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2.0 and later) User Guide

1. Command List GAINS Gains configuration _ C Change direction K o K m Moe Ro Reportsystemparameter RFS Returntofactory settings Save configuration W Write system variable Reset 7 MAINTENANCE amp TROUBLESHOOTING 105 7 ViX Maintenance and Troubleshooting Maintenance ViX drive systems do not require any routine maintenance but occasional checking of the following points is recommended Motor inspection Periodically check the motor to ensure that the mounting bolts and couplings are tight Check that the motor cables are not being damaged by moving parts and are not being pulled or forced into tight bends during machine operation Check all cable connectors and particularly the safety earth connection Drive inspection Check that the drives are clear of loose material and that there is adequate clearance to allow a free flow of air through the ventilation slots Check that drive fixings are tight and that the motor screen connection is secure Troubleshooting IMPORTANT NOTE ensure that power is turned off before any connections are removed or changed Removing a drive with power applied can turn a recoverable fault situation into a major problem WARNING Risk of damage and or personal injury The ViX drives described in this user guide contain no user serviceable parts Attempting to open the case of any unit or to replace any internal component may result in damage t
2. Use the RJ45 connectors X6 and X7 to inter connect drives see RS232 Daisy Chain later in this section RS232 Connecting Leads RS232 cables can be ordered from Parker EMD Various lengths are available as listed in Table 3 10 Part Number Length RS232 EASI 0250 2 5m RS232 EASI 0500 5 0m RS232 EASI 0750 7 5m RS232 EASI 1000 10 0m RS232 EASI 1250 12 5m RS232 EASI 1500 15 0m Table 3 10 RS232 Connection Lead Types 3 ELECTRICAL INSTALLATION 39 X4 Connector Connector X4 gives access to the following encoder input and output signals and the differential analogue inputs Input and output connections are dependent upon the state of system variables EO and El Connector Type Connector type is a high density 15 way D type socket Connector Pin Out Z index output Energise input Energise See system variable ES Table 3 11 X4 Encoder I O Connections Inputs Depending Upon the State of System Variable El lar sil Ml Rl X4 STEP CW 7 13 7 step ow JA 13 oR CCW BB _ 8 jor i fcow B fees Outputs Depending Upon the State of System Variable EO ae dee X4 9 STEP Cw to oR cow _ 40 VIX AH SERVO DRIVE USER GUIDE Encoder Input Outputs Figure 3 18 shows the circuit details of the simulated encoder inputs and outputs Note Z Z channels have the same O circuits as the A A amp B B channels Encoder inputs Encoder out
3. CE ViX250AH amp ViX500AH Digital Servo Drive User Guide Part No 1600 320 01 August 2003 For software revision 2 0 onwards IMPORTANT INFORMATION FOR USERS Installation and Operation of Motion Control Equipment It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements are met It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with them failure to do so may result in damage to equipment and personal injury In particular you should study the contents of this user guide carefully before installing or operating the equipment The installation set up test and maintenance procedures given in this User Guide should only be carried out by competent personnel trained in the installation of electronic equipment Such personnel should be aware of the potential electrical and mechanical hazards associated with mains powered motion control equipment please see the safety warning below The individual or group having overall responsibility for this equipment must ensure that operators are adequately trained Under no circumstances will the suppliers of the equipment be liable for any incidental consequential or special damages of any kind whatsoever including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide N SAFETY WARNING High performanc
4. Pole Pitch Amps RMS Brake fitted B Commutation 30 I Thermal sensor fitted JV Invert hall E mm Resolution post quad microns Rated speed meters second Ohms mH Kg r Nm A peak N m s m Feedback Encoder Sinusoidal encoder Tachometer Resistance line to line Inductance line line Rotor inertia Torque constant Kt C Resolver Viscous damping Thermal time constant seconds Add new motor Find motor Figure 3 9 EASI V Custom Motor Configuration Window Motor the general name number for the motor Nominal continuous Current rating of the motor in Amps RMS current 0 1 to 14 4 Number of number of motor poles for a rotary servo 2 pole pairs 4 motor poles poles so enter 4 Resolution post quadrature resolution of a rotary servo For a resolver use 4096 Note post quadrature is the number of encoder lines seen by the drive electronics after the encoder signal has been processed Rated speed shaft speed in rpm for a rotary servo Resistance resistance of a single phase winding measured line to line in Ohms Inductance inductance of a single phase winding measured line to line in mH Inertia inertia of a rotary servo stator measured in Kgm2 Kt torque constant of the motor Torque Current measured in Nm A peak Damping viscous damping of the motor caused by such things as iron losses measured in Nm Krpm Thermal time a const
5. Windows menu 74 Windows 69 Wire size of motor earth 28 Withstanding voltage rating 115 X X1 connector 32 X1 connector pin out 32 X1 mating connector type 32 X2 connector 34 X2 connector pin out 34 X2 connector type 34 X3 connector 35 X3 connector pin out 36 X3 connector type 35 X4 connector 39 X4 connector pin out 39 X4 connector type 39 X5 connector 42 X5 connector pin out 42 X5 connector type 42 X6 amp X7 connections 45 X6 amp X7 position 44 XL PSU product description 13 XL PSU drive wiring diagram 14 XL PSU mounting information 15 Z Z reset 99 CUSTOMER FEEDBACK 123 Customer Feedback If you have spotted any errors omissions or inconsistent information within this user guide please let us know Either use this page or a photocopy to describe the error and Fax it to the number given below Alternatively you may phone or email the correction Name of user guide Partnumber 1600 __ __ Found on the title page in the bottom left corner Your name Contact number or email address Description of the error Please include page number Errors can be reported By phone via a technical Or by email by Fax support engineer 44 0 1202 695750 44 0 1202 699000 support digiplan parker com VIX AH SERVO DRIVE USER GUIDE A range of mating connectors are supplied depending upon the type of fit kit ordered Communications 3 Function Reserved rive rese
6. n is used to release a brake and to cancel any previously selected automatic mode mode selects the way the brake is used A automatic holding brake mode D automatic dynamic brake mode E external input used for brake AE variant only M brake modes disabled default RD is the time in milliseconds for the brake to release after the drive has energised Range is 0 to 5000 milliseconds default 50ms ED is the time in milliseconds for the brake to engage before the drive de energises Range is 0 to 5000 milliseconds default 50ms Immediate saved by SV This command configures the brake Before you can execute a brake command you must send the drive a valid motor command where the motor type has a brake fitted The brake input will only be active in mode E WARNING In mode E control of the motor brake is immediate with no delays You must ensure this form of direct control is safe and appropriate for your application 6 COMMAND REFERENCE _ 89 GAINS Gain configuration Syntax Description Properties Notes Issuing a GAINS command with no parameters produces a verbose list of all current gains Parameters may be set up all together in one command Alternatively gains may be individually set reported by using the read and write variable commands GP Gain Proportional GV Gain Velocity feedback GF Gain Feedforward GI Gain Integral action FT Filter time constant For ranges see the system variables
7. 0 0 2 4 6 8 1 121416182 22242628 3 3 2 3 43 6 3 8 4 Time to trip It circuit in seconds Figure 3 14 ViX500 It function stationary 3 ELECTRICAL INSTALLATION 31 A range of mating connectors are supplied depending upon the type of fit kit ordered Communications 3 Function Reserved Drive reset RS232 GND RS232 Rx RS232 Tx Reserved 7 _ RS232 Tx D loop 8 do not connect 9 5V output 4 5 e gt HV STFB 0O00 Power Earth Power amp Motor PE 24 80V DC 2 3 A RS232 9 way socket Power amp motor OV GND 24v DC 10 way Function 5 Motor Earth connector ANA1 4 2 ANA1 Motor phase U Motor phase V Motor phase W Motor brake Z index OUT Z index OUT Fault output nc A IN nc B IN Motor Earth ME Control Aux I O mim mm EA r a pee Feedback encoder 15 way ne as Sar soe a aaa nara Energise Energise Incremental enc Z a E Enc B IN GND Enc A OUT reserved lEn BOUT 5V output Primary feedback 7__ Incremental enc A 15 way User I O 8 _ Incremental enc A socket 15 way 9 Commutation f b AO plug Motor overtemp Function Incremental enc B Incremental enc B Fixin a g position Commutation fbA1 for motor lead Commutation Pee earth clip included 15 reserve in fit kit 6 Reserved 8 Reserved 9 Reser
8. For cabinet cooling calculations allow 20W per drive 6 VIX AH SERVO DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 drives share the same dimensions shown in Figure 2 1 98 5 with connector 5 lo A A D KIN LO O o T Figure 2 1 ViX250 amp ViX500 Dimensions 2 MECHANICAL INSTALLATION 7 Drive Mounting Options If you require a DIN Rail mounting ViX drive use the DIN Rail clip adapter bracket shown in Figure 2 2 Viewed from the back of the DIN rail 131 2mm Allow 10mm for release Figure 2 2 DIN Rail Adapter Bracket Remove the panel mounting plate from the back of the drive and attach the bracket to the back of the drive using the screws provided The drive and bracket can now be fixed to a DIN rail by hooking the top of the bracket over the top of the DIN rail and gently pushing the drive forward to engage the lower section of the bracket Remove the bracket by inserting a flat bladed screwdriver into the release slot to pull down the bottom of the bracket releasing it from the DIN rail Thermal Limitations If you are using DIN rail mounting with natural convection airflow cooling and the drive is working under continuous load the maximum continuous output torque should be de rated by 10 For example using the drive for reel tensioning rather than point to point applications may require
9. Phasing is shown for clockwise rotation when the motor is viewed from the motor mounting flange Line voltage W V is defined as X1 pin 2 with respect to X1 pin 3 Line voltage V U is defined as X1 pin 3 with respect to X1 pin 4 Line voltage U W is defined as X1 pin 4 with respect to X1 pin 2 Positive encoder rotation is defined as when incremental encoder channel A leads incremental encoder channel B by 90deg There is only one index mark per mechanical revolution Incremental channel A is true when X2 pin 8 is positive with respect to X2 pin 7 Incremental channel B is true when X2 pin 12 is positive with respect to X2 pin 11 Commutation channel AO is at X2 pin 9 Commutation channel A1 is at X2 pin 13 Commutation channel A2 is at X2 pin 14 With respect to encoder GND H series drive encoder motor phasing CommAO CommA 1 CommA2 360 300 240 180 120 60 0 electrical postion degrees 118 VIX AH SERVO DRIVE USER GUIDE 2 24V supply requirements 11 A A to D converter 40 AB Al amp AO system variables 52 Absorber ferrite 23 Al system variable 40 AM system variable 44 52 ANA 1 inputs 40 Analogue input 40 Analogue monitor output 44 AO system variable 40 B Baud rate changing 36 Baud rate selection 76 BE motor cables 19 BR system variable 52 Brake 24V failure 68 default setting 67 drive fault 68 enable 67 input 43 operation 66 reset 68 BRAKE command 88 Bra
10. Set system variable TL Tracking Limit to 4000 2W TL 4000 Report the current value of system variable TL 2R TL The controller responds WiIth ccceeeeeeeeeeeeeeees 4000 The drive will need to be de energised before certain system variables can be written to See also R command See table of allowable variables for individual parameter details Reset Units Range of n Default See also aZ SV Description Properties Example The Z command resets the drive This is similar to power cycling the drive Wait 1 2 seconds before sending any other command following a Z Following the issue of the Z command any configuration which has been made but not saved with the SV command will be lost Immediate not saved by SV To reset all drives TVPG iisased stig ctimeseiusic date utinenbbudanbigesin spins 0Z 100 VIX AH SERVO DRIVE USER GUIDE System Variables Var Name R w Range default value Analogue 0 to 255 default 0 Deadband Analogue Input 2047 to 2047 M Analogue Monitor Y 0 torque monitor default Mode 1 velocity monitor 2 outputs a triangular waveform 10V to 10V amplitude with a 1 second period O L F Encoder Input Y Y O step dir default 1 cw ccw 2 quad ABZ de energise drive to change O Encoder signal Y Y O step dir 1 cw ccw 2 quad ABZ default de Output energise drive to change 1 high signal to energise EX Comms Respon
11. e Base servo position mode e Base servo torque mode e Base servo velocity mode Base servo position mode This mode uses the servo step and direction inputs to control the drive Figure 4 2 shows a 6K controller used for step direction purposes A single multi core cable links the 6K and ViX with the connections listed in Table 4 7 if HVSTFB 0 OOO AXIS 1 AXIS 2 ENCODERS Eo E INPUTS 1 8 OUTPUTS 1 4 LIMITS HOME 1 12 AKG Sl Compumotor 4 AXIS SERVO STEPPER CONTRI S Figure 4 2 Base Servo Mode Using Step Direction Control 62 VIX AH SERVO DRIVE USER GUIDE Connections 6K Drive Description VIX X4 Description connector connector 1 Step 12 A 2 Direction 13 B 5 Fault 6 Fault T Shutdown NO 11 Energise 9 Step 7 A 10 Direction 8 B 13 14 Isolated Gnd Shutdown 3 Gnd COM Pins 13 and 14 should be connected together at the 6K Table 4 7 Step Direction Connections The CNTRL P terminal on the 6K should be connected to 24V DC Commands For the ViX drive issue the following commands 1MP Mode Position Step amp Direction 1W ES 0 Energise input active level 1W EI 0 Set input for step direction 1SV Save settings A valid MOTOR command is required GAINS all need to be used to tune the PIVF loop For the 6K4 issu
12. the brake is applied as soon as the controller detects the drive is de energised nominally within 500 microseconds If the input is subsequently re enabled the brake remains applied until released by a valid control method 68 VIX AHSERVO DRIVE USER GUIDE Reset Z Issuing a reset will engage the brake at least momentarily as the system fails safe Subsequently the following will happen e The brake will remain applied in automatic mode until the drive is re energised e The brake will be released if the MOTOR command indicates no brake is fitted 24V Power Failure A dip in the 24V supply will turn off the drive s controller which in turn will apply the brake Cycle the 24V supply to re start the controller If you expect this to happen during motion use dynamic brake control assuming that a dynamic brake is fitted Drive Fault You may program application of the brake during a fault routine For both automatic brake modes if a fault generates a controlled stop the brake is applied when commanded motion stops and before the drive is de energised 5 EASI V SOFTWARE 69 5 Easi V Software Computer Requirements To be able to run Easi V software necessary for the control and programming of the Vix you will require an IBM compatible PC running Windows 95 98 2000 XP NT4 or ME The PC needs to be specified to run Windows with at least 16MB of RAM a VGA monitor Windows compatible mouse CDROM drive
13. Default See also SV Issuing an RFS command initialises the drive to factory default settings The drive must be de energised OFF for the RFS command to be executed Immediate saved by SV The address is set to axis 1 after performing an RFS command The command takes effect immediately but a SV command must be executed to make the reset values permanent for future power cycles 96 VIX AH SERVO DRIVE USER GUIDE SETUPFB SETUP motor FeedBack Syntax aSETUPFB Description Properties Example Note Units Range of n Default See also K For a correctly wired Parker motor this command is not required However when commissioning problems occur with a motor drive system the SETUPFB command can be used to troubleshoot motor wiring problems in encoder and resolver units and to temporarily compensate for these errors The command reports wiring errors to the user Correct these errors in hardware before shipping any system If the command cannot correct an error it will display a message indicating the nature of the problem followed by a FAIL message CAUTION DO NOT COUPLE ANY MACHINERY TO THE MOTOR SHAFT WHILE RUNNING THIS COMMAND AS SHAFT MOVEMENT WILL OCCUR Correct your wiring as this will prevent future problems if you replace your motor or drive since the software correction cannot be uploaded from a drive Note if you do use SETUPFB to permanently correct errors in non standard motor drive
