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Functional Description Manual

1. pamar secondary part Ek5021f1 fh7 Fig 7 11 Overview determining commutation offset with an LSF After the value has been entered it is necessary to start command P 0 0524 D300 Commutation adjustment command The commutation offset is computed at this time Note If the drive is in control at the time the command is started i e drive enable is set and drive is in torque control mode then the commutation offset is determined with current flow procedure Application 2 See Alternative in Fig Determining commutation offset in synchronous motors The command must be reset to 0 at completion DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Used Parameters involved DOK ECODR3 FGP 03VRS FK02 EN P Motor Configuration 7 15 Application 2 Current flow procedure start using command P 0 0524 D300 Commutation adjustment command The machine can be damaged if the procedure is performed incorrectly Restrictions noted in section Current flow procedure restrictions Application 2 and 3 DANGER must be taken into account This procedure is used in the following situations e The commutation procedure must be completed only once at first start up or when the encoder is exchanged on rotary synchronous motors with motor encoders containing absolute rotor position information e With linear motors with absolute encoder systems at initial start up as al
2. DOK ECODR3 FGP 03VRS FK02 EN P initialization Rexroth Motor Optional S 0 0147 S 0 0051 Position S 0 0053 Position S 0 0403 feedback feedback Bit 3 feedback value 1 feedback value 2 Pos status absolute not absolute 0 absolute value of absolute value of 1 motor feedback motor feedback absolute not absolute 1 absolute value of absolute value of 0 motor feedback motor feedback not absolute absolute 0 absolute value of absolute value of 0 optional feedback optional feedback not absolute absolute 1 absolute value of absolute value of 1 optional feedback optional feedback absolute absolute arbitrary absolute value of absolute value of 1 motor feedback optional feedback Fig 9 34 Position feedback values of absolute measurement systems after Indramat 9 28 Basic Drive Functions ECODRIVE03 FGP 03VRS Note When changing polarity scaling gearbox and so on it is possible to lose the absolute reference see also S 0 0403 Status Actual position values 9 4 Drive Limitations Current Limit P 0 4046 Active peak current Motor current limitation Thermal current limit of the Rexroth Indramat controller Controllers motors and machines are subject to various limits to protect them against damage from overload This protection is based on a dynamic drop of the current computed for the output stage of the controller and the motor in addition to parameters set by the user for
3. power stage brake delay gt f t ms P 0 0526 Brake control delay Sv5082f1 fhS Fig 7 15 Chronological diagram with command value to zero and P 0 0525 Holding brake type Bit 1 0 Servo brake and actual braking time lt P 0 0126 Incorrect braking time start error reaction 0 velocity command value cancel error reaction due to small value in P 0 0126 0 1 0 1 0 power stage l brake delay gt j t ms P 0 0526 Brake control delay Sv5122f1 fh7 Fig 7 16 Chronological diagram with command value to zero and P 0 0525 Holding brake type Bit 1 O Servo brake and actual braking time gt P 0 0126 Rexroth Indramat 7 22 Motor Configuration ECODRIVE03 FGP 03VRS Setting the Motor Brake Integral Action Time In P 0 0526 Brake control delay it is necessary to set the time that the motor brake control needs to actually apply the brake Note A standard value for the direct connection of holding brakes of Rexroth Indramat motors equals 150msec 1 Activating the o _motor brake Motor brake 1 becomes 0 effective 1 End stage 0 release eo P 0 0526 Brake control delay H f H c 0 50 100 150 200 t ms Sv5027f1 fh5 Fig 7 17 Setting motor brake integral action time Setting Maximum Decel Time Parameter P 0 0126 Maximum braking time supports decel time monitoring and activation of the motor h
4. Bit 1 Signal lt Trigger threshold Bit 2 Recording is running Bit 3 Signal gt Trigger threshold Fig 10 18 Structure of Parameter P 0 0037 Number of Valid Probe Values As soon as bit 2 is set by the P 0 0036 Trigger Control Word the drive starts to record probe values If the trigger event is recognized after the bit is set the oscilloscope feature records the number of samples after the trigger event and then stops recording The total probe value memory for the current measurement will not always be written dependent on the memory size setting the time resolution the number of samples after trigger and the time when the trigger event occurs This means that the memory can contain samples which are not valid for the measurement The parameter P 0 0150 Number of valid Samples indicates the number of valid samples for the current recording DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 19 10 7 Probe Input Feature Two digital inputs are available for measuring positions and times The measured values are determined at the time of the positive and negative edge The following measured values can be determined actual position value 1 actual position value 2 relative internal time in usec master axis position actual feedback value 3 Note The probe inputs are probed every 1 usec The measured signals are generated every 500 u
5. Fig 7 8 Absolute rotor information as dependent on encoder type There are three different ways to determine the commutation offset outlined in the firmware The following illustrates the relationship between the motor encoder used and the procedure used ee s Determing the E commutation offset of frameless k synchronous motors Pa motorfeedback with yes lt absolute rotor position information Pa near or 5 es rotational b motor lt LSF motor MBS motor with with absolute absolute rotor linear measure position information ESAS alternative y y linear or rotational motor with incremental feedback application type 1 determing the commutation offset by measuring the relation between the primary and secondary and starting command P 0 0524 application type 2 current applied start with command P 0 0524 D300 command commutation set up application type 3 1 current applied automatic start after drive enable Fd5029f1 flo Rexroth Indramat Fig 7 9 Determining commutation offset in synchronous motors DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Motor Configuration 7 13 1 Application no 3 synchronous motors with incremental encoder may not be used in conjunction with the following applications vertical axis without weight compensation Hanging DANGER axes or a jammed or blo
6. Rotary Preferred Linear Preferred Linear Preferred Physical Value Scaling Scaling mm Scaling Inch Position data 0 0001 Degrees 0 0001 mm 0 001 Inches Velocity Data 0 0001 RPM 104 6 m min 104 5 in min or 10 6 Rev s Acceleration Data 0 001 rad s 104 6 m s ae Rexroth Indramat load reference Fig 9 2 Preferred scaling Motor Reference Load Reference Either motor reference or load reference can be selected when adjusting the scaling With rotary load reference the scaled data from the motor format is converted to the transmission output format with the transmission ratio S 0 0122 Output revolutions of load gear S 0 0121 Input revolutions of load gear With linear load reference the scaled data from the motor format is converted to feed constant format with the transmission ratio S 0 0122 Output revolutions of load gear S 0 0121 Input revolutions of load gear and the feed constant S 0 0123 Feed constant The following restrictions apply in relationship to the motor type being used e Rotary motor reference cannot be set with linear motors e Linear motor reference cannot be set with rotary motors DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 3 Display Format of Position Data The scaling of drive controller position data is adjustable This is done with the parameters e 0 0076 Position Data Scaling Type e 0 0077 Linear Position Data Scaling
7. y step 6 drive received character Drive repeats no request echo ae D y Timeout ry character sequence gt found in 7 H no receiver buffer communication not possible oo gt check address B gt check setting gt check connection partl 2 B next page FD5003B1 WMF Fig 1 18 Starting a command part 1 Rexroth DOK ECODR3 FGP 03VRS FK02 DE P Indramat 1 18 Serial Communication Rexroth Indramat part 1 B previous page Lee Command status a ECODRIVE03 FGP 03VRS partl 1 A previous pagg A i _ Command status 3h Fh ja ja y y command successfully J Seana completed command completed with error y clear command 0 writt number e g P 0 0162 7 w 0 CR en into ID FD5007B1 WMF Fig 1 19 Starting a command part 2 Querying Command Status The current status of a command can be queried By doing so it can be ascertained that the drive has concluded command execution before the control or PC has ended the command The command status is queried as follows ID number of command 1 w 0 Carriage Return The drive signals the current command status after the ID number of the command parameter is written Possible status messages Oh command not set in drive 1h command set in drive 3h command set released and properly executed command set in dr
8. see NC control homing cycle unit manual Software limitation go ae valie Power down drive package via drive controller after homing cycle see Section 7 6 Power down drive Switch evaluation Tavel range gt package brakes at by drive controller maximum acceleration Switch incorporated Safety limit switch Master in master E Stop circuit E Stop circuit l power down Xx0002f1 fh5 Fig 9 47 Effect and ways of limiting the working range There are two methods in the drive itself These are the monitors for e Travel zone limit switches and e Position Limit Values for the axis The travel range is exceeded when either a travel zone limit switch is activated or one of the two axis limit values is exceeded by the homed position feedback value the value which refers to the machine zero point The drive s response to exceeding the travel range is selectable The following possibilities exist e An error with a Set Velocity Command Value to Zero reaction and automatic drive enable shutoff e A warning with a Set Velocity Command Value to Zero reaction and automatic reset when the error conditions are gone This is set in bit 2 of P 0 0090 Travel limit parameter P 0 0090 Travel limit parameter C TOO Bit 0 Negation 0 Travel range switch input 24V gt travel range exceeded 1 Travel range switch input 0V gt travel range is exceeded L Bit 1 Activa
9. The following applies S 0 0047 Position command value XSynch S 0 0048 Position command value additional Every time the additive position command value S 0 0048 is changed a new path will be determined and traveled according to the above equation using parameters P 0 0142 P 0 0148 P 0 0151 and P 0 0154 The P 0 0155 Synchronisation mode parameter can be used to optionally switch off the dynamic synchronisation after first reaching absolute synchronisation If synchronisation mode 1 is set then parameters P 0 0142 Synchronisation acceleration P 0 0143 Synchronisation velocity P 0 0151 Synchronisation init window for modulo format P 0 0154 Synchronisation direction will be inoperative after absolute synchronisation is reached Changes to the additional position command value will be smoothed with a filter of the first order The time constant for the filter will be set with the parameter P 0 0060 Filter time constant additional pos command If parameter P 0 0155 Synchronisation mode bit 1 then bit Synchronisation completed is set and not cleared even with further changes in S 0 0048 Position command value additional If the dynamic synchronisation remains active P 0 0155 Synchronisation mode bit 0 then the bit will be set only if the above equation is satisfied DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 55 The following graphics show the time flow of the
10. The maximum delay is fixed in parameter S 0 0359 Positioning Deceleration If parameter S 0 0359 Positioning Deceleration equals zero then the drive uses parameter S 0 0260 Positioning Acceleration for decel as well Damage to property with wrong parametrization If the values for positioning decel and accel are zero then the drive cannot brake The set target is never reached or is overrun CAUTION ee Always enter for positioning accel a value of gt 0 Accel and decel are smoothed using a jerk limit value and a PT1 filtering This means that accel or decel do not become effective until after t 5 Tp The time constant Tr of the smoothing filter jerk filter results from T S 0 0260 Positioning Acceleration R S 0 0193 Positioning Jerk bzw _ S 0 0359 Positioning Deceleration R S 0 0193 Positioning Jerk Note For the accel or decel procedure only one time constant namely the biggest one in the above equation is always used S 0 0193 Positioning Jerk 0 switches the smoothing filter off the desired accel or decel is reached directly Rexroth Indramat 8 18 Operating Modes ECODRIVE03 FGP 03VRS 108 Feedrate override S 0 0393 193 Positioning Jerk 260 Positioning Acceleration mode Bit3 itioni 359 Positioning Deceleration S 0 0 S 0 0 Command value S 0 0259 Positioning Velocity S 0 0 S 0 0 Command position Position interpreter Profil
11. Current flow procedure restrictions Application 2 and 3 For the procedure it is necessary to ensure that the axis can move freely after drive enable is set by the control If a holding brake or clamp is used then it must be opened before the control sets the drive enable This is guaranteed to occur if the holding brake is connected to the controller The machine can be damaged if the procedure is performed incorrectly Procedure not to be used with DANGER Hanging axes gt Permanently clamped or blocked axes Note the following with axes with dead stops The machine can be damaged if the procedure is performed incorrectly Make sure that the axis is not at the dead stop when DANGER the drive enable is set Gantry axes require that the commutation is determined for each individual drive This means that Gantry axes must be mechanically constructed so that each drive can run the arrangement If commutation is not yet known after going from parameter mode into operating mode then only one drive can generate the drive enable The second or other axes must be torque free If the commutation setting of the first drive is over then it has to go torque free before the second drive of the axis with commutation setting still applicable sets the drive enable Rexroth Indramat 7 18 Motor Configuration ECODRIVE03 FGP 03VRS Diagnoses In conjunction with the commutation setting the following diagnos
12. Example Read parameter S 0 0044 Velocity data scaling type out of drive with address 3 The value of the parameter is 0x0042 Command telegram 3C 03 00 2C 00 Control Device Param Parameter No Tel header byte address type LSB MSB User data head gt Ta0005f1 fh7 Fig 1 36 Read S 0 0044 Command telegram Reaction telegram 00 3C 03 42 00 Status Control Device User data Tel header byte byte address LSB MSB k User data head Ta0006f1 fh7 Fig 1 37 Read S 0 0044 Reaction telegram Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 29 Read acces with following telegrams Service 0x01 Parameters or elements with a length exceeding maximum data field length of 245 bytes are read in several steps Bit 2 in the control byte Reaction telegram designates the current transmission step as either running or last transmission The following is the control word for a transmission in several steps 1 step Control Device Param Parameter No Tel header byte address type LSB MSB i lt Userdatahead 9 gt Ta0007f1 fh7 Fig 1 38 Following command telegram 1 38 es sl Dev
13. Initial start up Establishing the initial state using command P 0 4094 C800 Load base parameters command Velocity and acceleration values limited to small values Position and torque limits not active Operating mode velocity control All optional functions are deactivated sae we SN IBS 1 Motor configuration lt MDD MKD MHD Set motor type motor dependent parameters from data motor a sheet temperature monitoring possible asynchronous ae parameters possible motor holding brake yes a y IBS 2 Setting of the fieldbus communication Choice of P 0 4084 Profile type and P 0 4083 length of parameter channel in DP IBS 3 Pre setting mechanical system of axia dn the measuring system Gears feed rate constant and maximum travel range illustrative formats for position velocity acceleration motor measuring system possible external measuring system v IBS 4 Setting Error Reations and Emergency Stops Best possible deceleration NC reaction power off with fault Emergency stop function y IBS 5 Pre setting control loop Automatic loop tuning by loading base values using data sheet y Motor encoder can move axis y IBS 6 Check mechanical system of axis and meauring system Gears feed rate constant polarity of position velocity and acceleration motor measuring system possible external measuring system y IBS 7 Position Veloci
14. T Slave gt L Master R D E Fig 5 31 Timing for reading In case that an error will occur during the reading of the parameter the error timing diagram will look like this T Master gt L Slave R Data T Slave gt L Master R D E Fig 5 32 Timing for an occurred error during reading Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Writing a value Command Communication via Fieldbus 5 17 For writing a value an example will be used with the following assumptions e Format is format 3 1100b e PK is in total 4 words long e Reading and writing will be done to index Ox3FBE P 0 4030 Jog velocity sub index 0x07 The master indicates writing with the R bit set to zero Index and sub index must be provided as well as the data which should be written In this example we assume that the data are 4 bytes long The PK is too short for all the data hence the L bit is not set more data will follow The toggle bits had been set to another level from the previous state Control word User data C1
15. With this drive it is also possible to monitor a trigger signal for the trigger condition If the trigger condition is recognized then bit 0 will be set in the trigger status but it will not trigger In this way it is possible to signal the trigger event for several drives simultaneously using the real time status and control bits via the control and to release the trigger Since there is a delay between the recognition of the trigger event and the enabling of this trigger the delay is measured by the drive controller and stored in the parameter P 0 0035 Delay from Trigger to Start A time correct display of the signal can be guaranteed by using this parameter for the visualization of the probe values Rexroth Indramat 10 18 Optional Drive Functions Rexroth Indramat ECODRIVE03 FGP 03VRS Trigger signal Trigger weds threshold l Trigger status Bit 0 P 0 0033 Number of Samples after Trigger Trigger delay j Trigger control i Bit 0 EE P 0 0035 Delay from Trigger to Start Recording length Fig 10 17 Delay from trigger to start Status Messages for the Oscilloscope Feature Information about the status of the oscilloscope feature is shared with the control by means of parameter P 0 0037 Trigger Status Word P 0 0037 Trigger Status Word Bit 0 Trigger action external message to control system internal activating the trigger delay function
16. e P 0 0508 Commutation offset e P 0 0524 D300 Commutation adjustment command e P 0 0560 Commutation adjustment current e P 0 0562 Commutation adjustment periodic time The commutation offset only has to be re determined if the motor encoder has been re initialized This is conducted while switching from parameterization into operating mode The automatic commutation determined after applying drive enable thus only takes place if the drive power is turned off and switched back on again or if the drive was switched into parameterization mode After setting the drive enable the motor moves rapidly for about 2 seconds to the left and right The determined commutation offset is stored in parameter P 0 0508 Commutation offset If commutation offset has been successfully determined the drive switches into the parameterized operation mode Diagnosis AF is displayed The drive simultaneously signals in parameter S 0 0135 Drive status word status In operation under torque Note Maximum motion equals Linear motor 1 pole width Rotary motor 360 degrees number of pole pairs The drive starts the setting of the commutation offset with the values stored in parameters P 0 0560 Commutation adjustment current and P 0 0562 Commutation adjustment periodic time If commutation offset cannot be determined with these values then they are changed and a new attempt is started This means that first P O 0560 Commutation adju
17. Character sequence gt found in receiver buffer Step 3 To check transmission compare request with receiver buffer string compare Y element n CR E01 gt or P 0 4006 7 r CR xxxx CR E01 gt ompare ok no gt Transmission error a e Step 4 Delete request in receiver buffer All characters to 1st CR inclusive Replace last CR with string end e g O in C Seperate list elements CR or an a _ _ error number now in receiver buffer eoat i in i Error occured during 7 gt yes gt parameter access Error 3 receiver buffer pa code Xxxxx no gt Evaluate list element v no Set string pointer to 1st character after next CR gt new list element End of list reached yes y List succesfully read FD5004B1 WMF Fig 1 17 Read accessing list parameters Rexroth DOK ECODR3 FGP 03VRS FK02 DE P Indramat 1 16 Serial Communication Rexroth Indramat ECODRIVE03 FGP 03VRS Starting a Command Numerous commands can be conducted in the drive controller Command execution takes place automatically in the drive There are commands for e Switching between operating and parametrization modes S 0 0127 C100 Communication phase 3 transition check S 0 0128 C200 Communication phase 4 transition check P 0 4023 C400 Communicati
18. DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 101 Control word setting the The execution of the command depends on P 0 0612 Control word for absolute dimension setting absolute measurement the absolute dimension Bit 0 fixes whether the current coordinate system is retained even after the control voltage is switched on and off i e whether the current P 7 0514 Absolute encoder offset is stored in the feedback data memory and is resistant to change Note Given frequence Setting of absolute dimension bit 0 1 should be set as feedback data memory is only suited for a limited number of write accessing procedures For bits 1 and 2 the difference as to whether drive enable is given or not must be made Parameter Structure P 0 0612 Control word setting absolute dimension Bit 0 Save absolute encoeder offset 0 resistant 1 not resistant Bit 1 Activating the command setting absolute dimension 0 Parameter Bit 2 Switching the coordinate system 0 manual 1 automatic Fig 9 106 P 0 0612 Control word setting the absolute dimension The command Setting the absolute dimension without drive enable Bit1 of P 0 0612 is used to select whether the command is started e by writing into parameter P 0 0012 with 11b if biti 0 or e a0 gt 1 flank at the zero switch input if bit 1 Switching the co ordinate system Note If the drive enable is not applied and command S
19. DOK ECODR3 FGP 03VRS FK02 EN P Rexroth Indramat 8 46 Operating Modes Additional parameters How it works Rexroth Indramat ECODRIVE03 FGP 03VRS e S 0 0403 Position feedback value status e 0 0055 Position polarities e 0 0049 Positive position limit value e 0 0050 Negative position limit value Note In the case of a fieldbus interface it is possible to switch to jog mode by setting a bit in P 0 4076 Fieldbus control word Activating the operating mode jogging The jogging mode is active with a fieldbus interface if such has been selected via the control word The jog direction can be read out of parameter P 0 4056 Functional Sequence of operating mode jogging Upon activation of the mode the drive runs position controlled while maintaining the e speed limit value P 0 4030 Jog velocity e acceleration limit value S 0 0260 Positioning Acceleration e jerk limit value S 0 0193 Positioning Jerk The Jogging direction is fixed in parameter P 0 4056 Jog inputs Jog inputs Drive Display 00b stand still AF 01b moving forward JF 10b moving backward Jb 11b stand stil AH Fig 8 44 Relationship of jog input to travel direction The drive positions itself at the relevant position limit S 0 0049 or S 0 0050 if e position limit monitor is activated S 0 0055 Position polarity Bit 4 1 and the drive has been homed S 0 0403 Position feedback valu
20. IBS 9 Establishing absolute reference measuring Here the absolute reference measuring is set in terms of the machine zero point of the position feedback value from motor encoder and possibly optional encoder At first the position feedback values show any value not machine zero point related values By conducting e setting absolute measuring with absolute encoders or e drive controlled homing the coordinate systems of the position encoder and the coordinate system of the machine are made congruent See also chapter Drive Controlled Homing and Setting the Absolute Dimension Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 21 IBS 10 Other settings Here e drive halt function is parametrized e the language selected e general status message settings and e the optional drive function settings are conducted See also chapter Drive Halt S 0 0013 Class 3 diagnostics S 0 0182 Manufacturer class 3 diagnostics Optional Drive Functions Language Selection IBS 11 Controlling drive dimensions The power related drive checks are conducted here It is checked whether the continuous and peak power of drive amplifier and motor meet the requirements The following checks are conducted for this purpose e generated torque force of motor is checked At a constant speed 60 and in rapid traverse 75 of t
21. Indramat 10 38 Optional Drive Functions ECODRIVE03 FGP 03VRS Notes Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS 11 Glossar DOK ECODR3 FGP 03VRS FK02 EN P Glossar 11 1 Data status Every parameter has at its disposal a data status It can be read by the control via the required data channel The information on the validity of the parameter or the command acknowledgement of the command are contained therein Error reaction or response If an error is detected in the drive then the drive reacts independently by executing an error reaction At the end of each error reaction there is a deactivation of the drive The error reaction type is dependent on the error class of the error that occurred as well as the setting in parameters P 0 0117 119 E Stop E Stop Emergency Stop is the determination for a hardware input at the drive controller It is used to trigger the emergency stop function in the drive External encoder An external measuring system is optional It is generally mounted directly to the load The position feedback value of the encoder can be seen in S 0 0053 Position feedback 2 value By activating the position control operating mode with encoder 2 the position control loop is closed with the help of the position feedback value of the external encoder Ident Number Every parameter is designated unambiguously by its ident number IDN It consists of these 3 component
22. LITTTITTTIT TTT TTT 1 9 0 0097 Masked Class 2 l unequal to 0 Yes Bit change set in drive status message Fig 4 16 Generating the change bit of class 2 diagnostics Rexroth Indramat 4 28 General Instructions for Installation ECODRIVE03 FGP 03VRS Rexroth Indramat S 0 0182 Manufacturer class 3 diagnostics In parameter S 0 0182 Manufacturer class 3 diagnostics various messages about the operating states are stored there as well If the state of a message changes then this is not signalled with a change bit The following bits are supported in manufacturer s class 3 diagnostics S 0 0182 Manufacturer Class 3 Diagnostics CO o L Bit 1 jactual velocity lt S 0 0124 standstill window Bit 2 reserved Bit 3 reserved L Bit6 IZP S 0 0258 target pos act pos lt S 0 0057 pos window amp amp S 0 0189 lag error lt S 0 0057 pos window amp amp S 0 0040 act velocity lt S 0 0124 standstill window Bit 7 Message 90 LOAD Amplifier generating 90 of present maximum torque L_ Bit 8 IN SYNCHRONISATION Main operating mode with position control synch pos com val Xadditive S 0 0048 Xact S 0 0051 or S 0 053 lt S 0 0228 synchronously running position Main operating mode velocity synchronization Isynchr velo com val vel comm val add act vel value lt S 0 0183 synch running window velocity Bit 9 synchronizatio
23. Motor and or optional encoders can be used as absolute encoders Measuring systems that supply absolute position information within one or several revolutions single or multiturn encoder or a within a specific traversing distance absolute linear scales can be used as motor and or optional measuring systems The range absolute encoder range in which a measuring system can supply absolute position information is stored in the data memory of the measuring system or the drive software Note The absolute encoder range which the drive can evaluate can be limited with the use of S 0 0278 Maximum travel range In parameters S 0 0378 Absolute encoder range 1 or S 0 0379 Absolute encoder range 2 the drive displays those absolute encoder ranges which can be evaluated Absolute measuring systems do not have to be homed after initialization of the drive firmware The actual position value lies within the absolute encoder range machine zero related after initialization It is only necessary to conduct a single set up procedure setting absolute dimension Whether a motor or an optional measuring system are to be evaluated as absolute encoders depends on the following variables e the absolute encoder range S 0 0378 Absolute encoder 1 range S 0 0379 Absolute encoder 2 range of the relevant encoder e the set position scaling position data represented absolute or in modulo formats in S 0 0076 Position data scaling type
24. axis is not moving during the interruption If the axis is moved into the positioning window during the interruption then the IN POS message will also be generated After activating the drive enable positioning block acknowledge changes to as described in Acknowledge with drive enable removed Status Messages in Positioning Block Mode In addition to the messages listed in section Status messages during drive internal interpolation the following status messages are also generated in positioning block mode Diagnostic messages Hardware Connections End position reached Bit 12 of S 0 0182 Manufacturer status class 3 is 1 it applies if message In target position S 0 0182 Bit10 is active and no slave block has been selected E248 Interpolation acceleration 0 E249 Positioning velocity S 0 0259 gt S 0 0091 E253 Target position out of travel range E254 Not homed E255 Feedrate override S 0 0108 0 E258 Selected process block is not programmed E264 Target position out of num range See project planning manual 8 9 Operating Mode Jogging Operating mode is used to run an axis in Manual mode i e without the use of the control program Pertinent Parameters P 0 4030 Jog velocity P 0 4056 Jog inputs S 0 0260 Positioning Acceleration S 0 0193 Positioning Jerk Note The parameters for the jog inputs are already present with SERCOS and fieldbus interfaces even though hardware inputs are not
25. e P 0 4004 Magnetizing current e P 0 0531 Stall current factor e P 0 0533 Flux loop prop gain e P 0 0534 Flux loop integral action time e P 0 0535 Motor voltage at no load e P 0 0536 Motor voltage max e P 0 0532 Premagnetization factor e P 0 0538 Motor function parameter 1 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Motor Configuration 7 19 7 5 Motor Holding Pertinent Parameters The parameters for the motor holding brake are automatically set in motors with motor feedback data memory Note The motor must be suited for operating in the fieldweakening range The fieldweakening function for synchronous motors is activated with parameter P 0 0538 Motor function parameter 1 Brake A motor holding brake can be mounted via a potential free contact built into the drive controller It prevents unwanted axis movements when the drive enable signal is off e g for a vertical axis without a counterweight Note The holding brake for Rexroth Indramat motor tyoes MHD and MKD is not a working brake It wears down after about 20 000 motor revolutions if the brake is closed Dangerous movements Danger to personnel from falling or dropping axes The standard equipment motor brake or an external DANGER brake controlled directly by the servo drive are not sufficient to guarantee the safety of personnel Personnel safety must be acquired with higher ranking procedures Dangerous areas sh
26. 5 1 Bus Independent Features Profile Pertinent Parameters DOK ECODR3 FGP 03VRS FK02 EN P For drive technology that uses a fieldbus system it was necessary to develop definitions for both process objects and status machines Familiar are for example the DriveCom profile 22 of the INTERBUS Club the ProfiDrive profile of the PROFIBUS User Organization and the Drive Profile DS402 for CANopen protocols These profiles control only a small part of the necessary functions of a drive The additional and especially valuable functions continue to remain manufacturer specific Rexroth Indramat offers the user advanced drive functions with a simple to use interface This is the case for example with the referencing and jogging functions in DriveCom which have been defined as an independent operating mode These take the form as defined in ProfiDrive as well of a bit in the control word thus offering the user a considerably more comfortable interface Long years of experience has lead to an optimized drive interface which is implemented so as to be fieldbus independent The DriveCom and ProfiDrive functionalities will however remain covered and only the position of the relevant bits in the control word and status word might change Additionally all the operating modes defined in the drive will be accessible via the fieldbus see also chapter Profile Types The following parameters are relevant to external communications via a f
27. ECODRIVE03 FGP 03VRS P 0 4080 Real time input object structure P 0 4081 Real time output object structure Data direction Command Communication via Fieldbus 5 21 Note The configuration of profile types P 0 4084 OxFFFE free configurable or OxFF82 free expandable is left to the user See also chapter Profile types Parametrization via the fieldbus is possible and the drive parameters can be write accessed via the parameter channel This configuration option however requires that the master implement the parameter channel For S7 there are available PLC modules that make conversion a lot simpler Note It applies to both the process input data and output data that changes in word length must always lead to modifications in the data stored in the master that were intended for the slave This is why length changes in the DP channel do not become effective until the drive has been switched on again or with phase switching from parametrization into operating modes The structure and thus the number of words and their assignment with objects indices for the process input data are illustrated in this parameter The master can use this configuration to inform itself about the situation of the individual real time data on the bus The structure of the process output master gt slave data is stored in this parameter Thus it is possible via this parameter channel to read the current structure and thus the ass
28. Indramat ECODRIVE03 FGP 03VRS Complete designations of firmware 1 FWA ECODRV PDP 03VRS MS 2 FWA ECODR3 FGP 01VRS MS 3 FWA ECODR3 FGP 02VRS MS Drive profilesA drive profile defines e the structure of fieldbus control and status words P 0 4077 P 0 4078 e the structure and contents of real time channel P 0 4080 P 0 4081 e active operating mode S 0 0032 S 0 0033 S 0 0034 S 0 0035 e the behavior of any present status machines I O mode or Rexroth Indramat status machines By selecting a profile type the commissioning of fieldbus drives becomes very easy for the user The advantage of a profile is that the selection of all the important settings for the desired drive functions can be performed automatically As profile types are defined independent of the bus the porting of applications from one fieldbus to the next also becomes easy Status machines A state e g drive halt drive error and so on represents a specific drive condition which can be exited by means of a defined event e g drive command operating mode commutations and so on State transitions are assigned to the events The interaction of control and status bits as well as the state transitions is defined as a status machine Intel Motorola format see section Command communication via fieldbus Abbreviations e i16 16 bit variable with sign 1 word in Intel format e 132 32 bit variable with sign 2 words in Intel format e ul6 16
29. Master drive and a slave drive can be realized Parametrization To parametrize the cam function with real master axis set P 0 4084 Profile type OxFFFE freely configurable mode parameter S 0 0032 Primary mode of operation must be set to cam lag error free with encoder 1 for an optional encoder select for example P 0 0075 5 for relative master axis encoder use S 0 0145 Signal control word and S 0 0144 Signal status word to transmit the mode specific control and status bits in a cyclical manner parametrize configuration lists P 0 4080 P 0 4081 as follows suggested values Rexroth Indramat 6 22 Profile Types ECODRIVE03 FGP 03VRS Master gt Slave In the real time channel of the fieldbus the data configured in P 0 4081 Process data output descriptions are transmitted from master to drive Parameter Format P 0 4077 Fieldbus control word 116 gt 1 word S 0 0145 Signal control word 116 gt 1 word S 0 0048 Position command value additional 132 gt 2 words P 0 0156 Master drive gear input revolutions 116 gt 1 words P 0 0157 Master drive gear output revolutions 116 gt 1 words P 0 0093 Cam shaft distance 132 gt 2 words Slave gt Master In the real time channel of the fieldbus the real time data configured in P 0 4080 Process data input description are transmitted from drive to master Parameter Format
30. Parameter Format Object P 0 4078 fieldbus status word i16 gt 1 word 6041 optional actual values Note The cyclic configurable actual values are in the list parameter S 0 0187 List of configurable data in the AT Master gt Slave P 0 4077 setpoint Slave gt Master P 0 4078 actual value1 wee word1 word2 daa word n Fig 6 12 Contents of real time channel in freely configurable mode 6 4 Example configurations for Rexroth Indramat profile All the following examples relate to the freely configurable mode P 0 4084 OxFFFE as this is the most flexible mode in which to use the complete range of drive functions via the fieldbus Operating with analog setpoints Fieldbus master not active DOK ECODR3 FGP 03VRS FK02 EN P Features e tis possible to run the drive via analog velocity or torque setpoints e The control of the drive enable or drive halt does not run over the fieldbus but rather over hardware inputs X1 pin3 pin4 as long as the fieldbus communication is not active e g removed bus connector The status of the command communications is in parameter P 0 4086 Command communication status Parametrization To parametrize the analog mode e set profile type to freely configurable mode P 0 4084 OxFFFE e set the main mode to velocity control with filter and ramp S 0 0032 10b Also see operating mode velocity control e
31. To use it the auxiliary operating mode generally 1 aux mode must also be selected Rexroth Indramat 6 4 Profile Types 6 2 I O Mode ECODRIVE03 FGP 03VRS Basic I O mode function Master gt Slave Slave gt Master Sequence of data in real time Rexroth Indramat data channel General features of I O modes e The drive is run in positioning block mode lag free with encoder 1 e In this mode up to 64 programmable positioning blocks can be selected and started via 6 bits in the 16 bit wide control word known from DKC3 1 e Via 2 bits in P 0 4077 fieldbus control word the jog function can be activated As 1 auxiliary mode jog mode has been set e In a DKCO03 3 Profibus DP an optional parameter channel with P 0 4083 Length of parameter channel in DP maximum 6 words can be activated Default P 0 4083 0 gt without parameter channel e In I O mode the real time channel is made up of one word 16 bits of P 0 4077 Fieldbus control word and P 0 4078 Fieldbus status word Structure of real time channel in I O mode In real time channel of fieldbus the data configured in P 0 4081 Real time output object structure are transmitted from master to drive Parameter Format P 0 4077 Fieldbus control word 116 gt 1 word In real time channel of fieldbus data configured in P 0 4080 Real time input object structure are transmitted from drive to master Parameter
