atv71 positioning - Schneider Electric
Contents
1. 29 95 2 parameters 31 10 MODE SELECTION cS 33 POSEFIONING MODE L nati Aha RAMA ane ee hte nest 33 10 2 JOGGING MODE 2 derriere beet 34 10 3 HOMING MODE MODE 3 35 10 4 BLENDING POSITIONING MODE 4 2 2 22 2 0000 enne nennen nennen nennen nennen nenne 39 11 FIRST STARTUBD err reo e een n eh 41 12 AT ARM NEMMBER ee eri iS et eoe eoe a eoe ev Cn pa e ee oe eae PSP PSU 42 ATV71 Positioning 1 INTRODUCTION 71 Positioning card is an option card with software that makes it possible to have positioning functions with the drive ATV71 Example likes to manage absolute and relative positioning movements Functions as different homing modes and jogging functions are also possible 2 OVERVIEW 2 1 TERMINAL CONNECTIONS Some inputs and outputs on the ATV71 have fixed functions This is managed by the positioning software See chapter INPUTS OUTPUTS for more information 2 2 REFERENCE CHANNEL It s possible to have 3 different reference channels Terminal Physical drive with preset positions speeds etc Com card Communication card supported by ATV71 or the integrated Modbus CANopen Integrated CANopen port 2 3 STARTUP After a clean startup it s necessary to make a homing The software supports different k2. Description Multiplier for QuickStop ramp Range 100 lt gt 30000 Default 2000 Unit Rpm s Function Deceleration ramp of the profile generator on a Quick Stop command 025 InPosWin 6425 R W Description In Position Window Range 0 lt 32767 Default 1 Unit usr User unit see Position scaling for more info Function Target position window for report of Target reached To get Target Reached both InPosWin and InPosTime must be true Positioning O26 InPosTime 6426 R W Description In Position Time Range 1 3000 Default 20 Unit Ms milliseconds Function Target position window time for report of Target reached To get Target Reached both InPosWin and InPosTime must be true O27 RefPointPosition 6427 R W Description Position to set on a finished Homing procedure Range 32768 32767 Default 0 Unit usr User unit see Position scaling for more info Function This value is copied to Actual Position on a finished Homing procedure Find more info in chapter HOMING O28 P_maxDiff 6428 R W Description Max permissible following error Range 1 65535 Default 100 Unit Function usr User unit see Position scaling for more info If following error is greater that this value the drive stops on Freewheel and report Alarm
3. Inside Par 25 e Standard profile en Not connected 6 POSITION SCALING Scaling translates user units to internal units of the device and vice versa The device saves position values in user defined units The scaling factor creates the relationship between the number of motor rotations and the required user units usr needed for this It is specified in rev usr Calculation of the scaling factor is done with parameters ScaleNum and ScaleDenom ScaleNum rev Scaling factors ScaleDenom usr Example 1 The machine moves 100mm on 2 motor rotations 2 motor rotations rev 100 user units usr Scaling factor The scale factor is now correct for a resolution of 1mm To move 1mm we send 1 usr as target position To get a better resolution of the Target Position we can multiply ScaleDenom with 10 Now the resolution is set to 0 1mm Example 2 The machine moves 360 degrees on 2 5 motor rotations The smallest position increment to be moved should be 0 1 degree 2 5 rev 10 2 25 rev and 360 degree 100 36000 usr The value 36000 is a little too big so we can divide the values with a common divider 250 5 5 rev and 36000 5 7200 usr 25 motor rotations rev 36000 user units usr Scaling factor The scale factor is now correct To move 0 1 degree we send 1 usr as target position Using bigger scaling values then 65535 If you need bigger values than 65535 for sca
4. Range 0 lt gt 65535 Default 1 Unit Motor rotations Function Find more info in chapter EXTERNAL ENCODER O18 HW QuickStop 6418 RWS Description Activate 1160 QuickStop function Range 0 Yes 1 Default Yes 1 Unit Function Activate hardware logic input 1160 QuickStop function O19 KPp 6419 R W Description Proportional gain factor for positioning loop Range 1 100 Default 5 Unit Function KPp good The machine behavior is acceptable KPp too great overshooting of the mechanism instability of the motor control KPp too small Slow response and to long time to get Target Reached very large following error ATV71 Positioning O21 PLCRampAdj 6421 R W Description Activate PLC ramp adjusting Range 0 Yes 1 Default No 0 Unit Function Activate access for PLC to write parameter Acceleration and Deceleration from COM SCANNER IN O22 Acceleration 6422 R W Description Acceleration ramp Range 100 lt gt 30000 Default 1000 Unit Rpm s Function Acceleration ramp of the profile generator O23 Deceleration 6423 R W Description Deceleration ramp Range 100 lt gt 30000 Default 1000 Unit Rpm s Function Deceleration ramp of the profile generator O24 QStopRamp 6424 R W