14. ST bit 16 is reset 28 VIX AH SERVO DRIVE USER GUIDE Control of I2t Parameters The drive internal I2t parameters are always enabled and cannot be adjusted by the user However the motor 12t settings can be influenced by the choice of parameters used for the MOTOR command To disable the motor I t settings set the thermal time constant of the motor to zero Note If you select a motor from the list of standard motors using EASI V worst case configuration data will be used This prevents reporting a too optimistic view of the motors thermal performance Where a motor is fitted with a temperature sensor built into its windings the motor 4t threshold protection will not be required In this case set the thermal time constant of the motor to zero See MOTOR command Motor Voltage Ratings Motors with a withstand voltage rating from phase to earth of 1000V AC should be used An insulation withstand rating of 500V AC is acceptable if an isolating transformer with earthed screen is used to power the system and X1 pin9 OV GND input is earthed as specified Motor Safety Earth Ground Connection It is recommended that the motor is independently bonded to a local safety earth point The safety earth lead should be at least 2 5mm in area Short Circuit Protection The motor outputs are protected against overload and short circuits Overload is protected by the l t circuit and 300 of continuous drive current rating is only permi
15. The installed program size is approximately 1 3MB Easi V is supplied on a CD or may be downloaded free of charge from our Website www parker emd com Serial Link Lead You will need a 2 wire plus ground lead which has the Rx and Tx wires crossed over Wiring details are given in the Electrical Installation section Note The information contained within this section applies to Easi V software version 3 0 or greater If you have an earlier version of Easi V software please request the latest version from Parker EMD using the contact numbers given at the beginning of this user guide or download a copy from our web site www parker emd com Compatibility of EASIV Always use the latest version of Easi V available from our web site or supplied with the product 70 VIX AH SERVO DRIVE USER GUIDE Establish Communications Before attempting communication with the drive the supplied software needs to be installed on to the PC s internal hard disk drive Once software installation is complete commands can be downloaded from the PC to the drive to confirm its operation If Easi V has already been loaded you may skip the following Installation and Operation sections up to Confirming Drive Operation Software Installation Before attempting to install the EASI V software supplied with your drive check that your PC meets the requirements previously defined under Computer Requirements EASI V software is supplied on a CDROM and installs in
16. X3 is the RS232 communications connector RJ45 connectors X6 and X7 may also be used for inter drive communications where multi axis systems are used Connector Type Connector type is a 9 way D type socket 36 VIX AH SERVO DRIVE USER GUIDE Connector Pin Out Connector PinX3 Function ooo ia drive reset 3 RS232GND_ po 4 RS232RK U O 6 RS232Tx i O 5V output Table 3 9 X3 RS232 Connections Baud Rate Use system variable BR to alter the baud rate of serial communications Any change made to the baud rate will only take effect following a save SV and system reset Z or power cycle 3 ELECTRICAL INSTALLATION 37 Reset to RS232 Mode To reset the drive to RS232 mode and to return to factory settings remove power from the drive connect X3 pin2 to GND and restore power CAUTION This will erase ALL of your user settings and programs in volatile memory The non volatile memory will not be overwritten until a save command is issued Terminal PC Drive Back of p X Back of mating plug c ce o mating plug X3 Socket 13 1 6666000000006 Serial connector GE S 000000000000 J socket 25 14 SERIAL X3 PC RS232 socket Interface HI S0 Back of mating plug X Back of mating socket o Socket Serial connector plug 6 9 Figure 3 17 X3 D type Connector RS232 Connections 38 VIX AH SERVO DRIVE USER GUIDE Inter drive RS232 Connections
17. access to the status of User Faults Status bits and Drive Faults using a series of tabs as shown in Figure 5 6 Status report Address Status 0000_0000_0000_0000_0000_0000_0000_0000 ae Close Figure 5 6 Status Reporting The Status Report can be permanently displayed during program development or testing to monitor the operation of the drive The double word status bits are decoded and displayed as text messages within the Status Report window as shown in Figure 5 7 This eliminates manual decoding errors and gives an immediate update of the drive s status Status report x m Address 1 4 Bits 0000_0000_0000_0000_0001_0000_0000_0000 i JE motor is de energised motor is stationary in position Previous moving direction is positive motor brake is released off Close Figure 5 7 Reporting Status of Drive Read The Read button is used to update all of the Status Reports and is a useful aid when debugging an application Previous Selecting Previous allows the previous status to be re displayed useful for comparing the results of programming actions The Previous reading is only stored to a depth of one that is you cannot trace the history of status bits by continually selecting the button Close Selecting Close will exit the Status Report window 84 VIX AH SERVO DRIVE USER GUIDE Help EASI TOOLS has extensive on line help facilities which
18. allows you to search for help ona particular topic either within the main contents or by entering a topic string All the commands listed within this user guide are available on line by selecting Controller Commands from the Help menu 6 COMMAND REFERENCE _ 85 6 Command Reference Command Description Each command has a simple 1 to 7 character name usually an abbreviation of its full descriptive title Listed commands are in alphabetic order with any non alphabetic symbols appearing last Each individual description will include a one line header giving the abbreviated name followed by its full name The following lines give the command syntax units of measurement range of values any default value and a reference to other related commands Where commands contain a list of parameters a simple layout displays only the syntax of the command Every command requires an address Where several drives need to respond to a common set of global commands prefix each command with the address 0 To prevent spurious feedback any report or read command using address 0 will be ignored Note a drive will ignore a command missing an address prefix Where commands such as R and W include a system variable it is treated as a command parameter System variables store internal drive values and settings Each variable is capable of being read and tested and some may be written to but they are all dedicated for a particular use by the system Comman
19. as shown in Figure 3 3 Mininum spacing 10 mm between drives amp PSU N H EAA ma 1 Jes 80V m DC m I EXT BRAKING RES 4 AN If the supply is positioned Jew this side of the drive avoid blocking access to D type X3 m10 Jero D P1 P2 mating socket Sh GH n J L The XL_PSU must Sorote j securely earthed 250VA P2 L N EARTH GND XL Power Supply Unit HV STATUS BRAKING RES m 24V STATUS f Figure 3 3 XL Power Supply and Drive Connections 3 ELECTRICAL INSTALLATION 15 XL PSU Mounting Information Mount the supply vertically near the drives it will supply Both the top 4 5mm diameter fixing hole and the bottom two 4 5mm width fixing slots should be used Allow a minimum free space of 50mm both below and above its case and 10mm free space on both sides Do not mount the supply above or close to other products that generate a significant amount of heat by radiation or convection 16 VIX AH SERVO DRIVE USER GUIDE PL1100 Power Supply General Description The PL1100 is a linear power supply with a rated output of 1120W 80V 14A for use with ViX and XL series drives The supply requires a suitably rated transformer supplying 50V AC RMS for the HV and 20V AC RMS for the 24V DC The use of the PL1100 offers the following benefits Provides 80V HV and 24V DC output Single or three phas
20. command is issued the HV is assumed to be 80V and this figure is used for the calculation of the digital torque amplifier optimum settings When operating the drive at a voltage other than 80V DC make sure the HV is present when issuing the motor command Otherwise the settings of the digital torque amplifier will not be optimised IT IS IMPORTANT TO RE ISSUE THE MOTOR COMMAND IF YOU CHANGE THE HV ANY CHANGES TO THE MOTOR COMMAND MUST BE FOLLOWED BY A SAVE SV AND RESET Z OR CYCLING POWER TO THE DRIVE 94 VIX AH SERVO DRIVE USER GUIDE Properties Note R Immediate saved by SV 1 If the thermal time constant is set to zero the 12t protection for the motor is disabled 2 The motor command can take up to 10 seconds to finish execution 3 The drive will not be allowed to energise without a valid motor command being executed Report system parameter Syntax Units Range of n Default See also aR system_variable W R Description The R command allows the user to read the specified system variable Properties Immediate not saved by SV Example 2W TL 4000 set variable TL Tracking Limit to be 4000 2R TL report the current value of variable TL The response will Gee cccs sce seisceesanedeaesiccesedecec ihe eecdsadenges 4000 Note See table of system variables RFS Syntax aRFS Description Properties Note 6 COMMAND REFERENCE 95 Return to factory settings Units Range of n
21. filled centre drilled to accept an 8mm mounting screw See note 1 over the page Suitable Transformer TO256 A 24V DC logic supply can use the T0256 120VA toroidal transformer which has the following specification Power rating 120VA Input voltage 230V 15 10 Output voltage 2 X 18V RMS full load voltage Output current 2 X 3 3A RMS Regulation 5 5 Size 93mm diameter 46mm height Weight 1 2Kg 18 VIX AH SERVO DRIVE USER GUIDE Mounting resin filled centre drilled to accept an 8mm mounting screw See note 1 over the page CABINE 7 pss a PL1100 Power Supply 0909999999999999 TO256 Transformers 3 e ______ 6 7 ine Tl Output H O ii Input To star earth point on the metal backplane AC Mains input Figure 3 5 Using a single EMC Filter for PL1100 Supplies Note 1 A Neoprene insulating disc is included with the mounting kit to prevent the crushing of transformer windings This disc provides a 5kV isolation barrier between the transformer and mounting panel 3 ELECTRICAL INSTALLATION 19 SMB Motor Cables The following motor power and feedback cables are available for ViX drives Power cable Feedback cable VIX PWR XXXX VIX FDB XXXX Table 3 3 Motor Power and Feedback Cables Where XXXxX is the length of the cable in cm up to a maximum length of 20 metres in 2 5 metre increments In t
22. list Immediate saved by SV The only gains used in calculating the positioning control are those appropriate to the particular mode of operation MODE Torque Velocity Position GAIN TYPES Feedforward No Yes Yes Intergral action No No Yes Proportional No No Yes Velocity No Yes Yes Filter time No Yes Yes You can write to all gains types any irrelevant parameters will be ignored Individual gain variables may include decimal values such as 1 2 90 VIX AH SERVO DRIVE USER GUIDE H Syntax Change direction Units Range of n Default See also aHn Or STATUS Description Properties Note The H command changes the direction of motion according to a positive demand signal A blank value following the H command will be reported as an error Immediate saved by SV The drive must be de energised for the H command to be executed If the command is issued whilst the drive is energised an error message will be generated and the command will be ignored Specifying H sets the direction to clockwise for a positive analogue input voltage and H produces counter clockwise rotation for a positive input voltage The direction assigned to H can be reported using the STATUS command K Syntax aK Description Properties Note 6 COMMAND REFERENCE _ 91 Kill Units Range of n Default See also OFF SETUPFB The KILL command will perform the following functions Abort a SETUPFB
23. temperature 130 C the device should not be operated near this temperature 24 VIX AH SERVO DRIVE USER GUIDE Motor Selection and Set Up Generally a servo motor is selected together with a drive based on the required speed torque performance suitable for the intended application The ViX product catalogue carries details of the performance of the drive when used with a range of recommended servo motor types Performance of the ViX is optimised for the following motor types listed in Table 3 6 Motor Type Motor Rated Motor ViX500 ViX250 Current in Inductance in Amps mH per phase BESHIGXXXXX s2 hes v BEB41 JX XXXX 74 Ce Table 3 6 Optimum Motor Types Configuration information is available for each of the above motor types in the Guided servo initialisation part of EASI V If you wish to use a motor other than the types listed above you will need to perform a custom set up EASI V allows the use of 55 custom motor types Custom Motor Set Up Within screen 2 of Guided servo initialisation clicking upon the Setup custom button will open the window shown in Figure 3 9 3 ELECTRICAL INSTALLATION Update motors list x Optional parameters Please enter ALL the information below and then click Add to add this servo motor to the database Finish aborts this action Alternatively use Find to locate the motor record you wish to delete or modify Custom LINEAR motor Motor part number Continuous stall current
24. the usual manner common to Window applications Installation Procedure This procedure takes you quickly through the steps necessary to install Easi V on your PC The entire installation process takes less than 10 minutes Before starting the installation terminate all applications currently running A step by step installation of Easi V software follows 1 Place the Easi V CD in your PC s CDROM drive 2 Once loaded the CD should auto start If this does not happen open the CD s folder and double click the EMD exe icon 3 Follow the on screen instructions to load Easi V 4 The screen will display the Easi V program banner and will prepare an installation setup program 5 The banner screen is automatically replaced by a Welcome dialogue box advising you of the need to exit any programs currently running To abandon setup in order to exit other programs select CANCEL This in turn displays an Exit Setup dialogue box giving you the options of Exit Setup which returns you to Windows or Resume which takes you back to the Welcome box 6 Selecting NEXT gt displays a Choose Destination Location dialogue selection box that provides the option of installing Easi TOOLS in the directory of your choice The default directory is c program files parker EasiV in the UK but the exact path name is country dependent other buttons are described within the dialogue box see Figure 5 1 5 EASI V SOFTWARE 71 Choose Destinat
25. torque de rating when using DIN rail mounting 8 VIX AH SERVO DRIVE USER GUIDE Motor Mounting Mechanical Considerations Keep motors securely fixed in position at all times Do not test a motor drive combination without first securing the motor see the Safety Warning at the front of this user guide CAUTION risk of equipment damage Do not back drive the motor that is use the motor in an application that causes mechanical rotation of the motor shaft in a manner uncontrolled by the drive Back driving the motor at high speed may damage the drive 3 ELECTRICAL INSTALLATION 9 3 Electrical Installation Installation Safety Requirements ViX drives meet the requirements of both the European LVD amp EMC directives when installed according to the instructions given within this section It is recommended the drive be installed in an enclosure to protect it from atmospheric contaminants and to prevent operator access while it has power applied Metal equipment cabinets are ideally suited for housing the equipment since they can provide operator protection EMC screening and can be fitted with interlocks arranged to remove all hazardous motor and drive power when the cabinet door is opened Do not arrange interlocks to open circuit the motor phase connections while the system is still powered as this could cause damage to the drive Precautions During installation take the normal precautions against damage caused by electrost
