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OPEN DRIVE

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1. 8 BV L Q i EA BV Tap LX w MALE Be ea F 4 05 O TT piy rn OOS oA D ges XE e pe LL TDE MACIO 5 aar 2 7 0 pen p HEN oe 1 5 X gt 7 a me a ea any gee gare ue 3 ee ee ee e 2A HS B foe paet I Be HR A ATT X CB T UB Hy CBE SHED ee a Fig 5 Only use 4 couples twisted and shielded couple cable with external shield Sin Cos Encoder feed is 5V with a number of pulses per revolution that do not exceed 300KHz for channel at maximum speed current absorbed must not be above 100 mA 5 1 SENSOR PARAMETERS It s necessary to set correctly the parameter P69 in order to define the Encoder used P69 Encoder pulses per revolution with range 0 4096 5 2 SPEED SENSOR TEST This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor phases and the Encoder correspond o Check that the number of motor poles is written correctly in parameter P67 and the Encoder used is correctly define as pulses per revolution with parameter P69 Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital inp
2. CAN BUS 2 6 Objects dictionary manufacturer specific profile area The words reported in bold type can be mapped in PDO Index Object Type Name Description Access hex 2000 VAR INTEGER16 Block size SDO Block size Block Download Reading writing 2001 VAR DOMAIN Tab_formati Formats of the 200 parameters reading 2002 VAR DOMAIN Tab_con_formati Formats of the 100 connections Reading 2003 VAR DOMAIN Tab_exp_int Formats of the 64 internal values reading 2004 VAR DOMAIN Tab_exp_osc Formats of the 64 monitor s sizes Reading 2005 VAR DOMAIN Tab_par_def Values of the default parameters Reading 2006 VAR DOMAIN Tab_con_def Values of the default connections Reading 2007 VAR INTEGER16_ hw_software Sensor managed by the firmware Reading 2008 VAR INTEGERI6 hw_sensore Sensor managed by electronic card Reading 2009 VAR INTEGER16 K_zz Monitor counter Reading 200A VAR INTEGER16 Via_alla_conta Monitor trigger Reading 200B VAR DOMAIN Tab_monitor_A Data saved in the channel A of the Reading monitor 200C VAR DOMAIN Tab_monitor_B Data saved in the channel B of the Reading monitor 200D ARRAY INTEGER 16 Tab_par 200 Actual values of the parameters Reading writing 200E ARRAY INTEGER1I6 Tab_con 100 Actual values of the connection Reading writing 200F ARRAY INTEGERI6 Tab_int 64 Actual values of the internal words Reading 2010 ARRAY INTEGER16 Tab_inp_dig 32 Actual values of the logical inpu
3. 60 It s possible to calculate Rs INOMMoT 3 E p77 Z fnom Ls INom mor V3 p7g2 P77 1000 ng VNOM MOT VNOM MOT P76 2 2 fnom Example Motor Magnetic BLQ 64M30 Inom motor 6 4A 6 poli Nmax 3000 rpm BEMF 84V Krpm lt gt Vnom 252 V from 150Hz Rs 2 1 Q Ls 28mH 2 1 64 3 p76 2 4 6 p77 7 150 0 028 6 4 V3 sg prg 0581000 13 3154 252 252 0 046 2 2 150 3 14 ite IDE MACHO OPEN DRIVE Brushless Core 3 Auto tuning procedures 3 1 Sensor and motor pole tests This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor phases and the sensor correspond o Check that the number of motor poles is written correctly in parameter P67 and the speed sensor used is set correctly o Auto tuning phase position sensor Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening g 3 the reserved parameter key P60 95 set il EA a Ll C41 1 to enable the test The following 0 Lt Lt Lt Ll setting will appear on the display display 7 segments The drive is now ready to start the test To start reading enable RUN with its digital input or using connection C21 commands in series Once the test has started this setting will appear alongside and the motor will rotate in the positive direction first to ensure the annin a direction matches and will then rotate again to 2 a e
4. ec eeeeesecsecessececeecesesnecsececeececsecseeseecseesceceeseeneeeeeseeees 3 Qi Mai aged servi iS ne ei E cticthtanca teak od hvac ta cao ont Uaivlataas E A 3 24l Service data Object SIO neema ake otek ceeskehe ceetaheede a all Merdemaes panache ode loses dle Sauces bevay heal eichces 3 22 Process Data Object PDO nean a a a a aR A ES R Gatos 4 2 2 1 Transmit POO renien a e iceontsteate loa T a aii sue ancdSectessoteogusis legendas 4 222 Received PHO narena ea E E EE dates E N E E a a aT 5 2 3 Emergency Object EMCY Yreim ataria atta dha ated aa eaa ar 5 2 4 Network Management Objects NMT ccecessssecesceseccecssesceceecscescecsecsceececseceaeecessaeececeecseesceeseeseeees 6 2 5 Objects dictionary communication profile area 0 0 eee eeeeeeeeceseeeeeecseceeececsececeececseececeeceeeeeeeeeeseeees 7 2 6 Objects dictionary manufacturer specific profile area ee eeeeceeeeesceececseceeeececeesceceeceeeeceeseeseeees 8 2 6 1 Format parameters table Tab_format 2001h 0 ccccsseesscesecesseeeeeeseeseeceeeeeeecessesseeeseeenseensees 9 2 6 2 Format connections table tab_with_formats 2002h 0 ccccceecccccsssssecceessceeeeessescecesssseeeeees 10 2 6 3 Format Extra parameters table Tab_format 2026h ccccscccsccesseesseeseecseeeseececeeeeneeeneeenee 11 2 6 4 Format of internal values table tab_exp_int 2003h c cscccsscesseesseeececeeeeeeeceseeeeeeeeeeneeeses 12 2 6 5 Format of monit
5. 0 Direct value Not managed free changeable on line Reserved change off line key P60 Blrmlelo TDE change off line key P99 4 word it defines the base of the representation of the connection always 1 the internal representation is always the direct value Example hexadecimal if leaded by Ox 1 word 0x2020 2 word 0 3 word 18 4 word 1 7 10 reserved connection its value is included between 0 and 18 20 02 2007 OPEN DRIVE CAN BUS 2 6 3 Format Extra parameters table Tab_format 2026h This table is made by 1000word 200 5 5 words for each parameter 1 word it defines the parameter typology its internal representation and the number of decimal and integer digits which are shown up on the display Each nibble has the following meaning 0x0000 in hexadecimal number of digits visualised in decimal number of digits visualised in integer internal representation Direct value Percent of the base 100 base Proportional to the base 1 base Direct value unsigned WIN R oO Type of parameter Not managed free changeable on line Reserved changeable off line key P60 TDE changeable off line key P99 Bl Alo For example 0x1231 gt free parameter proportional to the base the real value is internal representation base 4 word 2 word it defines the min
6. 0 1 2 3 4 5 6 7 8 9 N of disable 64 128 256 512 1024 2048 4096 8192 16384 impulses revolution There are the parameters P11 and P12 that permit specification of the ratio between the reference speed and input frequency as a Numerator Denominator ratio In general terms therefore if you want the speed of rotation of the rotor to be x rpm the relationship to use to determine the input frequency is the following f wee N pulses revolution x P12 and vice versa m f x 60x P11 x P12 60x P11 N pulses revolution Let us now look at a few examples of cascade activation MASTER SLAVE with frequency input according to a standard encoder By a MASTER drive the simulated encoder signals A A B B are picked up to be taken to the frequency input of the SLAVE By means of parameters P11 and P12 the slipping between the two is programmed Po PEP I2 100 The SLAVE goes at the same speed as the MASTER MASTER SLAVE N of pulses revolution 512 N of pulses revolution 512 P65 2500 rpm P65 2500 rpm Po P 50_P12 100 The SLAVE goes at half the speed of the MASTER MASTER SLAVE To obtain good performance at low N of pulses revolution 512 N of pulses revolution 512 Speed it is necessary to select an encoder resolution for the MASTER that is sufficiently high P11 100 P12 50 The SLAVE goes at double the speed of the MASTER 1 11 Rev 1 7 08 06 09 IDE MACO OPEN D
7. 10V which after being digitally converted with a resolution of 14 bits can be conditioned by digital offset and a multiplicative coefficient enabled independently through configurable logic inputs or connections configured as meaning through the corresponding connection C17 C19 added together for the references with the same configuration O O OO For example in the case of A I 1 the result of the conditioning is given by the following equation REF 1 A 1 1 10 P1 P2 By selecting a suitable correction factor and offset the most varied linear relationships can be obtained between the input signal and the reference generated as exemplified below REF REF REFI 100 10V Vin 5V Vin P1 100 0 P1 200 0 P2 0 L TT P2 0 10V Vin P1 200 0 P2 100 0 100 Default setting REF1 100 P1 80 0 P2 100 0 P1 80 0 20 P2 20 0 0 10V Vin 10V Vin Note for the offset parameters P02 P04 and P06 an integer representation has been used on the basis of 16383 in order to obtain maximum possible resolution for their settings For example if PO2 100 gt offset 100 16383 0 61 As said above the enabling of each analog input is independent and can be set permanently by using the corresponding connection or can be controlled by a logic input after it has been suitably configured For example to enable input A I 1 the connection C22 or the input logic function 103 can be used
8. P73 2 P79 1 it s wrong the Hall sensor cyclic sense Exchange A and C channels P79 2 it s missing at least one Hall sensor channel Check the Hall sensor channels presence Hall sensors not In the normal operation it has been found an aligned with internal inconsistency between internal absolute position and Hall absolute position sensors Check the presence of Hall sensors and error 45 incremental channels pulses pr revolutions Power The drive output current has reached a Check the connection wires on the motor side in circuit level that has set off an alarm this particular on the terminals in order to prevent leakages or may be caused by an overcurrent due short circuits Check the motor insulation by testing the to leakage in the wires or the motor or dielectric strength and replace if necessary to a short circuit in the phases at the Check the drive power circuit is intact by opening the drive output There may also be a connections and enabling RUN if the safety switch cuts regulation fault in replace the power If the safety switch cuts in only during operation there may be a regulation problem replace along with current transducers or vibrations causing transient D C 3 30 ite IDE MACHO OPEN DRIVE ALARM thermal switch resistance during the time selected in P169 has overcame the threshold set in KJoule in P168 The Average Power dissipated on Braking has overcome the threshold set
9. Then select the trigger type level of channel 1 set the desired level P56 trigger level to 50 Set the sample time P54 remember to multiply this number by 200usec to obtain the correct time Finally set the number of samples to acquire after the trigger P55 8 12 23 05 2005 IDE MACO OPEN DRIVE Super visor Display of the data download by both 8 13 23 05 2005 IDE MACO
10. i H l i l w I To note the last three digital input are about the power logical input POWER LOGICAL INPUT CS STATUS H ON L OFF I 29 PTM OK active alarm _ m B80 MAXV CH OK I active alarm _ I St MAINS SUPPLYOFF IH OK active alarm _ 23 05 2005 IDE MACO C OPEN DRIVE Modbus protocoll OPEN DRIVE MOD BUS Modbus Protocol INDEX OPEN DRIV axes ss cas gcs sass saga ss savas NA T coeds ese ges NORA 1 ME ELI DRIV Bag cass cay guess eas ges srs an sa sascanias A NN ORAS 1 1 Application Configuration soci sscssesvesassesvessssasvestsnes see sued bess svesie sssbasnessabes snsednis vaseanssbessanasbasssbem esse shan basasvansesnsesusises soues 3 1 1 Node Configuration sis cssssesnipsssesiesvesassessessseasbesesnes sess dues sess aves vo snsbasbestabes vasednes vessanasbs sosbagbassabepbasedbasbadaueansesnsssusnsesasesad 3 2 Managed SERVICES soi sncsiascinssvssassasvessnasbesesionsesssves nes svg tosstbasiasbsbay sess dhes sega sbesvessdbasbsbosbepbesesbes base sbenbesutbasbesapesisns susosnsasnsas 4 2 1 01 Read Coil Status weed 2 2 03 Read Holding Register ia 2 3 15 OF hex Force Multiple Coils ed 2 4 16 10 hex Preset Multiple Registers icccecstiscecsesinns isusivsssveciensdnicisiedsiniansedcsonndedusdnads suceusdeeseianiesieutsiediednesusasunereied 2 5 Exception Responses 23 05 2005 __V1 4 IDE MACO OPEN DRIV
11. 3 frequency sign 1 edge Total speed gt reference T P48 P49 Speed ref P11 f_somm4_tot 16 i Encoder ee NUM APPLICATION Input BASE DEN ETETE ee 1 1 hi P12 Incremental C39 Position ref C65 0117 Pulses in input theta_rif gt rif pps 0 no 5 1024 F O 1 64 6 2048 i is 2 128 7 4096 3 256 8 8192 C910125 Incremental 4 512 9 16384 position Overlap Position loop Other analog and digital speed reference The speed reference in time f_somma_tot has a good resolution also for low frequency in input allowing to have high gains in speed regulator The overlap position loop has to be enabled setting C65 1 or I17 H after that no pulse will be lost and it will be ensure the correct phase between master and slave When the overlap position loop works it s useless enable the ramps in speed reference decoded in time It s possible to add an offset to the position reference setting C91 1 or I25 H The offset is equal to the sum of the other analog and digital speed reference enabled 1 13 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 2 3 Multiplicative factor on speed reference This function enables a multiplicative factor depending on analog input on speed reference It s possible to choose the input for the multiplicative factor using C93 connection C93 Multiplicative factor input 0
12. B N N a Ca of Mol oj Mo input al input Identify number 0 31 H active logic function L no active logic function 23 05 2005 IDE MACO OPEN DRIVE Remote Keypad 2 6 Logics functions of output OUT Visualization of the status of the logical functions of protection or sequence for example drive ready converter in run scheduled in the control that may or may not be assigned of predicted digital output Code of identification H active out function L not active out function a output Identify number 0 31 3 Status of rest It is the status that the display assumes right after the lighting or when none is programming P112 seconds 10 of default after the last movement except that is not is visualizing an internal dimensions or an input or a digital output When the keypad is on tat the status rest if the converter is not in run comes visualized STOP if the converter is in run comes visualized the internal dimension selected with C00 connection or the status run If the converter finds the status alarm for intervention of an or more protections the written on the keypad start to flash and they come visualized all the active alarms one by one 4 Main menu Leaving from the status of rest pressing the s key the principal menu is gone into of circular type that contains the indication of the type of visualizable dimensions PAR parameters CON internal connections INT internal dimen
13. C48 Configuration CAN Bus BAUD RATE 0 1M 1 800K 2 500K 3 250K 4 125K 5 50K 6 20K 7 10K C49 Choose zero phase for SIMULATED ENCODER 3 C50_ InvertchannelB SIMULATED ENCODER 0l C51 Choose pulses rev SIMULATED ENCODER u C52 Enable FIELD BUS reference values ol e Enable locked RUN Oo oli O C54 Incremental or Absolute Simulated Encoder ae IDE MACHO 1 Mbit s FIELD 1 2 2 ENS ENS 5 ENS 1024 pulses rev So PPL SENS 2 2 1 3 4 3 1 1I 1 By ry me incremental OPEN DRIVE Brushless Core oester o e e a ea Type of overload 200x 3 155 30 A611 0 120 x30 1 150 x 30 2 200 x 30 3 200 x 3 155 x30 Enable radiator heat probe management Radiator probe enabled COMM a no 1 PTC modulo 2 NTC new 3 NTC inverter 4 0o PTC modulo NTC new SENTC inverter _ Tyco _ C60_ Parameter bank active f oa 0 __ CoM TES E ET Read parameters from permanent memory O oi f o f com E N aes eee SSS Enable current control Se ee C65_ Enable overlapped spaceloop 01 0o C 43 C69 Enable 2 order filter on speed regulator or 0 o o fa CTI Bnabletheta precisionby pass or of o o T C72 Enable Braking Resistance Thermal Protection 01i f 0o COMM C73 _ Enable Safety STOP only like signaling oi f o COMM C74 Enable Incremental Encoder Time Decode oi f 0 SENS C75 _ Disable autotuning
14. Enable 14 bit analog reference A I 1 104 Enable 14 bit analog reference A I 2 105 Enable speed jog 106 Enable digital potentiometer speed reference 107 Enable 14 bit analog reference A I 3 109 DP UP digital potentiometer up I110 DPDOWN digital potentiometer down I11 Load last digital potentiometer value I12 Reference reversal I14 Enable FIELD BUS references I18 Enable speed reference in frequency decoded in time I19 Enable speed reference in frequency 120 Enable 16 bit speed reference if present 121 STOP command run with retention 122 __ Enable line ramps 124 __ Freeze PI speed regulator integral memory 125 __ Enable offset on overlap position loop reference 126 Enable second bank speed regulator gains 1 4 Application internal quantities INT INTERNAL ASSIGNED VARIABLE Normalisation Internal unit repr d06 16 bit analog speed reference N MAX 16383 d10 Reference for torque generated by the application C NOM MOT 4095 d12 14 bit analog speed reference N MAX 16383 dl4 Reference for speed in frequency generated by the application N Max 16383 d32 Reference for torque limit generated by the application o C NOM MOT 4095 d33 Reference for speed percentage generated by the application Nn max 16383 2 References management The standard application regards the configuration and management of various digital inputs for the generation of speed torque and torque limit referenc
15. P160 PWM delay compensation on the currents 400 0 400 0 4095 o P161 PWM delay compensation on the voltages 400 0 400 0 50 0 Tpwm 4095 P164 Sensor sine and cosine signal amplitude compensation 0 32767 16383 100 16383 P165 Incremental sine offset sin cos encoder 16383 ae o oir T O Raia Incremental cosine offset De o O encoder 16383 ae ee es re ee ee Pr Main Main Supply volse torao demminon voltage for drive definition 180 0 690 0 r80 0 6000 400 Voltms 10 1 P175_ Hardware dead time 0 0 10 0 00 usec f 10 P176 IGBT command minimum pulse 0 0 10 0 00 we 10 1 1 4 Reserved parameters for specific applications The parameters ranging from P180 to P199 are available for specific applications and other 100 parameters See the specific applications file for their meaning 1 2 Connections The connections are drive configuration values that are displayed as a whole number in the same way as a digital selector They are split up into free reserved and TDE MACNO reserved connections and are changed in the same way as the parameters The internal representation base is always as whole number 1 2 1 Free connections DESCRIPTION Default meaning value ESA Ra of internal values TAST ea Choose TRIGGER ype TRIGGER type 31 63 Trigger on Run SUP 0 lt inputs 1 Ist alarm 2 63 analog value p63 _ __ _ __Spee _ Meaning of programmable analog output 1 63 64 11 Cur
16. POSITIONER DISPLAY o chose display or reading through RAM Selected value Numeric value alue description in displaying status 23 05 2005 IDE MACO OPEN DRIVE Super visor 6 4 ALARMS In this page is displayed the state of the alarms of the drive Axx The alarms can be reset pressing the Alarms reset button command C30 1 in the drive keypad Some alarms can be disabled to do this set the key P60 95 and select the undesired alarms then press Send See the user manual to read more informations about the alarms and the disabilitations DIAGRAM UTILITY C nstgnetica MONITOR Alarm fast reset Key for P60 setting ARRRRERRRRRERERRRERERER Keys for al ed ball active alarm Do n ith description Disabled alarm 23 05 2005 IDE MACO OPEN DRIVE Super visor 6 5 I OSTATE This page shows the state of the inputs and the outputs of the drive Some input and outputs are not used N U The function logic configuration allows the quick configuration of the logic inputs and outputs note the change of the configuration is allowed if P50 95 and the drive is in stop In the popup menu are displayed the available functions DIAGRAM UTILITY mignetica Possibility to directly configure hardware I O To select I O pages N Software input status na ardware input status 23 05 2005 IDE MAGNO OPEN DRIVE Super visor 6 6 DIAGRAM This page shows a dia
17. TDE MAGNO OPEN DRIVE Common functions 4 Power soft start The bridge rectifier build in the drive may be uncontrolled diode or semi controlled up to OPEN 40 it is uncontrolled If the diode bridge is implemented the power soft start function acts bypassing a soft start resistor in series with the output of the power bridge after the DC Bus Voltage has charged otherwise the same function unblocks the semi controlled input power bridge permitting the gradual charge of the DC Bus voltage and supplying the drive feeding for the following work N B It is fundamental to correctly set up the connection C45 build in Power Bridge 0 uncontrolled diode 1 semi controlled The function becomes active if the entry functions are active Enable soft start I 13 and the connection C37 C37 1 and the presence of mains supply voltage becomes noticed with the following logic Mains supply presence in case the presence of alternated mains supply voltage becomes noticed once at soft start with the logic power input MAINS _OFF H from that moment the control refers only to the MAINS OFF to check the mains presence Otherwise in the case of drive feeding with a continuous direct voltage on the DC Bus it is possible to begin the soft start even if the measured voltage on the DC Bus exceeds the indicated value in P97 Mains break out the mains break becomes noticed either when the MAINS_OFF signal is monitored if this went to the high
18. by default is assigned to input L 1 or setting C30 1 Keep in mind that the Alarm reset is achieved by the active front of the signal not on the active level 5 2 Drive switch on RUN When the drive is Ready to switch on RUN 0 L 0 H motor may start running Drive switch on run o L 3 H by activating both the hardware and software switch on enables Function Logic switch on RUN input default input 4 assigned RUN H Software switch on RUN C21 C21 1 is active by default Switch on RUN disable and enable from STOP offline to RUN online is given by the logic of the following table 0 L 0 It is mentioned that the input function Switch on RUN input can given also via serial line or field bus See for details the Standard Application Manual 5 3 Drive switch off STOP By default the drive switch off instantaneously as soon as one of the switch on functions is disabled immediate shutdown that may also cause an almost immediate rotation shutdown if the motor is loaded and the inertia is low while coasting if the motor is without load and mechanical inertia is high Using the connection C28 it is possible to choose to switch off the drive only with motor at minimum speed With C28 1 O immediate switch off by default when SWITCH ON RUN function is disable the speed reference is brought to zero thus the motor starts to slowdown following the ramp the drive is still switched on The sys
19. with the default allocated to logic input 3 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application The connections C17 and C19 are used to separately configure the three analog inputs available C17 C19 Meaning 0 Speed reference 1 Torque reference 2 Torque limit reference Several inputs can be configured to the same meaning so that the corresponding references if enabled will be added together Note using the appropriate multiplicative coefficient for each reference it is therefore possible to execute the subtraction of two signals In the case of the torque limit if there is no analog input configured to the given meaning and enabled the reference is automatically put at the maximum that can be represented 1 e 400 In internal quantities d32 it is possible to view the torque limit imposed by the application In the case of the torque reference there is a first order filter with time constant that can be set in milliseconds in parameter P9 In the internal quantity d10 the torque reference can be viewed as set by the application 2 1 2 Digital speed reference Jog The value programmed in parameter P7 can be used as digital speed reference either by activating the logic function Enable Jog I 05 assigned to an input default input L I 5 or with the connection C24 1 The resolution is 1 10000 of the maximum working speed 2 1 3 Digital Potentiometer speed reference A functi
20. 05 2005 IDE MACO OPEN DRIVE Remote Keypad STATE OF REST STOP RUN COO return on state of rest display without changing value Push both and parameter value si 20806 passage to the list decrease STATE OF REST STOP z Return on state of rest without changing value RUN C00 press both e Change value decrease 4 2 Visualization of the internal dimensions INT From INT You enter into the list of under menu of the internal dimensions pressing S In the list you are moving with the keys or till that appearing address of dimensions wanted visualize dxx pressing S disappears the address and appear the value of the dimension From this status You go back to under menu list repressing S and go again to the main menu repressing S twice in fast succession from the menu and from the under menu You return automatically to the status of rest after a time of 10 seconds 5 7 23 05 2005 IDE MACO OPEN DRIVE Remote Keypad STOP RUN COO Return on state of rest HE 4 3 Alarms ALL From ALL You enter into of under menu list of the alarms pressing S From the corresponding under menu with the keys and move all addresses desired for the alarms with this in the box to the right appears the status of the alarm H if active L if don t If the alarm has been disabled i
21. 12 5 test is successful otherwise the alarm A15 code d49 3 is triggered In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles Then o P79 lt P69x4 the real pulses counted are less than expected Encoder could have some problems or the motor load is too high Try to increase the test current with parameter P114 that is the percentage of rated motor current applied in the test default value 50 o P79 gt P69x4 the real pulses counted are more than expected Could be some noise in the Encoder signals The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command by setting its digital input to 0 The subsequent tests can now be carried out Esempio OPEN DRIVE nella versione per AC motor a 40A con Endat 9 Se Re 4 15 07 01 08 OPEN DRIVE 8 SIMULATED ENCODER SIGNALS VCCIN GND PC Feedback options PC I PC PA l at I PA ND tt haf iT PB PR Tis eee TPG lo p a loa Pa AN 2 j Pa TPA P anra Pit PB 7 PB l LT U7 SHIELD ee i 7 PB pC The frequency of the output signals depends on the motor revolutions the number of sensor poles and the selection made see connection C5
22. 2 2 MALE TDE MAGNO 8 4 5V N ial A 5V a 7a A GND pre all I Me 5 DATA go mAAR DATA bd MJ DATA Pi a i pos ry tf ft DATAr Jeees n a an CLOCK aok nA S S CLOCK 5 U n 5D L SHED D Fig 6 Only use 4 couples twisted and shielded couple cable with external shield Endat feed is 5V with current absorbed must not be above 100 mA Up today the ENDAT 2 2 sensors managed are o ECI 1317 with 17 bit on turn o EQI 1329 with 17 bit on turn and 12 bit multi turn 6 1 SPEED SENSOR TEST This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor phases and the Endat correspond o Check that the number of motor poles is written correctly in parameter P67 and the Endat used works correctly Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital input Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy 4 12 07 01 08 OPEN