32. e Hall encoder sine encoder Which combination is possible is outlined in section Setting the Measurement System Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Firmware Functions DOK ECODR3 FGP 03VRS FK02 EN P System Overview 1 5 Extensive diagnostics options Basic parameter block that can be activated for a defined setting of the drive parameters to default values Customer passwords List of password protected data Error memory and operating hour counter Supports five 5 languages for parameter names and units and diagnoses S 0 0095 e German e English e French e Spanish e Italian Settable drive internal position resolution Evaluation of option load side encoder for position and or velocity control Evaluates absolute measuring system with setting of absolute dimension Modulo function Parametrizable torque limit Current limit Velocity limit Travel range limit e via travel range limit switch and or e position limit values Drive side error reactions e error reaction return limit e best possible standstill velocity command to zero e best possible standstill Torque free e best possible standstill velocity command to zero with ramp and filter e power shutdown with fault e NC reaction with fault e E Stop function Control loop settings e base load function e acceleration precontrol e velocity mix factor e velocity precontrol e automat
33. e to access individual list elements using both indices S 0 0362 and S 0 0366 e by incrementing index S 0 0368 to transmit in each cycle the multiplexed data with a cycle time of Tscyc number of multiplex data e to structure the index in terms of the operating mode and thus to transmit only those parameters needed for the activated mode The following parameters are used e 0 0360 MDT Data container A e 0 0362 List index MDT data container A e 0 0364 AT Data container A e 0 0366 List index AT data container A e 0 0368 Addressing for data container A e 0 0370 Configuration list for the MDT data container e 0 0371 Configuration list for the AT data container Functional Principle Multiplex Channel S 0 0370 Configuration list for the MDT data container S 0 0371 Configuration list for the AT data container DOK ECODR3 FGP 03VRS FK02 EN P Configuration The IDNs are entered in parameter S 0 0370 Configuration list for the MDT data container which are dependent on the index in S 0 0368 Addressing for data container A low byte and transmitted to S 0 0360 MDT Data container A Write accessing S 0 0370 is only possible in communications phase 2 The IDNs are entered in parameter S 0 0371 Configuration list for the AT data container A that are dependent on indices in S 0 0368 Addressing for data container A high byte and transmitted to S 0 0364 AT Data container A Write accessing
34. engineering mannesmann Rexroth ll HK la mm EN ECODRIVE03 Drive For General Automation With Fieldbus Interface Functional Description FGP 0O3VRS SYSTEM200 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat About this Documentation ECODRIVE03 FGP 03VRS Title Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Rexroth Indramat Record of Revisions Copyright Validity Published by Note ECODRIVE03 Drive For General Automation With Fieldbus Interface Functional Description FGP 03VRS DOK ECODRV3 FGP 03VRS FK02 EN PDOK ECODR3 FGP 03VRS FK02 EN P e Box 73 03V EN e Based on FGP 03VRS e Document Number 120 1000 B318 02 EN The following documentation describes the functions of the firmware FWA ECODR3 FGP 03VRS This documentation serves e for Description of all functional features Description Release Notes Date DOK ECODR3 FGP 03VRS FK02 EN P 02 00 first release 2000 Rexroth Indramat GmbH Copying this document giving it to others and the use or communication of the contents thereof without express authority are forbidden Offenders are liable for the payment of damages All rights are reserved in the event of the grant of a patent or the registration of a utility model or design DIN 34 1 All rights are reserved with respect to the content of this documentation and the availability of
35. i D reaction Ch Drive Halt ci Li I Drive is following H Da0001f1 fh7 operating mode Diagnostic Message Composition DOK ECODR3 FGP 03VRS FK02 EN P diagnostic message number and a diagnostic text For example the diagnostic message for the non fatal error Excessive Control Deviation is displayed as follows F228 Excessive Control Deviation and text L Diagnostic message Diagnostic message number Fig 4 10 Priority dependent diagnostic formation on the H1 display Each operating condition is designated with a diagnostic message which consists of a Fig 4 11 Diagnostic message composition with a diagnostic message number Rexroth Indramat 4 24 General Instructions for Installation ECODRIVE03 FGP 03VRS Rexroth Indramat The H1 display alternates F2 and 28 The diagnostic message number appears in hexadecimal format in the parameter S 0 0390 Diagnostic Message Number In this example this would be 0x F228 The diagnostic message number and the diagnostic text are contained as a string F228 Excessive deviation in the parameter S 0 0095 Diagnostic Message The parameter P 0 009 Error message number contains 228 dec H1 Display The diagnostic number appears on the two part seven segment display The form of the display emerges from the graphic Priority Dependent Displa
36. xxxx or P 0 xxxx parameter ID number Generating law for object attribute with the attribute it is possible to address the parameter elements The assignment of attributes is described in the fieldbus section Example 1 accessing data of S 0 0051 class 101 IDN S 0 0051 1 255 101 50 255 101 Instance IDN S 0 0051 class 101 255 51 0 255 51 attribute 7 or 10 as data can be accessed Example 2 accessing data of P 0 0051 class 118 IDN S 0 0051 1 255 118 50 255 118 Instance IDN P 0 0051 class 118 255 51 0 255 51 attribute 7 or 10 as data can be accessed Data exchange objects The data exchange objects support the access of parameter blocks gt 0 feedback memory gearbox stages Rexroth Indramat 5 42 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS The assembly object The data of the polled I O are exchanged via the assembly object instance 1 output object and instance 2 Input Object Attribute 3 contains the drive objects configured in the real time channel Additionally attributes 1 2 can be read out per ODVA Spec 2 0 with the help of the configuration of the assembly object using a DeviceNet diagnostics tool attribute 1 UINT16 number of data objects in assembly attribute 2 ARRAY of STRUCT list of data objects in assembly Structure definition UINT16 size of object in bits UINT16 size of object description in bytes
37. 0 0 1 0 0 0 1 0 1 1 0 1 1 0 0 d d d d d d Fig 5 28 Read response by the slave first fragment Now the master has to toggle the toggle bit again to get the next fragment The R W and L bit as well as the length and the user data are of no interest and will not be checked by the slave However the master should set these bits as shown in the graphic below Control word User data C1 R L T Length Format Index HB Index LB Subindex Data Data M 1 0 0 1 0 1 0 0 0 0 10 0 11 1 0 710 X xX X X X X Fig 5 29 Read request for the next fragment by the master Rexroth DOK ECODR3 FGP 03VRS FK02 EN P a Indramat 5 16 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS The slave will return the next fragment containing the remaining 4 bytes of data The L bit is set because it is the last fragment the length had been set accordingly Staus word User data C1 E R L T Length Format Data Data Data Data Data Data 1 0 0 1 0 1 0 0 0 1 0 0 1 1 0 0 d d d d X X Fig 5 30 Read response by the slave last fragment The timing for the complete reading of a parameter can be seen in the following graphic T Master gt L Slave R Data O O O
38. 0 0036 Velocity command value e 0 0091 Bipolar velocity limit value e P 0 1201 Ramp 1 pitch e P 0 1202 Final speed of ramp 1 e P 0 1203 Ramp 2 pitch e P 0 1211 Deceleration ramp 1 e P 0 1213 Deceleration ramp 2 e P 0 1222 Velocity command filter Command value processing Velocity control Current Velocity controller controller Velocity command Torque power value command value Fig 8 3 Velocity control block diagram Command value processing Velocity control The given S 0 0036 Velocity command value is limited to S 0 0091 Bipolar velocity limit value If the command value is higher the message E263 Velocity command value gt limit S 0 0091 is shown The command value is then accel limited via P 0 1201 Ramp 1 pitch If command velocity exceeds the velocity in parameter P 0 1202 Final speed of ramp 1 then the command value is accel limited in terms of value P 0 1203 Ramp 2 pitch Parameters P 0 1211 Deceleration ramp 1 or P 0 1213 Deceleration ramp 2 are used for the decels This means that for accel and decel procedures various ramps can be used The limit velocity command is jerk limited by means of a filter of the 1st order P 0 1222 Velocity command filter If parameters P 0 1211 Deceleration ramp 1 or P 0 1213 Deceleration ramp 2 are equal to zero then parameters P 0 1201 Ramp 1 pitch or P 0 1203 Ramp 2 pitch used Rexroth Oo Indramat DOK ECODR3 FGP 03VRS
39. 0 0349 jerk limit bipolar Motor holding brake control gt P 0 0526 Brake control delay Power stage enable is switched off i Fig 9 61 Time sequence of the error reaction return motion Rexroth Indramat 9 50 Basic Drive Functions Power off on error Rexroth Indramat BB contact ECODRIVE03 FGP 03VRS Error reaction Return motion with position limit values activated If the drive internal position limit values S 0 0049 positive position limit value and S 0 0050 negative position limit value have been activated in other words e in 0 0055 position polarity parameter bit 4 for activating the position limit value has been set to 1 and e the encoder set in S 0 0147 homing parameter bit 3 is in reference S 0 0403 position status 1 then the drive will not leave the travel range set when executing the error reaction return motion Note If the drive is in a position that would take it outside of the position limit values when executing a return motion then the drive will in this case move to a position just in front of the relevant position limit value precisely by S 0 0057 Positioning window in front of the position limit value Project planning prescribes that power must be turned on via the BB contact This means that power can only be switched on if the BB relay is closed On the other hand powering up requires the BB contact to open The sign
40. CR xxxx CR E01 gt Step 3 To check transmission compare request with receiver buffer string compare no transmission error next character after Error occured during CR no parameter access Error ee code Xxxx ja FTN EY Part 2 A next page Step 4 Enter list element and end with CR Step 5 Drive received character Drive repeats no request echo l lt Timeout E c aracter sequence oder im nein __Empfangsbuffer gefunden _ p Y keine Kommunikation mit ja Antrieb m glich y gt Adresse pr fen Schritt 6 gt Einstellungen pr fen Zur berpr fung der bertragung Zeichen gt Verbindung pr fen kette aus Schritt 4 mit Empfangsbuffer vergleichen String Compare bA Compare ok nein p bertragungsfehler ja y Schritt 7 T Request aus dem Empfangs gt B y buffer l schen Alle Zeichen bis NEP zum 1 CR inclusive Teil 2 B nachste Seite FD5005B1 WMF Fig 1 15 Write accessing list parameters part 1 Rexroth DOK ECODR3 FGP 03VRS FK02 DE P Indramat 1 14 Serial Communication ECODRIVE03 FGP 03VRS EON Part 1 B page before B y _ Next character in receiver Error occurred during lt buffer yesh parameter access Error code xxxx v Part 1 A pa
41. Current limit from Current limit from current limiting torque force limiting Current limiting __ _ Torque force Internal limiting calculation P 0 4046 Active i Peak Current P 0 4045 Active MIN permanent Current S 0 0092 Torque Force Limit P 0 0109 Torque Force Peak Limit Fig 9 40 Current limitation and torque force limitation The current and torque limits both effect the limit of the torque generating command current displayed in parameter P 0 4046 Active peak current Note The smaller of the two limit values is effective in this case If the peak current limitation is active then the drive generates warning E260 Command Current limit active If the drive remains here for more than 5s then it shuts itself down with error message F260 Command current limit shutoff This function can be switched on via P 0 0538 Motor function parameter 1 bit 11 1 Load base parameters shuts the function off With main spindle axes the drives are generally accelerated to the current limit which is the reason why this function does not make sense Rexroth Indramat 9 34 Basic Drive Functions ECODRIVE03 FGP 03VRS Accel dependent current The function of accel dependent torque limitation is switched on with bit command value limitation 12 of parameter P 0 0538 Motor function parameter 1 The required accel torque is computed based on load moment of inertia torque constant and specified command value a
42. Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 31 0x9003 Loading into phase 3 not allowed The drive is in phase 3 A change to the firmware loader is necessary because the firmware is to be replaced This can only be done in phase 2 Switch the drive into phase 2 0x9004 Loading into phase 4 not allowed The drive is in phase 4 A change to the firmware loader is necessary because the firmware is to be replaced This can only be done in phase 2 Switch the drive into phase 2 0x9102 dL 03 Firmware was cleared The drive firmware is to be restarted after the firmware was replaced The programming of modules FGP SGP or SMT was incomplete addition checksum check went wrong Modules FGP SGP or SMT must be reprogrammed 0x9103 Restart in phase 3 not allowed The drive is in phase 3 and the drive firmware must be restarted This can only be done in phase 2 Switch the drive into phase 2 0x9104 Restart in phase 4 not allowed The drive is in phase 4 and the drive firmware must be restarted This can only be done in phase 2 Switch the drive into phase 2 0x9200 dL 06 Read error A memory module is to be read An error occurred while making the attempt Check address range in the ibf file If it is alright i e
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44. Fig 6 4 Structure of P 0 4078 fieldbus status word in I O mode In the real time channel only P 0 4077 Fieldbus control word and P 0 4078 fieldbus status word are transmitted The structure of P 0 4077 fieldbus control word also see Fig 6 3 Structure of P 0 4077 fieldbus control word in I O mode is identical to the structure in the I O mode with cam status P 0 4084 Profile type OxFF81 Note With this profile selection the functional compatibility to the drive controllers DKC3 1 is established Controls that process the real time data in Motorola format have the high and low bytes swapped in comparison with the DKC3 1 I O mode with cam P 0 4084 OxFF81 Features of the I O mode with cams Rexroth Indramat Fixed length of real time channel of 2 bytes The length of the cyclic data channel thus follows P 0 4082 P 0 4087 2 P 0 4083 Bits 0 7 of P 0 0135 Status position switch are copied to bits 8 15 of P 0 4078 Fieldbus status word Along with bits 8 15 bit O and bit 1 of P 0 4078 Fieldbus status word also have a different meaning from the backwards compatible profile type P 0 4084 OxFF80 also see Fig 6 4 Structure of P 0 4078 fieldbus status word in I O mode In the real time channel only P 0 4077 Fieldbus control word and P 0 4078 Fieldbus status word are transmitted The structure of P 0 4077 Fieldbus control word also see Fig 6 3 Structure of P 0 4077 fieldbus
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46. H63 NS off not online green flashing online but no connection to master green online master connected red flashing in I O connection monitoring time exceeded critical connection error doubled MAC ID or Bus Off internal synchronization Alive LED red flashing no synchronization of fieldbus module with drive green flashing synchronization of fieldbus module with drive established I O status H65 lO off no I O connection green O connection OK outputs valid and input active green flashing outputs inactive not sent by master red flashing in I O connection monitoring time exceeded Severe fieldbus all LEDs flashing regularly Severe fieldbus module failure switch module failure unit off and on Fig 5 53 Diagnosis LED for DeviceNet Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS 6 6 1 Profile Types General Introduction Overview of the Profile Types Supported Profile Types 6 1 P 0 4084 Drive Function Fieldbus or drive Description Profile type controller compatibility operating mode 1 O profile types 1 0 mode with block DKC03 3 xxx 7 FW PpPo3vRs acknowledge This profile type makes functional compatibility to FF80h DKC04 3 xxx 7 FW FGPoivRsS Positioning block control DKC3 1 possible with up 64 positioning DKC05 3 xxx 7 FW 3 mode block via the fiel
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49. P 0 0061 Angle offset begin of profile P 0 0072 Cam shaft profile 1 P 0 0085 Dynamical phase offset P 0 0088 Cam shaft control P 0 0089 Cam shaft status P 0 0092 Cam shaft profile 2 P 0 0093 Cam shaft distance P 0 0094 Cam shaft switch angle P 0 0108 Master drive polarity P 0 0144 Cam shaft distance switch angle P 0 0156 Master drive gear input revolutions P 0 0157 Master drive gear output revolutions P 0 0158 Phase offset velocity Command Value Preparation for Electronic Cam Upon activation of this mode the position command value of the drive is initialized in terms of the following relationship Rexroth Indramat XF gL h tab Xv e XF S 0 0047 Position command value P 0 0108 Master drive polarity P 0 0108 1 gt OL P 0 0053 Master drive position Ov P 0 0061 Angle offset begin of profile h P 0 0093 Cam shaft distance tab P 0 0072 Cam shaft profile 1 or P 0 0092 Cam shaft profile 2 Xv S 0 0048 Position command value additional Ga P 0 0157 Master drive gear output revolutions Ge P 0 0156 Master drive gear input revolutions Fig 8 60 Initializing the position command value If a mode is activated then the differences of the master axis position are processed to ensure a consistent run of the position command value given changes in the cam offset or hub parameters The difference to the last control cycle is generated out of the cam table in each con
50. P 0 0167 Inputting P 0 0169 Travel range for automatic controller settings Rexroth Indramat ECODRIVE03 FGP 03VRS Definition of travel range for control loop settings Since the axis must be moved in order to identify and set the control loop it is necessary to define a travel range There are two options e Define a travel range by inputting the limits P 0 0166 Lower position limit for automatic control loop adjust and P 0 0167 Upper position limit for automatic control loop adjust a downwardly compatible function e Input P 0 0169 Travel distance for automatic control loop adjust needed with modulo axes Note The mode is selected with the use of parameter P 0 0165 Selection for automatic control loop adjust If bit15 of P 0 0165 has not been set then the range in which the axis may move with an automatic control loop setting is defined with e an upper limit position P 0 0166 e anda lower limit position P 0 0167 This results in the value of P 0 0169 Travel distance for automatic control loop adjust If Bit 15 of P 0 0165 is set then the range in which the axis may move with an automatic control loop setting is defined with e P 0 0169 Travel distance for automatic control loop adjust and e Start position actual position at the start of a command This results in the value of P 0 0166 lower limit for automatic CL start position travel range and of P 0 0167 upper limit for automatic CL
51. Positioning Deceleration e 0 0193 Positioning Jerk e 0 0108 Feedrate override Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 8 12 Operating Modes ECODRIVE03 FGP 03VRS Effective positioning velocity The maximum velocity achieved by the drive after an acceleration phase with the value set in S 0 0260 Positioning Acceleration The maximum velocity during a positioning procedure is the result of S 0 0108 Feedrate override Vmax S 0 0259 Positioning Acceleration max 9 100 Effective accel and decel The maximum delay is fixed in parameter S 0 0359 Positioning Deceleration If parameter S 0 0359 Positioning Deceleration equals zero then the drive uses parameter S 0 0260 Positioning Acceleration for decel as well Damage to property with wrong parametrization If the values for positioning decel and accel are zero then the drive cannot brake The set target is never CAUTION reached or is overrun Always enter for positioning accel a value of gt 0 Smoothing filter or jerk filter Accel and decel are smoothed by using a jerk limit value and PT1 filtering This means that accel or decel do not become effective until after t 5 Tr The time constant Tr of the smoothing filter jerk filter results from _ S 0 0260 Positioning Acceleration Tp RTE S 0 0193 Positioning Jerk or iA S 0 0359 Positioning Deceleration 5 S 0 0193 Positioning Jerk Note For the accel
52. Profibus to the drive e f the positioning acceleration specified in S 0 0260 Positioning acceleration equals 0 then warning E248 Interpolation acceleration 0 is generated e lf the prescribed positioning velocity S 0 0259 Positioning velocity exceeds the maximum allowable limit value S 0 0091 Bipolar Velocity Limit Value the warning E249 Positioning velocity S 0 0259 gt S 0 0091 will be generated The drive will move at the velocity S 0 0091 Bipolar Velocity Limit Value to the new target position e If the factor affecting positioning velocity as set in S 0 0108 Feedrate override equals 0 then warning E255 Feedrate override S 0 0108 0 is generated e f a continuous relative positioning exceeds the internal illustration range for the position data then warning E264 Target position out of number range is generated In parameters S 0 0013 class 3 diagnostics and S 0 0182 manufacturers class 3 diagnostics there are the following status messages for this mode e target position reached bit 12 of S 0 0013 Class 3 Diagnostics e In target position bit 10 of S 0 0182 Manufacturer Class 3 Diagnostics Is displayed on bit 4 of P 0 4078 Fieldbus status word e ZP bit 6 of S 0 0182 Manufacturer Class 3 Diagnostics The following profile explains how the status messages work vt Start state target position x Sv5051f2 fh7 Fig 8 15 Profile to explain how the interpolation status message
53. S 0 0036 Velocity command value and S 0 0040 Velocity feedback value are transmitted In this profile type the Rexroth Indramat specific definitions for the fieldbus control and status words apply Bits 0 3 4 and 12 in P 0 4077 Fieldbus control word also see Fig 6 6 Structure of P 0 4077 fieldbus control word in Rexroth Indramat profiles as well as Bit10 in P 0 4078 Fieldbus status word also see Fig 6 7 Structure P 0 4078 fieldbus status word in Rexroth Indramat profiles are not relevant in this profile type Bit 4 in P 0 4078 Fieldbus status word setpoint reached signals in this profile type that the setpoint speed has been reached S 0 0013 Bit 0 the parameter channel can be set in Profibus DP with P 0 4083 to 6 words Default P 0 4083 0 gt without parameter channel Length of cyclic data channel is fixed with P 0 4082 P 0 4087 12 Byte P 0 4083 Structure of Real Time Data Channel In the real time channel of the fieldbus the data configured in P 0 4081 Real time output object structure are transmitted from master to drive Parameter Format P 0 4077 Fieldbus control word i16 gt 1 word S 0 0036 Velocity command value i32 gt 2 words P 0 4076 Fieldbus container object i16 gt 1 word P 0 4076 Fieldbus container object i16 gt 1 word P 0 4076 Fieldbus container object i16 gt 1 word Note Filling out with P 0 4076 Fieldbus container o
54. fieldbus status word P 0 4084 OxFF8X 6 5 Structure of real time channel in I O mode 6 4 Structure of the Real Time Data Channel 6 13 6 14 Supplementary settings for absolute measuring systems 9 24 Supported measuring systems 1 4 Supported motor types 1 3 Supported Profile Types 1 3 Switching signal dependent block commutation 8 36 Switching the co ordinate system 9 101 9 102 Switching to zero 9 48 Switch on Position larger than the switch off Position 10 27 Switch on position smaller than the switch off position 10 27 Synchronisation status message for the phase synchronisation operating mode 8 56 synchronization 8 48 Synchronization 8 57 8 59 8 62 Synchronization status message during the velocity synchronization operating mode 8 49 Synchronous kit motors 7 11 Synchronous motors 7 9 Synchronous motors LSF Commutation offset 7 13 Synchronous motors MBS Commutation offset 7 16 T Taking drive limits into account with following blocks 8 41 Temperature check 7 1 Temperature Monitoring of the motor temperature 7 3 The Data Status 4 1 The Functional Principle of Measuring wheel operation 10 35 The programming of a module was terminated 4 32 Thermal overload Controller check 9 31 Timeout during reset 4 30 Timeout when programming flash 4 30 Torque control limiting the command value 8 2 monitoring the actual velocity 8 3 pertinent parameters 8 2 relevant diagnosis 8 2 structure 8 2 Torque limit 9 32 Torque limit of maximum a
55. reached Example Write accessing a write protected parameter S 0 0106 Current loop proportional gain 1 The master is trying to write 0 to the parameter The drive acknowledges with error message 0x7004 data cannot be changed Command telegram 3C 00 04 0B 00 00 00 Control Device Param Parameter No Tel header byte address type LSB MSB User data User data head gt Ta0003f1 fh7 Fig 1 34 Write S 0 0106 Command telegram Reaction telegram 01 3C 00 04 70 Status Control Device Tel header byte byte address User data k User data head gt Ta0004f1 fh7 Fig 1 35 Read S 0 0106 Reaction telegram Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 27 1 7 Application Examples Changing Position Block Data ASCII Protocol DOK ECODR3 FGP 03VRS FK02 DE P Suppositions e Several drives are connected with a PLC via an RS485 interface The drive address is 1 e Drive working in positioning mode Four positioning blocks are used e The target positions of the positioning blocks are to be changed via RS485 interface Taking up communications with the relevant drive BCD 01 CR Command to switch to drive A01 gt Echo of connected drives All other drives remain passive Note There is no echo by symbol Not until
56. reached in the reaction telegram nd telegram via a data exchange object the drive ram available This telegram can be read with a read service via a data exchange object The SIS reaction telegram either contains data to be read or a diagnosis To find out which it is necessary to interpret the SIS telegram The structure of an SIS telegram is as follows Byte Name 9 Status Byte Name Definition 1 STZ start symbol 0x02 2 CS checksum not relevant with fieldbus a data length incl user data header in bytes 4 DatlW repeat DatL 5 Cnirl control byte 6 Service ECODRIVE services 7 Adrs address of sender 8 AdrE address of receiver Fig 5 12 Telegram header in the reaction telegram Definition status byte in the user data header i 10 Ctrl Byte control byte 11 AdrS address of sender unit address ECODRIVE Fig 5 13 User data header in the reaction telegram Rexroth Indramat ECODRIVE03 FGP 03VRS 5 8 Command Communication via Fieldbus User data max 117 bytes Using the data exchange object Example Reading a parameter Telegram header User data header Byte Name Definition Code 9 Ctrl Byte control byte in user data header 3C 10 drive addr address ECODRIVE 05 11 ParaTyp parameter type 00 12 ParaNumL parameter number low byte F2 13 ParaNumH parameter number high byte 8F Name Definition user data u
57. sequence of symbols entered for S 0 0267 the current password status can be changed The following illustrates possible password states and the symbol sequence for parameter S 0 0267 Rexroth Indramat 4 6 General Instructions for Installation ECODRIVE03 FGP 03VRS Master password Commands Each command that is started must also be cleared list of all procedure commands Rexroth Indramat No customer password active writing to parameter contents S 0 0267 007 defaults Input string 007_Kpassw_Kpassw Input string Kpassw_007_007 Customer password active and open writing to parameter contents S 0 0267 Input customer password Input any string without space or switch off Customer password active and closed parameter write protected contents S 0 0267 Kpassw customer password Space FS0212f1 fh7 Fig 4 3 Possible password states Note If the user s password is activated and unlocked content of S 0 0267 then the drive is locked after switching the machine off contents of S 0 0267 Note As long as the drive displays PL and the command is active then communications via the serial interface with DriveTop is not possible Rexroth Indramat retains the rights to the master password function Commands are used to control complex functions in the drive For example the functions Drive Controlled Homing Procedure or Transition
58. start position travel range in which the axis may move to execute the command A Valeo hocteg P 0 0166 Lower P 0 0167 Upper osition position limit for position limit for P autom control loop autom control loop S 0 0103 adjust adjust Modulo value Nooo start 1 2 travel distance position l P 0 0169 nar ee gt absoluteA position I lt ______ _ gt P 0 0169 travel distance for autom control loop adjust Sv5100f1 fh7 Fig 9 74 Travel range with automatic control loop settings with modulo scaling DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS D905 Position range invalid P 0 0166 amp P 0 0167 D906 Travel range exceeded Possible causes for command errors D903 Inertia detection failed DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 71 Note The travel range defined here is only monitored during the time that the command is being executed Possible errors If the defined travel path equals less than two motor revolutions then command error D905 Position range invalid P 0 0166 amp P 0 0167 will be generated If the axis is not within the above defined range at the start of the command then command error D906 Position range exceeded is generated Control loop settings Before executing the command set the default control parameters stored in the motor feedback Drive enable or drive start The oscillations and
59. to 155 0 C e The value of P 0 0525 Type of motor brake is set to 0 The value of P 0 0526 Brake control delay is set to 150 ms This procedure is followed right after switching on as in the command S 0 0128 C200 Communication phase 4 transition check The command error message C204 Motor type P 0 4014 incorrect will be generated in case an MHD MKD and MKE motor is selected in P 0 4014 Motor type but the corresponding character sequence cannot be found in the motor feedback data memory DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Motor Configuration 7 5 Setting of the Motor Type through P 0 4014 Motor Type For motors without motor feedback data memory you have to set the motor type through P 0 4014 Motor type See also Characteristics of the Different Motor Types 7 3 Asynchronous Motors With the Firmware you can use asynchronous motors in the entire rpm range including constant power range In addition to the general motor parameters you have to set the following asynchronous motor parameters for specific motors according to the Indramat default P 0 4004 Magnetizing current P 0 4012 Slip factor P 0 0530 Slip Increase P 0 0531 Stall Current Limit P 0 0533 Flux Loop Prop Gain P 0 0534 Flux Loop Integral Action Time P 0 0535 Motor voltage at no load P 0 0536 Motor voltage max The user has one additional parameters to adjust the drive to his requirements P 0 0532 Premagneti
60. velocity Rotational motors 10 20RPM linear Motors 1 2 m min e Raise the S 0 0100 Velocity loop proportional gain until unstable behavior continuous oscillation begins e Determine the frequency of the oscillation by oscilloscoping the actual velocity see also Analog Output If the frequency of the oscillation is much higher than 500Hz raise the P 0 0004 Smoothing Time Consiant until the oscillation ends After this increase the S 0 0100 Velocity Control Proportional Gain until it becomes unstable again e Reduce the S 0 0100 Velocity loop proportional gain until the oscillation ends by itself The value found using this process is called the critical velocity loop proportional gain Note By inputting P 0 0181 Rejection bandwidth velocity loop 1 a PT filtering can be activated See also Control structure in chapter General Information for Control Loop Settings Determining the Critical Integral Action Time 1 Set S 0 0100 Velocity loop proportional gain 0 5 x critical proportional gain 2 Lower S 0 0101 Velocity loop integral action time until unstable behavior results 3 Raise S 0 0101 Velocity loop integral action time until continuous oscillation vanishes The value found using this process is called the Critical Integral Action Time Determining the Velocity Controller Setting The critical values determined before can be used to derive a control setting with the following f
61. 0 0012 There is no switching of position data as yet e Start command S 0 0148 C600 Drive controlled homing procedure command or remove drive enable This function recognizes that it is dealing with an absolute measuring system and conducts Setting the absolute dimension In other words the actual position value is set to the reference dimension The position command value is simultaneously set to the same value S 0 0047 Position command value If the drive is in Position control mode then the position command value must be read via the acyclic parameter channel e g service channel with SERCOS and the position command value of the control set to this value before the referencing command is cleared e Clearing command C300 Set absolute measuring the absolute dimension Rexroth Indramat 9 104 Basic Drive Functions Rexroth Indramat Case C2 Case D1 Case D2 ECODRIVE03 FGP 03VRS In the event that the co ordinate system is to be automatically and drive internally switched at the start of command Setting the absolute dimension P 0 0612 Bit 2 1 then proceed as follows e Bring the axis to the measured position e Enter the desired actual position value in the relevant reference dimension actual position value parameter e Start command C300 Set absolute measuring the absolute dimension write 11b into P 0 0012 and position data are also automatically switched e Drive internally and auto
62. 0 0035 Bit 3 1 lagless with velocity precontrol Bit 3 0 with lag without velocity precontrol With lagless position control an acceleration feed forward component can be included with parameter S 0 0348 Acceleration Feedforward prop Gain See also Setting the Acceleration Feed Forward S 0 0348 Acceleration feedforward proportional gain S 0 0032 E 0034 0035 E mode bit 3 Position p command value Acceleration feedforward D I E D see Velocity control P t S 0 0036 Velocity command value i S S 0 0104 Position loop Position actual value KV factor DOK ECODR3 FGP 03VRS FK02 EN P Fig 8 10 Position controller See also Current Controller See also Velocity Controller Rexroth Indramat 8 10 Operating Modes ECODRIVE03 FGP 03VRS Position Command Value Monitoring If the drive is operated in the position control mode with cyclical position commands new position values are transmitted to the drive every NC cycle S 0 0001 NC Cycle time TNcyc The difference between the current and the last position command value is checked for validity Reasons monitoring is activated e Erroneous control system command values e Command value transmission error If the Position Control operating mode is active the velocity produced by the difference in successive values of parameter S 0 0047 Position Command Value is compared to e 0 0091 Bipolar Velocity Limit Value S 0 0
63. 0 411 65 14 83 Telefax 31 0 411 67 78 14 Telefax 47 0 64 86 90 62 Telefax 48 061 847 64 02 e mail indramat hydraudyne nl Rumania amp sates L service Russia O sares Kl service Spain XX sates A service Spain X sares D9 service Mannesmann Rexroth Sp zo o Tschudnenko E B Mannesmann Rexroth S A Goimendi S A Str Drobety nr 4 10 app 14 Arsenia 22 Division Rexroth Indramat Divisi n Rexroth Indramat RO 70258 Bucuresti Sector 2 RUS 153000 Ivanovo Centro Industrial Santiga Jolastokieta Herrera Telefon 40 0 1 210 48 25 RuBland Obradors s n Apartado 11 37 40 0 1 210 29 50 Telefon 7 093 223 96 33 E 08130 Santa Perpetua de Mogoda E 20017 San Sebastian Telefax 40 0 1 210 29 52 oder or 7 093 223 95 48 Barcelona Telefon 34 9 43 40 01 63 Telefax 7 093 223 46 01 Telefon 34 937 47 94 00 Telefax 34 9 43 39 17 99 Telefax 34 937 479401 Sweden XX sates Kl service Slowenia XX sates Kl service Switzerland East K sares Xl service Switzerland West Ksares L serice Rexroth Mecman Svenska AB Rexroth Indramat Division Varuv gen 7 S 125 81 Stockholm Telefon 46 0 8 727 92 00 Telefax 46 0 8 647 32 77 Turkey KX sates XI service Mannesmann Rexroth Hidropar A S Fevzi Cakmak Cad No 3 TR 34630 Sefak y Istanbul Telefon 90 212 541 60 70 Telefax 90 212 599 34 07 Rexroth Indramat Rexroth Indramat elektromotorji d o o Otoki 21 SLO 64 228 Zelezniki Telefon 386 64 61 73 32 T
64. 0012 Class 2 diagnostics 4 26 S 0 0013 Class 3 diagnostics 4 27 S 0 0127 C100 Communication phase 3 transition check 4 13 S 0 0128 C200 Communication phase 4 transition check 4 14 S 0 0182 Manufacturer class 3 diagnostics 4 28 Safety Instructions for Electric Servo Drives and Controls 3 1 Scaling Linear Rotary 9 2 Motor Reference Load Reference 9 2 of the Acceleration Data 9 4 of the Position Data 9 3 of the Velocity Data 9 4 Preferred Scaling Parameter Scaling 9 2 Scaling Factor Pre Magnetizing 7 8 SDO Services 5 35 Select the download baud rate 4 34 Selection of Trigger Edges 10 15 Sequence 9 74 Servo brake 9 47 Setting absolute dimension 9 100 Setting Maximum Decel Time 7 22 Setting of position target block data 6 13 6 16 Setting of position target data 6 14 Setting of the position target block data 6 14 Setting Position Command Value Monitoring 8 10 Setting Slave Address and Transmission Rates 5 10 Setting Slave Addresses and Transmission Rates bus specific 5 24 Setting the absolute dimension Actual position value 9 105 error message 9 105 Function principle 9 100 without drive enable 9 102 Setting the Absolute Encoder Monitor 9 27 Setting the Acceleration Feed Forward 9 67 Setting the measuring system 9 10 Setting the Motor Brake Integral Action Time 7 22 Setting the Motor Brake Type 7 20 Setting the Operating Mode Parameters 8 1 Setting the Position Control Loop Monitor 9 66 Setting the position controller 9 64
65. 0x8001 The desired acces presently not possible as service channel is busy problem in service channel 0x8002 The requested drive cannot presently be accessed 0x800B Transmission terminated higher priority Unallowed access service channel not 0x800C active A new request is started before the last one is completed Fig 1 30 Error messages in serial protocol Execution and Protocol Acknowledgement One status byte is transmitted with each reaction telegram The status byte supplies the results of a transmission in the form of a code number It generally applies Status byte results Code number transmission no error 0x00 protocol error OxFO OxXFF execution error 0x01 OxEF Fig 1 31 Definition of status bytes Rexroth Indramat 1 26 Serial Communication ECODRIVE03 FGP 03VRS Code Protocol error Number Error description The requested service is not specified or is not supported by the Invalid service OxFO addressed user The command telegram cannot be General protocol evaluated violation OxF 1 Example wrong telegram length Fig 1 32 Definition of protocol error Code Execution error Number Error description Error during parameter An error occurred during read write transmission 0x01 of a parmeter Error during phase transition 0x02 Fig 1 33 Definition of execution errors The specified target phase was not
66. 0x81 in the service of the telegram head Parameter type and parameter no of the parameter to be read must be entered in the user data head in the user data bytes 0 and 1 of the offset within the list as word 16 Bit in user data bytes 2 and 3 the number of the words to be read Bit 2 identifies the running final transmission in the control byte of the reaction telegram Note The output of a following telegram is started by a renewed transmission of the unchanged command telegram Service Ox8E write a list segment Enter Ox8E in the service of the telegram head Enter parameter type and number of the parameter to be read in the user data head in user data bytes 0 and 1 of the offset within the list as word 16 Bit in user data bytes 2 and 3 the number of the words to be written Any occurring errors are entered in the user data of the reaction telegram Note Only list segments can be processed with this service that are contained in the present list If the actual list length is to be changed then this change must be specified It is not possible to operate in following telegram mode Service 0x8F write a parameter Enter Ox8F in the service of the telegram head Enter the parameter to be written into into in parameter type and number bytes of the user data head Enter the value to be written into the user data head Note This service can be used to start all commands in the drive DOK ECODR3 FGP 0
67. 16 Operating Modes ECODRIVE03 FGP 03VRS Pertinent Parameter For the motion calculation the following are used e 0 0108 Feedrate override e 0 0193 Positioning Jerk e 0 0258 Target position e 0 0259 Positioning Velocity e 0 0260 Positioning Acceleration e 0 0282 Positioning command e 0 0346 Positioning command latch e 0 0359 Positioning Deceleration e 0 0393 Command value mode For the status display the following parameter are used e 0 0419 Positioning command acknowledge e 0 0182 Manufacturer class 3 diagnostics Drive controlled Position indigkei Current positioning controller Controller Positioning Position Velocity command Torque power command value command value value commend Fig 8 17 Block diagram drive controlled positioning Functional Principle Target position or travel path is specified in parameter S 0 0282 Positioning command In bit 3 of parameter S 0 0393 Command value mode it is set whether positioning command value is relative or absolute Absolute Positioning command A status change in parameter S 0 0346 Positioning command latch value means positioning command value is directly accepted into parameter S 0 0393 Bit 3 0 S 0 0258 Target position Relative Positioning command A status change in parameter S 0 0346 Positioning command latch value means positioning command value is added to parameter S 0 0258 S 0 0393 Bit3 1 Target position Note