26. torque monitor default Mode 1 velocity monitor 2 outputs a triangular waveform 10V to 10V amplitude with a 1 second period yy BR BAUDrate Y Y 9600 default or 19200 bits per second __ O step dir default 1 cw ccw 2 quad ABZ de energise drive to change O step dir 1 cw ccw 2 quad ABZ default de Output energise drive to change ES Energise Sense Y Y Sets the sense of the external energise energise_bar signal O low signal to energise default 1 high signal to energise EX Comms Response Y Y 0 speak when spoken to echo off RS232 Style amp Echo 1 speak whenever echo off RS232 Control amp Physical 2 speak when spoken to echo on RS232 Interface RS232 3 speak whenever echo on RS232 default constant arbitrary units default 0 tracking Table 4 1 List of System Variables 4 CONTROL OF VIX DRIVES 51 steady state stiffness Velocity feedback a Gain damping ese T Configuration Y Y Range default value Input pull up down output source sink configuration 0 256 default or 257 for brake input only O continuous default Y Y Integral Mode Y Integral Window Y default 50 0 to 1023 default 250 motor definition dependent Position Actual 2 147 483 648 to 0 to 2 147 483 647 default 0 Sets maximum drive output value scaling factor 100 400 of MC default 300 32767 PF _ Position Following RV ReVision of Y N x yy major minor softwar
27. will release the brake Driving the input with a low level logic output a logic 1 transistor on will engage the brake and logic 0 transistor off will release the brake 24V High logic level source Drive OV Drive 24V IC 257 High logic level sink OV 5V Low logic level source Drive Figure 3 22 Brake Input Circuit 44 VIX AH SERVO DRIVE USER GUIDE Analogue Monitor The analogue monitor output on X5 pin 15 can be used to examine torque velocity or a ramp test signal depending upon the setting of system variable AM Figure 3 23 shows the circuit of the output Analogue monitor Drive output X5 pin 15 OV Figure 3 23 Analogue Monitor Output RJ45 Interfaces Positioned beneath the drive are two RJ45 communication interfaces X6 and X7 The two interfaces provide support for daisy chain ports for multi axis RS232 connections between drives X7 RS232 daisy chain output X6 RS232 daisy chain input Figure 3 24 Position of Connectors X6 and X7 3 ELECTRICAL INSTALLATION 45 FEM1 CAT5 cable colours X6 CANopen RS485 1 RX TX RS485 White Orange 2 RX TX RS485 Orange 3 Reserved White Green 4 RS232 Gnd Blue 5 RS232 Gnd White Blue 6 Reserved Green 7 RS232 Tx White Brown 8 Rs232 Rx Brown X7 1 RX TX RS485 White Orange 2 RX TX RS485 Orange 3 Reserv
28. 0 EO 1 EO 2 STEP o Jek _ 10 oR Ss Cow Table 4 2 Encoder Output Configuration EI Description System parameter El controls encoder inputs connector X4 as defined in Table 4 3 X4 Eo Em1 E2 STEP STEP _ 8 jor _ cow_ Be Table 4 3 Encoder Input Configuration CAUTION De energise the drive before changing El and EO ES Description System variable ES controls the required polarity of signal on the energise energise_bar input X4 pin 11 The default value of ES is zero ES 0 therefore to energise the drive connect X4 pin 11 to X4 pin 4 OV With ES 1 X4 pin11 may be left open circuit to energise the drive EX Description System variable EX controls the style and protocol of the drive s serial communications link FT Description Fast positioning systems need high proportional and velocity gains By limiting the bandwidth the digital filter prevents a high gain system from becoming too lively The filter 54 VIX AH SERVO DRIVE USER GUIDE also serves to average the effects of the digital control loop reducing the jitter at standstill and the audible noise The value of FT should be kept as low as possible The arbitrary units used to set the value of FT cannot be directly related to any time value GF Description The opposing action of proportional and velocity gains result in a position error which depends on speed This is called following error Feedforward gain can be us
29. 5 0 75m VIX RJ45 0100 1 0m VIX RJ45 0200 2 0m Table 3 14 RJ45 Connection Lead Types 48 VIX AH SERVO DRIVE USER GUIDE 4 CONTROL OF VIX DRIVES 49 4 Control of ViX Base Drives Overview This section introduces you to the operation of the ViX base servo drive The drive uses a sub set of ViX commands and system variables to support the drive when connected to an external controller or an analogue input No programs can be stored in a base drive The drive uses RS232 serial communication to send commands to the drive and to receive status information back Direct Mode Direct operation of the drive is possible over a serial link from a PC or PLC When used directly the drive will accept commands prefixed with the axis address and will action the commands as they are received System Variables System variables are named variables held within the drive s controller that are used for storing a variety of system values and settings Read system variables using the Report system parameter R command but note you can only write to certain variables using the Write W command 50 VIX AH SERVO DRIVE USER GUIDE Table of System Variables Table 4 1 lists system variables in alphabetic order together with their read write status and range of values stored Var Name R W _sRange default value A A Analogue Y Y 0 to 255 default 0 Deadband Analogue Input 2047 to 2047 B AM Analogue Monitor Y Y 0
30. 5W HV bleed resistor WARNING this will run hot X1 10 X1 9 Capacitor 3300uF for Vix250 Isolating 6600uUF for ViX500 transformer X1 8 with screen D S 1metre max from capacitor to drive Figure A 1 Drive Power Supply Note The saftey earth must be reliably earthed at X1 8 The DC input should also be connected to earth at a convenient point Supply Wiring Use approved mains cable at least 0 75mm2 for primary wiring and route it away from secondary and signal wiring Power input wiring must have a voltage withstanding rating of at least 1000V AC RMS Note this figure is a test voltage not the rated working voltage of the cable Power input and motor wiring must be kept separate from signal wiring and insulated from operator access Note secondary wiring must have a current rating in excess of the AC fuse rating Transformer Sizing for the DC Supply A DC input is required by the drive which can be generated by rectifying and smoothing the secondary voltage of a transformer This is an unregulated supply so do not select a secondary voltage which generates a DC output greater than 80V 116 VIX AH SERVO DRIVE USER GUIDE The size of transformer required for a servo drive installation depends very much on the application and on the maximum shaft power delivered by individual motors It is worth noting that in a one off or low volume application it is usually preferable to be slightly generous in
31. 80L T xx xx D11 Hx Le CMxx 23 E 2 Fixx s you oto type Q to this axis from the list If the motor perform a custom is not listed then click the button set u p below to add it as a special Cont stall current 0 8 Amps RMS Pole Pitch 13 0 mm Setup custom Resolution 1 0 microns post quad Rated speed 3 0 m s Feedback type encoder Unloaded inertia mass 0 2 Kg Static brake not fitted Alternate commutation not selected Thermal protection sensor fitted Invert hall No Force constant Kf 41 N A peak Viscous damping 0 5 N m sec Resistance line line 9 5 Ohms Note changing the motor updates Inductance line line 3 6 mH the default tracking limit PIVF Thermal time constant 80 seconds gains limits homing etc Motor D 1 Motor type MT 49409 Click Next gt lt Back Cancel Help Select the operating MEREANA EARTE mode of the drive and the direction of Select the operating mode for the 7 drive and the command signal Ee rotation required for PE g Operating mode M command a rotary motor y The velocity amplifier mode allows a 10 volt input signal to Torque amplifer be converted to motor speed C Position control e g step and direction As a torque amplifier the 10 volt input is translated to a corresponding torque from the c motor m Direction sense H command Clockwise for positive signal default Position control mode allows the drive to follow digital signals on Counter cl
32. Brake This option works in a similar way to the automatic holding brake In this case a drive fault that de energises the drive s power stage under hardware control will apply the brake as soon as the software detects the fault condition The pre programmed delay time is ignored 4 CONTROL OF VIX DRIVES 67 External Brake Control The base drive AE version has a dedicated input X5 pin10 used for external control of the brake This input can be driven from a high level logic source or sink or a low level logic source see Brake Input Circuit in Electrical Installation section A logic high input is required to apply or engage the brake the brake will react immediately with no delay or check for motor movement Select mode E using the BRAKE command to make use of this external input Use this form of brake control with caution since careless or accidental application of the brake could lead to physical damage of the brake components Default Brake Command For the base drive the BRAKE default setting is all brake modes disabled Other Factors that Influence Braking Operation In addition to the modes of brake operation certain drive conditions influence brake behaviour these are State of enable input Resetting the drive 24V power failure Drive fault Enable Input Even if the motor is moving setting the enable input to disable would immediately disable the drive s power stage If the automatic dynamic brake mode is set
33. Figure 3 6 Motor Power Cable Drive End Preparation Note The cable braiding is folded back over the outer insulation of the motor cable to give a larger diameter contact area and a mechanically strong fixing The following P clips sizes are available Size Parker part number Comments 12 3mm ID 4216 103 Supplied with standard cables 10 7mm ID 4216 102 9mm ID 4216 101 4 2mm 4216 106 3 7mm 4216 105 z Table 3 4 P Clip sizes Different size P clips allow the use of a variety of motor power cables from different manufactures All motor connections must be made using a high quality braided screen cable Cables using a metallised plastic bandage for an earth screen are unsuitable and in fact provide very little screening Care must be taken when terminating the cable screen the screen itself is comparatively fragile bending it round a tight radius can seriously affect the screening performance The selected cable must have a temperature rating which is adequate for the expected operating temperature of the motor case 3 ELECTRICAL INSTALLATION 21 15 way D Encoder type pin reference X2 1 Inc Enc Z 2 Inc Enc Z 3 twin OV 4 Reserved 5 twin 5V output 6 OV 6 Motor overtemp 7 Inc Enc A 8 Inc Enc A 9 Comm f b AO 10 Motor Overtemp 11 Inc Enc B 12 Inc Enc B 13 Comm f b A1 14 Comm f b A2 15 Reserved Note two wi
34. ING below WARNING risk of equipment damage Do not attempt to drive the brake input with a low logic level 5V sink output Internally the drive pull up voltage is 24V The general configuration screen allows adjustment of motor brake settings communication settings analogue input control and defines what is monitored by the monitor output The state of system variable ES can also be set via this screen Click Next gt You can specify general settings here If your selected motor has a brake it can be configured here The energise input sense determines whether the active level of this input Note serial communication BAUD requires a power cycle to effect the change 5 EASI V SOFTWARE 81 Guided i X A H initialisation 7 of 8 pidite tense Energise input p sense ES Release delay Engage delay Echo backon M BAUD rate 3600 m Analogue Offset 0 4 Monitor o p torque Deadband 04 With ES ticked ES 1 the drive is energised without any connection being made between X4 pin 11 and X4 pin 3 or 4 This screen indicates the completion of the guided servo setup Clicking on the Create a setup program creates a configuration file which may be saved to disk on the controlling PC Clickin on Download immediately downloads the configuration file to the drive Guided i X A H initialisation 8 of 8 You ve d
35. ITY CONTROL MV CURRENT POSITION PA 0 00 DIRECTION OF H CW ve ACCELERATION AA 10 0 ERROR PE 0 0 POSITION MODULUS PM 0 AXIS READY DRIVE FAULTS DF 1010 0010 1000 0000 0000 0000 0000 0000 DRIVE STATUS ST 0000 0000 0100 0000 0001 0000 0000 0000 USER FAULTS UF 0000 0000 0000 0000 0000 0100 0000 0000 Note Motor type has not been defined 98 VIX AHSERVO DRIVE USER GUIDE SV Save configuration Syntax Units Range of n Default See also aSV Z Description When the SV command is issued the current drive system variables and configuration are stored in non volatile memory Following a reset or power cycle the settings held in the non volatile memory will be restored into the drive Wait 1 2 seconds before sending any other command following an SV Properties Immediate Example 1RFS return drive to factory settings 1MP set drive to position mode step direction control 1SV save current settings 1Z reset drive 1M report current drive mode MP Note This command will not operate whilst the motor is being commanded to move 6 COMMAND REFERENCE 99 W Syntax Write system variable aW system_variable value Description Properties Example Note Z Syntax The W command allows you to set a specified system variable to a particular value Refer to the table of system variables for more information Immediate not saved by SV
36. K but de energised Red Drive fault Red_ Comms fault Figure 7 2 Drive LED Indicators 107 108 VIX AH SERVO DRIVE USER GUIDE Complete LED Diagnostics An EASI V version of this table is available for quick on line viewing LED Colour s Flash rate Functional description HV green none motor supply OK HV orange none motor supply under voltage lt 16V HV red none motor supply over voltage gt 96V HV off no motor supply ST green none drive OK and motor is energised ST orange none drive OK but motor is de energised ST red none drive fault see DF report for more information ST red green 1 second l2t duty cycle too high Bit 16 of ST system variable set to 1 ST red green 0 25 second communications receive buffer over flow Only a power cycle clears this condition ST red off 0 5 second only on power up following a flash upgrade Indicates bad truncated FPGA file ST red off 1 second only on power up following a flash upgrade Indicates a CRC error ST off no logic supply All other LEDs will also be off FB green none fieldbus communications OK Operational state FB green 1 second fieldbus communications OK Pre operational state FB red none fieldbus communications fault FB off no fieldbus option Table 7 1 Status Bits Description continued 7 MAINTENANCE amp TROUBLESHOOTING 109 Forcing a Hardware RFS Pin 2 of serial co
37. Peak current ratio desired maximum drive current motor nominal current MC 100 Peak current ratio PC Drive current clamp CL lt Back Cancel Help Guided i X H initialisation 5 of 8 Feedforward GF Inega a d Proportional ae Velocity GV Filter time FT lt Back Cancel 80 VIX AH SERVO DRIVE USER GUIDE Use this screen to Guided Y i X A H initialisation 6 of 8 configure the brake input to match the Configure the digital brake input i l IC system variable Operating output generating thresholds can be 5 or 24 Yde M Brake control input has 24 Vide operation the brake signal The source pull up supply is 24 a ae Yde only so the brake control JM nena pull up brake contralinpubto 24 vide The screen also input should NOT be checked for allows selection of aae pneranon Vaue at Die 257 the type of simulated encoder output or input required The following encoder inputs El ee EO determine the type of signal for Step Dim C Step Dim position mode The simulated c Spee ET encoder outputs EQ can also Le Eley be configured here CABZ Click Next gt lt Back Cancel e High logic level 24V source IC 256 upper box ticked lower blank default e High logic level 24V sink IC 257 upper and lower boxes ticked e Low logic level 5V source IC 0 no boxes ticked Note Upper box blank and lower box ticked is a non valid configuration see WARN
