 Bleeder load 3 48 Brake Current 3 26 C C1 Communication Phase 3 Transition Check 2 30 C2 Communication Phase 4 Transition Check 2 31 C3 Command Set Emulation Absolute Value 3 43 C4 Command Switch to Parameter Mode 3 39 C5 Reset Class 1 Diagnostic 2 22 C6 Drive Controlled Homing Procedure 2 35 Circle Voltage 3 36 Command Basic Load 2 44 Command Filter Smoothing Time Constant 3 25 Command Parameter Default Set 3 53 DOC ECODRV ASE 04VRS FKB1 EN P e 07 97 Command Set Absolute Measurement 3 4 Command Value Mode for Modulo Format 2 50 3 5 Command Value Smoothing Time Constant 3
48. 2 48 S 0 0390 Diagnostic Message Number 2 49 S 0 0392 Velocity Feedback Value Filter Time Base nnnnsnnnnnnnnnnennnnne en nnnner nner trnnnennnnnren nenen 2 50 S 0 0393 Command Value Mode for Modulo Fomat 2 50 5 0 0400 Home ETNIA EE 2 51 S 0 0403 Position Feedback Value Gates 2 51 3 Specific Product Parameters 3 1 P 0 0001 Diagnostic Message Number ssssssssssesssssrissssirssrirrsstinnnstinnnntinnnnttnnnntnnnnstnnnnatnn nanten nnt 3 1 P 0 0004 Smoothing Time Constant 3 1 P 0 0005 Language Selection rannnnnnnrnnnnvnnnnrrnnnnvnnenvennnrrnnnnrnnnnnnernnaennnrnennnnenennenrsrresnrnnsnnnnnenne 3 2 P 0 0006 CNerload Factor ninne anna ENEE ENEE a 3 2 P 0 0009 Error Message Number 3 3 P 0 0010 Excessive Position Commande 3 3 P 0 0011 Last Valid Position Command Value rrrrrnrnrrrnrerererererernrerererererererererererererererererererererer 3 4 P 0 0012 Command Set Absolute Measurement ssssssisiriririrerererererererenessssnsnsnsnnenenennnnnnnnnnn 3 4 P 0 0013 Command value mode for modulo format 3 5 P 0 0018 Numbers of Motor Pole Pairs Pole Pair Dietance 3 5 P 0 0019 Position Start Value iin ENEE NENNEN 3 6 P 0 0020 Reference Cam Shifting cccccccccsscceceesnececeeeneeeeesseeeeesaeeeeesaeeeeescaeeeessseesenssneeeenees 3 6 P 0 0038 Signal Selection for Analog Output Channel 1 3 7 P 0 0039 Signal Selection for Analog Output Channel 2 3 8 P 0 0040 Scaling of Velocity Data on Analog
49. 31 Commutation Offset 3 25 Contacted Motor Type 3 44 Controller Type 2 33 Current Amplify Trim Phase U 3 32 Current Amplify Trim Phase V 3 32 Current Controller Proportional Gain 1 2 24 Current Loop Integral Action Time 1 2 25 Current Zero Trim Phase U 3 31 Current Zero Trim Phase V 3 31 D D9 Automatic control loop setting 3 19 Damping factor for automatic control loop setting 3 20 Default Current Loop Integral Action Time 3 51 Default Current Loop Proportional Gain 3 46 Default Position Loop Kv factor 3 26 Default Velocity Loop Delay Time 3 48 Default Velocity Loop Integral Action Time 3 45 Default Velocity Loop Proportional Gain 3 45 Definitions 1 2 Delay Answer RS232 485 3 51 Diagnostic Message 2 21 Diagnostic Message Number 2 49 3 1 Digital Inputs 3 46 Digital Outputs 3 47 Drive Address 3 39 Drive Status Word 2 32 E econdary Operation Mode 1 2 4 Emulated absolute encoder position 3 30 Encoder Emulation Type 3 37 Error Message Number 3 3 Error Reaction best possible braking 3 14 Evaluating analog gear adjustment 3 18 Excessive Position Command 3 3 F Feed Constant 2 30 Feedback Interface 3 28 Feedback Type 3 26 Feedrate Override 2 25 Index 4 1 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Following Error 2 40 Function Parameter 3 41 G Gear ratio adjustments 3 11 General Information 1 1 H Hardware Number 3 29 Home Switch 2 51 Home Switch O
50. 6619 Rpm Current 0 09 A Torque 1 2 Z In position _ Travel limit Jog Jog Travel limit In motion COM2 9600 15 39 Fig 3 8 Diagnostic Window The diagnostic window displays the following e Drive controller status and error messages e Command value and actual value e Power on status and status signals e Model descriptions of installed components Note The diagnostic window appears only online In offline operation graphics with the ECODRIVE components are shown instead of the diagnostic window Password protection General information on password protection With the help of a user defined password accessing drive parameters can be prevented It is now not possible to make any parameter changes until the user unlocks the drive by inputting the password The password protection itself is integrated into the drive The functions for password protection can be called up via the menu Options password protection The password 007 is preset in the drive It unlocks the drive i e password protection is not active DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Preparing for Startup 3 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA A user password can entail the letters A through Z a z lower and upper case letters must be differentiated and the numbers 0 9 There must be a minimum of three symbols with a maximum of ten See also parameter S 0 0267 Password Change password
51. C217 C220 Motor Feedback Initializing Error Description A number of tests are performed when the motor feedback is initialized An error was detected while doing this This error can be Disturbance in the communication with the controller Invalid offset between the high and low dissipating path Error in the micro controller of the measuring system Cause 1 Defective motor feedback cable 2 Defective motor feedback 3 Defective measurement system interface Remedy For 1 Check the motor feedback cable For 2 Exchange the motor For 3 Exchange the measuring system interface module C220 Attributes SS Display C2 20 Diagnostic message number C220 1 32 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers C227 Modulo Range Error Cause The given modulo value is larger than half of the represented positioning area of the drive Half of the represented positioning area for the DKC is 2048 rotations Remedy Select a smaller modulo value See also functional description Boundary Conditions for Modulo Processing C227 Attributes SS Display C2 27 Diagnostic message number C227 C300 Command Set Emulation Absolute Value Description The actual position of the motor can be given by means of an SSI emulation The zero point of a given position can be fixed with the C3 Command set emulation absolute value co
52. Combination check no no 1 00 1000 min Input value min max 0 01 327 67 P 0 0513 Feedback Type Description This value is available in all measuring systems with feedback data memory and diagrammed next to the control analysis of important properties of the measuring system The drive dealer sets parameter coding The parameter is not describable and serves exclusively the information of the connected feedback With motors with single turn resolver the value is 0 With motors with multi turn resolver the value is 16 3 26 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0513 Attributes ID number P 0 0513 Function Parameter Data length 2 Byte Format DEC_OV Unit English Posit after the dec 0 Input value min max 0 100 P 0 0514 Absolute Encoder Offset Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value no Feedb E prom no no no no The parameter function for the initializing position of the absolute encoder P 0 0514 cannot be edited P 0 0514 Attributes ID number P 0 0514 Function Parameter Data length 4 Byte Format HEX Unit English Inkr Posit after the dec Input value min max P 0 0515 Home Reference Position Description 0 Editability Memory Validity check Extreme valu
53. Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Instructions for installing a In most cases the jerk limit is not required and should be turned off positioning jerk during the startup procedure The jerk limit will be deactivated if set to zero If unacceptable vibrations in the acceleration and deceleration phase of the positioning procedure occur then minimize the vibrational inducement of the mechanical system by gradually changing the positioning jerk The maximum value of the jerk should be reduced until the positioning motion becomes acceptable See also P 0 4009 process block jerk A rough approximation validating the jerk limit mm A Acceleration r 60 s min mm Jerk gt 2 S mm Speed min Fig 5 38 Jerk limit with linear scaling Acceleration Ea 60 ae S min Umdr rad Jerk Ve gt 2 S Speed 2 pogai min Tl irae Fig 5 39 Jerk limit with rotary scaling Positioning Mode Positioning mode is fixed whether we are dealing with or without relative residual path save absolute or positioning block without target position Additionally it is possible to set using a selection list wether the following positioning block is to be executed or not following block mode A differentiation is made as follows e relative with residual path save e relative without residual path save e absolute e following
54. DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 2 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0046 Attributes IMDR ARIAL ID number S 0 0046 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English H Combination check no Posit after the dec 0 Cyc transmittable MDT Input value min max 32 32 Default value 4 5 0 0047 Position Command Value Description For the step motor interface the position command value will be determined through the evaluation of the step pulse signals present at this interface The position command value that is determined in this fashion can be read here For the positioning interface the position command value will be generated by the internal position command value interpolator The active position command value can be read here S 0 0047 Attributes ID number S 0 0047 Editability P234 Function Parameter Memory no Data length 4 Byte Validity check no Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable MDT Input value min max S 0 0076 Default value S 0 0048 Additive position command value Description If a synchronization mode with position control is selected then the additive position command value in the drive is used to establish a position offset be
55. Default value P 0 4041 Digital Outputs Description Bit list to be read by the digital output signals of the DKC 1 means there are 24V at the output BitO free Bit1 ready relay control Bit 2 brake relay control Bit 3 position switch point X2 19 Bit 4 software start relay control Bit5 X2 20 in reference Bit 6 X2 21 in motion Bit 7 X2 22 in position Bit 8 free L Bit9 free L Bit 10 free Bit 11 X2 6 select position 1 acknowledgement Bit 12 X2 7 select position 2 acknowledgement Bit 13 X2 8 select position 3 acknowledgement Bit 14 X2 9 select position 4 acknowledgement L Bit 15 X2 10 select position 5 acknowledgement Fig 3 15 P 0 4041 digital outputs P 0 4041 Attributes ID number P 0 4041 Editability no Function Parameter Memory no Data length 2 Byte Validity check no Format binary Extreme value check no Unit English Combination check no Posit after the dec Cyc transmittable no Input value min max Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 47 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IMDR ARIAL P 0 4042 Default Velocity Loop Delay Time Description The defaul value for the velocity loop delay time The parameter will be determined during the manufacturing stage and cannot be changed With the default parameter load the value of the parameter will be copied into the parameter P 0 00
56. Division INDRAMAT 17 Loree du Golf F 69380 Dommartin Telefon 33 4 78 43 56 58 Telefax 33 4 78 43 59 05 Netherlands Hydraudyne Hydrauliek B V Kruisbroeksestraat 1a P O Box 32 NL 5280 AA Boxtel Telefon 31 41 16 519 51 Telefax 31 41 16 514 83 Switzerland Rexroth SA D partement INDRAMAT Chemin de I Ecole 6 CH 1036 Sullens Telefon 41 21 731 43 77 Telefax 41 21 731 46 78 European Customer service locations without Germany DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Customer Service Locations ECODRIVE DKC01 1 DKC11 1 Drive Controllers Outside Europe Argentina Mannesmann Rexroth S A I G Division INDRAMAT Acassusso 48 41 7 1605 Munro Buenos Aires Argentina Telefon 54 1 756 01 40 54 1 756 02 40 Telex 262 66 rexro ar Telefax 54 1 756 01 36 Canada Basic Technologies Corporation Burlington Division 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 Telefon 1 905 335 55 11 Telefax 1 905 335 41 84 China Rexroth China Ltd A 5F 123 Lian Shan Street Sha He Kou District Dalian 116 023 P R China Telefon 86 411 46 78 930 Telefax 86 411 46 78 932 Korea Rexroth Seki Co Ltd 1500 12 Da Dae Dong Saha Gu Pusan 604 050 Telefon 82 51 264 90 01 Telefax 82 51 264 90 10 USA Rexroth Corporation INDRAMAT Division 5150 Prairie Stone Parkway Hoffman Estates Illinois 60192 Telefon 1 847 645 36 00 Telefax 1 847 645 62 01 Custom
57. Error 1 31 AF Control Drive Enable 1 45 B Basic Load 1 37 Bleeder Overtemperature Shutdown 1 5 Bleeder Overtemperature Warning 1 18 C Command Switch To Parameter Mode 1 34 Command Base parameter load 1 37 Command Diagnostic Message 1 26 Command Velocity Limitation Active 1 21 Command Set Emulation Absolute Value 1 33 Communication Phase 2 1 42 Communication Phase 3 1 42 Communication Phase 3 Transition Check 1 26 Communication Phase 4 Transition Check 1 27 Condition Display H1 1 1 Continuous Current Limiting Active 1 20 Control and Power Sections Ready for Operation 1 42 Crossing Velocity Limit S 0 0092 Value 1 14 Current limitation active 1 22 D D9 Command Automatic Loop Control 1 37 DIAGNOSTIC MESSAGE DESCRIPTION 1 1 Distance Homing Switch Reference Mark Erroneous 1 35 Drive Active Switch Not Allowed 1 34 Drive Controlled Homing Procedure Command 1 35 Drive Halt 1 42 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Drive in Torque Mode 1 43 Drive in Velocity Mode 1 43 E Error Diagnostic Message 1 2 Error in Velocity Regulator Loop 1 14 Excessive Deviation 1 6 External Short at Status Outputs 1 7 G Gain Adjustment Failed 1 40 H Heatsink Overtemperature Alert 1 17 Heatsink Overtemperature Shutdown 1 3 Homing Not Permitted in this Operating Mode 1 36 Homing Not Possible If Drive Is Not Enable 1 35 Homing of Absolute Encoder Not Possible 1 36 Homing velocity too
58. F262 External Short at Status Outputs Description Status outputs are monitored for short circuits and thermal overload e f output current exceeds 350mA for about ius then this is acknowledged as a short circuit and the pertinent channel is shut off The output remains off unti the error is cleared e With thermal overload the error is set and the output s shut off After the driver has cooled off the outputs are switched back on and so on The error however remains until it is cleared Thermal overload can occur if several outputs are overloaded in excess of 80 mA Note Light bulbs for example cannot be controlled as their inrush current causes a short circuit Cause a Short circuited outputs X2 6 X2 7 X2 8 X2 9 X2 10 X2 20 X2 21 X2 22 2 One or more outputs are overloaded DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Remedy For 1 Eliminate short circuit or limit switching current lt 350 mA For2 Drop current depending on output to lt 80 mA F262 Attributes SS Display F2 62 Error number F262 Diagnostic message number 262 Error class Non fatal F276 Absolute Encoder Error Description When turning off the drive controller with a absolute encoder multiturn the actual feedback position will be stored When powered up the absolute position given by the encoder is compared to the sto
59. Feedback Value 2 5 Velocity Feedback Value Filter Time Base 2 50 Velocity Feedback Value Filtertimebase 3 30 Velocity Loop Integral Action Time 2 23 Velocity Loop Proportional Gain 2 22 Velocity Polarity Parameter 2 7 Velocity Synchronization Window 2 39 Index 4 3 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Notes 4 4 Index DOC ECODRV ASE 04VRS FKB1 EN P e 07 97 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Supplement B Diagnostic Message Description ASE 04VRS DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers About this documentation INDRAMNAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Contents 1 DIAGNOSTIC MESSAGE DESCRIPTION 1 1 1 1 Tips for Eliminating Malfunctions serienr areira iiri A i OaE rE aa Paai S 1 1 Reset Button ST srne aa ea a iaa NA Enia ae EEN dra ase en 1 1 Condition Display Hvasser Hate ge ave an ee a ie ea ee 1 1 1 2 Error Diagnostic Message uansett ferd eek 1 2 UL Motor Type not Reported i nonea ie a k inii KAEVA EAEE AEE AAEE EATA 1 2 PL Load Parameter Default Value rmrrnnnvnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnnnenennnneenenneneennnneneennnneneene 1 2 F207 Switching to an Uninitialized Operating Mode nenn 1 3 F218 Heatsink Overtemperature Shutdown sssessssssiessiessiesistsrttttttntttnnttnntnntnnntnnnnnnnnnnnnnnnnnt 1 3 F219 Motor Overtemperature Shutdown sssssssssresrrssrrssrrssirssirsstrtstnsstinstinstnnstnnntnnntnn
60. Fig 2 3 S 0 0043 Velocity Polarity Parameter S 0 0043 Attributes ID number S 0 0043 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format BIN Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 Default value 0b S 0 0044 Velocity Data Scaling Type Description Various scaling types can be defined for the velocity data in the drive Examples RPM gt rotary mm min gt linear DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 2 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Structure of the parameter Bit 2 0 Scaling type 0 0 0 unscaled 0 0 1 linear scaling 0 1 0 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 revolution 1 reserved Bit 5 Unit of time 0 minute min 1 second sec Bit 6 Data reference 0 to the motor shaft 1 to the load Bit 15 7 reserved Fig 2 4 S 0 0044 Velocity Data Scaling Type Note 1 For the case of load side linear scaling changing the dimensional unit between meters metric and inches English will not result in an accurate conversion of data values to the new dimensional unit A change in the linear dimensional unit will onl
61. Output 1 Description If analog output 1 P 0 0139 has been selected with parameter e P 0 0038 Signal selection for analog output channel 1 or e P 0 0039 Signal selection for analog output channel 2 the content of parameter P 0 0139 will be sent to analog output channel 1 or 2 Only values between 128 and 127 are possible They will be converted to 10V at a ratio of 1 1 S 0 0139 Attributes ID number P 0 0139 Editability P234 Function Parameter Memory no Data length 2 bytes Validity check no Format DEC OV Extreme value check yes Unit in Ger Eng 0 078V 0 078V Combination check no Posit after the dec 0 Cyc transmittable no Input min max 128 127 Default value P 0 0140 Analog Output 2 Description If analog output 1 P 0 0140 has been selected with parameter e P 0 0038 Signal selection for analog output channel 1 or e P 0 0039 Signal selection for analog output channel 2 the content of parameter P 0 0140 will be sent to analog output channel 1 or 2 Only values between 128 and 127 are possible They will be converted to 10V at a ratio of 1 1 3 16 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIZA S 0 0140 Attributes ID number P 0 0140 Function Parameter Data length 2 bytes Format DEC OV Unit in Ger Eng 0 078V 0 078V Posit after the dec 0 Input min max 128 127 Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0142
62. Output Channel 1 3 9 P 0 0041 Scaling of Velocity Analog Output Channel 2 3 9 P 0 0042 Scaling for Position Data on Analog Output Channel 1 3 9 P 0 0043 Scaling for Position Data on Analog Output Channel 2 3 10 P 0 0051 Torque Constant 3 10 P 0 0053 Lead drive positton annan nennentnnnnnnnnnnennensrnnnnnrnnnensenennnnnnnnnn 3 11 P 0 0083 Gear ratio adjustments rrrrrnrnnnnvrrnnrnnrrrnnrrnnvrvnrrnnnrrrnrrnnrnrnnrsnsnnnnssnnsnnnnssnsnnnnsrsrsnnnnen 3 11 P 0 0090 Travel Limit Parameter 3 12 P 0 0097 AbsoluteEncoderMonitoring Wumdow nn 3 12 P 0 0098 Maximum Model Deviation rrrornrrnnrannnnnnnornnrrnrrannnnnsnernernnnnnnnnnsnnennnrnnnnnnsnernennnnnnennnee 3 13 P 0 0108 Lead drive polaritv iaiaeiaeiaa ieaiaia 3 13 P 0 0109 Torque Force Peak Limit ccc ceeeceeece eee eeeeeeeeceeeaaeeeeeeeeeeeecaaeaeeeeeeeeeesecseaeeeeeeeeess 3 14 P 0 0119 Error Reaction best possible braking A 3 14 DOC ECODRV ASE 04VRS FKB1 EN P 07 97 Contents III ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMAL IV Contents P 0 0123 Absolute Encoder Buffer 3 15 P 0 0136 Scaling Torque Force Channel 3 15 P 0 0137 Scaling Torque Force Channel 2 3 16 P 0 0139 Analog Qutput aieiaiei an aaa ddmd andper aud nd bien ete te bunn E eRe 3 16 P 0 0140 Analog Output 3 3 16 P 0 0142 Synchronization Acceleratton reneste tt rnnttrrnnttn rnnt tn rnnt tn nenten nnne nn nnne ennnen 3 17 P 0 0143 Synchronization Velocity
63. P 0 0038 Signal selection for analog channel 1 then parameter P 0 0136 can be used to determine scaling for this data The unit for P 0 0136 is A 10V current full amplitude For example if 40 0 A 10V is given then the analog signal will have a scaling of 4 A V S 0 0136 Attributes ID number P 0 0136 Editability 234 Function Parameter Memory Prog Module Data length 2 bytes Validity check no Format DEC OV Extreme value check yes Unit in Ger Eng A 10V A 10V Combination check no Posit after the dec 1 Cyc transmittable no Input min max 0 1 6553 5 Default value ITYP DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0137 Scaling Torque Force Channel 2 Description If torque data is selected with parameter P 0 0039 Signal selection for analog channel 2 then parameter P 0 0137 can be used to determine scaling for this data The unit for P 0 0137 is A 10V current full amplitude For example if 40 0 A 10V is given then the analog signal will have a scaling of 4 A V 5 0 0137 Attributes ID number P 0 0137 Editability P234 Function Parameter Memory Prog Module Data length 2 bytes Validity check no Format DEC OV Extreme value check yes Unit in Ger Eng A 10V A 10V Combination check no Posit after the dec 1 Cyc transmittable no Input min max 0 1 6553 5 Default value ITYP P 0 0139 Analog
64. PLC for further processing This enables position dependent switching functions to be activated The logic of the position switch point is as follows Actual position gt Position switch point function Path switch point output 1 Actual position lt Position switch point function Path switch point output 0 The path switch point signal can be negated to adapt to a superordinate control See also S 0 0059 position switch flag parameter Note The position switch point function is only active in control drives which have been homed because the absolute relationship to the machine s zero point can only be known in a control drive in which the homing procedure has been carried out Position Switch Point When Using Motors With Resolver Feedback Standard Before using the position switch point function the drive controlled homing procedure must be executed Position Switch Point When Using Motors with Resolver Feedback and Absolute Encoder Optional If a switch signal is needed within the travel region of an axis it is usually realized with a cam actuated switch attached to the machine mechanical system By using a motor with absolute encoder optional ECODRIVE saves the unnecessary expenditure for a mechanical cam switch When using a motor with absolute encoder the homing procedure is available as soon as the supply voltage is turned on Consequently the position switch point signal is also valid and can be used
65. Parameter Memory parallel EEProm Data length list with 64 elements each with 4 Byte 256 Byte Validity check yes Format S 0 0076 Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value P 0 4007 Process Block Velocity Description List of the process block velocity for command controled operation positioning interface It can be given a maximum of 64 velocities whereby the first element specifies the maximum velocity of the process block 0 the second element specifies the maximum velocity of the process block Tees The number of the process block velocities must always be larger or equal to the number of operational process block If process blocks is selected of which there are no process block velocities then the warning non programmed process block will be given P 0 4007 Attributes ID number P 0 4007 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length list with 64 elements each with 4 Byte Validity check Format Unit English Posit after the dec Input value min max DOK ECODRV ASE 04VRS FKB1 EN P 07 97 256 Byte yes S 0 0044 Extreme value check S 0 0044 Combination check S 0 0044 Cyc transmittable S 0 0044 Default value yes no no 100 0000 Supplement A Parameter Description 3 33 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL
66. S 0 0111 Motor current at standstill S 0 0086 Attributes ID number S 0 0086 Editability 23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format BIN Extreme value check no Unit English Combination check yes Posit after the dec 0 Cyc transmittable MDT Input value min max Default value Ob S 0 0091 Bipolar Velocity Limit Value Description The bipolar velocity limit value describes the maximum allowable velocity that is symmetrical in both directions The maximun input value is restricted by S 0 0113 Motor maximum speed The value entered generates the maximum value for all other speed parameters S 0 0091 Attributes ID number S 0 0091 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC ON Extreme value check yes Unit English S 0 0044 Combination check no Posit after the dec S 0 0044 Cyc transmittable MDT Input value min max 0 S 0 0113 Default value 3000 0000 RPM 5 0 0092 Bipolar Torque Force Limit Value Description This parameter describes the maximum allowable torque that is symmetrical in both directions accelerating braking The evaluation refers to the percentage of the motor current at standstill 100 Motor current at standstill Note The maximum torque is also influenced by e P 0 0006 Overload factor e P 0 4011 Switching Fregquency DOK ECODRV ASE 04V
67. Safety Instructions for Electrical Drives General These instructions must be read and understood before the equipment is used to minimize the risk of personal injury and or property damage Follow these safety instructions at all times Do not attempt to install use or service this equipment without first reading all documentation provided with the product Please read and understand these safety instructions and all user documentation for the equipment prior to working with the equipment at any time You must contact your local Indramat representative if you cannot locate the user documentation for your equipment A listing of Indramat offices is supplied in the back of this manual Request that your representative send this documentation immediately to the person or persons responsible for the safe operation of this equipment If the product is resold rented and or otherwise transferred or passed on to others these safety instructions must accompany it Improper use of this equipment failure to follow the attached safety instructions or tampering with the product including disabling of safety device may result in personal injury severe electrical shock WARNING death or property damage INDRAMAT GmbH is not liable for damages resulting from failure to observe the warnings given in these instructions e Operating maintenance and safety instruction in the appropriate language must be ordered and received before initial st
68. Setting Absolute Measuring not Allowed Drive Enabled 1 33 C302 Absolute Measuring System not Installed eenei nee nee nennen nesrnssrnesrnssrnnsrnssrnssrensrent 1 34 C400 Command Switch To Parameter Mode 1 34 C401 Drive Active Switch Not Allowed rrrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnunnnunununununununnnununnnnnn 1 34 C500 Reset Class 1 Diaonoete venner rennnrnesnnnnnenresnsrnesnnnnnnnn 1 35 C600 Drive Controlled Homing Procedure Commande 1 35 C601 Homing Not Possible If Drive Is Not Enable rrrrannvnnonnvnnorrrnnnrrvnnnvnnnnvrnrrrrennnrrnnnnrnnennenn 1 35 C602 Distance Homing Switch Reference Mark Erroneous ssseeeeeessrressrssrrssrrsssrnssrrsens 1 35 C603 Homing Not Permitted in this Operating Mode sesseesseesseesseesseeeseeenenennrennnnnnsennsennsennes 1 36 C604 Homing of Absolute Encoder Not Possible ssesseesseessesssesseeseeesneeeneeenntennnnnnsennsennenn neen 1 36 C605 Homing velocity too great 1 37 G700 Basic Lad EE 1 37 C800 Load Basic Parameters cccccceccceceeeeecneeeeeeeeceaeeeeaaeeeeeeeceaeeeseaeeesaaeseeeeeseeeescaeeesaeeseneeees 1 37 D900 D9 Command Automatic Loop Control 1 37 D901 Sart Only With EE 1 38 D902 Motor Feedback Not Valid AA 1 39 D903 Inertia Detection Fale 1 39 D904 Gain Adjustment Falle 1 40 D905 Wrong Position Range tsrrsreriiiiaeraririsrdiiern rear epar riain e a Aaea aiaa iaeia iaitu in RERA eine 1 40 Il Contents DOK ECODRV ASE 04VRS FKB1 EN P
69. The command would be started without drive enable being turned on Remedy 1 Enable Drive 2 Restart the command C601 Attributes SS Display C6 01 Diagnostic message number C601 C602 Distance Homing Switch Reference Mark Erroneous Cause During the drive controlled homing procedure an ambiguous position for the home reference of the feedback and the switch flank of the home switch was determined DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Remedy The cam of the home switch must be shifted in such a manner such that an accurate homing procedure is possible e Read the contents of parameter S 0 0298 reference cam shifting e Mechanically shift the homing cam by the amount in the parameter e Re perform the drive controlled homing procedure C602 Attributes SS Display C6 02 Diagnostic message number C602 C603 Homing Not Permitted in this Operating Mode Cause During operation of the drive in torque control or velocity control the homing command can not be processed Remedy Clear the homing command Set another operating mode C603 Attributes SS Display C6 03 Diagnostic message number C603 C604 Homing of Absolute Encoder Not Possible Cause If the homing command is called up by the absolute value encoder without previously processing the command P 0 0012 setting the absolute measurement t
70. adjustments prescribed by these parameters take place in the superordinate machine control However entering this data in operating mode can be advantageous as the DriveTop diagnostic window will show position and speed output variables scaled in units appropriate to the application Linear Scaling Scaling mechanical system Data positioning with respect to motor shalt Load Type of scaling linear Fam Unit of measure for position data rotary d mm Deg Inch Processing of position data is Feed constant k 10 000 E mm Re EA modulo EE Value 0 000 man Coupling ratio output WW 8 Mode shores way povRive direction Negation of position velocity and torque data A S negative drection Fig 10 1 Scaling mechanical system In applications where a linear carriage is to be moved all output variables of the shaft should be entered in linear units and recorded Linear scaling should be selected and the mechanical data of the shaft entered Feed constant transmission input revolutions and transmission output revolutions for example DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 10 2 General Drive Functions A standard arrangement of a mechanical system with a circular rotary shaft is illustrated Other similiar mechanical combinations can be derived from this standard configuration
71. amplifier peak current 2 the length of the peak current characteristics for the peak current limit of the amplifier The value is not editable because it is permanently programmed within the amplifier P 0 0518 Attributes ID number P 0 0518 Editability no Function Parameter Memory Verst E prom Data length 4 Byte Validity check Phase3 Format DEC ON Extreme value check no Unit English A Combination check no Posit after the dec 3 Cyc transmittable no Input value min max 0 001 500 Default value P 0 0519 Amplifier Peak Current 2 Description The drive offers the possibility of a changed length of peak current characteristic with reduced amplifier peak current and is therefore defined as a increased amplifier length current The parameter P 0 0519 specifies a amplifier peak current for this case It serves for the determination of the functioning points on the length of the peak current characterisic The value of this parameter is not editable because it is permantently programmed in the amplifier 3 28 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0519 Attributes ID number P 0 0519 Function Parameter Data length 4 Byte Format DEC_OV Unit English A Posit after the dec 3 Input value min max 0 001 500 P 0 0520 Hardware Number Description Editability Memory Validity check Extreme va
72. an Analog Command Value operating mode can be set through the controller motor type operating mode selection dialog box Controller Motor type Operating mode Motor type MKD041B 144 KGO Controller type DKC01 1 030 3 Overload factor PWHM Frequency 4kHz 8 kHz Firmware version DKC1 1 ASE 04V10 Operating mode Torque regulation with analog interface The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveT op and helps you to identify the actual online drive Name of axis Fig 8 1 Torque Regulation with an Analog Command Value 8 2 DKC01 1 DKC11 1 Drive Controller with Analog Torque Interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 8 3 Analog Torque Command Value Processing Scaling the Analog Torque Command Value The following applies when scaling the analog torque command value The maximum effective peak torque is emitted when the input voltage is at 10V max active peak torque P 0 4046 P 0 0051 with P 0 4046 Active Peak Current P 0 0051 Torque Constant See also P 0 4046 Active Peak Current Note Only that value of P 0 4046 applies that is displayed in DTOP without torque limit Any later reduction of the active peak current by limiting torque with the bipolar torque force limit value S 0 0092 may effect the active peak torque displayed in DriveTo
73. been initialized see command S 0 0262 basic load In this parameter the Contacted Motorype can be overwritten with the basic load 3 44 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4036 Attributes ID number P 0 4036 Editability P234 Function Parameter Memory Parameter EEPROM Data length up to 40 symbols Validity check Phase 3 Format ASCII Extreme value check no Unit English Combination check no Posit after the dec 0 Input value min max Cyc transmittable no Default value empty P 0 4037 Default Velocity Loop Proportional Gain Description The default value for the velocity encoder proportional amplifier The parameter is set on site at the manufacturer s and cannot be changed With default parameter load the value of the parameter will be copied into parameter S 0 0100 velocity loop proportional gain which has a different unit With the default values a drive of the motor is possible for optimal adaptation on the machine connection the parameter S 0 0100 must sill be optimized P 0 4037 Attributes ID number P 0 4037 Editability no Function Parameter Memory Feedback Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English As rad Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 32767 Default value P 0 4038 Defau
74. block e travel in a positive direction e travel in a negative direction Data Receiving The set positioning command data is not initially active After the positioning command is sent the data is first written into the drive controller During setup it is helpful if the data can be tested directly as in this case all the given positioning commands can be loaded into the drive controller through the Data Transmission key without the window having to leave the screen DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 31 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 6 Choosing Starting and Selecting a Positioning Command Choosing a Positioning Command There are five binary position command selection inputs in the DKCO1 1 POS1 POS5 The command number of the desired positioning command is selected as binary signal types in the command Starting Positioning Commands If an edge is applied to hardware input AH start of the Ecodrive analog unit then the selected positioning blocks will be started at least 1 5 ms thereafter but no more than 12 ms later Note Timing is outlined in the illustration on acknowledging positioning block selected see Fig 5 40 Acknowledgement with positioning bln the next section Interrupting Positioning Commands Positioning commands can be interrupted during the command operation by removing the start signal AH START logic
75. command value and the feedback value is smaller than the synchronization window during the parameterized synchronization operating mode with underlying position control then bit 8 in the S 0 0182 Manufacturer Class 3 Status will be set The following apply Bit 8 1 if XSynch XAdditiv XFeedback lt S 0 0228 with X Feedback Position feedback value S 0 0051 or S 0 0053 X Synch Synchronized position command value compiled from the actual steering axle position X Additiv Additive position command value S 0 0048 See also the function description Check back with angle synchronization S 0 0228 Attributes ID number S 0 0228 Editability P2 P3 P4 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC MV Extreme value check yes Units English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max 0 S 0 0076 Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 0 0236 Lead Drive 1 Rotation Description The gear ratio between the master drive 1 and the slave drive is calculated as follows slave drive revolutions 1 S 0 0237 Conversion relationship 1 Master drive 1 revolutions S 0 0236 Fig 2 1 S 0 0236 Gear Ratio Themaster Drive 1 Rotations S 0 0236 must have valid data See also function descript
76. controller cannot follow command values which do not move the warning will be given if the value of this parameter is 0 Cause 1 Feedrate override is set at zero 2 The Feedrate Override Via Analog Output field is activated and the voltage there is OV 3 Positioning speed 0 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Remedy For 1 Set the S 0 0108 parameter to the correct value for the application For 2 Deactivate the field or establish a voltage larger than OV For 3 Positioning speed greater than 0 must be selected E255 Attributes SS Display E2 55 Diagnostic message number E255 Warning class Non fatal E256 Torque Limit 0 Cause 1 For protection against mechanical overload the maximum torque can be limited by the S 0 0092 Bipolar Torque Limit parameter If the actual value of this parameter is equal to 0 the motor does not develop torque and does not follow the command value which has been entered 2 Torque reduction is set through an analog channel and the established current amounts to 10 V Remedy For 1 Set the torque limit to a value larger than 0 For 2 Establish the analog voltage so that it is smaller than 10 V E256 Attributes SS Display E2 56 Diagnostic message number E256 Warning class Non fatal E257 Continuous Current Limiting Active Description The drive co
77. desired with velocity units in meters min The DriveTop application parameter scaling mechanical program sets the preferred velocity scaling values through the value dialog S 0 0045 velocity data scaling factor 1 S 0 0046 Velocity data scaling expanent 6 S 0 0049 Velocity data scaling type 100 100 1 b Bit 2 0 001 linear scaling Bit 3 1 Preferred Parameter Bit 4 0 Dimensional unit is meters m Bit 5 0 Time unit is minutes min Bit 6 1 Data referenced al load Now suppose that a value of 1234567 is stored in the relavent velocity datum register This datum value will be interpreted and displayed as 1234567 X 1 X 10 m minor or 1234467 X 10 3 mm min or As the value would be displayed in the IDN lists 1234 567 mm min with respect to the load Note that the least significant decimal value is determined by the scaling exponent in this example as 10 6 m min or 10 3 mm min S 0 0045 Attributes ID number S 0 0045 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English SS Combination check no Posit after the dec 0 Cyc transmittable MDT Input value min max 1 65535 Default value 1 S 0 0046 Velocity Data Scaling Exponent Description The scaling exponent for all velocity data in the drive will be determined in this parameter See also example under S 0 0045 Velocity Data Scaling Factor
78. disk drive e select command EXECUTE in menu e in input field Open input A SETUP if DriveTop disk is in drive A e Now follow the instructions of the installation program With a successful installation the DriveTop program symbol can be reached via Start Program Indramat DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRAMAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Setting communications parameters Communication by RS232 RS485 COM Port Com2 Mode Baud rate Response delay Software Parameter Arico oiis Rotary switch Front Drive adress 1 Fig 3 2 Communications dialog COM Port Most PCs are equipped with several serial interfaces COM ports Via the COM port setting it is possible to select the interface which is to be used for communications with the drive controller COM1 and COM2 can be standardly set If COM3 or COM4 are to be used then the pertinent data must be entered in STOP INI File so that the interrupt and the I O addresses can be used These two interfaces are then also available Mode DriveTop can be connected to a drive controller via RS232 or it can communicate with a drive group made up of 32 drives via an external RS232 RS485 interface converter The desired mode must be set Baudrate The DKC drive controller can communicate at different baud rates e 9600 baud e 19200 baud Additional interface parameters e 8 data bits e no parity
79. drive are responded with Speed command value to zero Torque release Fig 10 9 Error handling Error Classes Errors are divided into different classes 7 Segment Display Error Class Message Drive Response Traverse range F6 xx Velocity command value set to zero Fig 10 10 Error Classes Note Drive error reactions can be selected with two error classes as follows DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Drive Response If the drive is in controlled mode and an error is detected an error response is automatically carried out An alternating indicator is visible on the H1 display Fx xx If the error allows for a variable response either switching to a torque free state or setting the velocity control value to zero can be selected as the error response After the drive has responded to the error it will automatically switch to a torque free state and open theinternal Bb ready to operate relay Drive error bb tp tb1 5s if no initializing error exists t lt 10ms if a fatal drive error occurs tb 500ms if a non fatal drive error occurs SV0028d1 drw Fig 10 11 bb timing when switching on the supply voltage 10 12 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers 10 5 Automatic control loop settings General comm
80. drw Fig 1 3 Servo drive with stepping motor interface e The number of steps per rotor revolution is adjustable between 16 and 65536 e The maximum stepping frequency is independent of the load As the position of operation is monitored it is technically impossible for steps to be left out e The stepper motor interface can be set to three standard signal definitions for trading signals between control and drive controller systems Quadrature signals Forward backward signals Step and direction signals e An internal homing procedure can help create a reference position e The axis can be controlled via the jog function for set up operations e The homing and jogging speeds can be influenced via the Feedrate Override e Limit switch inputs and parametrical position limits are available to set travel range limits e The drive controller status can be determined via status outputs 1 4 System Overview DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA Lead axis encoder DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Servo Drives with Electric Gear Function Control drive DKCO1 1 with electric gear function AC servo motor NKD Ms Dos PC Parameter Diagnosis Operating data E Tt Tint RS 232 RS 485 Control drive processor Stepping Electric gear motor Lead axis interface position gt Positi
81. e Position control with step motor interface e Position control with positioning interface e Speed synchronization of real master axis e Angle synchronization of real master axis See also F878 velocity loop error Primary Mode of Operation for the Velocity Loop Monitor The following criteria must be met for the speed control loop monitor to be triggered e Speed control goes to the limits e Drive accelerates in the wrong direction e Actual speed command value greater than 1 25 of maximum motor speed e Speed deviation exceeds 10 of maximum motor speed 10 26 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers If these criteria are met over a period of more than 16 ms then error F878 velocity loop error is generated and the axis goes torque free The reasons that speed control monitor is actuated can be e Faulty wiring in the motor power cables e Defect in the power supply of the control drive e Defect in the feedback system e Insufficient gain in the velocity regulator parameters Deactivating the Velocity Loop Monitor Control drive errors or faulty wiring can lead to uncontrollable shaft movements The velocity loop monitor should be activated under normal circumstances and should only be deactivated in certain exceptions DANGER The velocity loop monitor can be deactivated for specific applications in which the control drive is specifical
82. edge of the home point switching signal is received Reference point switch signal Starting point Reference point SV0031d1 drw Fig 10 34 Homing with Evaluation of the Home Switch DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Homing with Evaluation of the Position Encoder Homing Mark The drive moves at the specified acceleration and velocity in the home direction and positions itself on the next homing Mark of the motor encoder This point is the home point Reference point Reference impulse of the motor generatar Starting point Reference mark SV0032d1 drw Fig 10 35 Homing with evaluation of the position transmitter homing mark Note Multiple homing marker pulses per motor revolution will appear with MKD motors e MKD025 MKDO041 3 homing marks e MKDO71 MKD090 MKD112 4 homing marks Homing With Evaluation of the Home Switch and the Home Mark The drive moves in the home direction until it receives the home switch signal The control drive then positions itself on the next motor encoder homing mark which appears This point is the home point If the axis is on the home switch cam at the start of the drive controlled homing procedure it will first move away from the cam until the home switch signal is removed reverse direction and head back again in the direction of the home switch cam to find the home point DOK E
83. end release Positioning Positioning Positioning inputs valid acknowledgment outputs show the negated status of the positioning inputs acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV5013d1 drw Fig 5 28 Starting a following block sequence Interrupting a following block sequence An interrupt can result e if the drive enable is removed e or if drive start is removed Depending on the type of block of the following block sequence interrupted and the events of this interruption the following block sequence is processed differently after a restart Note DOK ECODRV ASE 04VRS FKB1 EN P 07 97 In following block mode only relative positioning blocks with residual path save are permitted as otherwise the incremental reference dimension is lost with an interrupt DKC01 1 Drive Controller with Integrated Positioning Control 5 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Interrupting a following block sequence when selecting thesame block number In the case of an interrupt e g with drive halt the following block sequence is completed with a restart Reference position Reference position is the original start position of the following block sequence also usually the InPos message The incremental reference dimension is retained because only absolute and relative positioning blocks are used wit
84. following Fig See also section 11 3 Communication over the RS485 Interface max 15m Cable IKS 101 PC with 9 pin D SUB connector max 15m Cable IKS 102 D RxD K Jz Ta TxD ae FN Pa GND DTR i DSR p gt RTS 4 CTS di PC with 25 pin D SUB connector 1 Set the external screen on top of the device AP0224d1 drw Fig 3 3 Connecting a PC via the RS232 interface on the DKC Note Please pay close attention when connecting the relative potential OV GND to the internal cable shields DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Preparing for Startup 3 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 3 6 Minimal Installation for Operation of a DKC with DriveTop The command for the first DKC parameter setup is shown in the following minimal installation MS Do2 PC ait 1 x AC 230V DEE 50 60 Hz IKS 374 IKL MKD FP0021d1 drw Fig 3 4 Minimal installation for simple parameter setups With this installation the parameter setup can be easily accomplished To activate the drive and to carry out motions more
85. from Indramat will install the set nominimal or servo magnetization current for asynchronous motors With synchronous motors this parameter will automatically be set to 0 As the DKC controller can only be operated in conjunction with MKD or MDD synchronous motors this parameter is not relevant in this case P 0 4004 Attributes ID number P 0 4004 Function Parameter Data length 4 Byte Format DEC_OV Unit English A Posit after the dec 4 Input value min max 0 400000 3 32 Supplement A Parameter Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value P23 fixed no no no no DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4006 Process Block Target Position Description List of the target positions for the command operated function positioning interface It can be given a maximum of 64 position values whereby the first elemet specifies the target position of the process block 0 and the second position specifies the target position of the second process block Lis The number of the target positions must always be larger or equal to the number of the operational process block If process block are selected of which there are no target positions then the warning non programmed process block will be given P 0 4006 Attributes ID number P 0 4006 Editability P2 P3 P4 Function
86. installations are required Note Detailed installation instructions are found in the Project Planning Manual 3 6 Preparing for Startup DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 3 7 DriveTop Start Up DriveTop can be started by double clicking the DriveTop icon It then asks as to how it should search the interfaces for drives Search for drives using 9600 baud AUTOBAUD DriveTop will use the baudrate of the first drive it found RS485 The remaining drives will be set to the same baudrate FIXED BAUDRATE DriveTop and all drives R5 485 will be set to the selected baudrate Fig 3 5 Inputting the baudrate for searching for drives If a permanent baud rate is entered then all drives at the serial interface will be set to this baud rate followed by a search for existing addresses AUTOBAUD automatic baud rate search means that there is a search for the first existing address drive at any available rate All other drives are set to the baud rate of the first drive located If the RS 485 bus system is used then identical addresses should not be allowed to occur as this could otherwise lead to bus collisions Note An automatic baud rate search takes more time Offline operations permits the preparation of parameter blocks without a connected drive controller Scanning for Connected Drives After DriveTop starts up it searches for connected d
87. kinds of control tasks in different fields It is typically used in such applications as e Handling systems e Packaging machinery e Assembly systems e Printing machines 1 2 Ecodrive a Family of Control Drives An ECODRIVE consists of a drive controller and a MKD servo motor There are presently four drive controllers available each with different control interfaces e DKCO01 1 with analog stepper motor and positioning interfaces e DKC11 1 with analog interface e DKC02 1 with SERCOS interface e DKC03 1 with PROFIBUS DP interface The instructions for the DKC01 1 and the DKC11 1 are described in the following section The DKC02 1 and DKC03 1 have their own documentation DOK ECODRV ASE 04VRS FKB1 EN P 07 97 System Overview 1 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 1 3 Overview of DKC01 1 DKC11 1 Functions DKC01 1 Modes of Operation Servo Drive with Integrated Positioning Control SPS Control Control drive DKCO1 1 AG servo motor with position interface MKD MS DOS PC Diagnostics Operating dat Parameter l J E F LI it CH RS 232 ARS 485 I O Card Control drive processor Saved EE e Selection position gt Fine interpolation of i position Control inputs settings Position control settings 2 Position 1 2 Position 2 ee e Speed control Field oriented A Stator voltage regulator High resolution Basin De position interface
88. nenn ntnn nnt 1 4 F220 Bleeder Overtemperature Ghutdown vnr nr rnnnnrnnrnrnnnnrrennnnnnnnnnerenreennrneennnnnennennn 1 5 F226 Undervoltage e 1 5 F228 Excessive Devisbon deeg EENS dee EE AA NEE NEEN 1 6 F229 Motor Encoder Error Quadrant Error 1 6 F248 Low Battery Voltage i ureien de aac eee dele ve EA VAA redda 1 7 F262 External Short at Status Outpoute nnt 1 7 F276 Absolute Encoder Errol asean inaa eiai itia dee NEES denne 1 8 F629 Positive Travel Limit Value is Exceeded AAA 1 9 F630 Negative Travel Limit Value is Evceeced AA 1 9 F643 Positive Travel Limit Switch Detected 00 2 0 ccccceecceceeeeeeeeeeeeeeeceaeeeeaaeeeaaeseeeeeseaeessaeeneaeeeeaes 1 10 F644 Negative Travel Limit Switch Deteched 1 11 F822 Motor Encoder Failure Signal too Gmail 1 11 F860 Overcurrent Short in Powerstage esseessessseessessinesrnestnssrnssrnssrnssrnssinastnssrnssrnssrnnnrnnsnnnt 1 12 F870 424 VEMO osoena ir ee ege Nees ENEE Ee 1 13 F873 Power Supply Driver Stage Faul 1 13 F878 Velocity Loop Erro aserre eiiiai aa k Anaa EENE EOAR E aA se 1 14 F879 Velocity Limit Value Exceeded G 0 009721 1 14 F895 4 e Elan re EE 1 15 1 3 Warning Diagnostic MessagoS acraea turtai AEE TENETE NRR AE ERE AE E EREE 1 16 E209 Parameter storage acti oorun e E A a eaa Ea TAR E atee 1 16 E248 Interpolation acceleration equals D 1 16 E249 Positioning vel S 0 0259 greater G O 00071 1 16 E250 Heatsink Overtemperature Warning ccc ccceeeeesceeeeeeeeee
89. on P 0 4014 Motor type Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 4 Default value DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 3 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL P 0 0019 Position Start Value Description The position start value serves the non absolute measuring system through the paramaterization of a defined initialization value for position feedback value 1 S 0 0051 The drive tests if the position start value has been specified in communication phases 2 or 3 during initialization of the position feedback Only then will the position feedback value 1 be set to this value The intial position value will only function with a single turn feedback P 0 0019 Attributes ID number P 0 0019 Editability P23 Function Parameter Memory no Data length 4Byte Validity check no Format DEC_MV Extreme value check no Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value P 0 0020 Reference Cam Shifting Description P 0 0020 is also referred to as Displacement of the Home Switch During drive controlled homing S 0 0148 the home switch is evaluated by the drive An optimum location exists from the relative position where the home switch signals to the marker pulse of the motor feedback In order to assist in the adjustment
90. parallel EEProm Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English rpm Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 30000 Default value 3000 P 0 0502 Line Count for the Incremental Encoder Description If the actual position value output is selected for incremental encoder emulation then the line count of the incremental encoder must be set P 0 0 502 Attributes ID number P 0 0502 Editability no Function Parameter Memory parallel EEProm Data length 4 Byte Validity check yes Format decimal Extreme value check yes Unit English Combination check no Posit after the dec Cyc transmittable no Input value min max 1 65536 Default value 1250 P 0 0503 Reference Pulse Offset Description With this parameter the position of the reference pulse of the emulated incremental encoder output can be shifted P 0 0503 Attributes ID number P 0 0503 Editability no Function Parameter Memory parallel EEProm Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English Degree Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 359 9 Default value 0 3 24 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 INDRAMAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0504 Command Filter Smoothing Time Con
91. plugin connector to prevent interference interface converter PSM EG RS232 RS485 P 2D RS232 ets TxD 2 1 gt RxD 2 RTS LS pe GND PC with 9 pin pg ER D sub conn metal conn metal conn housing housing interface converter PSM EG RS232 RS485 P 2D RS232 Sch TxD 2 SC E gt RxD 2 _ RTS l l GND da7 LS aN PC with 25 pin D Eoy fe D sub conn metal conn metal conn housing housing l 1 outside shield PC and on converter to ground potential cabel grip metal conn housing 2 Data direction with switch position S1 DTE AP5015d1 DRW Fig 11 17 RS 232 cable PC interface converter Connecting the RS485 of the interface converter to the DKC twisted core pair d ae Tock interface converter i GND RS485 X1 SE i p ga f PSM EG RS 232 i Bs By RS 485 P 2D p RS485 5 o RS485 o rh 1 Ha metal conn housing e cable grip DKC AP5016d1 drw Fig 11 18 RS 485 cable interface converter DKC 11 20 Serial Communication DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers RS 232 Connection max 15m Cable IKS 101 aac We