23. 9 2 1 5 Speed frequency reference decoded in time sessssssesssessessessseeesseessesseeesseesseesseee 9 2 2 Speed frequency reference management sesessseesseesseesseeesereesttessttsseesseeeseessseessres 10 2 2 f High resolution analog reference optional ss sssessssssesssesseseeessressersseresesessseesseese 10 DeD BreEQuency referente nnii R R E E EE RE T S 11 2 2 3 Time decode of frequency input sesssssessseeessseesseesseesseesseeesseeessresseesseeeseeessseesseese 12 UA E Electric axis with frequency reference decoded in time ssssssessssssessseeessseesse 13 2 3 Multiplicative factor on speed reference sessseesseesseesseeesseesssetssresseesseeeseeessseessres 14 2 4 Torque feed forward on speed reference n sessessssseesseesseesseeeseeessstesstesseesseessseeessees 15 2 5 Speed regulator second parameters bank seeseseeessseesseessessseeeseeessstessresseesseessseesssees 16 3 Analog outputs MANAGE MIENL acts 25a 5c5065 caspds Iewcoucoseaseukiagnceds jouseuynceceowade meee taeesaatagaen ee eeeteanes 17 4 Inp t logie management secin che Se ease ues E E a at ta tats nig ts de aan dng weed pense 19 4 1 1 Input logic functions set in Other ways ceesceessecessseceeeeceeaeeceseeeeceeeeecseeeeeeteeeesaes 20 4 1 2 Locked Run from terminal board 2 2_ 220 44 i ee el ee ee 20 5 Tosicoutputsmanasementaz niies eR SSE Rear eon RoE Seen wee ty ane Ia 21 1 1
24. 99 2 3 Alarms ALL Overall functions of protection of the converter of the motor or in the application whose status to active alarm or non active alarm it may be visualized in the display The actived protection stops the converter and does flash the display excepted if it is disabled With a single visualization is possible have all the indications with the following For example A03 1 power fault doesn t activate The alarms are all memorized and so they remain till that is not missing the cause of the alarm and have been resetted input of resetting alarms activate or C30 1 23 05 2005 IDE MACO OPEN DRIVE Remote Keypad cal ae E ennenen alarm E ennenen alarm alarm code A code alarm code A Identify number 0 15 L no active alarm active alarm 2 4 Internal values INT Overall of working values of regulation for example voltage speed torque ect showed in absolute unit or percent for example motor tension in volt or current in percent of the maximum value Code of identification Ga aan inside E ka number ka Ga aan 2 5 Logics functions of input INP The visualization between 100 and 128 is the status of the logical functions of sequence or protection that is assigned in the all digital input of the regulation From 129 to 31 is the visualization of the status of the input from the power Code of identification input logical input ca 1 i
25. EOE EEES E AEE EO E EE EEE ANEA EES 9 6 7 LOTE U a A E EE EE EE EE EEEE E E EE 10 6 8 CHARACTERISTIC Kroer n a NE I AREER EE ON E E EEEE EA EES E EA 11 6 9 MONIT OR eeu eoero r E E EEEE EENE E ESE O EEE EENEN E AE AEN EE E E A 12 8 1 23 05 2005 TDE MACO OPEN DRIVE Super visor 1 INTRODUCTION This supervision software is a program designed to easy configure and control the OPEN DRIVE drives The program uses the PC RS485 serial line to communicate with the drive 2 MINIMUM SYSTEM REQUIREMENTS Developed for Windows 2000 NT XP ME 9X e Minimum video resolution 800x600 optimal e 32 Mbyte RAM 3 SOFTWARE INSTALLATION Launch the file setup exe from the CD or from the folder in wich the files have been copied Follow the instructions of the setup program It will install the supervisor software and the Runtime Engine Labview 6 1 During the setup procedure the program will ask you to specify the folder where you desire to install the supervisor The default floder is C Supervisori azionamenti Open v xx In this folder are created the support files for the supervisor and the supervisor itself Open v xx exe If the files are compressed before to launch the setup procedure decompress them using the program pkunzip To uninstall the supervisor program double click on the same file setup exe used to install it and follow the instructions 4 CONNECTION WITH THE DRIVE Two different modes are available t
26. None 1 All 2 AI2 3 AI3 4 AI16 With C94 connection it s possible to choose the speed reference that will be multiply by the factor C94 Speed ref multiplied 0 None 1 AI1 AI2 AI3 if configurated 2 AI16 3 NUM electrical gear With parameters P182 e P183 it s possible to choose the percentage variation of the speed reference corresponding to 10V of multiplicative factor input JOHA p P182 Example Multiplicative factor P182 200 P183 30 10V Multiplicative factor input 10V 1 14 Rev 1 7 08 06 09 IDE MACO l l lication OPEN DRIVE Standard closed loop applicatio 2 4 Torque feed forward on speed reference It s possible to enable the Torque feed forward on speed reference using C90 connection C90 Mode of working 0 Not enabled 1 f_somma_tot speed reference derivative analog a o Fieldbus 2 theta_precision speed reference derivative analog to frequency frequency or from Fieldbus It possible to estimate the torque reference needing for the speed variation requested with the speed reference derivative using a II order filter time constant in P180 in ms and taking account of total inertia setting parameter P181 Startup time f_somma_tot maximum speed 1 042 C90 az t_rif See eer 2 Lot Nominal motor torque P181 theta_precision t P180 Electrical pulses per Tpw
27. Save to the permanent memory with C63 1 3 Always keep I16 L prepare in RAM the data from bank 1 configuring the same input to the function I16 Set C60 1 and save the data in the permanent memory with C63 1 At this point changing the state of logic input corresponding to function I16 the bank s commutation will have automatic reading ue 2 14 08 06 2009 IDE MACO OPEN DRIVE Brushless core OPEN DRIVE Brushless Core Brus Brushless Core INDEX 1 Comiplete list Of control Vales nerse i Raa a A uct naveugss 2 1 1 Parameters onini N piar iii cians aa EE EEA ERE ER EEE ERE 2 kilt Eistof free parameters csser eoi E Aa a dae aaeain 3 1 1 2 Listofreserved parameter Sanini n eas TE E E E E R 4 1 1 3 List of TDE MACNO reserved parameters s ssesessseesseseesseessessessressessessresseesssresseesee 5 1 1 4 Reserved parameters for specific applications sessssssseossesseeseesseesreseesseeseesressressesees 6 1 2 Connections jt Se a cs ok a ah at 6 124 Bree CONNECTIONS oiri ucseceuiosesacteansemednedatersveseutnsticer EEEE RERE a 6 12 2 Reserved Connections siringi deat a a iae sede wea tas a e a aeaea 7 1 2 3 Reserved connections TDE MACNO ssssssessesssesssseseesessesestssereessestesessestesessesesseseesesse 8 1 2 4 Reserved connections for specific applications esesssssessseessesessseesresrssseesseseessressesees 8 1 3 Input logic PUNCH OMS 223 0 54 5 caceeessteaesaseaavesaactb
28. Tavor SECOND BANK s0300 2an0 Rpm 1 P185 KpV speed regulator SECONDBANK o 1 4000 40 w F186 TV speed regulator SECONDBANK f orawoo f wo f mw f w rier TW ten SECOND BANK os 08 ms Fiss CW acceleration tme SECOND RANK ooms Toon 100 16383 a Ba 16383 16383 _ Z 10 16383 Tani 4095 4095 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 1 2 Application connections CON DESCRIPTION Variation Default Meaning Type FIELD value of default COT Logic input meaning S dg s RESET ALL _ C04 Logic input 4 meaning 1 63 0 RUN T T63 Frequency input determination 0 3 1 DIGITAL T O analog 1 digital encoder ENCODER 2 digital frequency sign 3 digital frequency sign 1 edge C10 Logie output 1 meaning Logic output 2 meaning 32 31 a ced RESET READY Logic output 3 meaning 32 31 Pe 6 END OF RAMP 13 Logic output 4 meaning 32 31 10 SWITCH ON T POWER INPUT 15 Meaning of programmable analog output 1 CURRENT i Meaning of programmable analog output 2 63 64 SPEED ai Meaning of 14 bit analog input A 1 1 0 SPEED REF Meaning of 14 bit analog input A 1 2 TORQUE REF Meaning of 14 bit analog input A 1 3 LIMIT REF r X 5 Q Q Q pt AQQsQjQyayayaya BKIW N S Oo j xao Nn olelolo MH ro trot 2 2 2 Load last digital potentiometer frequency Enable 14 bit analog reference A I 1 Enable 14 bit analog refere
29. Vmax 32767 ___ Pra 10 PIs P115 Multiplication factor for motor PTC NTC PT100 analog 0 0 200 0 100 0 16383 COMM reference value P116 Junction time constant 01100 3 5 0 4 6 P117 Multiplication factor for radiator PTC NTC analog 0 0 200 0 100 0 16383 COMM reference value P118 Max temperature permitted by radiator PTC NTC 0 0 150 0 100 0 COM C P120 Radiator temperature threshold for logic output 0 15 0 0 150 0 C COMM P119 Max temperature permitted by radiator PTC NTC for 0 0 150 0 75 0 fee Ti eee start up P122 os foo P123 COMI P124 Simulated encoder Kv gain multiplication coeff 0 0 100 0 1000 3207 P125 _ Voltage reference function of DC bus safety margin 0 0 100 0 96 0 3207 P126 0 5 200 0 1000 4095 44 D wees aie ieee Sys BS OEE oe E Te a Te P150 High precision analog speed reference value 16383 ea T ee VCO setting for positive voltage reference values Pisa P155 Ambient temperature reference value during overload 00 1500 400 c w P156 PWM frequency for drive definition 2500216000 5000 m P157 Dead time duration 3o00 40 uwe 10 P158 Corrective coefficient for decoupling terms 0 0 800 0 500 4095 P159 High precision analog speed reference value 16383 4o95 TT 3 5 a 08 06 08 IDE MACNO OPEN DRIVE Brushless Core __ VCO setting for negative voltage reference values oe a Sd
30. after the ramp 16383 Output reference speed from the torque regulator 16383 Ecos E of rotation filtered T 8xTpwm 1 6ms at SKHz 16383 005 Torque requirement 4095 ae ee current requirement at current loop aos Flow current requirement at current loop 4095 10 09 Voltage requirement at maximum revolutions 4095 ee a eee 1095 100 180 32767 1 17 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application U phase current measured 4095 aS a ST a ay O17 _ Duty cycle U phase voltage o o O 3270 O18 Reference stator ground voltage module Jo VNOM MOT 4095 in Power supplied 4095 kez D axis Do oo i requirement Vd_rif ea OM Bus voltage ooo O ow i s 025 __ Measured radiator temperature HTP 4095 o S T TE E EE Total speed reference theta_precision see special application enclosure fT Output fixed to 10V ff 1 18 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 4 Input logic management The control requires up to 8 optically insulated digital inputs L I 1 L I 8 whose logic functions can be configured by means of connection C1 C8 The following table shows the logic functions managed by standard application INPUT LOGIC FUNCTIONS DEFAULT DEFAULT INPUT STATUS I 00 Runcommand S O A E OE I O1 Torque control o G I 02 External consent SS OS a H O i 03 Enable 14 bit analog reference ALI SO On L I 04 Enable 14 bit
31. alarm Thermal heatsink o If the measured temperature is above the threshold level set in parameter P119 and the RUN command is switched on the drive goes into A12 d49 2 alarm 6 2 Motor thermal protection The drive can manage the motor thermal probe For the correct wiring of the probe make reference to the installation manual The connection C46 selects the type of probe used C46 Description Visualization in d26 0 No motor thermal protection enabled 1 PT100 management The motor s temperature is measured Motor and compared to the maximum setup in parameter P91 temperature in If the temperature exceeds the threshold the A5 alarm starts ae 2 PTC management The thermal resistance is measured and Thermal probe compared to the maximum setup in the parameter P95 If the resistance in Q temperature exceeds the threshold the A5 alarm starts 3 NTC management The thermal resistance is measured and Thermal probe compared to the minimum setup in the parameter P95 If the resistance in Q value is below the A5 alarm starts 4 Termo switch management it s possible to configure a logic input to 23 function in this case if this input goes to a low level the A5 alarm starts 2 13 08 06 2009 IDE MACO OPEN DRIVE Common functions 7 Current power relay The drive is in the position to control a logic output of current power relay The connection C55 serves to select the type
32. alone it has to be confirmed by terminal board inputs by the serial and by the fieldbus though in the case of the latter the default is active and so if unaltered controls only the terminal board input o 101 128 isthe parallel of the corresponding functions that can be set at the terminal board the serial or the fieldbus o 129 163 only the functions reserved for special applications they can certainly be changed by suitably configuring the terminal board inputs and other possibilities can be attributed by the application itself 4 1 2 Locked Run from terminal board It may be a matter of interest that the RUN command can be given by the commutation edge from a low to high signal to enable this function set C53 1 In this operational mode the STOP command is also used 121 after having configured one of the logic inputs which is level sensitive low level converter in STOP power disabled high level the converter can be at RUN The diagram below shows the working logic The RUN command is only given if there STOP H i I 121 is a risign edge L gt H on 00 with I21 high en 7 e Once RUN has been give to logic input I00 can return to low level e As soon as the STOP signal 121 goes to SO ea of y low the RUN command is switched off eee e If the converter goes into an alarm state i the run command will be switched off and so it will be necessary to repeat the start up procedure as
33. at the maximum ambient temperature permitted If this temperature reaches the maximum value permitted for the junctions the delivered power limit is restricted to a value that is just over the rated drive current i e the system s effective thermal current see following table Now the drive will only overload if the temperature drops below the rated value which will only occur after a period of operation at currents below the rated current The junction temperature calculation also considers the temperature increase that occurs while operating at low frequencies below 2 5 Hz due to the fact that the current is sinusoidal and thus has peak values that are higher than the average value With electrical operating frequencies lower than 2 5Hz the drive goes into maximum overload for 20 30ms after which the maximum current limit is reduced by V2 as shown by the following table ie IDE MACHO 3 25 OPEN DRIVE Brushless Core C56 Max drive current Drive thermal Limit below 2 5 Hz current 0 120 I NOM AZ for 30 seconds 103 I NOM AZ 84 I NOM AZ 150 I nom az for 30 seconds 108 I nom az 105 I nom az 2 200 I NOM AZ for 30 seconds 120 I NOM AZ 140 I NOM AZ 3 200 I Nom az for 3 seconds 110 I Nom az 140 I nom az 155 I Nom az for 30 seconds N B the overload time illustrated is calculated with the drive running steady at the rated motor current If the average delivered current is lower than the rate
34. by programming the connection corresponding to the output concerned C15 for VOUTA and C16 for VOUTB with the number given in the table below corresponding to the relative quantities By means of the parameters P57 for VOUTA and P58 for VOUTB it is also possible to set the percentage of the variables selected to correspond to the maximum output voltage default values are PS7 P58 200 so 10V in output correspond to 200 of variable selected The default for VOUTA is a signal proportional to the current supplied by converter C15 11 in VOUTB the signal is proportional to the working speed C16 4 It is also possible to have the absolute internal variable value desired to do this it is simply necessary to program the connection corresponding to the denied desired number for example taking C15 21 there will be an analog output signal proportional to the absolute value of the working frequency It is also possible to have a analog output fixed to 10V to do this it is simply necessary to program the connection corresponding to 64 POSSIBLE CONNECTIONS THE DARKER LINE INDICATES THE DEFAULT PROGRAMMING NORMALISED BASE INTERNAL VARIABLES FOR ANALOG OUTPUTS ie Actual mechanical position read by the sensor 100 180 with 2 poles 32767 if the sensor has more than 2 poles it regards the current revolutio 100 semi sector sector poles Actual electrical position read by the sensor delta m 100 180 32767 Reference speed
35. cable with external shield Sin Cos Encoder feed is 5V with a number of pulses per revolution that do not exceed 300KHz for channel at maximum speed current absorbed must not be above 100 mA 4 1 SENSOR PARAMETERS It s necessary to set correctly the parameter P69 in order to define the Encoder used P69 Encoder pulses per revolution with range 0 4096 4 2 SPEED SENSOR TEST This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor phases and the Encoder correspond o Check that the number of motor poles is written correctly in parameter P67 and the Encoder used is correctly define as pulses per revolution with parameter P69 Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital input Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy 07 01 08 OPEN DRIVE Feedback options In the first step is checked if the cyclic sense of motor phases and Encoder channels is the same after 1 second parameter P79 is updated with the test result and the drive consequently goes in alarm A14 or it starts the second t
36. connect Parameter setting error alarm 0 motor sensor parameters static 1 simulated encoder pulses 2 motor parameters in auto tuning 3 motor sensor parameters in auto tuning Code d49 1 7 List of internal values for monitors and analog outputs Hereunder is a list of the internal values that can be monitored via the analog outputs or via the Supervisor s monitor INTERNAL VALUES NORMALIZ BASE Actual mechanical position read by sensor 100 180 with 2 poles 32767 if sensor has more than 2 poles it regards the actual turn sector 100 semi sector poles 3 11 ite IDE MACHO OPEN DRIVE Brushless Core Rotation speed filtered T 8xTpwm 1 6ms at 5SKHz 006 Internal value status MONITOR only 009 Request voltage at maximum rev Vnymmr 495 010 Internal value alarms MONITOR only T y O 014 Internal value inputs MONITOR only T y O 017 U phase voltage duty eycle E8267 4095 032 Internal value outputs MONITOR only e y I 033 literal value inputs Jew MONITOR only O O OOOO oda Frequency speed reference value from application eta pree Electrical pulses per Try __ 045 Overlapped space loop reference value from application Electrical pulses per Toy 050 Delta pulses read in PWM peed in equeney pat les perPWME 052_ Overlapped space loop memory msw Electrical tums x P67 O 052 053 063 See specific application file 3 12
37. implemented functions and their codification Read Coil Status Reading of digital input output Read Holding Registers Reading of memorised data Force Multiple Coils Writing of digital inputs Preset Multiple Registers Writing of memorised data Hereinafter you can find the description of the action and of the related address of each function 2 1 01 Read Coil Status This function allows the user to read the status of the digital inputs and outputs It is important to underline that the standard management of the digital inputs requires that the RUN enable must be given both via terminal board and via serial line all the other inputs instead can be commanded by one of the two ways just listed The default RUN input from the serial line is high while all the others are low in this way the user who is not using it can have the total control of digital inputs from the terminal board Thanks to Read Coil Status function it is possible to read the status of the digital inputs and related outputs you are interested in just specifying the correct address written in the following table starting address hex Max number of data 0300 a E 0320 The order number of the inputs and the outputs is the one specified in the related tables see specific description of the control s core 23 05 2005__ V1 4 IDE MACO OPEN DRIVE MOD BUS 2 2 03 Read Holding Register This function allows the user to read the values of all the Parameters
38. in disabling drive enable Restore and reset The connection has been broken Check and eliminate the fault Input function has been assigned but enable has not been given Authorise or do not assign the function Check internal values d62 and d63 for the firmware and option card codes There must be some irregularity d49 1 Sensor not connected Check the connection towards the sensor d49 2 Overspeed speed reading higher than threshold set in P52 3 31 08 06 09 In a transient state the speed reading has exceeded the permitted limit Adjust the speed regulator gains or raise the limit in P52 TIDE MACNO OPEN DRIVE Brushless Core ALARM DESCRIPTION CORRECTIVE ACTION A10 DC power Intermediate drive circuit voltage Undervoltage may occur when the mains transformer is DC Bus see d24 has dropped not powerful enough to sustain the loads or when below the minimum value P106 powerful motors are started up on the same line Try to stabilise the line by taking appropriate measures If necessary enable the BUS support function for mains failure C34 1 This however can only help motors with light loads A11 Overvoltage Intermediate drive circuit voltage The safety switch cuts in mainly due to excessively short on DC power DC Bus see d24 has exceeded the braking times The best solution is to lengthen the braking circuit maximum value P107 times An overvoltage in the mains may also trigger the s
39. max rev Voor 4095 Hz 3 9 ai TDE MACHO OPEN DRIVE Brushless Core 4095 16384 d26 Motor temperature reading if C46 1 PT 100 present C feed NTC PTC resistor if C46 2 or 3 PTC NTC present Maximum torque limit application generated Speed reference value as a percentage application generated NMAX C nom mor d39 E ree E d47 OD firmware version OPEN DRIVE serial number d50 d60 See application file Application code Code of firmware managed sensor Code of hardware managed sensor 1 5 Output logic functions The logic functions display drive status and can be assigned to one of the 4 logic outputs See the chapter in the applications file for an explanation of their configuration OUTPUT LOGIC FUNCTIONS DEFAULT See OUTPUT Motor thermal alarm o oo SSS ewew SSCP _ F Ee 4 6 1 2 07 4 o 09 Tracking incremental error gt thresold P3Tand P3 aas E A COMI C E E _ COM o PMNominspwr O O O o o 13 Bus regeneration enabled Suppor 1 CoM o 14 Motor thermal current exceeds threshold 9 SSS AL o 15 Radiator overheating higher than P120 threshold ComM o 16 Speed reached absolute value higher than P47 o 17 Power electronic card not supplied om fo 18 IPP Initial Pole position detection executed Ja fo 19 Regulation card supplied and DSP not in resetstate o _20 DC Bu
40. nominal motor fem P62 o Parameter P64 Maximum working voltage multiplied by coefficient P36 def 400 o A term linked to the direct Bus voltage with a margin set in parameter P125 default 96 because the maximum stator voltage produced may not exceed the direct voltage divided by 2 0 400 Dog P y D08 I lt DA Flux weakeni VbusxP125 G38 DE aa reference v2 Vnom current Produced voltage module Torque limit in Flux Vmax 4 OnOM 1 weakening The connection C38 if equal to 1 def 0 disables the voltage regulation With the default setting P36 400 the voltage reference is set by direct Bus voltage and this meaning that flux weakening starts only if it is really required a stator voltage greater than available In every case if the user wants to limit the produced voltage it can be possible to act on parameters P64 Maximum voltage or on P36 that is changeable on line Some considerations about working on flux weakening state Jt will be possible to reach working speed greater than nominal motor speed The current needed to reduce the magnetic flux is present also without any load its amplitude is inversely proportional to the motor inductance For this reason the available torque current is reduced There is also a torque limit to control voltage reducing active current Ifthe current needed to reduce magnetic flux is greater than maximum driv
41. number of pulses per motor revolution selectable with C51 according to the following table that also depends on the number of sensor polar couples oO ol oh Pul rev motor P68 2 0 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 CO N gt On BGO PO o o o A WARNING The choice of the number of pulses for revolution depends on the maximum speed and the number of sensor polar couples P68 2 In the following table are reported this limitation If it is selected a number of pulses too high compared with the maximum speed it is triggered the alarm A15 code d49 1 Maximum speed rpm x P68 2 Pul rev motor P68 2 250 65536 500 32768 1000 16384 2000 8192 4000 4096 8000 2048 16000 1024 32000 512 NB In the particular case of Resolver decoded with RDC19224 the choice of the number of pulses for revolution depends on the maximum speed and the number of sensor polar couples P68 2 in this way The default value is C51 5 correspond to 1024 pul rev As can be seen the number of pulses also depends on the number of sensor poles which are set in parameter P68 and in particular the above mentioned values are valid if the sensor is two pole The pulse output is controlled by a line driver ET 7272 the limitation of the number of pulses regards the maximum speed is done for limit the maximum frequency for channel to 270KHz 4 18 07 01 08 OPEN DRIVE F
42. on P38 set a value that ensures a quick response but one that does not make the motor vibrate at a standstill The continuous position control is most commonly applied to the electric axis by taking the speed reference value from the MASTER s Simulated Encoder and taking it to the SLAVE s frequency input the motion of the two motors can be synchronised Once the overlapped space loop is enabled the two motors will always maintain the same relative position whatever their load If the SLAVE reaches its torque limit the counter will save the position error and then correct it as long as the internal counter limit has not been reached in which case the synchronisation will be lost 4 3 Speed and stability regulator The speed regulator generates the request for torque current needed to maintain the rotation speed reading the same as the reference speed value The speed is normalized in relation to the maximum operating speed and is displayed as a percentage D3 is the speed percentage reference value D4 is the speed percentage reading while the operating frequency value is displayed in Hz in D13 The speed regulator constants are set in engineering units by parameters P31 proportional gain Kp P32 time in ms of the lead time constant Ta equal to the time constant of the integral regulator multiplied by the gain Ta Ti Kp P33 1 order filter constant Tf in ms The overall transfer function of the speed regulator is Rif_vel s speed
43. poles Connection C50 inverts the encoder B channel thus inverting its phase with respect to channel A with the same motor rotation direction By default C50 0 10 SENSOR TYPE ALARM Drive tests in real time the compatibility between sensor managed by firmware and optional feedback electronic card present if there is an incompatibility it is triggered the alarm A9 code d49 0 In the internal values d62 and d63 it is possible to see the code of sensor managed by firmware and hardware D__ 62 Sensor code managed by firmware D___ 63 Sensor code managed by hardware In the following table are reported the sensor code Value Corresponding Sensor No one Incremental Encoder Incremental Encoder Hall sensors Resolver directly decoded Resolver decoded with RDC19224 Analog Sin Cos sinusoidal Encoder Absolute Analog Sin Cos sinusoidal Encoder 0 Endat 0 00 0 BPO O 4 19 07 01 08 OPEN DRIVE INVERTER SERIES INTRO VERSION 0 11 Feedback options Hix P C DISPLAY ALARMS 1 0 DIAGRAM UTILITY GRAPHIC MONITOR BOSITIONERS SERIAL SET UP drive VETT to contra asynchronous motor whit ENCODER feedback WARNING HARDWARE RESOLVER direct is not possibile whit this software Fig 4 Incompatibility example between firmware and hardware detected by supervisor 4 20 07 01 08 OPEN DRIVE Remote Keypad OPEN DRIVE Remote Keypad O