38. S Safety earth connections 11 Save properties 87 Saved by SV 87 Search menu 73 Serial communications configuration 75 Serial link lead 69 Servo control loop 60 Servo setup 82 SETUPFB setup motor feedback 96 Short circuit protection 28 Simulated encoder I O 39 Simulated encoder I O circuits 40 SM motor cables 19 SN system variable 55 Software installation 70 Software requirements 69 ST bit order 56 system variable 56 word 56 Star point 9 STATUS 97 Status Bit description 56 103 Status report example 83 Status variable byte reporting 56 Status variable reporting 56 Step direction inputs 53 Step direction outputs 53 Step up step down inputs 53 Step up step down outputs 53 Supply connections 10 current 11 volts 11 SV save configuration 98 Syntax checking 87 122 INDEX System variables 49 85 reading 49 reporting status 56 table of 50 writing 49 T Temperature ambient 113 storage 113 Terminal menu 74 Thermal limitations of DIN rail mount 7 TL system variable 55 Torque de rating 7 Transformer sizing for applications 116 Transformer selection guide 116 U UF byte 59 User fault byte reporting 59 clear conditions 59 descriptions 59 103 reporting 59 User faults 57 Utilities menu 74 V Velocity gain 54 ViX supply current 11 supply volts 11 ViX250 500 drive dimensions 6 W W write system variable 99 Weight 113 Welcome box 70
39. S232 communications with an address setting of 1 Wire the RS232 communication lead as described in the Electrical Installation section WARNING To avoid causing damage to a PC serial port the drive must be earthed before making any serial connections Connect the RS232 lead between the drive s X3 socket and the controlling PC s RS232 connector Configure the serial communications From the Terminal menu choose Settings to display the following Communications port configuration dialogue box Fert a aa COM2 9600 The default settings used are CCOMs ccom C1920 Port COM1 aa or M Auto Wi BAUD rate 9600 ae ew Line Options Auto wrap T Local Echo recommended for RS485 OK Cancel Figure 5 4 Comms Port Configuration 76 VIX AH SERVO DRIVE USER GUIDE Select the required configuration and click OK Then again from the Terminal menu select Connect to start communications Every time Connect is issued the communications link is tested to establish it is working correctly and the message box Testing communications integrity is flashed on the screen followed by Now on line to controller if the Connect is successfully made If the link fails refer to the Troubleshooting Section Note The baud rate selected must agree with the drive s hardware selected value Configure Terminal Buttons The Terminal menu has a Configure terminal buttons F2 command which generates a te
40. SERVO DRIVE USER GUIDE Energise Energise You can energise the drive by allowing this input pin to float high 1 or by linking the pin to zero volts depending upon the input s polarity System variable ES controls the polarity of this input The default state of ES requires X4 input pin 11 to be connected to OV to energise the drive X5 Connector X5 is the user Input connector On the base drive one input is used to control the motor brake if fitted Connector Type Connector type is a high density 15 way D type plug Connector Pin Out 4 Reserved O 5 Reserved J 6 Reserved 8 Reserved 9 Reserved Table 3 12 X5 User Input Output Connections Brake Input Circuit Figure 3 22 shows the various input circuit arrangements of the brake control input configured using system variable IC You can drive this input from three output logic types e High logic level 24V source IC 256 default e High logic level 24V sink IC 257 e Low logic level 5V source IC 0 Do not attempt to drive this input with a low logic level 5V sink output 3 ELECTRICAL INSTALLATION 43 When driven from a high logic level 24V source a logic 1 24V logic will engage the brake and a logic 0 transistor off will release the brake When driven from a high logic level 24V sink a logic 1 or a high impedance state transistor off will engage the brake and an active pull down to a logic 0 transistor on
41. Search Eind Find Hest Fa Replace Selecting Go to line from the edit menu will generate the following dialogue box which allows the required line number to be entered This is useful for locating errors Linc number when loading a program 5 EASI V SOFTWARE 73 Filing Operations Creates a new editor file or prg program file Opens an existing editor file or program Save an editor file Save an editor file specifing the file name Print the editor file or contents of terminal buffer Close current active window Exit Easi V Editing Operations Undo a previous edit 1 level of undo only Remove highlighted text to clipboard Copy highlighted text to clipboard Paste contents of clipboard to current cursor location Delete highlighted text Highlight all text in active editor file window Go to a particular line within a file Editor search amp replace operations Find specified text top down from cursor position Repeat search again Find and replace text top down from cursor position Cancel 74 VIX AH SERVO DRIVE USER GUIDE Terminal Settings Connect Configure terminal buttons F2 Edit BUNE Iisa HO il Utilities Product Guided servo setup Servo setup Axis status Donncadpeaiamto dive FA Upload program from drive F5 Drive LEDs Windows Tile FE Cascade F7 Next F8 Arrange Icons Close All v 1 Editor EXAMPLE5 PRG Help Cont
42. Two fit kits are available for ViX drives 1 VIX KIT required if you do not purchase motor cables 1 INTRODUCTION 2 VIX KIT NFB required if you do purchase motor cables VIX KIT VIX KIT NFB Part Number Quantity Description Part Number Quantity Description 1650 937 01 1 Information 1650 937 01 1 Information sheet sheet 5004 023 1 plastic bag 5004 023 1 plastic bag 5006 21 1 1 Product label 5006 211 1 Product label 0405 81 1 1 10 way Flange 0405 81 1 1 10 way plug strip Flange plug strip 0405 961 1 9 way D type 0405 961 1 9 way D type plug plug 0405 962 2 15 way HD 0405 962 1 15 way HD D type plug D type plug 0405 963 1 15 way HD 0405 963 1 15 way HD D type socket D type socket 0409 530 4 9 way D type 0409 530 3 9 way D type cover cover 0313 020 1 H8FE1115NC ferrite sleeve 4005 218 1 3 1 heatshrink 19mm diam 4216 101 1 Closed P clip 9mm ID 4216 102 1 Closed P clip 10 7mm ID 4216 103 1 Closed P clip 12 3mm ID 4 VIX AH SERVO DRIVE USER GUIDE Further Information This user guide contains all the necessary information for the effective use of this drive However to gain a more in depth understanding of drive applications and motion control consider attending one of our world wide Customer Specific Training Workshops Details of European based courses are on our web site www parker emd com under Sales amp Services Training Examples of p
43. a simple ON OFF state 0 or 1 Flags Certain variables perform a reporting function that provides you with information on the status of the controller and any drive faults present in the hardware or user program code Status Variable Reporting Variable ST is a 32 bit double word that contains status information When read ST reports a 32 bit double word pattern of the form 0000_0000_0000_ 32 bit wide double word _0000 TT BitNo 1 45 8 32 Where a bit is set displayed as a 1 its bit number can be determined and compared with the bit number value given in Table 4 4 to determine the Status Information being reported Use the Read command to display the ST word pattern that is aR ST 9 Motorenergised o O Table 4 4 Status Bits Description Status Variable Byte Reporting A convenient and more compact way of interrogating the status variable is to test it a byte at a time using the STn within a read command where n is used to select the byte to be tested For example to read or test the first 8 bits first byte of the ST variable status word use ST1 Since the status word consists of 4 bytes the relevant part of the word can be read using ST1 bits 1 to 8 ST2 bits 9 to 16 ST3 bits 17 to 24 or ST4 bits 25 to 32 Status Bit 23 The maximum allowed position error will depend on the gains used Normally there is no restriction but for high gains the value of tracking limit TL will be restricted to a
44. an be fitted with a holding brake This enables vertical Z direction loads to be held whilst the motor is de energised All brakes are fail safe that is you need to apply power to the brake to keep it disengaged Removing power from a brake will engage or activate the brake preventing further shaft motion Figure 3 16 shows the connections necessary to control a motor holding brake Power the brake from the 24V supply a 2A fuse is recommended to protect the circuit from wiring faults To release the brake allowing the motor shaft to turn connect pin 1 of X1 to ground using the manual BRAKE command Power amp motor X1 10 way oli connector 9 24V DC SUPPLY 8 2A FUSE recommended 24V DC 7 CSCO 6 5 MOTOR BRAKE 4 IN ITS RELEASED 3 OR ENERGISED STATE 2 BRAKE 1 Figure 3 16 Motor Holding Brake Connections See Section 4 Control of ViX Drives Brake Operation for details of how to control its operation When a brake is used the brake supply is dependent upon the value of HV For the majority of applications where the HV is greater or equal to 30V the fused brake supply is taken from the 24V supply at X1 pin 7 as shown above For applications where the HV is less than 30V the brake supply can be taken from the motor HV supply at X1 pin 10 Note Whenever you change the HV supply you will need to run the motor configuration command lf there is no motor HV present issuing the motor command assu
45. ant that determines how slowly or quickly the motor temperature constant rises to its final steady state value measured in seconds 25 26 VIX AH SERVO DRIVE USER GUIDE The Optional Parameters Tab Selecting the optional parameters tab gives you access to the screen shown in Figure 3 10 Update motors list Figure 3 10 EASI V Custom Motor Optional Parameters 3 ELECTRICAL INSTALLATION 27 Motor Related System Variables Two system variables control the current supplied to the motor from the drive Current Clamp CL limits the current output of the drive to protect low current motors or to set a particular torque level and Peak Current PC can allow a controlled boost of motor current when required CL can be set as a percentage 1 to 100 of the peak drive current and once set drive output current cannot be exceeded using any other command or system variable PC sets the scale factor 100 to 400 that controls the ratio of maximum output current to continuous output current of the drive Servo motors can be overdriven for short periods to provide extra torque PC is calculated as follows PC desired maximum drive current x 100 motor continuous stall current A value of 300 is typically used for boosting servo motor performance Enter CL and PC values using EASI V guided servo initialisation or directly using the W command Drive Motor Overload The Vix drive uses an l t protection scheme that prevents exces
46. atic discharges Wear earth wrist straps A switch or circuit breaker must be included in the installation which must be clearly marked as the disconnecting device and should be within easy reach of the machine operator Cabinet Installation To produce an EMC and LVD compliant installation we recommend that drives are mounted within a steel equipment cabinet This form of enclosure is not essential to achieving EMC compliance but does offer the benefits of operator protection and reduces the contamination of the equipment from industrial processes A steel equipment cabinet will screen radiated emissions provided all panels are bonded to a central earth point Separate earth circuits are commonly used within equipment cabinets to minimise the interaction between independent circuits A circuit switching large currents and sharing a common earth return with another low level signal circuit could conduct electrical noise into the low level circuit thereby possibly interfering with its operation For this reason so Called dirty earth and clean earth circuits may be formed within the same cabinet but all such circuits will eventually need to be returned to the cabinet s main star earth point Mount the individual drives and EMC filter on a metal earth plane The earth plane will have its own individual star point earth which should be hard wired using an insulated copper conductor back to the cabinet s clean earth connection p
47. be ignored When re energising the drive will respond immediately to the new demand See GAINS command for gain parameters relevant to the particular mode 6 COMMAND REFERENCE 93 MOTOR Motor Settings Syntax Description aMOTOR Type Current Resolution Max_vel Thermal_const Resistance Inductance KT This command describes the characteristics of the motor being used to the rest of the drive The parameters used are Type 0 to 65535 number code which includes pole count feedback type brake and any other particular requirements refer to EASI V Current RMS continuous stall current 0 1 to 14 4 Ain 0 1 A increments Default setting depends upon motor type RFS default setting is 0 1 A Resolution Rotary servo 2000 4000 4096 8000 20000 in steps rev post quad Linear servo 2 000 to 4 200 000 in steps per pole pitch Max_vel 1 to 12 000 rom Thermal_const Thermal time constant of the motor 0 to 65000 seconds Resistance Winding resistance in Ohms Inductance Winding inductance in mH KT Torque constant of the motor Nm A Note Thermal time constant is the time in seconds for the motor to reach two thirds of its rated temperature while operating at its continuous current rating Measured line to line across the motor terminals The command sets all of the motor parameters and then calculates the optimum settings for the digital torque amplifier If there is no HV present when the motor
48. command Execute an OFF command Set the fault output This command is used as an immediate stop and does not attempt to control deceleration Immediate not saved by SV Aborting SETUPFB will prevent an energise state from happening and will flag the motor as being undefined Motion may only be commanded once the energise input has been cycled following a KILL command Care must be taken that the demand is removed before re energising as the drive will respond immediately to the demand A drive enable error will be indicated which together with the fault output will be reset on a successful energise state 92 VIX AH SERVO DRIVE USER GUIDE Syntax aMn Description Properties Example 1 Note Mode Units Range of n Default See also see below The mode command sets up the mode of operation of the drive The values of n are P base servo position mode step and direction input T base servo torque mode analogue torque input V base servo velocity mode analogue velocity input Immediate saved by SV The code below sets up for torque demand 3MT mode torque To check the current mode tyPe ceeeeeeeeeeeeeeeeeeees 3M The response will e sssssssssnseeessesseennnenenserrreennnnnneeereene MT The drive must be de energised for the M command to be executed If the command is issued whilst the drive is energised an error message will be generated and the command will
49. d Syntax Generally a command s syntax consists of an address a followed by the command name Parenthesis containing the commands parameters or simply the range parameter n follows this Within the parenthesis form of command a comma separates each parameter and italics indicate any optional parameters Commands not requiring any parameter string have the syntax shown in Figure 6 1 aHn Range parameter Command name Address prefix Figure 6 1 Simple Command Syntax 86 VIX AH SERVO DRIVE USER GUIDE A multi parameter command can take the form shown in Figure 6 2 aGAINS parameter1 2 3 4 5 Parameters 1 2 3 4 amp 5 Command name Address prefix Note optional parameters are displayed in italics Figure 6 2 Parameter Commands Attention 1 Terminate all commands with a carriage return A space is not valid 2 Acommand must not contain any space characters 3 All commands are device specific that is they always need an address 4 For reasons of clarity program examples appear as if being downloaded via Easi V that is they contain comments and line feeds etc Command Properties Each command has a particular set of properties that govern the way the command can be used Commands can have the following properties Immediate only Immediate or buffered Saved by SV Not saved by SV 6 COMMAND REFERENCE _ 87 Immediate Only Immediate only commands are K R UF R DF and R ST Th