92. shaft P 0 0042 Attributes ID number P 0 0042 Editability P234 Function Parameter Memory Param E prom Data length 4Byte Validity check Phase3 Format DEC OV Extreme value check no Unit English Deg 10V Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 1 6553 5 Default value 360 0 DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 3 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0043 Scaling for Position Data on Analog Output Channel 2 Description With the selection in parameter P 0 0039 Signal selection for analog output channel 2 the scaling of the position data will be established in parameter P 0 0043 The unit of degrees 10V reference the motor shaft P 0 0043 Attributes ID number P 0 0043 Editability P234 Function Parameter Memory Param E prom Data length 4Byte Validity check Phase3 Format DEC OV Extreme value check no Unit English Deg 10V Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 1 6553 5 Default value 360 0 P 0 0051 Torque Constant Description The torque constant determines the driving torque of the motor given by a specific motor current With a synchronous motor this value exclues motor construction The value is stored in the motor feedback memory and cannot be changed MA Nm N P 0 0051 P 0 0080 MA Drive torqu
93. the Current Regulator S 0 0107 Attributes ID number S 0 0107 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English ms Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 1 6553 5 Default value S 0 0108 Feedrate Override Description The feedrate override only works for drive controlled motion commands like e Drive controlled homing procedure command e Programmed positioning block operating mode e Jogging operation e automatic control loop setting e synchronization speed during angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 25 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA In such instances the drive calculates the velocity command value itself The feedrate override has a multiplying effect on the homing velocity the block velocity and the jog velocity Note Feedrate override may be controlled either by this parameter or by the analog E1 E2 input depending on the value set in Bit 0 of the function parameter P 0 4027 Bit 0 0 Feedrate override set in parameter S 0 0108 1 Feedrate override via analog channel E1 E2 S 0 0108 Attributes ID number S 0 0108 Editability P4 Function Parameter Memory no Data length 2 Byte Validity check no Format DEC_OV Extreme value check no Unit English Comb
94. the new positioning speed Note Indexing occurs if the internal command value generator reaches the target position With very small jerk values the target position is creeped to whereby the creeping is equal to the dwell time Cont block far destination m intermediate stop 8 pos n v i Speed Profile n l t Fig 5 21 Positioning block input with following block and intermediate halt DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Example Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV5012d1 drw Fig 5 22 Following block indexing with target position with intermediate halt Note This mode must be used if there is a directional change in two sequential following blocks within one following block sequence Otherwise it is inevitable that the position at which the direction change takes place will be overrun Switch signal dependent indexing Note If switch signal dependent block transition is used then the function travel range limit with t
95. the product Published by INDRAMAT GmbH e Bgm Dr Nebel Str 2 e D 97816 Lohr a Main Dept END MW JR About this documentation ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Contents 1 System Overview 1 1 1 1 ECODRIVE the Economical Control Drive for Automation urnrnnannvnnonrvnnnrrnnnnrnnnnnnnnrrrrnnnrrnnnnnnnennennn 1 1 1 2 Ecodrive a Family of Control Drives iei eniin ire in aan aeaaaee naaar a aaa aa a aaae an aa ER aaa 1 1 1 3 Overview of DKC01 1 DKC11 1 Functiong cece cece eeceeceee ee eeeeeeeeaeeeeeee sees ee ceaeeeeaaeseeeeeseeeesaeeneaeeee 1 2 DKCO01 1 Modes of Operation 1 2 DKC01 1 DKC11 1 General Characheretce sae eeseaeeeeeeeseeeesaeeeeaeeeenees 1 6 Functional Differences between DKC01 1 and DKCH IL 1 7 2 Safety Instructions for Electrical Drives 2 1 2 At GO MO Mall ege ees ee ee eege Eege dee 2 1 2 2 Protection against contact with electrical parts 0 0 eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeeeeeeneaeeeeeneneaeees 2 2 2 3 Protection by protective low voltage PELV against electrical bock 2 4 2 4 Protection against dangerous movemente nanten natnn naten nae 2 5 2 5 Protection against magnetic and electromagnetic fields during operations and mounting sese 2 7 2 6 Protection during handling and mstallaton AA 2 7 2 7 B ttery safety sag Eesen Geesse geesde hee ERC ged bane 2 8 3 Preparing for Startup 3 1 3 1 General Instructions for Startup Procedure 3 1 3 2 Drive Top Startup P
96. value then the drive stays still and signals position limit value reached during jogging Remedy 1 Move the motor back within the allowable travel area with the jog function 2 Turn off the position limit value monitor E831 Attributes SS Display E8 31 Diagnostic message number 831 Warning class Fatal 1 24 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers E843 Positive Travel Zone Limit Switch Activated The drive has received a command value that has led to an axis position outside the positive travel range The axis is stopped by setting the velocity command value to zero A class 1 diagnostics error is not generated The drive automatically follows command values that lead back to the valid range Bit 2 of S 0 0090 Command Value Transmit Time TMTSG has been set to Exceeding the travel limit is considered as a warning Cause The positive travel zone limit switch has been actuated Remedial action Specify command values that lead back to the valid range See also Function description Transverse range limits E843 Attributes SS Display E8 43 Diagnostic message number E843 Error class fatal E844 Negative Travel Zone Limit Switch Activated The drive has received a command value that has led to an axis position outside the negative travel range The axis is stopped by setting the velocity command value
97. velocity loop e The mechanical system must be set up in its final form in order to have true relationships while setting the parameters e The drive must be properly connected as described in the user manual e The safety limit switches must be checked for proper functioning if applicable e Speed control with analog command value must be set as operating mode in the drive 10 22 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Begin the adjustment procedure by setting the following parameters to the indicated values S 0 0100 Velocity Loop Proportional Gain Default value of the connected motor S 0 0101 Velocity Loop Integral Action Time 6500 ms P 0 0004 Velocity Loop Smoothing Time Constant Minimum value 500us P 0 1003 Velocity Feedback Value Filter Time Constant 500us Determining the Critical Proportional Gain and P 0 0004 Smoothing Time Constant e After turning on the controller enable let the drive move at a low speed 10 20 Rem e Raise the S 0 0100 Velocity Loop Proportional Gain until unstable operating behavior continuous limit cycle oscillations begins e Determine the frequency of the oscillation by measuring the actual velocity with an oscilloscope When the frequency of the oscillation is substantially higher than 500Hz raise the P 0 0004 Smoothing Time Constant until the oscillation goes away After this rais
98. with an absolute encoder is the last InPos signal with x 200mm Interrupted relative positioning block with residual path save after control voltage off and on if target position 600 Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release 24V control voltage Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV5007d1 drw Fig 5 13 Relative positioning block with residual path save after control voltage shutdown and powered up Note If a positioning block is not accepted then the drive behaves as if it was never started 5 12 DKC01 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Interrupting a relative block with residual path save and starting a new relative block Behavior After an interrupted relative positioning block with residual path save starting a different positioning block means that the residual path of the previously interrupted positioning block is lost The relative positioning block then relates to the current position The incremental dimension will in this case not be lost Reference pos
99. 0 Acknowledging position block select with drive enable active Drive halt Start drive If the drive is in drive halt AH start signal not active then the complement of the positioning input signals is generated at the acknowledgement outputs After activating AH start signal it is checked whether the selected positioning block may be assumed If it is then the binary coded number of the accepted positioning block appears at the acknowledgement outputs In the case of non executed positioning blocks the complement of the number of the selected positioning block is generated Note After activating the AH start signals the transfer of the new positioning commands will be acknowledged after lt 14 ms with the command selection acknowledgement outputs At the same time the drive controller will set the In Position Output logic 0 if the new position is not reached 5 32 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Acknowledging the executed Speed positioning block profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release lt 14ms Positioning input is valid for example positioning block No 01 XX State of positive input is not relevant Positioning acknowledgment output shows negated state of posit
100. 0 0128 C2 Communication Phase 4 Transition Check Description The commands S 0 0127 C1 Communication phase 3 transition check and S 0 0128 C2 Communication phase 4 transition check are used to switch form the parametermode to the operatemode When the S 0 0128 C2 Communication phase 4 transition check command is executed all parameters will be checked for validity and limit value encroachments If any invalid parameters or any limit values have been encroached upon the drive would end the command with an error message See also Function description Executing Parameter Commands S 0 0128 Attributes ID number S 0 0128 Editability P3 Function Command Memory no Data length 2 Byte Validity check no Format BIN Extreme value check yes Unit English Combination check no Posit after the dec 0 Input value min max 0 11 b Cyc transmittable no Default value S 0 0134 Master Control word Beschreibung The drive sets the master control word in terms of the digital inputs This makes it possible to read the master control word via the interface In addition the master control word provides help in commissioning and troubleshooting S 0 0134 Attributes Ident number S 0 0134 Modification No Function Parameter Storage No Data length 2 bytes Validity check No Format Bin Limit check No Unit Combination check No Fractional part digits 0 Cyclic transfer No Input min max D
101. 0 0162 Acceleration Data Scaling Exponent e 0 0121 Input Revolutions of Load Gear e 0 0122 Output Revolutions of Load Gear e S 0 0123 Feed Constant C215 Attributes SS Display C2 15 Diagnostic message number C215 C216 Torque Force Data Scaling Error Cause The display format of the torque data can be set with the help of the scaling parameter The factor for the conversion of the torque data from the internal drive format into the display format or the reverse process is outside of the workable area Remedy Connect the drive with a PC and start DriveTop Select a scaling setting in the Scaling Mechanical system dialog box Should a scaling installation other than one from DriveTop be used then the following parameters must be checked e S 0 0086 Torque Force Data Scaling Type e 0 0093 Torque Force Data Scaling Factor e S 0 0094 Torque Force Data Scaling Exponent C216 Attributes SS Display C2 16 Diagnostic message number C216 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 31 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA C217 Motor Feedback Data Reading Error Cause All MKD and MDD motors contain feedback data memory From this the settings for the controller will be read By processing these values an error is detected Remedy Check the feedback cable Exchange the motor C217 Attributes SS Display C2 17 Diagnostic message number
102. 0 Communication Phase 3 Transition Check 1 26 C101 Invalid Communication Parameters S 0 0021 rranrrnnnrrnnnnnvnnenvnnnnrrnnnnnvnnenrennnnrnnennnnnennne 1 26 C102 Limit Error Communication Parameter G O 0021 1 26 C200 Communication Phase 4 Transition Check 1 27 C201 Invalid Parameter Block gt S 0 0022 rrrnonrvnnnrrnnnnrnnnnnvnnnvnnrnrrvnnnrnrnnnnnnerrenrrrrernnrnnennnerenn 1 27 C202 Limit Error Parameter gt G 0 00221 nenn nnt 1 27 C203 Parameter Calculation Error gt G O 0O0221 1 28 G207 Load Error LGA ET 1 28 C208 Invalid SSI Parameter gt G O 00221 nenn nnt 1 28 C211 Invalid Feedback Data gt G 0O 00221 eeeeaeeeeaeeseeeeesaeeeteaeeeeeeeeeaeess 1 29 C212 Invalid Amplifier Data gt S 0 0022 rerannvnnonrnnnnrrvnnnrnnennvnrerrennnrrvnnnrnnennenrerrerrnrrrennnnennennn 1 29 C213 Position Data Scaling Emor 1 29 C214 Velocity Data Scaling Emor na 1 30 C215 Acceleration Data Scaling Error 1 31 C216 Torque Force Data Scaling Eor 1 31 C217 Motor Feedback Data Reading Emor neen nnen 1 32 C220 Motor Feedback Initializing Error cecceeeceeeeeeeeneeeeeeeceeeecaeeesaaeeeeaeeseeeeesaeeeeaeeneneeseaees 1 32 G227 Mod l Range Error Aauuiaeinnnddeluraof eddsa daa ddan eddies 1 33 C300 Command Set Emulation Absolute Value rrrrnannrnnnnnvnnnnrvnnnrrvnnnrnnennnnrrrrenrnrnnnnnenennnerenn 1 33 C300 Set Absolute Meaeurimg netr tstrnsttnssrnsttnstnsrnssinnstnnsnnannnsnnnnnnnnnnnnt 1 33 C301
103. 0000 00 Deg 5 0 0050 Negative position limit value Description The Negative position limit value describes the maximum extent of travel in a negative direction The position limit is only active if all position data is referenced to the home point i e the drive is homed Bit 0 in parameter S 0 0403 Position feedback value status is set to 1 The position limit values can be switched off through bit 4 in the S 0 0055 Position polarity parameter If a target position on the other side of the position limit is set in the drive the warning E253 Target position beyond the travel range will be generated S 0 0050 Attributes ID number S 0 0050 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value 10000 00 Deg DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL S 0 0051 Position Feedback Value 1 Motor Feedback Description The Position feedback value 1 Motor feedback represent the current position of the rotational feedback This value is updated each 500ms This can be read over the serial interface S 0 0051 Attributes ID number S 0 0051 Editability no Function Parameter Memory
104. 0049 Position Limit Positive and S 0 0050 Position Limit Nega tive 1 18 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA E254 Not Homed ECODRIVE DKC01 1 DKC11 1 Drive Controllers Remedy For 1 Deactivate the position limit monitor For 2 Check the entered S 0 0258 target position and correct if necessary For 3 Check the target position of the process block Add the relative path of travel to the actual position Additionally check the position limit value E253 Attributes SS Display E2 53 Diagnostic message number E253 Warning class Non fatal Description If Absolute Positioning Commands are selected while in Command Controlled Operation the control drive must be homed If this is not the case an absolute position cannot be reached The drive rejects this positioning command and stops The warning E254 will be given Cause Absolute positioning command was selected without the drive being referenced Remedy 1 Reference the drive 2 Select Relative Positioning Command See also Function description Drive controlled Homing Procedure E254 Attributes SS Display E2 54 Diagnostic message number E254 Warning class Non fatal E255 Feedrate Override S 0 0108 0 Description The transversing velocity can be changed while jogging homing and while in positioning operation with the S 0 0108 Feedrate Override parameter Since the drive
105. 04 velocity encoder smoothing time constant P 0 4042 Attributes ID number P 0 4042 Editability no Function Parameter Memory Feedback Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English US Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 500 65535 Default value P 0 4043 Bleed Overload Factor P 0 4044 Bleeder load 3 48 Supplement A Parameter Description Description The parameter describes the short duration overload capacity of the installed damping resistance If the bleed overload factor 60 then the peak capacity of the damping resistance is 60 times larger than temporal capacity This parameter is set on site at the manufacturer s and cannot be changed P 0 4043 Attributes ID number P 0 4043 Editability no Function Parameter Memory Amplifier EEProm Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 100 Default value Description With this parameter the average capacity is read from which the damping resistance can be changed That means that the damping resistance with its temporal capacity will be acted upon 100 For a safe drive the load should be less than 80 The value is very stable In order to tell if a processing cycle of the damping resistance is not overlo
106. 10 15 Activ ting the Drive mu egen dees ZegehgeedeeR gen evn shecepasadg vek de end daa KAAK ARAE KACA AE Ee 10 52 Gontroll rEnableuauuussustuksn usteutaiuddaunat klade ege 10 52 Driv Stop Start saadan bd addere 10 53 11 Serial Communication 11 1 11 1 General Information for Serial Communication 11 1 11 2 Communication via the RS232 Intertace venn 11 1 11 3 Communication over the RS485 Interface srrrrnrnnnnvrnnnnrnnnnvvnnnrrrnr renn nrnnnnnnnnenrennrrrvannnnnnnnnnrenresnn enn 11 2 Operation of Multiple Drives with DriveTOp c cccceeeeeeeeeeeeeceeeeeceaeeeeaaeseaeeseeeesaeeeeaaeseeneeeeaees 11 2 Parameterization and Diagnostics via a SPS DLC 11 3 Parameterization and Diagnostics for Drive Group through the Operator Interface 0 11 3 11 4 Communications Setting 11 4 Communication Parametere 11 4 Setting of the Drive Address 11 5 Original State after Establishing the Control Voltage rrannvrnannvnnonrnrnr renn nrnnnnnnnnnnrennrrrrnnnnnennennn 11 5 11 5 Communications Drocedure renn nr renn nnnnennennsr net nnnntn vennen nennrnnesnnnnnnnnennnnnennennn 11 5 Parameter Structure sui daedvliacdacheevidend eee heeled ede sd E ta 11 5 Communication with a Specific Unit on the Bus 11 6 Writing To a Parameter EAR a bedrede ideene 11 6 Reading of a Parameter ccceccccecescccceeeseceeeeeeeeeeeeeneceeesneeeeceeneeeeeeneaeeesnseaeeeeneeeeceenseaeeseneesaaees 11 7 Writing to a List Type Paramet
107. 10 39 10 40 Homing With Analysis of the Home Switch and the Home Reference 10 40 Homing with Analysis of the Position Transmitter Home Reference 10 40 I Illustration of Absolute Actual Position Value Output Connections 10 37 Illustration of the Incremental Actual Position Value Output Connections 10 35 INBWG message 10 31 initial installation 10 44 INPOS message 10 31 INREF message 10 32 Integrated brake activation 1 6 Integrated Diagnostic Display 1 6 interference resistance 6 6 Interrupting a following block sequence when selecting thesame block number 5 22 Interrupting a following block sequence with new block number selected Block number 5 24 Interrupting a relative block with residual path save and starting a new relative block 5 13 Interrupting relative positioning blocks with residual path save with drive halt 5 8 Interrupting the Drive Controlled Homing Procedure 10 43 J Jerk 5 30 Jog mode behavior 10 47 Jogging signal connection 10 47 K Kv factor 5 2 Kv factor 6 2 10 20 10 24 10 25 L Limit switch 1 2 1 4 5 14 limit switches 10 5 10 6 Limiting Torque Via Analog Inputs 10 8 Limiting Torque via Parameters 10 8 Limiting Velocity in Torque Regulation Mode 10 7 Load base values 11 12 load side 10 4 Lock drive 3 11 Locking with RS 485 3 11 M Master axis encoder resolution P 0 4033 9 2 Master slave operation for multiple axes 8 1 Maximum Display Area with Absolu
108. 11 1 Drive Controllers IFDRANA Parametrization notes for following blocks Taking drive limits into account When parametrizing following blocks it is necessary to take the maximum values of the drive into account These are e maximum accel capacity e maximum speed If blocks are parametrized having drives with values exceeding maximum values then this inevitably generates a lag error The drive will then signal error F228 excessive deviation informing that it cannot comply with the position command value Minimum value for accel and jerk General information Accel values that are too small can also cause problems This means that when determining positioning blocks the following formula must be noted e Minimum accel value 2 speed difference vu v accel gt i X 2 target position difference 2 x n Abb 5 34 Minimum accel value in following block mode translatory with X target position of block n X target positon of block n 1 v speed of block n Va Speed of block n 1 Note The above referenced relation applies to an infinite jerk which correspons to a jerk filter that is off 0 If a jerk filter is used then the calculated values should first be approximately doubled The path to be covered in one block and its speed are generally process dependent If the minimum accel value calculated using the above formula already causes the maximum value to be exceeded then
109. 161 Acceleration Data Scaling Factor Description If parameter scaling is set in S 0 0160 Acceleration data scaling type the scaling factor for all acceleration data in the drive will be determined in this parameter Structure of the parameter Bit 0 15 Factor Fig 2 15 S 0 0161 Scaling Factor for Acceleration DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 2 37 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA S 0 0161 Attributes ID number S 0 0161 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English 7 Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 65535 Default value 1 5 0 0162 Acceleration Data Scaling Exponent Description If parameter scaling is set in S 0 0160 Acceleration data scaling type the scaling exponent for all acceleration data in the drive will be determined in this parameter S 0 0162 Attributes ID number S 0 0162 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English Se Combination check no Posit after the dec 0 Cyc transmittable AT Input value min max 32 32 Default value 3 5 0 0182 Manufacturer Class 3 Diagnostics Description Different messages regarding operating status will be s
110. 19 corresponds to this flag S 0 0059 Attributes ID number S 0 0059 Editability no Function Parameter Memory no Data length 2 Byte Validity check no Format binary Extreme value check no Unit English Combination check no Posit after the dec SS Cyc transmittable no Input value min max Default value S 0 0060 Position Switch Point 1 The position switches are made up of a position switch point and a position switch point flag If the position feedback value is less than the position switch point the corresponding flag will be set to 0 If the position feedback value is larger than or equal to the position switch point the corresponding flag will be set to 1 2 14 Supplement A Parameter Description S 0 0060 Attributes ID number S 0 0060 Editability P2 P3 P4 Function Parameter Memory Param E2prom Data length 4 Byte Validity check yes Format S 0 0076 Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max Default value 0 00 Deg DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 0 0076 Position Data Scaling Type Description Various scaling types for the position data in the drive can be set as described below This parameter determines the scaling of all parameters with units of linear or rotary position or displacement Structure of the parameter
111. 234 no no yes no AT every 500ms This can be transferred via the serial communication interface S 0 0040 Attributes ID number S 0 0040 Function Parameter Data length 4Byte Format DEC_MV Unit English S 0 0044 Posit after the dec S 0 0044 Input value min max S 0 0044 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value no no no no no AT Supplement A Parameter Description 2 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA S 0 0041 Homing Velocity Description Determines the velocity for the S 0 0148 Drive controlled homing procedure command in conjunction with the S 0 0108 Feedrate Override parameter In the case of a drive motor with an absolute encoder K type feedback option if the S 0 0148 Drive controlled homing procedure is initiated then the drive will proceed to the reference point home position that was determined with the set absolute measurement P 0 0012 command with this velocity S 0 0041 Attributes ID number S 0 0041 Editability P234 Function Parameter Memory Param E prom Data length 4Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0044 Combination check no Posit after the dec S 0 0044 Cyc transmittable no Input value min max 0 S 0 0044 Default value 100 0000 Rom S 0 0042 Homing Acceleration Desc
112. 42 6 DKCO01 1 Drive Controller with Stepping Motor Interface 6 1 6 1 General Information on operations using a Stepping Motor Interface 6 1 6 2 Setting Operation Mode Position Control with Stepping Motor Interface 6 1 Position Control with Following Error umsrrnannvnnannvnnorrvnnnrrvnnnvnnennnnrnrrennnrnennnnnnnneenenrennnrnnnnnnenrnnnnenne 6 2 Position Control Without Following Error 6 2 Selecting the Appropriate Position Control Mode ssssssesssesseesseessesennssnnnnnnennnnnnennsenneenneennena 6 2 6 3 Stepping Motor Signal Processing rurnrrnannvnnrnvvnnnrrvnnnrnnnnnnnrnnrennr ane nnnnennennsrarsnnnnnennnnrennesnnrnnennnnnennennn 6 3 6 4 Stepping Motor Interface AA 6 4 Interface 0 EE 6 4 Stepping Motor Interface A 6 4 6 5 Types of Stepping Motor Signal Connections ssssessesseesiesirssiresiresrrsstissirstinttnnstnnntnnstnnntnnntnnntnn nnt 6 5 7 DKCO01 1 DKC11 1 Drive Controller with Analog Speed Interface 7 1 7 1 General Notes on operations with an Analog Speed Interface mannrnrnnrnnnnvnnnnnvnnenrnnnnrrnnnnrnnnnnnnrnneeen 7 1 7 2 Setting Mode Speed Regulation with Analog Interface urnrvnannvnnonvvnrnrrnnnnrrnnnnrnnnnrvnnnrrennnrnnnnnnnnenne 7 1 7 3 Analog Speed Command Value Processing rmrrnrrnnnr vnr rvnnnrnnnnrvnrnr renn nrnnnnnnnnrnrenrnrneennnenennnnrnnressnrnnenen 7 2 Command Value Gealmng eese nesnetnsetrsstnstnsstrsstnnstnsstnnstnsstesstenstenstnnsnnnntensnnntnnnnnnnn nnen 7 2 Offset Sett
113. 4VRS FKB1 EN P e 07 97 INDRA DIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0009 Error Message Number Description If an error ocurs during cyclic operation then it will be diagnosed and displayed on a seven segment display At the same time a bit will be set in S 0 0011 status class and in the change bit for this status class in drive status word S 0 0135 The machine control can determine the queued error condition passed to the drives diagnostic display by reading this parameter which contains only the three least significant decimals of the diagnostics message number P 0 0001 in range 201 899 and determine a specific error reaction or custom diagnostic text message If there is no an error then the value of this parameter is 0 Example Queued error P 0 0009 error number P 0 0009 Attributes ID number P 0 0009 Function Parameter Data length 2Byte Format HEX Unit English Posit after the dec 0 Input value min max P 0 0010 Excessive Position Command Description The position command value monitor triggered error F2 37 Excessive position command value difference and decelerated the drive according to error handling defined in the P 0 0119 Best Possible Deceleration parameter The excessive position command value that triggered the error will be stored in parameter P 0 0010 the last valid position command value will be stored in the P 0 0011 Last Valid Position C
114. 5 interface cable requires a terminator resistor at both ends The terminator resistor 180 ohm integrated into the converter and the pullup and pulldown resistor 470 ohm each must be activated The other end of the line must also be terminated with 180 ohm 0 5 W resistance The resistor is directly connected to the DKC connector X1 pins 4 and 5 11 18 Serial Communication DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Switch poition in interface converter The converter can be adapted to various peripherals via specific switch positions The switch positions demonstrates here must be used for the following wiring diagrams e Switch RS485 to ON 180 ohm line terminator and 470 ohm pullup and pulldown are on e Switch RS232 to DTE data terminal equipment Data direction change for RS 485 via RTS Pin 2 TxD pin 3 RxD e Jumper connection set from 3 to 4 Polarity of dat direction changeover Send mode signal to RTS 8V to 15V Receive mode signal to RTS 3V to 15V RS485 ON 180R BUS END CM 2 3 n E Q We E D RTS CTS O XX5000D1 DRW Fig 11 16 Switch position jumper position in interface converter DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Connecting the RS232 of the PC to the interface converter The interface converter must be connected via a 9 pin D subminiature
115. 80 Torque Force Command Value Description This parameter shows the drive s current torque force command value The evaluation is dependent upon the scaling of the torque and force data z Z at present only percentage scaling is supported 100 Motor continous stand still torque Mdn S 0 0080 Attributes ID number S 0 0080 Editability P234 Function Parameter Memory no Data length 2 Byte Validity check no Format DEC_MV Extreme value check yes Unit English S 0 0086 Combination check no Posit after the dec S 0 0086 Cyc transmittable MDT Input value min max S 0 0086 Default value 0 0 DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 2 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL S 0 0084 Torque Force Feedback Value Description This parameter represents the motor s current torque feedback value The evaluation is dependent upon the scaling of the torque and force data z Z e g only percentage scaling is supported 100 Motor stand still torque S 0 0084 Attributes ID number S 0 0084 Editability no Function Parameter Memory no Data length 2 Byte Validity check no Format DEC_MV Extreme value check no Unit English S 0 0086 Combination check no Posit after the dec S 0 0086 Cyc transmittable AT Input value min max S 0 0086 Default value S 0 0085 Torque Polarity Parameter Description The polarities for the given torque data that i
116. 97 Supplement B Diagnostic Message Description 1 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Remedy For 1 Reduce the ambient temperature for example through cooling of the control cabinet For 2 Remove any obstruction or dirt from the heatsink For 3 Install the device vertically and clear a large enough area for proper heatsink ventilation For 4 Exchange drive F218 attributes SS Display F2 18 Error number 218 Diagnostic message number F218 Error class Non fatal F219 Motor Overtemperature Shutdown Description Motor temperature has risen to an unacceptable level As soon as temperature threshold 155 C is exceeded the drive will immediately be brought to a standstill as set in the error reaction P 0 0119 best possible standstill It applies temperature warning threshold lt temperture error threshold See also E251 motor overtemperature warning Cause 1 The motor was overloaded The effective torque demanded from the motor was above its allowable continuous torque level for too long 2 Break in line ground short or short circuit in the motor temperature monitor line 3 Instability in the velocity loop Remedy For 1 Check the installation of the motor If the system has been in operation for a long time check to see if the the operating conditions have changed in regards to pollution friction moved components etc For 2 Check wires and cables to the motor temperat
117. C01 1 DKC11 1 Drive Controllers P 0 4019 Process Block Mode Description Setup of the process block mode relative process block absolute process block movement in positive direction or movement in negative direction for each seperate process block The first element of this list specifies the mode of the process block 0 the second specifies the mode of the process block 1 process mode Setup value Absolute process block 1h Setup value Lom al following block with target position without halt 10h mode 1 following block with target position without halt 20h mode 2 following block with target position with halt following block with transition at switching signal Fig 3 9 Adjustable process block modes The number of process block modes must always be larger or equal to the number of operation process blocks If process blocks are selected of which there are no process modes then the warning non programmed process block will be given See also Function Description Positioning Operation P 0 4019 Attributes ID number P 0 4019 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length list with 32 elements each with 4 Byte 64 Byte Validity check yes Format HEX Extreme value check no Unit English Combination check yes Posit after the dec Cyc transmittable no Input value min max Default value 1 P 0 4020 Encoder Emulation Type Description S
118. CODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Reference Distance 1 Reference Offset 1 Homing velocity Homing acceleration and Positioning Jerk 10 40 General Drive Functions Reference point Reference marks Reference point switch signal l l gt Starting point Reference mark SV0033d2 drw Fig 10 36 Homing with evaluation of the home switch and the home mark Note S 0 0041 referencing speed may not exceed 1000 rpm as this relates to the motor shaft as otherwise the positon of the reference point switch signal and the reference mark of the motor encoder cannot be unequivocally allocated Homing to the Current Actual Value The control drive is not in motion The actual position value is set equal to the value of the S 0 0052 Reference Distance 1 parameter immediately after the homing procedure is activated Homing Parameters When the internal homing procedure is finished the control drive positions itself on the home point and enters the value of the S 0 0052 Reference Distance 1 parameter in the current actual position value The home point can be offset in relation to the home reference of the motor encoder via this parameter When the motor is attached to a specific mechanical system the home mark of the motor encoder is in an arbitrary position with respect to the desired home point Zero should initially
119. DKC11 1 Drive Controllers IFDRANA Data References The position velocity and acceleration data which is displayed can be referenced to either the load side or the motor side in the rotary scaling mode The load side is normally selected Processing Position Data Position data can be processed in absolute or modulo format Absolute Format Motion in one direction will show a continually ascending or a continually descending position value when processing in absolute format In other words the position data is displayed as an absolute position over many revolutions of the motor or the load It overflows at the end of the position data presentation range Maximum Presentation Range with Absolute Position Data Processing The maximum presentation range with absolute position data processing is from 5461 to 5461 motor revolutions Modulo Format Position data for shafts or rotary tables which move endlessly in one direction is normally processed in modulo format This means that the position data overflows at a defined location at the modulo value If modulo processing selected a modulo value must be entered The position data will then lie within this modulo range The modulo value of a simple rotary table is normally set at 360 This means that after one revolution of the round table the position counter will begin again at 0 Different modes of modulo processing can be selected See also section 5 7 target positi
120. Drive Controllers IFDRANA 5 0 0113 Maximum Motor Speed Description The maximum velocity for the motor cannot be exceeded It also limits the S 0 0091 Bipolar velocity limit value parameter This value is stored in the motor feedback of MDD and MKD motors and will be loaded into the controller ram when the controller is turned on In torque regulation if the maximum motor speed is exceeded by more than 12 5 the drive will be switched into a torque free state and the error message F879 Velocity limit value exceeded will result S 0 0113 Attributes ID number S 0 0113 Editability P23 Function Parameter Memory Feedb E prom Data length 4 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English S 0 0044 Combination check no Posit after the dec S 0 0044 Cyc transmittable no Input value min max 0 S 0 0044 Default value S 0 0116 Resolution of Rotational Feedback 1 Description For motors with resolver feedback the resolution of the rotational feedback is equal to the number of motor pole pairs That means that a motor with 4 pole pairs has a resolver with 4 electrical cycles per mechanical revolution of the motor This value is stored in feedback memory and cannot be changed S 0 0116 Attributes ID number S 0 0116 Editability P23 Function Parameter Memory Feedb E prom Data length 4 Byte Validity check Phase3 Format DEC OV Extreme value check no Unit English Cycl R
121. Emulation Absolute Value 3 43 P 0 4033 Steps per Revolution msrrnrnrvnrnrrnnnnvrnnnnvnnnrrennnr ann nvnnen renner rennnrnnennnnnennensrrnesnnnnnennnneenn 3 43 P 0 4034 Stepper Motor Interface Mode sssesseesssesseeesenesrnsrnesrnssrnssrnssrnnsinssrnssrnssrnssrnnsrnnsrnnt 3 44 P 0 4035 Unb lanced Currents merine daane AAA EEEa erg EEN eege 3 44 P 0 4036 Contacted Motor Type 3 44 P 0 4037 Default Velocity Loop Proportional Gan 3 45 P 0 4038 Default Velocity Loop Integral Action Time 3 45 P 0 4039 Default Current Loop Proportional Gain ccccecsseeeeeceeeeeeeeeaeeeeeeeeeeeeseeeesaeeseaeeeeaes 3 46 P 0 4040 Digital IMPUTIS anda dude feta cds cease Aadne bein 3 46 P 0 4041 Digital Outputs eernrrnannvonnnvnnerrennnrrnannvnnnnvennnrrennnrnnsnnnenenrennnrneennnnnennennenresnnrnsennnnenenn 3 47 P 0 4042 Default Velocity Loop Delay Time 3 48 P 0 4043 Bleed Overload Fachor aaar r a ea ara aa Aa PN d dea aa adei 3 48 P 0 4044 E Lie e Le TEE 3 48 P 0 4045 Active Continuous Current 3 49 P 0 4046 Active Peak CurreMbecisisis caveciid savarsnacvaravadevavsiciavaradsiacavavsnatarcvaiadavsitaavabedhsatdvavsnatanansiced s 3 50 P 0 4047 Motor Ioductance riren reape nanetd aoaaa inerea kda caei initia dotera tonnia iae 3 50 P 0 4048 Stator EE Ee 3 51 P 0 4049 Default Current Loop Integral Action Time 3 51 P 0 4050 Delay Answer HG333I49p 3 51 P 0 4051 Process block Acquittance o oo eee cece eeeeee ee
122. F Description To ensure that the drive is in the loop when starting the command P 0 0162 D9 automatic control loop setting such is queried at command start Cause Drive enable not set at command start NO RF Remedy Set drive enable and restart command D901 Attributes SS Display D9 01 Diagnostic message number D901 1 38 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers D902 Motor Feedback Not Valid Description At the start of the automatic control loop setting P 0 0162 the motor parameters e torque constant e rated current of unit are read out of the feedback Cause One of the above feedback data has a value smaller than or equal to zero lt 0 This means that the controller parameter is incorrectly calculated Remedy If known write the correct values back into the parameter or contact Indramat Customer Service to obtain the feedback data valid for your motor In the worst case it may be necessary to replace the motor D902 Attributes SS Display D9 02 Diagnostic message number D902 D903 Inertia Detection Failed Description At the start of the automatic control loop setting the load moment of inertia is determined with an oscillation attempt This means that the speed change and the motor current must exceed a minimum value during acceleration or deceleration to guarantee a sensible
123. Function Parameter Memory parallel EEProm Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English Combination check no Posit after the dec Cyc transmittable no Input value min max 0 3 Default value 0 3 38 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 INDRA DIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4022 Drive Address Description When communicating via RS485 interface with more than one drive each drive must have different addresses so that only the addressed drive reacts Addresses can be set from 0 to 99 The selection of the drive with the desired address is successful in a terminal program through BCD Drive Address See also Function Description Communication Parameters P 0 4022 Attributes ID number P 0 4022 Editability P2 Function Parameter Memory parallel EEProm Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English Combination check no Posit after the dec Input value min max Cyc transmittable Default value P 0 4023 C4 Command Switch to Parameter Mode no 1 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Description Switching command from drive mode i e out of phase 3 P3 into parameter mode Phase 2 P2 The command can only be processed if the control opening is turned off See also Function Description Communication Paramete
124. IFDRANA F878 Velocity Loop Error Description The velocity loop monitor will appear when the following conditions occur simultaneously e The current command value is at the peak current limit e The difference between the actual velocity and the command velocity is larger than 10 of the maximum motor velocity e actual speed gt 1 25 of maximum speed e command and actual acceleration have different qualifying signs Cause 1 Motor cable is connected incorrectly 2 Defective controller section of the drive 3 Defective feedback 4 Velocity loop paramaterized incorrectly 5 Incorrect commutation offset Remedy For 1 Check motor cable connection For 2 Exchange drive controller For 3 Exchange motor For 4 Check velocity controller to see if it is within operational parameters For 5 Exchange motor F870 Attributes SS Display F8 70 Error number 870 Diagnostic message number F870 Error class Fatal F879 Velocity Limit Value Exceeded S 0 0092 Description The actual velocity is monitored in torque regulation mode This error is generated if the programmed velocity in the S 0 0091 bipolar velocity limit value parameter is exceeded by 1 25 times or a maximum of 100 Rpm Cause The load torque was smaller or larger than the torque command value for too long a time This leads to an increase in the actual velocity up to the maximum possible motor velocity 1 14 Supplement B Diagnos
125. KB1 EN P 07 97 General Drive Functions 10 33 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Illustration of the Incremental Actual Position Value Output Connections max 40 m CNC Incremental generator input 0 Vext Difference outputs utput voltage min HIGH 25V LOW DV Output current Tout max 20 mA Output frequency max 504 kHz Overload protection Outputs may not be short circuited Danger of damage AP0216d1 drw Fig 10 29 Incremental actual position value output Absolute Encoder Emulation SSI When absolute encoder emulation is selected the absolute position value is emitted in the standard SSI format for absolute position encoders The absolute actual position value output is only of use when using a motor with absolute encoder optional Absolute position output offers the advantage of making the absolute position of the axis in reference to a machine home point available immediately to the connected control after the control voltage has been switched on The position which is given out is always in reference to the motor shaft and cannot be given in reference to the load through mechanical transmission elements 10 34 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRAMAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Actual position output Encoder emulation type incromonial encode emudation of Hie position actual value Incremental encode
126. ODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Step 1 Send request 9 P 0 4007 7 w gt CR possible Se Se Ee gt check address gt check setting gt check connection Step 2 A Drive received sign W ll Drive repeats en echo ETG yes y lt Timeout Ge Communication with drive not __ Sign sequence or gt in receive buffer ie Contents of receive Ig buffers P 0 4007 7 w gt CR or y P 0 4007 7 w gt CR xxxx CR A01 gt Step 3 To check transmission compare request with receive buffer String Compare transmission error gt Error occurred during ee Next sign after CR parameter acces non 3 Error code xxxx Ye S Ki A section 2 A next page Step 4 Enter list element and conclude with CR Step 5 Drive received sign Drive repeats request echo l lt Timeout OR Sign sequence 2 or gt in receive buffer Communication with drive not yes possible gt check address Step 6 gt check setting To check transmission compare sign gt check connection sequence of step 4 with receive buffer String Compare transmission error Delete request in receive buffer All signs up to and including 1 2 GR section 2 B next page
127. P 0 1222 Command Value Smoothing Time Constant Description This parameter is only active during speed synchronization The speed command value for the speed controller of the following drive is generated from the master axis position It can be smoothed with the use of PT 1 filter P 0 1222 Attributes ID number P 0 1222 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English US Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 65535 Default value 500 P 0 4000 Current Zero Trim Phase U Description This parameter serves the display of the determined result of the zero trim procedure of the current feedback sensor of the U phase P 0 4000 Attributes ID number P 0 4000 Editability no Function Parameter Memory Verst E2prom Data length 2 Byte Validity check no Format DEC_MV Extreme value check no Unit English Combination check no Posit after the dec 2 Cyc transmittable no Input value min max 100 00 100 00 Default value P 0 4001 Current Zero Trim Phase V Description This parameter serves the display of the determined result of the zero trim procedure of the current feedback sensor of the V phase P 0 4001 Attributes ID number P 0 4001 Editability no Function Parameter Memory Verst E prom Data length 2 Byte Validity check no F
128. P 0 4008 Process Block Acceleration Description List of the acceleration for the command controled operation positioning interface It can be given a maximum of 64 acceleration values whereby the first element specifies the maximum acceleration of the process block 0 the second element specifies the maximum acceleration of the process block 1 The number of accelerations must always be larger or equal to the number of operation process blocks If process blocks are selected of which there are no acceleration then the warning non programmed method operation will be given P 0 4008 Attributes ID number P 0 4008 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length list with 64 elements each with 4 Byte 256 Byte Validity check yes Format decimal Extreme value check yes Unit English S 0 0160 Combination check no Posit after the dec S 0 0160 Cyc transmittable no Input value min max S 0 0160 Default value 1000 000 P 0 4009 Process Block Jerk Description List of the jerk limit value for command controlled operation positioning interface It can be given a maximum of 64 jerk limit values whereby the first element specifies the jerk limit value of the process block 0 the second element specifies the jerk value of the process block 1 The number of the jerk limit values must be larger or equal to the number of operation process blocks If process blocks are selected of which there
129. Parameter Commands 11 12 Serial Communication With the DKC a series of commands can be processed The execution of commands happens automatically within the controller There are commands for the following e Changing from operating to parametrization mode S 0 0127 C1 communication phase 3 transition check S 0 0128 C2 communication phase 4 transition check P 0 4023 C4 command switch to parameter mode e 6 0 0262 command basic load e 0 0099 C5 reset class 1 diagnostic e 0 0148 C6 drive controlled homing procedure e P 0 0012 command set absolute measurement e P 0 4032 C3 command set emulation absolute value A command can be started interrupted or ended over the serial interface Over thisinterface the status of the command status can be set The general form for executing a command is as follows DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Step 1 Send request e g P 0 0162 7 w 11b CR Communication with drive not possible gt check address gt check setting y gt check connection Step 2 Drive received sign Drive repeats request echo lt Timeout SC Sign sequence gt in received Gs Ge buffer located AE Contents of receive buffers P 0 0162 7 w 11b CR gt ut EN xxx CR A01 gt Step 3 To check transmission compare request with receive buffer Stri
130. Q1 POSQ5 AH START INPOS INBWG Regulatoar release lt 14ms Positioning input is valid for example positioning block No 01 XX State of positive input is not relevant Positioning acknowledgment output shows negated state of positioning input haa for example positioning block No 1 negated Ev Positioning acknowledgment output after valid block is accepted shows non inverted state of the active positioning block for example positioning block No 1 SV0003D2 drw Fig 5 16 Travelling infinitely in a positive negative direction 5 14 DKC01 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 4 Following block mode General information on following block mode ECODRIVE following block mode permits the processing of several positioning blocks in rapid sequence without having to generate a new start signal each time Typical applications are positioning processes during which very long distances at high speeds rapid traverse must be covered This is followed by a positioning at end position at low speed without an interim stop e handling robotics accepting or storing transport e joining processes in mounting installation A following block chain is made up of a start block and one or several following blocks The start block is selected in the usual manner and activated The tra
131. RS FKB1 EN P 07 97 INDRAMAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Setting the Absolute Encoder Monitoring Window The value for the absolute encoder monitoring window must be determined specifically for each application It should be selected such that possible movements of the shaft while the power is turned off are taken into account so that the monitor is not unnecessarily activated 10 11 Jogging It is possible to move the axis with the jogging function in operating modes position control with step motor interface position control with positioning interface and speed or angle synchronization The relevant parameters for the jogging function can be entered in dialog jogging Jog speed 1000 000 Ei mm min Jog accelaration 1000 000 mm s Positioning jerk 0 000 mm s Feedrate override 100 00 z v Feedr override via analog input Fig 10 42 Entering the jogging parameters See also P 0 4030 jogging velocity GE oo f o feme moves backwards 1 staring am Fig 10 ra Truth table for jogging mode Note The controls are status controlled DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 45 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL Jogging signal connection max 20m L GN L GN h ck LIMIT i r oH LIMIT P eck INREF I S 7 OG INBWG INPOS Ped Inputs min Input voltage HIGH 16V LOW 0 5 V Input resistan
132. RS FKB1 EN P 07 97 Supplement A Parameter Description 2 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA S 0 0092 Attributes ID number S 0 0092 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0086 Combination check no Posit after the dec S 0 0086 Cyc transmittable MDT Input value min max 0 calculated peak torque Default value 500 0 5 0 0093 Torque Force Data Scaling Factor Description The scaling factor for all torque force data in the drive are set in this parameter The parameter has no meaning at the present time because only percentage scaling can be set for torque and force data S 0 0093 Attributes ID number S 0 0093 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 65535 Default value 1 Description 5 0 0094 Torque Force Data Scaling Exponent The scaling exponent for all torque force data in the drive are set in this parameter The parameter has no meaning at the present time percentage scaling can be set for torque and force data S 0 0094 Attributes ID number S 0 0094 Function Parameter Data length 2 Byte Format DEC_MV Unit English Posit after the dec
133. Telex 845 5028 RexB Telefax 91 80 839 43 45 Mexico Motorizaci n y Disefio de Controles S A de C V Av Dr Gustavo Baz No 288 Col Parque Industrial la loma Apartado Postal No 318 54060 Tlalnepantla Estado de Mexico Telefon 52 397 86 44 Telefax 52 398 98 88 USA Rexroth Corporation INDRAMAT Division Northeastern Sales Office 7 Columbia Blvd Peabody MA 019660 Telefon 1 508 531 25 74 Telefax 1 508 531 2574 Customer service locations outside Europe IMDR ARIAL Brazil Mannesmann Rexroth Automag o Ltda Divis o INDRAMAT Rua Georg Rexroth 609 Vila Padre Anchieta BR 09 951 250 Diadema SP Caixa Postal 377 BR 09 901 970 Diadema SP Telefon 55 11 745 90 65 55 11 745 90 70 Telefax 55 11 745 90 50 China Rexroth China Ltd 1430 China World Trade Centre 1 Jianguomenwai Avenue Beijing 100004 P R China Telefon 86 10 50 50 380 Telefax 86 10 50 50 379 Japan Rexroth Co Ltd INDRAMAT Division LP Building Nakamachidai 4 26 44 Tsuzuki ku Yokohama 226 Japan Telefon 81 45 942 72 10 Telefax 81 45 942 03 41 USA Rexroth Corporation INDRAMAT Division Southeastern Sales Office 3625 Swiftwater Park Drive Suwanee GA 30174 Telefon 1 770 932 3200 Telefax 1 770 932 1903 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 e Indramat
134. V then the error message appears The drive becomes torque free and an optional brake is immediately activated Cause 1 Defective feedback cable 2 Defective feedback DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Remedy For 1 Check the feedback cable Lay the power cables separate from the feedback cable The cable shield must be connected to the drive controller See also project reference of the drive control For 2 Exchange motor Note This error can only be cleared in parametrization mode phase 2 As a result of this error the encoder emulation is switched off Figure 1 2 Methodically measured signal amplitude over AK X31 1 2 F822 Attributes SS Display F8 22 Error number 822 Diagnosis number F822 Error class Fatal F860 Overcurrent Short in Powerstage Description The current in the power transistor bridge has exceeded twice the peak current of the drive As a result the drive will be immediately turned off The drive has switched to a torque free condition An optional brake is immediately activated Cause 1 Short circuit in the motor cable 2 Defective power section of the drive controller 3 The current regulator was incorrectly parameterized Remedy For 1 Check the motor cable for a short For 2 Exchange drive controller For 3 The current regulator parameters should no
135. a lower positioning block speed must be selected e Minimum jerk value See also Fig 5 38 Jerk limit with linear scaling and Fig 5 39 Jerk limit with rotary scaling 5 26 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers If the parametrized accel values are too small then it could mean that the parametrized speeds will not be achieved A so called triangular mode is then executed Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release pp Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the Kn position inputs are in an iverted condition SV5019d1 drw Fig 5 35 Triangular mode with accel values that are too small DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 27 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Explanation Change of direction within a following block sequence Note If while changing from block n to block n 1 of a following block the direction was changed then for block n the mode Switching with target position with halt must be used to make behavior oscilation free Follow
136. account in this case 5 0 0228 position synchronization window The drive sets the bit In synchronization in S 0 0182 manufacturer class 3 Diagnostics bit 8 in accordance with the following rule 1 if Seat such Xsoll add actual position lt position synchronous running window During step 1 speed adjustment during synchronization this bit is always 0 With the DKC1 output IN POS is set to 1 if the codition for in synchronization has been met DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 DKC11 1 with velocity and angle synchronization 9 15 ECODRIVE DKC01 1 DKC11 1 Drive Controller IFDRANA Notes 9 16 DKCO01 1 DKC11 1 with velocity and angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 10 General Drive Functions 10 1 Scaling and Mechanical System Data With ECODRIVE it is possible to process position velocity and acceleration data with respect to machine kinematics and mechanical transmission elements The Scaling Mechanical System dialog in DriveTop provides all the settings which are necessary to allow machine mechanical systems to work with the drive controller Note Entering the data is only necessary in Position control with positioning interface operating mode Entering the scaling and mechanical system data is not mandatory in torque velocity and position controls with step pulse interface operating modes because the