68. 9 44 Velocity command value to zero with filter and ramp 9 48 Velocity control diagnostic messages 8 7 pertinent parameters 8 4 Velocity Control Diagnostic Messsages 8 4 Limiting the Command Value 8 4 Velocity control loop monitor 9 63 trigger causes 9 64 Triggering causes 9 64 Velocity Controller 8 5 8 6 Settings 9 59 Velocity Limit of the Command Value in the Velocity Controller 8 5 Velocity limit value bipolar monitoring actual velocity in torque control 8 3 Velocity loop control criteria for triggering 9 64 Velocity Mix Factor Functional Principle 9 68 velocity synchronisation 8 49 velocity synchronisation with real master axis 8 49 Velocity synchronization 8 47 Velocity threshold 4 27 Virtual master axis 8 47 8 57 W Warning Classes 4 9 Warnings 4 9 Exceeding the Travel Range 9 38 Warning Classes 4 9 Write 5 24 Write Accessibility 4 2 Rexroth Indramat 12 16 Index ECODRIVE03 FGP 03VRS X X3 Connection of the Emergency Stop Input 9 54 Z Zero pulse 10 31 Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 Drive For General Automation With Fielbus Interface Supplement A Serial Communication FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P About this documentation ECODRIVE03 FGP 03VRS Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Contents 1 Serial Communication ET AMP OVONVIOW uae a a Dawe a E e a SE E E lan 1 2 Pertinent Paramet lSianii miii
69. 9 82 Basic Drive Functions ECODRIVE03 FGP 03VRS The drive internal detection for the configuration of the reference marks is done with the settings of the corresponding position encoder type parameter S 0 0277 Position feedback 1 type for motor encoder or S 0 0115 Position feedback 2 type for optional encoder In these parameters you set with bit O whether it s a rotary or a linear measurement system and bit 1 decides whether the measurement system has distance coded reference markers L Bit 0 encoder type 0 rotary 1 linear Bit 1 distance coded measuring system 0 no distance coded reference marker 1 distance coded reference marker S 0 0165 S 0 0166 Bit 3 direction of movement 0 non inverted 1 inverted Bit 7 6 absolute evaluation x 0 no absolute evaluation possible Bit 7 irrelevant 0 1 absolute evaluation possible and permitted gt encoder treated as absolute encoder 1 1 absolute evaluation possible but not Fig 9 82 Structure of the position feedback type parameters S 0 0115 S 0 0277 Note For measurement systems with their own data memory Type 1 this setting is done automatically See also chapter Setting the Measurement System Functional Principle of Drive Controlled Referencing in Non Absolute Measuring Systems Rexroth Indramat To establish congruency between drive measuring system and machine co ordinate system it is necessary that the drive
70. Bit O of parameter S 0 0346 Positioning command latch is cyclically transmitted to fieldbus control word Bit 0 This means it is not necessary to configure S 0 0346 in the real time channel compare P 0 4081 Real time output object structure Note The target position can also be directly set in parameter S 0 0258 Target position The specified value is always processed absolutely and is immediately given to the position command value generator i e bits 3 and 4 of parameter S 0 0393 Command value mode Parameter S 0 0346 Positioning command latch are not significant in this case Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Effective positioning velocity Effective accel and decel Smoothing filter or jerk filter DOK ECODR3 FGP 03VRS FK02 EN P Operating Modes 8 17 The drive generates the target position to be run to and the needed position command value profile while maintaining all marginal conditions set in e 0 0259 Positioning Velocity e 0 0260 Positioning Acceleration e 0 0359 Positioning Deceleration e 0 0193 Positioning Jerk e 0 0108 Feedrate override The maximum velocity achieved by the drive after an acceleration phase with the value set in S 0 0260 Positioning Acceleration The maximum velocity during a positioning procedure is the result of S 0 0108 Feedrate override 100 Vmax S 0 0259 Positioning Acceleration
71. DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 8 56 Operating Modes ECODRIVE03 FGP 03VRS Synchronisation status message for the phase synchronisation operating mode Associated parameters e S 0 0048 Position command value additional e 0 0051 Position feedback value 1 motor feedback e 0 0053 Position feedback value 2 ext feedback e 0 0182 Manufacturer class 3 diagnostics e 0 0228 Position synchronisation window The drive sets bit 8 in the Manufacturer Class 3 diagnostics if XSynch S 0 0048 S 0 0051 or S 0 0053 lt S 0 0228 The bit will be set only if a synchronisation operating mode is selected in the S 0 0032 Primary mode of operation During the first phase of dynamic synchronisation velocity adaptation the bit will be set to 0 to avoid being set too early for a modulo shaft 8 13 Operating mode phase synchronization with real master axis In machining processes that require an absolute angle synchronization such as printing stamping or perforating in printing machines the position relationship to the master axis is generated in angle synchronization mode In this mode the drive synchronizes to a real master axis position generated from the master axis encoder The structure of the mode angle synchronization with real master axis is illustrated below Master axis C T O3 feedback ommand value prep analysis Phase synchronization Current controlle
72. E AE ETRA a 9 53 9 7 Control Loop Setting Ssnan niini aa i a i a a a aa 9 55 General Information for Control Loop Settings cccceceeceeeeeeeeeeeeeeeeseeeeeseaeeeseeeseneeeeeeees 9 55 Load Delaurens a T e E T E a T 9 57 Setting the Current Controller sssssseesseeeseeesrnssrnssrrssrrssinnsisstnsstinstinstenttnnstnnntnnntnnntnnntnnnenn nnt 9 58 Setting the Velocity Controller c cccecccceceeceeceeceeeeeeeeeeeeeaeceeeeesaeeesaaeseeaeeseeeecaeeesaeeseneeseaees 9 59 Velocity Control Loop Monitoring ccecsceceeceeceeeeeeeaeeeeeeeceeeeesaeeecaaeseeaeeseeeeeseaeessaeeneaeeenaes 9 63 Setting the position CONtrOIM EN eeecceeceeeeeeeeneeceeeeeceaeeeeeae cence ceaeeeseaeecaaeeseneeseaeeesaeeeeaeeeenees 9 64 Position Control Loop MONitoring ccccccceceeeseeceeeeeeeeeecaeeeeaeeceeeecaaeeeeaaeseeeeeseaeeesaeeseaeeeeaes 9 65 Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Contents VII Setting the Acceleration Feed Forward cc cccescceceeeeeeeeeceeeeeceeeeaeeeeaaeeseeeeseaeeesaeeeeaeeeenees 9 67 Setting the Velocity Mix Factor werten a aaa aaa a aee aaa aE ana aeaa nah 9 68 9 8 Automatic Control Loop Settings 2 2 22 cccecesceeseeceeeeeceeeeeeeaeeeeeeeceaeeesaeeesaaeseeaeeseeeeeseaeeesaeeeeneeees 9 69 General Comm Grits siir na a ea a ned aa a a a aA a ETa A E 9 69 Prerequisites for starting the automatic control loop settings eeeeeseeeseeseerreseerrerrresenn 9 69 Con
73. Factor P 0 0640Cooling type uncooled lo 100 cooled 1 150 water cooled 2 190 Fig 9 39 Factor cooling type Parameter S 0 0092 Bipolar torque force limit value is used to specify variable limits of the maximum drive torque to values smaller than the maximum possible one This makes sense for example given a successive and quick approaches to an end limit Due to the maximum allowable current of any motor controller combination there is a specific peak torque which is desirable with many applications for acceleration processes There are however cases where the maximum peak torques must be limited to lower values for application reasons Parameter P 0 0109 Torque force peak limit can be used to limit the maximum peak torque of a drive for an application This parameter ensures that the allowable maximum peak torque for an application then not exceeded even if S 0 0092 Bipolar torque force limit value is set to a high value The following illustrates the interplay of current limit and torque limit for determining the maximum output current DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Warning and Errors DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 33 F260 Command E260 Command current limit Current limit active shutoff S 0 0080 Torque Force o o ie Command Value p g command current _ Imax P 0 4946 Active Peak Current MIN
74. If there is an optional measuring system then the multiplication of this encoder is computed as per the above formula in terms of the travel range set The multiplication of the motor encoder is calculated so that it also covers this travel range This means that values exceeding 32768 for the multiplication of the motor encoder can be generated depending on the mechanical transformation elements Example MKD motor with rotary optional encoder motor encoder resolution 4 optional encoder resolution 1000 travel range 50 revolutions gear ratio 1 1 1 Calculating the multiplication of the optional encoder 2 31 1000 e 50 42949 technical maximum 32768 thus S 0 0257 32768 This results in a resolution of 0 00001098 Degrees 2 Calculating the multiplication of the motor encoder 2431 4 50 10737418 the next smaller binary value 8388608 thus S 0 0256 8388608 However the technical maximum resolution is 4194304 Therefore we set the value in S 0 0256 to 4194304 The resolution is 0 0002146 Degrees The resolution can never exceed 4194304 e S 0 0116 Example MHD motor with linear optional encoder Resolution of the motor encoder 256 Resolution of the optional encoder 0 02 mm Travel range 5m feed constant 10mm Gear transmission ratio 3 1 1 Calculating the multiplication of the optional encoder 2431 0 02mm 5000mm 8589 Technically reasonable is a maximum of 8192 therefore S 0 0257 8192
75. L T Length Format Index HB Index LB Subindex Data Data M 1 0 0 0 0 1 1 0 1 1 0 0 ox3F OxBE 0x00 0x07 d d Fig 5 33 Write request by the master fragment 1 The slave will return a read response that contains no user data This response just indicates the master that the previous sent message had been recognised and new data can be sent The status word is just a copy of the control word just the length and the L bit will be updated However the master should not check the L R and the length Status word User data C1 L T Length Format Data Data Data Data Data Data S1 1lolo olololo il1ilolo j x xX xX x x x Fig 5 34 Write response by the slave Now the master has to sent the rest of the data in the next write request Again the toggle bit must be toggled the length is updated and the L bit must be set because this is the last fragment Control word User data C1 L T Length Format Data Data Data Data Data Data M 1 1 0 1 0 0 1 o0 1 1 o0 o d d xX x x x Fig 5 35 Write request by the master fragment 2 The slave has now received all information and can process the master s request As an acknowledge to the master write response will be sent back to the master It contains only the status word Status word User data C1 L T Length Format Data Data Data Data Data Data S 1 1 0 1 0 O0 o o 1 1 o0 o0 x xX xX x x x DOK ECODR3 FGP 03VRS FK02 EN P Fig 5 36 Write response by the slav
76. Note The measuring systems must all have a binary encoder resolution Rexroth Indramat 9 42 Basic Drive Functions Measurement System Function absolute cyclical ECODRIVE03 FGP 03VRS In an ECODRIVEO3 the feedback connection not needed by the motor encoder interface can be used to evaluate the master axis encoder P 0 0074 P 0 0075 Interface Note in MKD and MHD motors the X4 interface is assigned to the motor encoder and cannot therefore be used for the master axis encoder Endat absolutel X8 expensive typically 2048 number of lines cyclical incremental with incremental sine signals 1Vss signals 2 X8 maximum input frequency 200kHz incremental with TTL signals Rexroth Indramat incremental 5 X8 maximum input frequency 200kHz Fig 9 54 Measuring systems and parametrization with master axis encoders To parametrize the master axis encoder use parameters e P 0 0075 Feedback type 2 e 0 0115 Position feedback 2 type e 0 0117 Feedback 2 Resolution e P 0 0185 Function of encoder 2 e P 0 0186 Actual Position value 3 smoothing time The parameter P 0 0052 Position feedback value 3 displays the position of the master axis feedback To use the optional encoder as a master axis encoder a 1 must be entered in parameter P 0 0185 Function of encoder 2 The position feedback value 3 can be given an offset Use the parameter P 0 0087 Offset position feedback va
77. O mode Structure of P 0 4078 fieldbus status word P 0 4084 0xFF8X e Structure of P 0 4078 Fieldbus status word is in all three I O modes P 0 4084 OxFF80 OxFF81 and OxFF82 the same as S 0 0144 Signal status word Here the structure of S 0 0144 and P 0 4078 with P 0 4084 OxFF80 and P 0 4084 0xFF81 is permanently pre configured e Only in freely expandable I O mode P 0 4084 0xFF82 can the structure be selected via configuration list S 0 0026 Configuration list signal status word and S 0 0328 Assign list signal status word e The profile types for P 0 4084 0xFF80 I O mode with block acknowledge and P 0 4084 0xFF81 I O mode with cam status are only different in terms of the definition of bits 0 and 1 and from bit 8 to bit 15 see structure of P 0 4078 Rexroth Indramat 6 6 Profile Types ECODRIVE03 FGP 03VRS Profile type Bit Assignment Description 0 active mode 1 jog in OxXFF80 0 positioning P 0 4084 0xFF80 1 point of removal WSP 1 to the right of point of removal in OxFF80 0 to the left of WSP P 0 0135 BitO 0 warning 1 active S 0 0135 Bit12 in OXFF81 0 not active P 0 4084 0xFF81 1 E Stop Status 1 active P 0 0223 Bit0 in OxFF81 0 not active 2 In reference 1 drive homed S 0 0403 Bit0 3 In motion 1 In motion S 0 0013 Bit1 P 0 4084 0xFF80 4 In Position 1 drive within positioning window amp no following block S 0 0182 Bit
78. Object 5FF1 Word Dummy 34 0x00 Sub index for object 5FF1 35 0x00 12 byte on bus still to object 5FF1 36 0x00 12 byte on bus still to object5FF1 37 0x00 Sub index for object 5FF1 Fig 5 48 Object 6000 process output data Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 31 Length of process data channel in the ECODRIVE 03 Length of the PD channel DOK ECODR3 FGP 03VRS FK02 EN P The INTERBUS slave circuits permits a flexible configuration of the process data channel The entire cyclical data channel for input and output data is defined as the process data channel Within the process data channel both the parameter channel optional and the real time channel in which the drive s cyclical data are transmitted are located The length of the process data channel depends on what is set in P 0 4084 profile type In the freely configurable profile types P 0 4084 OxFFFE user specific expansions of the process data channel can mean that drive controllers are operated with different lengths of the process data channel for the I O directions Note Dummy bytes P 0 4076 are automatically added in this case to make the lengths equal The process data channel can only have words or double words not bytes as a data type The lengths are fixed in bytes in terms of the compatibility to other bus systems The length of the process
79. P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 15 Typical application examples are shown in the following two pictures 1 Power connectopn of motor 2 Connection of motor encoder 3 Connection of optional encoder direct positon acquisition Ap5133f1 fh7 Fig 9 17 Application Optional encoder by linear servo axis 1 Direct position acquisition with external encoder Ap5136 f1 fh7 Fig 9 18 Application Optional encoder by rotary servo axis The optional encoder is parameterized with the e P 0 0075 Feedback type 2 e 0 0117 Feedback 2 Resolution e 0 0115 Position feedback 2 type e P 0 0185 Function of encoder 2 parameters Rexroth Indramat 9 16 Basic Drive Functions ECODRIVE03 FGP 03VRS These specify e the feedback type which is used e the resolution of the optional encoder e the direction of movement etc The parameter S 0 0053 Position feedback 2 value displays the position of the optional encoder Set the reference measure to the machine zero point as follows e S 0 0148 C600 Drive controlled homing procedure command or for absolute encoders e P 0 0012 C300 Command Set absolute measurement The optional encoder can be used for different purposes The evaluation mode for the optional encoder is set in parameter P 0 0
80. P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 91 Monitoring the Distance Between Home switch and Homing Mark If the distance becomes too small between the home switch edge and the reference mark then it is possible that the home switch edge will only be detected after the reference mark has already passed This leads to the detection of the following reference mark and the reference mark detection becomes ambiguous AA lt _ Reference marker selected by 1 Motor home switch revolution m Inaccuracy of the home switch detection gt Homing direction SV5070f1 fh7 Fig 9 94 Ambiguous detection of reference markers at small distances between home switch edge and reference mark The distance between the home switch edge and the reference mark is monitored for this reason If the distance between the home switch edge and the reference mark becomes smaller than a certain value the command error C602 Distance home switch reference mark erroneous will be generated The Critical Range for the distance is 0 25 Distance between reference markers Optimaler distance critical distance 0 5 Distance of reference marks 0 25 Distance of reference marks lt gt Distance of the reference marks Home switch in critical area Home switch in allowed area es Homing direction SV5071f1
81. P 0 4078 Fieldbus status word 116 gt 1 word S 0 0144 Signal status word 116 gt 1 word S 0 0051 Position feedback 1 value 132 gt 2 words S 0 0040 Velocity feedback value 132 gt 2 words S 0 0390 Diagnostic message number 116 gt 1 word Sequence in real time data channel word1 word2 word3 word4 word5 word6 word7 words Master gt P 0 4077 S 0 0145 P 0 0156 P 0 0157 S 0 0048 H S 0 0048 H P 0 01 P 0 4076 Slave Slave gt P 0 4078 S 0 0144 S 0 0051 H S 0 0051 L S 0 0040 S 0 0040 S 0 0390 Master Fig 6 16 Contents of the real time channel in the cam with real master axis Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Profile Types 6 23 6 5 Multiplex Channel Overview Pertinent Parameters The multiplex channel makes it possible to update a limited cyclical data channel This also enables cyclical list element accessing with index changes Note To be able to use the mechanism it is necessary to use command communications via SERCOS or Profibus and configure the multiplex parameter in the cyclical telegrams The use of the multiplex channel is only possible with a freely configurable operating mode P 0 4084 OXFFFE With the help of the multiplex channel it is possible e to cyclically exchange more parameter contents despite limited maximum number of transmittable bytes in the master data telegram and drive telegram
82. Probing Cycle Procedure Command 10 21 Relevant parameters 10 19 Signal Edge Selection 10 21 Probe functions 10 19 Probe signal select 10 22 Process data channel 5 11 Process data input description Object 6000 5 27 Rexroth Indramat 12 12 Index Rexroth Indramat ECODRIVE03 FGP 03VRS Process output description object 6001 5 29 Processing Command Values in Modulo Format Shortest Path Direction Selection 9 9 Processing single list elements of multiplex channel 6 25 PROFIBUS Interfce 5 10 Profile 5 1 8 59 Profile Type Speed Control 6 15 Features 6 15 Profile type Velocity control structure of real time data channels 6 15 Profile types Abbreviations 6 2 Definitions 6 2 Drive profiles 6 2 Intel Motorola format 6 2 Status machines 6 2 Profile Types 6 1 Programmable Limit Switch 10 26 Programmable Limit Switch Lead Time 10 27 Programming only possible in loader 4 30 Proportional Gain Determining the Critical Proportional Gain 9 60 PTC 7 1 Pull out current limit 9 31 R Ramp 9 48 Rated current Saving in the motor feedback 7 2 reaction telegram Telegram header 5 7 User data 5 8 User data header 5 7 Reaction to undervoltage 9 52 Reaction to Undervoltage DC bus voltage too small 9 52 Read 5 24 Read access 4 27 Read error 4 30 real master axis 8 49 Real master axis 8 61 real time data channel 6 4 Referencing parametrization 9 80 reference marker 9 80 Referencing the master axis encoder 9 43 Referencin
83. Rexroth Indramat ECODRIVE03 FGP 03VRS Error messages when configuring signal control word 10 4 Error messages while reading and writing operating data 4 2 Error messages with configurable signal control word 10 5 Error Number 4 24 Error reaction power off 9 50 Error Reaction Drive Error Reaction 4 9 NC Response in Error Situation 9 53 to velocity command value deceleration to zero 9 45 Error when writing into RAM 4 30 E Stop Activation 9 54 functional principle 9 53 relevant parameters 9 53 Evaluation of the Home Switch 9 89 Example configurations for Rexroth Indramat profile 6 17 Exceeding the Travel Range Warning 9 38 Exceeding the Travel Range as a Warning 9 38 Exceeding the Travel Range as an Error 9 38 Excessive control deviation 4 25 Expanded Oscilloscope Recording Function 10 14 Explanation of Terms 4 1 Explicit Message 5 40 F Features of the I O mode default setting 6 8 Features of the I O mode freely expandable 6 9 Features of the I O mode with cam 6 8 Feed Constant 9 7 Feedback error 4 25 Fieldweakening 7 18 Firmware Functions 1 5 Firmware loader 4 29 Firmware Update with the Dolfi program 4 29 Firmware was cleared 4 30 Following block chain interruption 8 39 Following block mode 8 23 8 33 for write access 4 2 Freely configurable operating mode 6 16 Features 6 16 structure of real time data channel 6 16 Function diagram for the Programmable Limit Switch 10 26 Function Overview 5 10 Functional Overvi
84. Rexroth Indramat MHD MKD and MKE motors with housings all motor specific data is set up automatically no further user intervention is required for the installation of these motors Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 13 Determining the Feedback Interface of the Motor Feedback The encoder interface of the motor encoder is determined by the parameter P 0 0074 Feedback type 1 The number of the motor encoder type must be entered The motor encoder interface in P 0 0074 is automatically set in some motor types See also chapter Characteristics of the Different Motor Types The following measurement systems and modules may be used with motors with motor encoder interfaces that can be parameterized For For Encoder Value in synchronous asynchronous Measuring system interface P 0 0074 motors motors not available only with rotary no yes asynchronous motors digital servo feedback LSF HSF or yes yes resolver Incremental encoder with sine yes yes signals from 1V signals Incremental encoder with square yes yes wave signals from Heidenhain encoder with EnDat interface from yes yes Heidenhain gearwheel encoder with 1Vss signals 2 9 no yes resolver without feedback data 1 10 yes no memory resolver without feedback data 1 2 11 yes no memory plus incremental encoder with sine signals Hall encoder plus square wave yes no encoder Hall encoder
85. S 0 0371 is only possible in communications phase 2 Rexroth Indramat 6 24 Profile Types S 0 0368 Addressing data container A S 0 0360 MDT Data container A S 0 0364 AT Data Container A Rexroth Indramat ECODRIVE03 FGP 03VRS Note A maximum of 32 IDNs can be configured in S 0 0371 Addressing the Data Container Parameter S 0 0368 Addressing for data container A contains indices for the selection of the parameters transmitted in the data container The graph below illustrates the configuration lists with the maximum number of elements 32 S 0 0368 Addressing for data container A 1 0 Addressing AT Addressing MDT 31 31 1 S 0 0048 1 0 L gt S 0 0047 0 S 0 0371 Configuration list S 0 0370 Configuration list for the AT data container for the MDT data container Tb0205f2 fh7 Fig 6 1 Functional principle of addressing data container A Note Only bits 0 5 for MDT and bits 8 13 for AT are used for addressing with parameter S 0 0368 The other bits are cut off This is why no value exceeding 31 can be used for addressing Note Parameter S 0 0368 Addressing for data container A can depending on requirements be configured in MDT write accessed via the required data channel or some other interface Using the Data Container In parameter S 0 0360 MDT Data container A the master transmits the data which wil
86. SERCOS Profibus to the drive If specified positioning velocity in S 0 0260 Positioning Acceleration is 0 then warning E248 Interpolation acceleration 0 is generated If the specified positioning velocity S 0 0259 Positioning Velocity exceeds maximum limit value S 0 0091 Bipolar velocity limit value then warning E249 Positioning velocity gt S 0 0091 is generated The drive runs at velocity S 0 0091 Bipolar velocity limit value to the new target position If the factor of positioning velocity S 0 0108 Feedrate override is 0 then warning E255 Feedrate override S 0 0108 0 is generated If continuous relative positioning means that the internal range of the position data is exceeded then warning E264 Target position out of num range is generated parameters S 0 0013 Class 3 diagnostics and S 0 0182 Manufacturer class 3 diagnostics there are the following status messages for these modes Target position reached bit 12 of S 0 0013 Class 3 diagnostics In target position bit 10 of S 0 0182 Manufacturer class 3 diagnostics Is shown on bit 4 of P 0 4078 Fieldbus status word IZP Bit 6 of S 0 0182 Manufacturer class 3 diagnostics The following profile explains how the status messages work vt Start state target position x Sv5051f2 fh7 Fig 8 23 Travel profile to show how interpolation status messages work Rexroth Indramat 8 22 Operating Modes ECODRIVE03 FGP
87. The values for actual position value 3 and master axis position are always encoder related emulated S 0 0076 has no meaning here Resolution with Absolute Encoder Emulation The output data format number of bits revolution for the emulated SSI position is fixed in parameter P 0 0502 Encoder emulation resolution The input range and unit depends on S 0 0076 Position data scaling type The following combinations are possible e 10 24 bit revolution e 4 24bit mm e 8 24 bit inch Note The unit of the parameter is switched when selecting SSI emulation via parameter P 0 4020 Encoder emulation type Referencing with Absolute Encoder Emulation Using parameter P 0 0012 C300 Command Set absolute measurement it is possible to reference the absolute position output by the absolute encoder emulator With set absolute dimension the value of parameter S 0 0052 Reference distance 1 is set Position jumps at the Display Limits of Absolute Encoder Emulation Using SSI emulation it is possible to illustrate 4096 revolutions absolutely If when using SSI emulation the limit has been reached then small position fluctuations lead to large jumps in the emulated SSI position This is the case with position 0 and 4096 revolutions Rexroth Indramat 10 34 Optional Drive Functions ECODRIVE03 FGP 03VRS emulated position position jump a as gt 0 2048 4096 motorposition in homing point re
88. This can be set in parameter P 0 0117 NC Reaction on Error The following applies Value of P 0 0117 Function Drive proceeds the error reaction immediately after recognition of an error Drive continues for 30 sec in the selected operating mode then follows the best possible deceleration Fig 9 63 NC Reaction on Error Note Activating the NC Reaction on Error is only recommended for controls that have a corresponding error reaction procedure Emergency stop feature Interpretation as warning E834 Emergency Stop active DOK ECODR3 FGP 03VRS FK02 EN P The E Stop function supports the braking of the drive via a hardware input on the drive controller It thus represents the option of shutting down the drive parallel to command communication in an emergency Activation and how to set the deceleration is parametrizable The following parameters are used e P 0 0008 Activation E Stop function e P 0 0223 Status Input E Stop function Functional principle of the E Stop function By activating the E Stop function bit O 1 the drive executes upon actuation of the E stop input the selected reaction for deceleration This reaction depends on bit 2 of P 0 0008 If the interpretation fatal warning has been parametrized there bit 2 1 then the drive responds by switching off the external drive enable with the reaction parametrized in P 0 0119 Best possible deceleration The warning diagnosis E834 Em
89. This gives a resolution of 0 00244 um 2 Calculation of the Multiplication of the motor encoder 5m of travel range give 500 gear output revolutions and therefore 1500 gear input revolutions motor revolutions 2 31 256 e 1500 5592 the nearest smaller binary value 4096 therefore S 0 0256 4096 This results in a resolution of 0 000343 Degrees referred to the motor shaft Rexroth Indramat 9 24 Basic Drive Functions ECODRIVE03 FGP 03VRS Processing format of the drive internal position command interpolator In the drive internal position command interpolator the position command profile for the drive controlled travel commands such as drive halt drive controlled homing operating mode drive internal interpolation and so on are generated The format of the drive internal position data affect the maximum acceleration limit which can be pre defined for the interpolator The limits are not valid for cyclic The following relationships apply command values e g in ie for rotary motors operation mode Position control 51 471 854 040 rad amax REEN encoder resolution x multiplication s amax maximum acceleration of position command of the interpolator l encoder resolution value in S 0 0116 multiplication value in S 0 0256 Fig 9 29 Maximum acceleration of the position command interpolator as dependent on the drive internal position data format for linear motors 8 192 000 000 x
90. a 2 2 fold value is permitted If the maximum value is exceeded for an extended period however then the motor current limit reduces the maximum motor current to 2 2 times the motor standstill current For the maximum motor current to increase again it is necessary to first reduce the load on the motor i e the current must drop below the 2 2 fold motor standstill current If the motor overload limit is active then e warning E225 Motor overload is generated and e Bit 0 overload warning in S 0 0012 Class 2 diagnostics is set For physical reasons it is necessary to limit the maximum actual current of the motor to a specific speed The pull out current limit is used for this purpose This limit is limited purely by the technical structure of the motor and cannot be influenced Parameter P 0 0532 Premagnetization factor is used to set this in asynchronous motors See section Asynchronous Motors Rexroth Indramat 9 32 Basic Drive Functions Torque Limit Rexroth Indramat Variable torque limit Peak torque limit ECODRIVE03 FGP 03VRS Parameters e 0 0092 Bipolar torque force limit value e P 0 0109 Torque force peak limit specify the per cent value of S 0 0111 Motor current at standstill Factor cooling type that can be maximally made available The factor of the cooling type is derived from that cooling type of the motor which has been programmed in parameter P 0 0640 Cooling mode Parameter value
91. a command To start the feature you must set and execute the commana by writing to the parameter S 0 0148 C600 Drive controlled homing procedure command Input 3 11bin The drive confirmation has to be received from the data status out of the same parameter The command is finished when the command change bit in the drive status word is set and the confirmation changes from in process 7 to command executed 3 or to command error OXF If the command is interrupted Input 1 during processing when confirmation 7 the drive responds by activating the drive halt feature The program continues if the interruption is cancelled See also chapter Drive Halt Possible Error Messages During Drive Controlled Homing Rexroth Indramat During the execution of the command the following command errors can occur e Drive StopC601 Homing only possible with drive enable While starting the command the controller enable was not set e C602 Distance home switch reference mark erroneous The distance between home switch and reference mark is too small see e Monitoring the Distance Between Home switch and Homing Mark on page 9 97 e C604 Homing of absolute encoder not possible The homing encoder is an absolute encoder The command Drive Controlled Homing was started without first starting the command Setting the Absolute Dimension DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Funct
92. a memory module is actually at that address then the error can only be cleared by replacing the firmware module ESF02 1 0x9400 dL 07 Timeout during reset An error occurred while trying to reset a flash Repeat the reset command If the error continues to appear then it can only be cleared by replacing firmware module ESF02 1 0x9402 dL OF Address range not in flash An address range not in the flash must be cleared Correct address range in the SIS or check the range in the ibf file 0x940A Reset only possible in loader Drive firmware is running and the flash is to be cleared Change into firmware loader Rexroth Indramat 4 32 General Instructions for Installation ECODRIVE03 FGP 03VRS Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors 0x96E0 dL Ob Error when verifying the flash An error occurred during the programming process A memory cell in the flash could not be write accessed The flash must be cleared prior to the programming command If the error continues then the firmware module ESF02 1 must be replaced 0x96E1 dL OC Timeout when programming the flash An error occurred during programming A memory cell in the flash could not be write accessed Programming command repeated If the error continues then the firmware module ESF02 1 must be replaced Ox96FF dL 09 Er
93. and the position status becomes 1 The drive completes the command which can now be cleared P 0 0012 0 Basically same procedure as with case A1 but the command is activated by the flank at the zero switch input Note Biti of P 0 0612 and the command itself are deleted automatically and drive internally upon completion of Setting the absolute dimension Setting the absolute dimension with drive enable If the application uses a so called vertical axis or the position approached without drive enable cannot for whatever reason be held then the command can also be executed with drive enable With bit1 of P 0 0612 it is set whether the command is started by e writing 11b into P 0 0012 bit 1 0 or e a0O gt 1 flank at the zero switch input bit 1 1 Note For safety reasons flank evaluation is automatically deactivated after Setting the absolute dimensions has been completed This means that applications in systems with slip must cyclically use bit 1 in P 0 0612 Use bit2 of P 0 0612 to select whether when executing command P 0 0012 C300 Command Setting the absolute dimension e there is also an immediate drive internal switch of the co ordinate system bit 2 1 or e the start of S 0 0148 C600 Drive controlled homing procedure command is delayed until the drive enable is removed by the control before the co ordinate system is switched bit 2 0 DOK ECODR3 FGP 03VRS FK02 EN P ECODRI
94. be generated In this case you have to enter the value S 0 0298 Reference cam shift into S 0 0299 Home switch offset e Check You should see a 0 displayed in S 0 0298 Reference cam shift when homing is restarted Commissioning with Evaluation of distance coded reference marker homing of a translatory motor encoder encoder 1 homing of a translatory optional encoder encoder 2 DOK ECODR3 FGP 03VRS FK02 EN P If the encoder has distance coded reference markers type 4 then it must be set in S 0 0147 Homing parameter e whether the home switch should be evaluated and or e in which direction the drive should move at the start of the command Drive controlled homing e and whether the drive should position at the position of the 2 overrun reference mark whether it should stop after the 2 reference mark is overrun or whether a specific path is to be run especially in the case of gantry axes Determining the travel path in Run path mode If in bits 7 and 8 of S 0 0147 Homing parameter the Run path mode has been programmed see function sequence of Drive controlled referencing then the drive always runs a path defined by parameter S 0 0165 Distance coded reference offset 1 For the homing of a translatory motor encoder encoder 1 it applies S Re fen S 0 0165 S 0 0116 S 0 0165 Value in Parameter S 0 0165 Distance coded reference offset 1 l S 0 0116 Feedback 1 Resolution SReten Travel
95. be an EDS file EDS in which the data needed to operate the unit on the BUS are stored This file is needed for the configuration of the BUS master for each participant The EDS file for an ECODRIVEO3 is an ASCII file designated with DKC05P3 EDS All the objects in the unit are described in this EDS file Note The EDS file is stored at installation of DriveTop in directory Indramat Device Data Sheets DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 41 Object Directory DeviceNet specific DOK ECODR3 FGP 03VRS FK02 EN P The communications objects as defined by DeviceNet in ODVA specification 2 0 are made available The imaging of SERCOS parameters on objects class instance and attribute of all drive parameters Parameter block 0 that can be R W via Explicit Message They are addressed via a direct conversion of the SERCOS parameter number in the object with e class e instance e and attribute Generating law for object class S parameters are imaged in classes 101 to 117 e class 101 IDN S 0 xxxx 1 255 S parameters P parameters are imaged in classes 133 to 164 e class 118 IDN P 0 xxxx 1 255 P parameters with S 0 xxxx or P 0 xxxx parameter ID number Generating law for object instance e Instance IDN S 0 xxxx class 101 255 S parameters e Instance IDN P 0 xxxx class 118 255 P parameters with S 0
96. been set Fig 1 7 SIS Telgram head Rexroth DOK ECODR3 FGP 03VRS FK02 DE P Indramat 1 8 Serial Communication ECODRIVE03 FGP 03VRS Structure of the User Data Head Note The structure of the user data head depends on the transmission direction Also the user data headers described here are only used for the services 8x80 0x8F It is differentiated between e Command telegram Master gt Slave This is the telegram that the master sends to the slave drive 1Byte 1Byte 1Byte 1Byte 1Byte Control Device Param Tel header byte addres type Parameter No User data head gt lt User data gt Ta0001f1 fh7 Fig 1 8 User data head structure in the command telegram e Reaction telegram Slave gt Master This is the telegram that the slave sends to the master Drive 1Byte 1Byte 1Byte Status Control Device Tel header byte byte address k User data head gt lt User data gt Ta0002f1 fh7 Fig 1 9 User data head structure in reaction telegram The definition of the user data The user data head describes the mode of transmission in the command head telegram Control byte The data block element of a parameter which is being accessed is described in the control byte Bit 2 is used to control the transmission of following telegrams the writing of lists in several increments Unit address The uni
97. between set current and torque according to the torque constant P 0 0051 The torque builds up without delay The drive has perfect servo properties The disadvantages are the high iron loss and the higher noise under no or partial load especially at 4 kHz switching frequency when the full magnetization current is flowing For main spindle applications it has proven successful to reduce the pre magnetizing scaling factor to 50 Through this procedure the motor stays cooler and is not as noisy while peak power is maintained The extended start control time only for jumps that exceed half the peak torque and the missing linearity of torque and voltage do not distort the main spindle drives With a 50 pre magnetizing factor the qualitative connection between the pre magnetizing scaling factor pmf and drive behavior is displayed in the following graphic MdA 100 pmf 50 pmf gt Iq gt i Dg5005f1 fh7 Fig 7 6 Connection of pre magnetizing scaling factor and drive behavior The torque buildup is delayed by about 200 ms during pre magnetizing because the air gap range can only increase slowly in relation to the rotor time constant By reducing the pre magnetizing scaling factor you can achieve a better synchronous operation in the one thousandth degree range This will reduce distorted torques which result from saturation effects in the motor and from unavoidable d