50. e Serial number Status of indexing See Reporting the Status of Variables ST1 2 3 amp 4 Resolution 100 if gt 65535 Fault status Can be set to 0 only Table 4 1 List of System Variables Continued 52 VIX AH SERVO DRIVE USER GUIDE AB Al and AO Description AB controls the dead band and AO the offset of the differential analogue speed torque control input See Differential Analogue Input in the Electrical Installation section AM Description Use output 4 X5 pin 15 to output an analogue DC voltage between 10V and 10V to represent the velocity or torque being generated by the drive depending upon the setting of system variable AM Setting AM to 2 generates a bipolar triangular waveform with a time period of 1 second BR Description This sets the Baud rate of serial communications Enter the required Baud rate directly for example aW BR 19200 to set the rate to 19200 You will need to save this setting and then reset the drive Z command or cycle the power before the change will take effect CL and PC Description See Motor Related System Variables in the Electrical Installation section 4 CONTROL OF VIX DRIVES 53 DF Description See drive fault bit description in Reporting the Status of Variables EO Description Use encoder outputs connector X4 to supply a step direction or step up step down signal for use by another drive System parameter EO determines the output as defined in Table 4 2 _ X4 E0
51. e controller acts upon these commands as soon as they are received Immediate or Buffered Immediate or buffered commands are immediate unless command execution is being delayed in which case the command is buffered When command execution is being delayed whilst waiting to finish a previous command interrogation commands can be sent and get executed immediately Consequently the report of such commands as 1R ST 1R UF etc is correct However if a buffered type of command is sent the buffered command just sent and any other interrogation commands get buffered and will not report back until the current function is finished In this situation Immediate only commands can be executed Saved by SV A command that has the property of being saved by SV means data associated with that command is capable of being stored in non volatile memory The saved value will become the default value on power up or following a Z command Not Saved by SV If the command does not change data such as K or Z the commands properties are listed as not saved by SV Automatic Checking of Valid Commands and Parameters All commands and parameters are checked for syntax and parameter limits at data entry For example 1BRAKE 2 Upon entry this will cause a E value is out of the valid range type error report 88 VIX AH SERVO DRIVE USER GUIDE BRAKE Brake configuration Syntax Description Properties Note aBRAKEn mode RD ED
52. e motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KEEP WELL CLEAR of any machinery driven by stepper or servo motors Never touch any part of the equipment while it is in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and used in a safe manner according to local safety laws and regulations In particular the product must be enclosed such that no part is accessible while power may be applied This and other information from Parker Hannifin Corporation its subsidiaries and authorised distributors provides product or system options for further investigation by users having technical expertise Before you select or use any product or system it is important that you analyse all aspects of your application and review the information concerning the product in the current product catalogue The user through its own analysis and testing is solely responsible for making the final selection of the system and components and assuring that all performance safety and warning requirements of the application are met If the equipment is used in any manner that does not conform to the instructions given in this user guide then the protection provided by the equipment may be impaired The informati
53. e operation e Built in power dump switch e Integral fusing Figure 3 4 shows the PL1100 output wiring for two ViX drives This illustrates how to route the main HV supply separately to each drive The lower current requirements of the 24V logic brake supply can allow the wiring to be linked between drives For full installation instructions see the PL1100 Power Supply leaflet 1600 323 XX In Figure 3 4 the drives are wired individually to the PL1100 alternative daisy chain wiring can be used O bS d CAUTION O MOTOR HV OUY MOTOR DV EXT BRAKING RE o 90000 0000 20v AC IN PL1100 aven Power Supply unk L3 ssy swewe AC IN PHASE t L2 00000 dss att thi al ere tty a 9999999694696 e666 O Figure 3 4 PL1100 Power Supply and Drive Connections 3 ELECTRICAL INSTALLATION 17 PL1100 EMC Installation Guidelines These EMC installation recommendations are based on the expertise acquired during the development of compliant applications which Parker believes are typical of the way a PL1100 may be used Provided you have no special installation requirements or untypical operating environment requirements PL1100 power supplies will conform to current EMC Directives If you are using the recommended tra
54. e the following commands AXSDEFO0000 All axes are steppers ERES8000 8000 8000 8000 Should match ViX motor resolution DRES8000 8000 8000 8000 Should match ViX motor resolution DRFLVL1111 Drive fault active level DRFEN1 Enable drive fault detection LHO 0 0 0 Disable limits optional A V D GO1 Execute move 4 CONTROL OF VIX DRIVES 63 Base servo torque velocity mode This mode uses the servo analogue inputs to control the drive Figure 4 3 shows a 6K controller used for control purposes A double multi core cable links the 6K and ViX with the connections listed in Table 4 8 f HVSTFB l en VELOCITY OR TORQUE MODE ENCODERS TEDE AGO OC 9 TCD INPUTS 1 8 OUTPUTS 1 4 Compumotor 4 AXIS SERVO STEPPER CONTROLLER A Figure 4 3 Base Servo Mode Using Analogue Input Control 64 VIX AH SERVO DRIVE USER GUIDE Connections VIX X4 Description 6K connectors Description connector 1 Ana1 3 Drive Command 2 Ana1 6 Drive Command 3 OV 9 Drive Isolated Gnd 6 Fault 5 Drive Fault 9 A out 3 Encoder A 10 B out 5 Encoder B 11 Energise 7 Drive Shutdown NO 14 A out 2 Encoder A 15 B out 4 Encoder B Table 4 8 Velocity Torque Mode Connections Pins 13 and 14 on the 6K DRIVE connector should be connected together The CNTRL P t
55. ed White Green 4 RS232 sense Blue 5 RS232 Gnd White Blue 6 Reserved Green 7 RS232 Rx White Brown 8 RS232 Tx Brown Table 3 13 X6 X7 Input Output Connections 46 VIX AH SERVO DRIVE USER GUIDE Communication Daisy Chain Drives can be daisy chained for RS232 operation as shown below Using this arrangement the drive connected to the controlling PC via its front panel D type connector becomes axis 1 To automatically assign addresses connect all power motor feedback and communication cables then power up all the drives see command for more details At the controlling PC type the following commands 1 cause the 1 drive to establish the daisy chain in a 3 axis system the response willbe 4 OSV save the address configuration 0Z sreset response should be a single check sum from axis 1 more than one check sum indicates a problem possibly no save command Final drive terminates X7 front Figure 3 25 RJ45 RS232 Daisy Chain Connections Using the X6 X7 connections on the underside of the drive will allow the last drive in the chain to detect that there are no more connections made to X7 which will close the daisy chain loop back internally 3 ELECTRICAL INSTALLATION 47 RJ45 Connecting Leads RJ45 link cables can be ordered from Parker EMD Various lengths are available as listed in Table 3 14 Part Number Length VIX RJ45 0025 0 25m VIX RJ45 0050 0 5m VIX RJ45 007
56. ed to offset the following error and improve tracking accuracy This is important in contouring applications GI Description Proportional action may be insufficient to overcome static position errors caused by gravitational load effects Integral action accumulates a steady state error until sufficient torque is produced to move the load It improves overall positioning accuracy but may produce low frequency oscillation around the commanded position GP Description Proportional gain determines the amount of torque produced in response to a given position error It sets the stiffness of the system and affects the following error A high proportional gain gives a stiff responsive system but results in overshoot and oscillation that require damping GV Description Velocity feedback is a signal which increases with shaft speed It acts in a negative sense opposing the proportional action and helping to stabilise the motion The damping action of velocity feedback allows a higher proportional gain to be used IC Description System variable IC sets the configuration of the drive s brake input circuit see Brake Input Circuit in the Electrical Installation section IM and IW Description Integral mode determines when integral action Gl is applied either continuously or within a integral window defined by IW IX Description System variable IX determines the position of the index pulse relative to phase U or phase 1 of t
57. ents F1 Search for Indexer commands Visit Parker EMD online Technical support Sales support About Terminal on line operations Configure the serial communications Open close the terminal after testing the connection Configure test buttons Edit buffer Create an editor file window or terminal buffer Log to file Open close file logging terminal buffer actions Specific tools Displays Product Selection screen Help screens guide you through servo setup Similar to above but uses tabbed text boxes Display status bits or messages Download program to drive F4 Download program Upload program Displays LED diagnostics sheet colour amp flash rate Window controls Share program desktop space between open windows Cascade all open windows on program desktop Select activate the next window Arrange all minimised windows on program desktop Close all active windows on program desktop Program help facilities Open help file at the main contents start Prompt for topic string and search help file Open help for individual EASI V commands Visit Parker web site E mail Parker technical support E mail Parker sales support EASI V version number and copyright 5 EASI V SOFTWARE 75 Terminal Menu Selections Terminal menu selections control the setup and configuration of communication between a PC and drive Communicating with a Drive The default settings of a new drive from power up are R
58. erminal on the 6K should be connected to 24V DC Velocity Mode Commands For the ViX drive issue the following commands 1MV Mode Velocity 1W ES 0 Energise input active level 1SV Save settings A valid MOTOR command is required At least some feed forward and velocity gain needs to be used to tune the PIVF loop that is GF GV 5 0 For the 6K4 issue the following commands AXSDEF 1111 All axes are steppers ERES8000 8000 8000 8000 Should match ViX motor resolution DRFLVL1111 Drive fault active level DRFEN1 Enable drive fault detection LHO 0 0 0 Disable limits optional TGAIN Read all gains SGP Set proportional gain SVG Set velocity gain A V D GO1 Execute move 4 CONTROL OF VIX DRIVES 65 Torque Mode Commands For the ViX drive issue the following commands 1MT Mode Torque 1W ES 0 Energise input active level 1GAINS 0 0 0 0 0 Zero all gains 1SV Save settings A valid MOTOR command is required All GAINS need to be 0 0 For the 6K4 issue the following commands AXSDEF 1111 All axes are steppers ERES8000 8000 8000 8000 Should match ViX motor resolution DRFLVL1111 Drive fault active level DRFEN1 Enable drive fault detection LHO 0 0 0 Disable limits optional TGAIN Read all gains SGP Set proportional gain SVG Set velocity gain A V D GO1 Execute move 66 VIX AH SERVO DRIVE USER GUIDE Brake Operation ViX drives have the ability to control a motor holding brake via the X1 pin 1 motor bra
59. fication Parameter Value Communication S S O 8 data bits 1 start bit 1 stop bit no parity optional echoback Xon Xoff supported Brake Input Fault Output o ooo G OSO Fault Output open collector 30V max 15mA sink Table 8 2 Controller Specification 8 HARDWARE REFERENCE 113 Drive Environment Specification All drive types Environment Pollution degree 2 Operating temperature range 0 to 40 C ambient for natural convection cooling 40 C to 50 C with forced air cooling of minimum 0 5m s entering the base of the drive approximately 3 5m3 h or 2cfm airflow through the cabinet Storage temperature range 20 to 70 C Humidity 95 max non condensing Cooling Natural convection 0 to 40 C forced air cooling 40 to 50 C Plastic Aluminium heatsink Protection class IP20 Weight 0 55kg Table 8 3 Drive Environment Specification 114 VIX AH SERVO DRIVE USER GUIDE APPENDIX A 115 Appendix A Discrete Power Supply Recommendations If the XL_PSU is not being used individual ViX drives can be powered from transformer bridge rectifier power supplies of the type shown in Figure A 1 This design suggests suitable component values for powering particular drive types but can be adapted to power more than one drive provided component power ratings are not exceeded Bridge rectifier rated at 4A min for ViX250 drive line F se AC Fuse 8A min for ViX500 drive TD HBC Bridge rectifier must have adequate cooling 6K8 2
60. fixed value capped Status bit 23 is set if the tracking limit is capped 4 CONTROL OF VIX DRIVES 57 Fault Status Reporting Faults are classified into two groups Drive Faults DF hardware faults present in the drive or User Faults UF user program faults Drive Faults Hardware drive faults cause the drive output stage to turn OFF de energised This will cause the Drive LED to turn RED Once the fault has been corrected the drive may be re energised using the ON command When read DF reports a 32 bit double word pattern of the form 0000_0000_0000_ 32 bit wide double word _0000 LTT BitNo 1 45 8 32 Where a bit is set displayed as a 1 its bit number can be determined and compared with the bit number value given in Table 4 5 to determine the Drive Fault being reported Use the Read command to display the DF word pattern that is aR DF 58 VIX AH SERVO DRIVE USER GUIDE Bit Number Stop Type DF Information 1 Li Composite fault anything that causes a drive fault 3 K R MotorHV under voltage trip point reached 4 k R MotorHV over voltage trip point reached 5 C R VVO undervoltage trip point reached 6 C R VO over voltage trip pointreached 7 K T Encoder Auxiliary 5V under voltage trip D T Impending power loss 24V logic supply 9 k T Commutation Fault O Rs o l 7 O 1 Cc R Motorovertemperature 12 C R _ Ambientovertemperat
61. have a minimum amount of capacitance to support a drive at peak power draw Drive Type DC Supply Current Supply Capacitance ViX500 6 3A RMS 6600uF ViX250 2 5A RMS 3300UF Table 3 2 Drive Supply Currents 24V Requirements Both drive types require a 24V controller and logic supply The supply to each drive should be fitted with a time delay fuse rated at 3A Note The 24V supply used must meet the voltage requirement specification of 24V DC 10 15 ripple lt 1V p p The supply may also be required for an encoder and motor brake Absolute voltage range 20 to 27V Nominal drive current 250mA excluding encoder amp brake Extra encoder current 150mA Extra brake current 500mA Safety Earth Requirements Earth the drive using the earth pin on X1 pin 8 Also earth the power OV connector on pin 9 12 VIX AH SERVO DRIVE USER GUIDE Power Supply Options Using the previous section estimate the power required for a single drive or for a group of drives A set of torque curves Figure 3 2 for various motor drive combinations can be used for calculating an applications likely power requirements A single axis using a ViX250 or possibly a lightly loaded dual axis application may be powered using an XL PSU This switching supply has a power rating of 250W and can supply 3 1A continuous 7 5A peak depending on supply volts and 24V loading which could be used for BE230D medium speed applications Higher torque current requ
62. he case of SMB motor cables the feedback cable can be used for resolver or encoder feedback Not required for use with the ViX250 500AH drives BE amp SM Motor Cables When using BE or SM Series motors choose the appropriate connector option to ensure the temperature sensor output is made available on the required connector e BE nMSn e SM nGSn Motor power cables are identified using the number 71 021125 XX where XX is the length of the cable in feet up to a maximum of 50ft 15 24m in 5ft 1 524m increments The form of feedback cable used with both the BE and SM range will depend upon the type of feedback transducer e Encoder feedback 71 021124 XX Once again XX defines the length in feet Should you require a BE or SM servo motor with a mechanical brake please contact Parker EMD See the front of this user guide for contact details 20 VIX AH SERVO DRIVE USER GUIDE Motor Connections at the Drive Standard motor power cables are prepared for connection at the drive end as shown in Figure 3 6 100 Stainless steel P clip clamped firmly over folded back braiding do not over tighten 40 cs Fold braiding back over the cable s outer insulation 10 Heatshrink Sleeving m 0 Use relevant sleeving to suit cable diameter o 50 30 Green yellow Idents 1 5 to UL94 CO Non insulated boot lace ferrules All dimensions in millimetres