137. aded the analog signal bleeder load must be considered DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4044 Attributes ID number P 0 4044 Editability no Function Parameter Memory no Data length 2 Byte Validity check no Format decimal Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 65536 Default value P 0 4045 Active Continuous Current Description This parameter shows how much current the drive can supply in the actual Combination in continual operation Multiplied with the P 0 0051 torque constant of the motor yields the continual operational torque This parameter will calculate during heavy switching in the drive mode from the drive control and is not changeable With the activation of this limit the following current and torque limitations and settings shrink A S 0 0111 Still stand active current motor 1 S 0 0112 Amplifier active current 1 P 0 0518 Amplifier nominal current 2 S 0 0092 Torque limit bipolar 2 P 0 0006 Overload factor 3 Fig 3 16 Active durration current Dependence 1 The standstill active current of the motor is that value of which the procentage specifications pocess it corresponds to 100 2 Shrinks if less than 100 3 The dependence on the overload factor is not linear It is observeable in connection with the active current 1 a
138. aeeeeeeeeceeeeeeaaeseeeeesecaeeetaeeeeneees 1 17 E251 Motor Overtemperature Warning cccccceeeeceeeeeceeeeeeceaeeeeaaeeeeeeesaeessaaeeseeeeeseaeeeseaaeeenees 1 17 E252 Bleeder Overtemperature Warning sssssssesrsesrsessrnssntetnnetnntttntnnntnnttnnnennnennnntnnnennnnnnn nt 1 18 E253 Target Position Qut of Range frenante naan drage etal saree oe due 1 18 E254 Not Homed kunstnere aent 1 19 E255 Feedrate Override S 0 0108 0 1 19 E256 Torque Limit EE 1 20 E257 Continuous Current Limiting Active 1 20 E258 Selected Process Block is not Programme 1 21 E259 Command Velocity Limit Achhve misseri rrenaren ataun daa ananena a Aaa EEES EEN NEN 1 21 E260 Curr nt limitationactive vindene ase Hi a aa A Pa AE AE edda 1 22 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Contents ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL E264 Target Position Out of Range rnrnnenrnnnnvrnannvnnnnvvnrnrrnnnnrnnnnnnnnenrrnnnravsnnnnnnnnnnrsrresnnrnennnnnnenne 1 22 F825 Overvoltage ErrOWisc csfecvacctusrciedase ha deed daoiae ka iaaa Eae iadaan aeaa dikedai Eana 1 22 E829 Positive Position Limit Value Exceeded AA 1 23 E830 Negative Position Limit Value Exceeded AAA 1 24 E831 Jog Position Limit Value Exceeded AAA 1 24 E843 Positive Travel Zone Limit Switch Activated cccceesceeeeeeeeeeeeeeeaeeeeeeeseeeeeseaeeesaeeeeneeee 1 25 E844 Negative Travel Zone Limit Switch Activated 1 25 1 4 Command Diagnostic Message C L 1 26 C10
139. alue If the position exceeds crosses into the monitoring window the drive will set the error F228 Excessive control deviation in class 1 diagnostics The largest deviation that occurs will be stored in parameter P 0 0098 Maximum model deviation S 0 0159 Attributes ID number S 0 0159 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max 0 S 0 0076 Default value 30 00 Deg S 0 0160 Acceleration Data Scaling Type Description Various scaling types can be set as described be pw for the acceleration data in the drive as defined by the bit values of this parameter Structure of the parameter LLL Bit 2 0 Scaling type 0 0 0 unscaled 0 0 1 linear scaling 0 1 0 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 degree angles 1 reserved Bit 5 Unit of time 0 seconds s 1 reserved Data reference 0 to the motor shaft 1 to the load Bit 15 7 reserved Fig 2 14 5 0 0160 Acceleration Data Scaling Type 2 36 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Con
140. and does not reference the machine zero point The value of the parameter S 0 0403 Position feedback value status will be 0 Through the command Set absolute measurement the position feedback of this measuring system will be set on the desired value After the end of the command Set absolute measurement the position feedback of the measurement supplied encoder bears a defined reference to the machine zero point By buffering all the required data of the absolute measuring system in the feedback data memory eg parameter data memory all information will be available once the system is re booted The position feedback permanently retains its reference to the machine zero point All the required data for the absolute measuring sytem is either permanently in the feedback position data memory or in the drive parameter data memory and is available after rebooting the drive system The parameter P 0 012 operates for the execution of this function See also Function Description Executing Parameter Commands P 0 0012 Attributes ID number P 0 0012 Editability P4 Function Command Memory no Data length 2Byte Validity check no Format BIN Extreme value check yes Unit English Ss Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 11 b Default value 3 4 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers
141. and has been given the drive can still be moved via the jogging inputs X2 17 18 If the drive stop signal is not active 24V on X4 3 then the drive will follow the stepping signals on X2 1 4 Drive Stop Start During Positioning Operation If the drive stop signal is active OV on X4 3 then the drive will remain in position control at the current position If the control drive is in motion when the drive stop is activated then drive controlled braking will be applied with maximum torque until the drive reaches standstill Parameters P 0 4007 process block velocity and P 0 4008 process block acceleration determine the delay When the drive stop command has been given the drive can still be moved via the jogging inputs X2 17 18 When the start signal is activated the previously selected positioning set is started Drive Stop Start During a Drive Controlled Homing Procedure If the drive controlled homing procedure signal is activated 24V on X2 13 and the start signal is activated afterwards 24V on X4 3 then the drive will execute its internal homing procedure DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 53 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL Control Enable and Drive Stop Connections X4 en Control voltage connectiorior DKC gt ot 24V Regulator release gt ol RF Drive stop start gt i 9 3 AF Start Control voltage zero point i4 om ov i 5 R
142. and sufficiently precise calculation of the moment of inertia Cause e drive acceleration too low e number of measured value too small for automatic control loop setting e motor speed too low e load moment of inertia too big Remedy e increase bipolar torque force value S 0 0092 e increase pos accel S 0 0260 e increase pos speed S 0 0259 e increase feedrate override S 0 0108 See also Function description Prerequisites for starting the automatic control loop setting D903 Attributes SS Display D9 03 Diagnostic message number D903 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA D904 Gain Adjustment Failed Description In exceptional cases difficulties in the automatic control loop setting may arise This means that an automatic setting is not possible Standard or default values must therefore be loaded into the drive Cause e oscillating mechanical systems resonance e high level of interference in the encoder signal Remedy Satisfactory results can sometimes be achieved by starting the command P 0 0162 D9 automatic control loop setting with a large P 0 0163 damping factor for automatic control loop setting i e low dynamics This value can be reduced until the control loop behaves as needed If even then control loop settings remain unsuccessful then the setting must be manual Note A manual sett
143. anical system the machine zero point must be established when a axis is initially installed with a motor with an absolute value encoder optional This is done by following these steps e Move the motor to a position known in relation to the machine zero point either via the jogging function or manually e Enter the value in the S 0 0052 Reference Distance 1 parameter which should be given as the actual position value of this known position e Enter 0 in the S 0 0150 Reference Offset 1 parameter e Press the Set Absolute Measure button After the P 0 0012 Command Set Absolute Measurement is executed the current actual position value is set equal to the value which is entered in the S 0 0052 Reference Distance 1 parameter as long as the controller enable is currently deactivated If the controller enable is active the calculation for accepting the homing position is made The actual acceptance of the homing value in the actual position value occur only after the control enable is deactivated DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 43 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 10 44 General Drive Functions Moving Towards the Home Position In the Position Control with Step Motor Interface operating mode it may be helpful to activate drive motion towards the home position via an external switching signal Doing this makes executing a homing procedure for the stepping motor control
144. ansmitted datum is too short 7003 Transmitted datum is too long 7004 Datum cannot be written to 7005 Datum cannot currently be written to 7006 Datum lt min value 7007 Datum gt max value 7008 Datum is not correct 9001 Input is not identifiable 9002 Parameter type error 9003 Invalid data set number 9004 Invalid data block number 9005 Data element number is not defined 9006 Error in read write recognition r w 9007 Invalid character in the data 11 16 Serial Communication DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 11 6 Operation Example Changing of the Positioning Command Data Assumption e Multiple drives are connected over a RS485 interface to a SPS PLC The currently entacted has the address 1 e The drive functions in positioning made It will use 4 positioning blocks e The target positions of the positioning block data should be changed over the RS485 interface Initiating communication to the desired axis BCD 01 CR Command for Switching to Drive A01 gt Response of the contacted drive All other drives function in passive mode Note There is not a signal reflection instead the drive transmitts the complete input sequence back after reception of the CR The resident memory mode deactived Normally the parameter will be stored through writing in a EEPROM so that the data remains after the supply voltage is turned off If the application would r
145. arameter is used to determine the significant properties of the motor feedback Position feedback 1 For DKC the parameter will be set automatically by the drive Structure of the parameter Bit 0 Encoder type 0 rotary 1 linear Bit 1 Reserved Bit 3 Direction of movement 0 not inverted 1 inverted Bit 6 Encoder resolution 0 not absolute 1 absolute Fig 2 17 S 0 0277 Position Feedback Parameter Remark For absolute measurment systems with data memory bit 6 will be set automatically When MDD and MKD motors are used bit 0 1 and 3 will be set and write protected by the drive Note Only the bits named here are supported by the product S 0 0277 Attributes ID number S 0 0277 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format BIN Extreme value check no Unit English Combination check yes Posit after the dec 0 Cyc transmittable no Input value min max Default value Ob 2 46 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0298 Reference Cam Shifting Description A reference switch from the drive can be utilized with drive controlled reference movement For the relative position of the reference switch signal to the zero mark of the rotational feedback there exists a optimum setting In order for the installer to see the setup
146. art up if the instructions in the language provided are not understood perfectly e Proper and correct transport storage assembly and installation as well as care in operation and maintenance are prerequisites for optimal and safe operation of this equipment e Trained and qualified personnel in electrical equipment Only trained and qualified personnel may work on this equipment or in its vicinity Personnel are qualified if they have sufficient knowledge of the assembly installation and operation of the product as well as of all warnings and precautionary measures noted in these instructions Furthermore they should be trained instructed and qualified to switch electrical circuits and equipment on and off to ground them and to mark them according to the requirements of safe work practices and common sense They must have adequate safety equipment and be trained in first aid e Use only spare parts approved by the manufacturer e All safety regulations and requirements for the specific application must be followed as practiced in the country of use e The equipment is designed for installation on commercial machinery e Start up is only permitted once it is sure that the machine in which the products are installed complies with the requirements of national safety regulations and safety specifications of the application European countries see Directive 89 392 EEC Machine Guideline Safety Instructions for Electrical Driv
147. as a replacement for a mechanical cam switch DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 31 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Illustration of Status Output Connections Position switch point In reference HIGH In motion In position 0 Vext Outputs Output voltage HIGH 16V Uext LOW DV 1V Output current 1 out 80 mA Rise time fall time approx u5 s Overload protection at 1 out gt 300 mA the outputs switch to LOW AP0220d1drw Fig 10 27 Status outputs 10 9 Actual Position Output The DKC has an actual position value output to transmit the actual position value to a NC control Actual position values can be transmitted in either incremental or absolute form Incremental Encoder Emulation Both the e actual position vaue and e the position command value can be generated here Selecting incremental encoder emulation as the actual position output gives out 5V TTL incremental encoder signals with an adjustable line count value Incremental actual position value output is possible with both relative position actual value representation as well as with absolute actual position value representation 10 32 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRAMAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Actual position output Encoder emulation type incromonial encode emulation of Hie position actual value I
148. ated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers The difference in depiction of position data in absolute and modulo format is illustrated below position display value position data with modulo function modulo value i overflow absolute position of linear scale position data with absolute format DG5005X1 BMP Fig 5 45 Displaying the positions in absolute and modulo formats Example 1 B0001D1 ds4 Fig 5 46 Positioning with modulo scaling positive direction DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 37 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Example 2 SB0001d1 drw Fig 5 47 Positioning with modulo scaling negative direction If the absolute position command is activated with a desired position of 0 or a relative positioning command with desired position of 270 then the drive moves 90 backwards Modulo processing marginal conditions If modulo processing is set for positioin data processing then the following conditions i e e the active operating mode and e the position weighting set marginal conditions must be maintained for position data processing to be error free Whether the marginal conditions are maintained or not is checked in S 0 0128 C2 communication phase 4 transition check and the command if neces
149. ation and Parameterization of Travel Limit Switches Travel limit switches are available to limit the travel range These limit switches can be activated and deactivated The logic of the of the limit switch operation can be selected when actively using the limit switches Limit switch inputs may be conFig d to be either active high or active low Connecting the Travel Limit Switch max 20 m Positive limit switch 0 5 mm2 Oo 0 5 mm2 Negative limit switch Inputs min max Input voltage HIGH 16V 30 V LOW 0 5 V DV Input resistance approx 8 kOhm AP0221d2 drw Fig 10 6 Connecting the travel limit switches 10 6 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIAL Traverse Range Violation as a Warning Response Traversing Range Violations as an Error Response Limiting Velocity Torque Limits ECODRIVE DKC01 1 DKC11 1 Drive Controllers Reaction to Traverse Range Violations The drive has several responses to going beyond the traverse range The following responses can be selected The drive reacts to going beyond the traverse range by switching the velocity command value to zero without turning off the control enable and without opening the bb contact The warning is automatically recalled when command values are given which lead to the proper traversing range The drive reacts to going beyond the traverse range by switchi
150. ation check no Posit after the dec 0 Cyc transmittable no Input value min max 0 11 b Default value Exception Error F2 26 undervoltage in the power section is cleared by removing the drive enable signal Rf 0 at pin X2 2 5 0 0100 Velocity Loop Proportional Gain Description This parameter contains the value for the velocity loop proportional gain The option is available to load motor specific default values for the control loop parameters with the Basic load command See also Function description Setting the velocity loop S 0 0100 Attributes ID number S 0 0100 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC ON Extreme value check yes Unit English As rad Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 312 9 Default value 07 A rad s 2 22 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 0 0101 Velocity Loop Integral Action Time Description The velocity controller forms a current command value from the difference between the velocity command value and the velocity feedback value speed regulation deviation This current command value consists of a proportional component and an integral component The Velocity Loop Integral Action Time corresponds to the time in which the integral component of the cu
151. axis has been stopped and the error reaction set velocity command value to zero issued Bit 2 of P 0 0090 Travel limit parameter has been set to Exceeding the travel limit is an error or a drive control command has been started while the axis limit value is exceeded e g drive controlled homing Cause 5 0 0049 Positive position limit value is exceeded Remedial action 1 Check S 0 0049 Positive position limit value 2 Check the controller software limits 3 Activate the axis after the error reaction Procedure e Clear the error e Activate power if it has been de activated e Move the axis to the permissible working range Note Only command values that lead back into the permissible working range will be accepted Any other command value will stop the drive again See also Function description Transverse range limits F629 attributes SS Display F6 29 Error number 629 Diagnosis number F629 Error class Travel range F630 Negative Travel Limit Value is Exceeded The drive has been provided with a command value that leads to an axis position outside the negative travel range The axis has been stopped and the error reaction set velocity command value to zero issued Bit 2 of P 0 0090 Travel limit parameter has been set to Exceeding the travel limit is an error or a drive control command has been started while the axis limit value is exceeded e g drive controlled homing Cause 5 0 0050 Negative posi
152. be adapted to the connected NC control system The command value scaling the input offset and the command value smoothing must be set to do this anal speed command value processing Target value scaling Command value for required speed Command value filtering Smoothing Time Constant Fig 7 2 Analog Speed Command Value Processing Command Value Scaling In order to scale the analog velocity command value the maximum command voltage value must be entered in parameter Command Value for Required Speed at which a specific speed is to be achieved The maximum speed is entered in parameter Speed with Required Command Value The command and speed parameter values always refer to the motor shaft independent of the attached gears and the scaling setting Note In the case of automatic control settings the command value filter is preset with an eye towards good responses with command value changes in the control loop It is necessary to correct this value upwards in exceptional cases given excessively long cycle times Offset Setting of the Analog Velocity Command Value When the speed command value voltage is at OV the drive should be at a standstill The Analog Velocity Target Value Offset parameter can be used to compensate for offsets in analog signal processing If the DKC together with the NC control system are being operated in position control the offset setting can be used to adjust the static po
153. be entered in the reference offset parameter when setting up After the first homing attempt calculate the difference between the desired home point and the position where the control drive stops at the end of the first homing procedure This value should be entered in the S 0 0150 Reference Offset 1 parameter while paying attention to its sign After another homing procedure the control drive will be in the desired home position These parameters determine the motion profile of the control drive while executing the drive controlled homing procedure These parameters must be set for each specific application DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL Positioning Window ECODRIVE DKC01 1 DKC11 1 Drive Controllers The drive must be positioned on the home point at the end of the homing process If the control drive moves around the home point within the positioning window the control drive will recognize the successful completion of the homing procedure and will display the INREF In Reference message Note The S 0 0057 Position Window parameter is also used in connection with the positioning sets What affects speed during drive guided referencing The velocity at which the control drive moves during the homing procedure can be controlled with the feedrate override function The value in the S 0 0108 feedrate override parameter determines at what proportional velocity in relation to the programmed S 0 0041 homing
154. brary ecls2e h hip ECODRIVE DKCO1 1 DKC11 1 Drive Controllers O2VRS Folders c indramat ecodrive dkc01_1_en Drives es c D E gt indramat E gt ecodrive Es dkcO1_1 en List files of type Indramat help system Th by Fig 3 13 Inserting a help system 3 12 Preparing for Startup DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Deleting help systems from the documentation libary Entries no longer wanted n the list of installed documentation can be removed Select the entry Pressing key Delete entry will remove the documentation from the list Opening a help system Select an entry from the list of installed documentation By double clicking or pressing the key Open the Windows help system will be started 3 8 DriveTop Menu Structure Files Load File Load base parameters Parameter Save File Exit Alt F4 Mode You can choose from a list of available parameter files The data within these parameter files can be loaded into the drive controller Note In offline operation the content of the parameter files can be viewed and changed The parameters are set to standards values at the factory This overwrites the present settings Parametrization mode is switched into The actual parameters of a connected drive controller are stored in a parameter file on the PC Note DKC11 PAR With the help of this parameter file
155. ccsscccosscaiacacassaaccvedaidccvasacadandsnidcacastadccnadaiadcvadsaucvavavadevevaigiavs 2 31 S 0 0135 Drive Status Word 2 32 S 0 0138 Bipolar Acceleration Limit Value rrrrrrnrvrrrnnnvverrrnnvverrrnnrvvrrrnnrrrrrrnnvrrerrnnneersnnnneernnnn 2 32 S 0 0140 Controller Type mrrnrnnnrrnnnnrnnnnnvnnnnrnnnnrnnnnnvnnnnnennnrnennnnnnannennnnresnnrnssnnnenenresnnrnsennnnsennenen 2 33 5 0 0141 Motor KEE 2 33 S 0 0142 Application Type rrrrrnnrnnnnnvnnonvvnnnrrnnnnrnnannvnnnrrnnnnrnnnnnnenenvennnrnetnnnnnnnnenenrreennrnsnnnnensnenen 2 34 S 0 0147 Homing Parameter 2 34 S 0 0148 C6 Drive Controlled Homing Procedure rrrnnrvvrrrnnvvvnrrnnvvrnrrnnvrerrrnnrnrerrnnrreerrnnrneerrnnnn 2 35 S 0 0150 Reference Offset E aan nada air idet 2 35 S 0 0159 Monitoring Window cc ccccccescecesseeeeeeseeeeeeeceneeeeeseeeeeeeseeeeeesseesesseneeeesseneaeesseeaeenseees 2 36 S 0 0160 Acceleration Data Scaling Tvpe 2 36 S 0 0161 Acceleration Data Scaling Factor cccccccccccesseeeeeneeceeeeeeeaeeeeaaeseeeeeeeaeeesaeeseeeeeeeees 2 37 S 0 0162 Acceleration Data Scaling Exponent cccccceeeceeeeeeeceeeeeeeeseneeseeeeeeaeeesaeeteeeessaees 2 38 S 0 0182 Manufacturer Class 3 Diagnostics 2 38 S 0 0183 Velocity Synchronization Window mannvnranvvnnnvrnnnnvnnnnvenrnrrennnrnnnnnvnnerrenrrrrrennnnennnenenne 2 39 5 0 0189 ele le el 2 40 S 0 0192 IDN List of Backup Operation Data 2 40 S 0 0193 Positioning Jerk arn
156. ce approx 8 k Fig 10 44 Jogging signal connections Jog mode behavior Speed profile Standstill window Jog AH START INBWG Diagnostics display H1 gt SV5011D1 DRW Fig 10 45 Jog mode behavior Override Feature While Jogging Note The speed at which the control drive moves while jogging can be controlled with the feedrate override function The positioning with limit speed also immediately affects jogging speed Detailed information on this can be found in the chapter Feedrate Override Function 10 46 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 10 12 Feedrate Override Function The velocity of the positioning sets the homing velocity and the jogging velocity are controlled by the feedrate override function The Feedrate override parameter determines at what velocity in proportional relation to the programmed velocity the drive should move In other words at 100 the drive will move at precisely the programmed velocity A continuous reduction of the positioning velocity can be made via the analog command value input To do this the Feedrate Override Variable via Analog Input field must be activated To convert the voltage Ue1 c2 at the analog input use OVolt Velocity 0 10Volt Velocity the speed entered as maximum traversing speed V Le Positioning speed 10V Fig 10 46 Speed
157. city The effective speed during automatic control loop setting is set in this parameter e 0 0260 positioning acceleration Using parameter maximum positioning acceleration the acceleration needed for automatic control loop setting is set If the value set is too small then this can cause problems when determining the moment of inertia as the speed change and current values might then be too small Dialog for the automatic control loop setting Note 1 Control loop setting is connected with a drive motion This means that the drive pendels around the center position set in parameters P 0 0166 and P 0 0167 2 All necessary parameter settings must be made before the command is started 3 To be able to make any other settings use DriveTop prior to startup to open the dialog automatic control loop setting Fig 10 12 Fixing travel range limits Firstly there is the option of defining the travel range by determining its limits The upper and lower positions can be entered via the Teachin function If however the limits have already been set the user can leave this window by pressing accept limits and then proceeding to the next dialog window Automatical loop setting Actual position 22512 86 Deg upper Position 22512 86 Deg Set default values for regulation parameters A travel range must be defined for the automatic control loop setting in which the axis may move freely An upper and a lower
158. ck mode AA 5 15 Starting a following block SEQUENCE rerrnnrrrrrrnnrvrrrrnnvvrrrranvrrrrnanveerrnnneerrnnneerrnnnneerrnnnnesrrnnnneerrnnnn 5 21 Interrupting a following block SEQUENCE arnrrrnnnnnvvnnnrnnvvnnnennvvnnnnnnvnnnnennnnnnnsnnnnnnsensnnnnssnennrnessen unne 5 21 Parametrization notes for following blocks AA 5 26 5 5 Positioning Command Input 5 29 Command Number 5 29 Positioning Command Data 5 29 5 6 Choosing Starting and Selecting a Positioning Commande 5 32 Choosing a Positioning Commande 5 32 Starting Positioning Commande eee eeeaaeeeeaeeceaeeeseaeeeeaaeseneeeseaeeseaeeesaeseeneeee 5 32 Interrupting Positioning Commande 5 32 Acknowledging position block select with drive enable active ssssssnsssssrnnnenssserrnnnnsnssrernennn 5 32 Acknowledging drive enable oft 5 35 Acknowledging control voltage jmterrupt 5 35 5 7 Target position processing with modulo weghtmg 5 36 Oe fl RE EE 5 36 Modulo processing marginal conditions 2 0 0 eeeeeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeeeeaaeeeseeaaeeeeeeaaeeeeneaas 5 38 Modulo format processing of command values A 5 39 5 8 Positioning with limited speed A 5 40 FUNCIO EE 5 40 lee lee EE 5 40 EXamplenu dude sksetaremd Gaunt ee Lee tee 5 41 Parameters seggt e Eeer ske bi 5 41 Il Contents DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers MISE esche de TE E AE OET E eeneg ees EE Ee 5 41 5 9 Positioning interface Connechons ne 5
159. command input window Positioning block input Block number absolute postimin E Cont block no continuation record 2 Speed Profile Block Actual position 49 77 teach in Target position V Speed Accelaration 100 000 E tad s Jerk 0 000 HI rad s 3 Fig 5 37 Positioning Command Input Command Number The command number indicates the address of the positioning commands where these commands can be pulled up under the command directory Positioning Command Data Desired Position The position at which the drive controller should be positioned is supplied from the input array of desired positions The desired position independent of the positioning mode can be relative or absolute See also P 0 4006 process block target position Teach In actual position The teach in function assumes the current actual position as the target postion of the block to be viewed DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Velocity The positioning velocity with which the desired position will be reached can be established here Via feedrate override it is possible to dynamicaly change the velocity during positioning The function positioning with limited speed can also be used See also P 0 4007 process block velocity and S 0 0259 positioning velocity Accelerat
160. cription Positioning acceleration is used in the Drive internal interpolation operating mode to accelerate up to the S 0 0259 Positioning velocity In the Block controlled operation operating mode the positioning acceleration of the current Positioning blocl is copied to the parameter S 0 0260 Positioning acceleration The positioning acceleration is active with automatic control loop settings DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 43 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA The acceleration active in control loop settings is also set with this parameter S 0 0260 Attributes ID number S 0 0260 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEG M V Extreme value check yes Unit English S 0 0160 Combination check no Posit after the dec S 0 0160 Cyc transmittable MDT Input value min max S 0 0160 Default value 1000 000rad s S 0 0262 Command Basic Load Description When this command is set and enabled the default parameters in the motor for current velocity and position control loop settings will be loaded and activated The default parameters are not optimized for all applications They establish a stable control loop status When this command is executed parameters that have already been optimized may be overwritten ATTENTION See also Function description Executing Parameter Command
161. cription The lower traversing limit for the automatic control loop setting P 0 0162 is stored here A Teach In function in Drivetop is used to approach the limit position in either a speed controlled fashion or in jog mode Pressing the Teach In key copies the current actual position as lower limit into the operating data of parameter P 0 0166 Note At the start of command D9 a check is run of the traversing range defined by both parameters P 0 0166 and P 0 0167 See also D905 wrong position range See also D906 position range exceeded P 0 0166 Attributes ID number P 0 0166 Editability P2 P3 P4 Function Parameter Memory no Data length 4Byte Validity check during D9 Format DEC_MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value P 0 0167 Upper traversing range for automatic control loop setting Description The upper traversing limit for the automatic control loop setting P 0 0162 is stored here A Teach In function in Drivetop is used to approach the limit position in either a speed controlled fashion or in jog mode Pressing the Teach In key copies the current actual position as lower limit into the operating data of parameter P 0 0167 Note At the start of command D9 a check is run of the traversing range defined by both parameters P 0 0166 and P 0 0167 See also D905 wrong pos
162. ction with operating modes and parameter settings of the drive Monitoring functions Note All monitoring functions are described in detail in the Diagnostics Description Encoder monitor Absolute encoder monitoring e F276 Absolute Encoder Error Motor encoder monitoring e F229 Motor encoder error quadrature error e F822 Motor encoder failure signals too small DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers 10 10 General Drive Functions Voltage monitoring DC 24V voltage e F870 24 V error e F248 low battery voltage Power section e F226 undervoltage error Temperature monitor Motor temperature e F219 motor overtemperature shutdown e E251 motor overtemperature warning Amplifier temperature e F218 heatsink overtemperature shutdown e E250 heatsink temperature warning Bleeder monitoring e F220 bleeder overtemperature shutdown e E252 bleeder overtemperature warning Control loop monitoring Speed control loop monitoring e F878 velocity loop error Position control loop monitoring e F228 Excessive deviation IMDR ARIAL DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 10 4 Error Handling If a condition is recognized which will not allow proper functioning of the drive an error message is generated and the drive will automatically respond to the error Error handling Non fatal errors of the
163. cturer s C3D bit 8 is set if Vsollsynch Vsolladd actual speed lt speed synchronous running window Parameter S 0 0183 velocity synchronization window The output IN POS becomes active if the condition for synchronous running has been met DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 DKC01 1 DKC11 1 with velocity and angle synchronization 9 9 ECODRIVE DKC01 1 DKC11 1 Drive Controller IFDRANA 9 4 Angle synchronization There is a permanent angle relationship between master and following axes in angle synchronization mode This relationship is defined in terms of the following variables P 0 4033 steps per revolution S 0 0236 lead drive 1 rotation S 0 0237 slave drive rotation 1 S 0 0121 input revolutions of load gear S 0 0122 output revolutions of load gear P 0 0142 synchronization acceleration P 0 0143 synchronization velocity P 0 0151 synchronization init window for modulo format S 0 0048 additive position command value The position data of the following axes must be in modulo format Setting anlg synchronization mode Operating mode Angle synchronization encoder 1 real master axis is set via the dialog controller motor type select operating mode Controller Motor type Operating mode Motor type MKD041B 144 KGO Controller type DKC01 1 030 3 Overload factor PwM Frequency 4kHz 8 kHz Firmware version DKC1 1 ASE 04V10 Operating mode Phase synchronization Encode
164. d profile Standstill window POS1 POS5 POSQ1 POSQ5 Limit AH START INPOS INBWG Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the Ka position inputs are in an iverted condition Fig 5 27 Switching signal dependent block indexing behavior with no switching signal 5 20 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL Note All four ECODRIVE DKC01 1 DKC11 1 Drive Controllers indexing conditions are constantly queried and evaluated so that the correct following block is switched into even after a following block sequence was interrupted However only the first indexing condition occurring during an interrupt Starting a following block sequence The entire following block sequence is started by applying the start signal if the first following block of a following block is selected is recognized All others are not acknowledged Reference position Current actual position value usually identical with the target position of the final block Example Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar A Following block end Following block
165. d can be requested Using the request for the command status is especially important when it is necessary to establish that the driving side of the command process is completed before the connected control or the PC ends a command The general form for requesting the status of a parameter command is as follows A01 gt ID number of the parameter 1 w 0 Carridge Return The drive responds to the request to write to the ID number of the command parameter by returning the actual command status 11 14 Serial Communication DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Possible status messages command not set in drive command set released and properly executed command set and released in drive command set and released but not yet executed command set and released but not yet executed therefore an error Fig 11 1 Status messages The command status will be transmitted in the form of a bit list The meaning of each bit is displayed below Bit 0 reserved reserved 0 Command not set in the drive 1 Command set in the drive Command execution interrupted in the drive Command execution enabled in the drive Bit 2 0 Command executed correctly 1 Command not yet executed Bit 3 0 No error 1 Error command execution not possible Bit 8 0 Current operating data is valid 1 Current operating data is not valid Fig 11 14 Comma
166. d load rigidity 5 2 DKC01 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 3 Positioning Operation Absolute Positioning Process block mode is set via parameter P 0 4019 process block mode Example Absolute positioning with a desired position 700 Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the nm position inputs are in an iverted condition SV0001D2 drw Fig 5 2 Absolute Positioning Command Input dialog Mode absolute positioning E Cont block no continuation reco E Speed Profile Fig 5 3 Positioning block input with absolute target position Requirements for Operating an Absolute Positioning Command e The drive must be homed e The working area can be restricted to the position limit Absolute positioning commands will only be completed if the desired position lies within the admissible working area DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Relative positioning block without
167. d must also first be set Note Errors can occur during the execution of a command These must be signalled with pertinent messages D901 start only with drive enable possible D902 motor feedback data does not make sense D903 faulty determination of moment of inertia D904 automatic control loop setting failed D905 traverse range limit not valid D906 traverse range limit exceeded See also Function Description Precondition for starting the automatic control loop setting P 0 0162 Attributes ID number P 0 0162 Editability P4 Function command Memory no Data length 2 Byte Validity check no Format BIN Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 11 b Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0163 Damping factor for automatic control loop setting Description At this point the user has the option to influence the automatic control loop dynamics The slide switch in DriveTop dialog Automatic control loop setting is intended for this purpose A dynamics 100 achieves the maximum possible drive dynamics A dynamics 0 results in a highly non dynamic control loop setting Note Itapplies large damping factor P 0 0163 20 gt 0 dynamics small damping factor P 0 0163 0 5 100 dynamics Function Descr
168. dec 2 Cyc transmittable no Input value min max 0 02 239 Default value 1000 min 5 0 0106 Current Controller Proportional Gain 1 Description This parameter represents the proportional gain of the current controller The current controller proportional gain is determined for each of the motor drive Combinations It depends on the type of motor and may not be changed Using the command load default values it can be loaded out of the motor feedback 2 24 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Note Values set at the factory should not be altered See also Function description Setting the Current Regulator S 0 0106 Attributes ID number S 0 0106 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English V A Combination check no Posit after the dec 2 Cyc transmittable no Input value min max 0 500 Default value 30 00 V A 5 0 0107 Current Loop Integral Action Time 1 Description The current controller reset time is fixed for each motor drive combination It depends on the type of motor and may not be changed It can be determined using the command load base default values 2ms are loaded for the current controller integral action time 1 with the command load default values See also Function description Setting
169. der to avoid access conflicts each drive address must be used only once Note The drive address in the DKC is set via the serial interface by writing into communications parameter P 0 4022 drive address DriveTop or a PLC can be used for this purpose Original State after Establishing the Control Voltage After turning on the control voltage all drives conntected over the RS485 bus of the are in the passive mode With the passive mode there is no possibility of communication In order to reach the active mode a drive must be targeted and contacted through a change drive command 11 5 Communications procedure Parameter Structure All parameters of the drive controller are stored in a stamdard parameter structure Each parameter consists of 7 elements The table below defines the individual elements and the access possibilities The following sections will reference the each diagrammed parameter structure Elemente Data Block Eiemem access Posisies 5 mome es e Wa input ed Fig 11 5 Parameter Structure Note There is a parameter description with detailed specifications of the qualities of all the operational parameters in Appendix A DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL Communication with a Specific Unit on the Bus In order to establish communication with a unit on the bus a CHANGE DRIVE command must be issu
170. drive switches to the next process block i e n 1 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Input dialog Cont block at dest w o interm stop mode 1 E pos n v Speed Profile n n 1 t Fig 5 17 Positioning block input with folownig block mode 1 Example Speed profile POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG 1 1 g Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the o position inputs are in an iverted condition SV0007D2 dr Fig 5 18 Position dependent block indexing mode 1 e Block transition at new positioning speed mode 2 In following block mode 2 with positioning dependent indexing the target position of the start block is traversed with the positioning speed of the following block The decel and accel processes needed to adjust the speed are already performed in the start block Definition The drive runs in the direction of the target position Xn located in the current position block n There is then an acceleration at accel a to the next positioning block Vn 1 So that this speed vu can be reached at the target position X It is not possible however to switch t
171. dure The user must determine the direction of motion for the drive controlled homing procedure in conjunction with the machine mechanical system the adjustment of the home switch and or the determination of the home point This determination always occurs in relation to the motor shaft without regard to the axis mechanical system DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 37 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 10 38 General Drive Functions Four different referencing options are available Evaluation of Evaluation of reference point position encoder Referencing mode switch active reference mark active with evaluation of the yes yes referencing point switch and position encoder reference mark no yes positiong encoder reference mark to the actual position value Fig 10 33 Overview of the types of referencing with resolver feedback Homing with Evaluation of the Home Switch The drive is in motion at the specified acceleration and velocity in the home direction until it receives the home switch signal This point is the home point or reference point The control drive will then brake reverse direction and move back to the home point If the axisis located at the home switch cam at the start of the drive controlled homing procedure it will move away from the cam until the home switch signal is removed reverses direction and head back towards the home switch cam until the
172. e P 0 0051 S 0 0080 Formula 3 5 Drive torque Torque constanst N A Torque power command value a P 0 0051 Attributes ID number P 0 0051 Editability P3 Function Parameter Memory Feedb E prom Data length 2Byte Validity check Phase3 Format DEC_OV Extreme value check no Unit English Nm A Combination check no Posit after the dec 2 Cyc transmittable no Input value min max 0 1000 Default value 3 10 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0053 Lead drive position Description The master axis position is determined at the incremental encoder output Incremental encoder evaluation specifies the master axis position This parameter supports command value setting in speed and angle synchronization modes P 0 0053 Attributes ID number P 0 0053 Editability P234 Function Parameter Memory no Data length 4Byte Validity check no Format DEC_OV Extreme value check no Unit English Degree Combination check no Posit after the dec 4 Cyc transmittable no Input value min max Default value no P 0 0083 Gear ratio adjustments Description The transmission ratio of the electronic gearbox is changed by this per ent value This parameter is only active in speed synchronization Once powered up the value 0 and the transmission value is not affected See also Function Description Speed
173. e The projected selection data is necessary for correct adjustment Selecting the PWM Frequency The clock frequency of the power output PWM frequency of the drive controller can be set to either 4 kHz or 8 kHz The PWM frequency determines the noise level of the motor the permanent current carrying capacity of the drive controller and also the available short term operating torque of the control drive The following rules apply to the settings e The 4 kHz PWM frequency should be used in standard applications to maintain the high short term operating torque of the drive controller e The 8 kHz setting should be used in applications where the environment requires a low noise level It is important to note that when using the 8 kHz PWM frequency the drive controller has a lower permanent current carrying capacity as well as reduced short term torque All permanent current and permanent torque data will be reduced by a factor of approximately 0 9 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Motor and Drive Controller Selection 4 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Notes 4 4 Motor and Drive Controller Selection DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 DKC01 1 Drive Controller with Integrated Positioning Control 5 1 Fundamental Method of Operation for Position Control The DKC01 1 can store up to 64 different position commands One of the first 32 positioning b
174. e parameters that can be edited only in parameter mode this command must be processed C400 Attributes SS Display C4 Diagnostic message number C400 C401 Drive Active Switch Not Allowed Cause The command C400 switch from operational to parameter mode would be started without the control enable being activated Remedy End the command and turn off the drive enable then the command can be started from the beginning C401 Attributes SS Display C4 01 Diagnostic message number C401 1 34 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers C500 Reset Class 1 Diagnostic Description The command for erasing errors S 0 0099 Reset Class 1 Diagnostics was activated via the connected control system All internal drive errors are erased However the errors must have been previously corrected C500 Attributes SS Display C5 Diagnostic message number C500 C600 Drive Controlled Homing Procedure Command Description The command S 0 0148 Drive Controlled Homing Procedure was activated via the connected control system The control drive automatically performs the internal drive homing procedure Give the drive a start command to do this Prior to this the drive must be enabled and in motion C600 Attributes SS Display C6 Diagnostic message number C600 C601 Homing Not Possible If Drive Is Not Enable Cause
175. e Controllers Functional Differences between DKC01 1 and DKC11 1 The DKC11 1 is a DKC01 1 with reduced operating features The essential differences are shown in the following tables Type of Operation DKC01 1 DKC11 1 Position control with position interface X Position control with stepping motor interface Angle synchronization Velocity control with analog interface Torque control with analog interface Oox x Fig 1 5 Overview Types of operation available with DKC01 1 DKC11 1 Speed synchronization i X X Transversing range limits via limit switch Position regulator loop monitoring Status messages INPOS INBWG INREF Positional forward break over point function Control drive guided homing Jogging Override function for jogging positioning and homing Actual position output X Incremental or absolute Built in error reaction Velocity regulator loop monitoring Analog diagnostic outputs Built in control of the motor brake Drift free standstill of the drive via the stop drive function Automatic control loop settings X Fig 1 6 Overview Functions available with the DKC01 1 DKC11 1 X X DOK ECODRV ASE 04VRS FKB1 EN P 07 97 System Overview 1 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Notes 1 8 System Overview DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL 2 2 1 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ECODRIVE DKC01 1 DKC11 1 Drive Controllers
176. e check Combination check Cyc transmittable Default value Reference position for the SSI emulation Here the position in degrees will be placed on the motor which should be read after the absolute measurement emulator setting from the SSI Editability Validity check Extreme value check Combination check Cyc transmittable emulator P 0 0515 Attributes ID number P 0 0515 Function Parameter Memory Parameter EEProm Data length 4 Byte Format DEC_MV Unit English Degree Posit after the dec 2 Input value min max 0 1474559 99 Default value no Feedb E prom no no no no P2 yes yes no no DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 27 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0516 Feedback Interface Description This parameter has no meaning with DKC P 0 0516 Attributes ID number P 0 0516 Editability SE Function Parameter Memory fixed Data length 2 Byte Validity check yes Format binary Extreme value check no Unit English Combination check no Posit after the dec Cyc transmittable no Input value min max 0 100 Default value 0 P 0 0518 Amplifier Nominal Current 2 Description The parameter specifies the maximum nominal current of the amplifier with reduced peak current It specifies within the parameters S 0 0110 amplifier peak current S 0 0112 amplifier nominal current and P 0 0519
177. e erroneously interrupted with the negative reception of C602 distance zero switch reference mark The distance can then be changed mechanically or with the help of this parameter See also the functional description Drive controlled Homing Procedure S 0 0299 Attributes ID number S 0 0299 Editability P2 P3 P4 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 2 47 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA S 0 0331 Status Feedback 0 Description This parameter sets an IDN for the status feedback 0 The status feedback 0 is defined as a bit in class 3 diagnostics IDN 0 0013 and is set when the velocity feedback value is found within the standstill window IDN 00124 Only bit 0 is defined in the operating data The output In motion corresponds to this bit S 0 0331 Attributes ID number S 0 0331 Editability no Function Parameter Memory Data length 2 Byte Validity check Format binary Extreme value check Unit English Combination check Posit after the dec Cyc transmittable no Input value min max Default value S 0 0348 Proportional Gain Acceleration Feed Forward D
178. e examined and changed in this menu Therefore a Low Level possibility is required for parameter examination It is used in certain exceptional cases Normally all the drive parameters relating to start up parametrization were implemented By switching from parameter into drive mode the actual parameters will be checked for validity All of the incorrect parameters and those that will lead to boundary value problems are placed in an invalid parameter list and can be corrected within the list As DriveTop is started all the parameter information is read from the connected drive controller For reasons of speed the specific parameter values are only read from the contents of the parameters Often it is necessary to move from one drive controller to another without restarting the DriveTop program In order to refresh the parameter window it is necessary to perform a new parameter scan after plugging the interface cable into another drive controller DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA Startup Procedure Parameter Settings Drive Scan Select Offline Options Language Password protection Communications Help Contents Using Help Documentation Information about DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ECODRIVE DKC01 1 DKC11 1 Drive Controllers The parameters regarding the set up procedure leads the user through a series of dialogue procedures At the end all of the necessary insta
179. e operating data can only be edited in communication phase 2 and 3 P234 the operating data can be edited in any communication phase P3 the operating data can only be edited in communication phase 3 P4 the operating data can only be edited in communication phase 4 1 2 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Memory fixed operating data is programmed in the drive no operating data is not buffered in the drive the value after turning on the drive controller is not defined Param E prom operating data is buffered in the E prom parameter IC2 on the drive controller main circuit board Ampl E2prom operating data is buffered in the E prom from the drive controller Feedb E prom operating data is buffered in the E prom from the motor feedback data memory only for MDD and MKD motors The following parameter operating data are stored in the motor feedback e P 0 0018 e P 0 0508 e P 0 0509 e P 0 0510 e P 0 0511 e P 0 0512 e P 0 0513 e P 0 4014 e P 0 4005 e P 0 4037 e P 0 4038 e P 0 4039 e P 0 4042 e P 0 4047 e P 0 4048 e S 0 0109 e S 0 0111 e S 0 0113 e S 0 0116 Validity check no operating data will not be checked for validity Phase2 operating data will be checked in the command Communication phase 3 transition check Phase3 operating data will be checked in the command Communication phase 4 transit
180. e pointing instrument e Windows 3 1 3 11 Windows 95 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Preparing for Startup 3 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 3 4 Installation of DriveTop DriveTop will be on two 2 3 5 disks Dos format 1 44MB Note Please make a backup copy of the Drive Top installation diskettes Install the software from these copies Store the original diskettes in a safe place For installation on your computer use the installation programs on the diskettes It will not work if you simply copy the diskettes Starting the Installation Program 3 2 Preparing for Startup When installing DriveTop procede as follows Installation in Windows 3 1 3 11 e Turn on the PC and start Windows e Place Diskette 1 in the disk drive e Activate the Windows Program Manager e At the menu click on FILE and choose from the drop down menu LOAD e At e command prompt type A SETUP if the DriveTop diskette is in drive A e The order of the installation program is as follows After a successful completion of the installation you will find the new program group icon INDRAMAT on your PC Within this group you will find the DriveTop icon B noram BA IHDRAHAT drive Top DriveT op 04YRS Fig 3 1 INDRAMAT program group with the DriveTop and ECODRIVE Help icons Installation in Windows 95 e switch PC on and startup Windows 95 e DriveTop disk 1 must be inserted into
181. e serial bus ATTENTION The baud rate of the serial interface is set by parameter The following settings are possible 0 9600 Baud 1 19200 Baud All the drives on the bus must be set to the same baud rate ATTENTION The RS485 interface operates in half duplex mode The direction of the data must be switched during the data exchange The switch of the data direction happens in less than half of one millisecond for the DKC units In order for the connected terminal devices PC or SPS to be given enough time for the data direction switch to occur the answer delay PLC time of the drive can be set in this parameter The entry is in ms The maximum setting is 200ms The default value for the answer delay is set at 20ms at the manufacturer From past experience most PC s will operate without any problems with this setting If communication problems occur for example a TIMEOUT message in DriveTop then the value for the answering delay can gradually be set to a larger value until there are no more problems occurring For a safe margin the limit value so determined should be multiplied with 1 5 and then entered as the answering delay value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Setting of the Drive Address In the case where the communication occurs over the RS485 bus then each of the bus communication devices must be provided with a unique bus address In or