5. card logic outputs and analog outputs If allowed by the power consumption table for example if outputs are not being used the Controller Inside card can be powered by the 24 V power supply in the drive If you are using an external power supply Controller Inside card should preferably be turned on before the drive However the Controller Inside card must without fail be turned on no more than 2s after the drive is turned on Failure to follow this instruction locks the drive in card fault mode ILF This fault cannot be reset and the only way to acknowledge it is to turn off the drive COM Common ground and electrical OV of the Controller Inside card power supply logic inputs LIxx outputs LOxx analog inputs Alxx and analog outputs This ground and electrical OV are common with the drive ground and electrical OV There is therefore no point in connecting this terminal to the OV terminal on the drive control terminals LI LO Al and AO See chapter INPUTS OUTPUTS for those functions Positioning 6 3 2 1 Card powered by the drive If the power consumption is less than 200mA Example Use of communication card as reference source and no outputs is used 61 7 leeeee VW3 501 SW1 Source Sink Ext Int 9 24V O Li5e AI51 52 3 2 2 Card powered external power supply If the power consum
6. parameter Command CANopen The object inside PDO3 is fixed and can t be changed The object in PDO3 has the following meaning Transmit PDO3 Receive PDO3 Status word Positioning Control word Positioning Actual Position Target Position Actual Speed Target Speed Profile Position Reserved If you want to use the function PLCRampAdqj or the mode 4 Blending positioning mode then you have to map the following object in to a free Receive PDO PDO1 or PDO2 Receive PDOx Obj Idx Sub Idx Parameter description 2061 44 Com Scan Out6 val Acceleration Target Position 2 2061 45 Com Scan val Deceleration Target Speed 2 Acceleration and Deceleration are used if parameter PLCRampAqgj Yes f Blending positioning mode is active then Target Position 2 and Target Speed 2 are used ATV71 Positioning 26 9 3 COM CARD MODBUS AS COMMAND Menu 1 14 POSITIONING parameter Command Com card must be selected The I O Scanner table in ATV71 is used for reference command For Ethernet card see chapter Ethernet Modbus TCP IP as command type for info Following table shows the automatic mapping Word Modbus I O scanner input Modbus I O Scanner output Address Address 1 12741 12761 Not in use with positioning Not in use with positioning
7. point but when you change the value the decimal point must be present Example Change Acceleration value from 1000 to 3500rpm s O22 Acceleration 100 0 change to 350 0 PowerSuite ATV71 ATV71 Positioning File Display Configuration Tools HS ATV71 Modified parameters User menu Access level Input summary Parameters 01 gt 25 gt Terminal Configuration Application functions I Controller Inside 00000000000006 Parameters 001 gt 025 Parameters 026 gt 050 MW Parameters 001 gt 025 ZMW Parameters 026 gt 050 ZMW Parameters 051 5075 5 MW Parameters 076 100 5 MW Parameters 101 125 MW Parameters 126 2150 ZMW Parameters 151 2175 MW Parameters 176 200 MW Parameters 201 225 ZMW Parameters 226 250 Parameters 251 2275 ZMW Parameters 276 300 Ethemet 2 001 Inside Par 1 002 Ctr Inside Par 2 003 Inside Par 3 004 Ctr Inside Par 4 005 Inside Par 5 006 Ctr Inside Par 6 007 Ctr Inside Par 7 008 Inside Par 8 O09 Ctrl Inside Par 9 010 Ctr Inside Par 10 011 Ctr Inside Par 11 012 Ctr Inside Par 12 013 Ctr Inside 13 014 Ctr Inside Par 14 015 Inside 15 016 Inside Par 16 017 Inside Par 17 018 Inside Par 18 019 Inside Par 19 020 Inside Par 20 021 Inside Par 21 022 Inside Par 22 023 Inside Par 23 024 Inside Par 24 025
8. 0 11 12 Adjust all parameters for motor data in menu 1 1 SIMPLY START Make an auto tuning in menu 1 1 SIMPLY START Adjust parameters in menu 1 4 MOTOR CONTROL for the encoder Parameter EnS Encoder type Number of pulses Change in menu 1 6 COMMAND Parameter Fr1 Ref 1 channel HMI Adjust in menu 1 3 SETTINGS parameters Acceleration and Deceleration to values that is suitable for manual movement of the machine Make a test run from the Graphical Terminal and see that the machine moves in positive direction with a positive speed reference If not change the phase rotation for the motor This can easily be done with parameter PHr Output Ph rotation in menu 1 4 MOTOR CONTROL Go to menu 1 4 MOTOR CONTROL and activate Encoder check Yes Make a manual movement with at least 10Hz and at the same time check the status of parameter Encoder check If the parameter change to Done the encoder rotation is correct But if the drive trips in Encoder fault the rotation of the pulses is incorrect Change place with cable marked and on the encoder board and make the encoder check procedure again Adjust the following parameters in menu 1 4 MOTORSTYRNING Encoder mounted on the motor shaft Ctt Motor control type FVC Encoder mounted after the gearbox Ctt Motor control type SVC I Now make some more test run manually from the Graphic Terminal and see