44. reference value normalized at max speed Velocita s rotation speed normalized at max speed T rif s Rif_vel s s Velocita s Kp 1 1 T rif s torque request normalized at rated motor torque l sTf sTa Kp Proportional gain P31 Ta Lead time constant P32 in ms Tf Filter time constant P33 in ms The default values of these constants are calculated in order to ensure stability in almost all conditions However if the machine is a little too jittery use P31 to reduce the gain until it stabilises Likewise the gain has to be increased if the regulator is too slow 3 21 ite IDE MACHO OPEN DRIVE Brushless Core 4 3 1 2nd order speed regulator filter The speed regulator filter can be changed by using a 2nd order one To enable this function set C69 1 Parameter P33 will always set the filter time constant in milliseconds and thus its natural pulsation given that internal damping is always set to 0 8 so that the filter is quick to respond but does not overshoot Note that enabling a 2nd order filter means reducing the margin of system stability hence the filter time constant value must be thought through carefully before setting so as not to create instability 40dB dec Useful area for 20dB dec 2nd order filter By taking as reference the Ist order filter time constant tolerated by the system the 2 order filter has to be set to double frequency half time so that it has the same phase margin Th
45. setup subpage can be set the acuisition parameters the trigger level the trigger type the sample time Then open the acquisition subpage press the restart button and the acquisition begins in the drive following the settings The box near the restart button tells the user if the acquisition has already been triggered Once triggered the acquisition keep on until the number of points after trigger is reached post trigger points When the value in the box fine buffer stops press te button Download data Now the data are being downloaded from the drive to the PC 2000 samples per channel The user can save the obtained waveshape SAVE or can load a previously saved waveshape LOAD or can even create a report in xls format Selectiong the function Options the user can hide or unhide the trigger line and the trigger level in the graph Two vertical and horizontal markers can be enabled to measure the time delta and the amplitude delta of the acquired signals There are two different possibilities for the zooming of the graph window zoom and digital zoom In the first case select the desired graph area dragging the mouse arrow In the second case write in the fields the desired limit values and the graph will change accordingly Acquisition example we suppose to acquire the waveshape of the current in the U and V phases First step set these two variables on the channel one and two c15 c16
46. soon as the converter is ready again 1 20 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 5 Logic outputs management The control can have up to 4 optically insulated digital outputs L O 1 L O 4 whose logic functions can be configured as active high H by means of connection C10 C13 The following table shows the logic functions managed by standard application OUTPUT LOGIC FUNCTIONS DEFAULT OUTPUT 00 osicwsCCW i G 05 Currentorque relay ooo G o 06 Endoframp OT O 07 Currentlimitdrive o G y O 08 Torquelimitdrive o o y O 09 Incremental position error gt threshold P37 ane P39 O 10 Switch on power soft start o o y O 11 Brakingactive o G o 12 No supply mains o G y O 13 Bus regeneration activated Support _ Joo y O O 14 Motor thermal current above threshold P96 _ J o O 15 Radiator temperature too high above threshold P120 fJ O 16 Speed reached above absolute value at P4 Jooo o 17 No supply main to Power electronic card O 19 Regulation card supplied and DSP notin reset state J o O 20 DC Bus above threshold P17 o o S 21 31 see special application enclosure If you wish to have the logic outputs active at the low level L you need just configure the connection corresponding to the chosen logic function but with the value denied for example if you want to associate the function end of ramp to logic output 1 a
47. than one and a half times larger than the drive The flux current is displayed as a percentage of the rated motor current in d16 while the torque current is displayed as a percentage of the rated motor current in d15 The constants of these regulators are established in engineering units by parameters P83 proportional gain Kp P84 time in ms of the lead time constant Ta equal to the integral regulator time constant multiplied by the gain Ta Ti Kp and P85 filter constant in ms Parameters P83 and P84 cannot be changed directly because they are considered to NB be perfectly calculated by the auto tuning P83 can only be changed by accessing TDE MACNO reserved parameter P126 Multiplication coefficient Kp current loop 4 6 Choosing the active torque limit The positive and negative torque limits are chosen to restrict the following values P42 P43 maximum torque in both directions according to rated torque Maximum torque set by the current limit Maximum torque in flux weakening area Maximum torque limit reference value generated by the application limit_i_aux Maximum torque limited by the regulator output in order to back up the bus voltage should the mains fail as long as this function is enabled by setting C34 1 Maximum torque limited in the controlled braking phase as long as this function is enabled by setting C47 1 0o000 0 O Max torque set by application limit i aux Max torque set b
48. the overall speed reference value only Some special applications may enable the linear ramps differently See the respective instruction file for further information 3 20 ite IDE MACHO OPEN DRIVE Brushless Core 4 2 3 Overlapped space loop Continuous position control during rotation is used to synchronise both speed and space with the speed reference value used To enable this function set input function I17 Enable overlapped space loop to high logic level or set C65 1 From then on an internal counter will be save any position errors regarding the space crossed by the reference value If the drive RUN command is disabled the error will be accumulated until it can be corrected once RUN has been enabled again Using parameters P37 65536 1 mechanical turn and P39 number of mechanical turns it s possible to set a maximum tracking error threshold if the absolute error value becomes greater than this value the logic output 0 9 Tracking error goes at high level The overlapped space loop reference value is generated by the application and regards the theta_rif pos value which is also expressed in electrical pulses for a period of PWM Note that once this function has been enabled the overlapped space loop reference value will become the real position reference value while the other speed reference values will represent feed forward The space loop regulator is a pure proportional gain and its gain can be set
49. value admitted in the internal representation of the parameter 3 word it defines the max value admitted in the internal representation of the parameter 4 word it defines the representation base of the parameter 5 word it defines the default value of the parameter example hexadecimal if leaded by Ox 1 word 0x1131 2 word 0000 free parameter in percent of the base the real value is internal 3 word 8190 representation divided by the base 100 4 word 4095 5 word 4095 if the current value is 1000 1000 4095 100 24 4 the variation range is included between 0 and 200 the default value is 100 7 11 20 02 2007 OPEN DRIVE 2 6 4 Format of internal values table tab_exp_int 2003h This table is composed by 64 words one word for each internal value 1 word it defines the representation of the internal values 0x0000 hexadecimal aR internal representation Direct value 2 to the power of Percent with base 4095 Percent with base 32767 AJIN Percent with base 16383 example 1 hexadecimal if leaded by Ox 0x0002 internal representation of the value percent of 4095 For example if its value is 2040 gt 2040 4095 100 49 8 Example 2 hexadecimal if leaded by Ox 0x0041 internal representation of the size direct value divided by 2 For example if its value is 120 gt 120 2 7 5 2 6 5 Format of monitor val
50. 00 rpm 6 x fPwM _12xP101 n MAX N motor polar couples P67 In the following table are shown as example the maximum speed limit working at 5KHz of PWM default P67 2 4 6 8 10 12 14 16 18 nmax 30000 15000 10000 7500 6000 5000 4285 3750 3333 P67 20 22 24 26 28 30 32 34 36 nmax 3000 2727 2500 2307 2142 2000 1875 1764 1666 3 27 aes TDE MACNO OPEN DRIVE Brushless Core 4 8 IPP Initial Pole position detection This function is useful when the drive has to control a brushless motor with incremental sensor Setting C78 0 at the first run command a fixed angle current is injected on the motor with a linear ramp 1 6 seconds with PWM 5KHz up to value set on P114 at this point the motor starts to move to align with the current The control test the motor velocity and if it becomes greater than 0 4 of maximum motor velocity P65 the current is reduced to decrease the velocity itself The alignment is executed with the velocity controlled and it s possible to choose the movement direction with the connection C78 Description Random Positive sense Negative sense wre Q a Setting C78 1 or 2 if the alignment movement starts in the wrong sense after one mechanical degree the current sense is inverted so the test continues with the motor runs in the opposite direction When the motor is al
51. 06 C34 0 Continue to work Break i Return time mains mains If the alarm condition starts there is the possibility to enable setting C35 1 the alarms to an automatic reset at the mains restore 2 3 08 06 2009 IDE MACO OPEN DRIVE Common functions 2 2 Recovery of Kinetic Energy C34 1 This operating procedure is adapted to those applications in which it is temporarily possible to reduce the speed of rotation to confront the mains break This function particularly adapts in the case of fewer applied motors and with high energy The qualification of such a function is obtained setting C34 1 During the mains break out the voltage control of the DC Bus is achieved using a proportional regulator with fixed proportional gain set in P86 default 3 5 that controls the DC Bus voltage d24 compare it with the threshold in P98 default 600V and functions on the torque limits d30 of the motor that in time will slow down to work in recovery Such regulation when qualified C34 1 at mains break out 0 L 12 H or if the DC Bus voltage goes below the threshold set in P97 425V replaces the normal regulation 0 L 13 H and is excluded when mains supply is on DC bus voltage 540V 400V Minimum voltage allowed P106 C34 1 Recovery of Kinetic Energy Break i Return time mains mains If the alarm condition starts there is the possibility to enable setting C35 1 the alarms to an automatic reset at the mains re
52. 1 in the core file and their behaviour in time depends on rotation sense CW or CCW and on C50 as shown in the figures below d21 gt 0 C50 0 Top 0 E d21 lt 0 C50 0 4 16 07 01 08 d21 gt 0 C50 1 al LJ l l B Top 0 d21 lt 0 C50 1 2 A B _ Top 0 E OPEN DRIVE Feedback options The simulated encoder outputs are all driven by a LINE DRIVER Their level in the standard drive version is referred to 5V and then it is connected to the internal supply TTL 5V In option to be requested in the ordering there is the possibility to refer the signal level to an external supply whose value must be between 5V and 24V connection on terminal 5 and 6 In the connected device it is better to use a differential input to avoid loops with the OV wire to limit noise effects it is better to load this input 10mA max It is necessary to use a twisted shielded cable to make a proper connection WARNING the external power supply GND is connected with the OV of the drive it is not optoisolated WARNING for the encoder simulation with internal supply standard drive version you must not connect the terminal 5 Vccin because it could seriously damage the drive 4 17 07 01 08 OPEN DRIVE Feedback options 9 CONFIGURATION OF THE ENCODER SIMULATION OUTPUT The two bidirectional simulation encoder channels could have a
53. 2 RESOLVER J2 FEMALE Tu NT TDE MAGNO ooooo0oo0oo A E A pn Z z a8 Bie ga aa Fig 2 R1 Red White R3 Yellow White or Black White S1 Black S2 Yellow S3 Red S4 Blue Example of Resolver colors code Only use 4 couples twisted and shielded couple cable with external shield Pin J2 12 and the metallic body of connector J2 are earthed inside the drive By default the drive can manage a motor thermal switch pin SP6 and OSP6 Managing NTC or PTC probes is also possible by specifying in the order the technical characteristics 2 1 SENSOR PARAMETERS It s necessary to set correctly the parameter P68 in order to define the Reoslver used P68 Resolver poles number with range 0 36 Note resolve poles number cannot be grater than motor poles number P67 otherwise it is triggered the alarm A15 with code d49 0 2 2 SPEED SENSOR TEST This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor phases and the Resolver correspond o Check that the number of motor poles is written correctly in parameter P67 and the Resolver used is correctly define as poles number with parameter P68 Correct operation requires a n
54. Connections Internal Sizes and some status variables Writing the correct address you can access these data see the table under for the address considering the internal representation you can rightly interpret the read data as usual it is necessary to see the related tables in the specific description of the core It is not possible to read more than 127 registers at a time due to the memory limits of the buffer The order number of the parameters of the connections and of the internal sizes is the one related to the lists contained in the description of the control s core See the specific documentation for data area application The status variable is the same for all the implementations hereinafter you can find the meaning of the most important bit Brake 1 Mains supply off 0 off 1 on Drive status 1 Power soft 1 alarm actives start on Drive state 0 Stop 1 Run Working state 0 generator 1 Drive ready 1 motor referring to alarms and their enabling the order number for the bit of the word corresponds to the number of the alarm itself e g A2 external enable corresponding to the bit 2 of drive alarms 23 05 2005__ V1 4 IDE MACO OPEN DRIVE MOD BUS 2 3 15 OF hex Force Multiple Coils This function enables to set the value of digital inputs via serial line As previously said the digital inputs via serial line are all parallel to the related digital inputs via terminal board excep
55. DRIVE Feedback options In the first step is checked if the cyclic sense of motor phases and Endat sensor is the same after 1 second parameter P79 is updated with the test result and the drive consequently goes in alarm A14 or it starts the second test o P79 lt 0 meaning that motor phases have opposite cyclic sense of Endat sensor o P79 gt 0 everything is ok In the second part is checked the sensor reading well known that current test frequency is 0 5Hz the time needed for read again the same position is equal to time test 2 Motor polar couple number seconds At the end of the test P79 is updated again with the time test measured in ms o P79 time test lt 500ms test is successful otherwise the alarm A15 code d49 3 is triggered In the first check if it is correct the number of motor poles with help of P79 The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command by setting its digital input to 0 The subsequent tests can now be carried out Example Endat 40A AC motor OPEN DRIVE s1olojs o 4 0 Talc lale ls lela vials Toole 4 13 07 01 08 OPEN DRIVE Feedback options 7 ENDAT 2 1 MASCHIO A E a A 5V a al LI Le J2 Fee IDO x pi ea
56. DRIVE Standard closed loop application The functioning is summarised in the following table Converter DP UP DP DOWN DP LV running a line fe See H Oooo xo O ae ee increases ee ee ee a L x x stopped fe nee E gt ees ie ae SI pe x O E x x x x sopd u fx fx ts L gt H H L REF4 L v oS CT cra a NS a gt lt H active x does not matter L not active L gt H From Off line to On line The digital potentiometer reference requires to be enabled activation of function 106 after allocating an input or activating connection C25 C25 1 In the parameters P16 and P17 the maximum and the minimum admitted reference values can be marked for the digital potentiometer reference 2 1 4 16 bit analog speed reference optional When very precise speed sensors such as Sin Cos Encoders Endat can have an analog speed reference 10V converted into 16 bit digital so also to have an excellent resolution reference For correct wiring of this 16 bit speed reference see the speed sensor appendix to the installation manual Also for this speed reference it possible to condition with offset and multiplicative coefficient REF 16 A 1 16 10 P13 P14 The 16 bit analog speed reference requires activation of function 120 after assigning an input or activation of connection C40 C40 1 In internal quantity d6 this reference can be viewed as a percentage of the maximum working speed 2 1 5
57. E MOD BUS The OPEN drive products line is compatible with the protocol of the serial communication Modbus rtu At a physical level the supported standard is the RS485 see the drive installation manual for information about it Specifications about the Modbus Protocol are available at the Internet address www modicon com TECHPUBS intr7 html 1 Application Configuration 1 1 Node Configuration The drive configuration as Modbus node requires the correct configuration of the following parameters eee Serial identification number 0 255 Serial baud rate 19 2 38 4 57 6 19 2 ae By setting these parameters in real time they will become instantly active Note the communication mode in broadcast with address 0 is not managed 23 05 2005 __V1 4 IDE MACO OPEN DRIVE MOD BUS 2 Managed services The drive represents the slave in the communication this means that it is only able to answer to messages received if its address settable in P92 corresponds with the one indicated in the message itself If the address is wrong or there is an error of communication in CRC the drive will not send any answer as the protocol requires Every word transmitted is composed by 11 bit 1 bit for start 8 bit for the data and 2 bit for stop The parity check is not supported Sta ee a Stop Dato The Modbus protocol requires a long functions series our application requires less than these in the following table you can find the
58. PERATIONS OF THE REMOTE KEYPAD INDEX 1 PhySsicali disposition 2 0 c2 ecag ie tnd Wad idis ieee ance baited leas 2 2 Layout of the internal dIMENSIONS eee eee ee eene ee erent ee ee eae ee eee ae ee ee tates ee eaeeeeeeaeeeeeeeaeeeenneeeeneaas 2 2 1 Parameters PAR o cc tesiennetcbe cheek ncn iaer ia deat add bE tec eTEN eee eee aes 2 2 2 Connections CON i jah Agevinca ind il iba ideas nga aed Maia eee hed eden es 3 2 3 Alarms ALL Jooned ariari dca ites ie de eta a Ae ee ei 3 2 4 intemal values INT iciicctientadeian aes nets Mae eb AENEA TE avin ea nid ieee 4 2 5 Logics functions of input INP c ec eeeeeeeeeeeeeeeeeeeeeeeeeeeee iiei iret iie iiie E ia N 4 2 6 Logics functions of output QUT eee ceeeneeeeenee ee eeeeeeeeteeeeeeteeaeeeeeceeaeeeteeeaeeeteneaeeeseeeaaeeeeaaees 5 3 Status Of E E E dive atti deed via eine nevi eay Annie eis evita Ondv eee evi ee evince iby ae vitae evi 5 4 MAIN meni esaa shedbeacbeccen bed icesteabicces dadeccansbivcede babdchanba biecedtantigetebadttesbiantechenatotestcivfeseeen eens taciged 5 4 1 Under menu of parameters and connections management PAR and CON c cceeeeeenees 6 4 2 Visualization of the internal dimensions INT cececeeeseeeeeeee tence ee teneeeeeteneeeeeseneeeeeeteeeeetiaeeeeee 7 4 3 Alarms CALL arn E E E A eels tenets pect et ied Raabe heats beled Dede et ee 8 4 4 Visualization of the input and output INP and OUT ssssssesssesiss
59. RIVE Standard closed loop application 2 2 3 Time decode of frequency input The speed reference in pulses is very accurate no pulses is lost but for its nature it has an irregular shape because are counted the edges every sampling period TPWM and this produce a speed reference with many noise Also if the frequency input is constant between a PWM period and another could be counted a variable number of pulses one pulse This produce a low resolution reference expecially when the frequency input decreases For not use a big filter with frequency reference it s possible to use its time decode that has a good resolution It is measured the time between various edges of frequency input with resolution of 25ns reaching a percentage resolution not less than 1 8000 13 bit working to 5KHz of PWM increasing PWM resolution decreases linearly It is produced the speed reference as percentage of maximum speed knowing the pulses per revolution in input and the transformation ratio P11 over P12 Following the time decode there is a first order filter with time constant set in milliseconds into parameter P48 and a proportional gain imposed with parameter P49 as percentage C09 Input configuration 1 digital encoder 2 frequency sign 3 frequency sign 1 edge Other speed references analog and digital ea Lf se o 118 CER S am Time BASE a decode Ei gt O hi tT P48 P49 Speed reference Speed refrence C39 f_te
60. Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application The OPEN DRIVE standard application makes it possible to control the motor in speed or in current by inputting the references analogically and digitally Management of digital input output and Field Bus references can also be carried out 1 Application configuration 1 1 Application parameters FIELD VALUE UNIT Repr P02 Pabi amaos conecte oe et LAN TNP D sessa f o Meso 1 P03 14bit analog ref correction factor 2 AN INP 2 4000 1000 w Poste bit analog corectie offet ref 2AN INED siess 0 Taoa J P05 14bit analog ref correction Tactor 3AN INP 3 4000 100 w Foe Tibit analog conseto offer ef 3 ANID as o eaa J POT Digital speed reference OGD 1o00 00 nuw 16383 Pos Digital motor potentiometer staring speed 1000 20 Snax 16383 P Analog torque reference time itereomant 00200 f 00 ms f w P10 Offset on high precision analog reference 1999 o momy 1 LPI NUM Frequency input slip raio a683 owo OOO Be a el Offset correction factor for analog speed reference at 16 16383 pte ae 100 bit 16383 16383 Fas Speed reference frequency input time Mercon f 00 200 f 16 0 200 0 P180 Torque Feed forward II order time filter constant on 0 0 1000 0 speed reference ET Torque Feedforward Saruptine o f o 095 EISS Ca Deeremen mula Tuor on sped reece 00 1000 00 4085 B184 Veloci massima di
61. SOONER AWE ERNE Manual evision 4 0 IDE MAGNO GENERAL INDEX 1 Standard closed loop application I a D RD et tu ee ee ee 0 Application configuration References management Analog outputs management Input logic management Logic outputs management Common functions Storage and recall of the working parameters Voltage break control for mains feeding Braking management Power soft start Sequences of drive switch on and switch off Thermal protections hardware Current power relay Active bank parameters Brushless core Complete list of control values Setting basic parameters Auto tuning procedures Regulation Maintenance and controls Feedback Options TTL encoder for asynchronous motors only 1 2 Resolver for asynchronous brushless and reluctance motors 3 Encoder and hall sensors for brushless and reluctance motors 4 Incremental sin cos encoder for asynchronous motors only 5 Absolute sin cos encoder for brushless and reluctance motors 6 7 8 9 1 Endat 2 2 for asynchronous brushless and reluctance motors Endat 2 1 for asynchronous brushless and reluctance motors Simulated encoder signals Configuration of the encoder simulation output Sensor type alarm Remote Keypad Physical disposition Layout of the internal dimensions Status of rest Main menu ee a Modbus Protocol 1 Application Configuration 2 Managed services CANBUS 1 Configuration o
62. Speed frequency reference decoded in time The speed frequency reference decoded in time can be used as digital speed reference either by activating the logic function I 18 assigned to an input or with the connection C70 1 View in paragraph 2 2 3 for more detailed explanation Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 2 2 Speed frequency reference management This speed reference in pulses theta_precision can be provided in 3 different ways alternatives to each other that can be selected by means of connection C09 C 09 Mode of working 0 Analog reference 10V optional l 4 track frequency reference default 2 3 Frequency reference freq and up down counting all edges Frequency reference freq and up down counting one edge C09 input configuration P10 Offset 0 voltage converted in f g l digital encoder 2 frequency sign 3 frequency sign 1 edge P88 Voltage corresponding to maximum speed 216 BASE Encoder Input 119 f Speed reference in C43 pulses 4 theta_precision Incremental position loop reference C39 Input pulses 0 no 5 1024 1 64 6 2048 Time theta_rif_pos 2 128 7 4096 decode 125 3 256 8 8192 4 512 9 16384 Speed reference Of f_tempo set Analog digital To be used Speed reference in pulses must be enabled either by activating the function Enable reference i
63. a Soe A Se ES EAEE AAEE 10 4 1 Safety StOp eisavavsdeisageaccaseassdeaseguaecassncearascevadedawaraceeds aveatancuvieatesdguassaunavelaatepeaetaasnseseangevens Seceaes 11 4 1 1 Machine Sate Py SOc cracks sae e a O a aa a taadeconazie 11 4 1 2 Power part enableinput C731 ronen e a EE E E e E 11 5 Sequences of drive switch on and switch off ssesssssssesssessseseesseesseesseesserssseesssresseesseesseeesseee 12 5 1 PDEA VS BE AG Yc inenen A sas EA E A es EAA OE EKO RES 12 52 Drive switch ony RUN renane ie eta a A 12 5 3 Drive switch off s STOP r r eel ee aa a aaa 12 6 Thermal protect Ons hardWare sioteigire n a ia e i aiis E 13 6 1 Thermal protection drivnir nnn nin a a E E EE E AEE ERE ARE EA 13 6 2 M t rth rmal protections isn a ia ar o esn 13 T y Curtent power FC Loot cee rn a San a A a a Matias E a alae Oiled aken eat 14 amp Active bank parameters 35 chcassccseesesevreswasetessadenedaeaeaccins E E E Ea A E ATE EEES E 14 2 1 08 06 2009 IDE MACO OPEN DRIVE Common functions The standard functions of the OPEN DRIVE are common to all versions of the product 1 Storage and recall of the working parameters The drive has three types of memory 1 The non permanent work memory RAM where the parameters become used for operation and modified parameters become stored such parameters become lost due to the lack of feeding regulation 2 The permanent work memory FLASH where the actual working parameters become stored to b