182. e the S 0 0100 Velocity Loop Proportional Gain until it becomes unstable again e Reduce the S 0 0100 Velocity Loop Proportional Gain until the oscillation goes away on its own The value found using this process is called the Critical Velocity Loop Proportional Gain Determining the Critical Integral Action Time e Set S 0 0100 Velocity Loop Proportional Gain 0 5 x critical proportional gain Set S 0 0101 to its default value e Lower S 0 0101 Velocity Loop Integral Action Time until unstable operating behavior results e Raise S 0 0101 Velocity Loop Integral Action Time until continuous oscillation stops The value found using this process is called the Critical Integral Action Time Determining the Velocity Control loop Setting The critical value which is determined can be used to derive a control loop setting which possesses the following characteristics e Independent from changes to the axis since there is a large enough safety margin to the stability limits e Safe reproduction of the characteristics in production machines DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL The following table shows many of the most frequently used application types and the corresponding control loop settings Velocity Velocity Loop Loop Proportional Integral Action Application Type Gain Time Feed axison Good load rigidity and good standa
183. e with an integrated brake Proper operation of the brake can be checked by a clack noise when activating the control enable DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 49 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMAL Connecting the Motor Brake A regulated dc voltage is necessary for the brake s power supply 24V 10 DKC conf Cable i MKD control dive IKG 006 Internal brake control Voltage connection for brake DC 24 V 10 AP0209d1 drw Fig 10 51 Connecting the motor brake Brake Reaction After Switching Off the Control Enable and in Error Conditions The brake is controlled via the drive controller The diagrams below show the chronological reaction of the brake control after the control enable is turned off and in error conditions External regulator release via control Velocity actual value reset Motor velocity Brake activation n lt 10 min 1 n gt 10 min 1 VA r 100 200 300 400 500 1 The brake falls below a velocity of 10min 1 and is activated 2 The brake is activated after 400 ms even if the motor velocity gt 10 min 1 3 The brake is released at the same time the regulator release is set 4 Warning 100 ms after the brake has been activated the motor will become torque free SV0027d1 drw Fig 10 52 Brake Reaction after removal of the control enable 10 50 General Drive Function
184. eady SES ef Bb lt 2 Bb 1 Inputs Input voltage min max HIGH 16 V 30 V LOW 0 5 V 8V Input resistance approx 8 kOhm Fig 10 56 RF and AH Start connections AP0211d1 drw 10 54 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 11 Serial Communication 11 1 General Information for Serial Communication The DKC01 1 DKC11 1 contains one serial interface Parameter and diagnostic information can be exchanged through this interface The interface can be operated alternatively in either RS232 mode or in RS485 mode Note An ASCII protocol is used for communications The number of bytes to be transmitted is different from the data length in the parameter description internal numeric format 11 2 Communication via the RS232 Interface The RS232 interface is intended for connection port to a PC with the DriveTop startup program A maximun cable length of 15m is possible PC with Drive Fop Parallel UO s FS0004d1 drw Fig 11 1 Communication over the RS232 Interface Features e transmission rates 9600 and 19200 baud e max transmission path 15m e 8 bit ASCII protocol e no parity bity e on stop bit DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Type of data exchange via RS232 e paramet
185. echniques Application example RS 485 communications with DriveTop ECODRIVE is standardly equipped with an RS 485 interface To operate DriveTop with multiple ECODRIVEs an RS232 485 converter between PC and drives is needed The following example illustrates a proven construction with RS485 connection using a PSM EG RS232 RS485 P 2D converter from Phoenix Contact PSM EG RS232 RS485 P 2D Interface Converter The PSM EG RS232 RS485 P 2D interface converter from Phoenix Contact implements an interface conversion to a type that satisfies both the industry and can be mounted into the control cabinet GND i twisted pair of SCH 1 terminated 180 Ohm 0 5W Le 5 wo es RS485 _ Ae RS485 de RS485 teq 1 final DKC with terminator 2 outside shield on convertor to ground potential cable grip of metal conn housing 3 Fig AP5015 depicts RS232 interfac AP5017D1 DRW Fig 11 15 RS 485 connecting multiple DKCs e maximum number of drives on the bus 31 e maximum cable length 500 meters e line termination resistance 2 x 180 Ohm Note The cable connection from unit to unit may not be star shaped but rather wired from DKC to DKC The RS48
186. ecome effective The user can also immediately test the results of his installation Parameter Setup through Offline Operation Startup Procedure Offline operation means there is no connection to the drive controller from the PC Offline operation allows the operator a conventient preparation of the parameter settings which can then in their entirety be sent via a connection to the desired drive controller There remains but a little bit of work for the operator which cannot be completed offline due to the dependency of the machine 3 8 Preparing for Startup DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Diagnostic Window After a successful drive controller parameter scan the following diagnostic window will appear on the PC screen DriveTop 04 03 Default 001 File Parameter Setup drive Drive Options Operating mode Speed regulation with analog interface Drive status A012 Control and Power Sections Ready for Operation DKC01 1 030 3 Target values INDRAMAT Power section Speed 0 0000 Rpm actual peak current 30 000 A Torque 0 0 actual cont current 7 498 A cur Torque limit 400 0 Bleeder load 0 _ Drive enabled v Ready Y Drive stop xs max positioning speed active in Inputs Gutputs s e B5 Home ord BETEL x6 S Actual values MKD041B 144 KGO x _ Homing command rv Ref Homed Position 100159 34 Deg 7 Speed 3
187. ed relative positioning block with residual path save of a following block after control voltage off and on with target position 500 Speed profile Standstill window _ or Xow Xovt400 on 600 POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release 24V control voltage Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the GES position inputs are in an iverted condition SV5018d1 drw Fig 5 33 Following block interrupt with control voltage power up and down Following block sequence interrupt with absolute following block Given absolute positioning blocks an interrupt presents no problem as the reference dimension is always guaranteed If a new block is selected during an interrupt then the interrupted following block is not completed with a restart but rather the currently selected block is executed If a new block number is not selected with an interrupt then the interrupted following block will be completed upon restart Note In both cases the current actual position is assumed The incremental reference dimension is retained due to the absolute block DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 25 ECODRIVE DKC01 1 DKC
188. ed with the target to the specific drive address on the bus With each CD command the contacted drive will be activated and all other drives will be switched into the passive mode The contacted drive reports with its prompt From this point the communication continues with the activated drive until communication is switched to another drive through a subsequent CHANGE DRIVE command Schritt 1 Send request Communication with drive not e g BCD 01 CR adress 1 possible gt check address gt check setting gt check connection Schritt 2 Drive received sign Drive sends prompt nein if address agrees I lt Timeout gt Sign nce gt in received Sign sequence eceived nein buffer located N Contents of receive buffers ja BCD 01 A01 gt The symbol in only appear if another Schritt 3 unit on the bus is open Check receive buffer for pattern AH gt transmission error Dirve is open gt ready to communicate FD5002B1 WMF Fig 11 6 Bus participant actuated Writing To a Parameter Writing to a parameter is allowed generally in the following manner ID number of the parameter data block element number w operational datum Carridge Return After a completed writing operation the unit responds again with its prompt For example in order to write to the datum value of the paramet
189. eed command value via analog channel 0 additive speed command value via S 0 0037 Bit 9 15 free Fig 3 12 P 0 4027 Function Parameter P 0 4027 Attributes ID number P 0 4027 Editability P2 Function rameter Memory parallel EEProm Data length 2 Byte Validity check yes Format HEX Extreme value check no Unit English Combination check no Posit after the dec EG Cyc transmittable no Input value min max Default value 0 x 0008 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IMDR ARIZA P 0 4028 Impulse Wire Feedback Offset Description With this parameter the offset of the impulse feedback for resolver control will be stored It will be available during construction and stored in the feedback memory P 0 4028 Attributes ID number P 0 4028 Editability no Function Parameter Memory Feedb E prom Data length 4 Byte Validity check no Format DEC Extreme value check no Unit English Se Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value 100 0000 P 0 4029 Impulse Wire Feedback PIC Counter Value P 0 4030 Jog Velocity Description This parameter contains information on the absolute position of the control The value will be actualized with each initializing position The user cannot edit it P 0 4029 Attributes ID number P 0 4029 Editability
190. eedback lt S 0 0183 with dX Feedback Velocity feedback value dX Synch Synchronized velocity command value produced from actual steering axle velocity dX Additiv Additive velocity command value S 0 0037 See also the function description Check back with speed synchronization S 0 0183 Attributes ID number S 0 0183 Modification P234 Function Parameter Storage Param E prom Data length 4 bytes Validity check Phase3 Format DEC MV Limit check yes Unit English S 0 0044 Combination check no Fractional part digits S 0 0044 Cyclic transfer no Input min max gt 0 S 0 0044 Default value 10 0000 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA S 0 0189 Following Error Description The drive stores the current difference between positoin command and actual position value in this operating data S 0 0051 actual position value 1 See also function description Determining the Position Regulator Setting and P 0 0098 maximum model deviation S 0 0189 Attributes ID number S 0 0189 Modification No Function Parameter Storage No Data length 4 bytes Validity check No Format DEC_OV Limit check No Unit English S 0 0076 Combination check No Fractional part digits S 0 0076 Cyclic transfer AT Input min max Default value 5 0 0192 IDN List of Backup Operation Data Description The ID numbers for all of the ope
191. eeeeeeeeeeeeeeaaeeeeeeaaeeeseeaaeeeseenaeeeeseaaes 3 26 P 0205 13 F edb ck KEE 3 26 P 0 0514 Absolute Encoder Oitset rnst tr nnsttn nnar tn rnnt ta nnnn tnan ne nanne ennnen 3 27 P 0 0515 Home Reference Position rarnrrrnnnnnnvrnnnnnnnvrnnnnnnvrnnnnnnnrannnennnrrensennrrnnnrensrrnnssnnnrnnnenn 3 27 P 0 0516 Feedback Intertace A 3 28 P 0 0518 Amplifier Nominal Cumrent 2 3 28 P 0 0519 Amplifier Peak Cument 2 3 28 P 0 0520 Hardware Number 3 29 P 0 0522 Absolute Encoder Count Direction 3 29 P 0 0539 Emulated absolute encoder position eee eeeeeeeeeeeeeeeeeeeeaeeeeeeaeeeseeaaeeeenenaeeeeneaaes 3 30 P 0 1003 Velocity Feedback Value Eltertmebase 3 30 P 0 1222 Command Value Smoothing Time Constant 3 31 P 0 4000 Current Zero Trim Phase UN 3 31 P 0 4001 Current Zero Trim Phase V rarararananunnnnnnnnnnnnnnnnnansvsrsrnnnsrererersrerserevevevevevereveveveveverer 3 31 P 0 4002 Current Amplify Trim Phase U N 3 32 P 0 4003 Current Amplify Trim Phase NA 3 32 P 0 4004 Magnetization Current rrrnnvrrrronnvrrrrrnnvrrrrrnnrrrrrrnnnnerrrnnnnesrrnnnnrrrrnnnnrsrrnnnrrrrnnnnesrsnnnnn 3 32 P 0 4006 Process Block Target Poemton nn nnnnnnenanennnnnnnneenennnrnnnnn 3 33 P 0 4007 Process Block Velocity cccececeeeceececeeeeeeeeeceaeaeeeeeeeseseaaaeaeeeeeseseeenasaeeeeeetsnsnnaeess 3 33 P 0 4008 Process Block Acceleration ononnennnnnnnssnnnnnnnrresnnrrrnnresnsrnrnrnsessnnrnrnrrosnsnnrnrennenn 3 34
192. efault value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 31 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL S 0 0135 Drive Status Word Description This parameter makes it possible to read the drive status word through the serial interface It is structured as follows Drive status word OOOO OOO Bit 0 2 Control Information for device channel Bit 5 Change bit command Bit 6 amp 7 Real time status bits 1 amp 2 Bit 8 amp 9 Feedback operating mode 00 Main operating mode active 01 1 Secondary operating mode etc Bit 11 Change bit class 3 diagnostics Bit 12 Change bit class 2 diagnostics L Bit 13 Drive lock error in class 1 diagnostics Bit 14 amp 15 Ready to operate 00 Drive not ready for power on since internal checks are not positively connected 01 Ready for power on 10 Control and power components ready to operate 11 In operation with torque Fig 2 12 Structure of the Drive Status Word S 0 0135 Attributes ID number S 0 0135 Editability Function Parameter Memory Data length 2 Byte Validity check no Format binary Extreme value check no Unit English Combination check no Posit after the dec Cyc transmittable no Input value min max Default value 5 0 0138 Bipolar Acceleration Limit Value Description The bipolar accelaration describes the maximum allowable accelaration that is s
193. efault value 0 P 0 0500 Velocity Command Voltage for Max Motor Speed Description Parameter for setting the scale factor of the analog velocity command value Along with parameter P 0 501 the scaling for the velocity command value is determined P 0 0501 Motor speed for maximum velocity command voltage Rpm P 0 0500 Velocity command voltage for Max motor speed V P 0 0501 validity of the analog velocity command value P 0 0500 Fig 3 8 Scale factor of the analog velocity command value P 0 0500 Attributes ID number P 0 0500 Editability P2 Function Parameter Memory Param E Prom Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English V Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 1 10 0 Default value 10 0 V DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INIDR ARIAL P 0 0501 Motor Speed for Maximum Velocity Command Voltage Description Parameter for setting the scale factor of the analog velocity command value Along with the parameter P 0 501 the scaling for the velocity command value is determined P 0 0501 motor speed for maximum velocity command voltage Rpm P 0 0500 Velocity command voltage for max motor speed V P 0 0501 Attributes ID number P 0 501 Editability no Function Parameter Memory
194. eference point the reference point must be set with a defined homing procedure e Absolute position measurement optional After the power supply has been turned on the absolute actual position value in relation to a fixed reference point is immediately available Thus completing the homing procedure is unnecessary Actual Position Value Output The DKC01 1 has an actual position value output for transmission of the actual position value to an NC control Actual position values can be transmitted in either incremental or absolute format e Incremental Actual Position Value Output 5V TTL incremental encoder signals with an adjustable counter are given as an output Incremental actual position value output is possible with both actual position value and absolute actual position value acquisition e Absolute Actual Position Value Output The absolute actual position value is transmitted in the standard SSI format for position encoders The output of the absolute actual position value is only possible when using a motor with an absolute encoder optional Integrated Diagnostic Display All internal condition and error analysis is displayed via a dual position seven segment display Easy Installation The installation and diagnostic program DRIVETOP helps with a user friendly installation via the serial RS 232 interface on a PC running Windows 3 1 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Driv
195. eferencing zero velocity e synchronization processes synchronization modes The limit is immediately effective upon activation even while running The same applies to deactivation Applictions The speed limit can be used e during setup mode test runs e reduced speeds within a hazardous area only together with other monitoring devices if The limited speed function alone does not offer sufficient personnel protection WARNING 5 40 DKCO01 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMIDR ARIAL Example Parameters Activation ECODRIVE DKC01 1 DKC11 1 Drive Controllers Speed profile Limited velocity EE POS1 POS5 02 POSQ1 POSQ5 Bit 4 AH START INPOS Ea INBWG Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the pe position inputs are in an iverted condition SV0040d2 dr Fig 5 48 Traversing without and with limited speed The accel value remains the same The run time becomes longer as the speed is reduced acceleration times and paths are shorter axes with the same traversing times at full speeds will reach the target positions at different times The value to which the traversing speed is restricted S 0 0259 pos
196. ength 0 Byte max Validity check yes Format ASCII Extreme value check no Unit English e Combination check no Posit after the dec Cyc transmittable no Input value min max Default value 007 S 0 0269 Parameter Buffer Mode Description The Parameter buffer mode is used to determine whether the data transmitted through the serial interface will be stored temporarily in RAM or permanently in EEPROM 1 Data will not be stored permanently 0 Data will be stored permanently After the control voltage supply has been switched on the drive will initialize bit 0 to 0 To activate temporary storage mode bit 0 must be forced to 1 Note For applications that wirte cylic or frequenct updates Note to the drive parameter data tempory storage made should be activated by the initialization procedure in the machine control This mode insures that the write Cycle life of the Eeprom is not exceeded DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 45 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRA DIAL S 0 0269 Attributes ID number S 0 0269 Editability P234 Function Parameter Memory no Data length 2 Byte Validity check no Format DEC OV Extreme value check yes Unit English oe Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 1 Default value 0 5 0 0277 Position Feedback 1 Type Parameter Description This p
197. ength 2 bytes Validity check Phase 3 Format DEC OV Extreme value check yes Unit English a Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 2 Default value 0 2 50 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0400 Home Switch Description This IDN is assigned to the home switch status external signal with this parameter Structure of the parameter Bit 0 Home switch 0 not activated 1 activated Fig 2 18 5 0 0400 Home Switch 5 0 0400 Attributes ID number S 0 0400 Editability no Function Parameter Memory no Data length 2 Byte Validity check no Format BIN Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value S 0 0403 Position Feedback Value Status Description Bit O for this parameter will be set by the drive if the position feedback value whose origin was selected in bit 3 from S 0 0147 Homing Parameter is firmly referenced to the machine zero point If the commands S 0 0148 Drive controlled homing procedure or P 0 0012 Set absolute distance are performed the bit will be reset when they are started and then set 1 again once the command has been successfully completed The bit status position feedback value corresponds to the output In reference
198. ent plane positioning err step 1 step 2 at end of step 1 Fig 9 20 Example of position adjustment during synchronization This example illustrates a drive just braking i e at the start of synchronization both speed and acceleration of the following drive are not equal to 0 The command acceleration goes at start of synchronization directly to the value set in parameter P 0 0142 syncrhonization acceleration There is no jerk limit The first synchronization step has been concluded if the internally generated speed dXgotinterr dt is equal to the synchronous speed AXsorsynen dt The plane under the ramp equals the positioning error after the first step is completed The second synchronization step is concluded if the internally generated position Xsoli inten iS equal to the synchronous position Xsoti synch additive position command value S 0 0048 Xsoi aaa DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 DKC11 1 with velocity and angle synchronization 9 13 ECODRIVE DKC01 1 DKC11 1 Drive Controller IFDRANA Start conditions additive position command value 0 master axis speed 0 following axis speed 0 master axis speed following axis speed Fig 9 21 A synchronization example Start conditions add pos com val 120 master axis speed 0 following axis speed 0 master axis speed synchronization speed plane equals 120 degrees angle offset follow
199. ents To simplify parametrization of the drive ECODRIVE offers automatic control loop settings The user need only enter the conrol loop dynamics via the so called damping factor To achieve these dynamics the control parameters are automatically determined by starting command D9 in the drive Note that in order to perform the automatic control loop setting it is necessary to move the drive Note The automatic control loop setting is not possible in either the speed synchronization or the angle synchronization modes due to the modulo range defined in terms of 360 This means that to execute the automatic control loop setting it is necessary to switch into speed control for example Precondition for starting the automatic control loop setting The function of the E stop sequence and the travel range limit switch must be guaranteed and checked See also section 2 Safety Instructions WARNING During command D9 the drive independently conducts motions i e without externa command value default Travel range limits P 0 0166 and P 0 0167 Both travel range limits P 0 0166 lower travel range limit for automatic control loop settings and P 0 0167 upper travel range limits for automatic control loop settings are only active during the command automatic control loop settings and prevent the drive from moving out of its set limits only as long as the command is active When entering both limits upper and lower always
200. equently there exists the possibility to shut down the motor with the control so that it remains true to the process For example close the operation leave the collision area etc After 30 seconds the parameter Best Possible Deceleration P 0 0119 set reaction appears during operation Cause 1 Deficiency of the drive s internal blower 2 Deficiency of the control cabinet s climate control 3 Incorrect control cabinet dimensioning regarding the head ventilation Remedy For 1 If the blower fails exchange the drive controller For 2 Install climitization feature to the cabinet For 3 Check the dimensions of the control cabinet E250 Attributes SS Display E2 50 Diagnostic message number E250 Warning class Non fatal E251 Motor Overtemperature Warning Description As soon as the temperwature warning threshold 145 C is exceeded warnig E251 is generated and the drive complies with the command value This state can last infinitely without a powering down occurring Not until the temperature error threshold is exceeded will an immediate powering down take place See also F219 Motor Overtemperature Shutdown Cause The motor became overloaded The effective torque required of the motor was above the allowable standstill continuous torque for too long DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 1 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL
201. equire to proceed with frequent changes of the parameters during operation for example the changing of the target position of positioning data sets there is a danger of eventually exceeding the maximum allowable number of writing cycles of the EEPROM In order to avoid this possibility the resident memory must be turned off Turning off of the resident memory mode must be done after each time the power supply of the connected controller is turned on and is valid until the next time the power supply is turned off While non resident mode is active all parameter data is written to Ram memory only Turning off the resident memory S 0 0269 7 w 1 CR Writing the List of the Target Positions in the Drive The target positions of all the axes are stored in the form of a list in the parameter P 0 4006 process block target position In order to change one or more of these values all of the relevant values of this list must be written If four target positions will be used then all 4 positions must be written even if only one of the positions should be changed Drive reaction Input P 0 4006 7 w gt CR 100 0 CR Target position command 0 200 0 CR Target position command 1 etc lt CR A01 gt Immediately after writing to the target positions the new values in the drive are active DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL 11 7 Connection t
202. er 11 8 Reading a List Type Parameier nne 11 11 Executing Parameter Commands ernnrrnannvnnnnvvnnnnrrnnnnvnnnnnrnnnnrnnnnnnnnnenrennnrnensnnnenenressnnnnnsnnnnnennne 11 12 Requesting the Status of Commandes nn nnn 11 14 Ending a Parameter Commande 11 15 Error Message EE 11 16 11 6 Operation Example deed anea a wa elena ea eee 11 17 Changing of the Positioning Command Data 11 17 11 7 Connection techniques renn a aaa aaa a a aiaa a oaa aaa aaa 11 18 Application example RS 485 communications with Drive op 11 18 Switch poition in interface converter seseesseeseessesreettittttrttttttnntu tetu nstnnstnnntnnsnnnnnssnnssnnn nts 11 19 Connecting the RS232 of the PC to the interface converter mrrsrrrrrrnarrrrrrnvvrrrnrrrerrnrvrerrnnn 11 20 Connecting the RS485 of the interface converter to the DR 11 20 RS 232 Connection RE 11 21 12 Index 12 1 Supplement A Parameter Description Supplement B Diagnostic Message Description Customer Service Locations DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Contents V IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Notes VI Contents DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 System Overview 1 1 ECODRIVE the Economical Control Drive for Automation ECODRIVE is a digital intelligent automation system which provides a cost effective way to control single and multiple axis tasks ECODRIVE can be used to accomplish all
203. er P 0 4037 the following input is required Note The data entered must correspond to the data type set in the attribute HEX BIN DEC 11 6 Serial Communication DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Step 1 Communication with drive not Send request possible e g P 0 4037 7 w 1000 CR gt check address i gt check setting gt check connection Step 2 Drive received sign Drive repeats request echo i lt Timeout eal yes Sign sequence gt in received i AG buffer located Le Contents of receive buffers T P 0 4037 7 w 1000 CR e BEER xxxx CR A01 gt Step 3 To check transmission compare request with receive buffer String Compare transmission error Step 4 Delete request in receive buffer All signs up to and including 1 CR S _ Next sign in receive buffer Error occurred during _ gt yes gt parameter acces Error code xxxx T no v Parameter wurde erfolgreich beschschrieben FD5001B1 WMFI Fig 11 7 Write accessing a parameter See also error messages Reading of a Parameter The general form for reading a parameter is as follows ID number of the parameter data block element number r Carridge return The drive responds with the contents of the co
204. er Service Locations Argentina Nakase Asesoramiento Tecnico Diaz Velez 2929 1636 Olivos Provincia de Buenos Aires Argentina Argentina Telefon 54 1 790 52 30 China Rexroth China Ltd Shanghai Office Room 206 Shanghai Intern Trade Centre 2200 Yanan Xi Lu Shanghai 200335 P R China Telefon 86 21 627 55 333 Telefax 86 21 627 55 666 Hongkong Rexroth China Ltd 19 Cheung Shun Street 1st Floor Cheung Sha Wan Kowloon Honkong Telefon 852 2741 13 51 54 und 852 741 14 30 Telex 3346 17 GL REX HX Telefax 852 786 40 19 852 786 07 33 Korea Seo Chang Corporation Ltd Room 903 Jeail Building 44 35 Yoido Dong Youngdeungpo Ku Seoul Korea Telefon 82 2 780 82 07 9 Telefax 82 2 784 54 08 USA Rexroth Corporation INDRAMAT Division 2110 Austin Avenue Rochester Hills Michigan 48309 Telefon 1 810 853 82 90 Telefax 1 810 853 82 90 Australia Australian Industrial Machinery Services Pty Ltd Unit 345 Horne ST Campbellfield VIC 2061 Australia Telefon 61 3 93 59 0228 Telefax 61 3 93 59 02886 China Rexroth China Ltd Shanghai Parts amp Service Centre 199 Wu Cao Road Hua Cao Minhang District Shanghai 201 103 P R China Telefon 86 21 622 00 058 Telefax 86 21 622 00 068 India Mannesmann Rexroth India Ltd INDRAMAT Division Plot 96 Phase Ill Peenya Industrial Area Bangalore 560058 Telefon 91 80 839 21 01 91 80 839 73 74
205. er of lines that can be emulated Z This numeric value is hardware dependent and equals about 175 kHz The maximum number of lines for the above referenced modes can be calculated as follows 60 f Z Fas I n max Nmax maximum permissible motor velocity fmax maximum permissible signal frequency Z incremental encoder line numbers P 0 0502 with emulation Fig 9 5 Maximum number of lines DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 DKC01 1 DKC11 1 with velocity and angle synchronization 9 3 ECODRIVE DKC01 1 DKC11 1 Drive Controller TDi ZAP IZ speed in 1 min e e e e e d e e e e e e dl e e e e e e desse ss el 4 i 4 i 1 1 L SCH a 1 number of lines DG5006X1 BMP Fig 9 6 Relationship of number of lines and maximum velocity With a line number of 10 000 for example the velocity to be emulated in the master axis may not exceed 1000 1 min so that no larger signal frequencies are gained fmax 9 4 DKCO1 1 DKC11 1 with velocity and angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controller 9 3 Velocity synchronization In operating mode velocity synchronization there is a fixed velocity relationship between master and following axis This velocity relationship is determined by the following variables e P 0 4033 steps per revolution e 0 0236 lead drive 1 rotation e 0 0237 slave drive rotat
206. erased and set with the default value The process blocks are lost also C800 Attributes SS Display C8 Diagnostic message number C800 D900 D9 Command Automatic Loop Control Description The start of this command means that an automatic control loop setting is executed in the drive if the drive is in the loop at command start i e the drive enable signal is applied See also Function description Automatic control loop setting DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 37 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA The start of this command can trigger a movement if drive enable and drive start are at the drive gt The drive conducts autonomous movements within the range defined by both limits gt The E stop sequence function and the travel range limit switch must be guaranteed and checked See also Function description Safety Instructions WARNING During command D9 the drive autonomously conducts motions i e without external command value Note Under some circumstances errors can also occur while the command is being executed These are then signalled with pertinent messages D901 start only with RF D902 motor feedback not valid D903 inertia detection failed D904 gain adjustment failed D905 wrong position range D906 position range exceeded D900 Attributes SS Display D9 00 Diagnostic message number D900 D901 Sart Only With R
207. erations using a Stepping Motor Interface The ECODRIVE acts as a conventional stepping motor drive controller in stepping motor interface operating mode This enables conventional stepping motor controls to be attached to the ECODRIVE Note Because the ECODRIVE digitally replicates a stepping motor drive its use is not recommended for applications where precision is required INDRAMAT has a line of excellent drive systems with SERCOS interfaces for applications such as this 6 2 Setting Operation Mode Position Control with Stepping Motor Interface The operating mode with stepping motor interface is set via the controller motor type operating mode dialog Controller Motor type Operating mode Motor type MKD041B 144 KG0 Controller type DKC01 1 030 3 Overload factor PWM Frequency 4kHz 8 kHz Firmware version DKC1 1 ASE 04 10 Operating mode Position regulation with stepper motor interface without lag D The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveT op and helps you to identify the actual online drive Fig 6 1 Position Control with Stepping Motor Interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Stepping Motor Interface 6 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL Position Control with Following Error When positioning in this mode a speed dependent differe
208. ers e commands e diagnoses 11 3 Communication over the RS485 Interface Communication over the RS485 interface allows the realization of a serial bus with the following specifications e Upto 31 drives can be connected with a bus master e Transmission rate 9600 and 19200 baud e Maximum cable length 500m e Half duplex operation over 2 wire transmission line e 8 bit ASCII protocol e no parity bit e no stop bit Type of Data Exchange over RS485 e Parameters e Commands e Diagnostics Operation of Multiple Drives with DriveTop Operational Advantages e Startup of multiple DKCs without reconnection of interface cable Central parameterization and diagnostic connection e Realization of a central PC supported visualization unit RS485 Bus Converter PC with Drive lop D Parallel UO Fig 11 2 Operation of Multiple Drive with DRIVETOP DKC FS0005d1 drw 11 2 Serial Communication DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Parameterization and Diagnostics via a SPS PLC Operational Advantages e Changing of parameters is possible via a PLC for example the adaptation of the positioning commands e Expanded diagnostic possibilities for the PLC through processing of the error codes RS485 Bus Profibus DP FS0016d1 drw Fig 11 3 Parameterization and Diagnostics over a SPS Parameterizati
209. es 2 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Operation is only permitted if the national EMC regulations for the application are met The instructions for installation in accordance with EMC requirements can be found in the INDRAMAT document EMC in Drive and Control Systems The machine builder is responsible for the adherence of the limiting values as prescribed in the national regulations and specific regulations for the application concerning EMC European countries see Directive 89 336 EEC EMC Guideline U S A See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must consult the above noted items at all times Technical data connections and operational conditions are specified in the product documentation and must be followed 2 2 Protection against contact with electrical parts Note This section pertains to equipment and drive components with voltages over 50 Volts Touching live parts with potentials of 50 Volts and higher applied to them can be dangerous and cause severe electrical shock In order for electrical equipment to be operated certain parts must have dangerous voltages applied to them 2 2 Safety Instructions for Electrical Drives DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA DANGER DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ECODRIVE DKC01 1 DKC11 1 Drive Controllers High Volta
210. escription The acceleration feed forward helps to reduce the following error during the acceleration phase in non following error operation The actual acceleration command value will be multiplied with the proportional gain acceleration feed forward and added with the current command value of the velocity controller Stromsoll wert Fig 2 3 Speed and acceleration pre control Activation A value larger than 0 will activate the acceleration feed forward during editing of the parameter Note The controller functions withough precontrol as well The standard value equals 0 Acceleration precontrol is only possible in lag error free mode 2 48 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Comparison between the types of pre control feed forward The speed pre control is activated by selecting an operating mode without lag distance This creates from the point of view of the position controller a feedforward 1st order speed This means that at constant speed the position deviation is 0 A lag distance results nonetheless during acceleration and deceleration The acceleration pre control is activated by entering more than 0 for this parameter It affects from the point of view of the position controller a feedforward 2nd order proportional to acceleration Position deviation is 0 if the correct value is selected and accelerati
211. et Parameter S 0 0076 Position scaling bit 7 the position data in the range from 0 to the module value S 0 0103 can be represented For monotonicly increasing position data when the position value equals the module value the position data is set to and overflows fro zero If the position data are represented in modulo format the input range for all position data must be between modulo value and the modulo value See also Function description Boundary Conditions for Modulo Processing S 0 0103 Attributes ID number S 0 0103 Editability P23 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max 0 S 0 0076 Default value 360 00 Deg S 0 0104 Position Controller KV Factor closed loop control Description This parameter contains the value for the proportional gain of the position loop controller The option is available to load a default value for this control loop parameter with the Basic load command See also Function description Determining the Velocity Control loop Setting S 0 0104 Attributes ID number S 0 0104 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English 1000 min Combination check no Posit after the
212. etc nnen nnnn 2 22 S 0 0100 Velocity Loop Proportional Gan 2 22 S 0 0101 Velocity Loop Integral Action Time 2 23 0201 03 Modulo Malte idae Tei at cater sdastares sates VEER ENEE verdee 2 24 S 0 0104 Position Controller KV Factor closed loop control arrnrnnrrnnnnrnnnnnvnnnnrrnnnnrnnnnnnnnnn 2 24 S 0 0106 Current Controller Proportional Gain 1 2 24 S 0 0107 Current Loop Integral Action Time 2 25 5 0 0108 F edrate Override Torreon ari a ca assivatd EEN KACKEN ee 2 25 S 0 0109 Motor Peak Current rctra sriid tearan ideae inas keinnt api kadie pi iranis adiit iia 2 26 S 0 0110 Amplifier Peak Cumrent 2 27 S 0 0111 Motor Current at Standstill cece eeceeeeeeeeeeeeeeeee scence ceaeeeseaeeeeaeeseeeeesaeeseaeeseneeseaees 2 27 S 0 0112 Amplifier Nominal Current sssssesseesseesseesssessssirsrrsnnstnnstnnstnnsstnsrnstussrnssrnssrnssnnsnns 2 27 S 0 0113 Maximum Motor Speed 0 cceeceeseeeeeneeeeeeeeeeaeeeceaeeeeeaeeseeneeseaeeesaaaesseneeseeesesaeeneneees 2 28 S 0 0116 Resolution of Rotational Feedback 1 2 28 S 0 0121 Input Revolutions of Load Gear 2 28 S 0 0122 Output Revolutions of Load Gear 2 29 ERT EEN 2 30 S 0 0124 Standstill WINdOW rarororararnrarnrnrnrnrnrnrnrnrnrnrarnrnrnrnrnrnrnrnrnrnrnrnrarurnrurururarurnrurururururuvnruesen 2 30 S 0 0127 C1 Communication Phase 3 Transition Check 2 30 S 0 0128 C2 Communication Phase 4 Transition Check 2 31 5 0 0134 Master Control Word ccsciciccc
213. etup if incremental or absolute feedback position output should be reached With incremental encoder emulation there is a choice between outputting position command values and actual position vaues DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 37 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Feedback positional output incremental encoder emulation of the actual pos value incremental encoder emulatoin of the position command value Absolute control emulation SSI emulation no output Fig 3 10 Control emulation types IMDR ARIAL P 0 4020 001 b 101 b 010 b 000 b P 0 4020 Attributes ID number P 0 4020 Editability P2 Function Parameter Memory parallel EEProm Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English SS Combination check no Posit after the dec S Cyc transmittable no Input value min max 0 2 Default value 1 P 0 4021 Baud Rate RS232 485 Description There can be different baud rates set for the communication over the serial interface Setting in parameter Baud rate Baud P 0 4021 Fig 3 11 adjustable baud rates Note Do not change the baud rates in the list of all parameters in DriveTop as this would lockout all further communications in DriveTop version lt 3 See also Function Description Communication Parameters P 0 4021 Attributes ID number P 0 4021 Editability P2 P3 P4
214. ev or inch depending on P 0 4014 Combination check no Posit after the dec Cyc transmittable no Input value min max Default value S 0 0121 Input Revolutions of Load Gear Description A mechanical gear will often be employed between the motor and the load The gear ratio is defined by S 0 0122 Output Revolutions of load Gear S 0 0121 Input Revolutions of load Gear Fig 2 9 Gear Ratio 2 28 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers See also Function description Boundary Conditions for Modulo Processing Example 5 motor rotations result is 2 output gear rotations S 0 0121 5 S 0 0122 2 S 0 0121 Attributes ID number S 0 0121 Editability P23 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC_OV Extreme value check yes Unit English Rev Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 4294967295 Default value 1 Rev 5 0 0122 Output Revolutions of Load Gear Description A mechanical gear will often be employed between the motor and the load The gear ratio is defined by S 0 0122 Output Revolutions of load Gear S 0 0121 Input Revolutions of load Gear Fig 2 10 Gear Ratio DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Example 5 motor rotations result is 2 output gear rotations S 0 0121 5
215. exceed their limits were found during the switch from the parameter mode to operating mode Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C102 Attributes SS Display C1 02 Diagnostic message number C102 1 26 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers C200 Communication Phase 4 Transition Check Description The command C2 performs the last steps of the switch from parameter mode to operational mode Thereby numerous parameter checks will be conducted C200 Attributes SS Display C2 Diagnostic message number C200 C201 Invalid Parameter Block gt S 0 0022 Cause Parameters which are necessary for the operation of the drive in operating mode are invalid Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C201 Attributes SS Display C2 01 Diagnostic message number C201 C202 Limit Error Parameter gt S 0 0022 Cause Parameters which are necessary for the operation of the drive in operating mode are outside of its minimum or maximum input values Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C202 Attribute
216. ffset 2 47 Home Reference Position 3 27 Homing Acceleration 2 6 Homing Parameter 2 34 Homing Velocity 2 6 I IDN List of all operational Data 2 2 IDN List of Invalid Op Data for Comm Ph 2 2 2 IDN List of Invalid Op Data for Comm Ph 3 2 2 IDN List of Backup Operation Data 2 40 Impulse Wire Feedback Offset 3 42 Impulse Wire Feedback PIC Counter Value 3 42 Input Revolutions of Load Gear 2 28 Interface Status 2 1 J Jog Velocity 3 42 L Language Selection 2 44 3 2 Last Valid Position Command Value 3 4 Lead Drive 1 Rotation 2 42 Lead drive polarity 3 13 Lead drive position 3 11 Line Count for the Incremental Encoder 3 24 Linear Position Data Scaling Exponent 2 16 Linear Position Data Scaling Factor 2 16 Load Inertia 3 35 Lower traversing limit for automatic control loop setting 3 22 M Magnetization Current 3 32 Manufacturer Class 3 Diagnostics 2 38 Manufacturer Version 2 3 Mask Class 2 Diagnostic 2 21 Mask Class 3 Diagnostic 2 21 Master Control word 2 31 Maximum Acceleration 3 23 Maximum Model Deviation 3 13 Maximum Motor Speed 2 28 Modulo Value 2 24 Moment of Inertia of the Rotor 3 25 Monitoring Window 2 36 Motor Current at Standstill 2 27 Motor Inductance 3 50 Motor Peak Current 2 26 Motor Speed for Maximum Velocity Command Voltage 3 24 Motor Type 2 33 3 35 N Negative position limit value 2 11 Numbers of Motor Pole Pairs Pole Pair Distance 3 5 O Offset of the Analo
217. finds itself in device opening AF then the number of the positioning command which immediately will be worked on can be read here If bit 5 is set in parameter P 0 4027 function parameter then the process block can be pre selected in this parameter via the serial interface P 0 4026 Attributes ID number P 0 4026 Function Parameter Data length 2 Byte Format decimal Unit English Posit after the dec Input value min max 3 40 Supplement A Parameter Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value no no no yes no no DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4027 Function Parameter Description Bit list with different function in the company products ie can be turned of Structure of the parameter 1 feedrate override from analogue channel 0 feedrate override from parameter S 0 0108 1 torque reduction from analogue channel 0 torque reduction from parameter S 0 0092 1 switch off speed monitor 0 speed monitor active free 1 invert position switch point 0 position switch point not inverted 1 select process block via serial interface 0 select proc block of pos 1 5 1 max positioning speed active 0 max positioining speed not active 1 gear adjustment via analog channel 0 gear adjustment via P 0 0083 1 additive sp
218. frequencies X Don t Care n positioning block selected via the parallel inputs or the serial interface max 20 m Positive me Gee C 0 5 mm2 Negative limit switch Inputs min max Input voltage HIGH 16V 30 V LOW 0 5 V DV Input resistance approx 8 kOhm AP0221d2 drw Fig 5 25 Terminal diagram limit DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Example Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 Limit Limit AH START INPOS INBWG Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the EE position inputs are in an iverted condition SV0010d2 drw Fig 5 26 Switching signal dependent block indexing Switching signal for block The start block of a switching signal dependent following block can be indexing not detected either an absolute or relative positioning block This means that if the switching signal for block indexing does not arrive before the target position was reached then the drive will halt If a switching signal is then applied then the drive will conduct the following block Example Spee
219. functionality during installation the position of the reference switch to ideal point will be displayed within this parameter The display is dependent on the set position data scaling type S 0 0076 Position Data Scaling Type and is given in mm grad or inch S 0 0298 Attributes ID number S 0 0298 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_MV Extreme value check no Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max Default value S 0 0299 Home Switch Offset Description If multiple reference marks of the homed measurement system are detectable during the travel motion of the shaft then one of these marks must be selected as the relevant mark with the help of a zero switch The distance between the zero switch edge and reference mark may not be selected too small because the edge will eventually not be properly recognized and the next mark will be selected as a result A monitoring of the distances from edge to mark will be done with measurement systems with multiple reference marks with known and constant distances between each other The minimum allowed distance amount to 1 4 d where d equals the distance between the reference marks The optimum distance amounts to v d If the distance is smaller than 1 4 d then the S 0 0148 C6 Drive Controlled Homing Procedure Command will b
220. g Torque Command 3 36 Offset of the Analog Velocity Command Input 3 36 Optional parameter for automatic control loop setting 3 21 orque Polarity Parameter 2 18 Output Revolutions of Load Gear 2 29 Overload Factor 3 2 P Parameter Buffer Mode 2 45 Password 3 40 Passwort 2 45 Position Command Value 2 10 Position Controller KV Factor closed loop control 2 24 Position Data Scaling Type 2 15 Position Feedback 1 Type Parameter 2 46 Position Feedback Value 1 Motor Feedback 2 12 Position Feedback Value Status 2 51 Position Polarity Parameter 2 12 Position Start Value 3 6 Position Switch Flag Parameter 2 14 Position Switch Point 1 2 14 Position Synchronization Window 2 41 Position Window 2 13 Positioning Acceleration 2 43 Positioning Jerk 2 41 Positioning Velocity 2 43 Positive position limit value 2 11 Primary Mode of Operation 2 4 Process Block Acceleration 3 34 Process Block Jerk 3 34 DOC ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Process Block Mode 3 37 Process Block Selection 3 40 Process Block Target Position 3 33 Process Block Velocity 3 33 Proportional Gain Acceleration Feed Forward 2 48 R Reference Cam Shifting 2 47 3 6 Reference Distance 1 2 12 Reference Offset 1 2 35 Reference Pulse Offset 3 24 Resolution of Rotational Feedback 1 2 28 rocess block Acquittance 3 52 Rotational Position Resolution 2 17 S Scaling for Positio
221. g method 3 4 adjustment of the home switch 10 38 Analog operating modes torque and speed control 10 31 Angle synchronization 9 10 Applications 1 1 Automatic control loop settings 10 13 B Basic Load 10 20 10 21 10 22 10 24 Baudrate 3 3 Bleeder monitoring 10 10 Block diagram of the master axis encoder on the DKC 9 2 Border Requirements for Modulo Processing 10 5 brake 1 6 10 7 Brake Behavior After Switching Off the Control Enable and in Error Conditions 10 51 brake control 10 50 10 51 C Calibrating the Absolute Encoder Emulation 10 36 cam switch 10 32 Cancel password protection 3 10 Change of direction within a following block sequence 5 28 Change password 3 10 Command directory 5 29 Command settings 10 14 COM Port 3 3 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Connecting the Home Switches 10 43 Connecting the Limit Switch 10 6 Connecting the Motor Brake 10 51 Connection of the Analog Override Signal 10 48 Control Drive Response 10 11 10 12 Control Drive Stop Start During a Drive Controlled Homing Procedure 10 54 Control Drive Stop Start During Positioning Operation 10 54 Control Drive Stop Start in Velocity and or Torque Control With Analog Command Value 10 53 Control Enable and Control Drive Stop Connections 10 55 Control loop monitoring 10 10 Control loop setting 10 14 D Data Receiving 5 31 Data References 10 4 Deactivating the Velocity Loop Monitor 10 27
222. g the Absolute Position 10 44 Setting the Absolute Transmitter Monitoring Window 10 46 Setting the Position Loop Monitor 10 28 setting the velocity control value to zero 10 12 Smoothing analog adjustment 9 8 Smoothing Time Constant 10 23 special applications 8 1 Speed control 5 2 Speed pre control 5 2 SSI format 1 6 SSl format 10 35 Start command 10 16 Start in position control with step motor interface and with synchronization modes 10 54 Starting a relative block with residual path save without Interrupt 5 7 Startup procedure 5 31 Startup procedure parameters setup through online operation 3 8 Startup prodecure parameters setup through offline operation 3 8 Step motor operating modes 10 31 Stepping motor controls 6 1 Switch signal dependent block indexing 5 18 Synchronization direction 9 15 Synchronization modes 10 31 T Taking drive limits into account 5 26 Target position 5 1 Index 12 3 IFDRAMA 12 4 Index ECODRIVE DKC01 1 DKC11 1 Drive Controllers Teach In actual position 5 29 Temperature monitor 10 10 Terminals from components 8 1 The reasons that speed control monitor is actuated can be 10 27 Travel range limits P 0 0166 and P 0 0167 10 13 Travel region exceeded 10 5 Triggering a motion 10 16 Type of data exchange via RS232 11 2 U unit of measure 10 2 Unlock drive 3 11 V Velocity 5 30 Velocity loop monitoring 10 26 Velocity synchronization 9 5 vibration 5 30
223. ge Danger to life severe electrical shock and risk of injury gt gt gt Only those trained and qualified to work with or on electrical equipment are permitted to operate maintain and or repair this equipment Follow general construction and safety regulations when working on electrical installations Before switching on power the ground wire must be permanently connected to all electrical units according to the connection diagram At no time may electrical equipment be operated if the ground wire is not permanently connected even for brief measurements or tests Before beginning any work disconnect mains or the voltage source from the equipment Lock the equipment against being switched on while work is being performed Wait 5 minutes after switching off power to allow capacitors to discharge before beginning work Measure the voltage on the capacitors before beginning work to make sure that the equipment is safe to touch Never touch the electrical connection points of a component while power is turned on Before switching the equipment on covers and guards provided with the equipment must be installed to prevent contact with live parts Before operating cover and guard live parts properly so they cannot be touched A leakage current protective device must not be used for an AC drive Indirect contact must be prevented by other means for example by an overcurrent protective device European countries
224. ginning value selected for the Kv factor should be relatively small Kv 1 Determining the Critical Position Loop Gain Run the drive in a mode in which the position regulation loop is closed in the drive Run the shaft at a low speed 10 20 Rpm via the jog function of the connected NC control for example Raise the Kv factor until operation begins to be unstable Reduce the Kv factor until the continuous oscillation disappears by itself The Kv factor determined through this process is the Critical Position Control loop Gain Determining the Position Regulator Setting In most applications an appropriate position regulator setting will lie between 50 and 80 of the critical position control loop gain This means 5 0 0104 Position Loop KV Factor 0 5 0 8 x KVerit DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 25 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 10 7 Loop Monitoring The following loop monitors are provided to ensure that the control drive functions properly e Velocity loop monitoring e Position loop monitoring Loop monitoring Velocity loop monitoring active inactive Position loop monitoring Max position difference siino mm Control window 3 000 mm Fig 10 22 Loop Monitoring Velocity Loop Monitoring The velocity loop monitor can be activated in the following operating modes e Velocity control with analog command value
225. great 1 37 I Inertia Detection Failed 1 39 Interpolation acceleration equals 0 1 16 Invalid Amplifier Data gt S 0 0022 1 29 Invalid Communication Parameters S 0 0021 1 26 Invalid Feedback Data gt S 0 0022 1 29 Invalid Parameter gt S 0 0022 1 27 Invalid SSI Parameter gt S 0 0022 1 28 J JB Jogging in a Negative Direction 1 45 JF Jogging in a Positive Direction 1 45 Jog Position Limit Value Exceeded 1 24 L Limit Error Communication Parameter S 0 0021 1 26 Limit Error Parameter gt S 0 0022 1 27 Load Error LCA 1 28 Load Parameter Default Value 1 2 Low Battery Voltage 1 7 M Modulo Range Error 1 33 Motor Encoder Error Quadrant Error 1 6 Motor Encoder Failure Signals too Small 1 11 Motor Feedback Data Reading Error 1 32 Motor Feedback Initializing Error 1 32 Index 2 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Motor Feedback Not Valid 1 39 Motor Overtemperature Shutdown 1 4 Motor Overtemperature Warning 1 17 Motor Type not Reported 1 2 N Negative Position Limit Value Exceeded 1 24 Negative Travel Limit Switch Detected 1 11 Negative Travel Limit Value is Exceeded 1 9 Negative Travel Zone Limit Switch Activated 1 25 Not Homed 1 19 O Overcurrent Short in Powerstage 1 12 Overvoltage Error 1 22 P Parameter Calculation Error gt S 0 0022 1 28 Parameter storage activ 1 16 Phase Synchr Lagless Encoder 1 Real Lead Drive 1 44 Position Data Sca
226. h residual path save in following block mode Example Speed profile Standstill window NN Restart X 500 POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV5014d1 drw Fig 5 29 Following block interrupt with identical blocks selected Changing into jog mode Note Given a change into jog mode during an interrupt the previously interrupted following block sequence is completed upon restart if no new block has been selected 5 22 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Speed profile Standstill window 1 POS1 POS5 sr Soe boer Corp EED i DENE a AH START ee E He E SS 3 INPOS i ar nee l l Se TT Regulatoar release sog re Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV5015d1 drw Fig 5 30 Following block interrupt wi