98. block chain by selecting the same block number Reference position ECODRIVE03 FGP 03VRS Given an interruption e g with drive halt a restart will end the following block chain The reference position is the original start position of the block chain The chain is retained as only absolute and relative positioning blocks with residual path storage are used in following block mode target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0346 Positioning command latch Positioning ackn es Positioning ackn position inputs a Changing into jog mode 4 S 0 0124 Standstill window speed profil P 0 4026 01 Process block selection P 0 4051 ne Process block acquittance oi s IN 01 AH are G e control word Bit 13 S 0 0182 Manufacturer class 3 diagnostics Bit 1 a a _ gt lt gt Positioning inputs valid lt 4ms t owledgement outputs show the negated status of the positioning inputs owledgement outputs do not show that after valid record acceptance the re in an inverted condition SV5014d1 fh7 Fig 8 40 Example Following block interrupt with same block selected Note Given a change into a different mode with an interrupt the previously interrupt chain is completed upon restart unless a new block is selected Given a following block with commutation due to target p
99. buffer String Compare Compare ok no Step 4 Delete request from receiver buffer All characters up to 1 CR inclusive Next character in receiver buffer no v Evaluate parameter data Read access completed P 0 4040 7 r CR xxxx CR E01 gt _ gt yes gt parameter access lt Timeout D gt A gt no Inhalt des Empfangsbuffers oder P 0 4040 7 r CR 1C3Fh CR E01 gt gt Transmission error There are now data or error numbers in the receiver buffer Error occurred during Error code xxxx FD5000B1 WMF Fig 1 14 Read accessing a parameter DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 13 Write Accessing List Parameters There are a number of lists in the drive These can be addressed when writing in a modified way Step 1 Send request Communication with drive not z B P 0 4007 7 w gt CR are een gt opens the list i CZOP ist gt check setting y gt check connection Step 2 A Received signal from drive lt q no ia Drive repeats request echo E ESN J Vv lt Timeout gt _ Character sequence or gt found A no in receiver buffer E Se Contents of receiver _ buffer P 0 4007 7 w gt CR oder ja i P 0 4007 7 w gt
100. chronological order in parameter S 0 0375 List of diagnostic numbers Every change in contents of S 0 0390 Diagnostic message number means that the old contents are transferred into S 0 0375 List of diagnostic numbers If S 0 0375 List of diagnostic numbers is read then the last replaced diagnostic number appears in the first element the diagnostic number displayed penultimately is displayed in the second element and so on The following illustration explains the relationship between S 0 0375 List of diagnostic numbers and S 0 0390 Diagnostic message number with the use of an example DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS S 0 0390 Diagnostic numbers 0xA013 General Instructions for Installation 4 25 0xA012 OxA101 drive ready for power on H1 Display ob S 0 0390 Diagnostic number changes to A013 XXXX 50 Power is switched on power and control section are ready for operation S 0 0390 Diagnostic number changes to A012 gt time Drive enable is switched on operation mode e g velocity control AF S 0 0390 Diagnostic number changes to A101 XXXX 50 XXXX 50 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX 2 A013 2 A013 1 A012 1 S 0 0375 S 0 0375 Tb0208f1 fh7 Fig 4 12 Example for generating S
101. coded measuring system serves only one purpose staying within the allowed travel range Higher security witha If the home switch is not evaluated the drive always covers the distance home switch in the selected homing direction which is necessary to capture 2 adjacent marker positions This distance is 2 S S 0 0165 Feedback Resolution ud Re f max 7 xa S 0 0165 Distance coded reference offset 1 S 0 0165 Distance coded reference offset 1 v value in S 0 0041 Homing velocity a value in S 0 0042 Homing acceleration SRe f max maximum travel distance for homing with distance coded reference markers S 0 0116 Feedback 1 Resolution S 0 0117 Feedback 2 Resolution Fig 9 103 Travel distance for homing with distance coded reference markers If the drive is closer to the travel limit in homing direction than the necessary travel distance Srefmax it can leave the allowed travel range and do mechanical damage to the machine To avoid this e make sure that the distance of the axis to the travel limit at start of the command S 0 0148 C600 Drive controlled homing procedure command is greater than the max necessary travel distance Sretmaxs or e evaluate the home switch Home switch evaluation If the home switch is evaluated and if at the command start the home switch is already activated S 0 0400 Home switch 1 the drive automatically starts in the opposite homing direction Therefore the home switch
102. communications then set P 0 4083 Length of parameter channel in DP PCP channel width of slave 2 in drive This enlarges the cyclic channel by two bytes It was specifically prevented however that the PCP channel could be switched off by inputting P 0 4083 0 as then the PC free start ups could no always be ensured e Initiate establish connection e Abort terminate connection e Reject reject unallowed services e Identify read manufacturer name type version e Status read unit user status e Get OV read object directory e Read read variable e Write write variable Additional data and services are listed in the literature of the specific master circuit DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 25 Object Directory INTERBUS specific Index Data type Object type Access PD Object description 6000 PDB Record R no P 0 4080 Real time input object structure 6001 PDB Record R no P 0 4081 Real time output object structure 6002 Boolean Variable R W no Process output data released 6003 R W no Process data monitoring time Fig 5 44 Object directory for INTERBUS Also all drive parameters are available via the PCP service R W to the extent allowed The assignment of objects index and sub index on drive parameters is described below Object definition The data of an object is accessed via e Index e Sub index Generating law for
103. control word in I O mode is identical to the structure in I O mode with block acknowledgement P 0 4084 Profile type OxFF80 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Profile Types 6 9 I O mode freely expandable P 0 4084 OxFF82 Features of the freely expandable I O mode e The user can freely expand the length of cyclic data channel P 0 4082 or P 0 4087 up to a maximum of 9 words In addition to the fieldbus control and status words additional real time data can be configured via configuration lists P 0 4080 Real time input object structure and P 0 4081 Real time output object structure e The structure of P 0 4077 Fieldbus control word also see Fig 6 3 Structure of P 0 4077 fieldbus control word in I O mode is identical to the structure in I O mode with block acknowledgement P 0 4084 OxFF80 e The contents of P 0 4078 Fieldbus status word is the same as that in S 0 0144 Signal status word and can be freely parametrized via configuration lists S 0 0026 Configuration list signal status word and S 0 0328 Assign list signal status word 6 3 Rexroth Indramat specific profile types Basic function of Rexroth Indramat Profile To use the numerous and extensive functions of a Rexroth Indramat fieldbus drive it is necessary in addition to the backwards compatible I O mode of the DKC3 1 to define further profiles This necessitates a new structure for P 0 4077 Fieldbus control word and P 0 4078
104. data channel must equal 1 9 words or 2 18 bytes in both directions with the same lengths Setting the length of the PD channel in the ECODRIVE 03 The length of the PD channel corresponds to the contents of the configuration lists in P 0 4080 or P 0 4081 and can be read out of parameters e P 0 4082 Length of real time data channel In e P 0 4087 Length of real time data channel Out The setting is accepted when the drive controller is run up into operating mode Note Any change in the length of the process data also means a change in the configuration of the master The length of the process data channel must agree with the projected length in the master With INTERBUS it applies P 0 4082 P 0 4087 The length set in the SERCOS parameters P 0 4082 or P 0 4087 is accepted directly by the INTERBUS slave circuit into objects 6000 and 6001 so that it is also possible to read out the configuration via the PCP Rexroth Indramat 5 32 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS IDCode the ID code of the INTERBUS interface depends on profile type P 0 4084 and width of PCP channel set compare P 0 4083 PCP channel width Length cyclic ID code INTERBUS length code P 0 4083 in Bytes channel P 0 4082 2 4 OxF3 0x02 2 6 OxF3 0x03 2 8 OxF3 0x04 2 10 OxF3 0x05 2 12 OxF3 Ox0E 2 14 OxF3 OxOF 2 16 OxF3 0x06 2 18 OxF3 0x07 8 10 OxF 1 0x05 8 12 OxF1
105. detecting the active mode Activation dependent on operating mode and profile types set DOK ECODR3 FGP 03VRS FK02 EN P The selection of active operating modes depends on how parameter P 0 4084 Profile type has been programmed If profile types e 1 0 mode with block acknowledge P 0 4084 OxFF80 e O mode with cam status P 0 4084 OxFF81 or e 1 O mode freely expandable P 0 4084 OxFF82 are set then there is only the choice of positioning block mode Primary Mode of Operation and jog mode Secondary Operating Mode 1 The selection is specified via bits 6 jog positive and 7 jog negative in P 0 4077 Fieldbus control word If profile types e drive internal interpolation P 0 4084 OxFF91 e cyclic position control with encoder 1 P 0 4084 OxFF92 e velocity control P 0 4084 OxFF93 or e freely configurable operating mode P 0 4084 OxFFFE are set then transition between primary and 3 secondary operating modes is possible without restrictions The switch is set in bits 8 and 9 command mode in P 0 4077 Fieldbus control word In this case the actually active modes are displayed in bits 8 and 9 in P 0 4078 Fieldbus status word Note If O is entered in one of the operating mode parameters and that operating mode is activated then the error F207 Switching to a non initialized operation mode will be generated The fieldbus control word is always the first word to be transmitted in the r
106. doors are open Check drive for motion e g using S 0 0040 Velocity DANGER feedback value if possible and await standstill Note Activation of the motor holding brake depends on P 0 0525 bit 1 ne See section Motor Holding Brake The temporal behavior of the brake in conjunction with an error reaction depends on the brake Please note the advisory under Torque disable with brake type Servo brake DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 47 Torque disable with brake type Spindle brake The motor holding brake is not activated until the motor speed drops below 10min Activating the torque to zero Actual vel value path lt n 10 min _ Motor holding brake rel Motor holding brake applied Endstage locked Endstage enabled t Fig 9 59 Time diagram with torque to zero and P 0 0525 Type of motor brake Bit 1 1 Torque disable with brake type Servo brake The motor holding brake is immediately activated Note It is not sensible to set the best possible standstill to torque disable when using a motor holding brake of the servo brake type at the same time In this case when performing the best possible standstill the drive does not brake actively but only with the holding brake After 20000 turns the brake is at the end of its life Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 48 Basic Drive Functions
107. e F878 Error in velocity control loop is generated Note The velocity control loop monitor is only active if an operating mode is active with which the velocity control loop in the drive is closed and monitoring activated always except with torque control Activating the monitor The monitor is activated with parameter P 0 0538 Motor function parameter 1 The structure of the parameter P 0 0538 Motor function parameter 1 HE WO SEE Boog LL Bit8 Velocity control loop monitor 1 deactivated Fig 9 70 P 0 0538 Motor function parameter 1 See also the parameter description P 0 0538 Motor function parameter 1 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 64 Basic Drive Functions ECODRIVE03 FGP 03VRS Note It is highly recommended not to deactivate the velocity control loop monitor activated at the factory as it represents a basic safety function of the drive The causes of a monitor trigger The velocity control loop monitor is designed to monitor for those faults that could lead the motor torque in the wrong direction The following options are basically possible e incorrect poles with motor connection e wrong commutation angle e faults in the velocity encoder Note This prevents the runaway effect of the motor Criteria for Triggering the Monitor The following criteria must be met for the velocity control loop monitor to be triggered e Current command value limite
108. e the travel range set in S 0 0278 Maximum travel range or e the modulo value set in parameter S 0 0103 Modulo value Note the following relationships Position scaling S 0 0278 Max Absolute encoder Bit 6 of S 0 0076 travel range S 0 0103 Modulo value evaluation possible Absolute format lt S 0 0378 not relevant yes S 0 0379 gt S 0 0378 not relevant no S 0 0379 Modulo format S 0 0103 lt S 0 0378 S 0 0379 yes S 0 0103 gt S 0 0378 S 0 0379 no Activating the absolute encoder evaluation DOK ECODR3 FGP 03VRS FK02 EN P Fig 9 32 Absolute encoder evaluation as depends on position format modulo format and maximum travel range The check whether a measuring system can be evaluated as an absolute system is conducted during command S 0 0128 C200 Communication phase 4 transition check The results are displayed in bit 6 of the relevant position encoder type parameter S 0 0277 S 0 0115 If the absolute evaluation of a measuring system is possible but not wanted this can be deselected in bit 7 The measuring system is then treated as if it were a non absolute encoder The position encoder type parameter is structured as follows Rexroth Indramat 9 26 Basic Drive Functions Pre requisites for correctly generating absolute position information Monitoring absolute encoder evaluation conditions ECODRIVE03 FGP 03VRS S 0 0277 S 0 0115 Position encoder type parameter 1 2
109. emergency stop works before startup Don t operate the machine if the emergency stop is not working Isolate the drive power connection by means of an emergency stop circuit or use a start inhibit system to prevent unintentional start up Make sure that the drives are brought to standstill before accessing or entering the danger zone Secure vertical axes against falling or slipping after switching off the motor power by for example Mechanically securing the vertical axes Adding an external brake clamping mechanism Balancing and thus compensating for the vertical axes mass and the gravitational force The standard equipment motor brake or an external brake controlled directly by the servo drive are not sufficient to guarantee the safety of personnel Rexroth Indramat 3 8 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 FGP 03VRS Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for maintenance and repair work cleaning of equipment long periods of discontinued equipment use Avoid operating high frequency remote control and radio equipment near electronics circuits and supply leads If use of such equipment cannot be avoided verify the system and the plant for possible malfunctions at all possible positions of normal use before the first start up If necessary perform a special electromagnetic compatibility EMC test
110. encoder settings Rexroth Indramat S 0 0128 C200 Communication phase 4 transition check During this command the following checks are run If in parameter P 0 4014 Motor type 1 MHD or 5 MKD MKE are selected and the motor feedback data memory has not found that type then command error e C204 Motor type P 0 4014 incorrect is generated If the checksum of one of the parameters needed to progress into phase 4 is faulty then command error e C201 Invalid parameter s gt S 0 0022 is generated The ID number of the faulty parameters are listed in e 0 0022 IDN list of invalid op data for comm phase 3 and are made valid by writing into The drive controller reads the non volatile memory e g EEPROM of the drive controller operating data If an error occurs during this process then command error e C212 Invalid amplifier data gt S 0 0022 appears The ID number of the faulty parameter is written in e 0 0022 IDN list of invalid op data for comm phase 3 If operating mode parameters S 0 0032 35 or referencing parameter S 0 0147 bit3 dictates that a second encoder is required but a 0 is entered in parameter P 0 0075 Feedback type 2 then the faulty parameter s is listed in e 0 0022 IDN list of invalid op data for comm phase 3 Command error e C210 Feedback 2 required gt S 0 0022 appears Check whether a motor encoder is available P 0 0074 Feedback type 1 0 and no 2 is entered in
111. encoder resolution mm amax ESE multiplication s amax maximum acceleration of position command of the interpolator l encoder resolution value in S 0 0116 in mm multiplication value in S 0 0256 Fig 9 30 Maximum acceleration of the position command interpolator as dependent on the drive internal position data format Example MHD motor with S 0 0116 512 multiplication 32768 equalling a maximum acceleration of the position command interpolation of 3067 rad s 9 3 Supplementary Settings for Absolute Measuring Systems Encoder Types and Relevant Interfaces The table below shows the absolute measuring systems which can be used as motor encoder or optional encoder and the range which they can absolutely evaluate The relevant encoder interface is also listed Measuring system Absolute Interface as motor as optional encoder range input no encoder encoder Single Multiturn 1rev 4096rev Standard 1 yes yes DSF HSF Single Multiturn 1TP 65535TP Standard 1 yes no resolver Linear scale made by depends on Optional 8 yes yes Heidenhain encoder lengths with EnDat interface Single Multiturn rotary 1rev 4096rev Optional 8 yes yes encoder made by Heidenhain with EnDat interface Fig 9 31 Absolute measuring systems and their interfaces Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 25 Absolute encoder range and absolute encoder evaluation
112. fh7 Fig 9 95 Critical and optimal distance between home switch and reference mark The optimum distance between the home switch edge and the reference marker is 0 5 Distance between reference markers To monitor the distance between the home switch and the reference mark the optimal distance is entered in P 0 0153 Optimal distance home switch reference mark Rexroth Indramat 9 92 Basic Drive Functions ECODRIVE03 FGP 03VRS The following requirements apply Encoder P 0 0153 Function type Rotary 0 The distance between the home switch and the reference mark will be monitored The optimal spacing will be calculated internally and amounts to a 1 2 encoder rotation for DSF or incrementally rotational encoders or 1 2 encoder revolution S 0 0116 Feedback 1 Resolution for resolvers Rotary x The distance between the home switch and the reference mark will be monitored Half the reference mark spacing must be entered in P 0 0153 Optimal distance home switch reference mark Linear 0 The distance between the home switch and the reference mark will not be monitored The linear scale does not affect reference marks with consistent intervals The real distance between the home switch and the reference mark must be big enough to achieve a sure recognition of the home switch edge when considering the maximum homing velocity and the cycle time for the home switch input polling Linear x The distance be
113. formula S 0 0348 P 0 4010 P 0 0510 S 0 0051 Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 77 9 9 Drive Halt The drive halt function is used to bring an axis to a standstill with a defined accel and defined jerk The function is activated e by clearing the drive halt bit e due to setting drive halt bit to zero in fieldbus control word The structure of the control word depends on the set profile type For profile types I O mode profile tyoe FF80 FF81 or FF82 in bit 1 for Rexroth Indramat profile types in bit 13 of fieldbus control word e or by interrupting a drive control command e g drive guided referencing Pertinent Parameters Which parameters are active depends upon which operating mode was interrupted by the drive halt command Standstill for Operating Mode Drive Internal Interpolation e 0 0359 Positioning Deceleration or S 0 0260 Positioning Acceleration when S 0 0359 0 e 0 0193 Positioning Jerk Standstill for Operating Mode Positioning Block Mode e P 0 4063 Process block deceleration or P 0 4008 Process block acceleration when P 0 4063 0 e P 0 4009 Process block jerk Standstill for Operating Mode Jogging e 0 0260 Positioning Acceleration e 0 0193 Positioning Jerk Standstill for Operating Mode without drive internal position command generation e 0 0138 Bipolar acceleration limit valu
114. function parameter P 0 0185 Function of encoder 2 for load side motor encoder If this is the case then command error e C236 Feedback 1 required P 0 0074 is generated If the encoder parametrized in parameter P 0 0074 Feedback type 1 is not available or its data cannot be read then this error message is generated e C217 Feedback1 data reading error DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Checking optional encoder settings Reading out feedback data memory Checking maximum travel range Checking scaling Checking all parameters for extreme values and possible bit combinations Checking modulo range Checking the conversion of internal formats DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 15 If the encoder interface selected in parameter P 0 0075 Feedback type 2 is already occupied by the motor encoder then this error message is generated e C234 Encoder combination not possible generated If a second encoder with feedback data memory is used but its data cannot be read then error message e C218 error when reading data of encoder 2 is generated If parameter P 0 0185 Function Encoder 2 load side motor encoder is selected but there is no rotary asynchronous motor then error message e C235 Load side motor encoder only with asynchronous motor is generated The parameters stored in the memory of motors with feedback data memory are read If an e
115. has precise information about its relative position within the machine co ordinate system The drive receives this information by detecting the home switch edge and or the reference mark Note To evaluate only the home switch is not recommended as the position of the home switch edge has a lesser precision compared to the detection of the reference mark Co ordinate system alignment is achieved by comparing the desired feedback position at a specific point within the machine co ordinate system with the actual feedback position old drive co ordinate system A differentiation in this case is made between Evaluation of a reference mark home switch edge type 1 3 and Evaluation of distance coded reference marks DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Definition of the reference point Basic Drive Functions 9 83 e With Evaluation of a reference mark home switch edge the specific point within the co ordinate system is the so called reference point The desired feedback position is set at this point via parameter S 0 0052 Reference distance 1 for motor encoders or S 0 0054 Reference distance 2 for optional encoders The physical position of the reference point derives from the position of the reference marker plus the value in S 0 0150 Reference offset 1 or S 0 0151 Reference offset 2 Once the reference marker is detected the drive knows the position of this marker and therefore also that of the r
116. hot parts CAUTION Housing surfaces could be extremely hot Danger of injury Danger of burns gt Do not touch surfaces near the source of heat Danger of burns Wait ten 10 minutes before you access any hot unit Allow the unit to cool down Do not touch hot parts of the equipment such as housings heatsinks or resistors Danger of burns 3 10 Protection during handling and installation DOK ECODR3 FGP 03VRS FK02 EN P Under certain conditions unappropriate handling and installation of parts and components may cause injuries CAUTION Risk of injury through incorrect handling Bodily harm caused by crushing shearing cutting and mechanical shock gt Yu Y J U Observe general instructions and safety regulations during handling installation Use only appropriate lifting or moving equipment Take precautions to avoid pinching and crushing Use only appropriate tools If specified by the product documentation special tools must be used Use lifting devices and tools correctly and safely Wear appropriate protective clothing e g safety glasses safety shoes and safety gloves Never stay under suspended loads Clean up liquids from the floor immediately to prevent personnel from slipping Rexroth Indramat 3 10 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 FGP 03VRS 3 11 Battery safety Batteries contain reactive chemicals in a solid housing Inappropri
117. instructions Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Safety Instructions for Electric Servo Drives and Controls 3 1 3 Safety Instructions for Electric Servo Drives and Controls 3 1 Introduction Read these instructions before the equipment is used and eliminate the risk of personal injury or property damage Follow these safety instructions at all times Do not attempt to install use or service this equipment without first reading all documentation provided with the product Read and understand these safety instructions and all user documentation of the equipment prior to working with the equipment at any time If you do not have the user documentation for your equipment contact your local Rexroth Indramat representative to send this documentation immediately to the person or persons responsible for the safe operation of this equipment If the product is resold rented or transferred or passed on to others then these safety instructions must be delivered with the product Inappropriate use of this equipment failure to follow the safety instructions in this document or tampering with the product including WARNING disabling of safety devices may result in product damage personal injury severe electrical shock or death 3 2 Explanations The safety warnings in this documentation describe individual degrees of hazard seriousness in compliance with ANSI Warning symbol with
118. is continuously illuminated off no SYNC being received internal H54 red flashing no synchronization of fieldbus module synchronization with drive Alive LED green flashing Synchronization of fieldbus modules with drive established PDO data H55 green PDO real time transmission active The green LED is switched on for 20 ms with each PDO Generally it is always lit up at these high frequencies Severe fieldbus All LEDs flashing regularly Severe error on fieldbus module Unit module error must be switched off and on Fig 5 52 Diagnoses for LED for CANopen Assignment of CANopen Connectors X50 The 9 pin D subminiature connector meets CANopen standard DS102 and has the following signal assignment See signal assignment X50 in project planning manual Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 39 5 5 Command communications with DeviceNet General Information Functional Overview DOK ECODR3 FGP 03VRS FK02 EN P The ECODRIVE03 has a DeviceNet command communications module available to it which supports protocol e DeviceNet per ODVA version 2 0 With this module both real time data can be transmitted via so called Polled I Os as well as drive parameters via an Explicit Message of the DeviceNet Note The real time data are always transmitted with polled I Os To achieve the greatest possible system flexibility all data can be
119. last transmission e The ID number of the parameter to be written into the parameter number e The value of the operating data is entered in the user data The response to a write accessing is put together as follows e The acknowledgement of a request is written into the status byte e The control byte is read out of the command telegram and copied into the reaction telegram e The unit address is rad out of the command telegram and copied into the reaction telegram e No user data are transmitted Example Transmit parameter S 0 0044 Velocity data scaling type to drive with address 3 The value 0x0042 is written into the parameter Command telegram 3C 03 00 2C 00 42 00 Control Device Param Parameter No Te header byte address type LSB MSB User data lt Userdatahead gt Ta0009f1 fh7 Fig 1 44 Write parameter S 0 0044 Command telegram Reaction telegram 00 3C 03 Status Control Device el header byte byte address Kk User data head gt Ta0010f1 fh7 Rexroth Indramat Fig 1 45 Write parameter S 0 0044 Reaction telegram DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 31 Write accessing with following telegrams Service 0x8F Parameters or elements with a length exceeding 243 bytesare read in several steps A transmission of lists of this kind are performed in several steps Bit 2 in the control byte identifies t
120. length or modulo value 2 times the maximum travel distance Relative positioning without residual path storage with target position 700 current position 200 S 0 0124 l l Standstill window I speed profil P 0 4026 Process block selection 01 P 0 4051 Process block acquittance 01 AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 ooo S 0 0346 Positioning command latch S lt lt 4ms t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Ey Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV0002D2 fh7 Example DOK ECODR3 FGP 03VRS FK02 EN P Fig 8 28 Relative positioning block without residual path storage Relative positioning without residual path storage with target position 700 current position 200 Terminate and start a relative positioning block without residual path storage again Rexroth Indramat 8 28 Operating Modes ECODRIVE03 FGP 03VRS S 0 0124 Standstill window speed profil P 0 4026 Process block selection P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target positi
121. load or e by inputting the controller values specified in the data sheet Setting the control loop in this way ensures a good level of quality for most applications Should additional optimization of the control loop parameters become necessary velocity and position control loop parameters compensation functions and precontrol then use commissioning step no 8 See also chapter Control Loop Settings IBS 6 Checking axis mechanics and measuring system The presettings made in IBS 3 are checked here and modified if necessary This means that the axis must be moved by jogging The following checks must be made e check the rotational direction of the motor encoder With non inverted position polarity S 0 0055 Position polarities 0 the values in parameter S 0 0051 Position feedback 1 value should have a rising order with a clockwise rotation of the motor This check need not be performed in MHD and MKD motors If this is not the case then bit 2 in S 0 0277 Position feedback 1 type must be inverted e By moving the axes and examining the position feedback value of the motor encoder in parameter S 0 0051 Position feedback 1 value it can be checked whether a distance is correctly displayed in this process If not then the settings for mechanical gear ratio feedrate constants and encoder resolution must be checked Rexroth Indramat 4 20 General Instructions for Installation ECODRIVE03 FGP 03VRS e Given a second enc
122. measuring wheel mode The Functional Principle DOK ECODR3 FGP 03VRS FK02 EN P The activation of the measuring wheel operation triggers a switching within the drive from control with encoder 1 motor encoder to hybrid position control using the measuring wheel encoder The functional principle is illustrated below position command Kv value oO velocity command value S 0 0053 Position S 0 0051 Position feedback 1 value feedback 2 value motor encoder EETA _ optional P 0 0221 Actual position i encoder filter time const for measuring wheel mode Fp5067f1 fh7 Fig 10 34 Functional principle of the measuring wheel operation Any negative effects caused by the poor coupling of encoder 2 to the motor shaft due to material perhaps is to be subdued by attenuating the actual position value differences The smoothing of this difference is set with the help of parameter P 0 0221 Actual position filter time constant for measuring wheel mode Note If parameter P 0 0221 Actual position filter time constant for measuring wheel mode is parametrized with zero then only the actual position value 2 of the optional encoder is used as actual position control value Rexroth Indramat 10 36 Optional Drive Functions Drive in position control Drive not in position control Clearing the command Rexroth Indramat ECODRIVE03 FGP 03VRS Pre Requisites e T
123. moves a distance equal to the difference described above It generates a position command profile that is added to the synchronous position command value This profile is determined by the P 0 0142 Synchronisation acceleration and P 0 0143 Synchronisation velocity parameters The path is generated according to the following equation Path XSynch S 0 0048 S 0 0047 Xsynch synchronous position command value Fig 8 54 Determining the travel path Given an absolute shaft the path is traversed as calculated Given a modulo shaft the path first is limited to the S 0 0103 Modulo value The P 0 0154 Synchronisation direction and P 0 0151 Synchronisation init window for modulo format parameters are taken into consideration Rexroth Indramat 8 54 Operating Modes P 0 0155 Synchronisation mode Rexroth Indramat ECODRIVE03 FGP 03VRS Note The synchronisation direction parameter will only work if the shortest path when lt 0 5 modulo value is larger than the synchronisation window Then the synchronisation direction will be set with the parameter positive negative or shortest path If the shortest path is smaller than the synchronisation window then the shortest path will always be travelled The drive will be in absolute synchronisation at the conclusion of the second synchronisation step The drive sets bit 9 in parameter S 0 0182 Manufacturer class 3 diagnostics Synchronisation concluded
124. must be mounted in such a way that it covers at least the max necessary travel distance Sretmax until reaching the travel range limit in the homing direction travel range limits A A A c SRefmax A correct mounting of the home switch A incorrect mounting of the home switch Homing direction SV5074f1 fh7 Fig 9 104 Mounting the home switch with distance coded reference markers Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 9 98 Basic Drive Functions ECODRIVE03 FGP 03VRS Functions of the Control During Drive Controlled Homing The control s interpolator must be set to the position command value read from the drive During drive controlled homing the drive independently generates its position command values Preset command values of the control will be ignored If the command is confirmed by the drive as completed the position command value corresponding to the machine zero point will be made available in parameter S 0 0047 Position command value This value must be read through the service channel by the control before ending the command and the control interpolator must be set to this value If this command is completed by the control and if the command values of the control for the drive become active again these values should be added to the value read out of the drive Starting interrupting and completing the command Drive Controlled Homing This feature is implemented as
125. non fatal errors F2xx At the end of each error response the drive s torque is cut off with e fatal errors F8xx e travel range errors F6xx P 0 0119 Best possible deceleration is ignored DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 45 The following settings are possible Value of P 0 0119 Response 0 Velocity Command Value Reset 1 Torque Disable Velocity command value to zero with 2 command ramp and filter 3 Return motion Fig 9 57 Setting options for Best possible Deceleration The drive response which is defined as Best Possible Deceleration controls the response of the drive if e the drive enable signal changes from 1 to 0 disable the drive enable e the operating mode is switched to parameter mode while the drive is enabled Reset of the communication phase Velocity Command Value Reset Best possible deceleration Given an error the drive will stop with command value 0 The drive P 0 0119 0 stops with its maximum permissible torque See also section Current Limit Failure reaction sequence The procedure for the motor brake activation if mounted and the power with spindle brake stage disable with velocity command value deceleration to zero with present spindle brake are displayed below Activating the set velocity command value o tozero e maximum braking time P 0 0126 lt Actual velocity profile P Cont
126. o lt gt lt 10 ms t XX State of positive inputs irrelevant Positioning inputs valid for example positioning block 1 Positioning acknowledgement outputs show the negated status of the positioning inputs LS Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition for example positioning block 2 Siir V i Absolute encoder Single turn encoder Rexroth Indramat Fig 8 48 Acknowledging and signalling End position reached after drive enable removed Acknowledge with control voltage interrupt If the control voltage is switched off then the last positioning block secured is stored in parameter P 0 4052 Positioning block last accepted This means that after powering up the last positioning block is output If an Absolute encoder is used then it can be decided after the control voltage is switched off and on whether the drive is at the target position of the last positioning block End position reached The End position reached message is fixed as soon as the drive is ready to operate again bb contact closed lf a Single turn encoder is used then the End position reached message is not clearly defined after a power interrupt until the first target position is approached or referenced DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 45 Note The End position reached message is only retained if the
127. object index e Index 0x2000 IDN S 0 xxxx S parameters e Index 0x3000 IDN P 0 xxxx P parameters Generating law for object sub see also Bus Independent Features index Example 1 accessing data of S 0 0051 Index 0x2000 IDN S 0 0051 0x2000 51 0x2033 attribute 7 as data accessing is wanted Example 2 accessing data of P 0 0051 Index 0x3000 IDN P 0 0051 0x3000 51 0x3033 attribute 7 as data accessing is wanted Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 5 26 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Configuration of INTERBUS Slave Needed settings in the master P 0 4080 Real time input object structure Object 6000 P 0 4081 Real time output Rexroth Indramat object structure Object 6001 Data direction Configuration of the PCP channel in the Master The max object length Message Length must be set to 240 bytes To do this the description of the slaves in the master must be changed Note Using the CMD Tool from Phoenix Contact this takes place in the context menu of the slave in Description gt Parameter channel gt telegram length send and receive Configuration of process data channel The INTERBUS command communications module makes available to the user an intelligent INTERBUS module that can be configured to meet process demands in the process data section The process data is configured i
128. occurred in the drive The drive reaction is immediate independent of parameter P 0 0117 NC reaction on error If bit 1 0 the drive shuts down according to P 0 0119 Best possible deceleration The diagnosis upon activating the E stop input then reads F434 Emergency Stop Status of the Emergency Stop Input If bit 1 is set to 1 then the drive is braked at maximum torque if an E Stop of the drive is triggered until the speed 0 regardless of the error reaction set in parameter P 0 0119 This corresponds to the best possible standstill Velocity command value to zero The diagnosis with the activation of the E Stop input then reads F434 Emergency Stop The state of the E Stop input can be controlled via parameter P 0 0223 Status Input E Stop function The state of the E stop input is stored there in bit 0 Activation and Polarity of the E Stop Input For the activation of the E Stop input and the selection of a response for shutdown of the drive use parameter P 0 0008 Activation E Stop function The following applies P 0 0008 Activating E stop function BitO Activating E Stop 0 inactive 1 active Bit 1 Error class with interpretation as error Bit 2 0 0 best possible standstill P 0 0119 1 velocity command value to zero Bit 2 Interpretation 0 as non fatal error 1 fatal warning Fig 9 64 P 0 0008 Activation of E Stop Function Connection of the Emergency Stop Input see project plan
129. off position AEE SES TPE TE eee Switch on position y Time PLS bit x ooo i Fig 10 24 General Function Diagram for the Programmable Limit Switch The corresponding bit in the status position switch can be inverted by setting the on and off switch level There are two different situations that apply Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS The velocity of the drive should remain constant while using the lead time DOK ECODR3 FGP 03VRS FK02 EN P Optional Drive Functions 10 27 Switch on position smaller than the switch off position If the switch on position is programmed smaller than the switch off position then the following applies The position switch is 1 if e Reference signal gt Xon AND e Reference signal lt Xoff Reference value Xon Xoff Fig 10 25 Programmable Limit Switch with Xon lt Xoff Switch on Position larger than the switch off Position The programmable limit switch is 1 if the following applies e Reference signal gt Xon OR e Reference signal lt Xoff Reference value i j Time Xoff Xon Fig 10 26 Programmable Limit Switch With Xon gt Xoff A switch hysteresis is available to avoid position switch flickering when the on or off switch level is reached Programmable Limit Switch Lead Time By setting a lead time compensation can be made for the delay of an external switch element that is con