63. he drive Altering the position of the index pulse allows compatibility with different motor types Incorrect settings will result in uncontrollable motion PA Description PA reports the actual position of the motor shaft Although PA is marked as being read only it will accept the value 0 to be written to it for resetting purposes If you perform a W PA 0 system variables PF PE and PT will also be set to 0 However if you immediately perform a read of these system variables non zero values will be reported due to normal servo action 4 CONTROL OF VIX DRIVES 55 PC Description See Motor Related System Variables in Electrical Installation PE Description PE reports the position error that is the difference between PT and PA PF Description PF reports the position fed back by a remotely mounted encoder for following applications RV Description Reports the revision of software being used by the controller SN Description Reports the serial number of a drive ST Description See reporting of status bits in Reporting the Status of Variables TL Description Tracking limit is the maximum amount of position error that can be tolerated if PE exceeds TL a fault will be reported UF Description See reporting of user fault bits in Reporting the Status of Variables 56 VIX AH SERVO DRIVE USER GUIDE Reporting the Status of Variables By examining Table 4 5 you can see that most system variables take a numerical value or record
64. hen using rotary motors make the selection shown Product selection x Please select the type of drive s you wish to configure from the list below This determines which motor database is to be used C V lt X5001E or V lt 2501E intelligent servo drive rotary motor VIX5S004E or ViX2504E base servo drive rotary motor C Vixs00IH or iX2501H intelligent servo ae linear motor C VX500CE or ViX250CE servo drive CAN Open rotary motor C ViX500CH or YK250CH servo drive CAN Open linear motor C 500M or ViX250IM micro stepping drive C ViX500CM or ViX250CM micro stepping drive CAN Open Cneet_ Figure 5 3 Easi V Product Selection Selecting Product from the Utilities menu will also display the product selection screen Selecting OK will display the main application window entitled Parker Hannifin EMD Easi V and seven pull down menus become available File Edit Search Terminal Utilities Windows Help The majority of options available within each menu are familiar to Window users and will not be fully described here but options available within Terminal and Utilities are specific to drive control and will be fully described Menu Overview File New Cr Open Ctrl 0 Save Ctrl 5 Save Ag Print Ctrl F Close Window Exit Alt F4 Edit Undo Ctrl Z Cut Ctra Copy Ctrl C Paste Ctrl Clear Del Select All Ctrl G Go to line
65. inet at the point of entry Its function is to return high frequency chopping current back to the drive This may require mounting the connector on a sub panel insulated from the main cabinet or using a connector having an insulated internal screen from the connector housing Within the cabinet itself all the motor cables should lie in the same trunking as far as possible Keep the cables separate from any low level control signal cables This applies particularly where the control cables are unscreened and run close to the drive 3 ELECTRICAL INSTALLATION 23 Note keep the motor cable routing within the equipment cabinet at least 300mm away from I O cables carrying control signals Motor Phase Contactors We recommend that motor phase contactors are not used within the motor power cables As an alternative make use of the drive s power stage enable control signal Ferrite absorber specifications The absorbers described in these installation instructions use a low grade ferrite material that has high losses at radio frequencies They therefore act like a high impedance in this waveband Produced by Parker Chomerics the recommended component is suitable for use with cable having an outside diameter up to 10mm The specification is as follows Chomerics part number H8FE 1115 NC Parker part number 0313 020 Outside diameter 17 5mm Inside diameter 10 7mm Length 28 5mm Impedance at 25MHz 80 ohm Impedance at 100MHz 1200hm Curie
66. ion Location x Setup will install Easi in the following folder To install to this folder click Next Ta install to a different folder click Browse and select another folder You can choose not to install Easit by clicking Cancel to exit Setup Destination Folder cAPogen Files Parker E asi Browse Cancel Figure 5 1 Choosing Where to Install Easi V 6 Once you have selected a destination for Easi V or have decided to use the default directory select NEXT to begin file transfer 7 Once Easi V has been loaded the screen will display a message dialogue box stating Setup is complete You may run the installed program by double clicking on the program icon When you click the OK button the window shown in Figure 5 2 will appear Note Easi V may also be run from the Start menu amp Easi Application Sel Ea File Edit View Gc ie gt Y Bach Forvard pe plication I Links On Line Help 3 object s Figure 5 2 Easi V Application Window 72 VIX AH SERVO DRIVE USER GUIDE Uninstalling Easi V To uninstall Easi V software use Windows uninstall software facilities available within the Control Panel All components are removed Software Operation Once installed Easi V can be started from the start menu or by double clicking its application icon At startup Easi V displays the product selection screen shown in Figure 5 3 W
67. ion or between issue updates 1 INTRODUCTION 1 Introduction Product Description Available in two power ranges these digital servos use field oriented control technology to give enhanced dynamic performance with improved efficiency Housed within an extremely compact case the drives are suitable for either direct panel or DIN rail mounting Using full PWM control with sinusoidal commutation the two versions of power stage can have continuous current ratings of 2 5A and 5A at motor bus voltages up to 80V Having high resolution encoder feedback the drives may be used with a wide range of 3 phase linear and rotary servo motors of different pole counts Figure 1 1 ViX250 ViX500 Digital Servo Drive 1 2 VIX AH SERVO DRIVE USER GUIDE Product Variants Digital servo drives are available in two power versions Table 1 1 lists the possible combinations Product Code Description ViX250AH 250VA Servo with high resolution encoder feedback ViX500AH 500VA Servo with high resolution encoder feedback Table 1 1 ViX250 ViX500 Digital Servo Drive Options Product Features Protection Circuits Motor short circuits Over voltage Under voltage Drive motor Over temperature 24V reverse supply protection Commutation encoder fault I2t protection Function Indicators Drive Status Feedback Fault HV FB Drive Fault DF Outputs and Inputs 1 Brake input 1 Brake output 1 Analogue monitor output Fit Kits
68. irements will need to use the ViX500 drive and a high current linear supply such as the PL1100 Further power supply information is given in Appendix A bys ViX250 with BE230D motor be ViX500 with BE163F motor 1 0 0 5 0 0 0 1000 1500 2000 2500 3000 3500 4000 4500 0 1000 2000 3000 4000 5000 6000 7000 rpm rpm ah ViX500 with BE231G motor A ViX500 with BE341G motor 0 0 0 1000 2000 3000 4000 5000 6000 0 1000 1500 2000 2500 rpm rpm Figure 3 2 Motor Torque Speed Characteristics 3 ELECTRICAL INSTALLATION 13 XL PSU Power Supply The XL PSU is a 250W power factor corrected switched mode power supply Designed for direct operation from world wide single phase AC input voltages the supply is capable of powering up to two ViX250 drives without the need for an EMC mains input filter The use of the XL PSU offers the following benefits Auto adapts to supplies between 95 and 264V AC e No external EMC filter required e Compact size e Built in power dump switch e Built in 24V DC supply Note 1 Check the application s power requirements from the torque speed curve of the motor used Note 2 For drives with up to 30 metre motor leads For full installation instructions see the XL Power Supply leaflet 1600 300 XX 14 VIX AH SERVO DRIVE USER GUIDE XL PSU Supply Drive Connections When used to supply up to two drives the power supply can be wired
69. iven to the effects of mains harmonics and flicker when interfacing the total supply system to the public low voltage supply system In accordance with IEC 61800 3 1997 Adjustable speed electrical power drive systems this product is of the restricted sales distribution class which meets the needs of an industrial environment when installed as directed However further measures may need to be taken for use of the product in a domestic environment Compliance is demonstrated by the application of the following standards BS EN 61800 3 Adjustable speed electrical power drive systems 1997 including Part 3 EMC product standard including specific test methods Amendment A11 BS EN 61000 6 2 Electromagnetic compatibility Part 6 2 Generic standards 2001 Immunity for industrial environments BS EN 61000 6 4 Electromagnetic compatibility Part 6 4 Generic standards 2001 Emission standard for industrial environments BS EN 61010 1 Safety requirements for electrical equipment for measurement 1993 including control and laboratory use Part 1 General requirements Amendment A2 WARNING Risk of damage and or personal injury The ViX drives described in this user guide contain no user serviceable parts Attempting to open the case of any unit or to replace any internal component may result in damage to the unit and or personal injury This may also void the warranty Contact Addresses For engineering assistance in Euro
70. ke output Note special conditions apply to the brake wiring depending upon the brake supply used see Motor Brake Control Wiring in the Electrical Installation section Before describing the various braking modes note the following assumptions e The automatic brake functions only operate if a motor with a brake has been set up using the MOTOR command e The brake output is not controllable by software when the drive is initially pbowered up whilst in the process of resetting or when powered off Under these conditions the brake output should be off and the brake therefore applied The automatic part of the brake command uses two timers ED and RD to make sure the drive holds position while the brake is released and the brake holds position before the drive is de energised Figure 4 4 shows the operation of the two timers RD ED ld Brake released status engaged Drive on status off Drive ON Drive OFF issued issued Figure 4 4 Brake Command Operation of Timers RD amp ED Automatic Braking Holding Brake Energising the drive starts a timer that counts down to a pre determined count RD Delay to Release at which point the brake disengages leaving the drive to hold position When you instruct the drive to de energise the controller will engage the brake and start a further counter ED Delay from Engage Once ED times out the drive de energises leaving the brake to hold position Automatic Braking Dynamic
71. ke control external 67 Brake control wiring 33 Brake fail safe 32 Brake fuse 33 Brake input specification 112 Brake output 32 Brake supply options 33 Braking automatic 66 dynamic 66 Cc Cabinet installation 9 Cable part numbers 19 Cable screening 20 Capacitance of supply 11 Clean earth 9 INDEX 119 Index Command address requirements 85 label amp multi parameter syntax 86 presentation 85 reference 85 simple syntax 85 Command checking 87 Command list 104 Command properties 86 Communication daisy chain 46 Communication problems 106 Communications specification 112 Control of I2t parameters 28 Controller specification 112 Cooling 113 Cooling requirements 5 D DC supply amps 11 DC supply capacitance 11 DC supply volts 11 Default directory 70 DF bit order 57 DF word 57 Differential input 40 Dimensions 6 DIN rail mount 7 Direct mode 49 Disconnecting device 9 Dissipation parameters 27 Drive cooling 5 dissipation 5 fault reporting 58 102 Drive fault byte reporting 58 Drive faults 57 Drive inspection 105 Drive types 2 E Earth arrangements 9 Earth connections 11 Easi V communicating with drive 75 help 84 installation directory 71 120 INDEX menu overview 73 running 71 software file size 69 startup 72 status reporting 83 uninstall 72 ED operation 66 Edit menu 73 El system variable 53 Electrostatic precautions 9 EMC Instal
72. lation 17 Encoder input configuration 53 output configuration 53 Encoder simulated I O 40 Encoder specification 34 Energise input 42 Environment specification for drive 113 EO system variable 53 ES system variable 53 EX system variable 53 External brake control 67 F Fault output 41 Fault output specification 112 Fault status reporting 57 Feedback connector screen bonding 21 Feedforward gain 54 Ferrite absorber Curie temperature 23 impedance 23 part number 23 size 23 Ferrite absorber specification 23 File menu 73 Filter time constant 54 Following encoder specification 35 Forcing a hardware RFS 109 FT system variable 54 Function indicators 2 Functional specification 111 G GF system variable 54 Goto line number box 73 GP system variable 54 Guided servo setup 77 GV system variable 54 H H change direction 90 Hardware reference 111 Help menu 74 Housing material 113 Humidity 113 I2t operation 27 I2t protection scheme 27 IM system variable 54 Immediate commands 87 Immediate or buffered commands 87 Immediate properties 87 Inputs amp outputs 2 Installation 9 Installation safety requirements 9 Installation setup program 70 Installation time for S W 70 Integrator gain 54 IW system variable 54 IX system variable 54 L LED flash codes 108 Line fuse type 116 Line fuse values 116 LVD requirements 9 Maintenance 105 Maintenance amp troubleshoo
73. mes a value of 80V 34 VIX AH SERVO DRIVE USER GUIDE X2 Connector X2 provides the primary input connections for the motor feedback device Connector Type Connector type is a high density 15 way D type socket bl cl Pin X2 3 GND GND 5V output 6 GND 8 Incremental enc A Motor overtemp Incremental enc B Connector Pin Out Commutation f b A1 14 Commutation f b A2 15 reserved Table 3 8 X2 Primary Feedback Connections Encoder Compatibility Devices supported RENCO Tamagawa Signal format quadrature 5V differential signals A A B B Index mark Z Z Max input frequency hardware limit 400KHz max for A or B channel 1 6MHz post quadrature Definition of positive motion A leads B when producing clock wise motion as viewed at the motor output shaft Resolution 500 to 5000 line devices supported 2000 to 20000 resolution Support of rotary and linear motors AH drives will support both rotary and linear motors with quadrature encoder feedback For rotary motors with resolutions less than 20000 counts per rev the alternative AE unit is recommended 3 ELECTRICAL INSTALLATION 35 Commutation set up On energising the drive the commutation encoder input is captured and the torque vector set to be at the middle of the commutation segment Whilst rotating as soon as a commutation encoder edge is observed the torque vector is realigned more accurately After the first commu
74. mmunications D type connector X3 is for use as a hardware method of forcing a return to factory settings It may be used when it is not possible to perform an OFF or RFS command To force a hardware RFS follow the procedure detailed below note you will loose any program in memory and system variables will return to their default values 1 Connect X3 pin 2 MODE input to X3 pin 3 OV 2 Cycle the power to the drive on power up any program present in memory is cleared and ALL system variables are set to their initial factory default value 3 Establish RS232 communications using Easi V and type in 1SV and press Enter to store the changes 110 VIX AH SERVO DRIVE USER GUIDE Returning the System If a drive module is found to be faulty you should contact your Parker Automation Technology Centre or the machinery manufacturer who supplied the product Equipment for repair should NOT be returned directly to Parker without prior authorisation Repairs will be carried out by Parker but will be processed via your supplier Parker may at their discretion authorise direct shipment to and from Poole Offenburg or Rohnert Park but only by prior arrangement with your supplier Existing UK European and USA customers who purchase equipment directly from Parker should contact Poole Offenburg or Rohnert Park for further information contact numbers are at the front of this User Guide 8 HARDWARE REFERENCE 111 8 Hardware Reference Drive F