64. able digital potentiometer speed reference value ST L APPL 107 _ Enable 14 bit analog reference value A13 C AP 109 Digital potentiometer UP _ o o CT TCL S APPL 110 Digital potentiometer DOWN CT APP Load final digital potentiometer value I12 Invert reference value Enable soft start Enable FIELD BUS reference values ae cee a Enable second parameter bank Enable space loop for electric axis Enable frequency speed reference value decoded in time i a 4 119 Enable frequency speed reference value 120 Enable 16 bit speed reference value ifpresent 121 STOP command Runlocked o Soo y 122 Enable linearramps oo S 8 23 Motorthermo switch S S O Freeze PI speed regulator integral memory o 125 Enable offset on overlap position loop reference L APPL 126 Enable speed regulator second bank parameters L API 129 Reserved for specific applications J o T O J EET G Se 163 See specific application file CE T S E Ee 1 4 Internal values Internal values are variables within the drive that can be shown on the display or via serial on the supervisor They are also available from the fieldbus Pay close attention to the internal representation base of these values as it is important if readings are made via serial line or fieldbus d00 Software version 5 d06 16 bit analog speed reference value Tx 16383 d09 Voltage reference value at
65. afety switch If the drive is fitted with a braking circuit check that the resistance value is not too high to absorb the peak power If the resistor is not too hot check the resistor and connection continuity and ensure that the circuit functions correctly A12 Internal alarm d49 0 Software Enable C29 Check and enable connection C29 Drive software enable d49 1 RUN without Power Soft Check why the Power Soft start isn t enabled start A13 Power not d49 0 The bridge that enables the Check the voltage of the three input phases delivered line by gradually loading Try switching off and then back on measuring the DC the DC bus condensers has Bus level with the monitor or tester not managed to load the If the problem repeats contact TDE as there must be a intermediate drive circuit soft start circuit malfunction sufficiently within the time set P154 d49 1 Safe Torque Off 24Vare Bring 24V to connectors S1 and S3 missing in connectors S1 If the user want to use the Safe Torque Off function and S3 For this reason it s without alarms it s necessary to set C73 1 enabled certified STOP function A14 U V W d49 0 Drive and motor not Swap over two phases and repeat the connection tests connection connected properly alarm d49 1 Check motor phases A15 Incorrect d49 0 Motor sensor arameters Number of motor poles P67 set incorrectly or more parameter being written sensor poles P68 t
66. age exceeds the threshold value in P108 the drive keeps it inserted until the voltage goes below the value of P109 in such a way the energy that the motor transfers onto the DC Bus during the braking is dissipated from the resistor This solution guarantees good dynamic behavior also in braking mode In the follow figure it s shown the Bus voltage and the speed during a dissipation on breaking resistance 2 7 08 06 2009 IDE MACO OPEN DRIVE Common functions DC bus voltage Energy dissipation on breaking resistor A maximum voltage limit allowed exists for the DC Bus voltage This is checked by the software threshold P107 and by the hardware circuitry in case the voltage exceeds this level the drive will immediately go into an over voltage alarm A11 to protect the internal capacitors In case of A11 alarm condition starts verify the correct dimensioning of the braking resistor power Refer to the installation manual for the correct dimensioning of the outer braking resistor A The braking resistor may reach high temperatures therefore appropriately place the machine to favor the heat dissipation and prevent accidental contact from the operators 3 3 1 Braking Resistance Thermal protection The Braking Resistance Thermal protection protects the resistance both from Energy peaks and from average Power that have to be dissipated It s possible to enable this protection setting C72 1 by default this function is di
67. analog reference A12 SO Ls L I 05 Enable speedjos o O T S E E I 06 Enable digital potentiometer speed reference J o o I 07 Enable 14 bit analog reference A13 i d d E i E I 08 Alarms reset y S O i E OE I 09 UP digital potentiometer S I 10 DOWN digital potentiometer S d E E I 11 Load last digital potentiometer value _ J o L I 12 Reversal reference o S OLG L E 1 13 Enable power soft start o S S H Ek I 14 Enable FIELD BUS references o S d Ei E x 15 Enable external flux only intheDVET E I 16 Activation second bank of parameters o J o b I 17 Enable space loop forelectricalaxis S O E I 18 Enable time decode speed reference in frequency J o oo I 19 Enable speed references in frequency o o Jo o i b I 20 Enable 16 bit speed reference ifpresent b I 21 STOP command docked run S d E i E I 22 Enablelineramps o OSO OL E I 23 Motor termo switeh o S S E i E I 24 Freeze PI speed regulator integral memory o J E I 25 Enable offset on overlap position loop reference fJ L 1 26 Enable second bank speed regulator gains So LE I 29 Reserved for special applications Jooo o BESE m 63 see special application enclosure o d NB pay particular attention to the fact that it is absolutely not possible to assign the same logic function to two different logic inputs after changing the connection value that sets a determ
68. analyse each regulation block in detail 4 1 Choosing control type speed or torque Torque current regulator Flux current regulator Modula tor Regulation controls speed by default here the application manages the speed reference values and the torque request is used as a reference value added to the speed regulator output feed forward Torque control can be enabled on its own by setting function 101 Torque control to high logic level or by setting C64 1 In this case only the torque request generated by the application will be considered as long it is within the admitted torque limits 3 18 08 06 09 TIDE MACNO OPEN DRIVE Brushless Core 4 2 Managing speed reference values The application generates two speed reference values o One f_somma_tot is a percentage of the maximum speed set in parameter P65 displayed in internal value d33 and on monitor 041 o The other theta_precision is electrical pulses for a period of PWM This particular reference is used so as not to be lose any pulses if the frequency input is used Internal normalization is done with 65536 pulses per mechanical revolution and the pulses are multiplied by the number of motor pole pairs in order to maintain sensor resolution After these two reference values have been processed they are added together in order to obtain the total speed reference value 4 2 1 Invertin
69. and limiting speed reference Values cee eeccecseesseceteceeeceeeeeeseecsaeenteeeeeeenseees 19 42 2 Linear and rounded Tamps 21s teiaeetds aca ior a an Wiest dies sare EE A AEA ARARE 20 4 23 Overlapped Space lop nnno a E E a E EAR a a A 21 4 3 Speed and stability regulator ao acca ares ave caeseutieseoeacasdseudtowacasansdvon sacha eteqnereaexeundasetdecneauetanens 21 4 3 1 2nd order speed regulator filter ci sca becasue actus ca louau tan Sunlarhut es aiguaus tac Sats sca atwat eta uanseaiees 22 4 3 2 Variable speed regulator gains sssssessssssessessreseesseestesesseestesrtsstesesersstessesressressessrsseesse 22 Ad Voltage regulation flux weakening sc sccsc sscsccsavetcaseaesacasdancsachsevecanssavesssastanscassavclacioansies 23 4 5 Current regulation sinio E EEE E AE E E E EEE E a 24 4 6 Choosing the active torque limit ss sneeseessesseesseesreseesseesresresstesseserssressessessessessessresseese 24 4 amp 6 Maxim mc rrent itsusien r eri ona besa a a Sod owed manana nee 25 461 4 Drive thermal image neres is cise renan a a a a a a a aaia 25 4 6 1 2 Motor thermal protection ssseseeessesseseesseessessrssresseesessresseeseesesseesesrsseesesessresseseessseese 26 4 7 Maximum speed limit on the basis of number of motor poles cccecsceesseeeteeeteeeeees 27 4 8 IPP Initial Pole position detection eeecccccssecsseceseceeseeeseecaeceseeneeeeeseecaeceaecneeeeeeensees 28 5 Miainitenanice and Controls ierna
70. apping parameter 1603h 4 Receive PDO Mapping parameter RPDO mapping must be executed by following the next directives as well 3 Set the number of mapped objects in Sub Index 0 to be equal to zero 4 Configure the addresses of all mapped objects 5 Indicate the correct number of mapped objects in Sub Index 0 2 3 Emergency Object EMCY The emergency object is transmitted by the drive when a new enabled alarm comes trough or when one or more alarms are reset The Emergency telegram is made by 8byte as shown in the following table Byte 0 1 2 3 4 5 6 7 meaning Emergency Error Manufacturer specific Error Code register alarms LSB MSB In our implementation only two codes of the error code are implemented 00xx Error Reset or No Error 10xx Generic Error 20 02 2007 OPEN DRIVE CAN BUS Speaking of the Error register object 1001h the following bits are managed corresponding to the following alarms Bit Meaning Corresponding alarms 0 General error all 1 Current A3 2 Voltage A10 All A13 3 temperature A4 A5 A6 In Manufacturer specific only the bytes 3 and 4 are assigned which contain the state of the various alarms of the drive Further 3 bytes for the transmission of possible other user s data are available The management of 1003h pre defined error field object memorises the chronology of the alarm events from start up of the drive
71. atiaeicsaandcastaans ea An a SE Aaa 8 1 4 J ter al values iepr iea i a Gedaadea ta ende teas nhadan data taasecaeatecanee 9 1 5 Output logic functions sseseeseeeseessesseseessressessrssressesstestesstessestsstesesrrsstessessrssressesseeseet 10 1 6 Mist otalatmSas ena a A a alee e a E a AE T 11 1 7 List of internal values for monitors and analog outputs ssseeseesesseessesessessesessresee 11 2 Setting DASIC p ram ter Simsa insanrn a aA ai aE a a hiaai aint Eata 13 2ds Aut t ning paraMetets oseni nein e e E RE eas EE R E 14 3 Auto tuning procedures s seeseseseeseeseesseessesetssressesstssresstsstsstesseestestesstesresrtsstessesressressesne 15 Se Sensorand motorpole tests acceso scesas aetsensdundirn E a E a o ER E EE EE 15 3 2 Identifying models of brushless motor ssssseneeseessessesessseesseseesseessessessressesseeseesseeseessee 16 3 2 1 Test 1 Reading stator resistor drop sessssessesereseessessessressesstsseessessreseesseeseeseesseesesressee 17 3 2 2 Test 2 Learning the total leakage induction drop reported to the stator eeeeeeeeee 17 4 GSU AGO s5c3actecuteccta shddaceratsuis ne ea decawadunns a a Aa A Bac aera A Ea A ia 18 4 1 Choosing control type speed or torque essessssessseeseeseesseesresessseeserssressessessressessessresseese 18 4 2 Managing speed reference Valles ca tstis cavsues ned Siegada ays wa ntatan ents se aa ssnaa un enanietean suoibes 19 4 2 1 Inverting
72. ck options OPEN DRIVE A WARNING Depending on feedback used connector J2 changes as written in the following 1 TTL ENCODER J2 MALE IDE macnod oy 8 5V ace x N 4 NV O im in LI CRD Go ar eo 11 PCI atl LI A PCI ll tl STEPH a a a se t UI L 4 II if 3S q PAT x lt i PAI ea 27 PAT ey ik ee TPN I PBT Ot PBI O XCTI TST Y J TIT PBI ane T PBI n 134 SHIELD SHIELD Fig 1 Only use 4 couples twisted and shielded couple cable with external shield Encoder feed is 5V and its differential output has to be Line Driver with a number of pulses per revolution that do not exceed 300KHz for channel at maximum speed current absorbed must not be above 100 mA Encoder feed can be different from 5V up to 24V in that case the power supply has to be external Connect drive pin 7 GND with external supply negative pole 1 1 SENSOR PARAMETERS It s necessary to set correctly the parameter P69 in order to define the Encoder used P69 Encoder pulses per revolution with range 0 60000 1 2 SPEED SENSOR TEST This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor phases and the Encoder correspond o Check that the number of motor poles is written correctly in
73. ctive low you have to program connection 10 with the number 6 C10 6 Note if you want to configure Output logic 0 to active low you have to set the desired connection to value 32 1 21 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Common functions OPEN DRIVE Common functions INDEX 1 Storage and recall of the working Parameters s cgs cseids iaveascascved sass adsasaadeventdeyaesieasadeeteedudsvace deca aad 2 2 Voltage break control for mains feeding s oeseseeeeeeessseesseesseesseressetssseesseessersseeesseesssresseesseessee 3 2 1 Continuing to work C34 0 default neseseseeesseessseessessseeeseeessstesseessessseessseessseessresseessee 3 2 2 Recovery ot Kinetic Energy C34 L Jernes teng sein i E a E eS oae 4 2 3 Overcoming mains breaks of a few seconds with flying restart C34 2 ee eeeeeeeeee 4 Dee mersency brake C34 3 nenian a E genes stuausaee ohopceancss ened Nas 5 Dy GYDA AS A ANAS CNIS ING aranea A N A E sbiwuaes 6 3 1 Recovery MAINS NELLY vgs sic seine eii ana aiia o e ET EE E E A EE 6 3 2 Braking with DC Bus control C4751 c sccscssceeatvesandageeneeesncceiaczescoscaysaeseensneonshaseendeedenaneaess 7 3 3 Kinetic energy dissipation on breaking resistance ss ssseesseesseesseesseessseesstessresseesseresseee 7 3 3 1 Braking Resistance Thermal protection sssssssssssesseessesesseeesseessresseesseeessseesseesseessee 8 4 y Power softstart Setna nte a A E AE EAE el u
74. d motor current then the overload time will increase Thus the overload will be available for a longer or identical time to the ones shown N B 3 the 200 overload is available until junction temperatures are estimated to be 95 of the rated value at the rated value the maximum limit becomes 180 For repeated work cycles TDE MACNO is available to estimate the drive s actual overload capacity 4 6 1 2 Motor thermal protection Parameters P70 thermal current as a of the rated motor current P71 motor thermal constant in seconds and the current delivered by the drive are used to calculate the presumed operating temperature of the motor considering an ambient temperature equal to the permitted maximum the losses are evaluated with the square of the absorbed current and filtered with the motor thermal constant When this value exceeds the maximum thermal current set in P70 value proportional to the square of this current the thermal protection cuts in enabling logic output 0 L 1 and alarm A06 The action taken may be programmed via connection C32 and by enabling alarm A06 If A06 is disabled no action will be taken If A06 is enabled action will depend on C32 e C32 0 default value the thermal alarm will cut in and reduce the current limit to match the motor thermal current e C32 1 the thermal alarm cuts in and stops the drive immediately Internal value d28 and analog output 28 display a second by second reading of th
75. d with the following objects 1200h 1 server SDO parameter 1201h 2 server SDO parameter 1202h 3 server SDO parameter 1203h 4 server SDO parameter The transfer mode depends on the length of the data to be transferred up to 4byte data length the modality expedited is used as it is simple and immediate for bigger size objects the modality segmented and block are both supported See the specific Communication Profile DS301 for having details on the different transmission modes hereinafter are written only some peculiarities of our implementation e a writing access to SDO must indicate the number of significant byte data set size e the writing data by SDO is liable to the same rules drive state keys tolerated range seen for the other modalities of parameters modify serial and keyboard e If SDO are structured in more segments the drive will start writing the data at the indicated address with the first segment without using a temporary buffer e A controller is intended to avoid that two SDOs access the same object at the same time e With the transmission in block modality the computation of CRC and the Protocol Switch Threshold are not supported 20 02 2007 OPEN DRIVE CAN BUS e Itis possible to set the block size of the SDO Block Download service at the address 2000h of the objects dictionary in the manufacturer specific section 2 2 Process Data Object PDO PDO are used for the data exchange in real t
76. e Pe J TDE MAGNO T 5DE h A A ON DATA 1J DATA lt We DATA PE i pi CW 4 se 6 CLOCK i H A CLOCK mor H cre bar pand LI Daci Ao Ar O LI Ey ale STI PESTS b 2 A My HS A wa p d I Lii4 9l Be x gt It fg B O XTI TACI SK YV TE 4 NS B itea ia N ISHED SHED D Fig 7 Only use 4 couples twisted and shielded couple cable with external shield Endat feed is 5V with current absorbed must not be above 100 mA Up today the Endat 2 1 sensors managed are ECN 1113 with 13 bit on turn 512 pulses sin cos EQN 1125 with 13 bit on turn 12 bit multi turn 512 pulses sin cos ECN 1313 with 13 bit on turn 512 2048 pulses sin cos EQN 1325 with 13 bit on turn 12 bit multi turn 512 2048 pulses sin cos OQO 00 In this case it s necessary to set P69 Encoder sin cos pulses per revolution 7 1 SPEED SENSOR TEST This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor phases and the Encoder correspond o Check that the number of motor poles is written correctly in parameter P67 and the Encoder used is correctly define as pulses per revolution with parameter P69 Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital input Once the test has started the motor will rotate i
77. e current the drive goes in alarm A04 with d49 3 because it isn t possible to work in current and tension limit A Keep many attention to the fact that at maximum speed the motor b e m f will not be grater than 550V rms because on contrary if the convert for any reason takes off the flux weakening current for an alarm or only because it is switched off the run command the motor will be able to produce a high voltage that could damaged the internal converter capacitors The constants of these regulator are established in engineering units by parameters P80 proportional gain Kp P81 time in ms of the lead time constant Ta equal to the integral regulator time constant multiplied by the gain Ta Ti Kp and P82 filter constant in ms It s recommended of not modify this gains because they are considered to be perfectly calculated eee IDE MACHO 3 23 OPEN DRIVE Brushless Core 4 5 Current regulation Current regulators generate the voltage reference values required to ensure torque and flux currents that are equal to their reference values The current signals processed by these regulators are expressed according to the maximum drive current which means that they are affected by the ratio between the rated motor current and the rated drive current P61 To ensure good control this ratio should not drop below 35 40 i e Do not use a drive that is more than two and a half times larger than the motor nor a motor that is more
78. e effects of the 2 Example if a 1st order filter with a time constant order filter will be better than the p33 0 8 ms passes to a 2nd order filter P33 0 4 ms Ist order filter only when the frequency is double that has to be set to have the same stability margin of the 2 order filter 4 3 2 Variable speed regulator gains Speed regulator gains can be varied according to actual speed P45 is the proportional gain at zero speed P46 is the initial lead time constant and P34 is the initial filter time constant Setting P44 a percentage of the maximum speed with the end variation gain speed establishes a linear gain variation that ranges from the initial values P45 P46 and P34 to the final values in P31 P32 P33 Setting P44 0 0 disables this function so that the gains set in P31 P32 and P33 are used P45 Ta lead time constant Tf filter time constant P46 P34 Kp proportional gain speed in of max speed 3 22 eee IDE MACHO OPEN DRIVE Brushless Core 4 4 Voltage regulation flux weakening The voltage regulator stars to work only when the absolute value of stator voltage produced reaches the reference imposed it is shown in the internal value d09 This could be happen if much current is required during a transitory or if it is required to work in steady state at speed greater than nominal motor speed The active voltage reference is always the smallest of two values which are normalized in relation to the
79. e is a possibility to connect more than one drive to the DC Bus with the advantage of energy exchange between drives in case of contemporary movements and only one energy exchange with the mains DC bus voltage Recovery of mains energy time 2 6 08 06 2009 IDE MACO OPEN DRIVE Common functions 3 2 Braking with DC Bus control C47 1 A further possibility of recovery control of kinetic energy exists if the outer braking resistance is not present or is not working properly it is possible to enable setting C47 1 the braking with DC Bus control This function when the Bus voltage reaches the threshold set in P123 limits the maximum admitted regenerated torque slowing down the motor In practice the motor will slow down in minimum time thus the over voltage alarm does not start This function is not active by default C47 0 in a way to leave the intervention of the braking circuit DC bus voltage Controlled braking of the DC Bus 3 3 Kinetic energy dissipation on breaking resistance The standard solution for the OPEN drive is the dissipation of kinetic Energy on braking resistor All the OPEN drives are equipped with an eternal braking circuit while the braking resistor must be connected externally with the appropriate precautions With this solution the Bus maximum level of voltage becomes limited through a power device that connects in parallel the resistor with the DC Bus capacitors if the volt
80. e motor thermal current as a percentage of the rated motor current When 100 is reached the motor thermal switch cuts in P96 can be set with an alarm threshold which when breached commutes logic output 0 L 14 to a high level indicating the approximation to the motor thermal limit The maximum motor thermal current depends on the operating frequency provided that the motor does not have assisted ventilation regardless of its revolutions Four permitted thermal current curves are used to reduce the current in accordance with motor operating frequency see diagram the required curve is chosen with Connection C33 as per the table 3 26 ite IDE MACHO OPEN DRIVE Brushless Core Itermica Inominale c 5 urve 100 Curve 3 50 70 100 120 flav fnm C33 Characteristics 0 _ No reduction according to frequency to be chosen for assisted ventilation motors 1 Choose for self ventilated high speed motors 2 poles where ventilation is more efficient There is no __ ses eton oe quence ove vote med ageng an a T e 4 7 Maximum speed limit on the basis of number of motor poles The drive is able to control brushless motors up to 36 poles but there are some automatic limitation of maximum speed on the basis of number of motor poles because of electrical frequency limit that is 1000Hz The maximum speed P65 is automatically reduced according the following equation with greater maximum speed to 300
81. e number the COM ports and the baudrates are scanned until the correct combination is found to abort the test disable the button When the communication is correct the message Communication OK is displayed and the user can access the program pressing the PASS button The download screen is displayed to indicate that data are being downloaded from the drive 23 05 2005 IDE MACO OPEN DRIVE Super visor Note the supervisor program uses the Modbus RTU communication protocol The supervisor program can work in OFFLINE mode to allow the setting and saving of parameters configurations in the hard disk without having a drive connected to the serial line To work in OFFLINE mode check the Serial state checkbox and then press the PASS button 6 PAGES DESCRIPTION 6 1 INTRODUCTION In the first page you can go back to the serial configuration page or terminate the program pressing ESC C DISPLAY ALARMS 1 0 DIAGRAM UTILITY C megittice MONITOR POSITIONER Key to enter in description of drive haracteristics and Stop key 23 05 2005 IDE MACO OPEN DRIVE Super visor 6 2 P C In this page the user can access all the parameters P of the drive the table contains the actual value of the parameter in the RAM of the drive and then the default value and the limits To change the value of one parameter select it in the table and write the new value in the field above t
82. e ramp time is imposed with the parameter P30 When the minimum speed is reached alarm A10 of minimum voltage starts and the motor is left rotating in free evolution If in the meantime the mains returns the emergency brake will be not interrupted DC bus voltage 540V C34 3 Emergency brake Minimum speed P52 Break time mains mains 2 5 08 06 2009 IDE MACO OPEN DRIVE Common functions 3 Braking management The drive is in a position to work on four quadrants therefore is also in a position to manage the motor recovery Energy There are three different possible controls 3 1 Recovery mains energy To be able to restore the kinetic Energy into the mains it is necessary to use another OPEN drive specifically the AC DC Active Front End AFE A Power Factor Controller deals with the position to have a power factor close to unity Specific documentation is sent back from specific details This solution is adapted to those applications in which the additional cost justifies another drive with a lot of energy that is recovered in the mains or for particular thermal dissipation problems in the use of a braking resistor Drive OPEN drive The use of an AC DC AFE permits a controlled voltage level of the intermediate power DC Bus and raises to best control the motors winded to a voltage close to the line voltage The drive s dynamic behavior results in a way that optimizes the work as motor or generator Ther
83. e to bring at high level the logical function I26 using one of the 8 logical inputs When the function is activated the standard data P31 P33 P65 and P21 P24 are automatically exchanged with the second bank P184 P191 and the connection C95 is set to 1 I26L gt H Speed regulator aT Lead time constant Ta Filter time constant Tf a 4 6H DL The exchange will be executed only if the working speed is lower than the new maximum speed this is useful to avoid the over speed alarm AO9 If the speed is greater than new maximum speed the activation command is ignored If the speed ramps are active your value will be automatically calculated to avoid sharp transitory The connection C95 keep memory of second parameters bank activation When the drive is switched on the connection C95 and the logical input 26 are tested if there is coherence no action is taken otherwise the connection C95 is automatically changed to line up with logical input 126 and the data are exchanged When the function is disabled bringing 26 to low level or clearing C95 0 data are automatically exchanged with initial value restore 1 16 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 3 Analog outputs management There can be a maximum of two analog outputs VOUTA and VOUTB 10 V 2mA To each of the two outputs can be associated an internally regulated variables selected from the list here below the allocation is made