9. 2 12742 12762 Not in use with positioning Not in use with positioning 3 12743 Status word Positioning 12763 Control word Positioning 4 12744 Actual Position 12764 Target Position 5 12745 Actual Speed 12765 Target Speed 6 12746 Profile Position 12766 Acceleration Target Position 2 7 12747 12767 Deceleration Target Speed 2 8 12748 reserved 12768 reserved Acceleration and Deceleration are used if parameter PLCRampAqgj Yes Blending positioning mode is active then Target Position 2 and Target Speed 2 are used ATV71 Positioning 27 9 4 ETHERNET TCP IP AS COMMAND Menu 1 14 POSITIONING parameter Command Com card must be selected The Scanner in the Ethernet card must be commissioned with the right objects This can be done with Powersuite or the web server The following objects should be written into the Scanner table Output Parameters Parameter Address Description NC3 12763 Com Scan Out3 val Control Positioning 12764 Com Scan Out4 val Target Position usr NC5 12765 Com Scan Out5 val Target Speed rpm NC6 12766 Com Scan Out6 val Acceleration Target Position 2 NC7 12767 Com Scan Out val Deceleration Target Speed 2 Input Parameters Parameter Address Description NM3 12743 Com Scan In3 val Status word Positioning 12744 Scan Ind val Actu
10. 23 9 COMMAND TYPES To activate positioning software it s mandatory to change following parameter in menu 1 6 COMMAND gt Ref 1 channel PLC card And after that you change the parameter in menu 1 14 POSITIONING gt Command to your choice of Command type for the positioning 91 I O TERMINAL AS COMMAND Menu 1 14 POSITIONING parameter Command Terminal Following I O configuration is active for Terminal command AO52 m A051 AI52 4 AI51 056 Quick StopActive LO55 Ref OK 054 HaltActive 053 Standstill 1052 Target Reached 1051 Drive Fault Quick Stop LIMN LIMP Homing Relative Setpoint 160 1159 1158 1157 1156 LI55 24V COM LI51 Enable 1152 153 Fault Reset 154 Ref Switch LI6 input switch Factory setting LI PTC Ll All Speed Adjust 5 Potentiometer RJ45 connector MotionTask bit 0 MotionTask bit 1 MotionTask bit 2 MotionTask bit 3 Jog Jog Positioning 24 Input Name Function L151 Enable 0 gt 1 Enable the drive 152 Halt 0 gt 1 Brakes the motor with normal deceleration ramp 1 gt 0 Interrupted movement is continued LI53 Fault Reset Clear an active alarm or a drive fault 154 Setpoint 0 gt 1 Start Positioning command or Homing LI55 Ref
11. ATV71 POSITIONING User manual Schneider 2 Electric Manual comply to ATV71 Positioning application V4 1 4 Disclaimer The software described in this manual is sold or licensed as is Should the program prove defective neither Schneider Electric nor the distributor is responsible for the cost of any servicing repair incidental or consequential damages resulting from any defect in the software Further Schneider Electric reserves the right to revise this publication and to make changes from time to time in the contents hereof without obligation to notify any person of such revision or changes Positioning Table of contents 1 Iu gelpeuLon 4 2 4 24 TERMINAL 5 4 2 2 REFERENCE 4 23 LA 4 2 4 MOTOR CONTROL 4 2 4 1 Encoder on motor shaft 4 242 Extern Encoder 4 3 INSTALLATION error 5 3 1 INSTALLATION OF OPTION 5 5 3 2 H 6 X2 C
12. S It s possible from a superior PLC to read and write all parameters All Read only parameters is also accessible from menu 1 2 MONITORING and 6 MONITORING CONFIG Address and Access level is described in the parameter table Read only R W Read Write R WS Read Write writable without enable Address Access 6401 R 5 2 LIST OF ALL PARAMETERS Displaycode Parameter name Address Access O01 Act Speed 6401 R Description Actual speed Range 0 32767 Default Unit Rpm Function Actual motor axis speed O02 Act Position 6402 Description Actual position Range 32768 lt gt 32767 Default Unit usr User unit see Position scaling for more info Function Actual motor axis position 003 DistToGo 6403 R Description Distance to go Range 32768 32767 Default Unit usr User unit see Position scaling for more info Function Distance to go before reaching target position Positioning 12 004 p_dif 6404 R Description Following Error Range 32768 32767 Default Unit usr User unit see Position scaling for more info Function Displays the relationship between actual position and profile position 005 ErrorNo 6405 R Description Actual er
13. Switch Reference switch LI56 Relative Activate relative movement LI57 Homing Activate homing mode Starts with Setpoint LI58 LIMP Hardware limit switch in positive direction LI59 LIMN Hardware limit switch in negative direction LI60 QuickStop 1 20 Brakes the motor with deceleration ramp defined in parameter QStopRamp Interrupted movement is loosed LI1 Jog Start Jogging in positive direction LI2 Jog Start Jogging in negative direction LI3 LI6 Motion Task bit x Activate a Motion Task number Binary format Motion Task bit 0 1 Motion Task bit 1 2 2 Motion Task bit 2 4 Motion Task bit 3 8 Example Motion Task 1 bit 0 no 1 Motion Task 2 bit 1 no 2 Motion Task 7 bit O bit 1 bit 2 2 no 7 Motion Task 10 bit 1 bit 3 no 10 Speed Activate input 1 to be a speed override adjustment 0 100 of Target Speed Output Name Function LO51 Drive Fault A drive fault is present Drive is disabled Find more info in chapter ALARM NUMBER LO52 Target Reached 0 Target position not reached 1 Target position reached LO53 Standstill Motor at standstill Motor speed lt 15rpm LO54 HaltActive A halt command is active LO55 Ref OK Drive has valid reference point LO56 QuickStopActive QuickStop has activated Clear with Fault Reset Interrupted movement is loosed ATV71 Positioning 25 9 2 CANOPEN AS COMMAND PDO3 should be activated and used in the PLC Configuration Menu 1 14 POSITIONING