227. he reference command will be discontinued with this error If the encoder was able to be homed through the set absolute measurement a position on the home value will be erased with the homing command Remedy Home the absolute encoder with the command Set Absolute Measurement C604 Attributes SS Display C6 04 Diagnostic message number C604 1 36 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers C605 Homing velocity too great C700 Basic Load Cause Unequivocal allocation of a reference marker to a zero switch is not possible at a high velocity since the zero switch is only evaluated every 2ms Remedial action Reduce the value of S 0 0041 Homing velocity C605 Attributes SS Display C6 05 Diagnosis number C605 Description When using MDD and MKD motors the technical control adaptation of the mechanical system on the digital drive relates to the activation of the stored velocity control parameter in the motor feedback The drive controller signals with the message C7 that the command C7 basic load was activated with the command S 0 0262 command basic load C700 Attributes SS Display C7 Diagnostic message number C700 C800 Load Basic Parameters Description By pressing the S1 button on the controller with display PL or by starting the P 0 4094 Command Parameter Default Set all parameters will be
228. he use of an absolute encoder the drive memory data and actual feedback position value on the axis will be compared during the command to execut window 3 gt 4 If the difference is larger than what is parameterized in parameter P 0 0097 the error message F276 Absolute encoder error will be generated This error indicates that the absolute position of the axis has changed since the last time it was removed from operating mode As a default value one can typically use 45 degrees with respect to the motor shaft if the axis is equipped with a holding i e self locking brake P 0 0097 Attributes ID number P 0 0097 Editability P234 Function Parameter Memory Param E prom Data length 4Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max 0 S 0 0076 Default value 30 00 Deg 3 12 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0098 Maximum Model Deviation Description Under the maximum model deviation one can determine the maximum deviation between real position feedback and one calculated by a drive position feedback module The parameter can be read in the Control window by the user as an assist in the parameterization of S 0 0159 Two cases must be distinguished for understanding and utilizing the p
229. heck P3 Format DEC_OV Extreme value check no Unit in Ger Eng Combination check no Posit after the dec 0 Cyc transmittable no Input min max Default value 3 52 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4094 Command Parameter Default Set Description With the operation of this command all parameters will be placed in the parallel EEProm with the EEProm stored values Invalid parameters will be corrected After the trade of the company version all parameter will be set as invalid THe drive calls then PL on the seven segment display the serial interface is still not active By pressing the button S1 this command will also be started so that all the parameters stay on the default value P 0 4094 Attributes ID number P 0 4094 Editability P2 Function Command Memory no Data length 2 Byte Validity check no Format binary Extreme value check yes Unit English Combination check no Posit after the dec z Cyc transmittable no Input value min max 0 11 b Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 53 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Notes 3 54 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIAL 4 Index ECODRIVE DKC01 1 DKC11 1 Drive Controllers A Absolute Encoder Buffer 3
230. ievable positioning acceleration fixed P 0 4010 load inertia The moment of inertia determined with the automatic control loop setting is stored in this parameter meaning it can be accessed for reading but not or writing The parameter is backed up in the EEPROM P 0 0168 maximum acceleration The maximum drive acceleration determined with the automatic control loop setting is stored in this parameter DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 10 6 Manual control loop settings General Information for Selecting the Control Loop Settings The optimization of the control loop settings is generally not needed The control loop settings in a digital drive controller are important for the performance characteristics of the servo axis Determining the control loop settings requires expert knowledge For this reason motor specific control parameters are available for INDRAMAT drives In some exceptional cases however it may be necessary to adjust the control loop settings to a specific application The following section gives a few simple but important rules for setting the control loop loop parameters in cases such as these In each situation the prescribed methods should only be viewed as guidelines which lead to a robust control setting Specific aspects of some applications may require settings which deviate from these guidelines Loadi
231. imit value error or e C203 Parameter conversion error This IDN list of invalid parameters may be displayed and edited through the DriveTop menu selection Parameter List of all invalid parameters S 0 0022 Attributes ID number S 0 0022 Editability no Function Parameter Memory no Data length 2Byte variable Validity check no Format IDN Extreme value check no Unit English Ss Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value S 0 0030 Manufacturer Version DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Description The drive firmware version can be read as text from this parameter Example DKCO1 1 ASE 04V01 Release Version FirmwareType Hardware Type S 0 0030 Attributes ID number S 0 0030 Editability no Function Parameter Memory fixed Data length 1Byte variable Validity check no Format ASCII Extreme value check no Unit English e Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value Supplement A Parameter Description 2 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 0 0032 Primary Mode of Operation Description The mode of operation defined in this parameter will be activated in the drive when e the control and power sections are ready for operation e the controller enable RF is set e and the AH Start signal has been given The operating mode is selected by ente
232. ination check no Posit after the dec 2 Cyc transmittable no Input value min max 0 655 35 Default value 100 00 S 0 0109 Motor Peak Current Description Specifies the maximum current which may flow through the motor for a brief period without damaging it If the motor s peak current is less than the amplifier s peak current the maximum current that is available will be automatically limited to the motor s peak current This value is stored in motor feedback for MDD and MKD motors and will be uploaded to the controller ram when the controller is turned on S 0 0109 Attributes ID number S 0 0109 Editability no Function Parameter Memory Feedb E prom Data length 4 Byte Validity check Phase3 Format DEC ON Extreme value check yes Unit English A Combination check no Posit after the dec 3 Cyc transmittable no Input value min max 0 500 Default value 2 26 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA 5 0 0110 Amplifier Peak Current Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers Peak current available from the drive controller The value will be set by the drive itself This current is only available for short dusations S 0 0110 Attributes ID number S 0 0110 Function Parameter Data length 4 Byte Format DEC_OV Unit English A Posit after the dec 3 Input value min max 0 001 500 S 0 0111 Motor Current at Standstill Description Ed
233. ing Exponent c ccccceeesceceeeeeeeeeeeeeeeseneeeseeeeseaeeeeaeeeenees 2 16 S 0 0079 Rotational Position Hesoluton 2 17 S 0 0080 Torque Force Command Value nssssnnessssinenesrnnseetrnnse ttnet ttr nnnttn rnnt tnn nnne tn nnnt rannen 2 17 S 0 0084 Torque Force Feedback Value cccccessececsesseeceeneeeeeeeaeeeseeeaeeesesaeeseseaeeessenaeeseneaas 2 18 S 0 0085 Torque Polarity Parameter 2 18 S 0 0086 Torque Force Data Scaling Type 2 19 DOC ECODRV ASE 04VRS FKB1 EN P e 07 97 Contents ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Il Contents S 0 0091 Bipolar Velocity Limit Value 0 0 2 ccceeeceeeceeeeeeeeeeeeaeeeeeeeceeeeeeaeeesaaeeeeeeeseaeeesiaeeseeeeeaes 2 19 S 0 0092 Bipolar Torque Force Limit Value cae eeeaaeeeneeeeeaeeseaeeeeaeeseeeeess 2 19 S 0 0093 Torque Force Data Scaling Factor ccccccceceeeeeeeeeceeeeeceeeeeaeeseaeeseeeeeseaeeesaeeeeneeees 2 20 S 0 0094 Torque Force Data Scaling Exponent ccccecececeeeeeceeeeeeeeeeeeeeeeeeeeeaeeesaeeeeneeseeeeess 2 20 S 0 0095 Diagnostic Message seeseeseeseesiissiresirssiissirssinssinssttsstnsstnnstnnstnnstnnntnn nenn nnnn nenn nnt 2 21 S 0 0097 Mask Class 2 Diagnostic cccccceeeeeceeeeceee teas eeeaaeceeeeeeaeeecaaeseeaeeseeeeeseaeeesaeeseneeees 2 21 S 0 0098 Mask Class 3 Diagnostic rrrrrannvrnnnnvnnenvvnrnrrennrrvnnnvnnennenrrrrennrnnnnnnenenreenrrresnrnsennnernnn 2 21 S 0 0099 C5 Reset Class 1 Diaono
234. ing block n with mode 1 followed by following block with intermediate halt as there is a reversal of direction with the transition from block n to block n 1 This means that a change in qualifying sign for speed takes place with target position n 1 instead If the accel parametrized in block n 1 does not suffice to decel within the path diferent Xn 1 Xn from speed v to 0 then the parametrized target position X will inevitably be overrun This can trigger both the software and hardware limit switches Speed Uberfahren der Zielposition profile Geng Se Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Positioning inputs valid Ss Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the ER position inputs are in an iverted condition SV5020d1 drw Fig 5 36 Parametrizing a following block with directional change Note In this case it is urgently necessary to take the above referenced formula for minimum accel into account to avoid any overrunning of the position 5 28 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRAMAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 5 Positioning Command Input Positioning command data will be established via the positioning
235. ing error When positioning in this mode a speed dependent difference between the command position and the actual position results following error The time relationship between positioning processes depends on the fixed Kv factor and may cause a creeping into the desired position especially with a small Kv factor Position control without following error An expected speed control will position the drive controller without following error thereby causing the command position and the actual position to be the same Therefore positioning is not dependent on a speed difference between the command and actual position When in position control without lag distance a speed pre control ensures that command and actual position are the same at constant command speed No speed dependent difference between command and actual position results Selecting the appropriate position control mode In general the position control without following error is advantageous because in this mode the drive reaches its desired position the quickest No Kv factor dependent creeping Given a less rigid mechanical system undesireable acceleration kink points as well as the mechanical vibrations are loosened If the application permits disadvantageous following errors then the use of position control with following error is suggested Vibrations will then be dampened through the reduction in the Kv factor A compromise is thus created between positioning an
236. ing modes can be selected e Quadrature signals e Forward backward signals e Step and direction signals The steps per revolution executed by the drive controller can be adjusted Step drive signal processing Interface mode ah oe Quadrature signal JL m Forward back signal aL EE Step and direction signal Steps per rotation 1250 Fig 6 2 Stepping Motor Signal Processing Note The DKC only processes the plses set if the drive enable and the AH start signal have been applied and there is no drive error In other words fed impulses are lost if the drive is without drive enable signal or in drive halt The processed impulses are entered by position control without prior filtering If the actual position value is in the positioning window then the INPOS message is active DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Stepping Motor Interface 6 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 6 4 Stepping Motor Interface Interface Mode 1 Quadrature signal SM 1 SM 2 Clockwise t1 21 4 us 2 Forward backwards signal SM 1 SM 2 Counter clockwise Clockwise 3 Step and direction signals SM 1 SM2 Counter clockwise tL22 8us 1325 6 us SV0200d4 drw Figure 6 3 Stepping Motor Interface Mode Stepping Motor Interface Max allowable input voltage 30 V Max switching frequency 175 kHz AP0005d1 drw Fig
237. ing of the Analog Velocity Command Value ovn nrnnnnnvnnrrrennnrrennnrnnennnerenn 7 2 Command Value Smoothing arsrrnanvvnrerrvrnnvrnnnnvnnrnvennnr renn nrnnnnnnnrenrennr nen nnnnennennnraesnnnnnsnnenrrnresnnnenn 7 3 Analog Wl ler 7 3 8 DKC01 1 DKC11 1 Drive Controller with Analog Torque Interface 8 1 8 1 General Instructions for Operation with Torque Interface cecsceceeeceeeeeeeeeeseeeeeeeaeeesaeeeeeeeeneeeesaes 8 1 8 2 Setting the Operating Mode Torque Regulation with an Analog Command Value sssssnsssnnneeeeeen 8 2 8 3 Analog Torque Command Value Processing cc cccecceceeeeeeeeeeeeeeeceeeeeeaaeeeeaaeseeeesaeeesaaeeseneeenieeenaes 8 3 Scaling the Analog Torque Command Value sssesseesssesseeeseeeseest tsenter nesnnstnnssrnesrnsrnsnnssrnssrnsnns 8 3 Adjusting the Offset of the Analog Torque Input 8 3 Analog Interface musa ieii ae nee O eed ae bedrede i aan 8 4 8 4 Velocity Supervision in Torque Hegulaiton nenn nnt 8 4 9 DKC01 1 DKC11 1 with velocity and angle synchronization 9 1 9 1 Implementing an electronic gearbox ec eeeeeeeeeeeneeeeeeete ee eee ae ee eet ae ee eee ae seen ea aeee ee taaeeeeeeaeeeeneae naeeeeneaa 9 1 9 2 Generating the Master axis Dositon tett tttt nsir nsttnstrnssnnsttnnttnnntnatnstnsannn nunten nenn nnt 9 2 WE e elt E Le TE 9 5 Setting operating mode velocity synchronization real Master ais 9 5 The basic operating principle of velocity svpnchrontzaton cece eeeseeeeeeeeeeeeee
238. ing of the analog signal takes place in the same way as with velocity control with analog velocity command value 9 8 DKC01 1 DKC11 1 with velocity and angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 INDRA DIAL ECODRIVE DKC01 1 DKC11 1 Drive Controller Synchronization with velocity synchronization Parameter P 0 0142 V soll intern The following drive can synchronize from any initial state taking P 0 0142 synchronization acceleration into acount into a synchronous state There is no jerk limit The drive works in speed control and generates speed command values V soll synch V soll add synchronizing speed synchronously P 0 0142 synchronization mode synchronizing speed synchronously Fig 9 14 Example of synchronizing with velocity synchronization The example shows a drive currently braking i e at the start of synchronization both the velocity and the acceleration of the following drive are not equal to 0 At the start command acceleration jumps to synchronization directly to the value set in parameter synchronization acceleration P 0 0142 Synchronization is completed if the internally generated speed Vsoll intern IS equal to the synchronous speed Vsolsynch Speed command value additive S 0 0037 Vsoll ada Check back with speed synchronization Parameter S 0 0183 In speed synchronization mode the check back In synchronization in manufa
239. ing should only be necessary in exceptional cases D904 Attributes SS Display D9 04 Diagnostic message number D904 D905 Wrong Position Range Description Before starting an automatic control loop setting both travel range limits i e upper and lower must be defined When starting command P 0 0162 D9 automatic control loop setting the number values are automatically checked for validity It is checked if the traversing path is large enough and if sensible values have been entered Possible fault causes e P 0 0167 upper traversing range smaller than P 0 0166 lower traversing range e Maximum traversing path upper lower limits is less than 6 motor rotations and thus too small to start the automatic control loop setting Remedy e clear command error by ending the command e a input new limits whereby upper gt lower limits b redefine limits to define a larger traversing range e restart command with sensible traversing range 1 40 supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers See also Function description Prerequisites for starting the automatic control loop setting D905 Attributes SS Display D9 05 Diagnostic message number D905 D906 Position Range Exceeded Description During automatic control loop setting there is a constant monitoring of the valid traversing range P 0 0166 and P 0 0167
240. ing synchronization axis speed acceleration Fig 9 22 Synchronization example no 2 9 14 pKC01 1 DKC11 1 with velocity and angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRAMNAL ECODRIVE DKC01 1 DKC11 1 Drive Controller Start conditions additive pos com value 0 master axis speed 0 following axis speed 0 master axis speed synchronization compensated angle offset synchronization speed following synchronization axis speed acceleration Fig 9 23 Synchronization example no 3 Synchronization direction In parameter P 0 0151 synchronization init window for modulo format the position difference as it relates to the following drive is entered within which the rotation direction can deviate during synchronization from that set If the positioning difference is greater than the synchronization window with modulo format P 0 0151 then the direction of synchronization is set by parameter P 0 0013 command value mode for modulo format If the positioning difference is smaller than this value then synchronization could take place counter to the rotational direction set in parameter P 0 0013 Generally both master and following axes will be brought to a defined initial position homing and only then is synchronization started Check back with angle synchronization In angle synchronization mode the following check backs are set The following parameters are taken into
241. ion The positioning acceleration with which the drive accelerates and decelerates can be defined for each positioning command The jerk of the acceleration occurs in consideratio of the following points e Maximum torque of the motor in terms of the motor and drive controller combination e Inertial and frictional torque of the connected mechanical system Note Both of these parameters are automatically determined with the control settings and maximum parametrizable acceleration is calculated P 0 0168 This value should be viewed as a suggested value and is automatically displayed at the end with the control setting If acceleration is physically not possible too big then expect error F228 excessive deviation Accel values that are too small mean tht the parametrized position speed cannot be reached This presents a problem in connection with following block mode see parameter notes for following block mode See also P 0 4008 process block acceleration Jerk The acceleration change of a motion in terms of time is defined as a jerk A jerk will represent the acceleration change of a movement in terms of time ECODRIVE presents the opportunity to limit the jerk of a motion The jerk limit will be set to avoid vibrations which acceleration or deceleration will generate This specific effect can be caused in particular with a moveable stiff mechanical system 5 30 DKCO1 1 Drive Controller with Integrated Positioning
242. ion Speed synchronization S 0 0236 Attributes ID number S 0 0236 Editability P2 P3 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC OV Extreme value check yes Units English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 0xFFFFFFFF Default value S 0 0237 Slave Drive Rotation Description The gear ratio between the master calculated as follows drive 1 and the slave drive is slave drive revolutions 1 S 0 0237 Conversion relationship 1 Master drive 1 revolutions S 0 0236 Fig 2 2 S 0 0237 Gear Ratio The Slave Drive Rotations I S 0 0237 must have valid data See also function description Speed synchronization S 0 0237 Attributes ID number S 0 0237 Editability P2 P3 Function Parameter Memory Param E prom Data length 4 bytes Validity check Phase 3 Format DEC OV Extreme value check yes Units English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 0xFFFFFFFF Default value 2 42 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 0 0258 Target Position Description The target position will be assigned to the drive as a command value by the controller in the Drive internal interpolation operating mode The drive travels toward the target positi
243. ion 1 e 0 0121 input revolutions of load gear e 0 0122 output revolutions of load gear e P 0 0083 gear ratio adjustments e 0 0037 additive velocity command value e P 0 1222 command value smoothing time constant e P 0 0142 synchronization acceleration Setting operating mode velocity synchronization real master axis Operating mode Velocity synchronization real master axis is set via the dialog controller motor type select operating mode Controller Motor type Operating mode Motor type MKD041B 144 KGO Controller type DKC01 1 030 3 Overload factor PwM Frequency 4kHz 8 kHz Firmware version DKC1 1 ASE 04V10 Operating mode Velocity synchronization real master The following entry gives a name to the axis Choose as you please f axis The name appears in the headline of DriveTop and helps you to identify the actual online drive Fig 9 7 Velocity synchronization real master axis DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 DKC11 1 with velocity and angle synchronization 9 5 ECODRIVE DKC01 1 DKC11 1 Drive Controller IFDRANA The basic operating principle of velocity synchronization 5 0 0037 Additive Velocity Command Value P 0 1222 Command Value Smoothing Time Constant P 0 0108 Lead drive polarity TR P 0 0053 Lead drive J gt Q S 0 0036 Velocity S 0 0237 Slave Drive Rotation AN S 0 0236 Lead Drive 1 Rotation 7
244. ion check Extreme value check no operating data will not be checked for extreme values when written to yes operating data will be checked for extreme values when written to DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 1 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Combination check no the operating data will not be checked bitwise for valid combination with other paramter values when written to yes the operating data will be checked bitwise for valid combination with other parameter values when written to Cyc transmittable only in SERCOS devices Default Value The default value indicates the value of the parameter loaded into fixed memory with the current version of firmware installed on the drive following the PL program load command and prior to user edits or loading saved parameter files 1 4 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 2 Standard parameters S 0 0014 Interface Status Description The current communication phase can be requested through the first three bits 0 1 2 2 The drive is in parameter mode 4 The drive is in operate mode Structure of the parameter Bit 0 2 Communication phase Bit 3 reserved Bit4 reserved Bit 5 reserved Bit6 reserved Bit 7 reserved Bit 8 reserved Bit 9 reserved Bit 10 reserved Bit 11 reserved
245. ioning input Pan for example positioning block No 1 negated meet Positioning acknowledgment output after valid block is accepted shows non inverted state of the active positioning block for example positioning block No 1 SV0003D2 drw Fig 5 40 Acknowledgement with positioning block executed Acknowledgement with non Speed executed positioning block profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Positioning input is valid for example positioning block No 01 XX State of positive input is not relevant Positioning acknowledgment output shows negated state of positioning input ag for example positioning block No 1 negated Si Positioning acknowledgment output after valid block is accepted shows non inverted state of the active positioning block for example positioning block No 1 SV0042D2 drw Fig 5 41 Acknowledgement with non accepted positioning block DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKCO01 1 Drive Controller with Integrated Positioning Control 5 33 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Acknowledgement of following In following block mode the number of the process block just reached is blocks acknowledged Speed v profile Standstill window _ _ POS1 POS5 oT x XX xx 5 POSQ1 POSQ5 Rat i 02 03 K 0 AH START Ee 8 i INPOS
246. iption If dynamics are selected greater than that which the drive can achieve as a result of its mechanical construction then a weakly damped control loop will result and the drive will begin to oscillated This drive itself in a case like this detects and influences the control parameters automatically until a sufficiently damped control loop setting is achieved Note Generally speaking presetting a default value of 88 P 0 0163 3 0 produces satisfactory results See also Function Description Precondition for starting the automatic control loop setting P 0 0163 Attributes ID number P 0 0163 Editability P2 P3 P4 Function Parameter Memory no Data length 2 Byte Validity check Phase3 Format DEC_OV Extreme value check no Unit English Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 5 20 0 Default value 3 20 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0164 Automatic control loop setting applications In order to take control strategies related to an application into consideration with the automatic control loop settings the user receives a selection list from which the desired application can be selected This offers e g the option to completely switch the I gain off for example and so on The information below relates to the speed controller Value P Applica
247. itability Memory Validity check Extreme value check Combination check Cyc transmittable Default value no Fixed E prom Phase3 yes no no The motor current at standstill is the continous motor current capability at standstill according to the motor data sheet This value is stored in motor feedback for MDD and MKD motors and will be loaded into the controller ram when the controller is turned on All torque force data refer to motor current at standstill 100 S 0 0111 Attributes ID number Function Data length Format Unit English Posit after the dec Input value min max S 0 0112 Amplifier Nominal Current Description S 0 0111 Parameter 4 Byte DEC_OV A 3 0 500 Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value no Feedb E2prom Phase3 yes no no Allowable continious current output for the drive controller The value will be set by the drive itself S 0 0112 Attributes ID number S 0 0112 Function Parameter Data length 4 Byte Format DEC OV Unit English A Posit after the dec 3 Input value min max 0 001 500 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value no Fixed E prom Phase3 no no no Supplement A Parameter Description 2 27 ECODRIVE DKC01 1 DKC11 1
248. ition The reference position is the current position Example Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release 353 ke lt 14ms Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the r position inputs are in an iverted condition SV5002 d1 drw Fig 5 14 Interrupting a relative block with residual path save and new block select DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Continuous Motion in Positive Negative Direction Should a motor with defined speed acceleration and jerk move without a specified position then the command mode must be specified as Movement in a positive direction or Movement in the negative direction The drive controller moves continuously in the given direction until the start signal is removed i e one of the position limits or limit switches is reached The desired position is meaningless in this positioning mode See also section 10 10 Jogging Input dialog Mode Move to positive direction Cont block no continuation record Speed Profile Example Speed profile Standstill window _ _ POS1 POS5 POS
249. ition range See also D906 position range exceeded P 0 0167 Attributes ID number P 0 0167 Editability P2 P3 P4 Function Parameter Memory no Data length 4Byte Validity check during D9 Format DEC_MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value 0 3 22 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 INDRAMNAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0168 Maximum Acceleration Description The maximum possible acceleration for the drive in use is displayed in this parameter s data field The value is closely approximate to being indirectly proportional to the drive s total moment of inertia motor plus load and directly proportional to the peak torque of the drive This maximum value is determined when controller values are automatically set P 0 0162 and is used as a default value for determining the positioning commands The numeric value 0 is entered as a default value to make it obvious that the parameter has not yet been set to a valid value P 0 0168 Attributes ID number P 0 0168 Editability P2 P3 P4 Function Parameter Memory no Data length 4 bytes Validity check no Format DEC_OV Extreme value check no Unit in English S 0 0160 Combination check no Posit after the dec S 0 0160 Cyc transmittable no Input min max 0 S 0 0160 D
250. itioning velocity This parameter is affected by the weighting of rotary and translatory speeds In ECODRIVE traversing at limited speed is activated by setting bit 6 of the function parameter Bit 6 1 limited speed Bit 6 0 full speed as selected The limit takes affect immediately Even the speed of a linear positioning process will be limited DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 9 Positioning interface connections max 20 m NANAKNYVYYVYVYVY Inputs Input voltage min max HIGH 16V 30 V LOW 0 5 V 8V Input resistance approx 5 kOhm POS1 POS2 POS3 POS4 Outputs Output voltage in max HIGH Uext LOW oV 1V Output current but 80 mA Leading time fall time approx 5 us Overload protection at lout gt 300 mA the outputs switch to LOW AP0217d1 drw Fig 5 49 Positioning interface POS1 POSS Positioning command selection inputs binary coded POSQ1 POSQ5 Positioning command selection acknowledgements binary coded 5 42 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 6 DKC01 1 Drive Controller with Stepping Motor Interface 6 1 General Information on op
251. itive 360 00 Deg negative 360 00 i Deg Limit switches are configured active normally open not active normally closed Reaction to exceeding traversing range Warning Error Speed limit bipolar 3000 0001 y max positioning speed 1000 0000 any CG Torque limit bipolar 299 0 FS Torque force peak limitation 500 0 FS _ Torque limit by analog input Yen Pox P Fig 10 5 Drive limits Transverse range limits ECODRIVE provides two internal methods to monitor the travel range of an axis e Travel limit switches e Position limits A travel region is exceeded when a directional travel limit switch is activated or when a position feedback value referenced to the machine zero point exceeds one of the position limit values DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Activation and Parameters for Position Limit Monitoring The drive must be homed before the position limit can be monitored The position limit monitor can be either activated or deactivated In particular the position limit monitor must be deactivated in applications with continually rotating shafts The positive and negative position limit values can be independently entered To assist with setup the current position feedback value is displayed Note Reference is lost with singleturn encoders as soon as a phase is changed Activ
252. ive is in the desired position the Set absolute encoder emulation command should be selected Doing this sets the current transmitted position equal to the value given as the home position DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IMDR ARIAL Illustration of Absolute Actual Position Value Output Connections max 20 m generator 0 Vext Difference outputs 0 5 mm2 Output voltage HIGH LOW min max 2 5 V 5V oV 0 5 V Output current 1out max 20 mA Overload protection Outputs may not be short circuited Danger of damage Difference inputs Input voltage HIGH LOW max 5V 0 8 V Input resistance 12 kOhm Clock frequency 100 1000 kHz AP0215d1 drw Fig 10 31 Absolute actual position value output 10 10 Drive controlled Homing Procedure In operating modes e positon control with positioning interface e position control with step motor interface e angle synchronization e and speed synchronization it is possible to establish the dimensional reference to machine zero point via the drive internal referencing procedure Note In operating modes with the analog interface the measurement relationship to the machine zero point should be set via the connected control system Consequently the Drive Controlled Homing Procedure function is not available in these a
253. ive positioning block without residual distance save DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Relative positioning block with residual path save Relative positioning block with residual path save is executed if the drive was not homed In a relative positioning block with residual path save the target position is a relative path in terms of the current position Input dialog Mode relative positioning with remaining path memory sl Cont block no continuation record Speed Profile Fig 5 7 Relative positioning block with residual path save Incremental dimension By sequencing relative positioning blocks it is possible to position with reference incremental dimensioning Interrupting a relative positioning block with residual distance save means that the reference dimension is not lost 5 6 DKC01 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Starting a relative block with residual path save without Interrupt Behavior When starting a relative positioning block with residual path save the target position in the positioning block is added to the current position Note The incremental dimension reference is guaranteed Reference position The current position is used as the reference position Example Re
254. l 1 the scaling of velocity data evaluated will be established by parameter P 0 0040 The unit of rom 10V will always reference the motor P 0 0040 Attributes ID number P 0 0040 Editability P234 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English Rpm 10V Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 65535 Default value 3000 Rpm 10V P 0 0041 Scaling of Velocity Analog Output Channel 2 Description With the selections in the parameter P 0 0039 signal select analog output channel 1 the scaling will be established with parameter P 0 0041 Thereby a unit of rpm 10V will always be established at the motor An eventually existing operational translation will not be considered P 0 0041 Attributes ID number P 0 0041 Editability P234 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English Rpm 10V Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 65535 Default value 3000 P 0 0042 Scaling for Position Data on Analog Output Channel 1 Description By selecting numbers 5 or 7 in parameter P 0 0038 Signal selection for analog output channel 1 the scaling of position data will be established in parameter P 0 0042 The unit of degrees 10V reference the motor
255. lag distance P 0 0042 0x8 motor encoder with sinusoidal 1 1 signal 0x9 motor encoder with cosine 1 1 signal 0x12 torque generating actual P 0 0136 current actual magnetiziation current P 0 0136 0X16 bleeder load 10V 100 Fig 10 49 Selecting signals with analog output Note Velocity and position data always refer to the motor shaft The scaleable output signals can reach overload if the scale is selected such that the current signal value exceeds the 10V limit The exceeded value is emulated in the displayable 10V range and makes it possible to examine signals with a higher resolution DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Oscilloscope for example Outputs Output voltage AK1 0V AK2 0V DA converter Resolution per bit AP0212d1 drw Fig 10 50 Illustration of the diagnostic output connection 10 14 Motor Brake Servo axes must be secured against unwanted movement when the power is off if movement could cause damage INDRAMAT motors are available with optional integrated brakes ECODRIVE DKC drive controllers have an integrated brake control Note INDRAMAT motors have optional holding brakes which are not designed to be operating brakes Under closed use brakes become worn out after approx 20000 motor revolutions It is therefore important to pay attention to the proper function of a brake when installing a control driv
256. lative positioning with residual path save with taget position 700 without interrupt current position 200 Speed profile Standstill window _ POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release gt lt 14 ms Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV0002 d2 drw Fig 5 8 Relative positioning block with residual path save DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Interrupting relative positioning blocks with residual path save with drive halt Reference position The last InPos message at x 100mm is used as current position Note The incremental dimension reference is guaranteed Example Interrupted relative positioning block with residual path save with target position 600 reference position 100 Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release gt gt Le lt 14ms Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs d
257. ler can be set to the value of 4 and 8 kHz P 0 4011 Attributes ID number P 0 4011 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC ON Extreme value check yes Unit English kHz Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 4 8 Default value 4 Description With this parameter the motor type will be selected The parameter is not changeable because the operation of synchronous motors is only possible e 1 Synchronous motor P 0 4014 Attributes ID number P 0 4014 Editability no Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 5 Default value SS DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IMIDR ARIAL P 0 4015 Circle Voltage Description The circle voltage is stored as a parameter in the amplifier The parameter is not editable and serves only the display as well as internal calculations PWM P 0 4015 Attributes ID number P 0 4015 Editability no Function Parameter Memory Verst E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English V Combination check no Posit after
258. lers IFDRANA P 0 4034 Stepper Motor Interface Mode Description Setup of the mode of the stepper motor control signals Fig 3 13 Stepper motor modes P 0 4034 Attributes ID number P 0 4034 Editability P2 Function Parameter Memory parallel EEProm Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English Se Combination check no Posit after the dec Cyc transmittable no Input value min max 1 3 Default value 1 P 0 4035 Unbalanced Current Description In this parameter the current value is stored with which the scaling of the current measurement of the drive control is precisely compared This is used to eliminate system errors in current measurement The value has no meaning to the user and cannot be changed P 0 4035 Attributes ID number P 0 4035 Editability no Function Parameter Memory Verst EEPROM Data length 4 Byte Validity check Phase 3 Format DEC_OV Extreme value check yes Unit English A Combination check no Posit after the dec 3 Cyc transmittable no Input value min max 0 500 Default value P 0 4036 Contacted Motor Type Description In this parameter the drive controller identifies its type in text format If this locked type deviates from that read out of S 0 0141 motor type during heavy switching in drive mode then a new motor is contacted The the server should display UL basic load to indicate that motor dependent parameters have
259. limit position _ must be set Proceed as follows for the setting 1 Press the Lower position button The value for the lower position begins to blink and the Teach in button appears 2 Move the axis to the one end of the traveling range use the jog function or enter a set value You can see the exact position of the axis from the value showed by the Current position 3 Press the Teach in button and the value for the current position is entered as the one for the lower position 4 Press the Upper position button The value for the upper position begins to blink and the Teach in button appears Fig 10 12 Dialog 1 automatic control loop settings in DriveTop DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Start command The command can be set with DriveTop in dialog automatic control loop setting by pressing the key Start automatic control loop setting See also Fig 10 13 Another option is to write the operating data of parameter P 0 0162 D9 automatic control loop setting via the serial interface RS232 RS485 with the binary numeric value 3 11b Automatical loop setting 3765 45 Deg 22512 86 Deg Set default values for regulation parameters Application machine tool al 78 Dynamic Min ef Max Torque limit bipolar 299 0 z max positioning speed 1000 0000 Rpm An axis moti
260. ling Error 1 29 Position Mode 1 44 Position Mode Lagless Positioning 1 44 Position Mode POSITION Encoder 1 1 44 Position Mode POSITION Lagless Positioning Encoder 1 1 45 Position Range Exceeded 1 41 Positioning vel S 0 0259 greater S 0 0091 1 16 Positive Position Limit Value Exceeded 1 23 Positive Travel Limit Switch Detected 1 10 Positive Travel Zone Limit Switch Activated 1 25 Power Supply Driver Stage Fault 1 13 R Ready for Power ON 1 43 Reset Button S1 1 1 Reset Class 1 Diagnostic 1 35 S Sart Only With RF 1 38 Selected Process Block is not Programmed 1 21 Set Absolute Measuring 1 33 Setting Absolute Measuring Not Allowed Drive Enable 1 33 INDRA DIAL State diagnostic message 1 42 Switching to an Uninitialized Operating Mode 1 3 T Target Position Out of Range 1 18 1 22 Tips for Eliminating Malfunctions 1 1 Torque Limit 0 1 20 Torque Force Data Scaling Error 1 31 U Undervoltage Error 1 5 V Velocity Data Scaling Error 1 30 Velosity Synchronisation Real Lead Drive 1 43 W WARNING DIAGNOSTIC MESSAGES 1 16 Wrong Position Range 1 40 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL Customer Service Locations Germany Sales area Center INDRAMAT GmbH D 97816 Lohr am Main Bgm Dr Nebel Str 2 Telefon 09352 40 4817 Telefax 09352 40 4989 Sales area South INDRAMAT GmbH D 80339 Minchen RidlerstraBe 75 Telefon 089 540138 30 Telefa
261. list elements Step 1 Communication with drive not Send request possible e g P 0 4006 7 r CR gt check address gt check setting v gt check connection Step 2 j Drive received sign no Drive repeats request echo yes lt Timeout Sign sequence gt in received Ss 25 buffer located 4 Contents of receive buffers yes P 0 4006 7 r CR HE Element 1 CR Element 2 CR Step 3 To check transmission compare Element n CR A01 gt request with receive buffer or String Compare P 0 4006 7 r CR xxxx CR A01 gt Pb transmission error Delete request in receive buffer All signs up to and including 1 CR Final CR replaced with string end e g 0 in List elements or error number separated by CR are now in input d gt buffer pp EN Error occurred during Next sign in receive z Mes parameter acces buffer p Error code xxxx no Evaluate list element v Set string pointer to 1st sign after next CR gt new list element Reached list end yes L List successfully read FD5004B1 WMF Fig 11 11 Read accessing list parameters DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL Executing
262. lity Function Parameter Memory Param E prom Feedb E Prom Data length 4 Byte Validity check Format DEC OV Extreme value check Unit English kgm Combination check Posit after the dec 5 Cyc transmittable Input value min max 0 1 00000 Default value no Phase3 no no no DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 25 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0511 Brake Current Description The parameter is not operational in DKCO1 DKC1 1 P 0 0511 Attributes ID number P 0 0511 Editability no Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC ON Extreme value check yes Unit English A Combination check no Posit after the dec 3 Input value min max 0 500 000 Cyc transmittable no Default value 0 000A P 0 0512 Default Position Loop Kv factor Description Default value for the position loop proportional gain This parameter is determined on site at the manufacturer s and cannot be changed The Load default parameters command will copy the value of this parameter to parameter S 0 0104 position loop Kv factor Posit after the dec 2 Cyc transmittable Default value P 0 0512 Attributes ID number P 0 0512 Editability no Function Parameter Memory Feedb E prom Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English 1000 min
263. ll protective coverings install light curtains Fences should be strong enough to withstand maximum possible momentum Mount the Emergency Stop E Stop switch in the immediate reach of the operator Verify that the Emergency Stop works before start up Do not use if not working gt Isolate the drive power connection by means of an Emergency Stop circuit or use a safe lock out system to prevent unintentional start up Make sure that the drives are brought to standstill before accessing or entering the danger zone gt Disconnect electrical power to the equipment using a master lock out and secure against reconnection for maintenance and repair work cleaning of equipment long periods of discontinued equipment use Avoid operating high frequency remote control and radio equipment near equipment electronics and supply leads If use of such equipment cannot be avoided verify the system and the plant for possible malfunctions at all possible positions of normal use before the first start up If necessary perform a special Electromagnetic Compatibility EMC test on the plant DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 2 5 Protection against magnetic and electromagnetic fields during operations and mounting Magnetic and electromagnetic fields in the vicinity of current carrying conductors and permanent motor magnets represent a serious health hazard to person
264. llation requirements are set DriveTop can be physically connected to more that one drive controller at the same time with the use of an RS232 RS485 interface converter Under the menu Scanning DriveTop looks for connected drives If DriveTop is connected to more than one drive with the RS485 interface Drive controller selection of which device is being communicated to is done from this menu DriveTop can be operated online or offline The language in which DriveTop functions and the language of the parameters and diagnostics of the drive controller can be selected or changed with this menu It is possible here e to enter one s own password e lock the drive against unwanted parameter changes e and unlock the drive for parameter changes In communications settings can be made that affect data exchange between drive controller and PC e select the COM ports e fixing the baud rate e setting addresses This menu accesses the online documentation The online documentation contains a large scope of information regarding the functional qualities of the drive system parameter descriptions and diagnostic descriptions There are on screen general instructions to navigate through the help system Help systems are integrated into the library Information regarding the software version of DriveTop Preparing for Startup 3 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 3 9 Printing Parameter Data DriveTop does n
265. lo format was activated in S 0 0076 position data scaling type The following settings are possible 0 shortest path 2 positive direction negative direction Fig 5 1 Selecting a modulo format Modulo mode shortest path The next command value is reached over the shortest possible path If the difference of two sequential commnd values exceeds one half of the modulo value then the drive runs in the command value in the direction set Modulo mode positive direction The command value is always approached in a positive direction independent of whether the difference of two sequential command vaues is greater than one half modulo value Modulo mode negative direction The command value is always approached in a negative direction independent of whether the difference between two sequential command values exceeds one half modulo value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 8 Positioning with limited speed Function When running with limit speed running slow it is posible to limit all positioning runs of the drive uniformly to one selectable maximum speed S 0 0259 positioning velocity Operations that are generally slower anyway are not affected Note the differentiation with a proportional reduction by feedrate override The limit affects e traversing with process bock jogging e r
266. locks can be selected via five circuit inputs Positioning blocks 32 to 63 can only be selected via the serial interface A start signal starts the selected positioning block The following are allowable motion changes to the position commands e P 0 4006 process block target position e P 0 4007 process block velocity e P 0 4008 process block acceleration e P 0 4009 process block jerk e P 0 4019 process block mode Note The positioning speed can be changed with the velocity override function and by positioning with limited speed 5 2 Setting operation mode Position control with position interface Position Control with Positioning Interface mode is standardized by the controller motor type operational mode window Controller Motor type Operating mode Motor type MKD041B 144 KGO Controller type DKC01 1 030 3 Overload factor z PwHM Frequency 4kHz 8 kHz Firmware version DKC1 1 ASE 04V10 Operating mode Position regulation with positioning interface without lag The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveT op and helps you to identify the actual online drive Fig 5 1 Position control with positioning interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL Position control with follow
267. lt Velocity Loop Integral Action Time Description The default value for the velocity loop integral action time The parameter will be determined during the manufacturing stage and cannot be changed With the default parameter load the value of the parameter will be copied into the parameter S 0 0101 velocity loop integral action time With the default values a drive of the motor is possible for optimal adaptation on the machine connection the parameter S 0 0101 must sill DOK ECODRV ASE 04VRS FKB1 EN P 07 97 be optimized P 0 4038 Attributes ID number P 0 4038 Editability no Function Parameter Memory Feedback Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English ms Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 1 6553 5 Default value Supplement A Parameter Description 3 45 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL P 0 4039 Default Current Loop Proportional Gain Description The default value for the current loop proportional gain The parameter will be determined on site at the manufacturer s and cannot be changed With the default parameter load the value of the parameter will be copied into the parameter S 0 0106 proportional gain 1 current regulator The current loop gain is already optimized and may not be changed P 0 4039 Attributes ID number P 0 4039 Editability no Function Parameter Memo
268. ltage Error Cause 1 The mechanical system energy reflected via the motor was so large for a moment that it could not be completely converted to heat by the bleeder As a result the DC Bus voltage rose above the maximum allowable value The motor is then switched to torque free operation If the DC Bus voltage falls below the maximum allowable value the controller will be turned on again 2 DC Bus voltage is too high 1 22 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Remedy For 1 Reduce the acceleration value and check the drive controller layout if necessary Install an auxiliary bleeder if necessary For 2 Check the supply voltage if necessary Danger of high voltage shock WARNING E825 Attributes SS Display E8 25 Error number 825 Diagnostic message number E825 Error class Non fatal E829 Positive Position Limit Value Exceeded The drive has received a command value that has led to an axis position outside the positive travel range The axis is stopped by setting the velocity command value to zero A class 1 diagnostics error is not generated The drive automatically follows command values that lead back to the valid range Bit 2 of S 0 0090 Command Value Transmit Time TMTSG has been set to Exceeding the travel limit is considered as a warning Cause S 0 0049 Positive position limit value exceeded Re
269. lue check Combination check Cyc transmittable Default value Parameter for identification of the hardware no Verst E2prom Phase3 no no no The parameter is determined during the manufacturing stage and cannot Amplifier EEProm be changed S 0 0520 Attributes ID number P 0 0520 Function Parameter Memory Data length 2 Byte Format decimal Unit English none Posit after the dec 0 Input value min max Description P 0 0522 Absolute Encoder Count Direction Editability Validity check Extreme value check Combination check Cyc transmittable Default value not editable no no no no With this parameter the operational direction of the absolute encoder emulation will be set If the parameter 1 is set then the operation direction will be inverted That means the SSI interface receives a given position value for the rotation of the motor in clockwise counterclockwise direction With the change of the operational direction the new command absolute measurement emulator setting must be processed through so that the given position will be changed through the inversion P 0 0522 Attributes ID number P 0 0522 Function Parameter Data length 2 Byte Format decimal Unit English Posit after the dec Input value min max DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Editability Memory Validity check Extreme value check Combination check Cyc transmittable
270. ly operated at its power limit An example Moving to a positive stop and similar situations Position Loop Monitoring The position loop monitor helps to diagnose errors in the position control loop See also F228 excessive deviation Primary Mode of Operation for the Position Loop Monitor An estimated position feedback value is generated from the position command value If the difference between the measured and the estimated position feedback value is larger than the value entered in the monitoring window the control drive will execute its error handling routine according to the parameters which have been set See also Error Handling Possible Reasons for triggering the position loop monitor e Exceeding the torque or acceleration capability of the drive e Blocking of the axis mechanical system e Disruptions in the position feedback e Exceeding the maximum velocity of the motor by entering too large of a traversing velocity or giving too large of a position command value difference e incorrectly parametrized control loop DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 27 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Requirements for Setting the Position Loop Monitor Correctly e Be sure that the velocity and position control loops are set properly e The axis in question should be checked in regards to its mechanical aspects and should be in its final condition Setting the Position Loop Moni
271. m the incremental encoder signals of the master axis encoder inputs A111 Attributes SS Display AF Diagnostic message number A111 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 43 ECODRIVE DKC01 1 DKC11 1 Drive Controllers ITDRANA A118 Phase Synchr Lagless Encoder 1 Real Lead Drive A203 Position Mode Description The drive is in lag free position control The position command value is calculated based on the master axis position which is derived from the incremental encoder signals A118 Attributes SS Display AF Diagnostic message number A118 Description The drive is functioning in position control with Stepper interface The device follows the position command which will be developed out of the stepper motor signals A203 Attributes SS Display AF Diagnostic message number A203 A204 Position Mode Lagless Positioning Description The drive is functioning in position regulation without lag Stepper Drive interface The device follows the position command which will be developed out of the stepper motor signals A204 Attributes SS Display AF Diagnostic message number A204 A206 Position Mode POSITION Encoder 1 Description The drive is functioning in position regulation Positioning drive The drive is positioned on the selected target position with the given acceleration velocity and jerk A206 Attributes SS Display AF Diagnostic message nu
272. mber A206 1 44 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers A207 Position Mode POSITION Lagless Positioning Encoder 1 Description The drive is functioning in position regulation without lag Positioning Interface The drive is positioned on the selected target position with the given acceleration velocity and jerk A207 Attributes SS Display AF Diagnostic message number A207 AF Control Drive Enable The drive enable signal has been applied The drive will follow the velocity command normal operation JF Jogging in the Positive Direction The drive moves with a jogging velocity P 0 4030 in the positive direction The motor is turning clockwise when viewing the motor shaft JB Jogging in the Negative Direction The drive moves with a jogging velocity P 0 4030 in the negative direction The motor is turning counter clockwise when viewing the motor shaft DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 45 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Notes 1 46 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 INDRA DIAL 2 Index ECODRIVE DKC01 1 DKC11 1 Drive Controllers 24 V Error 1 13 4 4 kHz Signal Error 1 15 A Absolute Encoder Error 1 8 Absolute Measuring System Not Installed 1 34 Acceleration Data Scaling