84. e used in sequence C63 1 Save Parameters on FLASH 3 The permanent system memory where the default parameters are contained When switched on the drive transfers the permanent memory parameters on to the working memory in order to work If the modifications carry out on the parameters they become stored in the work memory and therefore become lost in the break of feeding rather than being saved in the permanent memory If after the work memory modifications wants to return to the previous security it is acceptable to load on such a memory a permanent memory parameter Load FLASH Parameter C62 1 If for some reason the parameters in FLASH change it is necessary to resume the default parameters C61 1 Load Default Parameters to make the appropriate corrections and then save them in the permanent working parameter C63 1 It is possible to save the data in the permanent memory also at drive switched on RUN while the loading may only be affected aside with drive switched off STOP after having opened the key to reserved parameters Restore the default parameters System permanent Non permanent memory with default memory RAM parameters FLASH Save parameters in FLASH C63 1 C62 1 Reading parameters and Permanent memory connections at start FLASH up Loading the FLASH parameters Because the default parameters are standard to be different than those that are A personalized it is correct that after the insta
85. eedback options 9 1 INCREMENTAL OR ABSOLUTE SIMULATED ENCODER The C54 connection allows to select two different modes of working for simulated encoder Incremental Simulated Encoder C54 0 default in this mode the simulated encoder channels follow the motor rotation in incremental way and the third channel zero pulse looses of meaning Absolute Simulated Encoder C54 1 in this mode also the third channel zero pulse is managed but in the first edge of sensor zero pulse there will be a correction into simulated encoder channels This choice is significant only for sensors with a zero pulse Encoder Encoder and Hall sensors Sin Cos Encoder in the other case Resolver Endat the Simulated Encoder is always absolute without any correction into simulated encoder channels The third channel generates a number of zero pulses in phase with channel A equal to the number of sensor poles divided by two P68 2 in particular there is one single zero pulse per motor revolution with a two pole sensor The position of the zero pulse depends on the fit of the sensor on the drive shaft with reference to the original position decoding the zero of the sensor position this position may be changed with jumps of 90 electrical with reference to the sensor by means of connection C49 according to the following table displacement The default value is 0 These electrical degrees correspond to the mechanical degrees if the resolver has two
86. efer to an abbreviated name for the document to be consulted 3 2 ite IDE MACHO OPEN DRIVE Brushless Core 1 1 1 List of free parameters value unit base oa Conse oft or bit analog erence AN INP_1 ssss o_ eson i apr Pos Conestive factor for 14 bit analog reference 2AN INP 2 sooo Too a 10 Arp P04 Corrective offset for 14 bit analog reference 2 AN _ INP 2 16383 100 F705 Coneaive facor for 14bit analog reference SAN INP 34000 000 ve fo A P06 Corrective offset for 14 bit analog reference 3 AN INP 3 216383 0 1683 104 1 APPL_ P07 Digital speed reference value QOGD 100 00 0 00 nmax 16383 APPL PO8 Motor potentiometer starting speed 1000 20 f nmax 16383 APPL oo Fite ins consan for analog gue eeenee sae oo200 00 m f 0 ar P10 Offset for high precision analog reference value EE NUN Regus italia Secs go fea a P12 DEN Frequeney input slip raio oes wo 1 am P14 Corrective offset for 16 bit analog speed reference value 16383 O0 16383 100 1 APPL P15 Logic input 108 digital filter 0oo200 22 ms 0 CW acceleration time 0 01s 199 99 S P23 OCW acceleration time o119999 100 s 100 422 P25 Rounded filter time constant 0120 50 s 10 422 26 Cunrentpower relay cutin threshold _ 0 251500 100 0 _ __ 4095 COMM P27 Filter time constant for current power relay Po mergnoy ea 01s19959 Too s
87. es for the actual control of the motor Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application p l Fieldbus Application Motor Analog control inputs t_rif a a Torque reference ALI 14bit 3 An alog and Nominal motor torque Digital Limit_i_aux e A I 2 14bit Ref gt Torque limit elerences Nominal motor torque i management f_somm I A 1 3 14bit _somma_tot maximum speed A 1 16 iit jj optional I Digital ref f_tempo Speed reference l Frequency maximum speed l input l A F A Frequency o zn i reference theta_precision B gt management electrical pulses per Tpwm B theta_rif_pos gt Position reference for overlap electrical pulses per Tpwm space loop 1 5 references for the motor control are generated by this block 1 a torque reference t_rif as percentage of the motor s nominal torque a torque limit reference limit_i_aux as percentage of the motor s nominal torque a speed reference f_somma_tot as percentage of the maximum speed set in parameter P65 another speed reference theta_precision in electrical pulses for the period of PWM This particular reference is to ensure no pulse is lost if frequency input is used Internal normalisation requires there to be 65536 pulses per mechanical revolution and these are considered the pulses multi
88. essi_standard_rd Reading standard inputs Reading 2022 VAR UNSIGNED32 Ingressi_appl_rd Reading application inputs Reading 2023 VAR UNSIGNED32 Uscite logiche_rd Reading logical outputs Reading 2024 VAR UNSIGNEDI16 word_vuota Unused Word Reading writing 2025 VAR UNSIGNED32_ double_vuota Unused Double word Reading writing 2026 VAR DOMAIN Tab_formati_extra Formats of extra parameters Reading 7 8 20 02 2007 OPEN DRIVE CAN BUS 2 6 1 Format parameters table Tab_format 2001h This table is made by 800word 200 4 4 words for each parameter 1 word it defines the parameter typology its internal representation and the number of decimal and integer digits which are shown up on the display Each nibble has the following meaning 0x0000 in hexadecimal number of digits visualised in decimal number of digits visualised in integer internal representation Direct value Percent of the base 100 base Proportional to the base 1 base Direct value unsigned WIN oO Type of parameter Not managed free changeable on line Reserved changeable off line key P60 TDE changeable off line key P99 alri elo For example 0x1231 gt free parameter proportional to the base the real value is internal representation base 4 word 2 word it defines the min value admitted in the internal representation of the parameter 3 word it defines the max value admitted in
89. est o P79 0 meaning that is missing at least one Encoder channel therefore A14 is triggered o P79 lt 0 meaning that Encoder channels are exchanged therefore A14 is triggered o P79 gt 0 everything is ok In the second part is checked the Encoder pulses reading well known from P69 parameter the number of edges in a mechanical turn P69x4 because are counted both two channels edge At the end of the test P79 is updated again with the total edges number o P79 P69x4 P69x4 lt 12 5 test is successful otherwise the alarm A15 code d49 3 is triggered In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles Then o P79 lt P69x4 the real pulses counted are less than expected Encoder could have some problems or the motor load is too high Try to increase the test current with parameter P114 that is the percentage of rated motor current applied in the test default value 50 o P79 gt P69x4 the real pulses counted are more than expected Could be some noise in the Encoder signals The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command by setting its digital input to 0 The subsequent tests can now be carried out Esempio Sin Cos Encoder 40A AC motor OPEN DRIVE 5 o eTspo 4 o xfals lalelei ATi Teee 07 01 08 OPEN DRIVE Feedback options 5 ABSOLUTE SIN COS ENCODER
90. etting of parameters P167 P168 and P169 compared to the Resistance plate Check the correct dimensioning of Braking Resistance Maximum Power related to maximum speed load inertia and braking time Check the correct setting of parameters P167 P170 and P171 compared to the Resistance plate Check the correct dimensioning of Braking Resistance Average Power related to maximum speed load inertia and braking time d49 3 Excessive flux weakening The drive was working in current and voltage limits current Check the speed current voltage working point Check the temperature reading in d26 and then check the motor With a PT100 if 273 15 appears the electrical connection towards the motor heat probe has been interrupted If the reading is correct and the motor is overheating check that the motor cooling circuit is intact Check the fan its power unit the vents and the air inlet filters on the cabinet Replace or clean as necessary Ensure that the ambient temperature around the motor is within the limits permitted by its technical characteristics Check the motor load Reducing it may prevent the safety switch cutting in Check the thermal current setting and correct if necessary P70 Check that the heat constant value is long enough P71 Check that the safety heat curve suits the motor type and change the curve if necessary C33 Reset the alarms and repeat the test by re enabling with C42 The external safety switch has cut
91. f motor poles with help of P79 The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command by setting its digital input to 0 The subsequent tests can now be carried out Example Resolver 40A AC motor OPEN DRIVE 5 o e spo 4 o xfays lalasi Ai Teee 07 01 08 OPEN DRIVE 3 ENCODER AND HALL SENSORS 8 fst BV Theo OX a aoe ae 14 SONDAC aa ai EDA SONDA C MALE b SONDAC i w NA SCNDAC t 7 LI boy p SONDA I SNA A ee J2 5 7 Ih x 4 a Ten geal if Casg 7 TDE MAO Jo moot E nae 7 SONDA BS LTB ea omer essa n Pei 1I 7 xT X P _ te 3 7 PCI j H IPCI jii a HO PAI T j G em OO 1 PAI JT PM COL lt u Pa wy ysl LI TE aen n A 9 PBI n I O PBI WU I it 1 7 PBI J S lt 7 PBI f i sept o CHED E gt i5 Feedback options Fig 3 Only use 4 couples twisted and shielded couple cable with external shield Encoder feed is 5V and its differential output has to be Line Driver with a number of pulses per revolution that do not exceed 300KHz for channel at maximum speed current absorbed must not be above 100 mA Encoder feed can be different from 5V up to 24V in that case the power supply has to be external Connec
92. f the application 2 Managed services Supervisor 1 Introduction 2 Minimum system requirements 3 Software installation 4 Connection with the drive 5 Getting started 6 Pages description OPEN DRIVE Standard closed loop application OPEN DRIVE Standard closed loop application Standard closed loop application references generation CONTENTS t Application COMB UTA ON neis sides be tieia as n ction casas setulae tegeatabaated eden aareti eee ass 2 Lil Application parameters iis vsssiiavincesdsececaiadevacaevis evaisaes ssaedissg acess Seaueaspasuatasdesedeasacedea EE 2 1 2 Application COMME CHIONS 45 6 ssncsscgessadeaedsackecsgntieesespeavaiuenstenales a o ESEE eee asadesooanys 3 13s Inp tIoicfuncti ons wasi sh EE E E EE E T EA EE ERE AeA 4 1 4 Application internal quantities seseeesseeesseessessseeesertesseesseesseesseeeseeessseesseesseesseeesseeessees 4 2 Referenic s management sirenen ae a E A E a scadanpuledes e EASES 4 2 1 Digital and analog references management sssssessessseseseeessseessetsseesseeeseeessstesseesseessee 6 2 1 1 PAE Dit ANALG A KALANA TE A EA E EE E EAE E 7 A Weis Digital speed reference JOT Simul yah NaN tial eile cee GIO elie Geko i oa 8 2A Digital Potentiometer speed reference ricci sicccsssessaccvssdensgaaceassacesecaaa snteccessesscataaesbaaeos 8 2 1 4 16 bit analog speed reference Optional ce ceescecesncecssececeeececeeeeecseeeecseeeecsteeeeneees
93. g and limiting speed reference values Logic function I12 Speed reference value inversion which is assigned to an input the default is input 6 or connection C36 are used to invert the reference value according to the following logic OR exclusive 112 0 C36 0 Reference value not inverted default values W2 1 C36 0 Reference value inverted 12 0 C36 1 Reference value inverted 112 1 C36 1 Reference value not inverted The reference value is inverted before the ramp thus if the ramp is not disabled the direction of rotation changes gradually default C36 0 and I12 0 There is another chance to invert positive speed rotation setting C76 1 Enabling this function with the same speed reference and speed measured the motor rotate in reverse direction Parameters P18 and P19 are used to limit the total reference value within a range set between these two values P18 is the maximum limit positive speed and P19 is the minimum limit negative speed These two parameters may be set at a range from 105 thus special settings may be used to limit operation within the 2 quadrants or within just one quadrant The following settings are provided by way of example P18 100 0 P19 100 0 100 0 lt speed reference value lt 100 P18 30 0 P19 20 0 20 0 lt speed reference value lt 30 P18 80 0 P19 20 0 20 0 lt speed reference value lt 80 0 P18 30 0 P19 60 0 60 0 lt speed reference value
94. gram of the drive motor system the user can set quickly the main parameters press the light buttons If the mouse arrow stops over one of the parameters a small windows pops up showing its limits and its default value To change the value of the parameters just write the new value and press enter parameters To display the selected value with description by clicking the left key of the mouse 23 05 2005 IDE MAGNO OPEN DRIVE Super visor 6 7 UTILITY Default data report creates a report of the default values parameters P1 P130 and connections C1 C80 the format of this file is html RAM data report creates a report of the RAM values parameters P1 P130 and connections C1 C80 the format of this file is html Alarms report creates a report of alarms Al A15 the format of this file is html Data saving creates a binary file in which the RAM values P1 P130 e C1 C80 are saved Data loading uploads to the drive the data previously saved in a binary file using the Data saving P1 P130 e C1 C80 Protected parameters and connections are modified on the drive only if P50 95 If some error occurs a warning message is displayed to avoid incorrect settings in the drive Display data saved this function displays the contentes of a binary file previously saved using the Data saving function The first 140 parameters and 80 connections are displayed description and value The switch selector and
95. han motor poles have been set setting alarm Simulated Encoder pulses Number of revolutions per pulse selected C51 is not compatible with the maximum speed P65 See Feedback Option enclosure 0 1 d49 2 Motor parameters being During the auto tuning test a magnetizing current reading self set P73 exceeded 80 check the motor settings in Parameters P61 P62 and P63 3 d49 3 Motor sensor parameters An error occurred during the Sensor and motor poles being self set test See specific test description in the Feedback Option enclosure 3 32 08 06 09 DE MACNO OPEN DRIVE Feedback Options OPEN DRIVE Feedback options FEEDBACK OPTIONS INDEX 1 TTLENCODER for asynchronous motors Only 2 ccccceceeeeceeeeeeeeeeeeeeceeeeceeeeeeseeeeaeeeenseeesaeeessaeeseeneetas 2 1 1 SENSOR PARAMETERS 22s ersteis dati ntee oh 0 eee tee dies Bee cette ee ae es ee 2 1 2 SPEED SENSOR TEST riiin a ie cieriele ee cliente eee ieee ea eee 2 1 3 TIME DEG ODE sate nieve ek ieee eee tec reece aed ak E ee see aes ae 3 2 RESOLVER for asynchronous brushless and reluctance motors cceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeres 4 2 1 SENSOR PARAMETERS parno teha ere cher eevee git de ata dere Moret 4 2 2 SPEED SENSOR TES Tenino ae ee alee te ee ep oe neces 4 3 ENCODER AND HALL SENSORS for brushless and reluctance motors 2 e seceeeeeeeeeeeeeeeeeetenes 6 3 1 SENSOR PARAMETERS doie t
96. he table then press enter to confirm sr 337 To enable the access to the protected parameters r 6699 The same is to read and set the connections c To access the direct commands decd press the button below the table and then select the desired command Direct access to P60 reserved parameters A Parameter is changing WIRO f e DISPLAY ALARMS 140 DIAGRAM TL ITY Comagnetica MONITOR POSITIONER cw Parameter value Scrol bar parameters Connection alue Connection is changing select the key button and set the value equal to 95 FP victi a puteran matopctensemetro army 1100 0 100 0 CSS Se eee r Bas a gt eae N e a ep bess _ _ _treeveah 3 o_o 1 Scrol bar connections Description up to 9 Description up to 9 selected connections selected parameters 23 05 2005 TD E MACO OPEN DRIVE Super visor 6 3 DISPLAY There are displayed some of the internal variables of the drive The graph shows the value of the variable versus the time The max and min displayable value can be selected with the two controls below the graph The limits can be increased beyond 200 overwriting the value of the controls Note the values are updated very slowly because of the serial communication time Thus these values can monitor smooth variations but not fast dynamic changes Graphic of the selected alue P C DISPLAY ALARMS 1 0 DIAGRAM UTILITY Cm gnetica MONITOR
97. heck if it is correct the Encoder number of pulses per revolution and the number of motor poles Then o P79 lt P69x4 the real pulses counted are less than expected Encoder could have some problems or the motor load is too high Try to increase the test current with parameter P114 that is the percentage of rated drive current applied in the test o P79 gt P69x4 the real pulses counted are more than expected Could be some noise in the Encoder signals Note for encoder with more than 8192 ppr the data showed in P79 loses of meaning The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command by setting its digital input to 0 The subsequent tests can now be carried out 1 3 TIME DECODE By default C74 0 the speed is measuring counting the number of pulses in the PWM period This produces a poor resolution especially at low speed and the consequent need of signal filtering see the related core document P33 parameter of speed regulator Setting C74 1 the speed calculation is done measuring the time between one Encoder pulse to the other This technique has a maximum resolution of 12 5 ns so the measure can be very accurate The Encoder time decode needs Incremental Encoder pulses with duty cycle of 50 a correct pulses time distribution and the cables would be shielded very well Example Encoder TTL 40A AC motor OPEN DRIVE FHSS OD BS Be 07 01 08 OPEN DRIVE Feedback options
98. hine safety C73 0 Setting C73 0 default the Safety STOP is compatible with EN945 1 specification against accidental starts When this input is at low logical level the IGBT power bridge isn t supplied and the motor couldn t run more than 180 motor poles couple for brushless motor for asynchronous motors the movement is zero also if there is a brake in the power bridge The converter signals this state with the alarm A13 d49 1 the output 017 Power electronic not supplied goes at high level the output 00 Drive ready goes at low level and the Power Soft start command is taken off To recover the normal converter state follow this steps Give 24V to the IGBT driver supply input Safety STOP At this point the converter goes at low level the output 017 Power electronic not supplied After 500ms the converter is able to start the Soft start sequence like to see in par 4 Reset the converter alarms for eliminate the alarm A13 The normal converter state is recovered 4 1 2 Power part enable input C73 1 Setting C73 1 the Safety STOP is like a Power part enable input Like in the preceding case when this input is at low logical level the IGBT power bridge isn t supplied and the motor couldn t run more than 180 motor poles couple for brushless motor for asynchronous motors the movement is zero also if there is a brake in the power bridge The converter signals this state with the output 017 Power e
99. htly configuring the following communication objects 1A00h 1 Transmit PDO Mapping parameter 1A01h 2 Transmit PDO Mapping parameter 1A02h 3 Transmit PDO Mapping parameter 1A03h 4 Transmit PDO Mapping parameter the PDO mapping must be done by following these instructions 1 the number of the mapped objects in Sub Index 0 must be equal to zero 2 the addresses of all mapped objects must be configured 3 the correct number of mapped objects in the Sub Index 0 must be indicated 20 02 2007 OPEN DRIVE CAN BUS 2 2 2 Received PDO In our implementation a maximum of 4 RPDO can be configured with the following objects 1400h 1 Receive PDO Communication parameter 1401h 2 Receive PDO Communication parameter 1402h 3 Receive PDO Communication parameter 1403h 4 Receive PDO Communication parameter The first 2 Sub Index related to each RPDO are managed in this way it is possible to set the transmission type transmission PDO receiving type 0 240 synchronous when the following SYNC is received the values received on the RPDO will be activated 241 253 reserved 254 Asynchronous the values received in the RPDO are immediately activated The RPDO mapping can be dynamically effectuated by rightly configuring the following communication objects 1600h 1 Receive PDO Mapping parameter 1601h 2 Receive PDO Mapping parameter 1602h 3 Receive PDO M
100. ied out enabled with C41 which will confirm that the parameters have been set correctly The system is now ready to read all the electrical motor characteristics with the Auto tuning test enabled with C42 as explained below 3 13 ite IDE MACHO OPEN DRIVE Brushless Core 2 1 Auto tuning parameters P76 AV rs Voltage drop due to stator resistor and IGBT at rated motor current as a of the rated motor voltage P77 AV rs Voltage drop due to total leakage inductance on stator rated motor current as a of the rated motor voltage P78 Stator time constant t sin milliseconds These parameters are extremely important for modelling the motor correctly so that it can be used to its full potential The best procedure for obtaining the correct values is the Auto tuning test which is enabled with connection C42 this test must be carried out with the motor decoupled from the load Failure to do so may invalidate the results If the tests cannot be carried out for any reason these values will have to estimated by reading the motor plate Rs Winding resistance phase to phase in Ohm Ls Winding inductance phase to phase in mHenry Inom mot Nominal current in Ampere Vxyom mor Back EMF between phases in Volt BEMF at nominal speed n Nom mot Rated motor speed in rpm from which it is possible to obtain NNOMMOT n motor polar couples Rated motor frequency in Hertz fNommot ies Sab VOB ater ooh ied nso ae
101. igned with the magnet there is a wait of 6 seconds with PWM 5KHz after that the function is finished and it goes at high level the logical function 018 IPP executed At this point it is necessary to switch off the run command and automatically is stored in parameter P75 the initial angle After that the drive is able to control the motor as long as the regulation card is switched on Obviously this IPP function must be repeat every time the regulation card is switched on 3 28 ite IDE MACHO OPEN DRIVE Brushless Core 5 Maintenance and controls The drive has a range of functions that cut in if there is a fault in order to prevent damage to both the drive and the motor If a protection switch cuts in the drive output is blocked and the motor coasts If one or more of the protection switches alarms cut in they are signalled on the displays which start to flash and to show a cycle of all the alarms triggered the 7 segment display shows the alarms that have been set off in hexadecimal Should the drive malfunction or an alarm be triggered check the possible causes and act accordingly If the causes cannot be traced or if parts are found to be faulty contact TDE MACNO and provide a detailed description of the problem and its circumstances 5 1 Malfunctions without an alarm troubleshooting MALFUNCTION POSSIBLE CAUSES CORRECTIVE ACTION Motor does not run RUN command not given Check operating status of input I00 Termi
102. ime in the objects dictionary that supports this function 2 2 1 Transmit PDO In our implementation up to a maximum of 4 TPDO can be configured with the following objects 1800h 1 Transmit PDO Communication parameter 1801h 2 Transmit PDO Communication parameter 1802h 3 Transmit PDO Communication parameter 1803h 4 Transmit PDO Communication parameter the 5 Sub Index related to every type of TPDO are all managed it is possible to set the transmission type see the following table the inhibit time with 100us resolution and the period of the event timer with lms resolution transmission PDO transmission type 0 Synchronous data are refreshed and transmitted with every SYNC received 1 240 Synchronous and cyclical the number indicates how many SYNC are in between two following transmissions 241 251 reserved 252 Data are refreshed and sent at the following RTR when the SYNC is received 253 Data are refreshed and sent when the RTR is received remote transmission request 254 Event timer cyclical transmission with a period time settable in ms in the Sub Index 5 255 Manufacturer specific it is settable time by time Note in the transmission type 255 it is possible to choose on which event the TPDO transmission works The event choice can be effectuated only during the compiling the software code The TPDO mapping can be dynamically effectuated by rig
103. in Watt in P170 d49 1 The Adiabatic Energy dissipated on Braking d49 0 The radiator temperature d25 is higher than the maximum P118 d Connection C46 runs a range of motor heat probes If C46 1 a PT100 is being used the temperature reading d26 must be higher than the maximum temperature P91 If C46 2 or 3 a PTC NTC is being used and its Ohm value d26 has breached the safety threshold P95 Motor heat overload The motor electronic overload safety switch has cut in due to excessive current absorption for an extensive period The RUN command was disabled during a test Auto tuning test unfinished A8 The control input can no longer detect the high level of the signal from the field that enables drive operation d49 0 Feedback option card and drive firmware incompatible Speed sensor Brushless Core DESCRIPTION CORRECTIVE ACTION Check the temperature reading on d25 and then check the radiator If 273 15 is displayed the electrical connection towards the radiator heat probe has been interrupted If the reading is correct and the motor is overheating check that the drive cooling circuit is intact Check the fan its power unit the vents and the air inlet filters on the cabinet Replace or clean as necessary Ensure that the ambient temperature around the drive is within the limits permitted by its technical characteristics Check parameter P118 is set correctly Check the correct s
104. in the permanent memory of the drive C63 1 At start up these data are considered and become operating 20 02 2007 OPEN DRIVE CAN BUS 1 2 Configuration of the communication objects The configuration of the communication objects CAN OPEN DS301 can uniquely be done via CAN At first switch on the drive is a non configured node which satisfies the pre defined connection set for the identifiers allocation for this the following objects are available rx SDO with COB ID 600h ID CAN node parameter P162 tx SDO with COB ID 580h ID CAN node an emergency object with COB ID 80h ID CAN node NMT objects Network Management in broadcast COB ID 0 for Module Control services and COB ID 700h ID CAN node for Error Control e The SYNC object in broadcast with COB ID 80h With the SDO available the drive can be totally configured as CAN node and only after the communication objects can be saved in the permanent memory using the proper command store parameters 1010h on the Sub Index 2 Also the object restore default parameters 1011h Sub Index 2 is managed to load all the default communication objects and to save them automatically in the permanent memory switch off and then on the drive to make objects operating 2 Managed services 2 1 Service data object SDO SDO are used to access the objects dictionary In our implementation a maximum of 4 server SDO can be available which can be configure