14. al Position NM6 12745 Com Scan In5 val Actual Speed NM6 12746 Com Scan In6 val Profile Position Acceleration and Deceleration are used if parameter PLCRampAqj Yes f Blending positioning mode is active then Target Position 2 and Target Speed 2 are used Example with the web server IO SCANNER Reference ATV71H037M3Z Device Name Output Parameters Input Parameters N 12744 p Not defined ToScanner Yes v TimeOut s 20 Positioning 28 9 5 COMMUNICATION BUS Explanation for parameters that is for command from communication bus 9 5 1 IN parameters to PLC Statusword Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Reference Standstill Target Fault QuickStop Halt Setpoint Operation OK Reached Active Active Active Acknowledge Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Error Number Active Mode Bit Description 0 Operation Enabled 1 Drive is enabled 1 Setpoint acknowledge 1 New target positioning accepted 2 Halt active 1 Halt command is active 3 QuickStop active 1 QuickStop command is active 4 Fault active 1 An active alarm or drive fault is present 5 Target reached 1 Target position reached 6 Standstill 1 Motor at standstill Motor speed 15rpm 7 Reference OK 1 Drive has valid reference point 8 11 Active Mode Extract this 4 bits to a decimal format to g
15. ard powered by th drive iu eee et ee eet 7 3 22 powered by external power supply 7 33 INSTALLATION OF ENCODER 8 4 POSITIONING MPBENUO 4 eteeewuc Va oppo 400206 6 ae ed ee duse Te sU 11 4 1 MENU OVERVIEW etae ena avc ep San 11 5 5 12 5 1 PARAMETER ACCESS 12 5 2 LIST OE AEE P RAMETERS rentrer reed ecrire 12 5 3 POWERS WIDE A NIE 20 6 POSITION 21 7 EXTERNAL ENCODER ciiisssccsssscseccosscssssnsecsesnsvecseesssocsevendsvencessocsuseassesessosevdeccossevecesdecdasesbuedeoess 22 8 INPUTS OE MLB Vc dss 23 8 1 CONFIG FOR ALL COMMAND TYPES 23 9 24 9 1 I O TERMINAL AS COMMAND 24 9 2 CANOPEN AS 26 9 3 COM CARD OR MODBUS AS COMMAND 27 9 4 ETHERNET TCP IP AS COMMAND ananas esae 28 9 5 COMMUNICATION BUS noo eerie eai eic 29 9 51 IN parameters t PLC cas e Oe De o
16. ault 0 Unit Function Motion Task number to adjust the following parameters Position Speed Acceleration Deceleration O41 Position 6441 R WS Description Position for motion task 1 15 Range 32768 32767 Default 0 Unit usr User unit see Position scaling for more info Function Position for motion task number SetMotionTask O42 Speed 6442 R WS Description Speed for motion task 1 15 Range 0 lt gt 6000 Default 0 Unit rpm Function Speed for motion task number SetMotionTask ATV71 Positioning 043 Acceleration 6443 RIWS Description Acceleration for Motion Task 1 15 Range 100 lt gt 30000 Default 1000 Unit Rpm s Function Acceleration for motion task number SetMotionTask 6444 R WS 044 Deceleration Description Deceleration for Motion Task 1 15 Range 100 30000 Default 1000 Unit Rpm s Function Deceleration for motion task number SetMotionTask 53 POWERSUITE All parameter are compatible with PowerSuite software But there s a limit with the parameter names and units As the picture shows the names is only described as Oxx display numbers And the units is not correct However it s possible to change the parameters with PowerSuite You have to see the parameter value without the decimal
17. deceleration ramp defined in parameter QStopRamp Interrupted movement is loosed 3 Fault Reset Clear an active alarm or a drive fault 4 Relative Activate relative movement 5 Set Immediately 0 only enable new position values when target position is reached 1 enable new position values immediately 6 Setpoint 0 21 Start Positioning command or Homing 7 Dimension setting 1 Change temporary the Homing method to no 5 8 Reference switch Simulate reference switch Only possible if RefSwitch with normal open contact is activated 9 Jog Positive 1 Start jogging in positive direction 10 Jog Negative 1 Start jogging in negative direction 11 Reserved 12 15 Mode Selection Pack the 4 bits to a decimal format to set the correct mode number 1 Positioning mode 2 Jogging mode 3 Homing mode Positioning Target Position Range 32768 32767 Unit usr see Position scaling for more info Function The destination position is different depending if absolute or relative positioning is used Target Speed Range 0 32767 Unit Rpm Function Max speed that the profile generator can use Target Position 2 Range 32768 lt gt 32767 Unit usr see Position scaling for more info Function Only active if Mode Selection 4 Blending Positioning Mode Target Speed 2 Range 0 32767 Unit Rpm Function Onl