273. medial action Specify command values that lead back to the valid range See also Function description Transverse range limits E829 Attributes SS Display E8 29 Diagnostic message number E829 Error class fatal DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA E830 Negative Position Limit Value Exceeded The drive has received a command value that has led to an axis position outside the negative travel range The axis is stopped by setting the velocity command value to zero A class 1 diagnostics error is not generated The drive automatically follows command values that lead back to the valid range Bit 2 of S 0 0090 Command Value Transmit Time TMTSG has been set to Exceeding the travel limit is considered as a warning Cause S 0 0050 Negative position limit value exceeded Remedial action Specify command values that lead back to the valid range See also Function description Transverse range limits E830 Attributes SS Display E8 30 Diagnostic message number E830 Error class fatal E831 Jog Position Limit Value Exceeded Description If the position limit value monitor is activated and the drive is IN REFERENCE then it will be positioned during movement in the jogging operation on the position limit value If the drive is positioned on the position limit value or on the other side of the position limit
274. mined during the manufacturing stage and cannot be changed With the default parameter load the value of the parameter will be copied into the parameter S 0 0107 current regulator 1 integral action timeve The current loop integral action time is already optimized and may not be changed P 0 4049 Attributes ID number P 0 4049 Editability no Function Parameter Memory Feedback Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English ms Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 6553 5 Default value P 0 4050 Delay Answer RS232 485 Description Defining the minimal time that must pass after the last symbol of a telegram would be received over the serial interface and before the first symbol of the reaction may be sent This time span will be required with the drive of an RS485 for the switch from send to recieve drive ie required switch For the drive of a RS232 this parameter is not necessary See also Function Description Communication Parameters The required response delay time is dependent on the PC used and must therefore be set to satisfy the PC DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 51 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 4050 Attributes ID number P 0 4050 Editability P2 P3 P4 Function Parameter Memory yes Data length 2 Byte Validity check yes Format
275. mmand C300 Attributes SS Display C3 Diagnostic message number C300 C300 Set Absolute Measuring Description The command P 0 0012 Set Absolute Measurement was activated via the control system C300 Attributes SS Display C3 Diagnostic message number C300 C301 Setting Absolute Measuring not Allowed Drive Enabled Cause The command C300 Command Setting of Absolute Measurement Emulator was started with the given drive enable Remedy End the command and deactivate the control enable C301 Attributes SS Display C3 01 Diagnostic message number C301 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 33 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA C302 Absolute Measuring System not Installed Description The command P 0 0012 command set absolute measurement would be started without an existing absolute measurement system The command can not be processed because there is no existing absolute measurement system Cause 1 The command was falsely activated 2 The connected motor does not contain an absolute encoder Option Remedy For 1 Stop the command process For 2 Equip the motor or external measurement system with an absolute encoder function C302 Attributes SS Display C3 02 Diagnostic message number C302 C400 Command Switch To Parameter Mode Description The command for transition is in parameter mode While editing th
276. mmand value goes to zero standstill window t SV0046D1 DRW Fig 10 54 Speed command value to zero Example Drive enable signal applied after error reaction torque to zero SV0047 D1 DRW Fig 10 55 Torque to zero Drive Stop Start Drive Stop Start in Velocity and or Torque Control With Analog Command Value If the drive stop signal is active OV on X4 3 the drive will not follow the analog command value and will instead remain in velocity control with velocity command value 0 If the drive is in motion when the drive stop is activated the controlled braking will be applied with maximum torque until the drive reaches standstill If the drive stop signal is not active 24V on X4 3 then the drive will follow the analog command value on X3 1 2 10 52 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Start in position control with step motor interface and with synchronization modes If the drive stop signal is active OV on X4 3 the drive will not follow the stepping signal and will instead stay in position control at the current position If the drive is in motion when drive halt is activated then the motor brakes to a standstill at the deceleration rate which has been parametrized Parameters S 0 0138 bipolar acceleration limit value and S 0 0193 positioning jerk determine the delay When the drive stop comm
277. modes exchange the analog input signals E1 E2 ROTARY SCALING Data positioning with respect to motor shaft Load Type of scaling Unit of measure for position data linear spoon rotary TO meer i Processing of position data is absolut Feed constant k 100 00 meife SE modulo Coupling ratio input mj B an gt Value 0 00 E Deg Coupling ratio output sl 14 Mode shores way si S positive direction Negation of position velocity and torque data negative drection In applications where a rotary table or rotating shaft is to be driven all output variables of the shaft should be entered in rotary units To do this select rotary scaling and enter the mechanical transmission data of the axis Coupling ratio input turns n1 and output turns n2 A standard arrangement for a typical mechanical system is shown in the Fig Other mechanical combinations such as those with multi leveled transmissions can be derived from this standard arrangement For example a toothed gear or wheel transmission system can be conFig d by counting the input wheel teeth Z1 and entering that value in the output turns n2 parameter and counting the output wheel teeth Z2 and entering that value in the input turns n1 parameter Fig 10 4 Rotary Scaling Mechanical transmission ratio n1 n2 Z2 Z1 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 3 ECODRIVE DKC01 1
278. motor shaft 1 negative Counter clockwise with view of motor shaft L Bit5 Home switch analysis 0 home switch is being analyzed 1 home switch is not being analyzed Bit 6 Home mark analysis 0 home mark is being analyzed 1 home mark is not being analyzed Fig 2 13 5 0 0147 Homing Parameter Note Only the bits named here are supported by the product S 0 0147 Attributes ID number S 0 0147 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format BIN Extreme value check no Unit English Combination check yes Posit after the dec 0 Cyc transmittable no Input value min max Default value 100 b 2 34 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 0 0148 C6 Drive Controlled Homing Procedure Description When this command is set NF X2 13 1 the drive automatically switches into position control and accelerates using the Homing acceleration 5 0 0041 to the Homing velocity S 0 0042 Bit O in the Position feedback value status S 0 0403 will be reset to zero The process for the homing procedure can be determined with the Homing Parameter S 0 0147 After the command drive is at stand still and position feedback value is related to the homing position has been properly executed the drive sets bit 0 1 in the Position feedback value status S 0 0403 parameter
279. n the motor shaft turns in clockwise direction Facing the motor shaft if the position command value difference and the position feedback polarity are both positive Bit 4 is used to activate or deactivate product position limits 2 12 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Structure of the parameter Bit 0 Position feedback value 0 positive polarity 1 negative polarity Bit 1 Position feedback value additive 0 positive polarity 1 negative polarity Bit 2 Position command value 1 0 positive polarity 1 negative polarity Bit 3 Position command value 2 0 positive polarity 1 negative polarity Bit 4 Position limits 0 not active 1 active Fig 2 5 S 0 0055 Position Polarity Parameter Note Only the bits named here are supported by the product If bit 0 is altered by the control system the drive will also set the value for bits 1 3 to match the value of bit 0 S 0 0055 Attributes ID number S 0 0055 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format BIN Extreme value check yes Unit English Ss Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 31 Default value Ob S 0 0057 Position Window Description The drive will set the ouput In Position when the amount of the difference between the positio
280. n Data on Analog Output Channel 2 3 10 Scaling for Position Data on Analog Output Channel 1 3 9 Scaling of Velocity Data on Analog Output Channel 1 3 9 Scaling of Velocity Analog Output Channel 2 3 9 Scaling Torque Force Channel 1 3 15 Scaling Torque Force Channel 2 3 16 Signal Selection for Analog Output Channel 1 3 7 Signal Selection for Analog Output Channel 2 3 8 Slave Drive Rotation 2 42 Smoothing Time Constant 3 1 Specific Product Parameters 3 1 Standard parameters 2 1 Standstill window 2 30 Stator Resistance 3 51 Status Feedback 0 2 48 Stepper Motor Interface Mode 3 44 Steps per Revolution 3 43 Structure of this Document 1 1 Switch Frequency 3 35 Synchronization Acceleration 3 17 Synchronization Init Window for Modulo Format 3 18 Synchronization Velocity 3 17 T Target Position 2 43 Test Status 3 40 Torque Constant 3 10 Torque Force Command Value 2 17 Torque Force Data Scaling Exponent 2 20 Torque Force Data Scaling Factor 2 20 DOC ECODRV ASE 04VRS FKB1 EN P e 07 97 Torque Force Data Scaling Type 2 19 Torque Force Feedback Value 2 18 Torque Force Peak Limit 3 14 Travel Limit Parameter 3 12 U Unbalanced Current 3 44 Upper traversing range for automatic control loop setting 3 22 V Velocity Command Value 2 5 Velocity Command Voltage for Max Motor Speed 3 23 Velocity Data Scaling Exponent 2 9 Velocity Data Scaling Factor 2 9 Velocity Data Scaling Type 2 7 Velocity
281. n and the control drive can be put into operation When an internal error occurs the Bb contact opens The time delay between the occurrence of the error and the opening of the Bb contact depends on the type of error For fatal errors the contact is opened immediately while for non fatal errors the internal error handling routine is executed first DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Drive error bb tb1 5s if no initializing error exists t lt 10ms if a fatal drive error occurs tb 500ms if a non fatal drive error occurs SV0028d1 drw Fig 10 23 bb Timing when switching on the supply voltage In Position INPOS Positioning operation modes position control The message INPOS applies for positioning operation and drive controlled homing procedures The message INPOS is given by the drive if the following requirement has been satisfied e The difference between the target position and the actual position is less than the value set in the position window parameter target position actual position lt position window Fig 10 24 Target position 1 Target position 2 VA NS KS gt Position lt window POS1 POS5 01 V Speed profile POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Positioning inputs valid Positioning acknowledgment outputs
282. n check no Cyc transmittable no Default value 10 0000 Supplement A Parameter Description 3 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0151 Synchronization Init Window for Modulo Format Description The second step of dynamic synchronization ramp up and lock on establishes a path that must be crossed to reach absolute synchronization If positioning difference exceeds synchronization window in modulo format P 0 0151 then the synchronization direction is determined by parameter command value in modulo format S 0 0393 If the position difference is smaller than the the value in seynchronization window in modulo format then synchronization may take place in a direction counter to the oneset in parameter S 0 0393 In synchronization window parameter the position difference as it releates to the following drive is entered within which the rotational direction may deviate from the one set for synchronization See also Function Description DKCO1 1 with speed and angle synchronization P 0 0151 Attribute ID number P 0 0151 Editability P2 P3 P4 Function Parameter Memory Param E prom Data length 4Byte Validity check Phase3 Format S 0 0076 Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value 10 00 P 0 0152 Evaluating analog gear adjustment Description Adjustment
283. n feedback value and the position command value is less than the value of the position window During the command S 0 0148 C6 Drive controlled homing procedure this parameter is used to signal the end of the command through the INPOS output if the position feedback value enters into the home region S 0 0057 G Types In Pos functions as described during S 0 0148 parameter Command K Types Old firmware S 0 0148 used to return to home This command can no longerbe executed with K type Fb s Results in C6 04 diagnostic DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IMDR ARIAL S 0 0057 Attributes ID number S 0 0057 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max 0 S 0 0076 Default value 10 00 Deg S 0 0059 Position Switch Flag Parameter Description The flag for the position switch point is dependent on the position feedback value If 5 0 0051 Position feedback value 1 is less than S 0 0060 Position switch point the corresponding flag is set to 0 If the position feedback value is larger than or equal to the position switch point the corresponding flag will be set to 1 The status of the output path switch point at pinx2
284. n the user manuals and use them according the instructions gt Use lifting devices and tools correctly and safely gt Wear appropriate protective clothing e g protective goggles safety shoes protective gloves Never stand under suspended loads Clean up liquids form the floor to prevent personnel from slipping DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Safety Instructions for Electrical Drives 2 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 2 7 Battery safety Batteries contain reactive chemicals Incorrect handling can result in injury or equipment damage Risk of injury due to incorrect handling Do not attempt to reactivate dead batteries by heating CAUTION or other methods danger of explosion and corrosion Never charge batteries danger from leakage and explosion Never throw batteries into a fire Do not take batteries apart Handle carefully Incorrect extraction or installation of a battery can damage equipment Wud Note Environmental protection and disposal The batteries contained in the product should be considered as hazardous material for land air and sea transport in the sense of the legal requirements Danger of explosion Dispose of batteries separately from other refuse Observe the legal requirements in the country of installation 2 8 Safety Instructions for Electrical Drives DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controlle
285. nalog Speed Interface 7 1 General Notes on operations with an Analog Speed Interface In Speed Regulation with Analog Interface mode the ECODRIVE acts like a conventional analog servo drive This makes it very easy to work with normal NC control systems Note The digital signal processing in ECODRIVE might lead to interferences It is therefore not recommended that ECODRIVE be used in precision applications INDRAMAT has a line of excellent drive systems with SERCOS interfaces for applications of that type 7 2 Setting Mode Speed Regulation with Analog Interface The Speed Regulation with Analog Command Value mode can be set through the controller motor type operating mode selection dialog box Controller Motor type Operating mode Motor type MKD041B 144 KGO Controller type DKC01 1 030 3 Overload factor z PwHM Frequency 4kHz 8 kHz Firmware version DKC1 1 ASE 04V10 Operating mode Speed regulation with analog interface The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveT op and helps you to identify the actual online drive Fig 7 1 Speed Regulation with Analog Command Value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 DKC11 1 Drive Controller with Analog Speed Interface 7 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 7 3 Analog Speed Command Value Processing The analog interface must
286. nannnnnnrrnnnnrnnnnnvnnenrvnnnrnnnnnvnnnnnennnrrrannnnnannnnnerreennrnsennnenennesernenrnnenen 2 41 S 0 0228 Position Synchronization VWimdow rnnt tn nnt nn anneer nnne ennan 2 41 S 0 0236 Lead Drive 1 Rotation cccccccescccecssceeesseeeeeessneeeeeseeeeeeseseeeeessseeeeeeseneeeessseaeessseeaeess 2 42 DOC ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0237 Slave Drive Rotation l rrrrrrrnrrrrrrrerererererererererererererererererereerevevevevererevereveveveveverevererer 2 42 S 0 0258 Target Position 2 43 S 0 0259 Positioning Velochiy nnen 2 43 S 0 0260 Positioning Acceleration ccccccccecssccceeesneceeessneeecssseeeeesaeeeessaeeeesssaeeeeessaeeeenssaeeeess 2 43 S 0 0262 Command Basic Load raa a par a aoar ad rap ddaa sh aa Aidsi hea toparda auhi aae rar iiipin 2 44 S 0 0265 Language Selection cescccecceeceeeeeeceeeeeeeeeeeeeaeeseaaesseneeceaeeeeaaeseeaeeseeeeessaeeseaeesenees 2 44 S 0 0267 PRASSWO Ee 2 45 S 0 0269 Parameter Buffer Mode ccccccececececececaeaeaeaeaeaeeeeeeseeaseeeeessseseceeeeeeeeeeeseeeeeeeeeeeeeeees 2 45 S 0 0277 Position Feedback 1 Type Parameter 2 46 5 0 0298 Reference Cam Shifting sicer iriri ieiinsni neis riainek teera nis kruiden rediris hiadadh uued Eis kinini 2 47 S 0 0299 Home Switch O e a a a aaar e aa ar a oa ea a deed 2 47 5 0 033 1 Status Feedback O a dereen dE 2 48 S 0 0348 Proportional Gain Acceleration Feed Fonward
287. nce between the command position and the actual position will be created Following Error This synchronized action when positioning is dependent on the Kv factor setting and causes a creeping towards the desired position especially with small Kv factors Position Control Without Following Error In position control with following error mode a speed control ensures that the command position and actual position are always the same There is no speed dependent difference between command position and actual position Selecting the Appropriate Position Control Mode As the drive controller simulates the behavior of an actual stepping motor in position control without following error mode this mode should be given preference In less rigid mechanical systems the acceleration knee points created by this mode cause undesireable mechanical vibrations The position control with following error mode should nevertheless be used if the application allows this disadvantage Vibrations will then be dampened by reducing the Kv factor Doing so creates a compromise between the positioning action and load rigidity 6 2 DKC01 1 Drive Controller with Stepping Motor Interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 6 3 Stepping Motor Signal Processing In Position Control with Stepping Motor Interface mode the DKC converts impulses from external inputs into defined position changes The follow
288. nce is needed then these are not relevant DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 1 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Definitions The following abbreviations are used Data length 2Byte the length of the operating data is 2 bytes AByte the length of the operating data is 4 bytes 1Byte variable this is operating data of variable length list the length of a single data element is 1 Byte 2Byte variable this is operating data of variable length list the length of a single data element is 2 Bytes 4Byte variable this is operating data of variable length list the length of a single data element is 4 Bytes Format BIN operating data should have a binary display format Note Leading zeros of BIN Format data are not transmitted via ASCII strings over the RS232 485 serial interface nor displayed in DriveTop For example the datum value 0000 0000 0011 1011 would be transmitted and displayed as 11 1011 HEX the display format for the operating data should be hexadecimal DEC_OV the display format for the operating data should be decimal without a sign DEC_MV the display format for the operating data should be decimal with a sign ASCII the operating data is an ASCII string IDN the operating data is an ID number Edit no the operating data can not be edited P2 the operating data can only be edited in communication phase 2 P23 th
289. ncremental encoder emulation of the position command value Absolute encoder imitation SSI Incremental encoder lines Incr Rev Reference pulse offset Deg Fig 10 28 Actual position output P 0 0502 Line Count for Incremental Encoder The line count value of the incremental encoder to be emulated determines the number of cycles to be emitted per rotor revolution This number is equivalent to the graticule line count value which the code plate of a conventional incremental encoder would exhibit All graticule line count value can be set between 1 and 65536 lines per revolution See also P 0 0502 line count for incremental encoder P 0 0503 Reference Pulse Offset The relative position of the homing marker impulse of the incremental encoder to be emulated can be extended with the homing marker pulse offset parameter Shifting the homing marker pulseis necessary when the position of the home switch switching flank and the homing marker pulSee also do not permit a well defined homing procedure Controlling the relative position of the homing marker pulse makes the manual adjustment of the home switch cam unnecessary The homing marker pulse offset applies to the motor shaft and can be entered in the range from 0 359 9 A positive offset value shifts the relative position of the homing marker pulse clockwise with respect to the motor shaft keyway See also P 0 0503 reference pulse offset DOK ECODRV ASE 04VRS F
290. nd motor are not connected necessitating the user to enter this information directly Controller Motor type Operating mode Motor type MKD025B 144 GP1 al Controller type DKC01 1 030 3 Overload factor PwWM Frequency 4kHz 8 kHz Firmware version DKC1 1 ASE 04 VRS gt Operating mode Speed regulation with analog interface The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveTop and helps you to identify the actual online drive Fig 4 1 Dialog controller motor type select operating mode DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Motor and Drive Controller Selection 4 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 4 2 Motor Selection The connected drive type is displayed in online mode See parameter S 0 0141 Specific application information about the motor is needed for offline operation DriveTop needs this motor specific data to determine specific parameter settings Motor current velocity standard control parameters feedback type etc If a different motor type is entered offline than is later used the diagnosis UL will appear at the time when the parameter block is loaded into the drive This means that the type of motor in the parameters is not identical with the type of motor that is actually connected If this happens do the following Acknowledge the error by pushing the S1 button
291. nd reception data status Ending a Parameter Command The general form for ending a parameter command is as follows ID number of the parameter 7 w 0 Carriage Return DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMAL Error Message If illegal parameter access is attempted or for example writing access to a read only data block element is attempted an error message is issued by the drive List of the possible error codes Error code Error description 1001 ID number missing 1009 Invalid access to element 1 2001 Namemissing 2002 Transmitted name is too short 2003 Transmitted name is too long 2004 Name cannot be written to 2005 Name is currently not editable 3002 Transmitted attribute is too short 3003 Transmitted attribute is too long 3004 Attribute is not changeable 3005 Attribute is currently write protected 4001 Unit missing 4002 Transmitted unit is too short 4003 Transmitted unit is too long 4004 Unit is not changeable 4005 Unit is currently not changeable 5001 Min value missing 5002 Transmitted min value is too short 5003 Transmitted min value is too long 5004 Min value is not changeable 5005 Min value is currently not changeable 6001 Max value missing 6002 Transmitted max value is too short 6003 Transmitted max value is too long 6004 Max value is not changeable 6005 Max value is currently write protected 7002 Tr
292. nd the nominal current 2 P 0 4045 Attributes ID number P 0 4045 Editability no Function Parameter Memory no Data length 4 Byte Validity check no Format DEC_OV Extreme value check no Unit English A Combination check no Posit after the dec 3 Cyc transmittable no Input value min max Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 49 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 4046 Active Peak Current Description This parameter show how much current the drive can supply in the actual Combination momentarily 0 45 of operation Multiplied with the P 0 0051 torque constant of the motor yields the momentary operation torque ie for acceleration operations This parameter will calculate during heavy switching in the drive mode from the drive control and is not changeable With the activation of this limit the following current and torque limitations and settings shrink S 0 0109 Motor peak current A S 0 0110 Amplifier peak current 1 P 0 0519 Amplifier peak current 2 S 0 0092 Torque limit bipolar P 0 0006 Overload factor 3 Fig 3 17 Active peak current dependence The dependence on the overload factor is not linear It can be seen in connection with peak current 1 and peak current 2 P 0 4046 Attributes ID number P 0 4046 Editability no Function Parameter Memory no Data length 4 Byte Validity check no Format DEC_OV Extreme
293. near scaling has been selected If linear preferred scaling is selected this parameter will be set by the drive 2 16 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0078 Attributes ID number S 0 0078 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 32 32 Default value 6 S 0 0079 Rotational Position Resolution Description If rotary position scaling is selected the LSB valence for all position data will be set in this parameter The LSB bit can be specified in the following manner Example If you would like a resolution of 0 01 degrees for the LSB a value of 36 000 must be parameterized If a preferred scaling was set in the parameter S 0 0076 Position Data Scaling Type the rotational position resolution will be set at 3 600 000 That means that the resolution for the LSB will be 0 0001 degrees S 0 0079 Attributes ID number S 0 0079 Editability P23 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 4294967295 Default value 36000 S 0 00
294. neeeeeeeaeeeeeeaeeeeeeaas 9 6 Setting velocity synchronization parameters ccccccecceceeeeeeeeeceeeeeceeeeeeaeeeeaeeseeeeeseaeeeeaeseeneeeeaees 9 7 Synchronization with velocity synchronization c cceececeeeeceeeeeceeeeeaeeeeeeeeeeeeseaeeseaeeetaeeeeaeeseeeeee 9 9 Check back with speed synchronization ccceccceeeeececeeeeeeeeeceeeeeceaeeeseaeseeeeeseeeeeseaeeetaeeeeaeeseeneess 9 9 9 4 ee el e E 9 10 Setting anlg synchronization mode cceccceceeeeeeneceeeeeceeeeeeaaeeeeaeeceeeeseaeeeeaaeseeeeeseaeeessaeeseaeeeeaes 9 10 Basic operating principle of angle svnchronzaton ce eeeeceeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeeeeeeeeaeees 9 11 Setting angle synchronization parameters cccccceeceeeeeeeeeeeeeeeeceeeeeseaeeeeaaeseeeeeseaeeesaeeseneeeeaees 9 12 Synchronization with angle synchronization 1 cccccceceeeeeeeeeeeeeeeaeeeeaeeeeeeeseaeeseaeeeseaeeeaaeeeeneeeenees 9 12 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Contents II IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Check back with angle synchronization cccccceeceeececeeeeeceeeeeeaeeeeeeeecaeeesaaeeeeeeeseeeessaeeeeaeeeeeees 9 15 10 General Drive Functions 10 1 10 1 Scaling and Mechanical System Data 10 1 Bee e MEET 10 1 ROTARY SCALING kieuna uaa a eee del can ai ane 10 3 Processing Position Data ocna aN a N AE N AAAA AN E unne 10 4 10 2 Drive CT 10 5 Transverse range limits rrnnnnrnnnnnnnvnnnnnnnvnnnnnnvnnnnannvnnnn
295. nel number is available For the analog channel 2 the choice is indicated through the display of the channel number in parameter P 0 0039 The following predefined signals are available Weer Signar choice et 0x3 S 0 0036 P 0 0041 velocity command value 0x4 position command value P 0 0041 difference 0x5 S 0 0051 position value 1 P 0 0043 Ox7 S 0 0189 following error P 0 0043 0x8 sine signal of motor feedback 0x9 cosine signal of motor 1 1 feedback 0x12 torque producing current P 0 0137 actual value magnetization current P 0 0137 0X16 bleeder load 10V 100 Fig 3 4 Predefined signals The following scaling parameters scaling should be considered e P 0 0041 Scaling for velocity data on analog channel 2 e P 0 0043 Scaling for position data on analog channel 2 e P 0 0137 Scaling torque force channel 2 P 0 0039 Attributes ID number P 0 0039 Editability P234 Function Parameter Memory Param E prom Data length 4Byte Validity check no Format HEX Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value 2 3 8 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0040 Scaling of Velocity Data on Analog Output Channel 1 Description By selecting numbers 2 or 3 in parameter P 0 0038 Signal selection for analog output channe
296. ng Compare transmission error Delete request in receive buffer All signs up to and including 1 CR diet k Error occurred during Next sign in receive buffer yes p parameter acces Error code xxxx no Drive accepted command I A get Command being processed Step 6 oo Read command status A P 0 0162 1 w 0 CR LINE i section 2 A next page Step 7 Drive received sign Drive repeats request echo st d lt Timeout 7 gt Sign sequence gt in received buffer located i T es Communication with drive not y possible REN gt check address NG CH gt check setting section 2 B next page gt check connection FD5003B1 WMRF Fig 11 12 Triggering a command part 1 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers section 1 B previous page a De B Ga yes wee Command status a z yes y IMDR ARIAL section 1 A previous page no y _ Command status yes Command successfully completed Command completed with error r e g Delete command write 0 into ident number P 0 0162 7 w 0 CR FD5007B1 WMF Fig 11 13 Triggering a command part 2 Requesting the Status of Commands The actual status of a comman
297. ng Default Parameters The Load Default Parameter function can activate defined control parameters The parameters are determined for a matched moment of inertia relationship Of Umotor Jioaa These parameters will work with standard applications Default values exist for the following parameters e 0 0106 Current Controller Proportional Gain 1 e 0 0107 Current Loop Integral Action Time e 0 0100 Velocity Loop Proportional Gain e S 0 0101 Velocity Loop Integral Action Time e P 0 0004 Smoothing Time Constant e 0 0104 Position Controller KV Factor e P 0 1003 Velocity Feedback Value Filtertimebase Executing the Basic LoadFunction After Changing the Motor or Drive Controller 10 20 General Drive Functions The drive controller will recognize if it is operating with a changed motor type for the first time The drive will read UL on the 7 segment display Pressing the S1 key on the drive controller or the reset button in the DRIVETOP diagnostic display will activate the standard control parameters in the drive See also C700 basic load DOK ECODRV ASE 04VRS FKB1 EN P 07 97 NDT ZA DIZ ECODRIVE DKC01 1 DKC11 1 Drive Controllers Executing the Basic Load Feature as a Command in the Control loop Setting Dialog The standard control loop parameters can be activated in the Control loop setting dialog This can create a stable default condition if the basic tuning valueshas been lost while changing the con
298. ng the velocity command value to zero automatically turning off the controller enable and opening the bb contact To resume operation clear the error turn on the mains power supply and enable the controller again As long as the traverse range is exceeded only command values which lead back into the proper tradverse range will be accepted Command values outside of this range result in another error The maximum velocity to be reached by the drive can be set via the bipolar velocity limit value parameter If the requested velocity is greater than this limit the drive will automatically contain the velocity at the limit value See also section 5 8 positioning with limited speed Limiting Velocity in Torque Regulation Mode In the torque regulation mode the velocity is monitored at 1 125 times the value of the given limit If this value is exceeded the drive switches to a torque free state If the motor has a brake it will be applied The following error message will be given e F879 Velocity Limit Value Exceeded S 0 0092 In order to protect the components of the machine it may be necessary to reduce the maximum torque of the drive There are two ways to do this e Permanently limiting torque via parameters e Variable limits via an analog torque reduction input DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 General Drive Functions 10 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Limiting Torque via Parameter The maxim
299. nnnen 2 5 S 0 0041 Homing Velocity AAA 2 6 S 0 0042 Homing Acceleration ccccccccecceceesneceeeesneeeeeseeeecesaeeeesaeeeeessaeeeesesaeeeessseeeeseseeeesenaeea 2 6 S 0 0043 Velocity Polarity Parameter 2 7 S 0 0044 Velocity Data Scaling Type sseesseesseesseessinesrresrnssrssrnssrnssrnssinsstnssrnnstnnstnssnnntnnnnnnnnnnn nt 2 7 S 0 0045 Velocity Data Scaling Fachor nnen nnna 2 9 S 0 0046 Velocity Data Scaling Exvponent nnt 2 9 S 0 0047 Position Command Value rmrunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenenenenenenenenenenenenenenenenenenennnnnnn 2 10 S 0 0048 Additive position command value rrrrnnrvrrrnnnrvvnnrnnrvvrrrnnrvrrrrnarverrrnanneerrnarnerrrnnnneernnnnn 2 10 S 0 0049 Positive position limit value s sssssnnssesnnsssrrnnne tr rnstt rnst tt rnst tt nnne nn nnar tn nnne tn nnne enaner nn nnne 2 11 S 0 0050 Negative position limit value e ce ceccccesseeeceeseeeeeesneceeeseneeeeeseeeeeesseneeeeeseneaeesseeeaeens 2 11 S 0 0051 Position Feedback Value 1 Motor Feedback 2 12 S 0 0052 Reference Distance A 2 12 S 0 0055 Position Polarity Parameter 2 12 S 0 0057 Position Window a a r a ea aa a a a R aai 2 13 S 0 0059 Position Switch Flag Parameier 2 14 S 0 0060 Position Switch Point 1 2 14 S 0 0076 Position Data Scaling Tvpe 2 15 S 0 0077 Linear Position Data Scaling Factor cccccccssccccecsseceeeseneeeeessneeeeeseeeeeseseeeessseeeenss 2 16 S 0 0078 Linear Position Data Scal
300. nnnnnnnannnnnenennnnnnvnnnneennnnneenennnneennnnnn An 10 5 Limiting Kee EE 10 7 Torque ll 10 7 10 3 Monitoring functions and error reachons cece eeseceeeenneeeeeeaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaaeeeenenaeeeeeeeeeaaes 10 9 Monitoring functions 200 2 eee e eect eee enee a NEE E N A a 10 9 10 4 Error Handling TEE 10 11 10 5 Automatic control loop settings 2 00 0 ee eeeeeeeeeene ee ee ener ee eet ae ee eee ae ee eet ae ee enna seen taaeeeeeeaeee esta nennen nanna 10 13 General COMMENtS avimi men otis gai dui eal el eed eld 10 13 Precondition for starting the automatic control loop settnmg ann 10 13 Dialog for the automatic control loop setting rrnrnnnvvrnnnnnvrvnnnnnvvvnnnnnnnnnnnnnnnnnnnrnnnnnrrrnnrnneren anne 10 15 Chronological sequence of the automatic control loop Setting 10 18 Results of the automatic control loop seitnmg 10 19 10 6 Manual control loop seitngs nr nnnnrnnnnnrnnnrnnnnennrnnnrennrannsennrnnnsrenrnensennnn 10 20 General Information for Selecting the Control Loop Settings mnrnrrnnnnrrnnnnrnnrnrrvnnnrrnnnnnnnnrnnen 10 20 Loading Default Parametere 10 20 Executing the Basic LoadFunction After Changing the Motor or Drive Controller 10 20 Executing the Basic Load Feature as a Command in the Control loop Setting Dialog 10 21 Setting the Current Hegulstor teener usen nsttnstnnnttnntnnsnnnsntnsnnnnnnnnnsnnnsnnn nna 10 21 Setting the Velocity Loop 10 22 10 7 Loop Monitoring TTT 10 26 Vel
301. no Data length 4 Byte Validity check no Format DEC_MV Extreme value check no Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable AT Input value min max Default value S 0 0052 Reference Distance 1 Description This parameter represents the distance between the machine zero point and the home point for the motor measurement system Position feedback value 1 After the command S 0 0148 C6 Drive controlled homing procedure has been executed the drive will set the Position Command Value S 0 0047 and the Position feedback value S 0 0051 to this value S 0 0052 Attributes ID number S 0 0052 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC_MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value 0 00 Deg S 0 0055 Position Polarity Parameter Description This parameter can be used to invert the polarities of the given position data These polarities will be switched outside of the control system position regulator i e at the command and feedback valueinput to and actual value output from the control system Since the position data from the rotational feedback will be inverted a different numeric value will result The following applies to rotary motors Motor clockwise rotatio
302. note that the upper must be larger than the lower Upper limit P 0 0167 gt lower limit P 0 0166 cond1 and maximum travel distance upper limit lower limit gt 6 rotations cond2 because the drive swings around the center position back and forth in automatic controlled setting between the upper and lower limits center upper limit lower limits 2 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA If command error D903 wrong position range displayed then one of the following parameters has not been correctly parametrized In other words the speed accel or the torque of the automatic control loop setting is too small 10 14 General Drive Functions If one of these conditions is not met then the command is brought to end with error D905 wrong position range Actual position at start The actual position must be within the limit defined by the afore mentioned limits Otherwise command error D906 position range exceeded will be immediately generated at command start Control loop setting The control loop setting must be stable This is generally achieved with the default control parameters stored in the motor feedback If this is not the case however then a very undynamic control loop setting small P gain and large reset time in the speed control will lead to a usable basic setting for the automatic control loop setting Otherwise the
303. nput value min max Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value P 0 4032 C3 Command Set Emulation Absolute Value Description no parallel EEProm only with SSI Emulation no With this command the position which is set in parameter P 0 0515 will be set in the absolute encoder interface The command can only be processed if the control opening is turned off See also Function Description Executing Parameter Commands P 0 4032 Attributes ID number P 0 4032 Function Command Data length 2 Byte Format binary Unit English Posit after the dec Input value min max P 0 4033 Steps per Revolution Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value P4 no no no yes no The number of revolutions required for the mechanical motor rotary movement with the motor interface P 0 4033 Attributes ID number P 0 4033 Function Parameter Data length 4 Byte Format binary Unit English Posit after the dec Input value min max DOK ECODRV ASE 04VRS FKB1 EN P 07 97 16 65536 Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value P23 parallel EEProm yes yes no no 1250 Supplement A Parameter Description 3 43 ECODRIVE DKC01 1 DKC11 1 Drive Control
304. ns and terminals with voltages ranging between 5 and 50 volts on INDRAMAT products are protective low voltages designed in accordance with the following standards on contact safety International IEC 364 4 411 1 5 2 4 Safety Instructions for Electrical Drives European countries within the EU see EN 50178 1994 section 5 2 8 1 WARNING High electrical voltages due to incorrect connections Danger to life and limb severe electrical shock and or serious bodily injury Only that equipment or those electrical components and cables may be connected to all terminals and clamps with 0 to 50 volts if these are of the protective low voltage type PELV Protective Extra Low Voltage Only connect those voltages and electrical circuits that are safely isolated Safe isolation is achieved for example with an isolating transformer an optoelectronic coupler or when battery operated DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 2 4 Protection against dangerous movements Dangerous movements can be caused when units have bad interfaces or motors are connected incorrectly There are various causes of dangerous movements e Improper or incorrect wiring or cable connections e equipment is operated incorrectly e probe parameters or encoder parameters are set incorrectly e broken components e errors in software or firmware Dangerous movements can occur immediately after equi
305. nsition to the following block can take various forms Note Following block mode is possible with absolute and relative positioning blocks with residual path save The final block of such a sequence is not defined as a following block which identifies the end of the following block sequence Selecting and activating a following block Selecting and activating a block with following block takes place as usual The following block is always that block with the next highest block number A following block can be followed by a following block which means that up to 63 following blocks can be set after one start block The following block of block number 63 is block 0 See also section 5 5 starting positioning commands Indexing in following block mode Definition Two basically different indexing modes are possible These in turn can be broken down still further Positioning dependent block indexing In positioning dependent block indexing the following block is switched into at the target position of the block start There are three different types of block transitions e Block transition at old positioning speed mode 1 In this mode the target position of the start block is traversed at the speed of the start block This is followed by a switching to the positioning speed of the following block The drive positions at target position n which is in the current position bock n As soon as this target position is exceeded the
306. ntacted data block element again For example in order to access the operating data of the parameter P 0 004 the following input is required DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Step 1 Communication with drive not Send request possible e g P 0 4040 7 r CR gt check address I gt check setting gt check connection Step 2 ji Drive received sign yes Drive repeats request echo lt Timeout gt Sign sequence gt in received buffer located ee Sn ES Contents of receive buffers yes P 0 4040 7 r CR xxxx CR A01 gt prs SN or Step 3 P 0 4040 7 r CR 1C3Fh CR A01 gt To check transmission compare request with receive buffer String Compare transmission error Delete request in receive buffer All signs up to and including 1 CR Data or error number d SE now in receive buffer Next sign fi in cove Error occurred during gt yes parameter acces buffer ox a Error code xxxx Parameter successfully written FD5000B1 WMF Fig 11 8 Read accessing a parameter Writing to a List Type Parameter There is a series of list type parameters in the drive These lists are written to in a modified manner 11 8 Serial Communication DOK EC
307. ntrol parameters in the drive Parameters P 0 0163 damping factor for automatic control loop setting and P 0 0164 automatic control loop setting applicatins are taken into account 10 18 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5th step Checking the speed control loop and if necessary correcting the control parameter until the desired behavior is achieved dependents on the dynamics set 6th step Checking the position control loop and if necessary correcting the control parameter until the aperiodic behavior in the position control loop occurs 7th step END Waiting for possible restart or end command The drive in this case is idle speed 0 0 and D9 appears in the display Results of the automatic control loop setting As a result of the automatic control loop setting both speed and position control loop are complete and stable The goal of the automatic control loop setting is an oscillation free behavior of the position control loop and a speed control loop behavior that is as dynamic as possible Note The current control loop is not affected by the automatic control loop setting as this setting is load independent and the optimum default values of the current control parameters are set at the factory The load moment of inertia of the drive reduced in terms of the motor shaft is determined as a by product and the maximum ach
308. ntroller sets the peak current available for 400ms Thereafter the continuous current limit becomes active and dynamically limits the peak current to the continuous current Cause More continuous torque was required than was available Remedy 1 Check the drive installation 2 Check the installation of the motor For systems which have been in use for a long time check to see if the drive conditions have changed in regards to pollution friction components which have been moved etc 1 20 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers E257 Attributes SS Display E2 57 Diagnostic message number E257 Warning class Non fatal E258 Selected Process Block is not Programmed Cause A positioning block was selected for which there is no set target position or positioning velocity etc Remedy Select another positioning block or enter the required data E258 Attributes SS Display E2 58 Diagnostic message number E258 Warning class Non fatal E259 Command Velocity Limit Active Description The velocity command value is limited to the value set in the S 0 0091 Bipolar Velocity Limit parameter when in the position and velocity control operating modes This warning is given if the value in the S 0 0036 Velocity Command Value parameter reaches this limit Cause S 0 0091 Bipolar Velocity Limit parameter was set
309. number F822 hex in paramter P 0 0001 Note Acts like S 0 0390 diagnosis number P 0 0001 Attributes ID number P 0 0001 Editability no Function Parameter Memory no Data length 2Byte Validity check no Format HEX Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value P 0 0004 Smoothing Time Constant Description The time constant that can be activated in this parameter acts at the output of the speed control and is suited for the suppression of the quantizing effect and limiting the band width of the speed control loop Values of 0 and 500us switch the filter off See also Function Description Setting the velocity loop P 0 0004 Attributes ID number P 0 0004 Editability P234 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English US Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 500 65535 Default value 500 ms DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Supplement A Parameter Description 3 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0005 Language Selection Description Within the drive controller parameter names units and diagnostic warning messages are collectively stored in more than one language This parameter will establish in which language the text is to be i
310. o not show that after valid record acceptance the Si position inputs are in an iverted condition SV5003d1 dr Fig 5 9 Interrupting relative positioning blocks with residual path storage 5 8 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Relative positioning block with residual path save after activating drive enable Reference position The final InPos message at x 200 mm is used as the reference position Note The incremental dimension reference is guaranteed Example Interrupted relative positioning block with residual path save after RF activated with target position 600 Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Jog Positioning inputs valid a Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the er position inputs are in an iverted condition SV5006d1 drw Fig 5 10 Relative positioning block with residual path save after drive enable activated DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Relative positioning block with residual path save afte
311. o the next positioning block until the target position has been overrun Input dialog Cont block at dest w o interm stop mode 2 posn v i Speed Profile i n H nal t Fig 5 19 Positioning block input with following block mode 2 5 16 DKC01 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDPRAMAU Example Definition Input dialog ECODRIVE DKC01 1 DKC11 1 Drive Controllers Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV0008d2 drw Fig 5 20 Positioning dependent block indexing mode 2 e Block transition with intermediate halt In block transition with intermediate halt the drive goes to the target position of the start block If the position command value has reached the target position then the following block is automatically started without the necessity of generating an external start signal This means Transition when overruning a target positon with intermediate halt represents another operating mode In this case the drive goes to speed 0 at the target position and then accelerates to
312. ocity Loop Monitoring rannrrnnnennvvnnnonnrrnnnnnnrnnnnnnnrnnnrennrnnnrennnennennrnnsrennnnesnennrnnssnnnrnnesennrnsseennne 10 26 Position Loop Monitoring aanrevnrrnnvrnnnannrrnnnnnnrrnnnnnnrnnnnrnnrnnrennrannrennrnnnnennnnnsennrnnnnsnrnnnnsnnrnensennnn 10 27 10 8 Status Ee ET 10 28 Ready for Work bk sde dEEENEdECEEENEEEE NENNEN deeds added ane edda danset det VE 10 28 In We giele sige heidi bailing 10 29 In Motion INBWG kerk knes bedded cilia ein nein tedden 10 31 In Reference INREF ws ccidcdeceeean a AAA A a a N 10 32 Position Switch Point GP 10 32 Illustration of Status Output Connections cece cee ee eeeeeeeeeeceee eee aeeeeaaeeeeeeeeeaeeesaaeeeeaaeseeeeeeeaeee 10 33 10 9 Actual Position Output edd dine ieee ead ie address 10 33 Incremental Encoder Emulation rronnnonnvonnnnnnvrnnnnnnvvnnnnnnvvnnnensrvnnnnnsrnnnnsnnrnnnnessnnnnnsrsnnnnssrsnnnnn 10 33 Absolute Encoder Emulation GI 10 35 10 10 Drive controlled Homing Procedure anne 10 37 Homing When Using a Motor With Resolver Feedback Grandart 10 38 Homing When Using a Motor With Integrated Absolute Encoder Function Optional 10 44 TOTI Jogging DEE 10 46 10 12 Feedrate Override Function 0 0 ececeesceceeeeeeeeeeeeeeeeeeeeeceaeeeeaaeeeeaeeseeeeeseaeeesaaeseeaeeseeeesiaeeseeaeeeeaees 10 48 SE Eeer LTE 10 49 10 14 Motor TEE 10 50 IV Contents DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers
313. oders Note Apply shields at both ends 9 2 DKCO1 1 DKC11 1 with velocity and angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controller In both cases the maximum input frequency 175 kHz may not be exceeded CAUTION Selecting the velocity command value filter In the case of very low encoder resolution e g 500 inc rot resolution problems can occur with the internal command value processing of the following axis There is a velocity which can still be minimally evaluated 2000 60 encoder resolution min Asa Min Fig 9 4 Velocity Numeric example Given an encoder resoluton of for example 500 inp rot at minimum speed results in 4 1 s or 240 1 min Note Due to the very nature of the system this brings the user to the internal overflow limits of the velocity control with a very low master axis resolution In extreme cases with the velocity command value filter P 0 1222 off the axis might not follow the command value Therefore a command value smoothing with a time constant of 2 ms is recommended Maximum permissible number of lines In conjunction with operating modes e velocity synchronization e and angle synchronization the incremental encoder emulation in the master drive is used to set a velocity command value for the following axis The maximum permissible signal frequency fmax at the step motor interface is a limit for the numb
314. ogging in the Negative Direchon nnt 1 45 2 Index 2 1 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Contents III ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Notes IV Contents DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRA DIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 DIAGNOSTIC MESSAGE DESCRIPTION 1 1 Tips for Eliminating Malfunctions Reset Button S1 Condition Display H1 The following diagnostic descriptions explain the meaning of the H1 condition display on the DKC The meaning possible causes for the error and the means of prevention are described in this section If a malfunction cannot be eliminated with the help of the diagnostic descriptions please contact INDRAMAT customer service After the error has been eliminated the error message must be cleared by pressing the clear error button S1 The drive controller has an error memory which works on the first in first out principle If several errors occur in a row the first 4 will be saved The error which occurred first is displayed on H1 Each time the S1 key is pressed the error which is displayed will be cleared and the next error will appear in the display until all of the saved errors have been cleared Clear error button S1 Condition display H1 N p Figure 1 1 Condition diagnosis H1 and clear error button S1 on the DKCO1 The H1 condition display on the front side of the DKC gives information about e Operating condition of
315. ommand Value parameter F822 Motor feedback error signal amplitude error 822 Editability no Memory no Validity check no Extreme value check no Combination check no Cyc transmittable no Default value Only command values preset by the NC will be monitored P 0 0010 Attributes ID number P 0 0010 Function Parameter Data length 4 bytes Format DEC MV Unit English S 0 0076 Posit after the dec S 0 0076 Input value min max S 0 0076 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Editability no Memory no Validity check no Extreme value check no Combination check no Cyc transmittable no Default value Supplement A Parameter Description 3 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0011 Last Valid Position Command Value Description If the error F237 Excessive Position Command Value Difference occurs then the last valid position command value will be stored in this parameter P 0 0011 Attributes ID number P 0 0011 Editability no Function Parameter Memory no Data length 4 bytes Validity check no Format DEC MV Extreme value check no Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value P 0 0012 Command Set Absolute Measurement Description With the startup of an absolute measuring system the drive will indicate a position feedback value that is arbitrary
316. on with due regard to S 0 0259 Positioning velocity the S 0 0260 Positioning acceleration and S 0 0193 Positioning jerk In the Position control with positioning interface operating mode the target position of the current Positioning Position block will be copied to parameter S 0 0258 Positioning target position S 0 0258 Attributes ID number S 0 0258 Editability P234 Function Parameter Memory no Data length 4 Byte Validity check no Format DEC_MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable MDT Input value min max S 0 0076 Default value S 0 0259 Positioning Velocity Description In the Drive internal interpolation operating mode the S 0 0258 Target position is approached with the positioning velocity In the Block controlled operating mode the positioning velocity of the current Positioning block is copied to the parameter S 0 0259 Positioning velocity The speed effective with automatic control loop settings is also set with this parameter S 0 0259 Attributes ID number S 0 0259 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC M V Extreme value check yes Unit English S 0 0044 Combination check no Posit after the dec S 0 0044 Cyc transmittable MDT Input value min max S 0 0044 Default value 1 0000 Rpm 5 0 0260 Positioning Acceleration Des