105. ined input check that the value has been accepted if not check that another has not already been allocated to that input In order to disable a logic input it s necessary to assign to it the logic function 1 this is the only value that can be assigned to more than one inputs t land funi fund iuad i und Luni Luni Lun For example to assign a specific logic function to logic input 1 you must first write the desired logic number for connection C01 C01 14 gt logic input 1 can be used to enable Fieldbus references The logic functions that have been configured become active H when the input level is at high status 20V lt V lt 28V and there is a 2 2ms hardware filter With the connection C79 it s possible to enable the active logic low state for a particular digital input it s necessary to sum 2 to the power of ordinal input number For example to set digital inputs IO and I3 to active low state set C79 20 23 9 Rev 1 7 08 06 09 IDE MACO 1 19 OPEN DRIVE Standard closed loop application The functions that have not been assigned assume default value for example if the function external enable is not assigned it becomes as default active H so the converter is as if there were no assent from the field 4 1 1 Input logic functions set in other ways In reality the input logic functions can also be set by serial connection and by fieldbus with the following logic o 100 Run stands
106. ion is done 20 02 2007 OPEN DRIVE CAN BUS 2 5 Objects dictionary communication profile area The following objects of the communication profile are supported Index Object Name Type Access Par hex 1000 VAR Device type UNSIGNED32 Reading 1001 VAR Error register UNSIGNED8 Reading 2 3 1002 VAR Manufacturer status register UNSIGNED32 Reading 1003 ARRAY _ Pre defined error field UNSIGNED32 Reading 23 1005 VAR COB ID SYNC UNSIGNED32 Reading writing 2 2 1006 VAR Communication cycle period UNSIGNED32 Reading writing 2 2 1008 VAR Manufacturer device name Vis String constant 1009 VAR Manufacturer hardware version Vis String constant 100A VAR Manufacturer software version Vis String constant 100C VAR Guard time UNSIGNED 16 Reading writing 2 4 100D VAR Life time factor UNSIGNED8 Reading writing 2 4 1010 ARRAY _ Store parameters UNSIGNED32 Reading writing 1 2 1011 ARRAY Restore dafault parameters UNSIGNED32 Reading writing 1 2 1014 VAR COB ID EMCY UNSIGNED32 Reading writing 2 3 1015 VAR Inhibit Time EMCY UNSIGNED 16 Reading writing 2 3 1018 RECORD Identity Object Identity 23h Reading Server SDO Parameter 1200 RECORD 1 Server SDO parameter SDO parameter Reading writing 2 1 1201 RECORD 2 Server SDO parameter SDO parameter Reading writing 2 1 1202 RECORD 3 Server SDO parameter SDO parameter Reading writi
107. ite IDE MACHO OPEN DRIVE Brushless Core 2 Setting basic parameters Setting the parameters that establish the exact type of motor used is important if the drive is to run correctly These parameters are P61 Rated motor current as a of the rated drive current P62 Rated motor BEMF between phases in Volt Rated motor speed in rpm Number of motor poles These parameters are fundamental in that they are the basis of all the motor operating characteristics frequency speed voltage current torque and thermal protection P62 and P63 can be read directly on the motor rating plate and P61 can be calculated with the following formula P61 Inom_motor 100 0 Inom_drive Example Drive OPEN 7 Inom drive 7A Motor Magnetic BLQ 64M30 Inom motor 6 4A 6 poles Nmax 3000 rpm BEMF 84V Krpm u gt Vnom mot 252V P61 6 4 100 7 91 4 P62 252 0 V P63 3000 rpm P67 6 There are also parameters that establish the maximum values for voltage thermal current and operating speed Maximum operating voltage as a percentage of the rated motor voltage Maximum operating speed in rpm Motor thermal current as a percentage of the rated motor current Motor thermal time constant in seconds These important parameters must be specified alongside the exact characteristics of the feedback sensor used See the Feedback option file Once the sensor has been established the Sensor and motor pole tests can be carr
108. ized the value of the parameter or of the connection that may be read at this point re press S once You return to the under menu list press twice S in fast succession less 1 seconds return to the main menu The system returns automatically to the status of rest and after 10 seconds of have past inactivity To modify the value of the parameter or of connection once entered into visualization it necessary press both keys and in that moment it starts to flash the decimal point of the first figure to the left warning that from that moment the movement of the keys and modifies the value the change of value may only by stop if the parameter is of kind n and only after having set up the code of access P60 if the parameter is of the kind r only after having set up the code of P99 access for the reserved parameters TDE MACNO kind t The parameters and the reserved connections TDE MACNO doesn t appear in the list if doesn t call the code of P99 Once the value is corrected You press the key S return to the under menu list making operational the parameter or the corrected connection if after correct the value want go out without change the values wait 10 seconds if the value is no touched for the exit press again the S key it is operative the same original value About parameters and connections the return to the status of rest display is in automatically way after 10 seconds from any kind of visualization 23
109. l if the motor or drive size have to be changed in that only the reference values P61 P65 have to be modified and the rest changes automatically The parameters are split up into free reserved and TDE MACNO reserved parameters The following rules apply o Free parameters may be changed without having to open any key even when running o Reserved parameters r may be changed only at a standstill after having opened the reserved parameter key in P60 or the TDE MACNO reserved parameters key in P99 o TDE MACNO reserved parameters t may be changed only at a standstill after having opened the TDE MACNO reserved parameters key in P99 While the key for these parameters is closed they will not be shown on the display Hereunder is a complete list of bruhless control parameters Take careful note of the reference values for each parameter so that they are set correctly The penultimate column shows the internal representation base of the parameters This value is important if the parameters have to be read or written with a serial line or fieldbus Example1 P7 Speed jog Normalization unit n yax Int rep base 16383 Internal value 4000 gt real value 4000 16383 24 4 of the maximum speed Example1 P62 Rated motor BEMF Normalization unit Volt Int rep base 10 Internal value 3800 gt real value 3800 10 380 0 Volt The last column explains the parameter a number refers to a paragraph in this file letters r
110. le to set the status of the input logic functions writing function by function with the array Tab_inp_dig_ field 2016h O low 32767 high or setting the state of all 32 logic functions writing the 32bit variable Ingressi_standard_wr 201Fh 7 13 20 02 2007 OPEN DRIVE CAN BUS The implemented logic provides that e The 0 logic input function drive switch on off is given by the logic AND of the different input channels terminal board field bus and serial line e All the other logic functions can be set high by the logic OR of the different channels At start up Tab_inp_dig_field 0 high in this way if this value is never over written the drive can be controlled via terminal board Application input logic functions 129 163 The status of the 32 application input logic functions is available in the 32 bit variable Ingressi_appl_rd 2022h in which every bit is related to the state of corresponding function Via CAN it s possible to set the status of all application input logic functions writing the 32bit variable Ingressi_appl_wr 2020h The implemented logic provides that e The 32 application input logic functions can be set via CAN e If one application input logic function is configured to a connector logic input the physical state imposes the state of corresponding logic function 2 6 9 Output logic functions objects 2011h 2015h 2023h Via CAN bus it is possible the monitoring the state of o the statu
111. lectronic not supplied that goes at high level the Power Soft start command is taken off but unlike before no alarms goes at active state To recover the normal converter state follow this steps Give 24V to the IGBT driver supply input Safety STOP At this point the converter goes at low level the output 017 Power electronic not supplied After 500ms the converter is able to start the Soft start sequence like to see in par 4 there is an automatic alarm reset and the normal converter state is recovered In this case it isn t necessary to reset the alarms after take back at high level the Safety STOP input it will be sufficient to wait 500ms soft start time after that the converter could be goes on run 2 11 08 06 2009 IDE MACO OPEN DRIVE Common functions 5 Sequences of drive switch on and switch off 5 1 Drive ready The Drive Ready condition 0 L 0 H is given by alarms are not active and at the same time both the software and hardware enables The software enable given by state of the connection C29 C29 1 of default The external enable the function of the input is assigned to the default input L I 2 If an enable is missing or an alarm is active the ready drive signal goes into an non active state o L 0 L and this state remains until the causes that brought about the alarm conditions are removed and the alarms are reset An alarm reset can be achieved by activating the function Alarm reset that
112. llation of each drive there is an accurate copy of permanent memory parameters to be in the position to reproduce them on an eventual drive exchange 21 2 08 06 2009 IDE MACO OPEN DRIVE Common functions 2 Voltage break control for mains feeding The mains break control is configurable through the following connections Connection Significance C34 Mains break out control 0 continuing to work 1 recovery of Kinetic Energy 2 free 3 emergency brake C35 Alarms automatically reset when the mains return 2 1 Continuing to work C34 0 default This operating procedure is adapted to those applications in which it is fundamental to have unchanged working conditions in each situation Setting C34 0 the drive even if the mains supply voltage is no longer available continues to work as though nothing has been modified over the control pulling the energy from the present capacitor to the inner drive This way making the intermediate voltage of the DC Bus will begin to go down depending on the applied load when it reaches the minimum tolerated value in parameter P106 the drive goes into alarm A10 of minimum voltage and leaves to go to the motor in free evolution Therefore this function will allow exceeding short term mains break out tenths hundredths of milliseconds on the basis of the applied load without changing the motor operation in any way DC bus voltage 540V 400V Minimum voltage allowed P1
113. logic level at least one time during the soft start either monitoring directly the DC Bus voltage with minimum threshold setup in P97 The function of Soft start enable may be assigned to one of the logic input thus to enable or disable the soft start through an external contact The power fault alarm power fault A03 that checks drive over current insert the soft start limiting current The soft start follows the following criteria Presence enable Cb Sn OP CC k x fo KO From default PR ON 1 and C37 1 thus connecting the drive to the mains supply the power is enable immediately with the soft charging of the capacitors The soft start charge of the intermediate circuit capacitors lasts a preset time set in P154 after this time the voltage level is checked to verify the voltage level reached if this is below the minimum P97 the soft start alarm starts A The drive is not enabled to switch on if soft start function has not ended successfully 2 10 08 06 2009 IDE MACO OPEN DRIVE Common functions 4 1 Safety Stop The OPEN drive converters have the possibility to give the separated IGBT supply see Installation manual This supply voltage can be see like safety STOP input and there are two different managements for this input selectable with C73 connection For OPEN DRIVE versions with Safe Torque Off safety function STO according A to EN 61800 5 2 and EN 13849 1 see STO installation manual 4 1 1 Mac
114. lt 30 0 3 19 eee IDE MACHO OPEN DRIVE Brushless Core 4 2 2 Linear and rounded ramps Setting C26 1 it s possible to enable this function so the speed reference value passes across a ramp circuit that graduates its variations before it is used Parameters P21 P22 P23 and P24 can be used to establish independent acceleration and deceleration slopes in both directions of movement establishing the time required to pass from 0 to 100 in seconds In particular see diagram P21 sets the time the reference value requires to accelerate from 0 to 100 P22 sets the time the reference value requires to decelerate from 100 to 0 P23 sets the time the reference value requires to accelerate from 0 to 100 P24 sets the time the reference value requires to decelerate from 100 to 0 Setting sensitivity is 10 msec and the time must be between 0 01 and 199 99 seconds The default values are the same for all the parameters and are equal to 10 sec Ramps can be enabled via a configurable logic input 122 which works parallel to connection C26 122 H is the same as setting C26 1 This input ensures maximum flexibility in ramp use in that the ramps are enabled only when required The ramp may also be rounded in the starting and finishing phases by setting C27 1 via the rounding time set in seconds in P25 with resolution 0 1 sec and a range from 1 to 199 9 sec default 10 sec Rounding can be enabled on its own with C27 1 which will filter
115. m The Startup time is the time necessary for motor and load to reach the maximum speed set in P65 with the nominal motor torque This data has to be set in milliseconds in parameter P181 It s useful to set some milliseconds of filter P180 on order to avoid too much noise on torque reference for the time derivative When it s enabled this function the torque reference t_rif cannot be impose using the analog and digital references see before The torque feed forward can be very useful in the servo drive application when the target is to follow very promptly the speed reference because it increases the bandwidth without using high gains on speed regulator Note 1 for understand if the torque compensation is correct it s useful to compare it with the total torque reference from speed regulator The internal monitoring variables are 042 for feed forward term and o5 for the final torque reference Note2 torque feed forward isn t appropriate in load variable inertia applications 1 15 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 2 5 Speed regulator second parameters bank This function is used to change on line the speed regulator parameters P31 P33 the maximum speed P65 and the linear ramps acceleration times P21 P24 to achieve a good reference resolution working at low speed For enable the second parameters bank P184 P187 it s necessary to set the connection C95 1 otherwis
116. meters P60 or reserved for the TDE MACNO visible after having written the access code TDE MACNO parameters P99 and modifiable only off line The characteristics of each parameter are recognizable from the code of identification as under 23 05 2005 IDE MACO OPEN DRIVE Remote Keypad co a 0 Oy O_O lt Ei E Ei l 0 000I o coo a not not for free parameter free not for free parameter value 1 for value 1 for P 100 n n offline parameter meea am aa aa TDE So t TDE MACNO parameter _ identify number 0 99 number 0 99 For example P60 r parameter 60 reserved 1P00 t parameter 100 TDE MACNO reserved 2 2 Connections CON They are certain connections that dimensions approach that are of numerical value comes connected to a function or a clear command for example ramp insertion C26 1 or no ramp C26 0 or save parameters on EEPROM memory C63 1 They are in free connections some of the like modifiable always On line other with converter in stop off line and reserved modifiable only off line and after access code to the reserved parameters P60 The characteristics of each connection are individually recognizable of identification code as under report not not for free connection free connection connection connection C n offline connection connection r reserved connection r reserved connection connection lidentify number 0 99 number 0
117. mpo f_somma_tot Input pulses 0 no 5 1024 1 64 6 2048 2 128 7 4096 3 256 8 8192 4 512 9 16384 If the input is a frequency sign reference it s very important to set C09 3 because only counting the rising edge it will be possibile to measure the time between one pulse and the other and not the pulse width The speed reference obtained could be used as in sum with the other analog and digital references see par 2 1 In the follow paragraph it is explain how to use frequency input decoded in time within the pulses reference in a electric axis 1 12 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 2 2 3 1 Electric axis with frequency reference decoded in time Manage a frequency position reference meaning ensure every time the correct phase between master and slave For obtain this result can be used the time decode of frequency input for giving the speed reference in feed forward enabling the overlap position loop to ensure the synchronization in phase between master and slave Set CON DESCRIPTION VALUE MEANING C43 e119 Enable speed reference in frequency Not enable C52e114_ Enable references from Fieldbus Not enable C700118 Enable Speed reference frequency input 1 Enable decoded in time With this configuration there is the follow control scheme Other analog and digital speed reference C09 Input configuration Ramps l digital encoder 2 frequency sign
118. n frequency 119 assigned an input or by means of connection C43 1 The incremental position reference is always enabled and it s possible to add an offset depending on analog and digital speed reference enable f_somma_tot 2 2 1 High resolution analog reference optional Putting C09 0 with the optional hardware an analog signal can be provided of 10V that will be converted into frequency while impulse counting will be taken from the high precision speed reference Parameter P10 permits compensation of any offset present in the analog input and is expressed in units of 10uV REF2 Parameter P88 permits setting of the voltage to which maximum speed will correspond default value of 10000mV or 10V 1 10 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 2 2 2 Frequency reference Two working modes can be selected with C09 o Setting C09 1 a reference can be provided with an encoder signal with 4 tracks of a maximum range varying between 5V and 24V and a maximum frequency of 300KHz o Setting C09 2 a speed reference can be provided with an frequency signal with a maximum range varying between 5V and 24V and a maximum frequency of 300KHz setting C09 3 will be manage the same input but internally will be count only rising edge this option is useful only if it is used the time decode see par 2 2 3 The number N of impulses revolution for the reference is set by connection C39
119. n the positive direction at low speed and all Encoder edges are counted During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy 4 14 07 01 08 OPEN DRIVE Feedback options In the first step is checked if the cyclic sense of motor phases incremental Encoder channels and absolute digital Encoder channel is the same After 1 second parameter P79 is updated with the test result and the drive consequently goes in alarm or it starts the second test The alarm A14 is triggered if the incremental channels have an opposite cyclic sense of motor phases and it is displayed o P79 0 meaning that is missing at least one Encoder channel therefore A14 is triggered o P79 lt 0 meaning that Encoder channels are exchanged therefore A14 is triggered If the incremental channels have the same cyclic sense of motor phases it is checked if the same is true also for absolute digital channel in this case the test continues without any alarm otherwise the alarm A2 is triggered con code d49 0 and it is displayed o P79 lt 0 difference in pulses 65536 360 between absolute initial and ending position In the second part are checked the incremental Encoder channels well known from P69 parameter the number of edges in a mechanical turn P69x4 because are counted both two channels edge At the end of the test P79 is updated again with the total edges number o P79 P69x4 P69x4 lt
120. n this case too with the active status doesn t appear any stop of the regulation the address of the alarm is preceded by the sign To exclude the event of an alarm You must enter into the menu to modify both the keys and and when the flashing point appears of the first number You can enable or disable the alarm with the keys or if the alarm is disabled appears the sign the to the left of the writing A XX Y From the status of modification returns to the list of under menu and You return operative the select made pressing S from the menu and from the under menu You turn automatically to the status of rest after a time closed to 10 seconds STATE OF REST STOP RUN COO Return on state of rest Push both and for enable disable ALARM MODIFY aloo YC IC alarm i disabled enabled fa ao Po Pa Flashing point 23 05 2005 IDE MACO OPEN DRIVE Remote Keypad 4 4 Visualization of the input and output INP and OUT From the INP or from the OUT You enter into corresponding list of under menu pressing S From the corresponding list of under menu with the keys and move to the address desired for the digital input I and the output O together to this in the box appear the status H if activate L if not active From this status You returns to the main menu pressing S UNDER MENU 1 00 L of i ale i
121. nal gain 0 1 100 0 8 Tii voltage regulator lead time constant 0 0 1000 8 Tfi voltage regulator filter time constant 0 25 ae nN o0 2 1024 pulses rev 1 100 0 Ixowwor 10 461 Dooe ee ee degree 1 f 31 2 0 32767 3 2 1 20 0 32767 3 2 2 15 0 3 2 2 ms ms ms ms ENS yy Flaln on ies Z iw Nn 4 6 1 2 jN N Nn J ooj x yy SENS P 0 1 1 0 83 Kpc current regulator proportional gain 0 1 100 0 1 9 8 Tic current regulator lead time constant 0 0 1000 0 m f 15 0 amp D 8 Tfc current regulator filter time constant 0 25 Oo m 8 Kp3 Bus control proportional gain 0 05 10 00 3 50 ERE 87 Main Supply voltage 180 0 690 0 400 Volt rms Voltage matches max speed 3 10010000 1800 0 00 5 00 onio 100 J 001500 130 0 10 9 02255 19 2 SERIAL 1 1 1 1 1 1 1 1 1 S cape z 7 1 1 10 1 1 0 1 0 0 0 0 0 0 00 0 1 1 00 P90 ry s N U p93 Serial baud rate D2 3Ass 5 0 19999 1500 COMM 00 2000 100 0 m95 46 25 COMM 97 Minimum voltage level for forced mains off 0 800 P98 7201200 COMM _ a Za el e ne Nn N EE Access key to TDE parameters 0 19999 H P101 PWM frequency 2500 16000 5000 E SSS SS a ee eT P114 Current in connection tests for UVW Poles and 0 0 100 0 50 0 I Nom MoT 32767 SENS reading Rs P129 Test current to establish AVis 0 100 0 32767 E ee Se
122. nals L1 L21 and L3 are not Ensure wiring is correct and check mains and motor wired properly or the power voltage is connection disabled Check any contactors upstream and downstream of drive are closed Motor does not turn Perform autotuning Terminals U V and W are not wired properly An alarm has been triggered See following paragraph Parameters programmed incorrectly Check parameter values via the programming unit and correct any errors Wrong Positive direction Invert positive speed rotation setting C76 1 Motor direction inverted Speed reference value inverted Invert reference value Motor revolutions cannot No reference signal Check wiring and apply reference signal if not be regulated present Reduce motor load Acceleration deceleration time times Check parameters and change if necessary Irregular motor is are too low acceleration and braking Load too high Reduce load Rated motor speed minimum or Check parameters and compare setting with motor Number of motor maximum speed offset or reference rating plate revolutions too high or too gain value are set incorrectly low Reduce load Motor does not turn Motor load changes a lot or displays Reduce load points smoothly excessive load points Increase motor size or use a larger frequency drive 3 29 ite IDE MACHO OPEN DRIVE Brushless Core 5 2 Malfunctions with an alarm troubleshooting CORRECTIVE ACTION AO FLASH When data is being writ
123. nce A I 2 2 Parallel bit at REF3 jog 2 Parallel bit at REF4 digital motor potentiometer 26 Ramp inclusion 3 Enable 14 bit analog reference A I 3 36 Reference signal software reversal 3 Impulses revolution selection FREQUENCY INPUT 40 Enable 16 bit analog speed reference 4 Enables speed reference in frequency 5 Enable FIELD BUS references 53 Enable locked RUN 70 Enable Speed reference frequency input decoded in time Enable digital inputs active low 0 255 Enable Torque feed forward on speed reference 0 not enabled 1 analog speed ref 2 frequency speed reference Enable offset on overlap position loop reference Enable overlap position loop memory clear when power is switched off C93 Analog input selection for multiplicative factor 0 4 O none 2 AI2 3 AI3 4 All6bit Speed reference selection with multiplicative factor O none 1 AI enabled 2 AIl6bit 3 NUM electrical gear Active bank speed regulator gains otr ee 1 0 0 1 aK ZIZI Q Q ojo 0 AIQ Ne eE Q j 0 1 AIQAQIQIQ NJU E 79 Q Ne N 2 2 2 2 2 2 2 2 C91 1 1 0 e O N Q Ne X Ww Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 1 3 Input logic functions INP LOGIC FUNCTION ASSIGNED 100 Run 101 Torque control 103
124. nd the problems present P79 1 it s wrong the Hall sensor cyclic sense Exchange A and C channels P79 2 it s missing at least one Hall sensor channel Check the Hall sensor channels presence 3 3 TIME DECODE By default C74 0 the speed is measuring counting the number of pulses in the PWM period This produces a poor resolution especially at low speed and the consequent need of signal filtering see the related core document P33 parameter of speed regulator Setting C74 1 the speed calculation is done measuring the time between one Encoder pulse to the other This technique has a maximum resolution of 12 5 ns so the measure can be very accurate The Encoder time decode needs Incremental Encoder pulses with duty cycle of 50 a correct pulses time distribution and the cables would be shielded very well Example Encoder and Hall sensors 40A AC motor OPEN DRIVE sfo e sfol4jo xfa ajs s a t vjayojojo 4 7 07 01 08 OPEN DRIVE Feedback options 4 INCREMENTAL SIN COS ENCODER J2 MALE J SER tht 7 GND a CRD G pond LI Lass EUN BAA CRIO SRU z X ae CRI br pud il Li e ME E les 2 amp YH LS ed bel OT heed SE bctbomnx pe awe 1B ne B E ES BAH LED Fig 4 Only use 4 couples twisted and shielded couple