130. oo 0x40 1 byte on bus 6040 4 0x00 Sub index for object 6040 always 00 0x00 2 byte on bus still to object 6040 Word 6 0x00 2 4 byte on bus still to object 6040 0x00 Sub index for object 6040 always 00 8 0x60 3 byte on bus 607A H 9 0x64 3 byte on bus 607A H 10 0x00 Sub index for object 607A always 00 s 0x00 4 byte on bus still to object 607A H D word 12 0x00 4 byte on bus still to object 607A H D word 0x00 Sub index for object 607A always 00 14 0x00 5M byte on bus still to object 607A L D word 15 0x00 5M byte on bus still to object 607A L D word 16 0x00 Sub index for object 607A always 00 s 0x00 6 byte on bus still to object 607A D word 18 0x00 6 byte on bus still to object 607A D word 19 0x00 Sub index for object 607A 20 0x60 7 byte on bus Object 6081 H 21 Ox6C 7 byte on bus Object 081 H 22 0x00 Sub index for object 6081 23 0x00 8 byte on bus still object 6081 H D word 24 0x00 8 byte on bus still object 6081 H D word 25 0x00 Sub index for object 6081 26 0x00 gi Byte am BUS still to object6081 L D word 27 0x00 gi Byte am BUS still to object6081 L D word 28 0x00 Sub index for object 6081 29 0x00 10 byte on bus still to object 6081 L 30 0x00 10 byte on bus still to object 6081 L 31 0x00 Sub index for object 6081 32 0x5F 11 byte on bus Object 5FF1 Word Dummy 33 0xF1 11 byte on bus
131. ooon Onno L Bit 0 Encoder type 0 rotary 1 linear Bit 1 Distance coded reference mark 0 not distance coded reference marker 1 distance coded reference marker Bit 3 Rotational direction 0 not inverted 1 inverted L Bit 6 Absolute evaluatoin possible 0 Absolute evaluation not possible 1 Absolute evaluation possible Bit 7 Absolute evaluation activated 0 Absolute evaluatoin activated only if bit 6 1 1 Absolute evaluation deactivated Fig 9 33 Structure of the position encoder type parameter The correct generation of the machine zero point related feedback position value is only possible if the relevant conditions have not changed The conditions for the correct conversion of the measurement system related position information into the machine zero point related actual position value are made up of e the rotational direction of the measuring system set in parameters S 0 0277 Position feedback 1 type or S 0 0115 Position feedback 2 type in bit 3 e the position polarity set in S 0 0055 Position polarities e the multiplication in parameters S 0 0256 Multiplication 1 or S 0 0257 Multiplication 2 calculated using S 0 0278 Maximum travel range e the value stored in the parameters S 0 0177 Absolute distance 1 or S 7 0177 Absolute distance 1 If one of these four conditions changes then the position status of the relevant measuring system is cleared S 0 0403 Position feedback value status
132. or decel procedure only one time constant namely the biggest one in the above equation is always used S 0 0193 Positioning Jerk 0 switches the smoothing filter off the desired accel or decel is reached directly Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 13 Mode drive internal interpolation E249 E253 position control target position S 0 0258 Drive pa gt internal k interpolation positioning speed S 0 0259 positioning accel S 0 0260 positioning jerk S 0 0193 feedrate override S 0 0108 Positioning Decleration S 0 0359 FP5063F1 FH7 Fig 8 13 Generating the position command value with drive internal interpolation S 0 0393 Command value mode Via bit0 and biti in parameter S 0 0393 Command value mode it is possible to fix both processing and effectiveness of S 0 0258 Target position with modulo processing Structure of parameter E Bit 1 0 Modus 00 shortest path 01 positive direction 10 negative direction Bit 2 Target position after activation of operating mode Not relevant in this mode Bit 3 Positioning command value relative or absolute Not relevant in this mode Bit 4 Acceptance of positioning command value Not relevant in this mode Fig 8 14 Structure of parameter S 0 0393 Command value mode For further information also see parameter descripti
133. parameter P 0 0508 Commutation offset in the programming module Upon replacement of the module the value of parameter P 0 0508 Commutation offset has to be re entered or the parameter from the old module must be saved and loaded into new module Rexroth Indramat 7 16 Motor Configuration More pre requisites Sequence Use with Parameters involved Rexroth Indramat Sequence ECODRIVE03 FGP 03VRS To execute this command the drive must be in state A012 Control and power sections ready for operation The 7 segment display reads Ab in this case To determine commutation offset the control sets command P 0 0524 D300 Commutation adjustment command Upon completion of the command the drive enable is shut off internally To start the drive again though the control must complete the command and set the drive enable again The precise sequence is identical to the description in Application 3 Current flow procedure Automatic Sequence after applying drive enable Application 3 Current flow procedure Automatic Sequence after applying drive enable The machine can be damaged if the procedure is performed incorrectly used Take the restrictions listed in section Current flow procedure restrictions Application 2 and 3 DANGER into account This procedure is automatically conducted in linear and rotary synchronous motors with incremental encoders systems whenever the unit is started up
134. parameter P 0 0012 C300 Command Set absolute measurement e or with a zero switch input flank If there is only one absolute measuring system then the command automatically references this one system Given two absolute systems however then the selection must be set in Bit 3 of S 0 0147 Homing parameter All information is retained by buffering all the data of the system in a feedback memory or a parameter memory The actual position value retains its reference to the machine zero point each and every time the machine is switched on after being switched off The following parameters are relevant to the execution of commands e P 0 0012 C300 Command Set absolute measurement e P 0 0612 Control word for setting absolute measurement e 0 0147 Homing parameter e 0 0052 Reference distance 1 e 0 0054 Reference distance 2 e S 0 0403 Position feedback value status e S 7 0177 Absolute distance 1 e S 7 0178 Absolute distance 2 The motor is brought to a precise position The value of the actual position of the measuring system is entered in parameters S 0 0052 Reference distance 1 for motor encoders or S 0 0054 Reference distance 2 for any other encoders Upon successful completion of command P 0 0012 C300 Command Set absolute measurement the actual position value is set to that value entered in the relevant Reference dimension and after S 0 0403 Position feedback value status has been set to 1
135. parameter is a command then the bit number in parameter S 0 0329 Assign list signal control word is not relevant If the allocated parameter is parameter S 0 0346 Setup flag for relative command values then a positive edge in the relevant bit of the control word effects a toggling of the parameter S 0 0346 Setup flag for relative command values For every bit number in list S 0 0329 Assign list signal control word there must be an ID number at the same list position in the list in S 0 0027 Configuration list signal control word Otherwise when writing the bit number list from the drive error message ID number not available will be generated Note This is why list S 0 0027 must be written prior to list S 0 0329 Example Bit no ID number of the Bit no In of the target target S 0 0145 parameter parameter Definition 0 P 0 4026 o select positioning block 1 P 0 4026 1 select positioning block 2 P 0 4026 2 select positioning block 3 P 0 4026 3 select positioning block 4 P 0 4026 4 select positioning block 5 P 0 4026 5 select positioning block 6 0 0346 o start strobe 7 S 0 0148 0 start referencing command 8 P 0 4056 0 jog positive 9 P 0 4056 4 jog negative Fig 10 2 Example for configuration signal control word default setting Parameters S 0 0027 Configuration list signal control word and S 0 0329 Assign list signal control word must be configured as fo
136. parametrization and diagnostics connection e Implementing a central PC supported visualization unit RS232 RS232 RS485 RS485 Bus Converter PC with drivetop command interface z B parallel I O bzw fieldbus PLC drive drive drive drive n n 1 n 2 n 3 FS0005d1 fh7 Fig 1 3 Operating several drives with DriveTop Parametrization and Diagnosing with a PLC Application advantages e Parameters can be changed with a PLC e g adjuting positioning blocks e Expanded diagnostics options for the PLC by reading in error codes RS485 bus command interface z B parallel I O bzw fieldbus drive drive drive drive n n 1 n 2 n 3 FS0018d1 fh7 Fig 1 4 Parametrizing and diagnosing with a PLC DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 5 Parametrization and Diagnosing Drive Groups Using a Control Unit Application advantages e Using a central visualization unit RS485 Bus communnication uni command interface z B parallel I O bzw fieldbus PLC drive drive drive drive n n 1 n 2 n 3 FS0007d2 fh7 Fig 1 5 Parametrization and diagnoses of drive groups using a control unit 1 4 Transmission Protocols When switching on the 24V power voltage an automatic protocol detection is activated upon r
137. preset homing direction Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 9 90 Basic Drive Functions ECODRIVE03 FGP 03VRS Note The homing direction must be set so that the positive edge can be found vt Command value profile 0 gt X Home switch Homing direction at start Sv5048f1 fh5 Fig 9 91 Correct setting of homing direction If the homing direction setting is incorrect the drive command value moves away from the positive home switch edge In this case the danger exists that the drive reaches the travel range limits This may result in WARNING damage to the system vt Command value profile 0 gt X Home switch Homing direction at start Sv5049f1 fh5 Fig 9 92 Incorrectly set homing direction Command value profile with actuated home switch at the start of the command If the home switch is actuated already when the command is started the drive generates command values in the opposite direction to move away from the home switch As soon as a 1 0 edge from the home switch is detected the drive reverses its direction and continues as if started outside the home switch range 0 y Command Starting point t value profile Home switch eO Homing direction at start Sv5047f1 fh5 Fig 9 93 Command profile with start position on the home switch Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN
138. rating plate is not relevant here since it could relate to another DC bus voltage Range 3 is similar to the evaluation of range 2 except that the preset torque decreases in correspondence to the increasing velocity of the peak power For high velocity the maximum torque value can drop below 100 In braking mode you can reach 50 higher torque values in this range than in driving mode User defined Settings for the Asynchronous Motor DOK ECODR3 FGP 03VRS FK02 EN P To operate an asynchronous motor you have to set the specific motor parameters in the controller The Parameters are stored in the Parameterstorage and are therefore transferable to another controller Note Motor specific parameters are used by all controls in the same manner The resulting power characteristics curve depends on the current and especially on the DC bus voltage Several additional parameters are available so the user can optimize the drive to his requirements Rexroth Indramat 7 8 Motor Configuration ECODRIVE03 FGP 03VRS Scaling Factor Pre Magnetizing With P 0 0532 Premagnetization factor you can set the active magnetization current The following applies Effective magnetization current magnetization voltage e scaling factor pre magnetizing Fig 7 5 Calculation of the Effective Magnetization Current If the pre magnetizing scaling factor is at 100 the motor is completely magnetized There is a linear connection
139. reached With dynamic synchronization the path is increased by the position jump of the master axis encoder position when detecting the zero pulse Path XSynch S 0 0048 S 0 0047 P 0 0052 n P 0 0052 n 1 XSynch Fig 8 58 synchronous position command value Travel path for absolute synchronisation It applies P 0 0052 n P 0 0053 n Position of the master axis encoder directly after detection of zero pulse P 0 0052 n 1 P 0 0053 n 1 Position of the master axis encoder indirectly after detection of the zero pulse 8 14 Operating mode electronic cam shaft with virtual master axis In electronic cam mode with virtual master axis there is a fixed relationship between the master axis position and the slave axis The virtual master axis position is set by the control The structure of the mode Electronic cam with virtual master axis is illustrated below Position controller Velocity controller Current pr electronic cam shaft controller Maser axis Position Velocity command Torque power position command value value command value Fig 8 59 Electronic cam shaft block diagram see also Position Controller see also Velocity Controller see also Current Controller Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 8 58 Operating Modes Pertinent Parameters ECODRIVE03 FGP 03VRS S 0 0048 Position command value additional P 0 0053 Master drive position
140. serves the following purposes e Identifying the validity invalidity of the parameter e Contains the command acknowledgement if the parameter acts as a command see also Commands There are seven different data block elements for each parameter These can be read write accessed either via a user data interface by a higher ranking control or a parametrization surface Element No Designation Remarks 1 ID Number Parameter identification value of the operating data 6 Maximum Input Value contains the maximum input value of the operating data 2 Name can be changed in language selection 3 Attribute contains data length type and decimal places 4 Unit can be changed in language selection 5 Minimum Input Value contains the minimum input 7 Operating Data actual parameter value Fig 4 1 Data blocks or parameter structure Rexroth Indramat 4 2 General Instructions for Installation Write Accessibility Data Storage Rexroth Indramat ECODRIVE03 FGP 03VRS Only the operating data can be changed all other elements can only be read The operating data can be write protected either continuously or temporarily The write accessing of the operating data depends on the relevant communications phase Possible Error Messages when Reading and Writing Operating Data Error 0x7002 data transmitted too short 0x7003 data transmitted too long 0x7004 Data
141. shutdown Assuming that the axis has a brake or is self locking you can enter 0 1 motor revolutions 86 in reference to the motor shaft as a standard value for the parameter P 0 0097 Absolute encoder monitoring window Deactivating the Absolute Encoder Monitor The absolute encoder monitor cannot be effectively used with axis that can or must be moved manually when switched off The absolute encoder monitor should be turned off in such situations in order to prevent unnecessary error conditions The absolute encoder monitor can be turned off by writing 0 to P 0 0097 Absolute encoder monitoring window Modulo Evaluation of Absolute Measuring Systems If measuring systems are evaluated absolutely and modulo evaluation of the position data is activated then the following restrictions apply The distance which can be traversed when all is shutdown must be smaller than one half maximum travel range set in parameter S 0 0278 Maximum travel range Actual position values of absolute measuring systems after initialization The condition of the position feedback values of the motor feedback and if available of the optional feedback after initializing the position feedback values in the command S 0 0128 C200 Communication phase 4 transition check depends on e Bit 3 in S 0 0147 Homing parameter e Availability of an absolute feedback as the motor or optional feedback e The reference of the relevant absolute encoder
142. sranna a aaa an eaa a eene a a aa erana Aaa a a a eaa aaa a ch eavdeebet 6 23 OVEIVICW ieai aitanz ruani a ai E N a a A a a a ai 6 23 Pertinent Paramete Senier earne ra E AA T AREE T E N 6 23 Functional Principle Multiplex Channel sseesseesseesseessesssrrssrrssrnssrnsrnssrnssrrssrnssrnssrnssrnssrnesrnnt 6 23 Diagnostic MeSsages sii 02 3 aaee a hii acetate i eee 6 26 7 Motor Configuration 7 1 7 1 Characteristics of the Different Motor TyP S cc cccceeeeeeseeeeeeeeceeeeeceeesaaeeseaeeseeeeseaeeesaeeseneeeeaes 7 1 Motor Feedback Data Memory sieci nn asan eai ER E AES EA E EAE ETA EEEE 7 2 Lmgar Rotatonal oeod ii aiei r AVRAT EEE AA E NE V E 7 2 Synchronous ASynChronouS ss ssssssssssssssssssessstnsstnsstessttssttnstensttnstnnntnnntnnnttnnonnecnnecnnscenscenscnns 7 3 Temperature Montori secre a E A S A TAA E 7 3 Load Default Feni Ei a aeea ee e a aa R a ea 7 4 7 2 Setting the Motor Type ccccccccesesecsenceceeeeeeeaeeeeeaeeeeeeeceeeeeeaaesseaaeseaeeecaaeeseaaeseeaeesseeeseeessaesseneeesaes 7 4 Automatic Setting of the Motor Type for Motors with Feedback Memory sccessteeeeeenees 7 4 Setting of the Motor Type through P 0 4014 Motor Type ccccccceseesseeeeeeeeeeeeseeeeseaeeeeeeeees 7 5 T3 Asynchronous Motors ossen n a ee eee ae ee ee ee ae ee eee ae ee etna ae ee eee dese enna ae essen aiea 7 5 Basics for the Asynchronous Motor ec eceeeeeeceeeeeeeeeeeeeeeeeeeeaeeeeeseaeeeeesaeeeeeseeeeeeseneaee
143. that an absolute position reference can be retained with a change The drive guided dynamic synchronization is active in this mode as with angle synchronization Rexroth Indramat 8 60 Operating Modes ECODRIVE03 FGP 03VRS After the second synchronization step absolute position matching it applies S 0 0047 XSynch S 0 0048 The following illustrates how the command value is generated with the above formula Parameter for Synchronization P 0 0142 Synchronization acceleration P 0 0143 Synchronization velocity P 0 0151 Synchronization init window for modulo P 0 0154 Synchronization direction P 0 0155 Synchronization mode S 0 0048 Position command value additional gt P 0 0061 Angle offset begin of profile P 0 0158 Phase offset velocity P 0 0157 Master drive gear input revolutions P 0 0156 Master drive gear output revolutions P 0 0053 Master drive position _ P 0 0108 Master drive polarity P 0 0085 Dynamical phase offset P 0088 Cam shaft control P 0094 Cam shaft switch angle P 0089 Cam shaft status Rexroth Indramat P 0 0060 Filter time constant additional pos Synchronization determination S 0 0055 Position polarity parameter Lagesollwert P 0 0072 Cam shaft profile 1 S 0 0047 Position command value angle Table selection logic P 0 0092 Cam shaft profile 2 Fig 8 63 Command va
144. the new value is conducted The approximation is conducted along the shortest possible path The ramp is set in parameter P 0 0158 Phase offset velocity Parameter P 0 0085 Dynamical phase offset is used to compensate a lag error if the position controller has not been set to lag free control The table access angle is set prematurely and is velocity dependent Ga P 0 0085 Qin Din 1 Ge Kv QL P 0 0053 Master drive position P 0 0085 Dynamical phase offset Ga P 0 0157 Master drive gear output revolutions Ge P 0 0156 Master drive gear input revolutions Kv S 0 0104 Position loop Kv factor Fig 8 62 Generating the dynamic angle offset With infinitely turning axes module scaling must be set in S 0 0076 Position data scaling type Note For a constantly fault free processing of the cam hub the hub and the infinitely turning axes and S 0 0103 Modulo value must have the same value The active cam table P 0 0072 or P 0 0092 is selected with parameters P 0 0088 Cam shaft control and P 0 0094 Cam shaft switch angle The active cam is in P 0 0089 Cam shaft status A transition is started by changing the control word It is conducted and acknowledged by the drive in the status word if the table accessing angle traverses the cam transition angle Parameter P 0 0144 Cam shaft distance switch angle is fixed at which the table access angle and thus a table element becomes effective for the cam hub This means
145. the Motor Type The setting of the motor type is done either e it depends on the used motor type e automatically by reading the motor feedback memory or e through the input of the parameter P 0 4014 Motor type The motor type should be set before start up because the motor type affects the drive functions See also Chapter Characteristics of the Different Motor Types Automatic Setting of the Motor Type for Motors with Feedback Memory Rexroth Indramat MHD MKD and MKE motors have a motor feedback data memory in which the motor type is stored along with other information The drive controller recognizes these motor types automatically and the following is executed e the value of the parameter P 0 4014 Motor type is set to its proper value and will be write protected e the value of the parameter P 0 0074 Feedback 1 type is set to the defined value for the corresponding motor type e all bits except bit 6 for absolute not absolute are set to 0 in the parameter S 0 0277 Position feedback 1 type e all motor dependent parameters are read out of the motor feedback data storage see Motor Feedback Data Memory The parameter in the motor feedback memory are set with parameter block number 7 These are retrieved and copied into the relevant parameters with parameter block number 0 e the value of S 0 0201 Motor warning temperature will be set to 145 0 C and the S 0 0204 Motor shutdown temperature will be set
146. the distance between the front of the primary part and the set screw of the motor secondary Note Commutation offset is determined without axis motions Parameters involved P 0 0508 Commutation offset e P 0 0523 Commutation probe value e P 0 0524 D300 Commutation adjustment command Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 7 14 Motor Configuration Additional pre requisites Rexroth Indramat Sequence ECODRIVE03 FGP 03VRS To successfully execute a command the following additional conditions must be satisfied e The power cables of the motor must be correctly attached correct rotation of the three phases e The drive must be in state A013 Ready for power on e A suitable primary part constant Kmx value must have been determined Once the listed conditions have been met then the value for parameter P 0 0523 Commutation probe value is entered using the following formula P 0 0523 d K P 0 0523 Value determined for parameter P 0 0523 d Measured value of distance between front of primary part and the secondary set screw Kmx Primary constant value Fig 7 10 Determining the value or commutation offset setting with linear servo motor LSF Note The distance is measured from the end which the motor power cable is not attached distance to be measured between primary and mounting screws on secondary part power connection gt y north pole marked
147. the master wants to read data Error bit This bit indicates an error that occurred within the slave The reason for the error is coded in the following data C1 This bit is used to distinguish between the old and new handling of the parameter channel For the new handling it must be fixed to 1 Note Not used bits must be set to 0 Communication between master and slave A general way to describe the different communication relationships can be seen in the following graphics here the two used services of the parameter channel e Read Request e Write Request are shown from the master side Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 5 14 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Read Read R Request esponse Read Read Confirmation Indication Fig 5 24 Master wants to read data ee eee Write Response Write Write Confirmation Indication Fig 5 25 Master wants to write data Write Request Hereby the request and the indication as well as the response and the confirmation contain the same data the difference is just the point of view master or slave The first word is the control word if a service request is sent from the master to slave If a service request is sent from slave to master the first word is called status word These words control the handshake for parameter channel Pk When the transmitted data is longer than the length of the PK the da
148. the two is implemented through bit O of P 0 0187 Position command value processing mode In general the cubic interpolator is recommended unless the timing behavior of the linear interpolator is required see parameter description of P 0 0187 The cubic interpolator is superior to the linear one in particular with lagless position control because it offers a clearly higher quality of the velocity and acceleration feedforward precontrol P 0 0099 Position command arching ine cree F See also Position Controller S 0 0047 Position C a command value Position command value A command difference Fig 8 9 Command value processing position control Fine interpolator See also Current Controller See also Velocity Controller See also Position Controller Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Position Controller Operating Modes 8 9 The position controller error is computed from the effective position command value from the generator function of the active operating mode and the position feedback value encoder 1 or encoder 2 used for the controller This is given to the position controller whose control loop gain is set with S 0 0104 Position Loop Kv Factor Bit 3 in the operating mode parameters S 0 0032 35 indicates if positioning should be subject to the following errors Definition of bit 3 of operating mode parameters S 0 0032 to S
149. the velocity controller in 100m min 10V FREE FREE 0x00000014 synchronous rot gt 360 7 10V position command lin lt gt 1mm 10V value f 0x00000015 synchronous velocity rot gt 1000rpm 10V lin gt 100m min 10V 0x00000016 master axis position 2 20 10V fine interpolation 0x00000017 master axis speed in rot gt 1000rpm 10V the NC cycle Fig 10 3 Signal selection list with pre defined signal selection See also Control loop structure in chapter General Information for Control Loop Settings This information is scaling independent and always relates project planning manualthe motor shaft The scaling of the signals is possible via the parameters P 0 0422 Analog output 1 scaling and P 0 0425 Analog output 2 scaling These have been set as factors with 4 decimal places in the expanded signal selection If the evaluation factors are 1 0000 then the standards specified in the table apply Output of the position command difference with a value of 150rpm 10V on channel 1 Input P 0 0420 Analog output 1 signal selection S 0 0000 P 0 0421 Analog output 1 expanded signal selection 0x00000005 P 0 0422 Analog output 1 scaling 0 1500 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 10 8 Optional Drive Functions ECODRIVE03 FGP 03VRS Bit and byte outputs of the data memory Note Use of this feature is meaningful only with information about the structure of the internal data memo
150. this positioning mode Parameter P 0 4019 Process block mode e 4h e 8h travelin negative direction travel in positive direction See also section Operating Mode Jogging 4 S 0 0124 X Standstill window l l F speed profil Om l P 0 4026 i Process block selection 01 XX l I P 0 4051 5i i 7 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 S 0 0346 Positioning command latch Rexroth Indramat gt I K gt lt 4ms t XX State of positive inputs irrelevant Positioning inputs valid for example positioning block 1 Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition for example positioning block 2 Sv0003d2 fh7 Fig 8 33 Example Infinite travel in positive negative direction DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Selecting and activating a following block Conditions to continue in following block mode Definition DOK ECODR3 FGP 03VRS FK02 EN P Operating Modes 8 33 Following block processing Selecting and activating a block with following block is performed in the usual
151. to which a command has been executed This is then displayed in the data status of the command parameter See also capter Parameter Note The command status can be obtained by conducting a write error on parameter element 1 data status The condition can be e not set and not enabled 0 e in process 7 e error command execution not possible OxF e command execution interrupted 5 e command properly executed 3 The Change Bit Command in the Drive Status Word helps the control recognize a change in the command acknowledgement by the drive The bit is set by the drive if the command acknowledgement changes from the condition in process 7 to the condition error command execution not possible OxF or command properly executed 3 The bit is cleared if the master clears the input 0 The control system will recognize if the drive sets the Command Change Bit command It can read the corresponding data status of the command or the command itself which was set sometime but has not been cleared The control system will recognize from this if the command ended with or without an error in the drive Afterwards this command should be cleared by the control Rexroth Indramat 4 8 General Instructions for Installation Date of A command parameter handcap 0 Data status of A the command parameter acknow ledgment Sbit command A change in drive status message 1 7 Command finished without err
152. used the system does not correspond to the machine co ordinate system after the drive has been initialised S 0 0148 C600 Drive controlled homing procedure command thus supports e the establishing agreement between drive measuring system and the machine co ordinate system in non absolute measuring systems e and a drive controlled running to the reference point in absolute measuring systems Drive controlled homing means that the drive independently generates the necessary motion which corresponds to the homing velocity settings and homing acceleration settings Note It is possible to perform this for either the motor encoder or the optional encoder Rexroth Indramat 9 80 Basic Drive Functions Pertinent Parameter ECODRIVE03 FGP 03VRS To run this feature use the following parameters S 0 0148 C600 Drive controlled homing procedure command S 0 0147 Homing parameter S 0 0298 Reference cam shift S 0 0299 Home switch offset S 0 0052 Reference distance 1 S 0 0054 Reference distance 2 S 0 0150 Reference offset 1 S 0 0151 Reference offset 2 S 0 0041 Homing velocity S 0 0042 Homing acceleration P 0 0153 Optimal distance home switch reference mark S 0 0177 Absolute distance 1 S 0 0178 Absolute distance 2 S 0 0165 Distance coded reference offset 1 S 0 0166 Distance coded reference offset 2 The following parameters S 0 0108 Feedrate override S 0 0057 Position window S 0 0349 Je
153. used to diagram internal and external signals and output variables Its function is comparable to a 2 channel oscilloscope The following parameters are available to set the oscilloscope feature Rexroth Indramat P 0 0021 List of Scope Data 1 always 4 byte data P 0 0022 List of Scope Data 2 always 4 byte data P 0 0023 Signal Select Scope Channel 1 P 0 0024 Signal Select Scope Channel 2 P 0 0025 Trigger Source P 0 0026 Trigger Signal Selection P 0 0027 Trigger Level for Position Data P 0 0028 Trigger Level for Velocity Data P 0 0029 Trigger Level for Torque Force Data P 0 0030 Trigger Edge P 0 0031 Timebase P 0 0032 Size of Memory P 0 0033 Number of Samples after Trigger P 0 0035 Delay from Trigger to Start cannot be written P 0 0036 Trigger Control Word P 0 0037 Trigger Status Word P 0 0145 Expanded Trigger Level P 0 0146 Expanded Trigger Address P 0 0147 Expanded Signal K1 Address P 0 0148 Expanded Signal K2 Address P 0 0149 List of selectable signals for oscilloscope function P 0 0150 Number of valid Samples for Oscilloscope Function DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 13 Main Functions of the Oscilloscope Feature The oscilloscope feature can be activated with the parameter P 0 0036 Trigger Control Word by setting bit 2 From then on all data will be recorded that was selected through the parameters P 0 0023 Signal Selection Channe
154. value 8 25 8 32 Position of the zero pulse as relates to motor position 10 30 position switch function principles 10 26 lead time 10 27 parameterizing 10 28 switch off level 10 26 switch on level 10 27 Position switch parameters 10 26 Position target data setting 6 17 6 18 6 20 6 21 Positioning block effective accel and decel 8 24 Positioning block mode 8 22 Acknowledge positioning block selected 8 43 Activating positioning blocks 8 25 Diagnostic messages 8 45 Following block mode 8 33 Hardware 8 45 How it works 8 23 Infinite running in a positive negative direction 8 32 Pertinent Parameters 8 23 Position dependent continue block mode 8 33 Positioning block modes 8 25 status messages 8 45 Positioning velocity gt Ngrenz 4 26 Positioning window 4 27 Possible Error Messages when Reading and Writing Operating Data 4 2 Power Failure Bit 10 32 Power off power off on error 9 50 Power off and package reaction on error 9 51 Power off on error 9 50 Preferred Scaling Parameter Scaling 9 2 Preparations for Programming the Velocity Controller 9 59 Preparations for Setting the Position Control Loop 9 64 Prerequisites for automatic control loop settings 9 69 Prerequisites for starting the automatic control loop settings 9 69 Prerequisites for the execution of absolute positioning blocks 8 25 Pre requisites when determining commutation offsets 7 13 Pre Requisitesen for the Function Measuring wheel operation 10 36 Probe Main Function 10 20
155. velocity for the standard and filter synchronisation modes Position command value addition S 0 0048 dx dt dXsoi synch dt dXsol synch slez Lauan i i P 0 0 dt P 0 0142 P 0 0143 P 0 0142 E Aiii i 1 1 i gt Velocity Position t Synchronisation adjustment i adjustment l i mode step 1 step2 j t Synchronization completed i i i Manuf class 3 diagnostics S 0 0182 Bit9 t Sv5029f1 fh5 Fig 8 55 Standard Synchronisation Mode P 0 0155 0 Position command dx value addition S 0 0048 dXsol synch dt dt AXsoli synch L Z a i i a Poos Pood P 0 0060 Pooma i i i 1 gt i Velocity Position t r an adjustment adjustment l step 1 step2 oo gt Synchronization completed Manuf class 3 diagnostics S 0 0182 Bit9 gt t Sv5030f1 fhS Fig 8 56 Synchronisation mode of register controller P 0 0155 1 P 0 0155 Synchronisation mode bit 1 1 After the operating mode is activated only step 1 of the synchronisation procedure is conducted This realizes a relative position synchronous slave axis To do this parameter S 0 0048 Position command value additional is synchronized by the drive in such a way that there is no second step to the synchronisation process A phase offset is nonetheless possible by changing parameter S 0 0048 Position command value additional Rexroth
156. 0 and the error F276 Absolute encoder out of allowed window is generated Absolute Encoder Monitoring Functional principle of the absolute encoder monitor Rexroth Indramat If the absolute evaluation of a measuring system has been activated position encoder type parameter S 0 0277 or S 0 0115 01Xx xxxxb then in command S 0 0128 C200 Communication phase 4 transition check the actual position value is generated and monitored The monitoring of the actual position value is only active if the encoder is in reference When turning off the drive s power supply the current actual position of the axis is loaded into resident memory When switching the axis back on the difference of the stored position and the newly initialized position of the measuring system is calculated If this difference is greater than the parametrized position window in parameter P 0 0097 Absolute encoder monitoring window the error message F276 Absolute encoder out of allowed window is given DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 27 The absolute encoder monitor is appropriate for the following applications e The motor is equipped with a holding brake e The drive mechanical system is self locking and cannot be moved manually Setting the Absolute Encoder Monitor The absolute encoder monitoring window must be set by the user Always select a value greater than the maximum allowable motion of the axis when
157. 0 byte on bus still to object 606C L 30 0x00 10 byte on bus still to object 606C L 31 0x00 sub index for object 606C 32 Ox5F 11 byte on bus object 5FF6 word 33 0xF1 11 byte on bus object 5FF6 word 34 0x00 sub index for object 5FF6 35 0x00 12 byte on bus still to object 5FF6 36 0x00 12 byte on bus still to object 5FF6 37 0x00 sub index for object 5FF6 Fig 5 46 Object 6000 Process input data Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Example DOK ECODR3 FGP 03VRS FK02 EN P Command Communication via Fieldbus 5 29 Process data output description object 6001 The process data output description is stored in object 6001 It contains position and number of output words on the BUS The structure corresponds complete to the process input data description in object 6000 but with the relevant objects The description relates to the following default configuration for the profile type Interpolation Word1 Word2 Word3 Word4 Word5 Word6 Data Out 6040 607AH 607AL 6081H 6081L 5FF1 Data IN 6041 6064H 6064L 606C H 606c L 5FF6 Fig 5 47 Default configuration in profile type Interpolation Rexroth Indramat 5 30 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Byte no Value Definition prere 0x0C Bus length PD in Byte 2 0x60 15 byte on bus 6040
158. 0 0091 Bipolar Velocity Limit Value Limiting to Bipolar Velocity Limit Value The bipolar velocity limit value defines the maximum velocity of the drive for the user It becomes active as e the monitor of the encoder velocity in the torque control operating mode e the limit for the resulting command value in the velocity controller e the monitor of the position command value difference in the position control operating mode see also Position Command Value Monitoring e the limit of S 0 0036 Velocity Command Value in the velocity control operating mode Rexroth Indramat 9 36 Basic Drive Functions Travel Range Limits Rexroth Indramat ECODRIVE03 FGP 03VRS Monitoring the Feedback Velocity in the Torque Control Operating Mode Monitoring the Feedback Velocity in the Torque Control operating mode occurs at 1 125 times the value of S 0 0091 Bipolar Velocity Limit Value If this value is exceeded the fatal error e F879 Velocity limit S 0 0091 exceeded is generated The drive switches to torque free operation afterwards Limiting the Resulting Command Value in the Velocity Controller In all operating modes in which the velocity controller is active all operating modes except for Torque Control the given velocity command value is limited to the value of S 0 0091 Bipolar Velocity Limit Value If this condition is reached the warning e E259 Command Velocity Limit active is generated Limiting S 0 0036 Velo
159. 0 0347 0x04 Following error Position data P 0 0027 Parameter S 0 0189 0x05 Torque command value Torque data P 0 0029 Parameter S 0 0080 Fig 10 11 Selection of fixed trigger signals Selection of Expanded Trigger Signals In addition to a trigger signal selection with preset signals the drive also allows for triggering on any desired internal signal Use of this feature is meaningful only with information about the structure of the internal data memory therefore this feature can be used effectively only by the corresponding developer This feature can be activated with the parameter P 0 0026 Trigger Signal Selection by setting bit 12 to 1 P 0 0026 Trigger Signal Selection U Expanded trigger function ON Fig 10 12 Structure of parameter P 0 0026 If the expanded trigger feature is activated then the trigger signal address must be defined via the parameter P 0 00146 Expanded Trigger Address The associated trigger level is entered in the parameter P 0 0145 Expanded Trigger Level Rexroth Indramat 10 16 Optional Drive Functions Rexroth Indramat ECODRIVE03 FGP 03VRS This parameter is defined as follows P 0 0145 Trigger Level for Expanded Oscilloscope Function 313029282726 252423222120191817161514131211109 8 7 6 543 210 16 Bit mask for 16 Bit threshold for trigger signals trigger signals Fig 10 13 Structure of parameter P 0 0145 The 16 bit value of the trigger edge is monit
160. 0 0375 List of diagnostic numbers Permanently Configured Collective Indication DOK ECODR3 FGP 03VRS FK02 EN P There are parameters that represent a collective indication for the display of operating states These are individually listed e 0 0011 Class 1 diagnostics e 0 0012 Class 2 diagnostics e 0 0013 Class 3 diagnostics e 0 0182 Manufacturer class 3 diagnostics S 0 0011 Class 1 diagnostics In parameter S 0 0011 Class 1 diagnostics there are bits for the various errors A bit is set in this parameter in the event of a drive error Simultaneously bit Drive lock error in class 1 diagnostics is set in the drive status word All bits in class 1 diagnostics are cleared upon execution of the command S 0 0099 C500 Reset class 1 diagnostic See section Clearing Errors The following bits are supported in status class 1 Rexroth Indramat 4 26 General Instructions for Installation Toggeling a bit is signalled with a change bit in the drive status word Rexroth Indramat ECODRIVE03 FGP 03VRS S 0 0011 Class 1 diagnostics Bit 1 Excess amplifier temperature switching off Bit 2 Excess motor temperature switching off see also S 0 0204 Bit 4 Control voltage error Bit5 Feedback error Bit 9 Under running voltage error Bit 11 Excessive control deviation Bit 12 Communication error Bit 13 Position limit has been exceeded Bit 15 Manufacturer error Fig 4 13 S 0 0