317. on and Diagnostics for Drive Group through the Operator Interface Operational Advantages e Implementation of a central visual display unit RS485 Bus Console unit Parallel UO FS0007d2 drw Fig 11 4 Parameterization and diagnosis of the drive group through a control unit DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Serial Communication 11 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 11 4 Communications settings Communication Parameters P 0 4022 Drive Address P 0 4021 Baud Rate P 0 4050 Answer Delay 11 4 Serial Communication The data exchange over the serial interface is controlled with three parameters e P 0 4022 drive address e P 0 4021 baud rate RS232 485 e P 0 4050 delay answer RS232 485 If multiple drives are connected over the RS485 interface then the data exchange must be organized through the allocation of drive addresses to the individual units on thebus The parameter P 0 4022 establishes the address where a drive can be contacted There are admissible addresses from 1 to 99 With the use of the RS232 interface an explicit setting of the drive address is not required because in this case only one drive at a time can be connected to the interface If several axes are to be switched via RS485 gt then make sure that the drive address is set so that only one drive is connected to th
318. on control gt Speed control Field oriented stator voltage regulator High resolution position interface F55002d1 drw Fig 1 4 Servo Drives with Electric Gear Function e Operating modes Speed synchronization Angle phase synchronization e The master axis position is given in degrees 360 degrees equal to one master axis encoder rotation e The master axis encoder must be connected to the step motor interface of the DKC e The maximum permissible signal frequency fmax Of the step motor interface hereby represents a restriction of the number of lines Z which can be emulated System Overview 1 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA DKC01 1 DKC11 1 General Characteristics 1 6 System Overview Direct Power Supply Connection The drive controller can be connected directly to single and three phase 230V power supplies or three phase power supplies ranging from 380V to 480V without transformers A power rectifier DC bus capacitor and bleeder are included as standard equipment Integrated Brake Activation The optional brake in MKD motors is activated directly via the drive controller Actual Position Value Measurement ECODRIVE measures the actual position value via the motor feedback system e Incremental position measurement standard The actual position value will be set at a random value when the power supply is first turned on To give the actual position value a fixed r
319. on is Start automatic gain Se immediately actuated upon adjust d activation of a drive Fig 10 13 Dialog 2 Automatic control loop setting in DriveTop Triggering a motion An axis motion and thus also the performance of the automatic control loop setting is only possible if the drive start signal has been set Otherwise command D900 command automatic control loop setting appears after start in the display and the axis does not move 10 16 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Triggering a motion by starting Speed command D9 profile Standstill window AH START INBWG automatic controller setting duration Regulatoar release Start autom controller 1 d setting i dg Ab AF ps PE 1 Start automatic controller setting with start button in DriveTop or via command D9 P 0 0162 SV5008D1 DRW Fig 10 14 Signal flow chart Triggering a motion with Speed AH start profile Standstill window AH START INBWG g automatic controller setting duration S Regulatoar release fersk Start autom oo G controller 1 setting Diagnostics display H1 Ab AH D9 AH AF 1 Start automatic controller setting with start button in DriveTop or via command D9 P 0 0162 SV5010D1 DRW Fig 10 15 Signal flow chart Note
320. on is constant The following guide value generally creates good control behavior momentof inertia kgm S 0 0348 1000 torque constant Nm A Factor 1000 needed for unit mA Fig 2 4 Acceleration precontrol P gain S 0 0348 Attributes ID number S 0 0348 Editability P234 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC OV Extreme value check yes Unit English mA rad s Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 0 5006 5 Default value 0 5 0 0390 Diagnostic Message Number Description The number will be stored in the parameter diagnostic message number as well as the visual seven segment display The controls will make it possible so that specific diagnostics with the aid of the diagnostic message number can be generated for example in languages which are not stored as diagnostics in the drive Example Diagnostic Message F8 22 Motor Feedback Error signal is too small in parameter S 0 0095 Seven Segment Display variable F8 lt gt 22 Diagnostic message number F822 hex in parameter S 0 0390 See also S 0 0095 Diagnostic Message S 0 0390 Attributes ID number S 0 0390 Editability no Function Parameter Memory no Data length 2 bytes Validity check no Format HEX Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no In
321. on processing with modulo weighting e Shortest Path The given target position is always approached via the shortest path If the distance in a given direction between the actual position and the target position is larger than half of the modulo value the drive will arrive at the target position from the opposite direction e Positive Direction The given target position is always approached in a positive direction e Negative Direction The given target position is always approached in a negative direction 10 4 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRAMNAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Boundary Conditions for Modulo Processing Several boundary conditions which are checked in the general parameter test which occurs when switching from parameter mode into operating mode must be met for proper modulo processing If necessary violations of these requirements are displayed with the diagnosis C227 Modulo Range Error e The contents of the S 0 0103 Modulo Value parameter may not be larger than half of the maximum travel range The maximum travel range refers to the 4096 motor shaft revolutions e The product of S 0 0103 Modulo Value 4 and S 0 0121 Input revolutions of load gear must be smaller than 2 63 with rotary scaling and position data referenced at the load 10 2 Drive limits Drive limitations Position limit control Position actual value 81195 00 Deg Position limit pos
322. on the drive controller If the drive controller does not discover any additional errors bb is displayed gt Reset the installation parameters and recalculate the parameters of the drive controller limits 4 3 Drive Controller Selection 4 2 Motor and Drive Controller Selection In online mode the type of the controller connected is entered here For offline operation select the type of drive controller There are five available e DKC01 1 040 3 e DKC01 1 040 7 e DKC03 1 040 7 e DKC03 2 100 7 e DKC11 1 040 7 The type of drive controller selected determines the availability of operational and functional modes This adjustment happens automatically during online operation by reading the Controller Type parameter of the connected drive controller See also S 0 0140 controller type Note The DKC11 1 limits the available functions only during online operation DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Selecting the Overload Factor The short term operating torque of the drive controller is defined via the overload factor The velocities and torques available with the different combinations of drive controller motors and power supply input voltages are provided in the DKC MKD selection lists The overload factor needed to obtain the drive controller data can be read off of the last column in each line of the selection list See also P 0 0006 overload factor Not
323. ored for MDD and MKD motors in the motor feedback and will be loaded from thereinto the controller Ram when the drive is started for the first time Example MKD 071B 061 KP1 BN S 0 0141 Attributes ID number S 0 0141 Editability P23 Function Parameter Memory Feedb E prom Data length 1Byte variable Validity check Phase3 Format ASCII Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 33 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 0 0142 Application Type Description A descriptive name for the drive can be stored in this parameter e 9 swivel axis It has no functional significance S 0 0142 Attributes ID number S 0 0142 Editability P234 Function Parameter Memory Param E prom Data length 1Byte variable max 40 characters Validity check Phase3 Format ASCII Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value Default 5 0 0147 Homing Parameter Description The processes for the Drive controlled homing procedure S 0 0148 in relation to the machine layout NC and drive installation will be set in this parameter Structure of the parameter Bit 0 Direction of movement 0 positive Clockwise with view of
324. ormat DEC_MV Extreme value check no Unit English Combination check no Posit after the dec 2 Cyc transmittable no Input value min max 100 00 100 00 Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 31 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4002 Current Amplify Trim Phase U Description IMDR ARIAL For trimming of the current sensors regarding its amplifier error this parameter will specify testing areas with DKC devices P 0 4002 Attributes ID number P 0 4002 Function Parameter Data length 2 Byte Format DEC_OV Unit English Posit after the dec 4 Input value min max 0 0001 2 0000 P 0 4003 Current Amplify Trim Phase V Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value no Verst E prom Phase3 yes no no For trimming of the current sensors regarding the amplifier error this parameter will specify the test field for DKC drives P 0 4003 Attributes ID number P 0 4003 Function Parameter Data length 2 Byte Format DEC_OV Unit English Posit after the dec 4 Input value min max 0 0001 2 0000 P 0 4004 Magnetization Current Description Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value no Verst E prom Phase3 no In this parameter someone
325. osition feedback module e Pposition control allowing following error In this operating mode the controlled system will be simulated with the help of a model The maximum deviation between the calculated position feedback module and the real position feedack will be stored in parameter P 0 0098 The control system model in this case represents a first order feedback system which is only dependent on the Kv factor of the position controller e Position control without following error In this operating type the position command will be compared with the position feedback The maximum deviation occurring will be stored in P 0 0098 A model for the control system is not necessary in this case Note The parameter is only descriptive It can for example be reset to 0 P 0 0098 Attributes ID number P 0 0098 Editability P234 Function Parameter Memory no Data length 4Byte Validity check no Format DEC_MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max 0 S 0 0076 Default value P 0 0108 Lead drive polarity Description This parameter can invert master drive position polarity This means that an inverted electronic gearbox can be implemented Parameter structure Bit 0 Master drive position 0 positive polarity 1 negative polarity Fig 3 1 P 0 0108 Lead Drive Polarity DOK ECODRV ASE 04VRS
326. osition is the last InNPos message with x 100mm Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Jog Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the ev position inputs are in an iverted condition SV5005d1 drw Fig 5 12 Relative positioning block with residual path save after jog mode DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 Drive Controller with Integrated Positioning Control 5 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Behavior Reference position Example Relative positioning block with residual path save after powering the control voltage of the drive controller down and up after interrupt Only if an absolute encoder is used will the incremental reference be retained once the control voltage has been powered off and on The residual path is reained It is processed after the interrupted relative positioning block is activated with residual path save If an absolute enocer is used then the residual path is completed If a singleturn encoder is used then the residual path is ignored and the actual position set Note Incremental dimension reference is only guaranteed if an absolute encoder is used The reference position
327. ot offer a direct possibility of printing the parameter files Parameter files are stored as ASCII files and can be viewed with almost any editor and printed If parameter files are to be printed it is suggested that the Microsoft editor Notepad be used Notepad is a part of Windows 3 1 and therefore available within Windows 3 1 To print a parameter file the following instructions are required An example of a parameter file X_Axis par e Under the Program Manager menu choose Run File e At the command prompt type Notepad X Axis par and click the OK icon e Click on menu item File then click on Print The printing process will begin 3 16 Preparing for Startup DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 4 Motor and Drive Controller Selection 4 1 General Information on Selecting a Motor and Drive Controller An ECODRIVE system consists of a drive controller DKC and a servo motor MKD Selection documents selection lists can help in choosing a drive controller and a motor for a specific application These documents can be obtained from INDRAMAT Certain information about the motor and drive controller is used at start up to answer questions about installing parameters During online operation this information is read from the connected motor and drive controller and does not have to be entered by the user During offline operation the drive controller a
328. p but it does not effect the scaling of the analog torque command value Adjusting the Offset of the Analog Torque Input In order to adapt the offset voltages to the analog command value transmission an offset can be set in the drive controller anal torque command value processing Analog torque input offset ao av Fig 8 2 Input Offset Adjustment in Torque Regulation DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 DKC11 1 Drive Controller with Analog Torque Interface 8 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Analog Interface max 20 m in 2 om RED 1 eck IRED 2 oe AKT Bech OV L o AK2 SC ES Inputs Input voltage min max between E1 E2 t10 V t15 V between E1 0VM E2 0VM t10 V SEN Input current E1 E2 0 5 mA Input resistance approx 20 kOhm Input drift 18 uV C AD converter 12 Bit Resolution per bit 4 8 mV ADC 12 Bit AP0213d1 drw Fig 8 3 Connection Plan for the Analog Torque Interface 8 4 Velocity Supervision in Torque Regulation When ECODRIVE is used in torque regulation it supervises the velocity of the motor If the current actual motor velocity exceeds the velocity limit value by more than 12 5 or a maximum of 100 rpms the drive controller disengages the torque and displays the diagnostic F879 velocity limit value exceeded S 0 0092 This feature can be used to prevent an undefined accelaration
329. pment is switched on or even after an unspecified time of trouble free operation Although the monitoring circuits in the drive components make improper operation almost impossible personnel safety requires that proper safety precautions be taken to minimize the risk of electrical shock personal injury and or property damage This means that unexpected motion must be anticipated since safety monitoring built into the equipment might be defeated by incorrect wiring or other faults DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 Safety Instructions for Electrical Drives 2 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers 2 6 Safety Instructions for Electrical Drives DANGER IMDR ARIAL Dangerous movements Danger to life electrical shock and risk of injury or equipment damage gt Inthe drive component monitoring units every effort is made to avoid the possibility of faulty operation in connected drives Unintended machine motion or other malfunction is possible if monitoring units are disabled by passed or not activated Safe requirements of each individual drive application must be considered on a case by case basis by users and machine builders Avoiding accidents electrical shock personal injury and or property damage Keep free and clear of the machine s range of motion and moving parts Prevent people from accidentally entering the machine s range of movement use protective fences use protective railings insta
330. pose that loadside linear scaling is desried with dimensional units in meters the parameter 1 Scaling mechanical system dialog in DriveTop will set the position data scaling options on the drive as follows Parameter S 0 0076 Position Data Scaling Type Value 01001001 Bit 2 0 001 linear scaling Bit 3 1 Preferred Parameter Scaling Bit 4 0 Dimensional unit is meters m Bit 6 1 Data Referenced at the load Bit 7 0 Absolute processing format S 0 0077 Linear Position Data Scation Factor 1 S 0 0078 Linear Position Data Scaling Exponent 6 Now suppose that the decimal value of 1234567 is stored in the relavent position data register This datum value will be interpreted and displayed as 1234567X1X10 mm Millimeters or as the value would be displayed in the IDN lists 1234 567 mm with respect ot the laod Note that the least significant decimal value is determined by the scaling exponent in this example as 10 m or 10 mm S 0 0077 Attributes ID number S 0 0077 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English SS Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 65535 Default value 1 S 0 0078 Linear Position Data Scaling Exponent Description This ID number contains the scaling exponent that is to be used to scale all position data in the drive if li
331. pplications 10 36 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Homing When Using a Motor With Resolver Feedback Standard Absolute positioning sets and position limit value monitoring can only be used after the drive controlled homing procedure is successfully executed The homing procedure should be used in the following situations when using a motor with resolver feedback e After turning on the control voltage e Whenever there is a transition from operating mode to parameterization mode and back to operating mode The status message INREF signals to a connected control system that the drive has established a measurement relationship or in other words that the homing procedure was successfully executed This message must be processed immediately for applications which require a measurement relationship Direction of rotation when viewing the motor shaft clockwise ratation counterclockwise rotation Home to a switch active Home to the zero pulse active Reference distance 1 0 000 Reference offset 1 0 000 Homing speed 1000 000 Homing accelaration 1000 000 Positioning jerk 0 000 Positioning window 1 000 v Feed override via analog input Feedrate override Fig 10 32 Drive controlled homing procedure for motors with resolver feedback Determining the Direction of Motion During the Homing Proce
332. procedure the message INREF In Reference is given Deactivating the NFsignal and the AH STARTsignal can terminate the homing procedure Regulator release RF gt Control drive guided homing NF Start hip ng In reference INREF g f gt t k t1 gt 2ms SV0034d1 drw Fig 10 39 Drive controlled homing procedure 10 42 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Homing When Using a Motor With Integrated Absolute Encoder Function Optional When using a motor with an integrated absolute encoder function optional the measurement relationship is available immediately after turning on the supply voltage assuming that the P 0 0012 Command Set Absolute Measurement was executed during the initial installation This enables execution of absolute process blocks without a homing procedure immediately after the supply voltage is switched on The status message INREF In Reference signals to the connected control system that the drive has a measurement relationship to the machine zero point Reference distance 1 0 00 Reference offset 1 0 00 Homing speed 1000 000 mm min Homing accelaration mm s Positioning jerk 0 000 mm s Fig 10 40 Drive controlled homing procedure with a motor with integrated absolute encoderfunction Setting the Absolute Position The relationship to the machine mech
333. put value min max Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 49 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 0 0392 Velocity Feedback Value Filter Time Base Description A VZ1 filter will be used as the velocity feedback value filter This filter time constant is adjusted within this parameter The filter is not active with values less than 500usec S 0 0392 Attributes ID number S 0 0392 Editability P234 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC OV Extreme value check yes Unit English US Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 250 65500 Default value 500 S 0 0393 Command Value Mode for Modulo Format Description The interpretation of position command values such like S 0 0047 Position Command Value andS 0 0258 Target Position when the modulo function has been activated is dependent on the direction mode which has been selected The parameter S 0 0393 Command Direction Mode for Modulo Format exists for setting the mode This parameter is only functioning in the case where S 0 0076 Position Data Scaling Type had been activated in the modulo format The following values can be parametrized Fig 2 5 Parameterized Values S 0 0393 Attributes ID number S 0 0393 Editability P234 Function Parameter Memory Param E prom Data l
334. r interrupt in jog mode Example Interrupted relative positoin block with residual path save after jog mode with target position 600 without overrunning the target position in jog mode Reference position The reference position is the final InPos signal at x 100mm Behavior The distance covered when jogging between interrupt and restart of the positioning block is evaluated Note The incremental dimension reference is guaranteed Speed profile Standstill window POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulatoar release Jog d t Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the ja position inputs are in an iverted condition SV5004d1 drw Fig 5 11 Relative positioning block with residual path save after jog mode 5 10 pKkco1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Example Interrupted relative positioning block with residual path save after jog mode with target position 600 if the target position is overrun while jogging Behavior The drive returns to that target position specified prior to interrupt Note The incremental dimension reference is guaranteed Reference position The reference p
335. r 1 real master E The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveT op and helps you to identify the actual online drive Fig 9 15 Angle synchronization 9 10 DKC01 1 DKC11 1 with velocity and angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 INDRAMNAL ECODRIVE DKC01 1 DKC11 1 Drive Controller Basic operating principle of angle synchronization P 0 0143 synchronization velocity P 0 0151 synchronization window P 0 0142 synchronization acceleration 4 S 0 0048 add pos com value P 0 0053 master axis position gt Wie dE pos com val Xsynch P 0 0108 polarity of master drive S 0 0237 following drive rotations S 0 0236 master drive 1 rotations as S 0 0055 pos polarity parameter Fig 9 16 Angle synchronization diagram Relationship of master axis position to following axis position The angular relationship between master and following axis speed is described below oF gl transmissionratio V Fig 9 17 Angle synchronization The transmission ratio is fixed as follows following axis rotations transmission ratio master axis rotations Fig 9 18 Angle synchronization The transmission ratio is set during the parametrization phase DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 DKC11 1 with veloci
336. r emulation of the position command value Absolute encoder imitation 5S1 Actual output position 801195 04 Deg Home Reference position 0 00 E Deg counting direction abs enc clockwise ei counterclockwise set absolute encoder emulation Fig 10 30 Actual position output Requirements for Using Absolute Encoder Emulation The NC control system which is connected must have a SSI input and be able to process SSI data in 25 bit format The MKD motor used must be equiped with a multiturn absolute encoder Ordering option Calibrating the Absolute Encoder Emulation Setting up the absolute encoder emulation requires a one time calibration This calibration procedure is made up of the following steps e The polarity of the position information which is transmitted should first be checked for accuracy to prevent positive feedback in the position control loop Additionally the position display of the connected control system should be watched while moving the shaft at the same time The movement can be controlled manually with the battery box or with the jogging function If the position does not change in requisite manner the output polarity 09 must be reversed with the Absolute encoder counting direction parameter e The shaft should be moved to a position known in reference to the machine coordinate system e The desired output position should be entered in the Home position parameter e lf the dr
337. rating data that must be loaded in the drive for proper operation are backed up in the IDN list Customarily these are the parameters that are buffered in the parameter E Prom The control and to a file Drive Top use this IDN list to create a backup copy of the drive parameters S 0 0192 Attributes ID number S 0 0192 Editability no Function Parameter Memory fixed Data length 2Byte variable Validity check no Format IDN Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value 2 40 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 0 0193 Positioning Jerk Description The positioning jerk limits the acceleration change with respect to time in the operating mode with Drive internal interpolation e Referencing e Jogging e control loop seting e AH with step motor interface Note At 0 value the jerk filter is shut off S 0 0193 Attributes ID number S 0 0193 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC ON Extreme value check yes Unit English S 0 0160 Combination check no Posit after the dec S 0 0160 Cyc transmittable no Input value min max 0 S 0 0160 Default value 0 5 0 0228 Position Synchronization Window Description If the difference between the position
338. ravel limit switch cannot be used Block indexing to the block with the next highest block number is triggered by an external switching signal e Transition with switch cam external switching signal The switching signal dependent block indexing makes a transition to a following block possible with an external switching signal The two end switching inputs of ECODRIVE can be used Input dialo GE Cont block athardware zc 8 n N n Yee Speed Profile 1 H x eme eg pt Fig 5 23 Positioning block input with following block after switching signal 5 18 pkco1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Definition The drive goes to the next processing block n 1 as soon as the input of following block cam 1 limit goes to 0 gt 1 If the target position is not reached then a new positioning block will be switched into The drive goes to the next processing block n 2 as soon as the input of following block cam 2 limit goes to 0 gt 1 If a following block cam is activated during the process then the drive goes to the next positioning block Reference position A following relative positioning block relates to the position at which the following block cam was switched into drive goes to target position from block n 0 gt 1 X block n 2 is started Fig 5 24 Drive reaction with different switching signal
339. rd Kp 0 5xKperit Tn 2 x Tnerit drive characteristics machines tools Feed axis on High proportional gain no l gain perforating machines Kp 0 8 x Kpcrit Tn 6500 to achieve short transient periods or punch machines Feed drive on Kp 0 5 x Kpcrit Tn 6500 relatively undynamic control loop setting cut off without l gain to avoid bracing the device materialto be separated with the separation device Fig 10 20 Application specific velocity control loop settings Manual loop setting Fig 10 21 Control loop setting Position loop Setting the position loop is done with the parameter e S 0 0104 Position Controller KV Factor This can be set by either executing the basic load function once or by following the process which follows 10 24 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Preparations for Setting the Position Control Loop A number of preparations must be made in order to be able to set the position regulator The mechanical system must be set up in its final form in order to have true relationships while setting the parameters The drive must be properly connected as described in the user manual The safety limit switches must be checked for proper functioning if applicable The Position Regulation operating mode must be selected in the drive controller The underlying velocity controller must be properly adjusted The be
340. red position If the deviation is larger than the paramaterized P 0 0097 AbsoluteEncoderMonitoring Window the error F276 Absolute Encoder Error will appear and be given to the control system Cause 1 Turning on for the first time invalid stored position 2 The motor was moved further than allowed by the parameter in the absolute encoder monitoring window P 0 0097 while it was turned off 3 Incorrect position initialization Remedy For 1 Press S1 to reset the error and set the absolute position For2 The motor was moved while turned off and sits outside of its permissible position Check to see if the displayed position is correct in relation to the machine zero point Reset subsequent errors For3 An accident may occur by accidental shaft movement Check absolute position informartion A feedback defect is present if the absolute position information is false The motor should be exchanged and sent to the INDRAMAT Customer Service See also Function Description Absolute Encoder Monitoring F276 Attributes SS Display F2 76 Error number 276 Diagnostic message number F276 Error class Non fatal 1 8 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers F629 Positive Travel Limit Value is Exceeded The drive has been provided with a command value that leads to an axis position outside the positive travel range The
341. relates to the changes in the set transmission ratio This parameter describes the change in gear ratio with an input voltage of 10V See also Function Description DKCO01 1 with speed and angle synchronization P 0 0152 Attributes ID number P 0 0152 Editability P2 P3 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English I 10V Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 327 Default value 100 3 18 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0162 D9 Automatic control loop setting Description Starting this command executes an automatic control loop setting in the drive as soon as the drive is in the loop with command start gt This can effect an immediate motion if drive enable and drive start are applied to the drive The drive now conducts autonomous motions within the traversing range defined by both limits WARNING The two traverse range limits P 0 0166 and P 0 0167 within which the drive may move during autoatic control loop settings must be set first All pre settings affecting the command such as P 0 0163 damping factor for automatic control loop settings P 0 0164 application for autom control loop setting S 0 0092 bipolar torque force limit value and S 0 0259 positioning spee
342. reverse conversion is outside of the workable area because either DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA e Rotary motor and linear positional scaling are not representable or e the average factor for conversion of the position data from the display format into the internal format or reverse process is not representable Remedy Connect the drive with a PC and start DriveTop In the dialog box ocaling Mechanical system select a scaling setting Should another scaling installation other than one from DriveTop be used then the following parameters must be checked e S 0 0076 Position Data Scaling Type e 0 0077 Linear Position Data Scaling Factor e S 0 0078 Linear Position Data Scaling Exponent e 0 0121 Input Revolutions of Load Gear e 0 0122 Output Revolutions of Load Gear e 6 0 0123 Feed Constant C213 Attributes SS Display C2 13 Diagnostic message number C213 C214 Velocity Data Scaling Error Cause The display format of the velocity data can be set with the help of the scaling parameter The internal drive format of the velocity data is dependent on the applied feedback and the controller resolution The factor for the conversion of the velocity data from the internal drive format into the display format or the reverse process is outside of the workable area Remedy Connect the drive wi
343. ring a bit list Bit list Meaning 0000 0000 0000 0001 Torque regulation 0000 0000 0000 0010 Velocity regulation 0000 0000 0011 0011 Position regulation positioning interface with following error 0000 0000 0011 1011 Position regulation positioning interface without following error 1100 0000 0000 1011 Position regulation step motor interface without following error rotational feedback 1100 0000 0000 0011 Position regulation step motor interface with following error rotational feedback 1001 0000 0001 1011 encoder 1 angle synchronization real master axis 1010 0000 0001 0010 speed synchronization real master axis Fig 2 2 Mode of Operation S 0 0032 Attributes ID number S 0 0032 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format BIN Extreme value check no Unit English Combination check yes Posit after the dec 0 Cyc transmittable no Input value min max Default value 10b 5 0 0033 Secondary Operation Mode 1 Description The first secondary operation mode is reserved for the jogging operation for DKC Any other auxiliary operating modes are not permitted S 0 0033 Attributes ID number S 0 0033 Editability no Function Parameter Memory Param E Prom Data length 2 byte Validity check yes Format binary Extreme value check no Unit English Combination check yes Posit after the dec Cyc transmittable no Input value min max
344. ription The acceleration value for the ramp up to homing velocity with which the S 0 0148 Drive controlled homing procedure command is performed is set in this parameter S 0 0042 Attributes ID number S 0 0042 Editability P234 Function Parameter Memory Param E prom Data length 4Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0160 Combination check no Posit after the dec S 0 0160 Cyc transmittable no Input value min max 0 S 0 0160 Default value 1000 000 rad s2 2 6 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0043 Velocity Polarity Parameter Description The polarity of the velocity data that is applied to the application can be switched in this parameter The polarity will be switched externally at the command amp feedback input and actual value output and not within the control system velocity regulator The following applies to rotary motors Clockwise rotation when facing the motor shaft is the rule for a positive velocity command value difference and a positive velocity feedback value polarity Structure of the parameter Bit 0 Velocity command value 0 Positive polarity 1 Negative polarity Bit 1 Velocity command value additive 0 Positive polarity 1 Negative polarity Bit 2 Velocity feedback value 0 Positive polarity 1 Negative polarity
345. rives It thereby tests every drive address between 1 and 99 DriveTop Searching for connected drives Number of drives found 0 Fig 3 6 Scanning drive addresses DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Preparing for Startup 3 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers TDi ZA DIZ If one or more drive controllers are found then the parameter settings of the drive will be classified Note Multiple drives may be found when the PC is connected by an RS232 RS485 interface converter to more drives which are interfaced with an RS485 All drives must be set to the same baud rate If no drive is found then the following dialogue appears DriveTop No drive could be found S Retry Cancel or Offline Fig 3 7 Dialogue appearing after failed scan Reasons for this error can be e The 24Vdc control voltage for the DKC is not turned on or not connected e Problem in the connection between PC and the drive controller Establishing a connection can be retried the program can be cancelled or you can go to offline mode Online and Offline Operation Parameter Setup through Online Operation Startup Procedure Online operation is a drive controller in direct communication with the PC via the serial communication link That means that in online operation all the parameters that are in the current dialog screen of the start up sequence are written directly to the drive controller and immediately b
346. ro switch during torque regulation and velocity regulation A010 Attributes SS Display AH Diagnostic message number A010 A012 Control and Power Sections Ready for Operation Description The drive is supplied with control voltage and the power is switched on The drive is ready for power delivery A012 Attributes SS Display Ab Diagnostic message number A012 1 42 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IMDR ARIAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers A013 Ready for Power ON A100 Drive in Torque Description The drive is supplied with a control voltage there are no errors in the control drive The drive is ready to be turned on A013 Attributes SS Display bb Diagnostic message number A013 Mode Description The drive is functioning in torque mode The drive follows the given torque command value received over the analog channels E1 and E2 A100 Attributes SS Display AF Diagnostic message number A100 A101 Drive in Velocity Mode Description The drive is functioning in velocity mode The drive follows the given velocity command value received over the analog channels E1 and E2 A101 Attributes SS Display AF Diagnostic message number A101 A111 Velosity Synchronisation Real Lead Drive Description The drive is in speed control The speed command value is derived from the master axis position The master axis position is generated fro
347. rocedure and Diagnostics 0 ccccceeececeeeeceeeeeeaeeeeaeeseeeesaeeeeaaeeseaeeseeeeessaeeeeeeaes 3 1 3 3 DriveTop System Heouirements 3 1 3 4 Installation of Drive T Ozu sr exert ee geg etggen knuter A ETE E E AE E AE E OTTAA 3 2 Starting the Installation Pr gramuiunassurvtdartl knuse aa aa aa a aaa erada 3 2 Setting communications parameters cc eeeeceeeceeceeeeeeeaeeeeeeeeceaeeeeeaaeseeeeeseaaeseeaaeseeeeeeseaeeeeeeeeeaees 3 3 3 5 Connecting the PCs with the Drive Controller ccccceecceceneeeeeeeeeeeeeeeeeeeceaeeeeaaeseeaeeseaeeesaeseaeeseeeesaes 3 5 3 6 Minimal Installation for Operation of a DKC with Drivefop 3 6 3 7 Drive Top Start Up EE 3 7 Scanning for Connected Drives vite ssecsseteivessetivaes ara aara a ea tn masse aud 3 7 Online and Offline Operation sssi ege tege REESEN aaa a AE aE an E Aaa eraai 3 8 Diagnostic line EE 3 9 Password Be te NEE 3 9 Integrating Ba NEE 3 12 3 8 Drive Top Mem Structure Laura ianen itne Zeen gegugi ege ege pes eege loves DR EAE AETA eaaa aU GENARA TA 3 13 GE EEE EN EE NE EN ltt ee 3 13 USS vekse et arters adekvate mater rederiets 3 13 NEE EE 3 13 Ei Mee 3 15 Weer gress EA A OE I T EA OTE E T AA OAE TEE EAO 3 15 de 3 15 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Contents ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers ele GE 3 15 3 9 Printing Parameter RE EEN 3 16 4 Motor and Drive Controller Selection 4 1 4 1 General Information on Selecting a Motor and Drive Controller
348. rrent command value is growing on the value of the proportional component Definition of the Integral Action Time d kP Integral component d kP Proportional component TN Integral l action time with TN Velocity controller action time ms TN KP KI KP Velocity controller proportional ampl A sec rad KI Integral ampl A rad icom Current command value do Velocity controller deviation Fig 2 8 Integral Action Time The value of the time axis for which the integral component is equal to the proportional component is described as integral action time ie t TN when icmd 2xdw KP This represents the time that a pure l controller would need until the controller output variable y is equal to the output variable of a P controller at time t 0 The integral gain component is disabled with the input value TN Osec See also Function description Setting the velocity loop S 0 0101 Attributes ID number S 0 0101 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format DEC_OV Extreme value check yes Unit English ms Combination check no Posit after the dec 1 Cyc transmittable no Input value min max 2 3276 7 Default value 15 0 ms DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 2 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 5 0 0103 Modulo Value Description When Modulo format that is s
349. rs P 0 4023 Attributes ID number P 0 4023 Editability P2 P3 P4 Function Parameter Memory no Data length 2 Byte Validity check no Format binary Extreme value check yes Unit English z Combination check no Posit after the dec e Cyc transmittable no Input value min max Default value Supplement A Parameter Description 3 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4024 Test Status P 0 4025 Password Description IMDR ARIAL Supports information about product advancement in operation P 0 4024 Attributes ID number P 0 4024 Function Parameter Data length 2 Byte Format HEX Unit English Posit after the dec Input value min max Description Acts like S 0 0267 password Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value Editability Memory 0 byte maximum 10 symbols P 0 4025 Attributes ID number P 0 4025 Function Parameter Data length Validity check yes Format ASCII Unit English Posit after the dec Input value min max P 0 4026 Process Block Selection Description Extreme value check Combination check Cyc transmittable Default value Amplifier E Prom yes no no no no P2 P3 P4 parallel EEProm no no no With this parameter it can be read from drive stop which of the input signals P1 to P5 is the selected process block If the device
350. rs 3 Preparing for Startup 3 1 General Instructions for Startup Procedure In this chapter the initial operation and diagnostic system DriveTop will be introduced In general it is necessary to install DriveTop on the PC if the startup procedure of the DKC is to work Drive Top follows this handbook to concurrently run offline In the following chapters the document will frequently refer to this program Note If you would like to see a short summary of ECODRIVE s qualities go to section 9 3 2 Drive Top Startup Procedure and Diagnostics DriveTop is a WINDOWS based application program used in the initial operation and diagnosis of ECODRIVE drive controllers DriveTop has a user friendly start up guide The initial operator will be led through a series of functional dialogues for the input of all operational settings For each of these dialogues there are help instructions that can be activated with the press of a key The startup parameterization process is set up so that the user is only confronted with parameter settings that are relevant to the chosen operating configuration only 3 3 DriveTop System Requirements DriveTop is a Windows based application program Minimum PC requirements are e IBM compatible 80386 40MHz 80486 recommended e 4MB RAM 8MB recommended e 5MB free hard drive space for Drive Top and an additional 15 MB for the ECODRIVE help system e A free serial port e VGA graphics e Mouse or compatabl
351. ry Feedback Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English V A Combination check no Posit after the dec 2 Cyc transmittable no Input value min max 0 500 Default value P 0 4040 Digital Inputs Description Bit list to be read by the digital input signals of the DKC 1 means there is a voltage of about 24V at the input Bit 0 X4 2 drive enable signal Bit1 X4 3 AH start Bit 2 X2 13 go to zero Bit 3 X2 14 zero switch Bit A X2 15 positive travel range limit switch L Bit5 X2 16 negative travel range limit switch Bit 6 X2 17 jogging imput positive direction Bit 7 X2 18 jogging imput negative direction L Bit 8 X2 1 select block line 1 step motor input SM1 Bit 9 X2 2 select block line 2 step motor input SM1 Bit 10 X2 3 select block line 1 step motor input SM2 L Bit 11 X2 4 select block line 2 step motor input SM2 Bit 12 X2 5 select block line 5 Bit 13 free L Bit 14 free L Bit 15 free Fig 3 14 P 0 4040 digital inputs 3 46 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4040 Attributes ID number P 0 4040 Editability no Function Parameter Memory no Data length Byte Validity check no Format binary Extreme value check no Unit English Ss Combination check no Posit after the dec Cyc transmittable no Input value min max
352. s S 0 0262 Attributes ID number 5 0 0262 Editability P234 Function Command Memory no Data length 2 Byte Validity check no Format BIN Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 11b Default value S 0 0265 Language Selection Description Within the drive controller there are parameter names units and diagnostic message storaged addresses collectively stored in more than one language These parameters will establish in which language the text should be given by the setting of this parameter German English French Spanish D A OUO N O Italian 2 44 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIAL S 0 0267 Passwort ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0265 Attributes ID number S 0 0265 Editability P234 Function Parameter Memory Param E prom Data length 2 bytes Validity check Phase 3 Format DEC OV Extreme value check yes Units English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 4 Default value 0 Description A customer specific pasword can prevent access by unauthorized persons The password 007 is set at the factory This password permits write access to the parameters P 0 0267 Attributes ID number S 0 0267 Editability P234 Function Parameter Memory parallel EEProm Data l
353. s SS Display C2 02 Diagnostic message number C202 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 27 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA C203 Parameter Calculation Error gt S 0 0022 Cause Parameters which are required for operation of the drive in the operation mode found errors in the conversion that do not permit an orderly operation Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C203 Attributes SS Display C2 03 Diagnostic message number C203 C207 Load Error LCA Cause Defective drive Remedy Power down and then on again If this in not successfull exchange drive C207 Attributes SS Display C2 07 Diagnostic message number C207 C208 Invalid SSI Parameter gt S 0 0022 Description When the motors are first distributed the parameter for absolute control emulation is purposely invalid to ensure that the Set Absolute Measurement Emulator Command will be executed after a motor is exchanged Cause The SSI emulation was selected The parameters required for emulation are invalid Remedy Connect the control drive to a PC and activate DriveTop Actual Position Output menu with controller emulation type Absolute Controller Emulation SSI e Describe Homing Position Offset e Select Absolute Control Directional Coun
354. s DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Error Velocity actual value reset Motor torque Brake activation n lt 10 mina n gt 10 min a Time axis 200 1 The brake is activated when error reaction 1 is set 2 Error reaction The brake falls below a velocity of 10min and is activated The brake is activated after 400 ms even if the motor velocity gt 10mit 3 After the cause of the error is eliminated the brake will release when the regulator is released SV0045D1 drw Fig 10 53 Brake Reaction in error conditions 10 15 Activating the Drive Controller Enable The drive is activated via the controller enable signal Requirements for Activating the Drive The drive must be ready for operation and the power supply must be turned on for the drive to be activated Condition display Ab If the controller enable is set while missing the power supply the control drive will register F226 Undervoltage Error Drive enable after error reaction After the drive enable has been remmoved or after a fatal error has occurred the drive enable cannot be switched back on until the programmed error raction has been runthrough and accepted DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 51 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Example Drive enable on after error reaction Speed co
355. s related to the application can be switched in this parameter The polarity will be switched externally at the command amp feedback value input and actual value output not inside the controlled system The following applies to rotary motors Clockwise rotation when facing the motor shaft is the rule for a positive torque command value and a positive torque feedback value polarity Structure of the parameter Bit 0 Torque command value 0 positive polarity 1 negative polarity Bit 1 Torque command value additive 0 positive polarity 1 negative polarity L Bit 2 Torque feedback value 0 positive polarity 1 negative polarity Fig 2 7 S 0 0085 Torque Force Polarity Parameter Note If bit O is altered the drive will also set the value of bits 1 2 to match the value of bit 0 S 0 0085 Attributes ID number S 0 0085 Editability P23 Function Parameter Memory Param E Prom Data length 2 Byte Validity check Phase 3 Format BIN Extreme value check yes Unit English Combination check no Posit after the dec Cyc transmittable no Input value min max Default value Ob 2 18 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0086 Torque Force Data Scaling Type Description At the present time only the percentage scaling for the torque force data is supported The following applies 100
356. s with heart pacemakers metal implants and hearing aids Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment Persons with pacemakers and metal implants are not WARNING permitted to have access to the following areas Areas in which electrical equipment and parts are mounted operating or are being commissioned Areas in which parts of motors with permanent magnets are being stored repaired or mounted gt If it is necessary for a person wearing a heart pacemaker to enter into such an area then a physician must be consulted prior to doing so Persons with metal implants or hearing aids must take care prior to entering into areas described above It is assumed that metal implants or hearing aids will be affected by such areas and a physician must be consulted prior to doing so 2 6 Protection during handling and installation All INDRAMAT products should be handled and assembled according to the instructions in the documentation Risk of injury due to incorrect handling Bodily injury caused by crushing shearing cutting and thrusting movements Observe installation instructions and safety CAUTION regulations before handling and working on the product Use suitable installation in using lifting or moving equipment Refer to the user manual for the product Take precautions to avoid pinching and crushing Only use suitable tools specified i
357. sary if ended with error C227 modulo range error The marginal conditions for error free processing of the modulo value are e The modulo range S 0 0103 modulo value may not exceed one half of the maximum traversing range which in turn is dependent on the motor encoder used e If rotary or translatory position weighting with load reference and no phase synchronization is used as operating modes then the product of S 0 0103 modulo value S 0 0116 resolution of rotational feedback 1 and S 0 0121 input revolutions of load gear must be smaller than 2 63 e f rotary position weighting with load reference and angle synchronization are used as operating modes then the product of S 0 0237 Slave Drive Rotation and S 0 0121 input revolutions of load gear must be smaller than 263 e If angle synchronization mode is used then do not set translatory position weighting 5 38 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Modulo format processing of command values How position command values such as S 0 0047 position command value and S 0 0258 target position are interpreted depends on the mode set The following possibilites exist e shortest path e positive direction e negative direction Parameter S 0 0393 command value mode in modulo format exists for setting modes This parameter only becomes effective if a modu
358. save residual path Input dialog Mode relative positioning without remaining path memo Cont block Speed Profile Fig 5 4 Relative positioning block without save residual path Through a string of relative positioning commands a string of distances can be positioned Reference position Given relative positioning blocks without residual save the current position is added to the target position in the positioning block Incremental dimension By sequencing relative positioning blocks it is possible to position with reference incremental dimensioning Interrupting a relative positioning block without residual distance save means that the reference dimension is lost If the positioning block is completed i e the drive reaches target position and the INPOS signal is active then the incremental dimension can be positioned without loss Given an infinitely forward or reverse positioning by sequencing relative positioning blocks transport band then the position data must be scaled in modulo format Modulo value length of transport band or modulo format 2 maximum traversing path Note If relative positioning without save residual distance is used to traverse incremental dimensions then it must be noted that the incremental dimensions will always be deleted if a positioning block is interrupted Incremental dimension reference can be re established by traversing positiong blocks or re referencing 5 4 DKCO1
359. show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an iverted condition SV0039d2 drw Fig 10 25 INPOS message response during positioning procedures DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA In Motion INBWG 10 30 General Drive Functions Note After a positioning command is started the INPOS message is set to zero at the same time as the output of the command selection acceptance POSQ as long as the target position has not yet been reached Synchronization modes The INPOS message is used with angle and speed synchronization to signal synchronous operations This message can help a superordinate control system determine the correct completion of a positioning command See also Section 9 3 Check back with speed synchronization and Section 9 4 Check back with angle synchronization Note The INPOS message defaults to being inactive during jogging and when the controller enable is switched off Step motor operating modes The INPOS message is generated in this mode with step motor interface if the difference between position command value set via step motor control and the actual position value is less than the value set in parameter positioning window S 0 0057 pos comm val act pos val lt pos window Fig 10 26
360. sition deviation to zero The axis in position monitoring should be used to do this The offset parameter should be adjusted while the axis is at a standstill until the following error display for the NC control system displays the value zero 7 2 DKCO1 1 DKC11 1 Drive Controller with Analog Speed Interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Command Value Smoothing Position loops in NC control systems work with a specific cycle time Very often this cycle time is in the range from 5ms to 20ms The velocity command values produced by the NC affect the drive controller like springs and cause vibrations and noises in the machine mechanics In order to reduce the vibrations the command values can be filtered with command value smoothing The rule of thumb is filter time constant 0 3 0 5 command value smoothing Fig 7 3 Filter Time Constant for Command Value Smoothing Analog Interface max 20 m l olx oe E1 ot E2 ot IRED 1 ot RED 2 oe AKT _ 6 Inputs Input voltage min max between E1 E2 T10V 15V between E1 0VM E2 0VM t10 V t15 V Input current E1 E2 0 5 mA Input resistance approx 20 kOhm Input drift 18 uV C AD converter 12 Bit Resolution per bit 4 8 mV ADC 12 Bit AP0213d1 drw Fig 7 4 Connection Diagram of the Analog Speed Interface DOK ECODRV ASE 04VRS FKB1 EN P
361. ssage is fixed as soon as the drive is once again ready bb contact closed If a singleturn encoder is used then the IN POS message remains undefined after a break in the power until the first target position is approached or homing has been conducted Note The INPOS message is retained if the axis is not moved during the interrupt If the axis was moved into the positioning window then the INPOS message will also be generated After activating the drive enable positioning block acknowledge changes as described in Acknowledgement with drive enable off 5 7 Target position processing with modulo weighting Modfulo function With activated modulo function all position data within the modulo range must be depicted If the modulo function is activated then all position data in the range 0 modulo value 1 are depicted This means it is possible to implement infinitely moving axes with position data overrun The modulo value can be set via parameter S 0 0103 modulo value Activating the modulo function is done in parameter S 0 0076 position data scaling type 5 0 0076 Position data scaling type Bit 7 Processing format 0 absolut format 1 modulo format Fig 5 44 Setting absolute format modulo format The modulo weighting of the position data artificially limits the range so that upon reaching the modulo value there is an overrun of the actual position value 5 36 pKkco1 1 Drive Controller with Integr