125. nels are exchanged therefore A14 is triggered o P79 gt 0 everything is ok In the second part is checked the Encoder pulses reading well known from P69 parameter the number of edges in a mechanical turn P69x4 because are counted both two channels edge Then it is checked the Hall sensor channels presence and their cyclic sense that must be the same both motor phases and Encoder channels At the end of the test it s possible to have o No alarm triggered test is successful It s possible to read in P79 the total Encoder edges number P79 P69x4 P69x4 lt 12 5 test is successful Now disable RUN command by setting its digital input to 0 The subsequent tests can now be carried out o Alarm A15 code d49 3 is triggered there are some Encoder problems In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles Then P79 lt P69x4 the real pulses counted are less than expected Encoder could have some problems or the motor load is too high Try to increase the test current with parameter P114 that is the percentage of rated drive current applied in the test P79 gt P69x4 the real pulses counted are more than expected Could be some noise in the Encoder signals Note for encoder with more than 8192 ppr the data showed in P79 loses of meaning o Alarm A2 code d49 0 is triggered there are some Hall sensors problems Parameter P79 is helpful for understa
126. ng 2 1 1203 RECORD 4 Server SDO parameter SDO parameter Reading writing 2 1 Receive PDO Communication Parameter 1400 RECORD 1 receive PDO parameter PDO CommPar Reading writing 2 2 2 1401 RECORD 2 receive PDO parameter PDO CommPar Reading writing 2 2 2 1402 RECORD 3 receive PDO parameter PDO CommPar Reading writing 22 2 1403 RECORD 4 receive PDO parameter PDO CommPar Reading writing 2 2 2 Receive PDO Mapping Parameter 1600 RECORD 1 receive PDO mapping PDO Mapping Reading writing 2 22 1601 RECORD 2 receive PDO mapping PDO Mapping Reading writing 2262 1602 RECORD 3 receive PDO mapping PDO Mapping Reading writing 2 2 2 1603 RECORD 4 receive PDO mapping PDO Mapping Reading writing 2 2 2 Transmit PDO Mapping Parameter 1800 RECORD 1 transmit PDO parameter PDO CommPar Reading writing 2 2 1 1801 RECORD 2 receive PDO parameter PDO CommPar Reading writing 224 1802 RECORD 3 receive PDO parameter PDO CommPar Reading writing 2 2 1 1803 RECORD 4 receive PDO parameter PDO CommPar Reading writing 2 2 1 Transmit PDO Mapping Parameter 1A00 RECORD 1 transmit PDO mapping PDO Mapping Reading writing 2 2 1 1A01 RECORD 2 transmit PDO mapping PDO Mapping Reading writing 2 2 1 1A02 RECORD 3 transmit PDO mapping PDO Mapping Reading writing 2 2 1 1A03 RECORD 4 transmit PDO mapping PDO Mapping Reading writing 2 2 1 7 7 20 02 2007 OPEN DRIVE
127. o Ee ls ensure the motor phases and the sensor are set display 7 segments correctly A During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy If the drive sets off an alarm during the test an error has occurred Check to see which alarm has been triggered and deal with the problem accordingly o IfA14 d49 1 is enabled the test current is too low check if the motor phases are correctly connected to the drive o If A14 d49 0 is enabled connections U V W do not match the internal phases of the drive Invert two phases and repeat the test o If A15 d49 3 is enabled the values set do not comply with the motor pole and sensor settings At the end of the test check parameter P79 as it may give some indication as to the problem See the Feedback Option file for the meaning of P79 as it depends on which sensor is used The test is successful if this setting appears tal i alongside and the drive does not trigger an ri alarm 2 display 7 segments Now disable RUN by setting its digital input to 0 or with C21 0 The subsequent tests can now be carried out This test modifies the following parameter P75 Sensor phase angle 3 15 eee IDE MACHO OPEN DRIVE Brushless Core 3 2 Identifying models of brushless motor This test reads the basic electrical parameters that characterise the brushless motor being used so that it can be modelled After
128. o connect the PC to the drive e Connect to the RS485 port in the drive In this case it is needed a RS485 RS232 adapter the cable type and the pinout depend on the adapter used TDEMACNO can provide the RS232 485 adapter with relative cable 23 05 2005 IDE MACO OPEN DRIVE Super visor 5 GETTING STARTED SISTEM SET UP Here you can set he slave drives SLAVE CONFIGURATION number AL LINE CONFIG Language Descr SERIAL PORT COM 1 ossibility to select PC ommunication port Fl 19200 avrotesr G hanvas test T auto test when he user cannot Possibility to disable the serial line to display the monitor software pages without driver The first step to access the program is the setting of the correct communication parameters e the slave number set in the supervisor must correspond to the slave number set in the drive see parameter P92 e the baudrate set in the supervisor must correspond to the baudrate set in the drive see P93 e select the COM port where the communication cable is connected In the drive the default values are e Baudrate 19200 baud P93 19 2 e N slave 1 P92 1 The user can select the language that will used in the program The second step is to check if the communication is correct e manual test the communication between the PC and the drive is checked with the data set in the screen e automatic test the first 20 slav
129. o load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital input Once the test has started the motor will rotate in the positive direction at low speed and some measure are done on Resolver signals 07 01 08 OPEN DRIVE Feedback options During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy In the first step is checked if the cyclic sense of motor phases and Resolver channels is the same after 1 second parameter P79 is updated with the pulses number counted there are 65536 pulses every turn Resolver polar couples and the drive consequently goes in alarm A14 or it starts the second test o P79 lt 0 meaning that Resolver channels are exchanged therefore A14 is triggered o P79 gt 0 everything is ok In the second part is checked the Resolver channels reading well known that current test frequency is 0 5Hz the time needed for read again the same Resolver position is equal to Motor polar couple number time test 2 seconds Resolver polar couple number At the end of the test P79 is updated again with the time test measured in ms o P79 time test lt 500ms test is successful otherwise the alarm A15 code d49 3 is triggered In the first check if it is correct the Resolver poles number and the number o
130. of monitored values C55 __ Description 1 Current Current model referred to the motor s nominal current 2 Torque of currents refers to the torque of the motor nominal current 3 Power Refers to the motors nominal power The selected value is filtered with a first order filter with constant time setup in seconds in P27 and then compared with threshold setup in the parameter P26 if it is greater the high logic level brings the logic function 0 L 5 to the logic level high 8 Active bank parameters This function allows to switch over the internal sets of parameters and connections between two distinct memory banks drive must be switched off no RUN To activate this function it is necessary to use the logic input I16 configuring it on a logic input on both banks The connection C60 indicates the actual data bank in the permanent memory C60 0 bank 0 C60 1 bank 1 The commutation of the functions logic stage 116 brings an automatic variation of data of C60 and a successive automatic reading of data from the permanent memory c60 Permanent memory Indicates FLASH the active bank RAM working memory Data bank 1 On the front of commutation of 116 changes C60 and a reading from FLASH is required For initial configuration of the input function 116 follow these steps 1 Prepare in RAM the data in bank 0 configuring input function I16 and holding it to a low logic level make sure C60 0 2
131. on that makes it possible to obtain a terminal board adjustable speed reference through the use of two logic inputs to which are assigned the input functions digital potentiometer up 109 DP UP and Digital potentiometer down I10 DP DOWN The reference is obtained by increasing or decreasing an internal counter with the DP UP and DP DOWN functions respectively The speed of increase or decrease set by parameter P20 acceleration time of the digital potentiometer which sets how many seconds the reference takes to go from 0 to 100 keeping the DP UP active this times is the same as to go from 100 0 to 0 0 by holding DP DN active If DU UP are DP DOWN are activated at the same time the reference remains still The movement of the reference is only enabled when the converter is in RUN The initial reference value at the time of start up of the converter is set by the value programmed by the parameter P8 P8 2 0 default if neither the function last digital potentiometer value 120 DP LV not active by default nor connection C20 C20 0 default is active while the initial reference value remains the same as that when the converter was stopped even if power has been removed in the meantime when the DP LV function is active or connection C20 is active Thanks to this permanent memory even if the power supply is lost the digital potentiometer can be used as if it were a physical potentiometer Rev 1 7 08 06 09 IDE MACO OPEN
132. or values table tab_exp_osc 2004 0 c cee ccccceeseesceeeeeceeeeeeeceeeseeeeeeeneeenes 12 2 6 6 Management of the speed sensor hw_software 2007h and hw_sensor 2008h ccscee8 13 2 6 7 Management of the monitor objects from 2009h to 200Ch 201 2h 00 eeeeeeeeneeeseeeeeneeeees 13 2 6 8 Input logic functions objects 2010h 2013h 2014h 2016h 201Fh 2020h 2021h 2022h 13 2 6 9 Output logic functions objects 201 1h 2015h 2023h ee eeeeeeeseeseceeceeeeeeseeeeeeeseeeeneeeaes 14 2 6 10 Status words objects 2017h 2018 and 2019 00 ee ccceesecseceseceeceeeceeeeceeesseeseeeeeneecneeenes 15 2 6 11 Control reference via CAN BUS objects 201 Ah 201Bh 201Ch and 201Dh eeeceeeeeee 15 7 1 20 02 2007 OPEN DRIVE CAN BUS OPEN DRIVE line products are compatible with CAN open Communication Profile DS301 of CiA rev 4 02 This document describes the mandatory and the optional functions that complete the implementation 1 Configuration of the application 1 1 Configuration of the node The drive configuration as CAN node includes the use of the following customer parameters of conventional use Name Description Range Default P162 ID CAN BUS node 1 127 1 C48 Configuration CAN BUS baud rate 0 7 0 1 Mbit s 0 1 Mbit s 1 800 Kbit s 2 500 Kbit s 3 250 Kbit s 4 125 Kbit s 5 50 Kbit s 6 20 Kbit s 7 10 Kbit s These parameters must be rightly configured and saved
133. parameter P67 and the Encoder used is correctly define as pulses per revolution with parameter P69 Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital input Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted A 4 2 During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy 07 01 08 OPEN DRIVE Feedback options In the first step is checked if the cyclic sense of motor phases and Encoder channels is the same after 1 second parameter P79 is updated with the test result and the drive consequently goes in alarm A14 or it starts the second test o P79 0 meaning that is missing at least one Encoder channel therefore A14 is triggered o P79 lt 0 meaning that Encoder channels are exchanged therefore A14 is triggered o P79 gt 0 everything is ok In the second part is checked the Encoder pulses reading well known from P69 parameter the number of edges in a mechanical turn P69x4 because are counted both two channels edge At the end of the test P79 is updated again with the total edges number o P79 P69x4 P69x4 lt 12 5 test is successful otherwise the alarm A15 code d49 3 is triggered In the first c
134. plied by the motor s number of polar pairs this so as not to lose sensor resolution a incremental position reference theta_rif_pos in electrical pulses for the period of PWM that will be the reference for the overlap space loop Inside the motor control the two speed references are added up after they have been suitably adapted Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 2 1 Digital and analog references management References from Field_Bus D10 Torque reference trit D32 Torque limit limit_i_aux multiplicative factor if C94 1 f_fieldbus D33 P16 Speed reference C25 O f_ somma tot DP UP C20 o 111 SEG Pon x G i D DPDOWN RUNE 105 D06 multiplicative factor if C94 2 C70 1 18 100 Speed frequency reference 1 05 decoded in time f_tempo It s possible to enable separately all references using connections or logic input functions For speed and torque references the active reference is the sum of all enabled references for torque limit prevails the more constrain active reference between the sum of analog and the Fieldbus references 1 6 Rev 1 7 08 06 09 IDE MACO OPEN DRIVE Standard closed loop application 2 1 1 14 bit analog references There can be up to 3 differential analog inputs A I 1 A I 3
135. r P67 The test is successful if the drive switch off and does not trigger an alarm Now disable RUN command by setting its digital input to 0 In this case at the end of the test P79 is updated again with the total edges number o P79 P69x4 P69x4 lt 12 5 test is successful In the event that the alarm A15 code d49 3 is triggered P79 is updated again with the total edges number In the first check if it is correct the Encoder number of pulses per revolution and the number of motor poles Then o P79 lt P69x4 the real pulses counted are less than expected Encoder could have some problems or the motor load is too high Try to increase the test current with parameter P114 that is the percentage of rated drive current applied in the test o P79 gt P69x4 the real pulses counted are more than expected Could be some noise in the Encoder signals In the event that the alarm A2 is triggered with d49 0 it s meaning that there are some problems into Encoder absolute channels The internal value d49 is updated with the time in milliseconds between two identical absolute positions the correct value is time test 2000 Motor polar couple number ms Check if the parameter P67 is correctly set than analyze the absolute channels internal monitor value 47 and 48 Example Sin Cos Encoder 40A AC motor OPEN DRIVE sJofo sfo 4 o x a s al2 3 e t vfa s ofo o 4 11 07 01 08 OPEN DRIVE Feedback options 6 ENDAT
136. r at the rated motor current as a of the rated motor voltage P78 Stator time constant Ts Kpc current regulator proportional gain Tic current regulator lead time constant A During this test the motor may start rotating but at low speed 3 17 eee IDE MACHO OPEN DRIVE 4 Regulation Brushless Core The regulation system consists of a speed regulation loop that manage the reference values from the application and generate reference values for the internal torque current loop All the loops are controlled by integral proportional regulators with an error signal filter and work with normalized signals so that the regulation constants are as independent as possible from the size of the motor in relation to the drive and from the system mechanics An additional space loop that overlaps the speed loop can also be enabled Pmtrs P42 and P43 Limit_i_aux Tnom Current limit gt a N T_rif Tnom f somma_tot gt n max Theta_precision impulsi Theta_rif_pos gt lINV gt pulses D32 Torque limit choice Torque limit Torque request D33 D14 Speed ref value Inversion Linear and ref value rounded ramps Inversion Overlapping space loop ref value regulator D30 ae oe ee ae mon ed 101 OR C64 The following paragraphs
137. r_B 200Ch are circular buffer where the internal values selected by C15 and C16 are stored Moreover parameter P54 P55 and P56 are involved P54 sets the sample time of the monitor units PWM period P55 sets the post trigger points P56 sets the trigger level if this is effectuated on the monitored internal values See the product documentation for detailing of the monitored internal values The object Tab_ose 2012h is an array of 64 internal values with the most recent values of all the monitoring variables In this way the single objects can be mapped as PDOs to keep under control the internal values of the drive 2 6 8 Input logic functions objects 2010h 2013h 2014h 2016h 201Fh 2020h 2021h 2022h The management of the input logic functions is totally controlled via CAN In the variable inputs 2013h it is possible to read the status of the 8 input available in the terminal box in the less significant bit The 8 logic input are configured by the C1 C8 connections each one checking a particular input logic function Standard input logic functions 100 128 The status of the 32 input logic functions is available in two different dictionary objects the array Tab_inp_dig 2010h in which it s possible to read function by function using sub index logic state 0 low 32767 high and the 32 bit variable Ingressi_standard_rd 2021h in which every bit is related to the state of corresponding function Via CAN it s possib
138. raded rear a beatles a theme arate pra Ne ae ite esa eae a 6 3 2 SPEED SENSOR TEST rrara a edad e el ods ae edd oe ha Se Sad cg NE 6 3 3 TIME DEG ODE oiiaee e ae paaa eels doen eee ae eels A E AE a N E ed 7 4 INCREMENTAL SIN COS ENCODER for asynchronous motors only sssesesesseessesrrereerierrerrerreererrrers 8 4 1 SENSOR PARAMETERS ei a a ede te a e aa eaea a aaaea 8 4 2 SPREDS NSO R E O sich 8 oats ue tat a a a a e eea araa 8 5 ABSOLUTE SIN COS ENCODER for brushless and reluctance motors ssesssesseeereeeseeesessrrerree 10 5 1 SENSOR PARAMETERS a pa cee a a e a cheese a aE EN 10 5 2 SPEED SENSOR TEST arah e Men r a lead Aia a aaaea a tte lana 10 6 ENDAT 2 2 for asynchronous brushless and reluctance motors cccssseeessseeeesesseeeeesteeeeeesseeeeess 12 6 1 SPEED SENSOR TEST cice a aaa E deed ee tected ees 12 7 ENDAT 2 1 for asynchronous brushless and reluctance motors cceeecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 14 7 1 SPEED SENSOR TEST sis 502005 6 fchce tien ein teers aden Ae rs Gide ete ns ee ee 14 8 SSIMULATEDsENGCODER SIGNALS wets a Ue tM cad las Naas De Dae ed 16 9 CONFIGURATION OF THE ENCODER SIMULATION OUTPUT ccccceeceeeceeeeeeeeeeeeeeeeeeeeeeeeeeees 18 9 1 INCREMENTAL OR ABSOLUTE SIMULATED ENCODER 2 c cccecceeeeeeeeeeeeeeeeeseeeeeeeeneenseees 19 10 SENSOR TYPE ALAR My a hed rte llr mere e aa eaa aa rayne ash ee Ea ea aa aaae add el 19 4 1 07 01 08 Feedba
139. re aer a e aire a a oe manteoeers 29 5 1 Malfunctions without an alarm troubleshooting sssssessesessssessesssseesseeseesresseeseeseesseesee 29 5 2 Malfunctions with an alarm troubleshooting ccceecceeseesseeeseceeeceeeeeeseeceaecnteeeeeeenseees 30 3 1 ite IDE MACHO OPEN DRIVE Brushless Core The Brushless core controls the current or speed within a feedback vector AC brushless motor The speed and current reference values are generated by the application See specific documentation for further information As an absolute position value is required for the sensors managed with an optional internal electronic board incremental TTL Encoders with Hall effect sensors Resolver absolute Sin Cos Encoders and digital sensors as Endat and Hiperface may be used However it s possible to use incremental sensor but every regulation power switch on is necessary to execute the IPP Initial Pole Position detection See the Feedback Option file for information about connecting the sensor correctly and the functional tests The Brushless core also manages the auto tuning test which is crucial if the control is to adapt perfectly to the motor and to ensure excellent dynamic performance all round 1 Complete list of control values 1 1 Parameters The parameters are drive configuration values that are displayed as a number within a set range The parameters are mostly displayed as percentages which is especially usefu
140. rent module APPL ee aa of programmable analog output 2 63 64 ee ee ee APPL ESS APPL Fo ae a aa nee aa E T oo E C23 Enable 14 bit analog reference value AIZ 0 1 0 Ta C24 Enable 10G digital speed reference value 7 o1 o am COs Enae digital potentiometer speed reference value 0 1 0 ap 422 a7 Rowded ramp oo o O o a C28 Stop with minimum speed or lo CT EEE OO COM C31 Enable 14 bit analog reference value AIS 01 0 apr C33 Choose thermal euve o3 o Asisedventilaion 4612 Managing mains failure 0 3 Trying to work on COMM 0 trying to work 1 recovery 2 free 3 emergency brake mains failure Automatic alarm reset when mains back on oi 0 COMM Invert reference signal software 0 31 a z 5 3 6 ae IDE MACHO OPEN DRIVE Brushless Core Enable soft start Enabled COMM BSS SSS SSS SS SSS SSS SSS SS SS SSS SSS SS SSS Se Bs Choose pulses rev FREQUENCY INPUT 9 5 1024impulses rev APPL Enable 16 bit analog speed reference value ifpresent 01 0 o APPL Enable frequency speed reference value o of CCPL a a ee eed Enable smart brake Pt f TE COMM E a a se M ae ar as C55 Choose value for current relay 0 2 Current module COMM 0 I Tnommor 1 It It nom 2 P P nom See eee ee ee eS SSE Reset CAPTURE monitor oi f of gt I E N Read default parameters oi f of COMM Save parameters in permanent memory FLASH oi f COMM Inte
141. rvention edge monitor TRIGGER Lo ee Raising edge up down Enable frequency speed reference value decoded intime 01 0 CALL 1 2 2 Reserved connections CON DESCRIPTION Default meaning value Meaning of logic input 1 Reset alarms 2 External enable APPL Enable ref ATI APPL Run PPL Enable ref A I 2 PPL 3 I es 4 06 Meaning of logic input 6 12 Towards CW CCW PPL Meaning of logic input 7 5 Enable JOG PPL 2 Enable ramps PPL 1 3 2 channel Encoder Meaning of logic input 8 2 Frequency input setting 0 3 0 analog digital encoder 2 digital f s 3 digital f s 1 edge Meaning of logic output 1 32 31 Meaning of logic output 2 32 31 Run PPL Drive ready PPL End of ramp PPL Speed above minimum PPL Meaning of logic output 3 32 31 Meaning of logic output 4 32 31 2 We eS SS III Meaning of 14 bit analog input A I 1 0 2 0 speed ref 1 torque ref 2 torque limit ref Meaning of analog input A I 2 14 bit 0 speed ref 1 torque ref 2 torque limit ref Meaning of analog input A I 3 14 bit 0 speed ref 1 torque ref 2 torque limit ref SSS Se eae C Enable sensor and motor phase tests 0 0 0 0 az az Em E Speed reference value APPL Torque reference value APPL Torque limit ref value APPL 41 C42 Enable auto tunings Enable motor thermal probe management 0 no 1 PT100 2 PTC 3 NTC 4 123 Motor PTC enabled COM Ww Go NTR ee ee
142. s eee P151 Xb cubic coupling zone amplitude 0 50 0 16383 iz P152 Yc compensation at rated drive current 0 100 0 100 0 P102 32767 3 4 ae IDE MACHO OPEN DRIVE Brushless Core PAR DESCRIPTION Range Default Normalization Int rep See value unit base P153 Xoo dead zone amplitude 0 50 0 00 nomaz 16383 SSS a a SS e S ee a eee P162 CAN BUS node ID 1 127 1 1 FIELD P163 Enable alarms 100 0 100 0 16383 E Sear ee ce ee N P167 Braking resistance value 1 1000 82 Ohm COMM P168 Braking resistance Maximum Adiabatic Energy 0 05000 45 Koue ComM P160 Time to test the Maximum Adiabatic Energy 1 3000 2000 ms comm P170 Braking Resistance Maximum Average Power 1430000 150 wa comm PITI Average Power Filter time constant 1 20 20 s com P172 Vous measure fler osmo s eme P173 Maximum delay admitted between 2 bytes same fame 0 19000 32 oms 1 m a a a eee eee P177 DC Bus logic output function 020 threshold 220 0 1200 0 400 0 vot f 10 1 1 3 List of TDE MACNO reserved parameters PAR DESCRIPTION Range Default Normalization Int rep See value unit base P100 Value ofacoess key to reserved parameters oso f Jofo P102 Dead time compensation onoo o0 maT 521 P105 Corrective factor for Bus volage 80 0100 100 n o PPro forse ADI o ooo oo avm TT TC Pr 100 0100 0 0 0
143. s exceeds threshold PITT O T oe 08 06 09 IDE MACO 4 2 1 4 6 1 fay Kae Fae nh Fo MI AJIN Re OPEN DRIVE Brushless Core See specific application file 1 6 List of alarms Hereunder is a list of all the alarms managed Some alarms have more than one meaning if these are triggered check internal value d49 to establish the cause ALARMS Failed attempt to save data in FLASH Par FLASH contains altered data Absolute sensor alarm SinCos 0 gt Absolute sensor channels and motor phases with opposite sense 0 Absolute sensor channels with problems Encoder and Hall sensors 0 Hall sensors with wrong cyclic sense P79 1 or missing P79 2 0 gt Hall sensors not aligned with internal absolute position error gt 45 A Radiator thermal alarm radiator temperature too high 1 Braking Resistance Instantaneous Power 2 Braking Resistance Average Power 3 Excessive flux weakening current A8 Extemalalarm gt alarm AS Eem o sensor 0 HW board and SW incompatible 1 sensor present 2 over speed for 10 consecutive Tpwm Minimum power circuit voltage All 1 Power circuit Power circuit overvoltage A Power creutovervolge alarm 0 C29 1 1 Run command without power soft start 2 Run command with trad gt P119 A13 Soft start not enabled 0 power soft start problems 1 Safe Torque Off A14 Connection U V W error alarm 0 phase exchanged 1 motor not
144. s of the 4 logic outputs in the 4 less significant bits of the variable output 2015h o the status of the 32 logic output functions in the array Tab_out_dig 2011h using the sub index Like the inputs logic levels are 0 low and 32767 high o the status of all 32 output logic functions in the 32 bit variable Uscite_logiche_rd 2023h in which every bit is related to the corresponding function 7 14 20 02 2007 OPEN DRIVE CAN BUS 2 6 10 Status words objects 2017h 2018 and 2019h the object 2017h is available as status word of the drive with the following meaning Break 1 Mains break 0 off 1 on Status 1 Power swit 1 Alarm active on Operating Drive status 0 0 Stop generator 1 Drive ready t m tor 1 Run The object 2018h is available as the status of the different alarms of the drive bit by bit for example the status of A8 alarm is shown by the bit n 8 of the word The object 2019h is the alarm enabling mask Again the meaning is bit by bit This variable is available as read only access see parameter P163 for read and write access 2 6 11 Control reference via CAN BUS objects 201Ah 201Bh 201Ch and 201Dh These objects can be used to give speed reference torque reference torque limit to the drive For doing this it is necessary to enable their management setting C52 1 f_fieldbus 201A speed reference in percent of the max speed set Base representation is equal to16384 thus 16384 is equal
145. s the voltage drop caused by the stator resistor and the IGBT During this reading the motor remains still in its original position and a range of flux currents are emitted By reading the voltages and the correlated voltages the required values can be collected This test modifies the following parameters P76 AV rs Voltage drop due to stator resistor and IGBT at the rated motor current as a of the rated motor voltage 3 2 2 Test 2 Learning the total leakage induction drop reported to the stator This test establishes the voltage drop due to the total leakage inductance reported to the stator in order to calculate the proportional gain of the current loop PI During this test the motor stays practically still in its original position Flux currents in a range of values and frequencies are emitted so that by reading the voltages and correlated voltages the required values can be collected The motor has a tendency to rotate but this phenomenon is managed in such a way that readings are only taken when the speed is equal to zero otherwise the results may be unreliable Nevertheless it is important that the motor does not rotate at a speed exceeding more than several tens of revolutions per minute If it does stop the test by disabling RUN and lower parameter P129 as this is the test current used to establish AVjs_ This test modifies the following parameters P77 AV is Voltage drop due to total leakage inductance reported to the stato