18. e chapter POSITION SCALING for more information to scale your user units correct ATV71 Positioning 8 8 1 INPUTS OUTPUTS CONFIG FOR ALL COMMAND TYPES This I O configuration is standard for all reference channels AO52 COM A051 AI52 COM AI51 1056 Quick StopActive 055 Ref OK 1054 HaltActive 1053 Standstill LO52 Target Reached LO51 Drive Fault LI60 QuickStop LI59 LIMN LI58 LIMP 1157 1156 1155 24V 1151 1152 Halt 153 154 Ref Switch Input Name Function 152 Halt 0 21 Brakes the motor with normal deceleration ramp 1 gt 0 Interrupted movement is continued L154 Ref Switch Reference switch 1158 LIMP Hardware limit switch in positive direction LI59 LIMN Hardware limit switch in negative direction LI60 QuickStop 1 gt 0 Brakes the motor with deceleration ramp defined in parameter QStopRamp Interrupted movement is loosed Output Name Function LO51 Drive Fault A drive fault is present Drive is disabled Find more info in chapter ALARM NUMBER LO52 Target Reached Movement finished and has reached the InPosWin LO53 Standstill Motor at standstill LO54 HaltActive A halt command is active LO55 Ref OK A Homing has been done correct after startup LO56 QuickStopActive QuickStop is activated Clear with Fault Reset Interrupted movement is loosed ATV71 Positioning
19. en activated hardware limit 6 Homing is not Homing procedure have not been done correctly yet performed 14 External Fault on the external encoder signals The pulses coming from external Encoder fault encoder are not in the expected interval Check encoder wiring and coupling If the alarm sets on first commissioning then it s probably wrong scale factor for external encoder function 15 Drive fault Drive fault activated See the graphic display for more description Or read out the parameter Altivar fault code Logical address 7121 CANopen index 2029 16 Positioning 42
20. et the correct mode number 1 Positioning mode 2 7 Jogging mode 3 Homing mode 12 15 Error number Extract this 4 bits to a decimal format to get the correct alarm number Read chapter ALARM NUMBER for more info Actual Position Range 32768 lt gt 32767 Unit usr see Position scaling for more info Function Actual motor axis position ATV71 Positioning Actual Speed Range 0 32767 Unit Rpm Function Actual motor axis speed Range Profile Position 32768 32767 Unit usr see Position scaling for more info Function Actual motor position of the axis Profil position is the theoretical position from the position generator that the motor should follow Following error Profil position Actual position Positioning 30 9 5 2 OUT parameters from PLC Controlword Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Dimension Setpoint Set Relative Fault QuickStop Halt Enable Setting Immediately Reset Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Mode Selection reserved Jog Jog Reference Negative Positive switch Bit Description 0 Enable 1 Enable the drive 1 Halt 0 gt 1 Brakes the motor with normal deceleration ramp 1 gt 0 Interrupted movement is continued 2 QuickStop 0 gt 1 Brakes the motor with
21. ge 32768 32767 Default 32767 Unit usr User unit see Position scaling for more info Function If a target position is sent outside this position the Alarm number gets active O34 HMdistOut 6434 R W Description Extract distance from homing switch Range 0 0 50 0 Default 0 0 Unit Motor rotation Function Find more info in chapter MODE O35 AdvScaling 6435 R WS Description Activate advanced scaling Range No 0 Yes 1 Default No 0 Unit Function Activate parameters ScaleNumHw and ScaleDenomHw This parameters complement ScaleNum and ScaleDenom to be able to use bigger values then 65535 in the scaling of Usr User unit ATV71 Positioning 036 ScaleNumHw 6436 R WS Description Numerator 2 scale factor for user unit Range 0 65535 Default 0 Unit Motor rotations Function Use to scale Usr User units to the axis geometry Find more info in chapter POSITION SCALING O37 ScaleDenomHw 6437 R WS Description Denominator 2 scale factor for user unit Range 0 65535 Default 0 Unit usr User unit see Position scaling for more info Function Use to scale Usr User units to the axis geometry Find more info in chapter POSITION SCALING O40 SetMo 6440 R WS tionTask Description Range The Motion task number to adjust 0 e 15 Def
22. ied out by a homing movement or by dimension setting 10 31 I O Terminal With I O Terminal as the command channel the homing mode is activated with input LI57 Homing First you should have to set the right homing procedureyou re your machine with parameter HMmethod in menu 1 14 POSITIONING Then you start the homing sequence with input LI55 Setpoint 10 3 2 Communication bus With command channel set to a supported communication bus the Controlword bit 12 15 is used to change the mode to homing Example Set Mode Selection 3 bit 12 and Bit 13 in Controlword Start the homing sequence with Setpoint bit 6 1 in Controlword The homing sequence is done when Reference OK bit 7 goes high Positioning 35 10 3 3 Homing Method 1 With method 1 the homing is carried out with movement to negative hardware limit switch L_HMdistOut L RefPointPosition _ Home_speed LIMN Active 7 Home Speed 4 1 Start of homing to LIMN with the speed of parameter Home Speed 2 The axis hits the LIMN and starts to extract in positive direction with of Home Speed On falling edge of the switch the parameter RefPointPosition is written to Actual Position and the reference is OK 3 The motor stops when the parameter HMdistOut is fulfilled This distance is to make sure the axis stop it not to near the LIMN switch 10 3 4 Homing Method 2 Method 2 is similar to the method 1 w