362. ssued e 0 German e 1 English e 2 French e 3 Spanish e 4 Italian Note P 0 0005 Attributes ID number P 0 0005 Function Parameter Data length 2Byte Format DEC_OV Unit English Posit after the dec 0 Acts like S 0 0265 language switch Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value P234 Param E prom Phase3 yes no no Input value min max 0 1 P 0 0006 Overload Factor Description The overload factor parameter value influences and determines the values for the torque releated drive parameters Mmax MKB and the short duration torque percent duty cycle time ED Increasing the overload factor corresponds to a reduction of the parameter values for e the percent duty cycle ED and e the maximum peak torque Mmax Increasing the overload factor corresponds to an increase in the short duration torque Mkb D M UF 100 M dN P 0 00061 Short period operational torque in Nm Stand still torque in Nm Fig 3 1 Overload factor P 0 0006 Attributes ID number P 0 0006 Editability P234 Function Parameter Memory Param E2prom Data length 2Byte Validity check Phase 3 Format DEC OV Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 1 500 Default value 100 3 2 Supplement A Parameter Description DOK ECODRV ASE 0
363. stant Description The analog velocity command value is filtered according to the recorded time constant The filter can be switched off with input value 0 or 0 5ms P 0 0504 Attributes ID number P 0 0504 Editability Function Parameter Memory Data length 4 Byte Validity check Format decimal Extreme value check Unit English ms Combination check Posit after the dec 2 Cyc transmittable Input value min max 0 5 1000 00 Default value P 0 0508 Commutation Offset Description no Param E Prom yes yes no no 5 00 This parameter with synchronous motors gives the offset between raw value of the rotational feedback and the resulting absolute electrical angle between the stator current vector and the rotor flux vector The commutator offset is stored in the motor feedback data memory and does not need to be entered P 0 0508 Attributes ID number P 0 0508 Editability Function Parameter Memory Param E prom Feedb E 7Prom Data length 2 Byte Validity check Format DEC OV Extreme value check Unit English Combination check Posit after the dec 0 Cyc transmittable Input value min max 0 10000 Default value P 0 0510 Moment of Inertia of the Rotor Description no Phase3 no no no This parameter gives the moment of inertia of the rotor without load and is stored in the feedback of motors with feedback memory P 0 0510 Attributes ID number P 0 0510 Editabi
364. sword and complete the dialog using the OK key The drive is unlocked Lock drive If the drive is to be locked then using menu item Options Password protection lock drive must be called up in the following dialog Password protection You can lock the drive with the password protection Press OK to lock the drive or Cancel to stay in the current state Fig 3 11 Locking the drive Procedure Press the OK key and the drive is locked Locking with RS 485 Once a user password is entered the drive is locked when starting and leaving DriveTop If DriveTop is used to start a new drive RS 485 then both the old and the new drives are locked DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Preparing for Startup 3 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Integrating help sytems DriveTop displays in list Documentation installed every help system installed for Indramat drive controllers There is also the option of adding any Windows help system in this library Documantations Documentations already installed Delete ente Fig 3 12 Documentation Searching for and integrating help systems Use the Search key to get into the Insert dialog Select the desired file type Indramat help or general help and change to the directory in which the help system is located The available titles will appear in the selection lists By double clicking a title it is copied into the li
365. synchronization P 0 0083 Attributes ID number P 0 0083 Editability P234 Function Parameter Memory nein Data length 2Byte Validity check Phase3 Format DEC_OV Extreme value check yes Unit English Combination check no Posit after the dec 2 Cyc transmittable no Input value min max 327 67 327 67 Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA P 0 0090 Travel Limit Parameter Description The activation of the travel limit switches reaches in the parameter P 0 0090 In addition to this one can invert the polarity of the signal input The drive response to a travel limit can be selected by testing it as either an error or as a warning Structure of the parameter L Bit 0 negation 0 E2 3 not inverted 24 V gt travel range exceeded E2 3 inverted 0 V gt travel range exceeded Bit 1 activation 0 travel range limit switch is not active 1 travel range limit is active Fig 3 6 P 0 0090 Travel Limit Parameter P 0 0090 Attributes ID number P 0 0090 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format BIN Extreme value check no Unit English Se Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value P 0 0097 AbsoluteEncoderMonitoring Window Description With t
366. t change of the transmission ratio For the DKC1 gearbox transmission adjustment can also be performed with the analog channel DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKC01 1 DKC11 1 with velocity and angle synchronization 9 7 ECODRIVE DKC01 1 DKC11 1 Drive Controller IFDRANA P 0 0152 Evaluating analog gearbox adjustment Parameter P 0 0152 This parameter is used to set the analog channel evaluation for gearbox transmission adjustment The evaluation can be set from 1 10V to 327 10V This parameter can only be set in parametrization mode Smoothing analog adjustment Parameter P 0 0504 The analog signal for gearbox adjustment can be smoothed The time constant of the PT1 smoothing filter is set in parameter P 0 0504 command filter smoothing time constant Additive velocity command value Using parameter S 0 0037 additive velocity command value it is possible to change the following axis velocity independent of the master axis velocity The additive velocity command value can be set via the serial interface or the analog channel Additive velocity command value via an analog input Velocity synchronization Synchronisation Velocity acceleration command Velocity command Master drive revolutions mm Analog Channel Additive velocity command E Gain Adjust Scaling analog Smoothing Time Constant 0 00 4 me Fig 9 13 Additive velocity command value via an analog input The evaluation and smooth
367. t deviate from the default values of the feedback 1 12 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA F870 24 V Error ECODRIVE DKC01 1 DKC11 1 Drive Controllers F860 Attributes SS Display F8 60 Error number 860 Diagnostic message number F860 Error class Fatal Description The DKC requires a 24V control voltage If the maximum allowable tolerance of 20 is exceeded then the drive is immediately switched to torque free operation An optional brake is activated Cause Disturbance or overload of the 24 V supply voltage Measure control voltages Remedy Check wiring and or replace power supply module Note This error can only be cleared in parametrization mode phase 2 As a result of this error the encoder emulation is switched off F870 Attributes SS Display F8 70 Error number 870 Diagnostic message number F870 Error class Fatal F873 Power Supply Driver Stage Fault DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Description The voltage supply of the driver stage is monitored and if the voltage is too low then the drive is turned off Cause Voltage supply of the driver stage is too low Remedy Exchange drive controller F873 Attributes SS Display F8 73 Error number 873 Diagnostic message number F873 Error class Fatal Supplement B Diagnostic Message Description 1 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers
368. te Position Data Processing 10 4 Maximum permissible number of lines 9 3 Minimum value for accel and jerk 5 26 Mode 3 3 modulo area 10 4 Modulo format 5 4 Modulo function marginal conditions 5 38 position command processing 5 39 modulo processing 10 4 10 5 Modulo value 5 4 Monitoring functions 10 9 Moving Towards the Home Position 10 45 N Negating Position Speed and Torque Data 10 3 O Offline mode 3 8 Opening a help system 3 13 operating mode 10 5 10 38 Override Feature While Jogging 10 47 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P P 0 0152 Evaluating analog gearbox adjustment 9 8 P 0 0502 Line Count for Incremental Encoder 10 34 P 0 0503 Reference Pulse Offset 10 34 parameter mode 3 14 10 5 parameterization mode 10 38 Parametrization mode 11 12 passive mode 11 5 Password protection 3 9 position limit 5 3 position limits 1 2 1 4 5 14 10 5 Position loop monitoring 10 26 10 27 Positionierbetriebsarten Lageregelung 10 29 Positioning Mode 5 31 Positioning dependent block indexing 5 15 power supply 10 7 10 28 10 52 Preparations for Setting the Position Control Loop 10 25 Preparations for Setting the Velocity Loop 10 22 Primary Mode of Operation for the Position Loop Monitor 10 27 Primary Mode of Operation for the Velocity Loop Monitor 10 26 Process block accel 5 1 Process block jerk 5 1 Process block mode 5 1
369. te teee eter teaeeeeeteaeeeeeseaeeeeesaeeeeeteeaeeeeeeeaeens 3 52 P 0 4052 Last Process Blook e rni A ce Seege cate a aaepe er A de ccsbotudectethadscesessatens hdd ccuhitetccdeohad dienes 3 52 P 0 4094 Command Parameter Default Get 3 53 4 1 DOC ECODRV ASE 04VRS FKB1 EN P e 07 97 Contents V ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Notes VI Contents DOC ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 General Information Structure of this Document All standard and product specific parameters are listed in this chapter in ascending numerical order It supplements the entries made in the Functional Description and represents a complete description of all parameters used in the ECODRIVE product Note The parameter description is especially important if the serial interface RS485 232 from the drive controller is used Detailed knowledge of the definition of each parameter is not needed for using DriveTop to set parameters during installation The description of the individual parameters breaks down as follows 1 General description Parameter functions and definitions and aids to assist in parametrization are summarized in this section 2 Attribute descriptions This includes the list of charcteristics and characteristic values used in the classification of parameters These are needed to complement parameter descriptions If only a quick summary of their importa
370. tep k Note Variables that apply to the motor are underlined and variables that apply to the load are not underlined DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 DKC01 1 DKC11 1 with velocity and angle synchronization 9 1 ECODRIVE DKC01 1 DKC11 1 Drive Controller IFDRANA 9 2 Generating the master axis position Parameter P 0 4033 The master axis position is gained by evaluating an incremental encoder with square wave signals This encoder evaluation processes the signals only relatively No zero impulse is evaluated The master axis is evaluated only if a synchronization mode is activated The master axis position is stored in parameter P 0 0053 The master axis position is depicted in degrees 360 degrees equals one master axis encoder rotation incremental encoder signals P 0 4033 master axis A encoder resolution Fig 9 2 Master axis encoder evaluation mas axis position Master axis encoder resolution P 0 4033 The resolution of the master axis encoder lines per rotation can be set with parameter P 0 4033 master axis encoder resolution The master axis encoder must be connected to the step motor interface of the DKC Note The master axis encoder can be either an incremental encoder or an ECODRIVE with incremental encoder emulation Block diagram of the master axis encoder on the DKC encoder channel channel channel channel OVext Fig 9 3 Block diagram for master axis enc
371. ter C208 Attributes SS Display C2 08 Diagnostic message number C208 1 28 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers C211 Invalid Feedback Data gt S 0 0022 Description Invalid data was found while processing the parameters stored in the motor feedback Causes 1 Motor feedback cable not connected or it is defective 2 Defective motor feedback 3 Drive controller defective Remedy For 1 Check motor feedback cable connect at both ends For 2 Exchange the motor For 3 Exchange drive controller C211 Attributes SS Display C2 11 Diagnostic message number C211 C212 Invalid Amplifier Data gt S 0 0022 Description During the installation of the drive data from the drive controller will be processed for drive identification If invalid data is detected this error message will be displayed Cause Defective hardware in the drive controller Remedy Exchange drive controller C212 Attributes SS Display C2 12 Diagnostic message number C212 C213 Position Data Scaling Error Cause The display format of the position data can be set with the help of the scaling parameter The internal drive format of the position data is dependent on the applied feedback and the controller resolution The factor for the conversion of the position data from the internal drive format into the display format or the
372. th a PC and start DriveTop In the dialog box ocaling Mechanical system select a scaling setting Should another scaling installation other than one from DriveTop be used then the following parameters must be checked e S 0 0044 Velocity Data Scaling Type e 0 0045 Velocity Data Scaling Factor e 0 0046 Velocity Data Scaling Exponent e 0 0121 Input Revolutions of Load Gear e 0 0122 Output Revolutions of Load Gear e 6 0 0123 Feed Constant C214 Attributes SS Display C2 14 Diagnostic message number C214 1 30 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers C215 Acceleration Data Scaling Error Cause The display format of the acceleration data can be set with the help of the scaling parameter The internal drive format of the acceleration data is dependent on the applied feedback and the controller resolution The factor for the conversion of the acceleration data from the internal drive format into the display format or the reverse process is outside of the workable area Remedy Connect the drive with a PC and start DriveTop In the dialog box ocaling Mechanical system select a scaling setting Should another scaling installation other than one from DriveTop be used then the following parameters must be checked e S 0 0160 Acceleration Data Scaling Type e S 0 0161 Acceleration Data Scaling Factor e S
373. th jogging without target position overrun Speed profile Standstill window Sa POS1 POS5 gt AH START INPOS INBWG Regulatoar release Jog Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the IS position inputs are in an iverted condition SV5016d1 drw Fig 5 31 Following block interrupt with jogging with target position overrun Note When jogging only one indexing command is acknowledged and evaluated This means that only the first overrun target position or switch cam is detected and evaluated This position value is then used as the reference position DOK ECODRV ASE 04VRS FKB1 EN P 07 97 DKCO01 1 Drive Controller with Integrated Positioning Control 5 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL Interrupting a following block sequence with new block number selected Block number If during an interrupt eg drive halt a new block number is selected then the previously interrupted following block sequence is not completed upon restart but instead the current block is completed Reference position Current actual position value Example Speed E profile t git Buse BK Standstill window _ ER i i gt R x 100 GE x 500 x 700 x 1000 POS1 POS5
374. the dec 0 Cyc transmittable no Input value min max 1 1000 Default value P 0 4017 Offset of the Analog Torque Command Description This parameter is only active in Torque control mode An offset of the analog torque command value can be set An available offset which lies in the signal path of the analog signal can be regulated P 0 4017 Attributes ID number P 0 4017 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length 2 Byte Validity check yes Format decimal Extreme value check yes Unit English mV Combination check no Posit after the dec Input value min max 1 10000 10000 Cyc transmittable Default value P 0 4018 Offset of the Analog Velocity Command Input Description no 0 This parameter is only active in Speed control with analog command value active An offset of the analog speed input can be set An available offset which lies in the signal path of the analog signal can be regulated P 0 4018 Attributes ID number P 0 4018 Function Parameter Data length 2 Byte Format decimal Unit English mV Posit after the dec Input value min max 3 36 Supplement A Parameter Description 1 10000 10000 Editability Memory Validity check Extreme value check Combination check Cyc transmittable Default value P2 P3 P4 parallel EEProm yes yes no no 0 DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DK
375. the drive controller e Drive controller or cable malfunctions e Motor malfunctions e Malfunctions caused by invalid parameter input e Application errors DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 1 2 Error Diagnostic Message UL PL 1 2 Supplement B Diagnostic Message Description Motor Type not Reported Description The settings for current regulation velocity command and position loop are stored in the feedback of the motor After powering up the drive compares the motor type stored in the parameters with the connected motor type If the two do not match then the drive remains in this state By pressing the S1 key the drive overwrites its stored parameters with the control loop parameters from the motor feedback Cause Motor was exchanged Parameter file was loaded but parameter P 0 4036 motor type connected contained a different motor type Remedy Command C700 Basic Load or press the S1 button F208 Attributes SS Display UL Diagnostic message number F208 Error class Non fatal Error number 208 Load Parameter Default Value Description After the firmware is replaced EPROMSs if the parameters have been changed in regards to the old product the drive displays PL By pressing the S1 button on the drive or by starting the command load basic parameters all the parameters
376. this parameter the Standstill window In standstill the output signal In motion will be removed S 0 0124 Attributes ID number S 0 0124 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0044 Combination check no Posit after the dec S 0 0044 Cyc transmittable no Input value min max 0 S 0 0044 Default value 10 0000 Rom S 0 0127 C1 Communication Phase 3 Transition Check Description The commands S 0 0127 C1 Communication phase 3 transition check and S 0 0128 C2 Communication phase 4 transition check are used to switch form the parameteri mode to the operating mode When the S 0 0127 C1 Communication phase 3 transition check command is used the validity of all of the interface parameters will be checked If any of the parameters are found invalid the drive ends the command with an error message 2 30 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers See also Function description Executing Parameter Commands S 0 0127 Attributes ID number S 0 0127 Editability P2 Function Command Memory no Data length 2 Byte Validity check no Format BIN Extreme value check yes Unit English Se Combination check no Posit after the dec 0 Input value min max 0 11 b Cyc transmittable no Default value S
377. tic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Remedy Check the primary control loop F879 Attributes SS Display F8 79 Diagnostic message number F879 Error class Fatal F895 4 kHz Signal Error Description The 4kHz signal is synchronized with the software processing for creation of the resolver signal This error message is created when synchronization occurs improperly Cause 1 The synchronization of the resolver controller voltage is invalid in regards to the software 2 The error can be produced through an electrical discharge Remedy For 1 Exchange drive controller and return for testing For 2 Power down and then on If this in not successful exchange drive controller F895 Attributes SS Display F8 95 Error number 895 Diagnostic message number F895 Error class Fatal DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 1 3 Warning Diagnostic Messages E209 Parameter storage activ Description A storage procedure is running in the drive as long as this warning is displayed This means that the drive may not yet be switched off Note Wait until warning E209 fades before switching power off If power is switched off while the warning stands then the parameters could be lost or some parameters could become invalid
378. tion 0 0164 machine tools with normal gt good load rigidity 1 nippel machine w o gt short settling times Tn 0ms 2 simultaneously running separation w o normal device Tn 0ms gt rel undynam control loop setting Fig 3 2 Speed controller data Note This table is constantly expanded and is presently incomplete A default value for a machine tool was set See also Function Description Precondition for starting the automatic control loop setting P 0 0164 Attributes ID number P 0 0164 Editability P2 P3 P4 Function Parameter Memory no Data length 2 Byte Validity check Phase3 Format DEC_OV Extreme value check yes Unit English z Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 3 Default value 0 P 0 0165 Optional parameter for automatic control loop setting Description Note Parameter is required with later versions P 0 0165 Attributes ID number P 0 0165 Editability P2 P3 P4 Function Parameter Memory no Data length 2 Byte Validity check Phase3 Format DEC_OV Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 100 b Default value 0 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement A Parameter Description 3 2 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL P 0 0166 Lower traversing limit for automatic control loop setting Des
379. tion limit value is exceeded DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Remedial action d Check S 0 0050 Negative position limit value 2 Check the controller software limits 3 Activate the axis after the error reaction Procedure e Clear the error e Activate power if it has been de activated e Move the axis to the permissible working range Note Only command values that lead back into the permissible working range will be accepted Any other command value will stop the drive again See also Function description Transverse range limits F630 attributes SS Display F6 30 Error number 630 Diagnosis number F630 Error class Travel range F643 Positive Travel Limit Switch Detected The positive travel limit switch has been actuated The axis has been stopped with the error reaction set velocity command value to zero Bit 2 of P 0 0090 Travel limit parameter has been set to Exceeding the travel limit is an error or a drive control command has been started while the axis limit value is exceeded e g drive controlled homing Cause The positive travel limit switch has been actuated Remedial action 1 Reset the error 2 Activate the power supply 3 Move the axis into the permissible working range Note The drive will not accept any command values that lead further away from the permissible range Specif
380. tion parameters are complete and correct If the drive identifies one or more IDN s that are invalid it will write the operating data that is still needed or is invalid in this ID No list This will be displayed to the drive through the command error diagnostic message C101 Communication parameters incomplete 5 0 0021 Attributes ID number S 0 0021 Editability no Function Parameter Memory no Data length 2Byte variable Validity check no Format IDN Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value 5 0 0022 IDN List of Invalid Op Data for Comm Ph 3 Description Before the drive executes the phase delayed switch from 3 to 4 that was initiated with command S 0 0128 Communication phase 4 transition check it will check the parameters for following items e the validity of the parameter e parameter value is found within the possible input range between the min and max input value attributes e Compatibility with other parameters 2 2 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers If a parameter check proves negative this operating data will be written in this ID No list The drive then responds to the transition command with the communication error diagnostic message e C201 Parameter record incomplete or e C202 Parameter l
381. to zero A class 1 diagnostics error is not generated The drive automatically follows command values that lead back to the valid range Bit 2 of S 0 0090 Command Value Transmit Time TMTSG has been set to Exceeding the travel limit is considered as a warning Cause The negative travel zone limit switch has been actuated Remedial action Specify command values that lead back to the valid range See also Function description Transverse range limits E844 Attributes SS Display E8 44 Diagnostic message number E844 Error class fatal DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 25 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA 1 4 Command Diagnostic Message C C100 Communication Phase 3 Transition Check Description The command S 0 0127 C1 Communication Phase 3 Transition Check is activated The drive switches from parameter mode into operating mode C100 Attributes SS Display C1 Diagnostic message number C100 C101 Invalid Communication Parameters S 0 0021 Cause Invalid parameters were found during the switch from parameter mode to operating mode Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C101 Attributes SS Display C1 01 Diagnostic message number C101 C102 Limit Error Communication Parameter S 0 0021 Cause Parameters which
382. too low Remedy In normal operation set the S 0 0091 Bipolar Velocity Limit parameter to a value 10 higher than the NC operation velocity E259 Attributes SS Display E2 59 Diagnostic message number E259 Warning class Non fatal DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL E260 Current limitation active Description The warning shows that the speed controller is entering its limit This means that the acceleration capacity of the drive has been exceeded In position control mode this means that there is an ever increasing deviation between command and actual values lag error Remedy e In position control reduce parametrized accel value or speed value so that the drive can follow the position command value e Increase torque limit value if necessary E260 Attributes SS Display E2 60 Diagnostic message number E260 Warning class Non fatal E264 Target Position Out of Range Cause When using the operating mode command controlled operation the target position of the selected additive process block will be verified to see if it lies within the represented range Remedy 1 Check the target position and correct if necessary 2 Select the position data display channel in modulo format E264 Attributes SS Display E2 64 Diagnostic message number E264 Warning class Non fatal E825 Overvo
383. tor A typical processing or load cycle should be entered into the connected control system In so doing the maximum intended velocity and acceleration should be reached In the Maximum position variance parameter the maximum variance between measured and estimated position feedback values is continually displayed Note The contents of this parameter are not saved on line this means that when the power supply is turned on its contents equal zero The value determined for the maximum position variance acts as a help for setting the monitoring window The contents of the maximum position variance parameter multiplied by a safety factor are to be set in the Monitoring window parameter A safety factor between 1 5 and 2 0 is recommended 10 8 Status Message Ready for Work bb 10 28 General Drive Functions The current status of the drive can be determined by a superordinate control through different status messages and evaluated for technical control purposes Four status messages are available in addition to the potential free operating condition contact Bb which indicates readiness for use in closed position The control drive indicates that no internal error is present through the operating condition contact Bb After the supply voltage is switched on the control drive initializes itself If the initialization is successful the Bb contact will close after several seconds After this the mains power supply can be switched o
384. tor DKC11 1 with analog interface MKD MS DOS9 PC Parameter Diagnosis Operating dat Control drive processor Speed control Field oriented stator voltage regulator e High resolution position interface WEEE LinearmaBstab FS0201d1 drw Fig 1 2 Servo drive with analog velocity interface and integrated actual position value register e The scaling factor of the analog velocity command value can be set in the DKC e The output of the actual position value can be either incremental or absolute e Regardless of the command value the drive controller can be brought to a standstill via a logic input and kept drift free under active control DOK ECODRV ASE 04VRS FKB1 EN P 07 97 System Overview 1 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Servo Drive with Stepping Motor Interface Control Control drive DKC01 1 AC servo motor with stepping impulse generator with stepping motor interface MKD MS DOS PC Interpolation Parameter Diagnosis Operating dat RS 232 A RS 485 Control drive processor Stepping motor interface Stepping impulse Forwards gt Fine interpolation generator mmm gt Position control gt Speed control Field oriented gt Stator voltage regulator High resolution Posion position interface actual value F50202d1
385. tored here every 8ms If the status of a message were to change this would not be signalled by an editing bit Structure of the parameter Bit 0 1 active Bit 1 Feedback velocity lt S 0 0124 Standstill window Bit 6 IZP S 0 0258 Target pos Feedback pos lt S 0 0057 Posit window amp amp S 0 0189 Following error lt S 0 0057 Positioning window amp amp S 0 0040 Feedback velocity lt S 0 0124 Stillstand window L Bit 11 AHQ Drive stop amp amp Feedback velocity lt S 0 0124 Fig 2 16 S 0 0182 Manufacturer Class 3 Diagnostics 2 38 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Note Only the bits named here are supported by the product 5 0 0182 Attributes ID number S 0 0182 Editability no Function Parameter Memory no Data length 2 Byte Validity check no Format BIN Extreme value check no Unit English Combination check no Posit after the dec 0 Cyc transmittable AT Input value min max Default value 5 0 0183 Velocity Synchronization Window Description If during the operating mode velocity synchronization the difference between velocity command value and feedback value is smaller than the synchronization window then bit 8 in the S 0 0182 Manufacturer Class 3 Diagnostics will be set The following apply Bit 8 1 if dXSynch dXAdditiv dXF
386. trol loop settings Manual loop setting Fig 10 17 Setting standard control parameters Setting the Current Regulator Fig 10 18 Control loop settings current loop The parameters for the current control loop are set by INDRAMAT and cannot be adjusted for specific applications The predefined parameter values are set during the basic load command Set default values DOK ECODRV ASE 04VRS FKB1 EN P 07 97 General Drive Functions 10 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers TDi ZA DIZ The parameters for the current regulator are set via the parameters e 0 0106 current controller proportional gain 1 e 0 0107 current loop integral action time Note Both parameters are write protected as any change in the values defined by INDRAMAT is not permitted and could lead to damage to motor and drive controller Setting the Velocity Loop VELOCITY LOOP 5 0 0100 P 0 0004 om By P 0 1003 Ess 500 n actual Fig 10 19 Control loop settings velocity loop The velocity loop is set via the parameters e 0 0100 velocity loop proportional gain e 0 0101 velocity loop integral action time e P 0 0004 smoothing time constant e P 0 1003 velocity feedback value filtertimebase These can be set by either executing the basic load function once or by completing the following procedure Preparations for Setting the Velocity Loop A number of preparations must be made in order to be able to set the
387. trollers Note Only the bits named here are supported by the product 1 Same as S 0 0044 Note 1 2 Same as S 0 0044 Notes 2 3 Example Acceleration data scaling Suppose that loadside linear scaling as desired with acceleration units in M s2 The Parameter 1 scaling mechanical system dialog in DriveTop will set the preferred acceleration data scaling options on the drive as follows Parameter Value S 0 0159 Acceleration data scaling type 1001001 Bit 2 0 001 linear scaling Bit 3 1 Preferred parameter scaling Bit 4 0 Dimensional unit in meters m Bit 5 0 Time unit in seconds s Bit 6 1 Data referenced at load S 0 0161 Acceleration data scaling factor 1 S 0 0162 Acceleration data scaling exponent 6 Now suppose that the decimal value 1234567 is stored in the relavent acceleration data register The datum value will be interpreted and displayed as or 1234 567X10 mm s or as the value would be displayed in the IDN lists 1234 467 mm s2 with respect to the load Note that the least significant decimal value is determined by the scaling exponent in this exaple as 10 m s or 10 mm s S 0 0160 Attributes ID number S 0 0160 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte Validity check Phase3 Format BIN Extreme value check no Unit English Combination check yes Posit after the dec 0 Cyc transmittable no Input value min max Default value 1010 b S 0 0
388. tween master axis encoder and the following axis S 0 0048 Attributes ID number S 0 0048 Editability P234 Function Parameter Memory no Data length 4 Byte Validity check no Format DEC_MV Extreme value check no Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value 2 10 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0049 Positive position limit value Description The Positive position limit value describes the maximum extent of travel in a positive direction The position limit is only active if all position data is referenced to the home point i e the drive is homed Bit 0 in parameter S 0 0403 Position feedback value status is set to 1 The position limit values can be switched off through bit 4 in the S 0 0055 Position polarity parameter If a target position on the other side of the position limit is set in the drive the warning E253 Target position beyond the travel range will be generated S 0 0049 Attributes ID number S 0 0049 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0076 Combination check no Posit after the dec S 0 0076 Cyc transmittable no Input value min max S 0 0076 Default value 1
389. ty and angle synchronization 9 11 ECODRIVE DKC01 1 DKC11 1 Drive Controller INDRAMAL Setting angle synchronization parameters Phase synchronization Position Command Value Slave drive rotation WT Master drive revolutions 18 Synchronisation acceleration tad s Synchronisation velocity Rpm Position Command Value additional Deg Synchronisation window Deg f A cose H Close Fig 9 19 Angle synchronization Synchronization with angle synchronization In this section the behavior of the following drive when switching on angle synchronization is described The following drive can be synchronized into any synchronous state from any of the following initial states Viollowing drive O Afollowing drive O Viead axis 0 Alead axis Z O taking the following parameters into account e P 0 0142 synchronization acceleration e P 0 0143 synchronization velocity e P 0 0151 synchronization init window for modulo format 9 12 DKCO01 1 DKC11 1 with velocity and angle synchronization DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controller The following illustrates an example of the steps during synchronization X soll synch dt dx soll intern ZL dx soll synch dt _ synchronization acceleration P 0 0142 synchronization speed P 0 0143 synchronization mode SEET d t adiusting pos speed adiustm
390. ulation disturbance on the encoder or the encoder cable 3 Defective drive controller Remedy For 1 Check the encoder cable and change if necessary For 2 Use only insulated motor cable and power cables Separate encoder cable from power cables For 3 Exchange drive controller F229 Attributes SS Display F2 29 Error number 229 Diagnostic message number F229 Error class Non fatal 1 6 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers F248 Low Battery Voltage Cause The connected motor has an absolute encoder The absolute position information is stored in the motor feedback This memory has a battery powered backup for the electronic circuit The battery is designed for a operating life of 10 years If the battery voltage drops below 2 8 V this message appears The absolute encoder function is preserved for about 2 weeks Instructions for Exchanging Batteries Have the following tools and accessories ready e Torx screwdriver size 10 e Needle nose pliers torque wrench e New packaged battery Part No 257101 If the control voltage of the installed battery is turned off the absolute position is lost The absolute position must be re established through the process of the command Set Absolute Measurement F248 Attributes SS Display F2 48 Error number 248 Diagnostic message number F248 Error class Non fatal
391. um torque to be produced by the control drive can be set via the S 0 0092 Bipolar Torque Force Limit Value parameter This value is to be entered proportionally One hundred percent corresponds to the torque produced by the motor in the use at a standstill If processing blocks are started that are not possible with the physical limits set then anticipate the generation of error F228 Excessive Deviation Limiting Torque Via Analog Input The effective peak torque can be continuously reduced via the analog torque reduction input ective Nm Mmax bipolar limit value Meffective torque to be reducet to Ured voltage between IRED1 and IRED2 4 determine effective M in of Mmax with Ured 2 determine Ured with effective M in of Mmax DG0001d2 drw Fig 10 7 Diagram for determining torque reduction 10 8 General Drive Functions DOK ECODRV ASE 04VRS FKB1 EN P 07 97 INDRAMNAL ECODRIVE DKC01 1 DKC11 1 Drive Controllers Inputs Inputs voltage min max between IRED1 IRED2 10V 15 V between IRED1 0V IRED2 0V 10V 15 V Input current E1 E2 0 5 mA Input resistance approx 20 kOhm Input drift 18 V C AD converter 12 Bit Resolution per bit 4 8 mV 20k Ss _ ADC 12 Bit 20k AP0214d2 drw Fig 10 8 Connecting the analog torque reduction 10 3 Monitoring functions and error reactions Many functions are monitored in conne
392. unnecessary The velocity acceleration and jerk with which motion to the home position should be carried out can be entered via the appropriate homing motion parameters The drivedrive moves to the home position when the NF signal is set and the start signal is given This requires that the control drive has been homed or in other words that the Set Absolute Measure command has been successfully executed Regulator release RF Control drive guided homing NF Start t1 gt 2ms Reference position Meaningless signal condition don t care SV0035d1 drw Fig 10 41 Moving towards the home position Absolute EncoderMonitoring To ensure the safety of the absolute encoder function the DKC has a monitoring system which can recognize errors in determining the absolute actual position value The current actual position is saved when the DKC supply voltage is turned off When it is turned on again the actual position which was saved is compared to the current motor position as read from the motor encoder If the difference between the two position values is greater than the value entered in the P 0 0097 AbsoluteEncoderMonitoring Window parameter the error message F276 Absolute Encoder Error is given Different circumstances can trigger that absolute encoder monitor e The shaft was moved while the control drive was turned off e The motor encoder is showinga function error DOK ECODRV ASE 04V
393. up to the motor s maximum velocity Note The internal velocity supervision in torque regulation operating mode does not offer protection for personnel External supervision devices and if necessary constructive precautions must be taken before personell protection and safety can be guaranteed 8 4 DKC01 1 DKC11 1 Drive Controller with Analog Torque Interface DOK ECODRV ASE 04VRS FKB1 EN P 07 97 TDi ZAP IZ ECODRIVE DKC01 1 DKC11 1 Drive Controller 9 DKC01 1 DKC11 1 with velocity and angle synchronization 9 1 Implementing an electronic gearbox lead axis position lead axis encoder ae AP5014D1 DRW Fig 9 1 Arranging an electronic gearbox The variables depicted and implemented in the equations shown in Fig 9 1 are defined as follows OL master axis position P 0 0053 OF angle position of the following axis load side OF angle position of the following axis motor side E mechanical gearbox input rotations S 0 0121 A mechanical gearbox output rotations 5 0 0122 ov angle offset as relates to the roller f electronic gearbox adjustments P 0 0083 nL master axis velocity see o nF following axis velocity load side see fr nF following axis velocity motor side see Qc ny additive velocity command value S 0 0037 The indices have the following definition L master axis F following axis k probe s
394. urbance in the power supply Remedy For 1 Check the logic regarding the activation of the drive within the connected control For2 Check the power supply The error can be cleared by removing the control enable signal F226 Attributes SS Display F2 26 Error number 226 Diagnostic message number F226 Error class Non fatal DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Supplement B Diagnostic Message Description 1 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA F228 Excessive Deviation Description The drive could not process the given command value and reacted according to the set error reaction Cause 1 The acceleration ability of the drive was exceeded 2 The motor shaft was blocked 3 Parameterization error in the drive parameters 4 S 0 0159 Monitoring Window was parameterized incorrectly Remedy For 1 Check the Bipolar Torque Limit S 0 0092 parameter and set it equal to the maximum allowable value for the application For 2 Check the mechanical system and eliminate any jamming of the motor shaft For 3 Check the drive parameters control loop settings For 4 Parameterize S 0 0159 Monitoring Window F228 Attributes SS Display F2 28 Error number 228 Diagnostic message number F228 Error class Non fatal F229 Motor Encoder Error Quadrant Error Description An encoder signal error was found during the encoder evaluation Cause 1 Defective encoder cable 2 Ins
395. ure monitor for wire breaks earth short and short circuits For 3 Check velocity loop parameters F219 Attributes SS Display F2 19 Error number 219 Diagnostic message number F219 Error class Non fatal 1 4 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers F220 Bleeder Overtemperature Shutdown Description The regenerated energy from the mechanism of the machine via the motor has exceeded the power capability of the bleeder resistor By exceeding the maximum resistance energy the drive will shutdown according to the set error reaction Thereby protecting the bleeder from temperature damage Cause The reflected energy from the machine s mechanism over the motor is too large Remedy With too much power gt reduce the acceleration value With too much energy gt reduce the velocity Check the drive installation May require installation of an additional bleeder module F220 Attributes SS Display F2 20 Diagnostic message number F220 Error class Non fatal F226 Undervoltage Error Description The level of the DC bus voltage will be monitored by the drive controller If the DC bus voltage falls below a minimal threshold the drive independently shuts down according to the set error reaction Cause 1 The power source has been interrupted without first switching off the drive enable RF 2 Dist
396. used in DKCO1 DKC11 S 0 0098 Attributes ID number S 0 0098 Editability Function Parameter Memory Data length 2 Byte Validity check Format BIN Extreme value check Unit English Combination check Posit after the dec Input value min max Default value DOK ECODRV ASE 04VRS FKB1 EN P 07 97 0 Cyc transmittable 1111 1111 1111 1111 b no no no no no P234 Param E prom Phase3 no yes no P234 Param E prom Phase3 no no no Supplement A Parameter Description 2 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers INDRAMNAL S 0 0099 C5 Reset Class 1 Diagnostic Description This command can be activated with the S1 key on the controller or through the serial interface All errors in the drive will be cleareddeleted when this command is started through the serial interface The drive will switch to the ready for operation status if no further errors exist If the Reset class 1 diagnostic command is started with the S1 key only one error will be deleted at a time If the drive has stored several errors up to 4 errors a diagnostic message that corresponds to each error will appear sequentially each time the S1 key is pressed See also Function description Executing Parameter Commands S 0 0099 Attributes ID number S 0 0099 Editability P234 Function Command Memory no Data length 2 Byte Validity check no Format BIN Extreme value check yes Unit English Combin
397. value check no Unit English A Combination check no Posit after the dec 3 Cyc transmittable no Input value min max Default value P 0 4047 Motor Inductance Description Measured inductance of the motor between two clamped connections The parameter will be determined during the manufacturing stage and cannot be changed P 0 4047 Attributes ID number P 0 4047 Editability no Function Parameter Memory Feedback Data length 2 Byte Validity check yes Format decimal Extreme value check no Unit English mH Combination check no Posit after the dec 2 Cyc transmittable no Input value min max 0 65535 Default value 3 50 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4048 Stator Resistance Description Measured stator resistance of the motor between two connection clamps The parameter will be determined during the manufacturing stage and cannot be changed P 0 4048 Attributes ID number P 0 4048 Editability no Function Parameter Memory Feedback Data length 2 Byte Validity check yes Format decimal Extreme value check no Unit English Ohm Combination check no Posit after the dec 3 Cyc transmittable no Input value min max 0 65 535 Default value P 0 4049 Default Current Loop Integral Action Time Description The default value for the current loop integral action time The parameter will be deter
398. value for the actual speed filter must be reduced to 500us Drive enable or drive start signal The swinging motion and thus the automatic control loop setting is only conducted if 1 drive enable is present and 2 drive start is generated If there is no drive enable signal at command start then command error D901 start only with RF Command settings All parameters participating in the command must be determined prior to command start so that they can become effective with the automatic control loop setting These relevant parameters are accessible in dialog Automatic control loop settings in DriveTop e P 0 0163 damping factor for automatic control loop setting The desired control loop dynamics is set with this parameter e P 0 0164 automatic control loop setting applicatins e 0 0092 bipolar torque force limit value Maximum effective motor torque can be set during automatic control loop settings via parameter S 0 0092 bipolar torque force limit values This limits torque which in turns limit the wear and tear of the mechanics S 0 0108 feedrate override The feedrate override makes it possible to influence the speed during automatic control loop setting via the analog channel Poti It is also necessary however to activate this function in the DriveTop dialog Jogging S 0 0108 DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers e 0 0259 positioning velo
399. will be erased and restored with the default values Cause Product was replaced The number of parameters in comparison to the new products has changed Remedy Press S1 button on the drive controller and all the paramters will be erased and restored with default values DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IFDRAMA F207 Switching to an ECODRIVE DKC01 1 DKC11 1 Drive Controllers This overwrites all parameters and positioning blocks WARNING F209 Attributes SS Display PL Diagnostic message number PL Error class Non fatal Uninitialized Operating Mode Description A valid operating mode has not been defined This error cannot occur in the DKCO1 because the input of the operating mode will be tested at input Remedy Input correct operating mode F207 attributes SS Display F2 07 Error number 207 Diagnostic message number F207 Error class Non fatal F218 Heatsink Overtemperature Shutdown Description The temperature of the DKC heatsink will be monitored If the temperature of the heatsink is too high the drive will power down in order to protect against damage Cause 1 Ambient temperature is too high The specified operational data is valid up to an ambient temperature of 45 C 2 The DKC s heatsink is dirty 3 Air flow is prevented by other assembly parts ora control cabinet panel assembly 4 Heatsink blower may be defective DOK ECODRV ASE 04VRS FKB1 EN P 07
400. x 089 540138 10 Europe Austria G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT H gelingasse 3 A 1140 Wien Telefon 43 1 985 25 40 400 Telefax 43 1 985 25 40 93 England Mannesmann Rexroth Ltd INDRAMAT Division Broadway Lane South Cerney Cirencester Glos GL7 5UH Telefon 44 1285 86 30 00 Telefax 44 1285 86 30 03 France Rexroth Sigma S A Division INDRAMAT 270 Avenue de lardenne F 31100 Toulouse Telefon 33 5 61 49 95 19 Telefax 33 5 61 31 00 41 Spain Rexroth S A Centro Industrial Santiago Obradors s n E 08130 Santa Perpetua de Mogoda Barcelona Telefon 34 3 7 47 94 00 Telefax 34 3 7 47 94 01 Switzerland Rexroth AG Gesch ftsbereich INDRAMAT GewerbestraBe 3 CH 8500 Frauenfeld Telefon 41 52 720 21 00 Telefax 41 52 720 21 11 Sales area East INDRAMAT GmbH D 09120 Chemnitz BeckerstraBe 31 Telefon 0371 3555 0 Telefax 0371 3555 230 Sales area South West INDRAMAT GmbH D 71229 Leonberg B blinger StraBe 25 Telefon 07152 972 6 Telefax 07152 972 727 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Sales area West INDRAMAT GmbH D 40880 Ratingen HarkortstraBe 25 Telefon 02102 4318 0 Telefax 02102 41315 Customer service locations in Germany Austria G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT RandlstraBe 14 A 4061 Pasching Telefon 43 7229 644 01 36 Telefax 43 7229 644 01 80 Finnland Rexroth Mecman OY Riihimiehentie 3 SF
401. y have fallen below the value of S 0 0124 Standstill window the holding brake will be immediately activated After 500ms the motor is torque free Switch to torque free state Fig 3 7 Reaction types The controller enable can be closed again at the earliest after the operation of the error reaction The drive will ignor the controller enable input until the error reaction operation of the drive is completed 3 14 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 ITDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0119 Attributes ID number P 0 0119 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Phase3 Format DEC OV Extreme value check yes Unit English Combination check no Posit after the dec 0 Cyc transmittable no Input value min max 0 1 Default value 0 P 0 0123 Absolute Encoder Buffer Description In this parameter all the data necessary for the initialization of position by the absolute encoder is secured P 0 0123 Attributes ID number P 0 0123 Editability no Function Parameter Memory Param E prom Data length 2Byte variable Validity check no Format HEX Extreme value check no Unit English SS Combination check no Posit after the dec 0 Cyc transmittable no Input value min max Default value P 0 0136 Scaling Torque Force Channel 1 Description If torque data is selected with parameter
402. y result in a decimal point shift scaling exponent change to the left change meter inches or to the right inches meters It is therefore recommended that the linear dimensional unit be selected once and not changed If the unit must be changed then all operational data values must be corrected and scaled to reflect the new unit 2 Preferred parameter scaling will automatically be selected if you use the parameter scaling amp mechanical setup dialog in DriveTop Preferred scaling will result in the following resolution Resolution with linear scaling 10 m min 10 in min Resolution with rotary scaling 10 rpm 10 rev s See also example under S 0 0045 Velocity Data Scaling Factor S 0 0044 Attributes ID number S 0 0044 Editability P23 Function Parameter Memory Param E prom Data length 2Byte Validity check Check P3 Format BIN Extreme value check no Unit English Combination check yes Posit after the dec 0 Cyc transmittable no Input value min max Default value 1010b 2 8 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRANA ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0045 Velocity Data Scaling Factor Description The scaling factor for all velocity data in the drive will be determined in this parameter If a preferred scaling is set with S 0 0044 Velocity data scaling type this parameter will be set to 1 Example Suppose that loadside linear scaling is
403. ying such a command will again generate this error 1 10 Supplement B Diagnostic Message Description DOK ECODRV ASE 04VRS FKB1 EN P e 07 97 IFDRAMA ECODRIVE DKC01 1 DKC11 1 Drive Controllers See also Function description Transverse range limits F643 attributes SS Display F6 43 Error number 643 Diagnosis number F643 Error class Travel range F644 Negative Travel Limit Switch Detected The negative travel limit switch has been actuated The axis has been stopped with the error reaction set velocity command value to zero Bit 2 of P 0 0090 Travel limit parameter has been set to Exceeding the travel limit is considered as an error or a drive control command has been started while the axis limit value is exceeded e g drive controlled homing Cause The negative travel limit switch has been actuated Remedial action 1 Reset the error 2 Activate the power supply 3 Move the axis into the permissible working range Note The drive will not accept any command values that lead further away from the permissible range Specifying such a command will again result in this error F644 attributes SS Display F6 44 Error number 644 Diagnosis number F644 Error class Travel range F822 Motor Encoder Failure Signal too Small Description The motor encoder signals are monitored If the signal amplitudes as measured via AK1 and AK2 are outside of the allowable region between Uss 12 0V and Uss 18 0
404. ymmetrical in both directions acceleration and decelaration With operating mode step motor interface speed and angle synchronization the drive brakes with this acceleration rate During the jogging operation the drive accelerates and brakes at this decelaration 2 32 Supplement A Parameter Description DOK ECODRV ASE 04VRS FKB1 EN P 07 97 IMDR ARIZA ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0138 Attributes ID number S 0 0138 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte Validity check Phase3 Format DEC MV Extreme value check yes Unit English S 0 0160 Combination check no Posit after the dec S 0 0160 Cyc transmittable MDT Input value min max 0 S 0 0160 Default value 1000 000 rad s2 5 0 0140 Controller Type S 0 0141 Motor Type Description The device type of the manufacturer can be found in text form in the operating data for the controller type Example DKC01 1 040 7 S 0 0140 Attributes ID number S 0 0140 Editability no Function Parameter Memory Fixed E prom Data length 1Byte variable Validity check Phase3 Format ASCII Extreme value check no Unit English Combination check no Posit after the dec 0 Input value min max Cyc transmittable no Default value Description The company name and the motor type of the connected motor can be found in the operating data for the motor type in text form This value is st
405. you can restore the state of the parameters of the drive controller at any time For your own parameter data you should use other file names Under the Menu item End you can leave the DriveTop program The drive controller recognizes parameter mode and drive mode Under this menu one can switch between the modes There are a number of parameters that can only be altered in parametrization mode 7 segment display P2 Traversing is only possible in operating mode DOK ECODRV ASE 04VRS FKB1 EN P 07 97 Preparing for Startup 3 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers IFDRANA Controller Motor type Selecting operating mode Additional Parameter Displays List of All Parameters List of the Invalid Parameters Scanning 3 14 Preparing for Startup Information about the connected motor type and the drive controller used can be accessed via this menu point This information is permanently programmed into the motor feedback or drive controller The user must enter this data directly himself when Offline Additionally the overload factor and PWM frequency with which the drive is to be operated is entered here The desired operating mode can also be selected from a specific list Additional parameter windows appear in the parameter menu They are independent of the selected operation The mentioned parameter windows are self explanatory and will not be discussed further A list of all drive controller parameters can b

Functional Description Manual

Contents

Download Pdf Manuals

Related Search

Related Contents