161. 0 4026 Process block selection 116 gt 1 word S 0 0368 Addressing for data container A 116 gt 1 word S 0 0362 List index MDT data container A 116 gt 1 word S 0 0360 MDT Data container A 132 gt 2 words Rexroth Indramat 6 20 Profile Types ECODRIVE03 FGP 03VRS Slave gt Master In the real time channel of the fieldbus the data configured in P 0 4080 Real time input object structure are transmitted from drive to master Parameter Format P 0 4078 Fieldbus status word 116 gt 1 word P 0 4051 Process block acquittance 116 gt 1 word S 0 0051 Position feedback 1 value 132 gt 2 words S 0 0364 AT Data container A 132 gt 2 words S 0 0368 Addressing for data container A 116 gt 1 word S 0 0362 List index MDT data container A 116 gt 1 word Sequence in real time data channel word1 word2 word3 word4 word5 word6 word7 words word9 Master gt P 0 4077 P 0 4026 S 0 0368 S 0 0362 S 0 0360 L S 0 0360 H Slave Slave gt P 0 4078 P 0 4051 S 0 0051 H S 0 0051 L S 0 0368 L S 0 0362 L S 0 0364 L S 0 0364 H Master Fig 6 14 Contents of real time channel in positioning block mode with multiplex channel Using the signal control and status words By using S 0 0145 Signal control word and S 0 0144 Signal status word the user has the option to configure control and stat
162. 001 NC Cycle Time TNcyc acts as the time base for converting the position command value differences into a velocity If the command velocity resulting from the position command value exceeds S 0 0091 Bipolar Velocity Limit Value the error e F237 Excessive position command difference is generated For diagnostic purposes both of the parameters e P 0 0010 Excessive Position Command Value e P 0 0011 Last valid Position Command Value will be saved The velocity produced by the difference of the two values generated the error S 0 0047 Position command value gt t t S 0 0091 Bipolar Velocity limit resulting velocity position command value difference gt Generating the error F237 excessive position command value difference Sv5028f1 fh5 Fig 8 11 Monitoring the position command value differences and generating the error F237 Excessive position command difference Setting Position Command Value Monitoring The position command value monitor works with the parameter S 0 0091 Bipolar Velocity Limit Value It should be set to approximately 5 to 10 above the planned maximum velocity of the motor Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 11 8 6 Operating Mode Drive Internal Interpolation Note The operating mode becomes effective in the drive at the time that the profile is selected with P 0 4084 OxFF91
163. 011 Class 1 diagnostics S 0 0012 Class 2 diagnostics There are bits for various warnings in this parameter In the event of a warning a bit is set in this parameter Simultaneously bit Change bit class 2 diagnostics is set in the drive status word This change bit is cleared by reading S 0 0012 Class 2 diagnostics Via parameter S 0 0097 Mask class 2 diagnostic warnings can be masked in terms of their effect on the change bit The following bits are supported in class 2 diagnostics Bit 0 Overload warning Bit 1 Amplifier over temperature Bit 2 Motor over temperature warning Bit 3 Cooling error warning Bit 4 reserved Bit 5 Positioning velocity gt nlimit Bit 6 reserved Bit 7 reserved Bit 8 reserved Bit 9 reserved Bit 10 reserved Bit 11 reserved Bit 12 reserved L Bit 13 Target position outside of position limits Bit 14 reserved Bit 15 Manufacturer warning Fig 4 14 S 0 0012 Class 2 diagnostics Each of these messages is stored in turn in its own parameter S 0 0310 S 0 0323 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 27 S 0 0013 Class 3 diagnostics Various messages about operating states are stored here If the state of a message changes then a bit is set here as well in drive status word Change bit class 3 diagnostics This change bit is cleared again by reading S 0 0013 Class 3 diagnosti
164. 0145 Signal control word e 0 0399 IDN list of configurable data in the signal control word Configuring the Signal Control Word Selection lists Configuration of the ID numbers Configuration of the bit numbers DOK ECODR3 FGP 03VRS FK02 EN P Only those parameters in list S 0 0399 IDN list of configurable data in the signal control word can be allocated to configuration list S 0 0027 Configuration list signal control word The ID numbers of the parameters which are to be configured with the help of the signal control word target are specified in parameter S 0 0027 Configuration list signal control word The position of an ID number in the list determines which bit in the signal control word is allocated to which ID number target For example the first list element fixes which parameter bit O of the signal control word is allocated to Which bit of the selected parameters target in S 0 0027 Configuration list signal control word is set by the signal control word or reset is set in S 0 0329 Assign list signal control word Note If this list remains empty then bit O is automatically set in the specified parameters Otherwise the bit which is allocated to the target parameters is specified here Bit numbers from 0 LSB to 31 MSB are entered here Rexroth Indramat 10 4 Optional Drive Functions Exceptions ID number not available Rexroth Indramat ECODRIVE03 FGP 03VRS If the allocated
165. 03VRS Coding the control and Coding the parameter number and the parameter type parameter information Parameter type Parameter number Bit 0 11 Parameter number 0 0001 0 FFF Bit 12 14 Parameter set 0 7 0000 S Parameter drive Bit 15 Parameter type 0001 P Parameter drive 0010 not used in the drive Bit 0 2 Parameter type 0100 not used in the drive 1000 not used in the drive Bit 3 7 Reserve always 0 Parameter type uses bit 15 in Parameter number and three further bits in the byte Parameter type BI0001f1 fh7 Fig 5 6 Bytes 11 13 in the user data header Control byte in telegramm header CEETONTE Bit 0 2 number of sub addresses in the address block 0 7 Bit 3 number of actual telegramm 0 not supported 1 additional byte Bit 4 0 command telegramm 1 response telegramm Bit 5 7 state of response telegramm 000 no error 001 transmission request is still in process 010 transmission cannot be processed now 011 reserved 100 warning pending 101 reserved 110 error pending 111 reserved BI0002f1 fh7 Fig 5 7 Control byte Byte 5 in the telegram header Control byte user data header Bit 0 1 reserved Bit 2 0 transmission running 1 last transmission Bit 3 5 element Bit 3 5 000 channel not active 001 id
166. 03VRS INTERBUS S Interface Baudrate The command communications module supports the INTERBUS S remote bus interface The baudrate of the INTERBUS is exclusively 500 Kbit e To ensure EN standards for EMC safety the INTERBUS interface is completely galvanically decoupled e As per DIN 19258 sec 2 the command module has two 9 pin D subminiature plug in connectors for coupling onto the INTERBUS remove bus incoming and outgoing lines e Due to signal coupling repeater function and to maintain the BUS function the module must always be operational The diagnosis of the most important BUS functions can be read out on the LEDs on the front of the module Setting Slave Addresses and Transmission Rates bus specific PCP services The following services are Rexroth Indramat supported Note It is not possible to set either the slave address or the baudrate with INTERBUS The baudrate is and must remain 500kBaud As a result of the ring structure of the INTERBUS both position and slave address within the ring are fixed This address is also used with the PCP as CR address Communication Reference ECODRIVE 03 supports PCP 2 0 version of the Phoenix contact with a 1 word PCP length Optionally a four word length can be also be set via P 0 4083 The use of a master circuit of the G4 group is recommended However a G3 master can also be used without restrictions Note If the master does not support PCP
167. 03VRS In this example the drive is in start position when the new target position is specified This results in the following time diagram vA vel feedback value 0 standstill a window xh target Positioning position position com gt window position start state feedback ___ Positioning gt window t Axt following LON S or lag Positioning distance gt window magnified t S 0 0013 Bit 12 4 target position a es 2 2 reached 7 S 0 0182 Bit 10 a ern In target position O I t S 0 0182 Bit 6 1 IZP 0 7 to new start state is given Sv5050f2 fh7 Fig 8 24 Generating status bits of operating mode with drive controlled positioning 8 8 Positioning Block Mode Note With the profile types P 0 4084 Operation mode selection code OxFF80 or P 0 4084 Operation mode selection code OxFF81 or P 0 4084 Operation mode selection code OxFF82 the operating mode positioning block mode is automatically internally set Sixty four 64 positioning blocks that have been pre programmed can be run with this mode The drive runs position control to a target position while maintaining speed acceleration deceleration and jerk limits as defined for each block The positioning blocks are actuated by the block selection Following block processing permits execution of several positioning blocks processed in direct sequence without having to re issue a start signal each time
168. 1 revs e 0 0237 Slave drive 1 revs e P 0 0083 Gear ratio fine adjust e P 0 0053 Master drive position e P 0 0108 Master drive polarity e P 0 0156 Master drive gear input revolutions e P 0 0157 Master drive gear output revolutions Command Value Preparation for Velocity Synchronization with Virtual Master Axis After the slave drive has been synchronized to the master axis position the drive generates the synchronous velocity command value This is a component of the velocity command value which is relayed to the velocity controller The synchronous velocity command value dXsynch is selected for the master drive in terms of the polarity P 0 0108 Master drive polarity and the set scaling type S 0 0076 Position data scaling type in accordance with the following equation Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 8 48 Operating Modes ECODRIVE03 FGP 03VRS P 0 0157 S 0 0237 AXsynch P 0 0053 n P 0 0053 n 1 P 0 0083 P 0 0156 S 0 0236 oe synchronous velocity command value probe cycle Fig 8 46 Generating the synchronous velocity value for rotary scaling The fine adjustment of the gear ratio that can be configured as cyclical data permits velocity changes at the slave axis at a constant master axis speed Velocity can also be changed by changing the master axis gear parameter which can also be cyclically changed The following illustrates how the velocity command value is
169. 10 I O mode 6 4 I O Mode Default Setting 6 8 I O mode freely expandable 6 9 I O mode with cams P 0 4084 OxFF81 6 8 ID number not available 10 4 Identify 5 24 IDN List of Parameters 4 10 IDN list of all operation data 4 10 IDN list of all procedure commands 4 11 IDN list of backup operation data 4 11 IDN list of invalid op data for comm Ph 2 4 11 IDN list of invalid op data for comm Ph 3 4 11 IDN list of operation data for CP2 4 11 IDN list of operation data for CP3 4 11 Inappropriate use 2 2 Consequences Discharge of liability 2 1 Incremental encoder emulation 10 29 10 30 Incremental encoder with sine signals from Heidenhain with 1V signals 9 10 Incremental encoder with square wave signals from Heidenhain 9 10 Index with multiplex channel 6 23 Initiate 5 24 Integral action time 7 22 Integral Action Time Determining the Critical Integral Action Time 9 60 Interaction of control and status bits status machine 6 12 INTERBUS Interface 5 24 J Jogging mode functional sequence 8 46 K Kit motors 7 11 L LAF 7 1 Lag error 4 27 Language Selection 4 29 LAR 7 1 Length of process data channel in the ECODRIVE 03 5 31 Length of the PD channel 5 22 Rexroth Indramat 12 8 Index Rexroth Indramat ECODRIVE03 FGP 03VRS Length of the process data channel PD in ECODRIVE 03 5 21 Limiting the incremental encoder emulation 10 31 Limiting the Velocity of the command value in the velocity controller 9 36 Limiti
170. 12 or 4 1 no error S 0 0135 Bit13 P 0 4084 0xFF81 oe eur Ded 0 error 6 ready to operate Display bb 1 ready S 0 0135 Bit14 7 power Display Ab 1 power is on S 0 0135 Bit15 8 13 travel block acknowledge epee rocess block acquittance P 0 4084 0xFF80 Bit 0 Bits 14 15 not assigned M x P 0 0135 Status position switch P 0 4084 0xF F81 8 15 cam status Bit 0 Bit7 Fig 6 4 Structure of P 0 4078 fieldbus status word in I O mode in profile type P 0 4084 0xFF80 and OxFF81 Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Profile Types 6 7 How control and status bits work together status machine i homing C6 EE status word yyyy yyyy 111x xxx1 yyyy yyyy 111x xxx0 L EN z L drive error Lb nF Fxxx J t status word yyyy yyyy 01xx x001 0 To yyyy yyyy 000x x011 oder a to yyyy yyyy 10xx x001 yyyy yyyy 00xx x001 yyyy yyyy 001x xx00 drive halt AH yyvy yyyy xxxx x0001 drive okey status word status word yyyy vyyy 111x xxx0 YYYY YYYY XXxx x011 yyy yyyy 111x xxx0 clear error C5 yyyy yyyy xxxx x011 yyyy yyyy xxxx x000 ay n YYYY YYYY XXxx x000 control and power sections ready Ab status word Conse yyyy yyyy 101x xxx0 power ON Attention Once operating power is switched on the drive Lena a bb eran status word automatically goes from ie itii into ope
171. 185 Function of encoder 2 Value in P 0 0185 Function of encoder 2 Meaning 0 Optional encoder as an additional load side control encoder for position and or velocity control loops Signal frequency monitored for exceeding mximum frequency of the interface Upon exceeding this error F246 Max signal frequency for encoder 2 exceeded is generated and the position status S 0 0403 cleared 1 Optional encoder used as lead drive feedback 2 Optional encoder as only load side control encoder only with rotary asynchronous motors In this case there is no other motor encoder P 0 0074 0 Parameter P 0 0121 Velocity mix factor Feedback 1 amp 2 must be set to 100 3 Optional encoder as measuring wheel Fig 9 19 Function of the optional encoder Determining the Encoder Interface of the Optional Encoder Determining the encoder interface of the optional encoder uses parameter P 0 0075 Feedback type 2 The number of the encoder type must be entered there The following measuring systems and modules are permitted for the evaluation of the optional encoder Value in Measuring system Interface P 0 0075 not available 0 digital servo feedback 1 1 Incremental encoder with sine signals 2 2 from Heidenhain with 1V signals Incremental encoder with square wave 2 5 signals from Heidenhain encoder with EnDat interface 2 8 gearwheel encoder with 1Vss signals 2 9 Fig 9 20 Encoder interface
172. 3 59 02 86 Telefon Telefax Canada X SALES Xl Service Mannesmann Rexroth Pty Ltd No 7 Endeavour Way Braeside Victoria 31 95 AUS Melbourne Telefon Telefax Email 61 0 3 95 80 39 33 61 0 3 95 80 17 33 mel rexroth com au China Xl SALES X Service Mannesmann Rexroth Automagao Ltda Divisao Rexroth Indramat Rua Georg Rexroth 609 Vila Padre Anchieta BR 09951 270 Diadema SP Caixa Postal 377 BR 09901 970 Diadema SP Telefon 55 0 11 745 90 60 55 0 11 745 90 70 Telefax 55 0 11 745 90 50 e mail awittwer rexroth com br China X SALES O Service Mannesmann Rexroth Automa o Ltda Divis o Rexroth Indramat R Dr Humberto Pinheiro Vieira 100 Distrito Industrial BR 89220 390 Joinville SC Caixa Postal 1273 Tel Fax 55 0 47 473 58 33 Mobil 55 0 47 974 66 45 e mail prochnow zaz com br China Xl SALES O Service Basic Technologies Corporation Burlington Division 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 1 905 335 55 11 1 905 335 41 84 Telefon Telefax China Xl SALES O Service Rexroth International Trade Shanghai Co Ldt Wai Gaoqiao Free Trade Zone No 122 Fu Te Dong Yi Road Shanghai 200131 P R China 86 21 58 66 30 30 86 21 58 66 55 23 Telefon Telefax Hongkong DX sares Kl service Mannesmann Rexroth China Ldt 15 F China World Trade Center 1 Jianguomenwai Avenue Beijing 100004 P R China Telefo
173. 3VRS FK02 DE P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 DE P Serial Communication 1 23 Starting a command Via the SIS interface all commands in the drive can be started with Service 0x8F write a parameter Telegram head User data 1 byte user data head Fig 1 25 Structure of the command telegram e Enter Ox8F in the service of the telegram head e Enter the actuating command in parameter type and number bytes of the user data head e Enter the default of the command in the user data head Possible commands in the drive Parameter no in Command Drive parameter telegram Drive guided referencing S 0 0148 0x0094 Reset C1D S 0 0099 0x0063 Communications phase 3 S 0 0127 0x007F transition check Communications phase 4 S 0 0128 0x0080 transition check Base load S 0 0262 0x0106 Set absolute P 0 0012 0x800C measurement Load base parameters P 0 4094 Ox8FFE Communications phase 2 P 0 4023 Ox8FB7 transition check Set absolute dimension P 0 4032 Ox8FCO emulator Automatic control loop P 0 0162 Ox80A2 settings Fig 1 26 Commands in drive Always set parameter type to 0x00 Thus only S and P parameters are possible Default in user data byte Effects 0 clears command 3 Fig 1 27 Command default starts command Note Command status can be read by writing O into the first element of the command parameter Rexroth Indramat 1 24 Serial Co
174. 4 Config IDN for MDT not configurable e C105 Configurated length gt max length for MDT e C106 Config IDN for AT not configurable e C107 Configurated length gt max length for AT If the checksum of one of the parameters needed to progress into phase 3 is faulty then command error e C101 Invalid communication parameter S 0 0021 is generated The ID no of the faulty parameters are listed in e 0 0021 IDN list of invalid op data for comm phase 2 They are made valid by writing into them If an error occurs during the extreme value check of those parameters relevant to the command communications then command error e C102 Limit error communication parameter S 0 0021 is generated The ID numbers of the faulty parameters are listed in e 0 0021 IDN list of invalid op data for comm phase 2 and must then be corrected Checking the timing parameters for command communications in terms of plausibility and maintaining marginal conditions The following command errors can occur e C112 TNcyc S 0 0001 or TScyc S 0 0002 error e C113 Relation TNcyc S 0 0001 to TScyc S 0 0002 error e C114 T4 gt TScyc S 0 0002 T4min S 0 0005 Rexroth Indramat 4 14 General Instructions for Installation ECODRIVE03 FGP 03VRS Checking P 0 4014 for plausibility Checking validity Reading the controller memory Checking whether optional encoder is needed Checking whether motor encoder is available Checking motor
175. 5 NTC 7 1 Number and length of PDO in ECODRIVE 03 5 37 Number and length of Polled I O in DKC06 3 5 43 Number of Valid Probe Values 10 18 O Object Directory CANopen specific 5 35 Object Directory DeviceNet specific 5 41 Object Directory INTERBUS specific 5 25 Object Directory PROFIBUS specific 5 20 Object mapping with PROFIBUS communication 5 2 Operating mode 4 12 electronic cam shaft with real master axis 8 61 electronic cam shaft with virtual master axis 8 57 jogging 8 45 torque control 8 2 velocity synchronisation with real master axis 8 49 velocity synchronization with virtual master axis 8 47 Operating modes 4 8 Operating Modes 8 1 Operating modes used 6 3 Operating with analog setpoints Parametrization 6 17 Operating with analog setpoints Features 6 17 Operating with analog setpoints Fieldbus not active 6 17 Optional encoder encoder interface 9 16 Optional Encoder Characteristics 9 19 Parameterization 9 15 Rexroth Indramat 12 10 Index ECODRIVE03 FGP 03VRS Resolution 9 17 Optional Encoder Resolution 9 17 Optional parameter channel 5 9 Oscilloscope Feature Activating the Feature 10 17 defined recording signals 10 13 Expanded Function 10 14 Expanded Trigger Signals 10 15 External Trigger and Internal Trigger Condition 10 17 Fixed Trigger Signals 10 15 Functional Principle 10 13 Status Messages 10 18 Trigger Delay 10 16 Trigger Edge 10 15 Triggering 10 14 Oscilloscope Feature Trigger Source 10 14 O
176. 5 2 Setting the slave address on the firmware module Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 5 4 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Programmable addresses Slave address must be set before switching on The ECODRIVE0O3 controller supports slave addresses 1 99 decimal Depending from the field bus type however there are the following restrictions PROFIBUS DP 2 99 DeviceNet 1 64 CANopen 1 99 INTERBUS S INTERBUS addresses are automatically set by the master Note The slave address 0 does not exist and may not be used in any applications The ECODRIVE03 address is read while booting up the drive controller out of the parametrization mode into the operating mode and used to parametrize the fieldbus connection This means that a change in a slave address does not become effective until the drive controller has powered up Drive Parametrization via Fieldbus Rexroth Indramat Simple fieldbus overlapping parameter access with object assignment e g index sub index A parametrization of the drive requires the transmission of numerous parameters and lists that are retained in accordance with the SERCOS specification Parametrization is possible via e aserial interface e g DriveTop or e the relevant parameter channel of the fieldbus e g PCP All parameters of Group 0 S 0 xxxx P 0 xxxx can be R W with object access Version FGPO3VRS simplified
177. 55 7 days 24hrs DOK ECODR3 FGP 03VRS FK02 DE P 286653 Printed in Germany Rexroth ndramat
178. 7 encoder resolution value in S 0 0116 or S 0 0117 Fig 9 27 Relationship between maximum travel range and multiplication with rotary measuring systems Examples 1 MHD motor with S 0 0116 512 maximum travel range 2048 motor revolutions therefore a multiplication of 2 31 2048 e512 2048 2 MHD motor with S 0 0116 512 maximum travel range 20 motor revolutions therefore a multiplication of 2431 20 e 512 209715 The highest possible value equals 32768 thus a multiplication 32768 for linear scales 2 xencoder resolution travel range multiplication travel range travel range shown in mm multiplication value in S 0 0256 or S 0 0257 encoder resolution value in S 0 0116 or S 0 0117 Fig 9 28 Relationship between maximum travel range and multiplication in linear scales Example 1 Linear scale with 0 02mm grid division maximum travel range 5m therefore a multiplication of 2431 x 0 02 5000 8589 8192 This results in a resolution of 0 02mm 8192 0 002441 um Note When computing multiplication always use the next lower binary value of the precise results DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS If an optional encoder is mounted the multiplication of the motor encoder is guided by the optional encoder DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 23 Drive internal representation of position data when an optional encoder is present
179. 7 fieldbus control word in Rexroth Indramat profiles as well as Bit10 in P 0 4078 Fieldbus status word also see Fig 6 7 Structure P 0 4078 fieldbus status word in Rexroth Indramat profiles can of course only be used in conjunction with specific operating modes This is clarified in the following examples e This profile type enables the use of the entire drive functionalities e g velocity synchronization multiplex channel and more e The main and auxiliary modes can be freely selected via S 0 0032 S 0 0033 S 0 0034 and S 0 0035 Structure of real time data channel Note P 0 4077 Fieldbus control word as well as P 0 4078 Fieldbus status word must always assume 1 place in the configuration list P 0 4080 and P 0 4081 Master gt Slave In the real time channel of the fieldbus the data configured in P 0 4081 Real time output object structure are transmitted from master to drive Parameter Format Object P 0 4077 Fieldbus control word i16 gt 1 word 6040 Optional setpoints Note The cyclic configurable setpoints are in the list parameter S 0 0188 List of the configurable data in the MDT Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Slave gt Master Sequence in real time data channel Profile Types 6 17 In the real time channel of the fieldbus the data configured in P 0 4080 Process data input description are transmitted from drive to master
180. 72 66 57 93 ERSATZTEIL Hotline HELPDESK MO FR von 7 17 Uhr Telefax 49 0 9352 40 4941 Telefon 49 0 9352 40 Bernard A 4894 Kolb R 4922 Roeper P 4359 Scheiner W 4921 HOTLINE 17 07 SA SO Telefon 49 0 172 660 04 06 oder or Telefon 49 0 171 333 88 26 nur an Werktagen only on working days von 15 18 Uhr from 15 18 o clock Tel 49 0 93 52 40 42 22 Kundenbetreuungsstellen in Deutschland Service agencies in Germany DOK ECODR3 FGP 03VRS FK02 DE P Rexroth Indramat 3 2 Kundenbetreuungsstellen Sales amp Service Facilities Europa Europe Austria K SALES O Service vom Ausland x nach Landeskennziffer weglassen from abroad don t dial x after country code Austria O SALES BK service Belgium X sares Xl serice ECODRIVE03 FGP 03VRS 0 nach Landeskennziffer mitwahlen Italien dial 0 after country code Italy Denmark X SALES Xl Service Mannesmann Rexroth Ges m b H Gesch ber Rexroth Indramat Hagelingasse 3 A 1140 Wien Telefon 43 0 1 9852540 400 Telefax 43 0 1 9852540 93 Czech Rep EK sares O serice Mannesmann Rexroth G m b H Gesch ber Rexroth Indramat Industriepark 18 A 4061 Pasching Telefon 43 0 7221 605 0 Telefax 43 0 7221 605 21 England XX sates RX service Mannesmann Rexroth N V S A Gesch ber Rexroth Indramat Industrielaan 8 B 1740 Ternat Telefon 32 0 2 5830719 Telefax 32 0 2 5830731
181. 80 HB1 LB1 HB2 LB2 HBn LBn HBn 1 LBn 1 ee Word 1 Word 2 Word 3 Word 4 Word 5 Wordn Word n 1 a Fig 5 42 Assignment in User_Prm_data Diagnostic LEDs for PROFIBUS Rexroth Indramat There are four LEDs on the front of the fieldbus module used in fieldbus interface diagnoses These signal the synchronization state between fieldbus interface and drive as well as the bus activity for cyclical data exchange LED LED state Definition designation H30 ON cyclical process data channel active H31 Impulse Parameter access H32 H33 alt flashing fieldbus module and drive synchronized H32 H33 steady flashing fieldbus module and drive not synchronized All LEDs flashing regularly severe error on fieldbus module switch unit off and on Fig 5 43 Diagnostic LEDs for PROFIBUS X30 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 23 Assigning PROFIBUS Plug In Connector X30 See signal assignment X30 PROFIBUS connection in project planning manual 5 3 Command Communications with INTERBUS S General Information PCP channel use optional Functional Overview The ECODRIVE03 uses an INTERBUS command communications module that supports protocol INTERBUS S with PCP channel ver PCP 2 0 This module makes it possible to transmit both real time data via the process data channel and parameter and data via objects
182. 81 Real time output object structure PDO mapping objects 1600 601 Data direction Command Communication via Fieldbus 5 37 The structure of the process output data is stored here master slave The current structure can be read out here via SDO along with the assignment of the PDO Note It applies to both the process input data and output data that changes in word length must always lead to modifications in the data stored in the master that were intended for the slave This means that PDO changes are not accepted until the drive is switched off or the phase switched from parametrization to operating mode e Data direction input This means slave to master e Data direction output This means master to slave Number and length of PDO in ECODRIVE 03 Length of the PD channel P 0 4082 P 0 4084 The CANopen slave circuit permits a flexible configuration of the process data channel The process data channel in CANopen is broken down into PDO process data objects Length and number of PDOs depend on what is set in P 0 4084 profile type It is also possible with the freely configurable profile types P 0 4084 OxFFFE to make user specific expansions in the process data channel meaning that the drives can operate with different PDO configurations Since all data of the drive are at least two bytes long a PDO can only contain a word or a double word not bytes as data types The lengths are fixed by the compatibility to ot
183. ARRAY of BYTE symbolic object path class instance attribute Configuration of DeviceNet Slave Configuration of the process data channel Polled I O The process data Polled I O are configured independent of the fieldbus type The setting of P 0 4084 Profile type often includes a configuration of the polled I O real time data channel Note The profile types P 0 4084 OxFFFE or OxFF82 is an exception in this case In this case the user sets the profile type of the configuration Also see section Profile Type It is possible to parametrize via the fieldbus also by writing the drive parameters using Explicit Message The programmed values of this parameter can also be read via Explicit Message The assignment of the polled I O can also read via attribute 2 of the relevant Assembly Objects per ODVA spec 2 0 via Explicit Message The configurations entered in the parameter is assumed in operating mode when the drive runs up P 0 4080 Process data input description Input Assembly Class 4 Instance 2 attribute 1 2 In this object the structure of the data sent from slave to master is descripted in the polled I O as well as the assignment with objects Class Instance Attribute for the process input data The user can read the existing structure via the read service of Explicit Message The master can use this configuration in order to understand which object is being transmitted at which position of the polled I
184. Best possible standstill P 0 0119 2 Rexroth Indramat ECODRIVE03 FGP 03VRS Activating the torque to zero Actual vel value path n 10 min Motor holding brake enabled Motor holding brake applied Endstage locked Endstage enabled t Fig 9 60 Time diagram with torque to zero and P 0 0525 Type of motor brake Bit 1 0 See also chapter Motor Holding Brake Velocity command value to zero with filter and ramp In the event of an error the drive is brought to a standstill with velocity control with a command value ramp with end value zero The velocity command value passes through a jerk limiting command value smoothing filter The parameters used in this case are e P 0 1201 Ramp 1 pitch e P 0 1202 Final speed of ramp 1 e P 0 1203 Ramp 2 pitch e P 0 1211 Deceleration ramp 1 e P 0 1213 Deceleration ramp 2 e P 0 1222 Velocity command filter These parameters work as described in section Operating Mode Velocity control If parameters P 0 1211 Deceleration ramp 1 or P 0 1213 Deceleration ramp 1 are equal to zero then parameters P 0 1201 Ramp 1 pitch or P 0 1203 Ramp 2 pitch are used If parameters P 0 1201 Ramp 1 pitch or P 0 1203 Ramp 2 pitch are equal to zero then the drive brakes without a ramp Note Activation of the motor holding brake depends on P 0 0525 bit 1 See section entitled Motor Holding Brake DOK ECODR3 FGP 03VRS FK02 EN P
185. Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 ai S 0 0346 Positioning command latch aa Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition 01 Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs y SV0011d2 Fh7 Interrupting a following block chain DOK ECODR3 FGP 03VRS FK02 EN P Fig 8 39 Example Switching signal dependent block expansion behavior with no switching signal Note All four commutation conditions are constantly queried and evaluated to be able to switch to the correct following block even after the following block chain is interrupted Only the first commutation conditions occurring during a break is recognized however All others are not taken into account An interruption can occur with e a removal of the drive enable e or a removal of the drive start signal Depending on the block type of the following block sequence that was interrupted and the events causing this interruption the following block chain is processed differently after a restart Note In following block mode relative positioning blocks without residual path storage are not allowed as otherwise the chain dimension reference will be lost Rexroth Indramat 8 40 Operating Modes Interrupting a following
186. CODR3 FGP 03VRS FK02 DE P Rexroth Indramat 3 4 Kundenbetreuungsstellen Sales amp Service Facilities AuBerhalb Europa USA XX sates X service USA outside Europe USA USA XX sates A service USA XX sates A service ECODRIVE03 FGP 03VRS USA XX sates RX service Mannesmann Rexroth Corporation Rexroth Indramat Division 5150 Prairie Stone Parkway USA Hoffman Estates IL 60192 3707 Telefon 1 847 6 45 36 00 Telefax 1 847 6 45 62 01 service indramat com USA XX sates X service Mannesmann Rexroth Corporation Rexroth Indramat Division Charlotte Regional Sales Office 14001 South Lakes Drive USA Charlotte North Carolina 28273 Telefon 1 704 5 83 97 62 1 704 5 83 14 86 Rexroth Indramat Mannesmann Rexroth Corporation Rexroth Indramat Division Central Region Technical Center USA Auburn Hills MI 48326 1 248 3 93 33 30 1 248 3 93 29 06 Telefon Telefax Kundenbetreuungsstellen auBerhalb Europa USA Service agencies outside Europe USA Mannesmann Rexroth Corporation Rexroth Indramat Division Southeastern Technical Center 3625 Swiftwater Park Drive USA Suwanee Georgia 30174 Telefon 1 770 9 32 32 00 1 770 9 32 19 03 Mannesmann Rexroth Corporation Rexroth Indramat Division Northeastern Technical Center 99 Rainbow Road USA East Granby Connecticut 06026 1 860 8 44 83 77 1 860 8 44 85 95 Telefon Service HOTLINE 1 800 860 10
187. CODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 3 S 0 0107 Current loop integral action time 1 S 0 0106 Current loop proportional gain 1 F S 0 0080 ene ene Ho C o m P 0 4046 Active Peak Current Actual current value P 0 176 Torque Force T i command smoothing ae a sn eee time constant ommand current Iq Fig 8 2 Torque control Diagnostic Messages Operating mode specific monitors are e Monitoring actual velocity for a 1 125 fold value of parameter S 0 0091 Bipolar velocity limit value See section Limiting to Bipolar Velocity Limit Value If this value is exceeded then error F879 Velocity limit S 0 0091 exceeded is generated Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 8 4 Operating Modes ECODRIVE03 FGP 03VRS 8 4 Operating Mode Velocity Control Note This operating mode is activated with the selection of profile P 0 4084 0x0003 or P 0 4084 OxFF93 or with analog operations with P 0 4084 OxFFFE A velocity value is commanded to the drive in the Velocity Control operating mode The velocity command value is limited with ramps and a filter The diagnostic message reads A101 Drive in Velocity Mode when this operating mode is active The command values are specified in the parameters S 0 0036 Velocity command value and S 0 0037 Additive velocity command value Pertinent Parameters e 0 0037 Additive velocity command value e
188. Check for Communication Phase 4 are defined as commands A primary control can start interrupt or erase a command Each command has a parameter with which the command can be controlled While a command is being executed the diagnostic message Cx or dx appears in the H1 display where x is the number of the command All commands used are stored in parameter S 0 0025 IDN list of all procedure commands DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS data status Change Bit Command DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 7 Command Types There are 3 command types e Drive Controlled Command Eventually leads to an automatic drive operation or motion Can be started only when controller enable is set Deactivates the active operating mode during its operation e Monitor Command Activates or deactivates monitors or features in the control drive e Management Command executes management tasks is not interruptable Command Input and Acknowledgement Control and monitoring of command execution occurs via the command input and command acknowledgement The command input tells the drive if the command should be started interrupted or ended The commanded value is the operating data of the applicable parameter The command input value can be e not set and not enabled 0 e interrupted 1 e set and enabled 3 In the acknowledgement the drive informs about the extent
189. DRIVE03 FGP 03VRS Motor current limit Pull out current limit DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 31 To check the thermal load of a drive at the time of a start up without having to run a machining process it is possible to pre set the controller load to 80 To do so write any value into parameter P 0 0141 Thermal drive load It is necessary to briefly and simultaneously run a typical processing cycle however The thermal load should be observed and it must demonstrate a falling tendency as otherwise the drive has been incorrectly sized for the application To check the further increase of the thermal load beyond 80 use e the overload warning P 0 0127 Overload warning and or e the P 0 0141 Thermal drive load output using the analog output A typical curve of the thermal load as can be observed with analog output is displayed below Note By pre setting P 0 0141 Thermal drive load to 80 the processing cycle is set to this load Thermal Tendency of the thermal overload Overload P 0 0141 to fall during a typical in percent operation cycle 100 80 l Gn e Treshold for overload pre warning P 0 0127 Writing an arbitrary value to P 0 0141 here 80 per cent Sv5032f1 fh7 Fig 9 38 Checking the thermal load The motor may be loaded for a maximum of 400 msec with the 4 fold value of S 0 0111 Motor current at standstill During continuous operation
190. ECODRIVE03 FGP 03VRS Best possible Deceleration P 0 0119 3 DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 49 Return motion If a 3 has been set for Best possible Deceleration as a return motion then the drive generates a position command profile to complete the desired travel distance in the case of an error In other words in the case of an error a relative process travel block is activated Note If P 0 0096 is positive then in reference to the machine coordinate system the drive moves in the positive direction This travel block is defined by the parameters e P 0 0096 Distance to move in error situation e 0 0091 Bipolar velocity limit value e 0 0138 Acceleration bipolar e 0 0349 Jerk limit bipolar Once the drive has covered the distance i e has reached the desired target position then the motor holding brake is activated if mounted and the drive is switched torque free at the end of the motor brake delay time The distance to move is considered as completed i e the motor holding brake is activated if e target position active position command value i e bit 12 in S 0 0013 class 3 diagnostics 1 and e Vatu 0 i e bit 1 in S 0 0013 class 3 diagnostics 1 feedback velocity smaller than S 0 0124 Standstill window A P 0 0126 maximum braking time Start of error reaction 4 gt Velocity command profile S 0 0138 bipolat acceleration
191. EN P ECODRIVE03 FGP 03VRS Operating Modes 8 19 Acknowledging command value latch S 0 0419 Positioning command value acknowledge Acknowledge if parameter S 0 0393 setpoint mode Bit4 0 Acknowledging acceptance of S 0 0282 supports the ability of control to make information available as to whether the previous positioning command value was accepted by the drive or not Note BitO of parameter S 0 0419 Positioning command acknowledge is cyclically transmitted in fieldbus status word This means no configuration is needed in the real time channel S 0 0282 1 k 3 Positioning command ic k k 2 S 0 0346 Positioning command latch n k 1 k 2 k 3 assumed positioning k 3 command value i k k 2 k 1 k 3 S 0 0419 t accept Positioning command acknowledge Fig 8 20 Positioning command value acceptance and acknowledge Time taccept See illustration above defines the time between status changes and acceptance bits from the control and the receipt of acknowledge in the control The time is made up of effective transmission time and command and actual values and thus depends on the configuration of the interface to the control e g SERCOS Fieldbus Timing Parameter Note If mode Drive controlled positioning is not yet active then the acknowledgement of acceptance of the new positioning command value does not take place By setting bit 4 to 0 in para
192. FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 5 E263 Velocity command value gt limit S 0 0091 S 0 0036 TET Velocity command JE gt Von gt elocity as is active P 0 1222 Velocity command filter Ramp 1 pitch Final speed of ramp 1 P 0 1203 Ramp 2 pitch P 0 1213 Deceleration ramp 2 P 0 1211 Deceleration ramp 1 Fig 8 4 Command value processing Velocity Controller See also chapter Velocity Controller See also chapter Current Controller Velocity Controller The effective velocity command value is added with S 0 0037 Additive velocity command value Further it is limited to S 0 0091 Bipolar velocity limit value See also chapter Limiting to Bipolar Velocity Limit Value If the resulting command value is at the limit the warning E259 Command velocity limit active is displayed The velocity control difference is produced by including the feedback velocity in the control loop The unfiltered feedback velocities of the motor and if available the external encoder can be combined into an effective actual velocity value See also chapter Setting the Velocity Mix Factor Via P 0 0004 Velocity loop smoothing time constant you can limit the band of the control difference for the velocity controller This variable is then relayed to the current and torque limits See also chapter Current Limit and Torque Limit To filter mechanical