23. if the axis moves without any strange vibrations and currents If the axis have tendency to vibrate adjust the parameter SPG Speed prop gain in menu 1 3 SETTINGS Decrease the value in steps until the vibrations disappear Adjust in menu 1 6 COMMAND Parameter Ref 1 channel PLC card Adjust in menu 1 14 POSITIONING all parameters that is relevant for the machine See chapter PARAMETERS Now the drive is ready to be tested from the command source that you have chosen in menu 1 14 POSITIONING Parameter Command Positioning 41 12 ALARM NUMMER When a alarm is triggered from positioning application or the drive itself the alarm is showing up on the graphic terminal with a describing help text F1 button All alarm makes the drive go into freewheel stop Alarm number Description 1 Following error On first commissioning the limit P_maxDiff should be adjusted so that the value is minimum 20 above the actual p_Dif on maximum speed For most reason when this alarm gets active it s that the motor don t have the torque to follow the profile generator 2 Negative A target position is command outside the negative software limit software limit 3 Positive A target position is command outside the positive software limit software limit 4 Positive Positive hardware limit switch have been activated hardware limit 5 Negative Negative hardware limit switch have be
24. ind of homing modes See chapter HOMING for more information 2 4 MOTOR CONTROL LAW 2 4 1 Encoder on motor shaft The motor control law should be selected to FVC Full Flux vector closed loop Encoder mounted direct on the motor shaft is the recommended solution This gives the most benefits like Full torque from OHz Better and faster brake logic control Better torque and speed accuracy See chapter 1 5 Motor control in ATV71 programming manual for more information regarding FVC mode For vertical load this motor law is mandatory 2 4 2 Extern Encoder Function Use this function if the encoder is not mounted on the motor shaft Motor control law should be selected to SVC U or more preferred SVC I Flux vector open loop This means that we don t get any advantages from the encoder to have a better torque or speed accuracy that we get if the encoder would be mounted on the motor shaft Work good with horizontal movements with less performance requirements The encoder must be connected to a standard encoder board ATV71 Positioning 3 INSTALLATION 3 1 INSTALLATION OF OPTION CARDS For ATV71 Positioning card and communication cards Positioning 3 2 24VDC ATV71 Positioning needs 24VDC to terminal marked 24 to function Terminal COM LI53 1154 Description 24V Power supply for the Controller Inside
25. ith the different of a start to move to the positive hardware limit switch Positioning 36 10 3 5 Homing Method 3 With method 3 the homing is carried out with movement to a reference switch in negative direction REF m 9 AE GO HMdistOut RefPointPosition REF Active PP Home speed gt Home speed 4 1 Start of homing to REF with the speed of parameter Home Speed 2 The axis hits the REF and starts to extract in positive direction with 74 of Home Speed On falling edge of the switch the parameter RefPointPosition is written to Actual Position and the reference is OK 3 The motor stops when the parameter HMdistOut is fulfilled Remark If the machine is equipped with hardware limit switches and the axis is on the wrong side of the reference switch The axis turns around when it hits the LIMx switch and continues to search the REF switch 10 3 6 Homing Method 4 Method 4 is similar to the method 3 with the different of a start to move to the positive direction Positioning 37 10 3 7 Homing Method 5 With method 5 the user can make a homing without movements A so called Dimension setting Any active position deviation is also retained The reference position is adjustable in fieldbus command because the value in Target Position is written as new position And with fieldbus command it s possible to shift to method 5 with bit 7 i
26. l set to a supported communication bus the Controlword bit 12 15 is used to change the mode to positioning Example Set Mode Selection 1 Bit 12 in Controlword Go to absolute value 2000usr with a speed of 1500rpm Parameter Target Position 2000 and Target Speed 1500 Set Setpoint bit 6 1 in Controlword Wait to get back SetpointACK bit 1 1 from Statusword Then you now that your values are correct and accepted Also Target Reached goes low when the positioning start and you now that the positioning is done when Target Reached goes high again Positioning 33 10 2 JOGGING MODE 2 10 21 Terminal With Terminal as the command channel jogging mode is automatically chosen if no other mode is in progress and you set either input LI1 Jog Positive or LI2 Jog Negative 10 2 2 Communication bus With command channel set to a supported communication bus the Controlword bit 12 15 is used to change the mode to jogging Example Set Mode Selection 2 Bit 13 in Controlword To jog in positive direction you set and hold bit 9 in Controlword And to jog in negative direction you set and hold bit 10 in Controlword The jogging movement is stopped as soon as you set the bits to low state Positioning 34 10 3 MODE 3 In homing mode absolute scale reference of the motor position at a defined axis position is established Referencing can be carr