75. nsformers TO255 amp TO256 both primaries can be fed from a single EMC filter Use a CORCOM 12FC10 or its equivalent See Figure 3 5 Mount the supply on a conductive panel to which the EMC filter and the drive s are also attached If the panel has a paint finish it will be necessary to remove the paint in certain areas to ensure the filter and supply make a good large area metal to metal contact with the panel Position the PL1100 as close as possible to the drives it is to supply less than one metre Ideally the EMC filter needs to be close to the transformers which in turn should be as close to the PL1100 as can be arranged Assuming the use of an equipment cabinet locate the EMC filter and transformers in the base of the cabinet and route AC supply cables up to the PL1100 Attempt to layout the wiring in a way that minimises cross coupling between filtered and non filtered conductors This means avoiding running wires from the output of a filter close to those connected to its input Where you wish to minimise the cross coupling between wires avoid running them side by side one another if they must cross cross them at 90 to each other Keep wiring supported and close to cabinet metalwork HV Transformer Specification TO255 Power rating 1000VA Input voltage 230V 15 10 Output voltage 2 X 50V RMS full load voltage Output current 2 X 10A RMS Regulation 3 5 Size 162mm diameter 70mm height Weight 6 5Kg Mounting resin
76. o the unit and or personal injury This may also void the warranty 106 VIX AH SERVO DRIVE USER GUIDE Communication Problems When attempting a Connect from the Terminal menu if the connection fails with the following error message An error has occurred whilst testing the serial port connection Please check your wiring the BAUD rate and the indexer echo back settings You can now select Yes to re test the connection No to ignore and connect anyway Cancel to abort this command Figure 7 1 Communications Failure Error Message Check the following 1 Ensure the serial port configuration is set correctly in EASI V and you select the correct serial COM port 2 An RS232 communications link can be loop tested by removing the communications D type plug where it connects to the drive and placing a short between pins 4 and 5 In this condition any command sent from the terminal window should be echoed back confirming the integrity of the overall RS232 link If this does not happen check the RS232 lead connections and the PC serial port Note wiring of the RS232 lead must conform to that recommended in the Hardware Installation section a null modem cable cannot be used Drive LED Indicators eHHHEHHHHHEHe 7 MAINTENANCE amp TROUBLESHOOTING HV OK HV OK and feedback fault Feedback fault with no HV Red_ Green _ Ready energised Orange Drive O
77. ockwise for positive signal the encoder inputs e g step and direction 5 volt TLL Motor direction is determined by the H command Click Next gt lt Back Cancel Help Use this screen to adjust the value of the Peak Current ration PC Fora pre defined motor type use the default value displayed Keep the Current Clamp CL value as 100 Click Next gt This screen allows adjustment of the drive s gain parameters For drive testing purposes keep the default values suggested by the motor type Click Next gt Tracking limit TL determines when the axis sees a motor stall and is normally set to the same value as the motor resolution to prevent nuisance faults Only applicable for position mode Peak current ratio PC is used to match drive peak output to that of the motor It is important to set this correctly to prevent excessive motor current Current clamp CL limits drive peak output current This setting over tides the value of PC and so can limit the output current to a value less than the motor normally requires CL 100 means full peak output These gain parameters can be adjusted to improve the dynamic response of the system a ee A The operating mode determines which of the servo gains can or need to be adjusted 5 EASI V SOFTWARE 79 Guided i X H initialisation 4 of 8 Tracking imitime
78. oint LVD Low voltage directive EMC Electro Magnetic Compatibility directive 10 VIX AH SERVO DRIVE USER GUIDE Power Supply Connections Power drives from a DC supply derived from an isolating transformer or a DC power supply See Power Supply Options later in this section Note Pin 10 is at the top of the connector X1 and pin 1 at the bottom Power amp motor X1 Ol 10 way connector PE 24V OV GND 24v DC MOTOR CONNECTIONS Figure 3 1 X1 Power Connections WARNING Possible drive damage If you use Parker XL Series stepper drives do not attempt to use any power wiring harness taken from an XL drive Although the same mating connector is used for both an XL and a ViX the ViX wiring is the reverse of the XL and the wrong wiring connection will damage the drive Mating connector type is Wieland type number 8213B This connector is available in two forms 1 Part number 25 323 4053 0 Parker part number 0405 81 1 2 UL marked version with part number 25 323 1053 0 3 ELECTRICAL INSTALLATION 11 Supply Requirements Power the ViX drives from DC supplies as specified below Volts Drive Type DC Supply Voltage between DC and DC Vix500 48V to 80V recommended ViX250 24V to 80V Table 3 1 Drive Supply Voltages WARNING The drive HV supply input is not reverse polarity protected Reverse polarity connections will damage the drive Current and Capacitance A supply must
79. on as the brake is engaged 27 to 32 Reserved Table 4 6 User Fault Bit Description sends an ASCII bell character to indicate a buffer overflow condition User Fault Byte Reporting In exactly the same way as the status variable the user fault status can be reported a byte at a time using UFn within a read command For example to read or test the first 8 bits first byte of the UF variable status word use UF1 Since the status word consists of 4 bytes the relevant part of the word can be read using UF 1 bits 1 to 8 UF2 bits 9 to 16 UF3 bits 17 to 24 or UF4 bits 25 to 32 Resetting User Fault Bits The User Fault variable UF is cleared to all zeroes once it has been read by issuing a aR UF command Reading individual bytes of the User Faults variable will not clear any particular byte so issuing a R UF2 command will keep byte 2 bits intact Also testing a particular byte using the IF or TR command will keep bits intact Note sending the drive an ON command will immediately clear the User Fault variable setting all four bytes to 00000000 60 VIX AH SERVO DRIVE USER GUIDE Servo Control Loop Position Demand Torque Demand H a HED Position Feedback Figure 4 1 ViX Servo Control Loop 4 CONTROL OF VIX DRIVES 61 Controlling the Drive s Mode of Operation Mode Operation of the ViX base drive is possible in three different modes controlled by the M Mode command These are
80. on in this user guide including any apparatus methods techniques and concepts described herein are the proprietary property of Parker Electromechanical Division or its licensors and may not be copied disclosed or used for any purpose not expressly authorised by the owner thereof Since Parker Electromechanical constantly strives to improve all of its products we reserve the right to modify equipment and user guides without prior notice No part of this user guide may be reproduced in any form without the prior consent of Parker Electromechanical Division Electromechanical Division of Parker Hannifin plc 2003 All Rights Reserved Product Type ViX250AH ViX500AH The above product is in compliance with the requirements of directives e 73 23 EEC Low Voltage Directive e 93 68 EEC CE Marking Directive e 89 336 EEC Electromagnetic Compatibility Directive Provided the installation requirements described in this user guide are met and there are no special requirements of the installation and operating environment so that the application may be considered typical the ViX servo drive series installation will conform to the protection requirements of Council Directive 89 336 EEC as amended by Directive 92 31 EEC on the approximation of the laws of the Member States relating to Electromagnetic Compatibility when operated and maintained as intended In assessing the overall compliance of an installation consideration must also be g
81. one it Now you can create a new setup program which you can then edit Alternatively you can immediately download all these settings directly to the axis Download immediately lt Back Hert Cancel Help NOTE ANY CHANGES TO THE MOTOR COMMAND MUST BE FOLLOWED BY A SAVE SV AND RESET Z OR CYCLING POWER TO THE DRIVE 82 VIX AH SERVO DRIVE USER GUIDE Servo Setup This facility gives easy access to setting system variables in a more direct manner than Guided Servo Setup Figure 5 5 shows a sample screen iXAH servo configuration untitled Address Click Upload to retrieve current settings for this axis Serial number Click Download to update the axis with your changes Product description Unable to talk to axis Product software type Software revision i Download Open Save Print Done Help Figure 5 5 Other Tab of Servo Setup The buttons displayed along the base of this screen can be used as follows Upload retrieves the current settings for the selected axis Download updates the current axis with your latest changes Open opens a stored cfg file Save save the file to disk as a cfg file Print prints the value of all the settings of all the tabs Done closes the set up window Help accesses the help file 5 EASI V SOFTWARE 83 Status The Utilities menu axis Status provides a convenient method of examining the double word status bits The tool gives
82. pe Parker Hannifin plc Electromechanical Division Digiplan 21 Balena Close Poole Dorset England BH17 7DX Tel 44 0 1202 699000 Fax 44 0 1202 695750 e mail sales digiplan parker com e mail support digiplan parker com Website www parker emd com For engineering assistance in Italy Parker Hannifin SpA Divisione SBC 20092 Cinisello Balsamo Milan Italy Via Gounod 1 Tel 39 02 6601 2478 Fax 39 02 6601 2808 e mail sales soc parker com Website www parker emd com For engineering assistance in Germany Parker Hannifin GmbH Electromechanical Division Hauser P O Box 77607 1720 Robert Bosch Str 22 D 77656 Offenburg Germany Tel 49 0 781 509 0 Fax 49 0 781 509 176 e mail sales hauser parker com e mail techhelp_emd_OG parker com Website www parker emd com For engineering assistance in the U S Parker Hannifin Corporation Compumotor Division 5500 Business Park Drive Suite D Rohnert Park CA 94928 USA Tel 800 358 9070 Fax 707 584 3793 FaxBack System 800 936 6939 e mail CMR_help parker com Website www compumotor com Symbols used have the following meanings Caution Refer to the accompanying documentation Protective conductor terminal CONTENTS i Contents GAL HEI CAUTION Ves sich tee te thle EE AEAEE AEEA TEENETE AS ETE AEI E EEEE AEE ETES 1 2 Mechanical Installation siccsincasnctieteanwidndaiias ouosiuadwecsduvainbaieed iuvatntelcrehevpheiea
83. puts using 26LS32 quad differential using 26LS31 quad differential line receiver line driver rive drive X4 inputs outputs X4 Figure 3 18 Encoder I O Circuit Details Differential Analogue Input Control of the ViX base drive is via a differential analogue input The input circuit shown in Figure 3 19 can interface to an external 10V differential signal Analogue to digital conversion 12 bit resolution converts the analogue input to a digital value for use within the drive The value of the analogue input can be read as a count via system variable Al Drive Input ANA1 O impedance AtoD gt Al analogue 200K input expressed ANAIS as a count Note both inputs must i t be connected cannot ox O Software offset controlled be used as a single ended END by system variable AO input Figure 3 19 Analogue Differential Input 3 ELECTRICAL INSTALLATION 41 Figure 3 20 shows the input characteristic Commanded 4 velocity Dead band Volts gt Figure 3 20 Analogue Differential Input Characteristic Fault Output The fault output is an independent NPN open collector output which is normally low active high The output ratings are 30V maximum in the OFF condition and 15mA maximum in the ON condition Figure 3 21 shows the output circuit Drive circuit Fault Output Figure 3 21 Fault Output Circuit 42 VIX AH
84. reached R VVOover voltage trip point reached _ ae Encoder Auxiliary 5V under voltage trip Impending power loss 24V logic supply ESER a a NAS 11 C R Motorovertemperature 12 C R Ambientovertemperature R _ Drive over temperature OOT TR E OJO Controller diagnostic failure Output stage over current R Output driver over current ee latched fault K Re Velocity exceeded unstable gains motor spin off Lei Energise input not set check energise input and state of ES variable 2224 Reserved o N O N Key C Performs controlled stop K Performs motion kill quick stop Possible instant de energise depending on fault source R Recoverable without power cycle T Terminal requires power cycle or repair before drive will energise operate again 6 COMMAND REFERENCE _ 103 Status Bits Bit Number Status Information Motor energised Motor undefined use MOTOR command Duty cycle too high excessive motor current 12t User Faults Bit Number UF Information Value is out of range Incorrect command syntax command has wrong format Drive de energised Transmit buffer overflow Save restore error Command not supported by this product Cannot execute motion as the brake is engaged 27 to 32 sends an ASCIl bell character to indicate a buffer overflow condition r ar Drive not ready 104 VIX AH SERVO DRIVE USER GUIDE
85. res are used for the 5V supply X2 pin 5 and two wires are used for OV returns X2 pin 3 two wires are also taken from X2 pin 6 Table 3 5 Motor Feedback Cable Wiring The 15 way D type connector will require the feedback cable screen to be bonded to the metal connector shell as shown in Figure 3 7 RMI earth bonding required for both connectors Example 1 Example 2 Lilli braid ferrule cable Earth bonding area Braid to be folded back over Braid to be made into 3 round in cover complete cable ferrule to make forms and wrapped a round the a 360 connection recess of cable ferrule to make a 360 connection Figure 3 7 Screen Bonding Methods for D type Connectors A ferrite absorber with a specification matching that of the Chomerics H8FE 1115 NC is also required to be positioned on the feedback cable using heat shrink sleeving The position of the absorber should be within 150mm of the feedback connector as shown in Figure 3 8 22 VIX AH SERVO DRIVE USER GUIDE MAX 150mm FEEDBACK LIMITS TO CONNECTOR X5 Figure 3 8 Position of absorbers amp motor wiring details There must be no break in the 360 coverage that the screen provides around the cable conductors Use of a through connector must retain the 360 coverage possibly by the use of an additional metallic casing where it passes through the bulkhead of the enclosure We recommend not to bond the cable screen to the cab
86. revious courses that have proved to be of benefit include Use and programming of the DIN rail H amp L series drives PDFX training Using the 6K controller EASI Tools programming Mechanical product training for ET ER XR and HPLA 2 MECHANICAL INSTALLATION 5 2 Mechanical Installation Installation Requirements Environment ViX drives operate in a temperature range of 0 to 40 C with natural convection or 50 C Max with forced air cooling see Hardware Reference at normal levels of humidity 5 95 non condensing The drives can tolerate atmospheric pollution degree 2 which means only dry non conductive pollution is acceptable Drive Cooling Cooling of all drive types is by natural convection up to 40 C To assist cooling drives should be installed vertically in an area where there is at least a 50mm minimum air gap above and below the package and a 10mm minimum gap either side Avoid mounting heat producing equipment directly below a drive Installers must ensure that the air temperature entering the drive or rising up to the drive is within the ambient temperature restrictions Under normal use the air temperature leaving the drive and heatsink may be 25 C above ambient In the final installation check that the ambient temperature specification of 40 C Max without forced air cooling is not exceeded directly below the top most drives and that any circulating air flow is not being blocked from reaching the drives