193. Factor e 0 0078 Linear Position Data Scaling Exponent e 0 0079 Rotational position resolution This differentiates between linear and rotary scaling S 0 0079 Rotational position resolution sets the rotary position scaling S 0 0077 Linear Position Data Scaling Factor and S 0 0078 Linear Position Data Scaling Exponent set the linear position scaling The scaling type is set in S 0 0076 Position Data Scaling Type The parameter is defined as follows S 0 0076 Position Data Scaling Type OCCO eg TELS il Bits 2 0 Scaling mode 000 not scaled 001 linear scaling 010 rotary scaling Bit 3 0 Preferred scaling 1 Parameter scaling L Bit 4 Unit of measure for linear scaling 0 Meter m 1 Inch in Unit of measure for rotary scaling 0 Angle degrees 1 reserved L Bit5 reserved Bit6 Data relationship 0 to the motor cam 1 to the load Bit 7 Processing format 0 Absolute format 1 Modulo format Bits 15 8 reserved Fig 9 3 S 0 0076 Position Data Scaling Type The scaling type setting is checked for plausibility in S 0 0128 C200 Communication phase 4 transition check and the command error message C213 Position Data Scaling Error is generated if necessary Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 4 Basic Drive Functions ECODRIVE03 FGP 03VRS Velocity Data Display Format The scaling of the drive controller s velocity data is adjustable T
194. Features Example 1 accessing data of S 0 0051 Index 0x2000 IDN S 0 0051 0x2000 51 0x2033 Sub index 7 or 10 as accessing of data is wanted Example 2 accessing of data of P 0 0051 Index 0x3000 IDN P 0 0051 0x3000 51 0x3033 Sub index 7 or 10 as data accessing if wanted Unit master file for DKC03 3 Unit master file for ECODRIVE03 Every PROFIBUS DP unit must have a master file GSD in which the data is stored that is needed to operate the unit on the BUS This file is needed for each subscriber at the time when the Bus master is configured The unit master file for the ECODRIVE03 is an ASCII file named ECO3100D GSx whereby x defines the language version d language independent g German The master file also contains the ID number 100D hex assigned by the PNO and needed for an ECODRIVEO3 Note The GSD file is stored at installation of DriveTop in directory Indramat Device Data Sheets Configuration of the PROFIBUS DP Slave Rexroth Indramat Configuration of the process data channel For the user the PROFIBUS command communications module represents an intelligent PROFIBUS module which can be configured according to the process requirements The process data are configured independently of the fieldbus type The setting in P 0 4084 Profile type basically pre determines the process data channel real time channel setting DOK ECODR3 FGP 03VRS FK02 EN P
195. Fieldbus status word A differentiation must in this case be made between e Fixed pre defined profiles OxFF91 drive internal interpolation OxFF93 velocity control and OxFF92cyclic position control e and a completely free configurable profile type P 0 4084 OxFFFE Each fieldbus drive of Rexroth Indramat regardless of the command communications interface is equipped with a uniform status machine This includes a complete structure of the P 0 4077 fieldbus control word and P 0 4078 fieldbus status word The interaction and the definition of the individual bits is described in the following section Rexroth Indramat status machine of the drives DOK ECODR3 FGP 03VRS FK02 EN P To explain how the individual bits work together it is necessary to first explain the structure of the fieldbus control and status words Note Parameters S 0 0134 Master control word and S 0 0135 Drive status word are only used for drive diagnostics The actual control and status information is contained in P 0 4077 Fieldbus control word and P 0 4078 Fieldbus status word These are always part of the real time channel Rexroth Indramat 6 10 Profile Types ECODRIVE03 FGP 03VRS Structure of P 0 4077 fieldbus control word Rexroth Indramat Profile Bit Name Definition a bit change indicates S 0 0346 Bit0 0 Setpoint acceptance a pos block activated or positio
196. Filter time constant additional pos command e P 0 0142 Synchronisation acceleration e P 0 0143 Synchronisation velocity e P 0 0151 Synchronisation init window for modulo format e P 0 0154 Synchronisation direction e P 0 0155 Synchronisation mode Dynamic synchronisation is included in the phase synchronisation operating mode It consists of drive controlled move with a target of absolute synchronisation A synchronisation operating mode with supported position control is performed during synchronisation in two steps Step 1 Upon activating the operating mode a velocity adjustment is first executed This means that the drive either accelerates or decelerates from the feedback velocity at the time of activation to the synchronous velocity The drive generates the synchronous velocity by differentiating the synchronous position command value These synchronous position command values XSynch are generated in terms of the operating mode out of P 0 0053 Master drive position Velocity adjustment takes place in position control When accelerating or braking the drive takes P 0 0142 Synchronisation acceleration into account After velocity adjustment is complete there is a difference between the active position command value and the sum of the synchronous position command values XSynch and S 0 0048 Position command value additional Step 2 The second step of dynamic synchronisation is position adaptation The drive
197. Format P 0 4078 Fieldbus status word 116 gt 1 word Master gt Slave P 0 4077 Fieldbus control word Slave gt Master P 0 4078 Fieldbus status word Fig 6 2 Contents of real time channel in I O mode DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Profile Types 6 5 Status machine in I O mode Fieldbus control and status word DOK ECODR3 FGP 03VRS FK02 EN P Structure of P 0 4077 Fieldbus control word P 0 4084 OxFF8X Note The structure of P 0 4077 Fieldbus control word is identical in all three possible I O modes P 0 4084 OxFF80 OxFF81 and OxFF82 Description drive nable 1 drive enable 0 drive lockout S 0 0134 Bit14 Jivestan 1 drive start 0 drive halt S 0 0134 Bit13 drive controlled to 1 command C6 start S 0 0148 11b zero referencing 0 command C6 end S 0 0148 0b 3 strobe o O 0 gt 1 travel block change S 0 0346 positioning with 1 limited velocity with with P 0 4030 Jog velocity 4 limited velocity k Positioning Velocity as reseterror 1 reset error command C5 start 5 F Reset S 0 0099 C500 Reset class 1 diagnostic 0 command C5 end 1 jog forward P 0 4056 Bit0 6 Jog with P 0 4030 Jog velocity 7 Jog 1 jog backwards P 0 4056 Bit1 P 0 4026 Process block selection 8 13 travel block select Bit 0 Bit CACCE Fig 6 3 Structure of P 0 4077 fieldbus control word in I
198. Functions ECODRIVE03 FGP 03VRS Start Positiv stop drive procedure Command 0 NC Position command 0 values Torque for command values Velocity 0 Command 0 acknowledgement SV5001d1 fh7 Fig 10 23 Time sequence when activating the command Positive stop drive procedure 10 9 Command detect marker position The command Detect marker position supports e the control of a error free detection of the reference marker in an incremental measuring system or e determining the position of the reference marker if the referencing procedure is conducted by the control In this case this information is used to switch the coordinate system in the control A reference switching evaluation is not run with this command The following parameters are provided for this function e S 0 0173 Marker position A e P 0 0014 D500 Command determine marker position Functional principle of command detect marker position Once the command P 0 0014 D500 Command determine marker position is activated the following is done e The diagnosis D500 detect marker position command is generated e If an incremental measuring system is selected then the detection of a reference marker is activated and the drive waits for the next reference marker e f a reference marker is detected i e the position of a reference marker has been runover then its position feedback value is stored in parameter S 0 0173 Marker position A Thi
199. GP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS General Instructions for Installation 4 3 Parameters Stored in the Digital All operating data that apply only to the drive controller and that cannot be Drive changed by the user are stored in the digital drive This consists of the following parameters e 0 0110 Amplifier peak current e 0 0140 Controller type e P 0 0190 Operating hours control section e P 0 0191 Operating hours power section e P 0 0192 Error recorder diagnosis number e P 0 0193 Error recorder operating hours control section e P 0 0520 Hardware code e P 0 4000 Current zero trim phase U e P 0 4001 Current zero trim phase V e P 0 4002 Current amplify trim phase U e P 0 4003 Current amplify trim phase V e P 0 4024 Test status e P 0 4035 Trim current e P 0 4053 Intermediate DC bus voltage gain adjust e P 0 4054 Resolver input offset e P 0 4055 Resolver input amplitude adjust e P 0 4058 Amplifier type data e P 0 4059 Braking resistor data e P 0 4061 Mains voltage gain adjust e P 0 4088 Serial number e P 0 4089 Production index Parameter Storage in Motor Feedback All motor dependent parameters are stored in the motor feedback with MHD MKD and MKE motors Additionally parameters for the Load Default function and the position encoder are stored here All parameters stored in the motor feedback data memory are there with both parameter block number 0 and 7 In parameter block
200. GP 03VRS Basic Drive Functions 9 19 Other Optional Encoder Characteristics To parameterize any other characteristics of the optional encoder use S 0 0115 Position feedback 2 type The structure of this parameter is as follows S 0 0115 Position feedback 2 type BEEBE EE BEEBE RE Bit 0 Encoder type 0 rotary 1 linear Bit 1 Distance coded reference mark 0 no distance coded reference mark 1 distance coded reference mark Bit 3 Rotational direction 0 non inverted 1 inverted L Bit 6 Absolute evaluation possible 0 Absolute evaluation not possible 1 Absolute evaluation possible L Bit 7 Absolute evaluation deactivated 0 Absolute evaluation activated only if bit 6 1 1 Absolute evaluation deactivated Fig 9 22 Parameter S 0 0115 Note The bits in the position encoder type parameter are partly set or cleared by the drive itself There is following dependency e Depending on the absolute encoder range and the maximum travel range or modulo value bit 6 is either set or cleared See also chapter Supplementary Settings for Absolute Measuring Systems Actual Feedback Values of Non Absolute Measurement Systems After Initialization If there is no absolute measuring system then the initialization value can be changed via parameter P 0 0019 Position start value It hereby applies If the parameter is write accessed in either phase 2 or 3 then this value is assumed a
201. If a second measurement system is attached directly to the load than this direct measurement system see Optional encoder Hereafter are shown typical applications of indirect distance measuring 1 Power connectopn of motor 2 Connection of motor encoder indirect position acquisition Ap5134f1 fh7 Fig 9 13 Application Motor encoder with linear servo axis Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 9 12 Basic Drive Functions ECODRIVE03 FGP 03VRS 1 Indirect position acquisition with internal encoder Ap5135f1 fh7 Fig 9 14 Application Motor encoder with rotary servo axis The following parameters e P 0 0074 Feedback type 1 e S 0 0116 Feedback 1 Resolution e 0 0277 Position feedback 1 type are used to parameterize the motor feedback These specify the interface number to which the measurement system is connected the motor feedback resolution as well as the direction of movement etc The parameter S 0 0051 Position feedback 1 value displays the position of the motor feedback The absolute measurement relative to the machine zero point is set with e 0 0148 C600 Drive controlled homing procedure command or for absolute encoders e P 0 0012 C300 Command Set absolute Measurement Note For
202. If movement is possible then the nominal brake torque is generated by the motor with closed brake If the motor does not move then the brake is functional With movement the attempt is made to again achieve the holding torque of the brake by looping in the brake After this procedure the holding torque is again checked If nominal torque is again not achieved then command error B203 Brake torque too low is generated A monitoring of the holding brake generates axis movements ATTENTION Connecting the Motor Holding Brake See relevant Project Planning Manual for details Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 1 8 Operating Modes 8 1 Setting the Operating Mode Parameters Automatic programming of operating mode parameters by selecting a profile type To program operating modes use parameters e 0 0032 Primary Mode of Operation e 0 0033 Secondary Operating Mode 1 e 0 0034 Secondary Operating Mode 2 e 0 0035 Secondary Operating Mode 3 Main and auxiliary modes are automatically set depending on the value in P 0 4084 Profile type Only if profile type free programmable operating mode P 0 4084 Profile type OxFFFE can parameters S 0 0032 35 be freely programmed see also chapter Profile Types Note The parameter description offers an overview of possible input values for the above listed parameters 8 2 Determining
203. Installation 4 11 S 0 0192 IDN list of backup operation data In parameter S 0 0192 IDN list of backup operation data the ID numbers of all those parameters are stored that are stored in the programming module These are the parameters that are needed for a proper operation of the drive The control or the parametrization program uses this ID number list to secure a copy of the drive parameters S 0 0021 IDN list of invalid op data for comm Ph 2 In the data of these ID lists the drive enters the ID numbers out of parameter S 0 0018 IDN list of operation data for CP2 which are recognized as invalid in command S 0 0127 C100 Communication phase 3 transition check Parameters are recognized as invalid if e their checksums that are stored together with the operating data ina resident memory programming module amplifier or motor feedback data memory do not fit to the operating data e their operating data is outside of the minimum maximum input range or e their operating data has violated the plausibility rules In any event the parameters entered upon negative acknowledgement of command S 0 0127 C100 Communication phase 3 transition check in S 0 0021 IDN list of invalid op data for comm Ph 2 must be corrected S 0 0022 IDN list of invalid op data for comm Ph 3 The drive enters the ID numbers out of parameter S 0 0019 IDN list of operation data for CP3 into the data of this ID list which were detected in comm
204. K ECODR3 FGP 03VRS FK02 DE P Contents Rexroth Indramat Il Contents ECODRIVE03 FGP 03VRS Notes Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 1 1 Serial Communication 1 1 An Overview Interface mode Interface protocol The drive controller is equipped with a serial interface It supports the parametrization of the drive Using this interface it is possible to alter e Parameters e Commands and e Diagnoses The interface can be operated in either e RS232 mode or e RS485 mode Two different protocols are supported e the Indramat SIS protocol The usable data are transmitted in INTEL format e and an ASCII protocol Its precise structure is outlined in the following section Note If an ASCII protocol is used then the number of bytes differs from the data length in the parameter description internal number format 1 2 Pertinent Parameters The data exchange which implements the serial interface is controlled by means of the following parameters e P 0 4021 Baud rate RS 232 485 e P 0 4022 Drive address e P 0 4050 Delay answer RS 232 485 1 3 Function Principle Basic State once the Control Voltage is Switched On Selecting a Protocol DOK ECODR3 FGP 03VRS FK02 DE P After the control voltage is switched on serial communications in the drive is in Passive mode Communications is not possible in passive mode To be able to tak
205. MC Guideline U S A See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must consult the above noted items at all times DOK ECODR3 FGP 03VRS FK02 EN P Technical data connections and operational conditions are specified in the product documentation and must be followed at all times Rexroth Indramat 3 4 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 FGP 03VRS 3 5 Protection against contact with electrical parts Rexroth Indramat Note This section refers to equipment with voltages above 50 Volts Making contact with parts conducting voltages above 50 Volts could be dangerous to personnel and cause an electrical shock When operating electrical equipment it is unavoidable that some parts of the unit conduct dangerous voltages DANGER High electrical voltage Danger to life severe electrical shock and severe bodily injury gt Only those trained and qualified to work with or on electrical equipment are permitted to operate maintain or repair this equipment Follow general construction and safety regulations when working on electrical installations Before switching on power the ground wire must be permanently connected to all electrical units accor ding to the connection diagram Do not operate electrical equipment at any time if the ground wire is not permanently connected even f
206. MComroler s ii a a A n A A E 8 9 Position Command Value Monitoring ccecceeeececeeceeeeeeeeeeeceaeeesaaeeseaeeseeeeeseaeeesaeeeeeeesaas 8 10 Setting Position Command Value Monitoring ccccceesceceeeeeeeeeeeeaeeeeeeeseeeeeseaeeeeeaeeneeeeeeaees 8 10 Operating Mode Drive Internal Interpolation cccccceceeeeeseceeeee eee eeeeaeeeeaeeseeeesaeeseeeeeeneeeaes 8 11 Pertinent P arameters oaceae a A Ea E a andes aided wattle ustt NA 8 11 Functional PrinGiple st cs sedevs cctad aE adidas a aE reed at ended O ET atk 8 11 Monitoring and Diagnosing ccceceeeeeeeeeeeeeeeeeeeeeeaeeeeeeeaeeeeeeaaeeeeeeaaeeeseeaaeeeeeaaeeeeneaeeeeeeaaes 8 13 MlALUS MESSAGES A EE E E E faeashir et AT 8 14 Operating Mode Drive Controlled Positioning ssseesseessessseessnessnnssnnssrnesrnssrnssrnssrnssrnsrnesrnnsrnne 8 15 Pernmnent Parameter arrenar Epi eLA IE be lciys suey EARRA ERIE IGARA ior REAA PAREIS PNR AE AA 8 16 aele eU aE EE A E E E E E T E A 8 16 Acknowledging command value latCh essssessssesssrnesssnnesrnnnesrennernnnnnnnnesnnnnnnnnnnnnnennnnnnnnennnne 8 19 Monitoring and Diagnoses sssessssssssrresssrnesssrnesrnnnessnnestnnnnsttnnesnnannttnnndtnnnnnttaneutnannnnnnnaannn nnana 8 21 Status MeSSages i renien iei iia a ay ei a eat See 8 21 Positioning BOCK MOOG eri ares arn eE e AAEE AT AE E N OTO 8 22 Perninent Parameter S esasi ainan T E T ET A T O 8 23 Flow IEW S anae hers ets ae eee leat ee ies N 8 23 Activ
207. Modes 8 25 Activating Positioning Blocks Block selection Positioning block mode must be entered as the main mode By activating drive enable and setting drive halt 1 the drive is in primary mode of operation A positioning block is started by e Status change of bit O of the parameter S 0 0346 Setup flag for relative command values If the drive is working in free configurable mode P 0 4084 Profile type Oxfffe then the command value is transmitted in the fieldbus control word P 0 4077 bit O equals S 0 0346 bit 0 If profile type I O mode P 0 4084 Profile type Oxff80 has been set in the drive then a positioning block starts by setting the start signal P 0 4077 Fieldbus control word bit 1 or the strobe signal P 0 4077 Fieldbus control word bit 3 Note As long as the parameter is not toggled the drive will remain on the actual position or brought to a position controlled standstill In positioning block mode a positioning block is selected e by writing into P 0 4026 Process block selection e or with Bit8 Bit 13 in P 0 4077 Fieldbus control word in IO mode Positioning Block Modes Prerequisites for the execution of absolute positioning blocks DOK ECODR3 FGP 03VRS FK02 EN P Parameter P 0 4019 Process block mode is used to set the manner in which the target position is processed in parameter P 0 4006 Process block target position Possible positioning block modes e Absolute Po
208. N50170 vol 2 the module has a 9 pin D subminiature plug in connector for coupling a PROFIBUS To switch through BUS signals to the other bus participants Rexroth Indramat plug in connector INS 0450 is available Note The BUS coupling as spur is directly in the plug in connector INS 0450 Given transmission rates of gt 500kbit this particular plug in connector must be used No further spurs or additional plug in connectors are allowed To maintain the BUS functions it is necessary that the unit into which the connector with bus connection is inserted is always in operation Setting a Slave Address and Transmission Rates Rexroth Indramat Note Slave addresses 0 and 1 are reserved and may only be used for slave applications The transmission rate is set in the master and automatically recognized in the slave DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 11 Parameter Channel in the DP Cyclical data channel Process data channel Parameter channel DOK ECODR3 FGP 03VRS FK02 EN P As it must be possible to parametrize the drive via the fieldbus a configurable parameter channel has been implemented in the cyclical data of the ECODRIVE03 Its size has been set to max 14 byte Definition of Terms The fieldbus makes data containers available in which cyclical user data is transported This is defined as the cyclical data channel This cyclical data chann
209. Number of Trigger delay Samples after Trigger gi omit ener A hA Recording length Fig 10 15 Trigger delay Number of samples after trigger DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Optional Drive Functions 10 17 Activating the Oscilloscope Feature The oscilloscope feature can be activated with the parameter P 0 0036 Trigger Control Word The parameter is defined as follows P 0 0036 Trigger Control Word Bit 0 Trigger action Input with external triggering Bit 1 Trigger release Bit 2 Oscilloscope function active Fig 10 16 Structure of Parameter P 0 0036 The oscilloscope feature is activated by writing 1 into bit 2 i e the internal probe value memory is continually written with the selected measurement signals If bit 1 is set then the trigger monitor is activated and the oscilloscope feature waits for the selected edge to occur If a valid edge is recognized then the probe value memory will be completed as set in parameter P 0 0033 and the oscilloscope feature will be deactivated by resetting bits 1 amp 2 in the trigger control word Oscilloscope Feature With External Trigger and Internal Trigger Condition If triggering is selected in parameter P 0 0025 Trigger Source with the control bit of the trigger control word then the trigger will be initiated with the 0 1 rising edge of bit 0 in the trigger control word
210. O Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Data direction Command Communication via Fieldbus 5 43 P 0 4081 Process data output description Output Assembly Class 4 Instance 1 attribute 1 2 The structure of the polled I O from master to slave is stored in this object Thus the current structure and the assignment of the polled I O can be read via Explicit Message Read Note Both for the process input data and output data it applies that changes in the data length always require a modification of the data stored in the master for the slave Thus any changes in these values are not effective until the drive has been switched off and on or after phase transition from parametrization into operating modes e Data direction input The data direction input is the data transmission from slave to master e Data direction output This is direction from master to slave Note Up to 18 bytes of data including fieldbus control word fieldbus status word can be configured per data direction Number and length of Polled I O in DKC06 3 Length of PD channel P 0 4082 P 0 4087 The DeviceNet slave connection permits a flexible configuration of the polled I O The length of polled I O depends on what was set in P 0 4084 Profile type Additionally in free configurable profile types P 0 4084 OxFFFE or OxFF82 user specific expansions of the process data channel can mean that the drive
211. ODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Warnings Warnings do not cause automatic shutdowns Exception fatal wanings The warning class is evident from the diagnostic message Error DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 9 Many areas are monitored in connection with operating modes and parameter settings A warning will be generated if a state is detected that allows proper operation for the time being but will eventually generate an error and thereby lead to a shutdown of the drive if this state continues Warning Classes Warnings can be separated into 2 classes They are differentiated by whether the drive executes an automatic reaction when the warning appears Diagnostic Warning Class Message Drive Response With drive response E8xx reacts on its own specifically in terms of any occurring warnings Without drive response E2xx Fig 4 6 Breakdown of the Warning Classes Note Warnings cannot be cleared externally They pend until the conditions that lead to the warning are no longer present Many areas are monitored in connection with operating modes and parameter settings An error message is generated if a condition is encountered which no longer allows proper operation Error Classes Errors are separated into four different drive s error response The error class is evident from the diagnostic message Diagnostic Error Class Mess
212. OK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 7 Diagnostic Messages Operating mode specific monitors are e E259 Command velocity limit active If the resulting command value is in the limit then warning E259 Command velocity limit active is displayed e E263 Velocity command value gt limit S 0 0091 Parameter S 0 0036 Velocity command value is set to the value of parameter S 0 0091 Bipolar velocity limit value The warning E263 Velocity command value gt limit S 0 0091 is generated 8 5 Operating Mode Position Control Note The operating mode is activated in the drive with profile types P 0 4084 OxFF92 and possibly P 0 4084 OxFFFE A position value is commanded to the drive every NC cycle time in the Position Control operating mode The timebase is defined here in S 0 0001 NC Cycle time TNcyc When this mode is activated the diagnostic message is one of the following e A102 Position Control Encoder 1 e A103 Position Control Encoder 2 e A104 Position Control Encoder 1 Lagless Positioning e A105 Position Conitrol Encoder 2 Lagless Positioning The command value is specified in the parameter S 0 0047 Position Command Value Monitors specific to this operating mode are e Monitoring the command velocity versus the value of the parameter S 0 0091 Bipolar velocity limit value If this value is exceeded the error F237 Excessive position command difference is generated The comman
213. Ox0E 8 14 OxF 1 Ox0F 8 16 OxF 1 0x06 8 18 OxF1 0x07 8 20 OxF1 0x15 8 22 OxF 1 not possible 8 24 OxF 1 0x16 Fig 5 49 Overview of ID codes in the INTERBUS S Note If a four word PCP is set then neither an 18 nor a 14 byte length in the real time channel is possible P 0 4082 and P 0 4087 Note For cyclic channel lengths P 0 4082 of 12 14 20 and 24 bytes the master needs a firmware version starting with 3 2 Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 33 Diagnostic LEDs for INTERBUS The LEDs on the INTERBUS of the DKC04 3 meet the requirements for an INTERBUS certification Remote Check H40 RC green command cable OK Bus Active H41 BA green data exchange active Transmit Receive H42 TR green PCP transmission active Remote Bus Disable H43 RD red continuing remote bus segments off 1 Hz H44 red flashing 1 Hz communication fieldbus drive not synchronous Module status H44 red Initialization failed Module defective but 2 Hz slave the LED flashes at twice the rate Operating LED H45 UL green voltage source OK red flashing module error H45 red and on again Severe fieldbus H40 H42 H42 H44 severe error on fieldbus module switch unit off Fig 5 50 Diagnostic LED for INTERBUS Assignment INTERBUS S connectors X40 X41 See signal assignment X40 X41 INTERBUS Interface Inc
214. P 03VRS Basic Drive Functions 9 5 e 0 0160 Acceleration data scaling type OCCO sae il Bits 2 0 Scaling mode 000 percentual scaling 001 linear scaling 010 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling L Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 radians rad 1 reserved L Bit5 Unit of time 0 second s 1 reserved Bit6 Data relationship 0 to the motor shaft 1 to the load Bits 15 7 reserved Fig 9 5 S 0 0160 Acceleration data scaling type The actual scaling type is set in bit 0 2 The scaling type setting is checked for plausibility in S 0 0128 C200 Communication phase 4 transition check and the command error message C215 Acceleration Data Scaling Error is generated if necessary Command Polarities and Actual Value Polarities DOK ECODR3 FGP 03VRS FK02 EN P The drive internal polarities of position velocity torque force and actual value are fixed The following applies Drive internal positive direction definition Motor type Rotary motors Clockwise rotation facing the motor shaft Move in the direction of the connection of the power cable on the primary component Drive internal positive direction definition Linear motors Fig 9 6 The positive direction is specified by the manufacturer for MHD MKD and MKE motors Asynchronous motors li
215. Positioning 8 25 Acceleration Feed Forward Setting 9 67 Access angle 8 59 Acknowledge with control voltage interrupt with positioning block mode 8 44 Acknowledge with drive enable removed in positioning block mode 8 43 Activating the measuring wheel operation function 10 36 Activating the Oscilloscope Feature 10 17 Activating the velocity control loop monitor 9 63 Activation of the E Stop Input 9 54 Actual Feedback Value Monitoring 9 17 Actual Feedback Values of Non Absolute Measurement Systems After Initialization 9 19 Rexroth Indramat 12 2 Index Rexroth Indramat ECODRIVE03 FGP 03VRS Actual position value after setting the absolute dimension 9 105 Actual position value of absolute encoders after power on 9 105 Addition checksum faulty 4 30 Additional Problems when Loading Firmware 4 32 Additional uses of parameter S 0 0173 Marker position A 10 25 Address range not within flash storage 4 30 Addressing the data container with multiplex channel 6 24 ADF 7 1 Adressing the DeviceNet slave 5 40 AF 7 16 After switching the unit on the display reads dL 4 32 Allocation to Drive Internal Modes 6 3 Amplifier overtemperature shutdown 4 25 Amplifier overtemperature warning 4 26 Analog Inputs 10 9 Analog Inputs Connection 10 10 Analog Interface 4 13 Analog output bit and byte output 10 8 function principle 10 5 Relevant parameters 10 5 terminal assignment 10 8 Appropriate use Introduction 2 1 Assigning PROFIBUS Plug In Con
216. Read 1 indicates that the master wants to read data This bit is used to distinguish between the old and new handling of the parameter channel For the new handling it must be fixed to 1 Not used bits must be set to 0 Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 13 Status worda The status word is in direction from the slave to the master It is 16 bit wide and the single bits have the following meaning Bit 0 3 Format Bit 4 7 Length Bit 8 Toggle Bit 9 not used Bit 10 Last Bit Bit 11 not used Bit 12 R W Bit Bit 13 not used Bit 14 not used Bit 15 C1 Bit Fig 5 23 Arrangement of bits in the status word The single bits have the following meaning Format These bits describe the usage and meaning of the following data in the parameter channel At the moment only one format is defined Length These four bits specify the length of the valid data without the status word in bytes The data in the rest of the parameter channel is undefined Toggle This bit toggles with every new sent data It is used for a handshake between master and slave The slave recognises new data when the toggle bit he receives control word is different from the toggle bit in the status word L Last bit This bit is set when the last fragment of a data block is sent R W Read Write Read 1 indicates that
217. Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Pertinent Parameters How it works Positioning block elements DOK ECODR3 FGP 03VRS FK02 EN P Operating Modes 8 23 Typical applications are positioning processes which cover long distances at high speeds rapid traverse and then position at end position at low speeds without any intermediate stops e Taking up or putting down transport goods by robots e Execution of joining processes in assembly facilities A following block chain is made up of a start block and one or more following blocks The start block is selected and activated in the usual manner The transition to a following block however can vary Note Following block mode is possible with absolute and relative positioning blocks The distance remaining is stored The final block of a chain is not defined as a following block This identifies the end of the chain e P 0 4006 Process block target position e P 0 4007 Process block velocity e P 0 4008 Process block acceleration e P 0 4009 Process block jerk e P 0 4019 Process block mode e P 0 4026 Process block selection e P 0 4051 Process block acquittance e P 0 4052 Positioning block last accepted e P 0 4057 Positioning block input linked blocks e P 0 4060 Process block control word e P 0 4063 Process block deceleration e 0 0346 Set up flag for relative command values e 0 0182 Manufacturer class 3 di
218. Rexroth Indramat make function modules available To help simplify the introduction into fieldbus communications for the S7 The principles used there are easily applicable to other fieldbus masters as well DOK ECODR3 FGP 03VRS FK02 EN P Rexroth Indramat 5 10 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Function Overview PROFIBUS Interface The PROFIBUS command communications module has the following features The command module supports interfaces in accordance with EN50170 vol 2 Line types A and B as per EN50170 vol 2 are also supported All data rates as per EN50170 vol 2 up to 12 Mbps if only PROFIBUS DP is used Configurable process data channel up to 18 bytes in both data directions additionally optional up to 14 bytes for the parameter channel Backwards compatible to PROFIBUS functions of the DKC3 1 Process data channel monitored watchdog function LEDs on the front panel of the command communications module for easy diagnoses of bus functions and important communications relationships between drive and fieldbus Upload download function for all drive parameters including lists Direct or via 4 arrays of 16 to 128 bytes data length with parameter channel are possible Rexroth Indramat SIS protocol Support of Set param service by PROFIBUS DP for easy start ups To ensure EN standards for EMC safety the PROFIBUS interface is completely galvanically decoupled As per E
219. SERCOS parameters of the drive e Downwardly compatible to PROFIBUS functions of ECODRIVE01 possible with profile selection I O mode e Monitoring of the process data channel watchdog function e Diagnostic LEDs on the front of the module for simple diagnoses of BUS functions and important communications relationships between drive and fieldbus e All parameters of drive can be read direct via SDO and written to also if this is allowed e Upload download function for all parameters of the drive lists including four arrays of 16 to 128 byte data length with SDO services possible Rexroth Indramat SIS protocol e Event controlled transmission of real time data can be switched off default not event controlled The command communication module supports CANopen specification per DS301 e To ensure EN standards for EMC safety the CANopen interface is completely galvanically decoupled e As per DS301 the command communications module has a 9 pin D subminiature connector to couple to the bus Assignment corresponds to DS301 Setting the Slave Address and Transmission Rates bus specific Prioritization Predefined Connection Set Rexroth Indramat Adressing the CANopen slave The address determines the priority of the slave message whereby the lowest address has the highest priority Generally the master has the highest priority and thus the lowest address Each CANopen subscriber on the bus must send those messag
220. Setting the Slave Address and Transmission Rate 5 3 Setting the Slave Address and Transmission Rates bus specific 5 34 5 40 Setting the Time Resolution and the Memory Depth 10 16 Setting the Trigger Delays 10 16 Signal control word 10 3 Signal Edge Selection for the Probe Inputs 10 21 Signal Selection for the Probe Inputs 10 22 Signal status word 10 1 Smoothing the actual position value 9 42 Smoothing Time Constant Determining the Smoothing Time Constant 9 60 Limiting the command value for current control 8 5 Spindle brake 9 47 Square wave encoder 9 10 SSI format 10 32 Standstill window 4 27 Start command 9 72 Start command D900 9 72 Start command with automatic control loop settings 9 72 Starting up synchronous kit motors 7 11 Starting interrupting and completing the command 9 98 Rexroth Indramat 12 14 Index Rexroth Indramat ECODRIVE03 FGP 03VRS Status 5 24 Status class class 1 diagnostics 4 25 class 2 diagnostics 4 26 class 3 diagnostics 4 27 mask class 2 diagnostics 4 27 mask class 3 diagnostics 4 27 Status class 3 8 21 Status machine in I O mode Fieldbus control and status word 6 5 Status Messages for the Oscilloscope Feature 10 18 Status messages in operating mode Drive controlled positioning 8 21 Structure of P 0 4077 fieldbus control word P 0 4084 OxFF8X 6 5 Structure of P 0 4077 fieldbus control word Rexroth Indramat Profile 6 10 Structure of P 0 4078 fieldbus status word 6 11 Structure of P 0 4078
221. Terminal assignment analog output see project planning manual Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS 10 4 Analog Inputs Optional Drive Functions 10 9 Using the function Analog inputs two analog inputs can be used via analog digital converters in one parameter each The analog voltages in the form of both of these parameters can then either be transmitted to the control and supports the control as an analog input function or it can be assigned in the drive to a different parameter taking a settable scaling and a settable offset into account Note With the help of analog inputs it is also possible to set specific Pertinent Parameters command values for velocity control mode The following parameters are available for the function P 0 0210 Analog input 1 P 0 0211 Analog input 2 P 0 0212 Analog inputs IDN list of assignable parameters P 0 0213 Analog input 1 Assignment P 0 0214 Analog input 1 Scaling per 10V P 0 0215 Analog input 2 Assignment P 0 0216 Analog input 2 Scaling per 10V P 0 0217 Analog input 1 Offset P 0 0218 Analog input 2 Offset Functional principle of the analog inputs The two analog inputs are connected over two differential inputs E1 E1 and E2 E2 E1 A i P 0 0210 E1 gt D Analog input 1 cmpl2 16 E2 gt a P 0 0211 E2 D Analog input 2 cmpl2 16 Fig 10 5 Functinal principle of the ana
222. The target position must be programmed via parameter S 0 0258 Target position The target position is then immediately assumed The drive is given a target position in Drive Internal Interpolation mode The drive now runs to the programmed target position while maintaining positioning velocity positioning acceleration and the positioning jerk Pertinent Parameters For the motion calculation the following are used e 0 0108 Feedrate override e 0 0193 Positioning Jerk e 0 0258 Target position e 0 0259 Positioning Velocity e 0 0260 Positioning Acceleration e 0 0359 Positioning Deceleration e 0 0393 Command value mode For the status display the following parameter is used e 0 0182 Manufacturer class 3 diagnostics Drive Internal interpolation Position Velocity Current controller controller controller Target Position Velocity command Torque power position command value value command value Fig 8 12 Drive internal interpolation diagram Functional Principle The target position can be cyclically programmed via parameter S 0 0258 Target position Note The control bits contained in S 0 0393 bit3 and Bit4 are meaningless in this operating mode The drive generates the position command profile necessary to move to the target position using the following parameters as limits e 0 0259 Positioning Velocity e 0 0260 Positioning Acceleration e 0 0359
223. ULS 300C LS 103C LS 405C ULS 300C LID 311C LID351C Pi5005f1 fh5 Fig 9 102 Distance coded measuring system specified with greater and smaller distance Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 9 96 Basic Drive Functions Result ot the Drive Controlled Rexroth Indramat Home Command ECODRIVE03 FGP 03VRS The greater distance is entered in S 0 0165 Distance coded reference offset 1 in S 0 0166 Distance coded reference offset 2 the smaller distance The unit of these two parameters is division periods Typical values for a linear scale with distance coded reference marks are 20 02 mm for the greater distance and 20 00 mm for the smaller distances with a resolution of 0 02mm In parameter S 0 0165 166 enter the value 1001 or 1000 The further steps are outlined below Check the relevant position encoder type parameter S 0 0277 S 0 0115 to the correct setting The parameters S 0 0177 Absolute distance 1 or S 0 0178 Absolute distance 2 must be parametrized with 0 The parameters S 0 0041 Homing velocity and S 0 0042 Homing acceleration must be set to smaller values e g S 0 0041 10 rpm S 0 0042 10 rad s Execute command drive controlled reference If the command is cleared then the original operating mode becomes active again If drive internal interpolation is set then the drive immediately goes to the value set in S 0 0258 WARNING Target p