27. ling first try to find the biggest common divider If this is not enough you can activate AdvScaling parameter The 2 new parameters ScaleNumHw and ScaleDenomHw are used as a complement together with standard ScaleNum and ScaleDenom parameters The new parameters represent the high word in a double word And the default parameters represent the low word in a double word Please contact Schneider Electric for help calculating this parameters correct ATV71 Positioning 21 EXTERNAL ENCODER This external encoder function can be used to carry out direct position measurement in the installation actual position Remember that the external encoder has no influence on the speed and current regulators inside the drive No vertical load is allowed Activate with parameter ExtEncoder Yes The encoder is connected to one of the standard encoder boards available You use the regular scaling parameters ScaleNum and ScaleDenom for User units The new parameters for external encoder scaling is to define the pulses from the external encoder to motor rotations Calculation of the scaling factor is done with parameters ExtEncNum and ExtEncDenom ExtEncNum Enclnc uu lactor ExtEncDenom rev Example The external encoder has a resolution of 1024 inc rev One turn of the encoder is exactly 3 motor rotations 1024 encoder pulses Enclnc 3 motor rotations rev Scaling factor The scale factor is now set correct Se
28. n Activate 11 for speed override adjustment Range No 0 lt gt Yes 1 Default No 0 Unit Function Activate input to be a speed override adjustment 0 100 of Target Speed O13 ScaleNum 6413 R WS Description Numerator scale factor for user unit Range 0 lt gt 65535 Default 1 Unit Motor rotation Function Use to scale Usr User units to the axis geometry Find more info chapter POSITION SCALING O14 ScaleDenom 6414 R WS Description Denominator scale factor for user unit Range 0 lt gt 65535 Default 20 Unit usr User unit see Position scaling for more info Function Use to scale Usr User units to the axis geometry Find more info chapter POSITION SCALING Positioning 14 O15 ExtEncoder 6415 R WS Description Activate function External Encoder Range No 0 lt Yes 1 Default No 0 Unit Function External Encoder function can be used to carry out direct position measurement in the installation Find more info in chapter EXTERNAL ENCODER O16 ExtEncNum 6416 RWS Description Numerator scale factor for external encoder function Range 0 lt gt 65535 Default 100 Unit Encoder pulses Function Find more info in chapter EXTERNAL ENCODER O17 ExtEncDenom 6417 RWS Description Denominator scale factor for external encoder function
29. n control word so you can have another method as default type In Terminal command the parameter RefPointPosition is written as new position Example It can be used to make an endless movement in one direction To not overrun the internal max position of 2147483647 Inc we make a homing with method 5 and write the actual position to zero after a specific position 0 2000 usr 1 An absolute movement of 2000 usr is carried out 2 When the axis has reached its final destination we send a homing command and the actual position gets the new value 3 Then we start a new absolute movement of 2000 usr With this cycle we can carry out a position in an endless loop without get a position overrun ATV71 Positioning 38 10 4 BLENDING POSITIONING MODE 4 Blending Positioning is not working with I O Terminal as command channel It s only active with communication bus as command channel Set Mode Selection 4 in Controlword to activate Blending Positioning mode With Blending Positioning mode it s possible to trigger one positioning sequence that have an automatically speed change on a predefined position point You have to set one speed to define the starting speed And one speed as the switching speed Along with the speed you also define a destination position and a switching position Some standard OUT parameters from the PLC get new functions Standard function New funktion Controlword Posi
30. number 1 O29 lOsigLIMx 6429 R W Description Activate hardware limit switches Range None 0 N Open 1 N Closed 2 Default None Unit Function 0 None no limit switches 1 N Open 2 limit switches with normal open contact 2 N Closed 2 limit switches with normal closed contact O30 IOsigREF 6430 R W Description Activate reference switch Range None 0 N Open 1 N Closed 2 Default N Open 1 Unit Function 0 None no reference switch 1 N Open reference switch with normal open contact 2 N Closed reference switch with normal closed contact ATV71 Positioning 31 SW_Limits 6431 R W Description Activate software limits Range No 0 Yes 1 Default No 0 Unit Function 0 No no software limits 1 Yes software limits in both directions is monitored Config parameter SW LimN and SW LimP to your limit values O32 SW LimN 6432 R W Description Max position in negative direction Range 32768 32767 Default 32768 Unit usr User unit see Position scaling for more info Function If a target position is sent outside this position the Alarm number 2 gets active O33 SW LimP 6433 Description Max position in positive direction Ran