87. rminal buttons configuration window This allows you to add buttons to the base of the Terminal window and assign a keyboard shortcut to each button added depending upon where it appears in the list order This facility enables a group of commonly used commands to be sent to a drive s by clicking a single button in the Terminal window or pressing a Shift Function key combination from the keyboard 5 EASI V SOFTWARE 77 Utilities Menu Selections Utilities menu selections control the way drives are setup and configured for use with a particular motor type The menu offers two levels of setup depending upon the skill and experience of the operator e Guided servo setup guides you through setup for a particular motor type quick and simple e Servo setup allows text entry of motor parameters for experienced users From the Utilities menu select Guided servo setup Select the axis Guided i X A H initialisation 1 of 8 address of the drive to be initialised In Please select the axis address that you wish to this case the default initialise Note the current settings are NOT value of 1 can be uploaded from the drive used for initial Adder z testing Product gt Unable to talk to axis Specification Click Next gt 78 VIX AH SERVO DRIVE USER GUIDE From the drop Guided Y i X A H initialisation 2 of 8 down menu select Select the motor to be connected Orie ET wd wc haw Leo Duu rm r r mi MX
88. se Y Y 0 speak when spoken to echo off RS232 Style amp Echo 1 speak whenever echo off RS232 Control amp Physical Interface RS232 2 speak when spoken to echo on RS232 3 speak whenever echo on RS232 default i constant arbitrary units default 0 GF 0 to 1023 default 5 tracking ES Energise Sense Y Y Sets the sense of the external energise energise_bar signal 0 low signal to energise default 6 COMMAND REFERENCE _ 101 R Range default value Integrator Gain Y 0 to 1023 default depends on motor type steady state 0 GP Proportional Gain Y stiffness Velocity feedback al to 1023 default depends on motor type Y Oto 1023 default 5 Gain damping Y Input Output Y Y Input pull up down output source sink configuration Configuration 0 256 default or 257 for brake input only PC Peak Current Y Y Sets maximum drive output value scaling factor 100 400 of MC default 300 32767 Position Following 2 147 483 648 to 0 to 2 147 483 647 default 0 RV ReVision of Y N x yy major minor software N Resolution 100 if gt 65535 Fault status Can be set to 0 only 102 VIX AH SERVO DRIVE USER GUIDE Drive Faults Bit Number Stop Type DF Information 1 Composite fault anything that causes a drive fault R__ Motor HV under voltage trip point reached R__ Motor HV over voltage trip point reached R_ VVO under voltage trip point
89. sive heat dissipation in the drive and motor Protection operates by monitoring the level of three separate dissipation parameters and comparing them to their individual I t thresholds These dissipation parameters are e Motor l2T protects the motor from drive output current above the rated motor current that is applied for too long a time e Moving I T protects the drive from output current while moving that is above the rated drive current for too long a time e Stationary 12T protects the drive from output current while stationary that is above the rated drive current for too long a time If any one of these monitored parameters exceeds the set t threshold the drive current folds back to 80 of the normal running continuous limit The status LED will continuously flash red and green and status bit 16 of the system variable ST will be set to 1 The drive output will remain at the 80 level for 30 seconds after which the parameter that caused the 2t threshold to be exceeded is re tested If the re tested parameter has dropped in value by 50 or greater of its original fault level the drive output is returned to its normal current level If the failing parameter is found to be still high gt 50 the drive output remains restricted to its 80 value and continuous checking of the parameter is carried out until the 50 value is reached When this happens the drive returns to normal operation the status LED stops flashing and
90. sizing the transformer rather than spend a great deal of engineering effort trying to calculate the minimum possible rating In low power systems the potential savings in transformer cost are not large although size and weight may also be a consideration In a higher volume application the same principles apply to the prototype installation but measurements of the supply current drawn under working conditions will give a useful guide to the final specification required Fuses Fuses should be time delay high breaking capacity and should be rated for the number of drives and expected in rush current AC Fuse The secondary AC fuse is intended to protect power supply components and should have a value twice that of the bridge rectifier current rating Line Fuse Fit line fuses to protect the transformer primary and associated wiring If you cannot identify the live wire fuse both phase conductors Calculate the fuse value using 15xVA supply volts in rush current in amps but needs to be a minimum of 2A to cope with the Fuse types should be anti surge HBC High Breaking Capacity Note If the application requires a power dump use a Digiplan power supply such as the PL1100 CAUTION Ensure that all power supply components are mounted away from operator access as high voltages and hot surfaces are present in normal operation APPENDIX A 117 Appendix B Encoder Phasing Encoder Phasing Diagrams for the ViX AH
91. systems you will need to run the MOTOR command followed by SETUPFB on every system Immediate saved by SV 1SETUPFB commission a new motor attached to the drive You can abort this command using the KILL command Under these circumstances energising cannot take place until SETUPFB is correctly executed 6 COMMAND REFERENCE 97 STATUS STATUS of Drive Syntax Units Range of n Default See also aSTATUS Description Use this command to check the state of a drive Itis intended for set up purposes rather than for use when a program is running Properties Immediate or buffered can t be used in a labelled block not saved by SV Example 1STATUS checking the configuration and state of a drive 1STATUS ViX500AH Servo Copyright 2002 Parker Hannifin Firmware REV 2 2D Dec 03 2002 17 11 23 Map No 114 Serial number 541935 00 1 4 VixX500xx Control card revision 2 Servo drive Power card revision 3 Servo power stage E500 Motor type undefined FPGA ID read 0 FPGA ID file 0 MOTOR TYPE 0 RESOLUTION 42000 CONT STALL CURRENT 0 1 Amps POLES A odie a bisa 2 PEAK CURRENT PC 300 amp TRACKING LIMIT TL 420 INDEX POSITION IX 10500 MOTOR SUPPLY 81 V AUX SUPPLY 5 1 V I O SUPPLY 23 V I O CONFIGURATION 256 INTERNAL TEMPERATURE 28 C HEATSINK TEMPERATURE 25 C ANALOGUE VELOC
92. t RS232 GND RS232 Rx RS232 Tx eserved 232 Tx D loop o not connect 5V output i i Power Earth PE 3 5 7 8 9 RS232 9 way socket Power amp motor OV GND 24v DC 10 way Motor Earth connector Motor phase U Motor phase V Motor phase W Motor brake Function NA1 NA1 gt gt 5V output ault output nc A IN nc B IN Motor Earth ME m7 Control Aux I O Iolo lt lt 15 way Enc A OUT socket 10 Enc B OUT 1_ Incremental enc Z n En 5 Aeremental enc Z 13 Enc Bx IN Primary ELS r 7_ Incremental enc A 15 way User I O Aee e Commutation f b AO plug Teese eneRs Faing positon 14 Commutation f b A2 for motor lgan 15 lresarved earth clip included Reserved in fit kit Reserved 8 Reserved 9 Reserved 24V RJ45 connectors 15 Analogue x7 OUT ead X6 IN High speed comm Interface
93. tation edge is observed the commutation input channels are ignored Prior to passing a commutation input edge the torque may be restricted to 87 of the peak torque available For a rotary motor more accurate alignment is made to the index mark As soon as the index mark Z input is observed for the first time the torque vector is again more accurately set If the Z mark is seen before the first commutation encoder edge the torque vector is set accurately and subsequent commutation transitions ignored The above sequence of torque vector alignment is restarted on cycling through de energising and energising the drive A Hall Effect commutation encoder signals are also used refer to Appendix B for commutation details Following Encoder Hardware limit 2 0MHz maximum A B channel input frequency 8MHz post quadrature 5V differential Primary Secondary Encoder 5V Supply X2 pin 5 X4 pind Maximum loading 350mA TOTAL using the above connections Motor Overtemperature Sensor The motor overtemperature switch input is compatible with thermal switches used in Parker SMB SME SM and BE servo motors The input requires a normally closed switch to be connected to GND on X2 pin 3 or 6 If you use a motor with no overtemperature sensor fitted or one with an incompatible thermistor sensor make sure you un check the Thermal sensor fitted check box in Custom Motor Set Up to prevent an overtemperature fault being reported X3 Connector
94. ting 105 Mode position 92 torque 92 velocity 92 Motor brake control 33 cable lengths 19 cables 19 connections at drive 20 connections at the drive 20 default settings 28 feedback connector wiring 21 phase contactors 23 power cable drive end preparation 20 safety earth connection 28 selection 24 system variables 28 wire size 20 Motor inspection 105 Motor mounting precautions 8 MOTOR settings 93 Motors optimum types 24 voltage rating 28 N Not saved by SV 87 O Overload of outputs 28 Overtemperature switch connection 35 P P clip part numbers 20 P clip sizes 20 PA system variable 54 Parameter checking 87 Parameter value checking 87 PC requirements 69 PC system variable 55 PE system variable 55 PF system variable 55 PL1100 product description 16 Pollution degree 113 Port configuration 75 Power input cable size 115 Power wiring precautions 115 Product description 1 features 2 variants 2 Properties immediate 87 save 87 Properties of commands 86 Proportional gain 54 Protection circuits 2 Protection class 113 PSU discrete design 115 R R report system parameter 94 RD operation 66 Reset to RS232 mode 37 INDEX 121 Returning the system 110 RFS return to factory settings 95 RJ45 connecting leads 47 RJ45 patch cables 47 RS232 cables 38 RS232 connecting leads 38 RS232 daisy chain 44 RS232 mode forced reset 37 RV system variable 55
95. tted for 2 seconds A current level just above rated current is only permitted for a maximum of 20 seconds 3 ELECTRICAL INSTALLATION 29 Plots of It Against Drive Current The following graphs plot drive current against I t time in seconds for a moving and stationary motor for both power versions of the drive ViX250 l t function moving ViX250 demanded phase current in Arms A 012 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Time to trip l t circuit in seconds Figure 3 11 ViX250 I2t function moving ViX250 l t function stationary ViX250 demanded phase current in A rms 0 0 2 4 6 8 1 1 2 1 4 1 6 1 8 2 222426283 3 2 3 43 6 3 8 4 Time to trip It circuit in seconds Figure 3 12 ViX250 I2t function stationary 30 VIX AH SERVO DRIVE USER GUIDE ViX500 l t function moving 20 18 16 ViX500 demanded phase current in A rms 012 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Time to trip l t circuit in seconds Figure 3 13 ViX500 It function moving ViX500 l t function stationary 20 18 16 14 12 10 ViX500 demanded phase current in A rms
96. tusitvertumberens 5 3 Electnical NSA tO e a e a what a aarian 9 4 Control of ViX Drives icccntncaditncd cntactedncindetadtendadeadandideitumandniaendatearanincadnembatnedandatnitunsorts 49 Pi EAE OAE AE E NASENNE SEAE AEAT AS EEATT 69 Comm aA Re E NOE e E a A E aE nia 85 7 ViX Maintenance and Troubleshooting se ccicccisessinideccctoctenssineiscctarcannes teepieieidisaesatta 105 E m EON EA IEE A A E E E E A E A hrs eta herhe cc beredre orients 111 INS oO KE A EE AAE AA AE EAE AAE AE AAEE AE AAT 115 APPENAIX Birre a a aa a aeaa aae RE aan 117 Hadex Taaa a a a e a E nicest Arson a E A EST 119 The ViX250AH 500AH Intelligent Digital Servo Drive is UL Recognised under file E194158 This means it may be incorporated into end user products that may be eligible for UL Listing Classification or Certification CAS US User Guide Issue Change Summary This user guide version 1600 320 01 is the first version of the ViX250AH ViX500AH Digital Servo Drive When a user guide is updated the new or changed text is differentiated with a change bar in the outside margin this paragraph is an example If an entire section is changed the change bar is located on the outside margin of the section title For the latest most up to date changes required by this issue of user guide see the Latest Changes Sheet over the page ii VIX AH SERVO DRIVE USER GUIDE Latest Changes Sheet This page lists important changes occurring immediately before publicat
97. unctional Specification ViX250AH ViX500AH Maximum output current Maximum continuous power drawn from the supply Motor HV supply input No reverse polarity protection HV reversal WILL damage the drive Minimum PSU capacitance Controller supply input Protection Temperature protection motor protection depends upon the type used see Note 1 Motor current limit Motor inductance range Fault output Enable input LED status indicators tri colour ViX500 5A RMS continuous 15A RMS peak 2 seconds max ViX250 2 5A RMS continuous 7 5A RMS peak 2 seconds max 6 3A at 80V 500VA ViX500 48 80V DC 5 15 ViX250 24 80V DC 5 15 ViX250 3 300uUF Short circuit pbhase to phase phase to ground Motor HV over and under voltage trip HV over voltage 98V nominal Drive over temperature Motor over temperature motor dependent 24V reverse polarity Commutation encoder fault Resolver fault I2t circuit protects motor and drive from excessive dissipation 0 5 to 10 mH For lower inductance motors active high 24V input with pull up resistor can be software set to be active high or active low HV feedback fault Drive fault Comms status 2 sec rotating 0 4 sec stationary see Plots of It Against Drive Current Table 8 1 Functional Specification Note 1 See Motor Overtemperature Sensor in Electrical Installation section 112 VIX AH SERVO DRIVE USER GUIDE Controller Speci
98. ure 13 R Drive over temperature 14 K T Incompatible firmware version R _ Output stage overcurrent R _ _ Output driver overcurrent Tracking limit exceeded while in motion is a latched fault K Velocity exceeded unstable gains motor spin off 21 EARE Energise input not set check energise input and state of ES variable 22 24 Reserved S Table 4 5 Drive Fault Bit Description H volo gt AIOIOIO N O Key C Performs controlled stop K Performs motion kill quick stop Possible instant de energise depending on fault source R Recoverable without power cycle T Terminal requires power cycle or repair before drive will energise operate again Drive Fault Byte Reporting In exactly the same way as the status variable the drive fault status can be reported a byte at a time using DFn within a read command 4 CONTROL OF VIX DRIVES 59 User Faults Programming errors such as issuing a GO command when the drive is de energised can cause user faults The report uses a 32 bit word format the same as Drive Faults Performing a read UF command will report the current state of any User Faults listed in Table 4 6 Bit Number UF Information Eo A Value is out of range Incorrect command syntax command has wrong format r 8 Drivede energised Transmit buffer overflow Drive not ready Save restore error Command not supported by this product Cannot execute moti
99. ved Brake IN RJ45 connectors 15 Analogue X7 OUT E monitor X6 IN High speed comm Interface Figure 3 15 ViX Connector Pin Layout 32 VIX AH SERVO DRIVE USER GUIDE Terminal Description X1 Connector X1 is the main power and motor connector Both HV 24V and the motor phase connections are made to X1 A brake connection is also provided via X1 pin1 Connector Type The mating connector for X1 is a Wieland type 213B part number 25 323 4053 0 Parker part number 0405 811 An approval marked version of this connector has the part number 25 323 1053 0 Connector Pin Out O 9 JOWGND S OS O 8 earth o O 6 OV GND for 24V DC 6 Motor Earth 4 _ MotorphaseU 3 MotorphaseV __ 2 MotorphaseW tt Motorbrake Table 3 7 X1 Power and Motor Connections Motor Connections at the Drive Refer to the EMC installation information earlier in this section Motor Brake Output The motor brake output on pin 1 is available as a direct control of a 24V motor brake and is capable of sinking a current up to 4A RMS to OV to keep the brake disengaged A 2A fuse is required to protect against a wiring fault since no over current protection is provided by X1 pin 1 Motor brakes are fail safe that is removal of the brake current will apply the brake A continuous current supply is required to keep a brake disengaged 3 ELECTRICAL INSTALLATION 33 Motor Brake Control Wiring Certain motors used with the ViX drives c

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