146. sabled Instantaneous Power the quickly Energy exchange is an adiabatic process since heat diffusion on case resistance is very slow in the meantime the resistance is dimensioning for a maximum energy overload This protection is based on the follow parameters DESCRIPTION RANGE DEFAULT UNIT Internal cape P167 Braking resistance value 1 1000 82 Ohm 1 P168 Braking resistance Maximum Adiabatic Energy 0 0 500 0 EOF ERF P169 Time to test the Maximum Adiabatic Energy 1 30000 3000 After the first Braking resistance activation the dissipated Energy is accumulated knowing the DC bus voltage the Braking resistance value and the activation time This accumulation is done for a time set in milliseconds in P169 parameter if in this period the Energy becomes greater than maximum threshold set in KJoule into P168 parameter the control disables the Braking resistance At that point if it is enables the braking with DC Bus control C47 1 see par 3 2 it starts to work otherwise the alarm A4 code d49 1 Instantaneous Power Braking Resistance becomes active 2 8 08 06 2009 IDE MACO Common functions OPEN DRIVE At the end of every accumulation period it is possible to show the total dissipated Energy on the period in KJoule in the internal value d39 than can start a new period the Braking resistance is enabled again and the speed reference is aligned with the real speed NB this function has two possible u
147. seerrsserrssrirrssttrrsstnnsstnnssrennssrns 9 5 1 23 05 2005 IDE MACO OPEN DRIVE Remote Keypad 1 Physical disposition The keypad has three buttons S selection reduce increase and a four numbers and half display with the decimal points and the sign 2 Layout of the internal dimensions The converter is a full digital then other hardware settings are not necessary if not made in factory and the setups settings and visualizations all digital they go effect through the keypad and the display or by serial line or by fieldbus For easy access of formulations and mnemonics all the accessible greatnesses have been grouped in the following menu Parameters PAR Connections CON Internal dimensions INT Alarms ALL Digital input INP Digital output OUT 00000 0 in each group the dimensions are orderly in progressive order and they are visualized only that indeed use 2 1 Parameters PAR They are definite parameters of dimension of setting whose numerical value has an absolute meaning for example P63 nominal frequency motor 50 Hz or they are of proportional value to the limit range for example P61 motor nominal current 100 of the drive nominal current They are distinguished in free parameters some modifiable always On line other only to converter not in run off line reserved modifiable only off line and after access code to the reserved para
148. ses It takes the converter in alarm if the Instantaneous Power is too high C47 0 It is possible to choose how many Energy could be dissipated on Braking resistance and in the remaining time braking with the DC Bus control C47 1 With P169 1000ms it is possible to set in P168 the Power in K Watt that could be dissipated on the resistance In the follow figure is shown an experimental measurement of this function 100 90 80 70 60 50 40 30 20 A Ee S Sa nN a ae ee a s ee NAN A Ban ay regulated ference N Average Power the Energy dissipated every PWM period is used to estimate the average Power dissipated on Braking Resistance The parameters used are cap P167 Braking resistance value 1 1000 82 Ohm 1 P170 Braking Resistance Maximum Average Power 1 30000 E AUE SN P171 Average Power Filter time constant 1 2000 Every second the total dissipated Energy is equal to the Average dissipated Power This value is filtered with a first order filter with a time constant set in seconds in P171 the time constant depends on Braking Resistance thermal characteristics In P170 parameter is possible to set the maximum average power In the internal value d38 it s possible to see the Average Dissipated Power in Watt if this value becomes greater than the threshold P170 the alarm A4 code d49 2 Average Power Braking Resistance becomes active 2 9 08 06 2009
149. sions ALL alarm INP digital input OUT digital output To change from a list to another enough is necessary to use the or keys and the passage will happen in the order of figure Once select the list you pass on the relative under menu pressing s the re entry to the main menu from the following visualizations will be able future through the pressure of the key s simple or double in brief succession less in a second like showed after The return to the status of rest comes instead automatically after 10 P112 seconds of inactivity is from some under menu that goes by the main menu 23 05 2005 IDE MACO OPEN DRIVE Remote Keypad number of dimension selected passage UNDER MENU Return on state of rest 4 1 Under menu of parameters and connections management PAR and CON From PAR or CON You enter into the under menu list pressing S once entered into the list is able look through the parameters or the existing connections by pressing the keys or to move in increase or in decrement even in this case the list is circular At the number corresponding to the various parameters or connections appear the letter r if they are reserved t if reserved in the TDE MACNO and the letter n if it modification requires that the converter in not in run off line all the reserved parameters are of type n modifiable only by stop off line If You pressed the key S comes visual
150. starting with default parameters Ot f 0 f 32 O6 finvet positive speed rotation eea a aooo o M C77 Enable memory speed regulator correction on gains dynamic change Enable IPP Initial Pole Position Detection o o0 0 O o O Enable negative logic for digital inputs 0 255 Oo i O APPL 1 2 3 Reserved connections TDE MACNO n DATSE SAKO flux e A a Flux eo ee COA Reset Ree a o counters and save serial number e E Rectification bridge 0 1 Diode bridge race ee Ble ee l 1 semicontrolled C59_ Disable dynamic decoupling feedfoward Disable dynamic decoupling feedfoward A es eS c67 Resolver camer frequency a 0 T Enable Sin Cos Encoder auto tuning a EE es ft I ie a Enable PWM frequency divided by 2 O SE a 1 2 4 Reserved connections for specific applications The connections ranging from C90 to C99 are available for specific applications See the specific application file for their meaning 1 3 Input logic functions The input logic functions are commands that come from configured terminal board logic inputs from the serial line and from the fieldbus INPUT LOGIC FUNCTIONS DEFAULT DEFAULT INPUT STATUS COMM 100 E l 101 Torque control o S S E 102 2 External enable COMM Enable 14 bit analog reference value A I 1 3 L Aa Enable 14 bit analog reference value A I 2 ae L AL 08 06 09 IDE MACO OPEN DRIVE Brushless Core 106 En
151. store 2 3 Overcoming mains breaks of a few seconds with flying restart C34 2 This operating procedure is adapted to those applications in which it is fundamental to not go into alarm in the case of mains break out and is temporarily prepared to disable the power in order for the motor to resume when the mains returns The qualification of such a function is obtained setting C34 2 When there is a mains break or if the voltage of the Bus goes below the threshold set in P97r 425 V the drive is immediately switched off the motor rotates in free evolution and the Bus capacitors slowly discharges If the mains returns in a few seconds a fast recovery of the motor is carried out in a way in which the working regulation of the machine is resumed 2 4 08 06 2009 IDE MACO OPEN DRIVE Common functions DC bus voltage 540V Minimum voltage allowed P106 400V C34 2 Free motor ip ae i Aa a a EE TES a he le Sha Nl Time of soft start I 4 I i 1 1 I I I 1 I I I I I Break Return mains mains time At the return of the mains it will need to wait for the time of soft start for the gradual recharging of capacitors for the motor to be able to resume 2 4 Emergency brake C34 3 This particular control is adapted to those applications in which the machine may be stopped with an emergency brake in case of mains breaks Under this circumstance the linear ramps becomes qualified and th
152. t drive pin 7 GND with external supply negative pole 3 1 SENSOR PARAMETERS It s necessary to set correctly the parameter P69 in order to define the Encoder used P69 Encoder pulses per revolution with range 0 60000 3 2 SPEED SENSOR TEST This is the first test to be carried out It is in two parts o Check that the direction of rotation of the motor phases and the Encoder correspond o Check that the number of motor poles is written correctly in parameter P67 and the Encoder used is correctly define as pulses per revolution with parameter P69 Correct operation requires a no load motor so decouple it from the load After setting the drive to STOP and opening the reserved parameter key P60 95 set C41 1 to enable the test To start the test enable RUN command with its digital input Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy 07 01 08 OPEN DRIVE Feedback options In the first step is checked if the cyclic sense of motor phases and Encoder channels is the same after 1 second parameter P79 is updated with the test result and the drive consequently goes in alarm A14 or it starts the second test o P79 0 meaning that is missing at least one Encoder channel therefore A14 is triggered o P79 lt 0 meaning that Encoder chan
153. t s Reading functions 2011 ARRAY INTEGER16 Tab_out_dig 32 Actual values of the logical output s Reading functions 2012 ARRAY INTEGER16 Tab_osc 64 Actual values of the checked words Reading 2013 VAR UNSIGNED16 ingressi Logical status of the 8 inputs of the Reading terminal board 2014 VAR UNSIGNED16 ingressi_hw Logical status of the 3 inputs from the Reading power 2015 VAR UNSIGNED16 uscite_hw Logical status of the 4 digit outputs Reading 2016 ARRAY INTEGER16 Tab_inp_dig field Values set by CAN of the output Reading writing 32 logical function 2017 VAR UNSIGNED16 stato Variable of the drive s status Reading 2018 VAR UNSIGNED16 allarmi Drive alarms status Reading 2019 VAR UNSIGNED16 abilitazione_allarmi_ Word for enabling drive s alarms Reading 201A VAR INTEGERI6_ f fieldbus Speed reference in of nmax in 16384 Reading writing 201B VAR INTEGER16 limit _ fieldbus torque limit in di Tnom in 4095 Reading writing 201C VAR INTEGER16 trif fieldbus torque reference in di Tnom in 4095 Reading writing 201D VAR INTEGER16 theta_fieldbus Speed reference in electr pulses x Reading writing Tpwm 201E ARRAY INTEGER16_ Tab_dati_applicazione Data Area available for the application Reading writing 100 201F VAR UNSIGNED32 Ingressi_standard_wr Writing standard logical inputs Reading writing 2020 VAR UNSIGNED32 Ingressi_appl_wr Writing application logical inputs Reading writing 2021 VAR UNSIGNED32 Ingr
154. t the RUN enable where the two inputs are in series Starting address Max data number Digital inputs Starting address hex Max data number 0340 2 4 16 10 hex Preset Multiple Registers This function allows to set the value of the parameters connections and to enable the alarms even if the corresponding keys are opened To correctly set these data it is required the right address that you can find in the following table and it is necessary to consider the internal data representation referring to the specific descriptions of the core The application area s meaning depends on the present application see specific documentation 0000 00C8 012C Applications data table 0203 If it is written a value not included in the range the value will be ignored and the previous one will remain valid 2 5 Exception Responses The following exception codes in the answer are managed The drive doesn t manage this Modbus function Wrong data address The address is not valid The data number required is too big 23 05 2005__ V1 4 IDE MACO OPEN DRIVE Canbus OPEN DRIVE CAN BUS INDEX 1 Configuration of the applications ic ciisanudscectactvaseniesstecsecteostentastventactsnnsobatiaersentesiaanionaetsontaned 2 LL Configuration of the nNOde s cccsscsesiesedersevesvebescejeplnoessevdbsaoeddedaderdeveedabeieedealeeesdevstvedesdesederd odeotebbaseseaes 2 1 2 Configuration of the communication objects
155. tem is switched off STOP offline only once the motor absolute speed goes below the threshold set in P50 2 0 default that is when the motor is almost motionless shutdown for minimum speed 2 12 08 06 2009 IDE MACO OPEN DRIVE Common functions Calibrating P50 may coincide the drive block with the motionless motor The state of speed above the minimum is signaled from the logical output function 0 L 2 moreover the output function 0 L 16 is available that signals the drive speed absolute value is above the threshold speed level P47 In every way whichever is the chosen type of shutdown there is an immediate drive block in presence of any alarm condition oL 0 L 6 Thermal protections hardware Thermal probes are managed by the drive with the intent of protecting the drive itself and the motor from damage 6 1 Thermal protection drive The drive is equipped with thermal probe in the heatsink that may be a PTC or a NTC depending on the size of the drive Setting the connection C5740 the thermal probe control is enabled In this case it is possible to visualize the heatsink temperature in internal value d25 in degrees Celsius The following thresholds are foreseen o With the parameter P120 it is possible to set a temperature level above which the function o15 excessive radiator temperature goes to a logic level high o If the temperature exceeds the maximum value setup in the parameter P118 the drive goes into A4 d49 0
156. ten in the Try rewriting the values in the FLASH The information writing FLASH the required values are always may have been disturbed in some way shown afterwards an alarm triggers if If the problem continues contact TDE as there must be a differences are detected memory malfunction FLASH A Check Sum error occurred while Try rereading the values with the FLASH The reading reading the FLASH was reading the values may have been disturbed in some way If the problem Default values loaded automatically continues contact TDE as there must a memory malfunction SinCos d49 0 Absolute sensor The Encoder absolute channels haven t the same cyclic channels and motor sense of motor phases In P79 it s shown the phases with opposite difference in pulses between absolute initial and ending eves position Swap over the absolute channels and repeat the connection tests Absolute sensor There are some problems into Encoder absolute channels channels with The internal value d49 is updated with the time in problems milliseconds between two identical absolute positions the correct value is time test 2000 Motor polar couple number Check if the parameter P67 is correctly set than analyze the absolute channels internal monitor value 47 and 48 Hall sensors with In the Sensor test C41 some problems are been found wrong cyclic sense With Hall sensors Parameter P79 it s useful for P79 1 or missing understand the problems found
157. the internal representation of the parameter 4 word it defines the representation base of the parameter example 1 hexadecimal if leaded by Ox 1 word 0x1131 2 word 0000 free parameter in percent of the base the real value is internal 3 word 8190 representation divided by the base 100 4 word 4095 if the current value is 1000 1000 4095 100 24 4 the variation range is included between 0 and 200 example 2 hexadecimal if leaded by Ox 1 word 0x2231 2 word 5 reserved parameter proportional to the base the real value is 3 word 1000 internal representation divided by the base 4 word 10 if the current value is 400 400 10 40 0 the variation range is included between 0 5 and 100 20 02 2007 OPEN DRIVE 2 6 2 Format connections table tab_with_formats 2002h This table is composed by 400 words 100x4 4words for each connection 1 word it defines the type of connection its internal representation and the number of integer and decimal digits that will show up on the display Each nibble has the following meaning 0x0000 hexadecimal z 2 word it defines the min admitted value in the internal representation of the connection 3 word it defines the max admitted value in the internal representation of the connection Parameter type Number of digits visualised in decimal Number of digits visualised in integer Internal representation
158. the scroll bar can be used to select parameter connection and to quickly access the desired data eceipts in dat format are not readable by standard editor progr To check the data use his tool First function allows to generate dat data to customised receipts The second one download an existing receipt in the drive and check the compatibility with the drive type 8 10 23 05 2005 IDE MACO OPEN DRIVE Super visor 6 8 CHARACTERISTIC This test has the dual purpose of determine the magnetizing current of the motor and his magnetic characteristic for version DVET Using the parameters P71 P72 P73 and P74 it is possible to define a three section working curve by points so as to be better able to adjust to the desired characteristics Points P72 and P74 define the frequency percentage with reference to the maximum working frequency P68 while points P71 and P73 define the percentage voltage with reference to the maximum working voltage P69 for version DFNT INTRO P e DISPLAY ALARMS EO DIAGRAM UTILITY Cmignetica MONITOR POSITIONER tilised parameters to generate the diagram The generated 8 11 23 05 2005 IDE MAGNO OPEN DRIVE Super visor 6 9 MONITOR With the MONITOR function the user can manage the real time acquisition of the drive internal variables THe page is divided into three subpages e settings e acqiosition e analisys and data processing In the
159. these values have been established the PI regulators in the current loop are self set This test requires a no load motor i e decoupled from the load if it is to function correctly For enable this test open the reserved parameter key P60 95 and set C42 to 1 The display will show the following setting e i NO display 7 segmenti The drive is now ready to start the test Start reading by enabling RUN with its digital input and setting C21 1 command in series Once the tests have started this setting will el Alm Al appear alongside qin ra display 7 segments The test finishes successfully if this setting ol M appears alongside and the drive does not I mn trigger an alarm 2 Se display 7 segments Now disable RUN by setting its digital input to 0 or clearing C21 0 The tests may be halted at any moment by disabling RUN the drive will trigger an alarm A7 but any results will be saved Once C420 has been set again if C75 0 the default values of the parameters being tested will be automatically reloaded on the contrary if C75 1 remain active actual data In order to refine data measured it s better to execute Autotuning test the first time with C75 0 and then the second time with C75 1 The following paragraphs provide detailed analysis of the various tests and their settings 3 16 ite IDE MACHO OPEN DRIVE Brushless Core 3 2 1 Test 1 Reading stator resistor drop This test establishe
160. to 100 Theta_fieldbus 201D speed reference in electric pulses per period of PWM considering that there are 65536 pulses per revolution and that the term electric means they must be multiplied by the number of polar pairs of the motor Trif_fieldbus 201C couple reference in percent of the nominal torque of the motor Base of Representation 4095 thus 4095 is 100 Limit_fieldbus 201A torque limit in percent of the nominal torque of the motor it is in alternative to the other existing limits the most restricted is the one that values Representation base is 4095 thus 4095 100 7 15 20 02 2007 OPEN DRIVE Super Visor OPEN DRIVE Super visor INDEX 14 INTRODUCTION vannoa rages tan ces ca caese E A ve ENTRE tetie deeds ede NEE E 2 2 MINIMUM SYSTEM REQUIREMENTS ce E L EAER E EEE Y E VA E Re 2 3 SOFTWARE INSTALLATION i e ae N E E AAT ATR E A NE 2 4 CONNECTION WITH THE DRIVE ien eeni cis TA E E E A EEE EERE ie 2 DS GEDLING STARTED kerea ee ieo ie ENEE E E NEN E T EEA EE E AEE AE ENE EEN 3 6 UPAGES DESCRIPTION cintri NE EENAA EEO ENE EE EE AEE E E A ENEE 4 6 1 INTRODUCTION vrees or EE EEE EE E EEE E A NEO E AENA AEA 4 6 2 l A OAE E EEE EEE EE E E E A E E 5 6 3 DISPLAY errero rE ENEE EN E I EE EEE EAE EEEO EE R ONTA A E 6 6 4 ALARMS enren a AE aE EEEE O A E E E EEK AEEA EEE E S EE AERES EE ES 7 6 5 TZO STATE riiete a n E E EAEE SE ENA RENS 8 6 6 DIAGRAM oaot rero beee rei EE EEE S EE AEE
161. to conan P31 KpV speed regulator proportional gain orao 60 w 43 1 P37 Maximum tracking error less significative part 065536 32767 Pulsesrev 423 P38 Kv position loop proportional gain TD 40 0o as P39 Maximum tracking error less significative par 0432000 0 Revolutions 423 P44 End speed for speed PI gain change oomoo 00 nus 16383 432 P45 KoV initial speed PI proportional gin gO 60 0 a2 P47 Speed threshold for logic output o 16 01000 00 f 16383 COMM P53 Rated drive current Iwowaz 0o4000 Ampere 10 4611 3 3 ie TDE MACHO OPEN DRIVE Brushless Core Points memorized after MONITOR trigger 1 2000 pai ee a SP I P56 MONITOR trigger Tevel 700 0200 00 4085 value of 10V for analog output A 100 0 400 0 200 0 APPL value of 10V for analog output B 100 0 400 0 200 0 APPL Minimum speed and speed reached Hysteresis 0 0 100 0 16383 P60 Access key to reserved parameters 0 19999 pio eS a al oa 1 1 2 List of reserved parameters PAR DESCRIPTION Range Default Normalization Int rep See 5 a ee ae 6 100 3000 Rpm oS ee a PS O ee ae ee l a 3 ale N ny amp Number of motor poles 0 160 0 160 060000 10110 0 302400 SS SS a MUU 180 0180 6 1 025 7 5 051000 7 0 0550 0 79 Connection tests 19999 Encoder pulses counted Resolver or Sin Cos Enc time reading 8 Kpi voltage regulator proportio
162. ues table tab_exp_osc 2004h This table is composed by 64 words one word for each monitor value 1 word it defines the representation of internal values 0x0000 hexadecimal Ca internal representation 2 Percent with base 4095 3 Percent with base 32767 4 Percent with base 16383 example 1 hexadecimal if leaded by Ox 0x0003 internal representation of the internal value percent of 32767 For example if its value is 5000 gt 5000 32767 100 15 2 7 12 20 02 2007 CAN BUS OPEN DRIVE CAN BUS 2 6 6 Management of the speed sensor hw_software 2007h and hw_sensor 2008h The two variables hw_software and hw_sensor can assume the following values value Corresponding sensor 0 none 1 Incremental encoder 2 Incremental encoder Hall probes 4 Resolver 8 Sinuisoidal encoder Sin Cos analog 9 Sinuisoidal encoder Sin Cos absolute analog 10 Endat hw_software represents the managed sensor of the version of the drive firmware hw_sensor represents the sensor managed by the feedback board mounted in the drive 2 6 7 Management of the monitor objects from 2009h to 200Ch 2012h These objects are related to the monitor of the drive internal values K_zz 2009h is the internal counter of the 2000 points circular buffer Start_count If 40 it indicates that the trigger event set with C14 went off Tab_monitor_A 200Bh and Tab_monito
163. up to a maximum of 32 elements At every new alarm event 4 bytes are memorised 2 are mandatory and correspond to the Error Code the other 2 are Manufacturer specific and in our specific case correspond to the state of all the drive alarms MSB LSB Additional information Error code alarms MSB alarms LSB Error code MSB Error code LSB 2 4 Network Management Objects NMT This function allows the NMT master to check and set the state to every NMT slave All the services of Module Control and also the Node Guarding Protocol which uses the COB ID 700h ID CAN node are implemented this allows the slave to communicate that the bootup ended and the pre operational modality is active thus the master can interrogate the different slaves with an RTR The Life guarding function is implemented as well the drive NMT slave can be set up by the objects 100Ch Guard time in ms their product yields the Node life time 100Dh Life time factor multiplier factor note node life time is internally saturated in the period time of 32767 fpwm sec Life guarding is enabled only if life time Node is different to zero in this case the check up starts after having received the first RTR from the NMT master The Communication profile DS301 doesn t decide which action it has to start if the time constrain of life guarding hasn t been respected It s possible to decide how to act during the firmware compilation step By default no act
164. ut Once the test has started the motor will rotate in the positive direction at low speed and all Encoder edges are counted During the test the motor will make a complete revolution at low speed Do not worry if this revolution is a little noisy 4 10 07 01 08 OPEN DRIVE Feedback options In the first step is checked if the cyclic sense of motor phases incremental Encoder channels and absolute Encoder channels is the same After 1 second parameter P79 is updated with the test result and the drive consequently goes in alarm or it starts the second test The alarm A14 is triggered if the incremental channels have an opposite cyclic sense of motor phases and it is displayed o P79 0 meaning that is missing at least one Encoder channel therefore A14 is triggered o P79 lt 0 meaning that Encoder channels are exchanged therefore A14 is triggered If the incremental channels have the same cyclic sense of motor phases it is checked if the same is true also for absolute Encoder channels in this case the test continues without any alarm otherwise the alarm A2 is triggered con code d49 0 and it is displayed o P79 lt 0 difference in pulses between absolute initial and ending position In the second part are checked the incremental Encoder channels well known from P69 parameter the number of edges in a mechanical turn P69x4 because are counted both two channels edge and the correctness of absolute channels related to motor poles numbe
165. y current limit Max torque in Flux weakening area 49 4 Vbus oasis S C34 1 regulator Vous rif s C34 1 Mrs off C47 gt O Max torque CCW oe N V controlled C47 braking 3 24 au TDE MACHO OPEN DRIVE Brushless Core 4 6 1 Maximum current limit The drive is fitted with a maximum current limiting circuit that cuts in if exceeded restricting the maximum current delivered to the lowest value from among parameter P40 the value calculated by the drive thermal image circuit and the motor thermal protection circuit P40 is used to programme the maximum current limit delivered by the drive from 0 to the maximum authorised value which depends on the type of overload chosen with connection C56 Converter thermal Maximum torque image _ imposed by current limit Motor thermal protection 4 6 1 1 Drive thermal image Four types of drive overload can be set on C56 C56 Overload type for rated drive current P53 0 120 for 30 seconds 1 150 for 30 seconds 2 200 for 30 seconds 3 200 for 3 seconds and 155 for 30 seconds NB the choice also changes the rated drive current as shown by the tables in the installation file and the correct value is always displayed in ampere rms in P53 The delivered current is also used to calculate the operating temperature reached by the power component junctions with the drive presumed to be working with standard ventilation

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