31. ption is higher than 200mA Example Use of Terminal as reference source VW3 A3 501 5 4 3 8 8 8 8 24V supply Positioning INSTALLATION ENCODER BOARDS 3 3 For all encoder board references Positioning 9 10 22 lt 1 5 Nm 13 Ib in 12 IO ll 22222222221 L 15 ATV71 Positioning VW3 401 407 VW3 409 VW3 408 7 0 25 Nm 2 21 Ib in lt 1 5 mm AWG 16 551 Hiperface SinCos COS SIN SIN Positioning 10 4 POSITIONING MENU 41 MENU OVERVIEW To be able to manage the new parameters for the positioning software there is a new menu 1 14 POSITIONING From this menu you make every adjustment for your machine axis RUN APP 50 00Hz 8A RUN APP 50 00Hz RUN APP 50 00Hz 8A HUVUDMENY 1 MENY OMVANDLARE 1 14 POSITIONING 1 MENY OMVANDLARE 1 9 KOMMUNIKATION 2 ACCESSNIVA 1 10 DIAGNOSTIK 3 H MTA FIL SPARA FIL 1 11 IDENTIFIKATION 4 LOSENORD 1 12 FABRIKSINSTALLNING 5 SPRAK 1 14 POSITIONING lt lt See for a full list of all available parameters for the positioning application Positioning 11 5 PARAMETERS 5 1 PARAMETER ACCES
32. ror number Range 0 15 Default Unit Function Find more info in chapter ALARM NUMBER 006 Active Mode 6406 R Description Active mode Range 0 4 Default Unit Function 0 No mode 1 Positioning mode 2 Jogging mode 3 Homing mode 4 Blending mode 2 Speed positioning 008 Command 6408 R WS Description Command and reference channel Range Terminal 0 Com Card 1 CANopen 2 Default Terminal 0 Unit Function 0 Terminal Physical In and Outputs 1 Com Card Option Com card or the integrated Modbus port 2 CANopen Integrated CANopen port O09 6409 R W thod Description Homing method Range 1 5 Default 1 Unit Function Find more info in chapter HOMING Positioning 13 O10 Home_speed 6410 R W Description Speed for homing movement Range 4 lt gt 3000 Default 300 Unit rpm Function Speed for homing sequence Find more info in chapter HOMING O11 JOG speed 6411 R W Description Speed for jogging Range 1 lt gt 3000 Default 100 Unit rpm Function Speed for jogging sequence O12 Adjust 6412 R WS Descriptio
33. tioning none Target Position Destination position Target Speed Starting speed Target Position 2 Switching position Target Speed 2 Switching speed parameters that changes with blending positioning mode Example 1 Switching position Destination position 800usr 1000usr Starting speed Switching speed Start with a absolute destination position to 1000usr with a starting speed of 1500rpm Switching position set to 800usr and switching speed to 500rpm ATV71 Positioning 39 Example 2 Switching position Quickstop Destination position 800usr a sensor 1000usr Starting speed Switching speed With this example we will stopp on a sensor before we reach the destination position The destination position is now a safety position If we reach this point the sensor is mailfunction 1 Start with an absolute destination position to 1000usr with a starting speed of 1500rpm Switching position is set to 800usr with a switching speed of 500rpm 2 Quickstop command is triggered from a sensor an activated with bit 2 in Controlword skickas efter att en givare har paverkats The destination position after quickstop is around 900usr Positioning 40 11 FIRST STARTUP Here is a quick help with points that can help you with the first startup The quick help assume that all parameters is adjusted with the Graphic Terminal and that no parameters have been adjusted since factory setting 1 2 1
34. y active if Mode Selection 4 Blending Positioning Mode Acceleration Range 100 lt gt 30000 Unit Rpm s Function PLCRampAqgj Yes Acceleration ramp of the profile generator Deceleration Range 0 32767 Unit Rpm s Function PLCRampAqgj Yes Deceleration ramp of the profile generator ATV71 Positioning 32 10 MODE SELECTION It exists different mode selections depending of the operation to execute If the command is a communication bus the mode selection is done from the Controlword Or if the command is I O Terminal the mode selection is done with logical inputs 10 1 POSITIONING MODE 1 10 1 1 Terminal With Terminal as the command channel the positioning mode is automatically chosen if no other modes is active like the homing or jogging mode The target position to reached is chosen with the logical inputs LI3 LI6 in binary format Configuring positions 1 15 is done in menu 1 14 POSITIONING parameter SetMotionTask See chapter Parameters for the explanation of MotionTask parameters Example To start a positioning to MotionTask 2 we set input LI4 1 Then we set input LI55 Setpoint 1 The confirmation that the positioning is started is when output LO52 Target Reached goes low When the positioning is finished the output LO52 Target Reached goes high again 10 1 2 Communication bus With command channe
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