224. VE03 FGP 03VRS Case C1 DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 103 Case P 0 0612 Behavior when executing the command C1 Biti 0 e By writing 11b into P 0 0012 C300 Bit2 0 Command Set absolute measurement the command is started but the co ordinate system not switched e By starting the command S 0 0148 or removing RF the co ordinate system is switched C2 Biti 0 e By writing 11b into P 0 0012 C300 Bit2 1 Command Set absolute measurement the command is immediately started and the co ordinate system switched D1 Biti 1 e aQ0 gt 1 flank at the zero switch input stores the Bit2 0 actual position e and starts command S 0 0148 but the control waits to switch the co ordinate system ee Biti 1 e a 0 gt 1 at the zero switch input stores the Bit2 1 actual position e and immediately switches the co ordinate system Fig 9 108 Overview setting the absolute dimension with drive enable Note Make sure that an encoder has been programmed in bit 3 of S 0 0147 Homing parameter In the event that the co ordinate system switch does not automatically take place drive internally P 0 0612 bit 2 0 then proceed as follows e take the axis to the measured position e enter the actual position value wanted into the relevant reference dimension actual position value parameter e Start command P 0 0012 C300 Command Set absolute measurement write 11b into P
225. VE03 FGP 03VRS Handling of the new parameter channel In firmware version FGPO3VRS the parameter channel has been expanded and its use simplified This chapter describes its structure and functionalities Arrangements of the bits inthe The control word is send in direction from the master to the slave It is 16 control and status word bit wide and the single bits have the following meaning control word Bit 0 3 Format Bit 4 7 Length Bit 8 Toggle Bit 9 not used Bit 10 Last Bit Bit 11 not used Bit 12 R W Bit Bit 13 not used Bit 14 not used Bit 15 C1 Bit Fig 5 22 Arrangement of bits in the control word The single bits have the following meaning Format Length Toggle R W C1 Note These bits describe the usage and meaning of the data in the parameter channel At the moment only one format is defined These four bits specify the length of the valid data without the control word in the parameter channel The data in the rest of the parameter channel is undefined This bit toggles with every new sent data It is used for a handshake between master and slave The master is only allowed to send this bit when the toggle bit in the status word has the same level as the toggle bit he sent in the control word Last bit This bit is set when the last fragment of a data block is sent This tells the slave that the transmitted data segment is complete Read Write
226. a Memory sssseessssesssrnesssrnesnnnneernnnesnnnnnnnnnnnnnnnnnnnnnnnnnnennennenna 10 8 Terminal assignment analog output ue eee eect eee eene ee ee eae ee ee teases ee teaeeeeetaaeeeeetaaeeeeneeeeeneaa 10 8 O24 Analog MPU E eia E ac tbs ep cae etansd E EE EEST EAR AE A EEA AEA eta 10 9 Pertinent Parametel Sein oia a e A A A 10 9 Functional principle of the analog inputs eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeneaeeeeeeeaeees 10 9 Analog Inputs CONNMECtION cccececeeeeeeeeeeceeeeeeeeeeeeaeeeeaeeseeeeesaaeeeeaaeeeeeeeseeeeesaeeetaeeeeneeee 10 10 10 5 DigitalOutput sihcct ith Ahenk eh ath aiden Ean ee aati an Aaaa aaa a anaiena 10 11 Pertinent Parameters eoret leet ont aude nt deta a r a E 10 11 Functional Principle aeaiaioii enia E N Eia aa TEENA E AA E EEEE 10 11 Hardware Requirement ssiri erenn orrs p araea E EEEE AEE AE EE TAEA EA TEA OAE 10 12 10 6 Oscilloscope Feature ccecccccececeeececeeeeeceeeeeesaeeeeneeceeeecaaeseeaaesaceseaeeeseaeeeeaaesgeeeeseeeesaeeseaeeesaes 10 12 Main Functions of the Oscilloscope Feature ccccccccceeeeeeeeeeeeceeeeeseaeeeeneeseeeeeseaeeesaeeeenees 10 13 Parameterizing the Oscilloscope Feature ccccesecceesceceeeeeceeeeeeaeeeeeeeseeeeseeeseaeeseeetennees 10 13 107 Prope Input Feature surare a ys AnA AE E RA E S ee A E 10 19 Pertinent Parameters for the Probe AnalysiS eesssessssensesrresssrrssrirresrinrnsrinnsrnnnssrennnsnns 10 19 Main Func
227. a dea iai t3 Function Principle ccc anai a eee a a a Basic State once the Control Voltage is Switched On Setting the Drive Address ccceecceceeeeeeeeeeeeeeeeeeeeeeaeeseaeeeeaeeteeeseeneess Communications via RS232 Interface ccceeeeeeeeeeeeeeeeeeeteeseeeeeeeeees Communications via RS485 Interface ccccceeeeceeeeeeeeeeeeeeneeeeeeeteeeees 1 4 Transmission Protocols 2 cc etd fineiet aa a a e e aaa aaa i i iaaa ASCll Protocol ien AE E eeednals SIS protocoles nnna eed na ede aie 1 5 Communications procedures ccccceeeceeeeeeeceeeeeeeaeeeeeeeseeeeesaeeeeeeteneeseeeeess General Information on the Parameter Structure Communicating with an ASCII Protocol ccccceeeceeeeeeeseeeeeeeeeeeeeeees Communicating with the SIS protocol ccccccseeeeseeeeeeeeeeeeeeeeaeeeeeeeees 1 6 SError MOSSAQOS eusen nne TE E REAR AN PETA E tte Error with ASCII Communication cccececeesceceeseeeeeeeeeeeeeseeeeeesseeaeess Error with SIS Communication 0 cccceececeestececeesneeeeesseeeeesseeeesneeeene 1 7 Application Examples Changing Position Block Data csseeeeeeee ASGIl ProtoColc reccz dSitzins bettas A ae Shetala cede A Mees aeaevsents SIS Protocol uainn iian iat eae asd dee bet eee a eden he 1 8 Connection Techniques cccccceccceeeeeeeeece cee eeeaeseeeeseeeeeseeeeesaeeseaaeeneneeees 2 Index 3 Kundenbetreuungsstellen Sales amp Service Facilities DO
228. a o tebe eats 5 23 INTERBUS S Interface snoi niiina a a a a ia ai 5 24 Setting Slave Addresses and Transmission Rates bus specific seesseese essees eerren 5 24 POP SENICOS phn eea e e a a E A E hietiess 5 24 Object Directory INTERBUS SpeCifiC cccceeeceeceeeeeeeeeeeeeeeceaeeeeaeeeeaaeeeeeeeseaeeeeaeeeeeeseeeeess 5 25 Configuration of INTERBUS Slave 0 cccccesceeeeeeeeeeeeeeeeceeeeeeeaeeeeeaeeeeeeseneeeseeeeeaeeeeeeseeeeess 5 26 Length of process data channel in the ECODRIVE 08 cccceceeeeeeeeeceteeeeeeeeteaeeeeaeeneeeeees 5 31 Diagnostic LEDs for INTERBUS wtiine ait Aine ee iia a aa aaa aie 5 33 Assignment INTERBUS S connectors X40 X41 oo eeeeececeeeeeeeceeeeeeeeeeeeeeseeeeesaeeesaeeneaeeeeaes 5 33 5 4 Command communications with CANOPEN cccccccececeeceeeeeeeeceeeeeaeeeeaeeseeeeeseaeeesaeeeeaeesenneees 5 33 Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Contents III General Information c a raa ra theres lave ean aaa EE a ana a Eaa aE 5 33 FUNCTIONAl OVOrVIOW aa eea eaa aaa aaa e a a a a AA a aa Sted aa aaa a ae AAEE aAa 5 34 CANopen Interface nreno i eaen eee on oh i a eea iei 5 34 Setting the Slave Address and Transmission Rates bus specific c ceeeeeeeseeeeeeeeeeeees 5 34 DDO SERVICES ER decid alte E tapes eateshaeas elute eee Sheuhs acne E tac bea aga eee 5 35 Electronic Data Sheet for DKCO5 3 00 ecccececeeeeeeeceeeeeeeeeeeeea
229. able Connector corresponds to ODVA Spec 2 0 Rexroth Indramat 5 40 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS DeviceNet Interface The command communication module supports DeviceNet specification per ODVA 2 0 e To ensure standard EMC safety DeviceNet interface completely galvanically separated e As per ODVA specification 2 0 communications module has a Phoenix Combicon plug Open Pluggable Connector to connect to bus Setting the Slave Address and Transmission Rates bus specific Macld Explicit Message Addressing the DeviceNet slave The address determines priority of messages from slave whereby the lowest address has highest priority Generally the master has highest priority and thus the lowest address Each DeviceNet participant must send to the bus messages clearly allocated to him Per DeviceNet specification this requires a bus wide address Macld for the slave This address is set on the inserted firmware module Note Per ODVA 2 0 addresses ranging from 1 to 63 can be set In DKC06 3 addresses up to maximum 99 can be set Invalid addresses are treated as if they were address 63 The DKCO06 3 is a Group 2 only server and supports acyclic data exchange via Explicit Message see object directory For further information about services see the literature of the master circuit Electronic Data Sheet for DKC06 3 Rexroth Indramat File name For each DeviceNet unit there must
230. ace Each of these drive controllers is in turn available ina 40 A 100 Aora 200 A version With ECODRIVEO3 firmware it is possible to operate synchronous motors for standard applications up to 48 Nm synchronous motors for increased demands of up to 64 Nm asynchronous motors for main spindle applications asynchronous kit motors linear synchronous and asynchronous motors DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS System Overview 1 3 1 4 Function Overview FWA ECODR3 FGP 03VRS MS Command Communications Interface Supported Profile Types Profibus DP interface CANopen interface InterBus interface Analog interface DeviceNet interface OQ mode with block acknowledge functionally compatible with DKC3 1 I O mode with cam status I O mode free expandable expandable real time data channel drive internal interpolation cyclical position control velocity control free configurable mode without profile interpreter Supported Types of Motors DOK ECODR3 FGP 03VRS FK02 EN P MKD 2AD 1MB LAF MKE MBS MHD ADF MBW LAR LSF Rexroth Indramat 1 4 System Overview ECODRIVE03 FGP 03VRS Supported Measuring Systems e HSF LSF e resolver e sine encoder with 1Vss signals e encoder with EnDat Interface e resolver without feedback data memory e resolver without feedback data memory with incremental sine encoder e gearwheel encoder with 1Vss signals e Hall encoder square wave encoder
231. ady causes the maximum value of the previous section to be exceeded then a lower positioning speed must be selected Rexroth Indramat 8 42 Operating Modes Explanation vt ECODRIVE03 FGP 03VRS e Minimum jerk value If accel values are parametrized too small then this could mean that the parametrized speed is not reached What results is a Triangular mode Directional change within a following block chain Note If a directional change takes place when changing block n to block n 1 of a following block then mode Switching at target position with halt should be used to reverse the direction without overshoot Following block n 1 with mode 1 following by following block n with intermediate halt because a change in direction occurs when changing from block n to block n 1 This means there is a sign change for the speed for target position n If the accel parametrized in block n is too small to decel within the path difference X X 1 from speed v to value 0 then the parametrized target position X will be overrun This can cause software or hardware limit switches to trigger passing the target position S 0 0124 Standstill window I area equals distance by which target position speed profil block 2 is overrun target position target position block n 1 block n target position block n 1 P 0 4026 Process block selection 01 Praca Process block acq
232. aeeeeeeaeeeeeenaeeeeeaa 6 9 Basic function of Rexroth Indramat Profile eee eccceeeeeeeeeeeeneeeeeeeeeeeeeeaaeeeeeeaaeeeeesaeeeeeteeeene 6 9 Rexroth Indramat status machine of the CriVOS eee eeeeeeeeeeeeeeeeeeaeeeeeeeaeeseeaaeeeeeeaeeeeeenaes 6 9 Drive internal interpolation P O 4084 OXFF91 eeececeeeeeseeeeeeneeeeeeeeeeeeeaeeeeeaeeeeeeaeeeeee 6 13 Cyclic Position Control P 0 4084 OXFFQ2 ccccceeeeeceeeeeeeeee sees eeeaaeseeeeeseeeesaeeeeaeeeeneeees 6 14 Profile Type Speed Control P 0 4084 OXFF93 ice eeeeeeeeeeeeeeeeeecaeseaeeeeseeeeneeeeenaes 6 15 Freely configurable operating mode P 0 4084 OXFFFE ececeeseeeeeeeeeeeeeeeeeeneeeeeeeeeaeees 6 16 6 4 Example configurations for Rexroth Indramat profile ecceeeeeesneeeeeeeeeeeeeaeeeeeeneeeeeeneeeeee 6 17 Operating with analog setpoints Fieldbus master not Active cccccecsseeesesteeeeessteeeeeeeaes 6 17 Using the Rexroth Indramat Positioning Setting 0 ccccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeseeesaeeeeeeeeeas 6 18 Using the multiplex channel in positioning block MOE eect ee eeteeeeeneeeeeenaeeeseeaeeeeeeaaes 6 19 Using the signal control and status wordS ccceeeeceeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeseeeeeeeeeeeeeeeeeaaes 6 20 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat IV Contents ECODRIVE03 FGP 03VRS Cam mode with real master axis uiste uaan aaae aa a aaan aaea 6 21 6 5 Multiplex Channelikess
233. aeeesaaeseeeeeseeeesaeeseaeeeenees 9 105 10 Optional Drive Functions 10 1 10 1 Configurable Signal Status Word ccccceeeccecseeceeneeceeeeecaeeeeaaeseeeeeeeeeecaeeesaaeeeeaeeseeeesiaeeeeneeeeeeees 10 1 Pertinent FarametorS rrera pno er iar dlaaetetendacianpeaventdhdasotvtete indica 10 1 Configuration of the Signal Status Word eseseessesessiesresiesrreiesrneririnsrnetnsrnstnntrnnntinsrnernsrnent 10 1 Diagnostic Error Messages nosion astiaa iiir aC AA ARE a AE aa 10 2 10 2 Configurable Signal Control Word c ccccccceceeeeeeneeeeeeeeceaeeeeeaeseaaeseeeeceaeeesaaeeseaeeseeeesaeeesaeeeeeees 10 3 InvolVed Parameters eroon a eE EAR EA cael ETAST A E EAER 10 3 Configuring the Signal Control Word cccccceceeeeeeeeeeeeeeeeeeeeeaeeeeaaeeeeaeeeeeeeseaeeesaeseeaeeeeneeees 10 3 Diagnostic Error MOSSAQ S ccceeeseesscsssseeeseesessseenssieesceseseneessaeeseaneuseteeseneevanudasereeseneeeesnes 10 5 10 3 Analog Outoutas ictiintavgietiittin ian Gent elie digas ial a lo a 10 5 Possible QutpULTUNCTIONS cc4 2 ute ces teech toute a a r A alates 10 5 Direct analog Outputs narena nee ee nade Wein a 10 6 Analog output of existing parameters eee cece ee enee eect ener ee eee aee eee aeeeeeeaaeeeeetaeeeeneaeeeeneae 10 6 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat VIII Contents ECODRIVE03 FGP 03VRS Outputting pre set Signals sine a tienda shed a aa aa EE a aE EEA AES 10 6 Bit and byte outputs of the dat
234. after the receipt of the CR does the drive send the entire input sequence back Write list of target positions into drive The target positions of all axes are stored in the form of a list in parameter P 0 4006 Process block target position To change one or more values in this list it is necessary to write all relevant values of this list If therefore four target positions are used then all four positions must be written even if only one position is changed Drive reaction Input P 0 4006 7 w gt CR 100 0 CR target position blockO 200 0 CR target position block1 etc lt CR A01 gt Rexroth Indramat 1 28 Serial Communication SIS Protocol ECODRIVE03 FGP 03VRS Parameter read access Service 0x80 A single read acces is concluded with 1 transmission step The master enters the following information into the command telegram The desired element is selected in the control byte in bits 3 5 Element Bit 2 is set to 1 last transmission The unit address is entered Parameter type and number are entered No user data are transmitted The answer to a read access is put together as follows The acknowledgement to a request is written in to the status byte The control byte is read out of the command telegram and copied into the reaction telegram The unit address is read out of the command telegram and copied into the reaction telegram The requested data is written into the user data
235. age Drive Response Fatal F8xx Torque free switching Travel range F6xx Velocity command value switched to zero Interface F4xx In accordance with best possible deceleration Non fatal F2xx In accordance with best possible deceleration Fig 4 7 Error class divisions Drive s Error Response If an error state is detected in the drive the drive s error response will automatically be executed as long as the drive is in control The H1 display flashes Fx xx The drive s reaction to interface and non fatal errors can be parameterized with P 0 0119 Best possible deceleration The drive switches to torque free operation at the end of each error reaction Rexroth Indramat 4 10 General Instructions for Installation ECODRIVE03 FGP 03VRS Error memory operating hour IDN List of Parameters Rexroth Indramat Clearing Errors Errors are not automatically cleared they are cleared externally by e Initiating the command S 0 0099 C500 Reset class 1 diagnostic or e pressing the S1 key or e positiv edge at the input clear error If the error state is still present then the error will be immediately detected again Clearing Errors When Controller Enable Is Set If an error is discovered while operating with set controller enable the drive will execute an error response The drive automatically deactivates itself at the end of each error response in other words the power stage is switched off and the drive
236. agnostics e 0 0259 Positioning Velocity Note S 0 0259 is used in positioning block mode to reduce positioning velocity See also P 4060 Process block conirol word A positioning block is defined with e P 0 4006 Process block target position e P 0 4007 Process block velocity e P 0 4008 Process block acceleration e P 0 4009 Process block jerk e P 0 4019 Process block mode e P 0 4063 Process block deceleration and fixes how the target position is to be processed absolute relative Note Each parameter has 64 elements whereby the elements of the same number write this number into the travel profile of the positioning block Rexroth Indramat 8 24 Operating Modes Effective accel and delay Positioning block control word Position return message Interrupting a positioning block Rexroth Indramat ECODRIVE03 FGP 03VRS The drive reaches the relevant positioning block velocity after an acceleration phase with the relevant P 0 4008 Process block acceleration The effective velocity during a positioning procedure is computed as follows Vmax P 0 4007 S 0 0108 100 Vmax velocity P 0 4007 Process block velocity S 0 0108 Feedrate override Fig 8 25 Effective velocity during a positioning procedure The maximum decel is specified by parameter P 0 4063 Process block deceleration If parameter P 0 4063 Process block deceleration equals zero then the drive uses p
237. al state to expect a new command The R L bit and the length will not be checked but should be set by the master in the shown way Control word User data C1 R L T Length Format Data Data Data Data Data Data M 1 0 0 070 1 0 d 0 0 0j 0 1 1 1 1 X X X X x x DOK ECODR3 FGP 03VRS FK02 EN P Fig 5 41 Cancelling transmission within fragmentation Data handling using format 3 The previous chapter described the usage of the parameter channel itself In the chapters Object Directory PROFIBUS Specific and Object mapping the handling of the data within the data unit of the PK is described Rexroth Indramat 5 20 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Object Directory PROFIBUS Specific Object definition Generating laws for the object index Generating laws for the object sub index There is no object directory defined in the PROFIBUS DP The acyclic accessing of drive parameters is only possible via the parameter channel To make acyclic parameter accessing as simple as possible without SIS telegram an introduction to and assignment of objects index and sub index to drive parameters was conducted The data of an object is accessed as follows e Index e Sub index e Index 0x2000 IDN S 0 XXXX S parameters e Index 0x3000 IDN P 0 XXXxX P parameters Also see Bus Independent
238. alling of a drive error to the drive package or the power supply module can be activated via parameter P 0 0118 Power off on error Communication utilises signal BBdrive X11 5 and X11 14 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Signal line BBdrive DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 51 The Structure of the Parameter P 0 0118 Power off on error Bit0 Package reaction or power off on error 0 no package reaction on error and therfore no power off on error exception bleeder overload always switches power off 1 package reaction and power off on error Condition power on 0 power on possible with no error and operating mode comm phase 4 1 power on possible if no error passive axis L Bit2 Instant of power off on error only if bit O 1 0 message generated immediately when error occurs package reaction of all controllers on same power supply module preferred setting 1 message not generated unti error reaction completed This means that power will not be shut off until the end of the error reaction it3 Reaction to DC bus undervoltage 0 undervoltage is treated as if it were an error of non fatal warning 1 undervoltage treated as if it were a fatal warning and prevents operation of motor ES Bit 4 Automatic clearing of the undervoltage error 0 undervoltage error is stored 1 undervoltage error deleted by drive upon remo
239. an be increased e Since S 0 0362 List index MDT data container A is also configured single elements in list parameters P 0 4006 P 0 4007 and P 0 4009 can also be changed via the real time channel multiplex channel e By evaluating S 0 0368 Addressing for data container A and S 0 0362 List index MDT data container A in the master a check handshake for the multiplex channel can be implemented Note The multiplexed real time data are processed in the drive as is the rest of the real time data i e the values are not buffered Parametrization To use the multiplex channel the following parametrization is necessary e set profile type to freely configurable mode P 0 4084 OxFFFE e set parameter S 0 0032 Primary mode of operation e g to positioning block mode lag free with encoder 1 e The configuration lists of the multiplex channel S 0 0370 S 0 0371 can be parametrized as follows Contents of S 0 0370 Index P 0 4006 Process block target position 0 P 0 4007 Process block velocity 1 P 0 4008 Process block acceleration 2 Contents of S 0 0371 Index P 0 4006 Process block target position 0 P 0 4007 Process block velocity 1 P 0 4008 Process block acceleration 2 S 0 0040 Velocity feedback value 3 The configuration lists P 0 4080 P 0 4081 can be parametrized as follows Parameter Format P 0 4077 Fieldbus control word 116 gt 1 word P
240. and S 0 0128 C200 Communication phase 4 transition check as invalid Parameters are detected as invalid if e their checksum stored together with the operating data in a resident memory programming module amplifier or motor feedback data memory do not match the operating data e their operating data are outside of the minimum maximum input limits or e their operating data has violated the plausibility rules In any event the parameters entered upon negative acknowledgement of command S 0 0128 C100 Communication phase 4 transition check in S 0 0022 IDN list of invalid op data for comm Ph 3 must be corrected S 0 0018 IDN list of operation data for CP2 The ID numbers that were checked for validity in command S 0 0127 C100 Communication phase 3 transition check are stored in S 0 0018 IDN list of operation data for CP2 S 0 0019 IDN list of operation data for CP3 The ID numbers that were checked for validity in command S 0 0128 C200 Communication phase 4 transition check are stored in S 0 0019 IDN list of operation data for CP3 S 0 0025 IDN list of all procedure commands The ID numbers of all the commands in the drive are stored in this parameter Rexroth Indramat 4 12 General Instructions for Installation ECODRIVE03 FGP 03VRS 4 2 Parametrization Mode Operating Mode Rexroth Indramat Note A drive controller with fieldbus interface immediately switches into operating mode when switched on The
241. annel In the real time channel of the fieldbus the data configured in P 0 4081 Real time output object structure are transmitted from master to drive Parameter Format P 0 4077 Fieldbus control word i16 gt 1 word S 0 0047 Position command value i32 gt 2 words P 0 4076 Fieldbus container object i16 1 word In the real time channel of the fieldbus the data configured in P 0 4080 Real time input object structure are transmitted from drive to master Format i16 gt 1 word i32 gt 2 words u16 gt 1 word Parameter P 0 4078 Fieldbus status word S 0 0051 Position feedback 1 value S 0 0390 Diagnosis message number DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Real time data channel sequence Profile Types 6 15 Word1 Word2 Word3 Word4 Master gt Slave P 0 4077 S 0 0047 H S 0 0047 L P 0 4076 Slave gt Master P 0 4078 S 0 0051 H S 0 0051 L S 0 0390 Fig 6 10 Contents of real time channel in cyclic position control Profile Type Speed Control P 0 4084 0xFF93 Master gt Slave DOK ECODR3 FGP 03VRS FK02 EN P Features The main operating mode Velocity control with filter and ramp is set Also see Operating mode velocity control The 1 auxiliary mode is jog Also see section operating mode jog The contents of the real time data channel is fixed with P 0 4084 Profile type Via the fieldbus
242. another purpose The maximum current that may flow for a short period of time or that is available as continuous current is specified in the relevant parameters e P 0 4046 Active peak current and e P 0 4045 Active permanent current Pertinent Parameters e 0 0110 Amplifier peak current e P 0 4004 Magnetizing current e 0 0109 Motor peak current e S 0 0111 Motor current at standstill e 0 0092 Bipolar torque force limit value e P 0 0109 Torque force peak limit e P 0 4011 Switching frequency Functional Principle Using parameters S 0 0092 Bipolar torque force limit value and P 0 0109 Torque force peak limit the user limits current and torque to a fixed maximum value The maximum possible currents for the machine are fixed by the peak current of the machine and the peak current of the motor These values may not be exceeded And as these are the total flowing currents the magnetization current is deducted from these values for display in parameter P 0 4046 Active peak current The current is dynamically reduced to 2 2 times of the standstill current of the motor to protect the motor against overheating Motor current limitation To protect the controller from overheating the current is dynamically reduced to P 0 4045 Active permanent current Thermal current limit of the controller Note At high speeds the maximum possible motor current is also reduced by the pullout current limit The small
243. appropriate use of the products are satisfied e Personnel that in any way shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use e f the product takes the form of hardware then they must remain in their original state in other words no structural changes are permitted It is not permitted to decompile software products or alter source codes e Do not mount damaged or faulty products or use them in operation e Make sure that the products have been installed in the manner described in the relevant documentation Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 2 2 Important directions for use ECODRIVE03 FGP 03VRS 2 2 Inappropriate use The use of the firmware and the drive controllers outside of applications other than specified in the system overview or under operating conditions other than those specified in the project planning manual and not with the use of the specified technical data is defined as inappropriate use Drive controllers may not be used if e they are subject to operating conditions that do not meet the above specified ambient conditions This includes for example operation under water in the case of extreme temperature fluctuations or extremely high maximum temperatures or if e Rexroth Indramat has not specifically released them for that intended purpose Please note the specifications outlined in the general safety
244. arameter P 0 4008 Process block acceleration to decel Property damage If the accel value is always equal to zero then the drive can no longer brake The specified target is not reached or overrun CAUTION Accel value gt 0 set Accel and decel are smoothed with the specification of a jerk limit value using a PT1 filter The accel or decel is thus reached after about five times the time constant The time constant of this smoothing filter is computed T P 0 4008 P 0 4009 or T P 0 4063 P 0 4009 P 0 4008 Process block acceleration P 0 4009 Process block jerk P 0 4063 Process block deceleration Fig 8 26 Determining the time constant The same time constant is used for both accel and decel The higher time constant of the above relationship is used If parameter P 0 4009 Process block jerk is equal to zero then the smoothing filter is off either accel or decel is being reached With parameter P 0 4060 Process block control word the positioning speed can be limited to the value set in parameter S 0 0259 Positioning Velocity If a positioning block is completed then bit 12 End position reached is set in parameter S 0 0182 Manufacturer class 3 diagnostics gt target position actual position value lt positioning window An interruption can be the result of e removal of the drive enable e activation of drive halt DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating
245. arameters of the drive controller are stored in a uniform parameter structure Each parameter is made up of 7 elements The table below describes the individual elements and access possibilities The parameter structures illustrated here will be referenced in the following sections Element no Data block element Access posibilities ID number read name read attribute read unit read min input value read max input value read operating data read write nwo om AJo J N Fig 1 11 Parameter structure Note Attached is a parameter description with detailed data of the features of all available parameters Rexroth Indramat 1 10 Serial Communication ECODRIVE03 FGP 03VRS Communicating with an ASCII Protocol Actuating a Specific Bus User To communicate with a bus user then it must be directly addressed with a CHANGE DRIVE command specifying the drive address With each CD command the drive specified by the address is activ All other ddrives are switched into passive mode The addressed drive signals with a prompt As of this point all further communication takes place with this drive until another CHANGE DRIVE command switches to another drive Step 1 E Send request e g BCD 01 CR Communication with drive not with address 1 possible gt check address v gt check setting gt check connection Step 2 Drive received character drive s
246. at Configuration of the process data channel PDO The process data are configured independent of the fieldbus type With the CANopen command communication module the user has at his disposal an intelligent module configured to correspond to process demands The setting in P 0 4084 profile type generally also configures the process data channel real time data channel Note Profile types P 0 4084 OxFFFE or OxFF82 are an exception The user can configure this profile type see also Profile types Parametrization can use the fieldbus in which the drive parameters can be write accessed using the data exchange objects via the SDO The values of this parameters can also be read via the data exchange objects Alternately it is possible to read via the SDO the in DS301 defined PDO mapping objects 1600 1 A00 The configuration entered in parameters P 0 4080 and P 0 4081 is accepted in operating mode when the drive is run up The structure of the PDO sent from slave to master is described here as well as the length and assignment of the PDO with objects indices for the process input data The user can read out any existing structures via the SDO read services The master can use this configuration to know which object is transmitted into which PDO at which location Note Up to 32 PDO can be configured with 8 byte length in both data directions DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS P 0 40
247. at a reaction to dynamically changeable gearbox ratios is possible The following illustrates how the position command value is generated using the formula above P 0 0142 Synchronization acceleration P 0 0143 Synchronization velocity P 0 0151 Synchronization init window for modulo P 0 0154 Synchronization direction P 0 0155 Synchronization mode ra P 0 0060 Filter time constant additional pos P 00s Postion polaily RAANEI S 0 0048 Position command value additional gt Synchronisation gt Position OH command value S 0 0047 Position command value P 0 0157 Master drive gear output revolutions P 0 0156 Master drive gear gt o p input revolutions gt Xsynch d EE P 0 0053 Master drive position P 0 0108 Master drive polarity S 0 0237 Slave drive 1 revs ae gt P 0 0159 Slave drive gt feed travel S 0 0076 Position data scaling type S 0 0236 Master drive 1 revs Fig 8 53 Command value preparation to phase synchronisation E See also Position Controller See also Velocity Controller See also Current Controller Rexroth O Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Operating Modes 8 53 Dynamic Synchronisation in the Phase Synchronisation Operating Mode Associated parameters e 0 0048 Position command value additional e P 0 0060
248. ata is stored here This means that the current structure and BUS assignment can be read out on the PCP e Data direction input This means slave to master e Data direction output This means master to slave DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 27 Process data input description Object 6000 The process data input description is stored in object 6000 The default configuration example illustrates the structure of this object Basic structure e The structure of the process data description is fixed in profile 12 of the INTERBUS e The length of object 6000 is fixed by the maximum number of words on the BUS e The BUS length is entered in bytes hexadecimal in the first byte of object 6000 e The entries for each byte on the bus follow this in rising order For each byte an object number index must be entered and an additional byte for any sub index held ready This byte is always zero e f an object is made up of several bytes standard for ECODRIVE 03 is a word structure of at least two bytes then the entry for the object number is only for the first byte The object number for the rest of the bytes is always zero Example Wordi Word2 Word3 Word4 Word5 Word6 Data Out 6040 607A H 607A L 6081 H 6081 L 5FF1 Data IN 6041 6064 H 6064 L 606C H 606c L SFF6 Fig 5 45 Default configuration in profile type Interpolation R
249. ate handling may result in injuries or equipment damage Risk of injury through incorrect handling Do not attempt to reactivate discharged batteries by heating or other methods danger of explosion and CAUTION corrosion Never charge batteries danger from leakage and explosion Never throw batteries into a fire Do not dismantle batteries Handle with care Incorrect extraction or installation of a battery can damage equipment Y uy Note Environmental protection and disposal The batteries contained in the product should be considered as hazardous material for land air and sea transport in the sense of the legal requirements danger of explosion Dispose batteries separately from other refuse Observe the legal requirements given in the country of installation 3 12 Protection against pressurized Systems Rexroth Indramat Certain Motors ADS ADM 1MB etc and drives corresponding to the information in the Project Planning manual must be provided with and remain under a forced load such as compressed air hydraulic oil cooling fluid or coolant In these cases improper handling of the supply of the pressurized systems or connections of the fluid or air under pressure can lead to injuries or accidents Danger of injury when pressurized systems are handled by untrained personnel Do not attempt to disassemble to open or to cut a CAUTION pressurized system Observe the operation restriction
250. ating Positioning BIOCKS ceeeccceeeeseeceeeneeeeeeeaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeaaeeeeeeaaeeeeseaeeeeseaas 8 25 Positioning Block Modes aaran a a niin div a eae ine 8 25 Parametrization notes for positioning blocks eee eeeeeeeeeeenteeeeeeeeeeeeaaeeeeeeaeeeeeeaeeeeeeaeeeee 8 41 Acknowledge positioning block selected eee eeeeceeeeenneeeeeeeneeeeetaeeeeeeaaeeeeeeaeeeetaeeeeenaeeeeneaa 8 43 Status Messages in Positioning Block Mode cc ccceeeeeeeeeeeeeeeeeseeceeeeeseaeeeeaaeeeeeeeeeeeess 8 45 Diagnostic Massaga aE EA A AT E 8 45 Hardware Connections ccccccccececeeceececeeeceaeceeaceeeeeeeceaeeeeaaeseeneecaeeecaaeseeaeesseeesaeeseaaeeseneeees 8 45 Operating Mode JOQQING cccccceeesceseneeceeeeeeeaeeeeaaeeeeeeeceaeeeeaaesaaeeseeeeeeaaeseeaaesseeeseeeeesaeeseneeenaes 8 45 Pertinent Parameters pairti ETE EAEE E EAA TEA E E lati chy cantatas 8 45 HOW IE WOKS aein arinei E EE EEE ap eet AEE A EEE nea 8 46 Diagnostic M ssagis enean nnna enh AAA NE a a e 8 47 Operating mode velocity synchronization with virtual master AXIS ccceeeceeseetteeeseeteeeeeeeeees 8 47 Perninent Paramete Sariosie naa ar a T AE TT E A E 8 47 Command Value Preparation for Velocity Synchronization with Virtual Master Axis 8 47 Operating mode velocity synchronisation with real Master AXIS ccccceeeseeceeeeeeteeeseeeeeeeeeaes 8 49 Pertinent Parameters rarik EE Aa EEE E R a Eaa 8 49 Functional P
251. ation of the Signal Status Word Configuration of the ID number Configuring the bit numbers The ID numbers of the parameters which contain the original bits sources are specified in parameter S 0 0026 Configuration list signal status word The position of an ID number in the list determines the bit in the signal status word to which the ID number applies So the first list element informs as to what parameter bit O of the signal status word comes from Which bit of the parameters selected in S 0 0026 Configuration list signal status word is to be copied into the signal status word is determined in S 0 0328 Assign list signal status word Note If this list remains empty then bit O of the parameter is automatically copied Otherwise the bit taken out of the source parameter is specified here Bit number 0 LSB to 31 MSB can be specified For each bit number of this list there must be an ID number in the same list position in list S 0 0026 Otherwise the drive when writing the bit number list will issue the error message ID number not available This is why list S 0 0026 Configuration list signal status word must be written into before S 0 0328 Assign list signal status word Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 10 2 Optional Drive Functions ECODRIVE03 FGP 03VRS Example A signal status word with the following configuration must be put together Bit no in ID number of Bi
252. auensaeceeeeeeseeaaegsgeeeeeeeanees 4 1 Parameter cit tens deci Reo a a en i Se 4 1 DatasStorage ss en iae at ate Peete bei At ae ee teats tie ea tat sot ea 4 2 Password ascoan nee Ria heels eae E ee ee aad bat Gels Aa 4 5 Commands 2 cseiii eerie shel nai a ian nantes 4 6 Operating Mode SA aa a a peghaatd a a meek stesih ta aarteat elle pete 2 4 8 VACANT LD Speer reece cee eer rere T E ree reer rence eee rere 4 9 EPPO anaa Aa rere creer ere tr tee err eres errr recente rec AAAS eerie reer eerie eee ree cr 4 9 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat Il Contents ECODRIVE03 FGP 03VRS IDN Elst Of Paramotor uraa sheeted ces EE ATA E RE A E baaneed canarias 4 10 4 2 Parametrization Mode Operating MOdeC ccecsceceeeeeeeeeeeeeeceeeeeeeeesaaeeeeaaeseeeeeseaeeeeaeeeeneeees 4 12 Checks in the Transition COMMAMNAS ccccceceeececeeeeeeeeeceeeeeceaeeeeaaeseaaeseeneeseaeeesaeeeeaaeeeenees 4 13 4 3 Commissioning Guidelines ccccccecceeceeeeeeeeeeeeeeeeeeceeeeeeaaeeeeaaeseeeeeaeeesaaeeeeaaeseeeeeseaeeesaeeeeneeees 4 16 4 4 Diagnostic Configurations ccccceceeesseceeceeeeeeeeeaeeeeeeeceeeeeceaeeseaaeseeeecaeesaaeseeaaeseeeeeseaeeesaeeeeaeeees 4 22 Overview of Diagnostic Configurations ccccceccceceeeceeeeeeeeeeseeeeeeeaeseaaeeeeneeseaeeeseaeeeeeeeeenees 4 22 Drive Internal DiaQnOStiCs eisenii taeae aa E E aR AE A TE N 4 22 Diagnostic Message Composition ccccceecceceeeeeeeeee
253. ault value cannot be processed since for example the extreme value limit was exceeded in the default value Possible errors during Basic Load command Fig 9 66 Note If a parameter can not be set to its default value the parameter is set invalid in its data status This serves safety purposes and helps in diagnosing errors Setting the Current Controller Rexroth Indramat The parameters for the current loop are set by Rexroth Indramat and cannot be adjusted for specific applications The parameter values set at the factory are activated with the command S 0 0262 C700 Command basic load for MKD MHD motors or must be retrieved from the motor data sheet The parameters for the current controller are set via the parameters e 0 0106 Current loop proportional gain e 0 0107 Current Loop Integral Action Time DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 59 Changing the values defined by Rexroth Indramat can result in damages to the motor and the drive controller Changes to the current controller parameters are not Warning permitted Setting the Velocity Controller Pre requisites The current control must be correctly set The velocity controller is set via the parameters e 0 0100 Velocity Loop Proportional Gain e 0 0101 Velocity Loop Integral Action Time e P 0 0004 Smoothing Time Constant as well as the parameters e P 0 0180 Rejection freque
254. back value of the motor encoder 0 actual value of the external encoder P 0 0121 0 and e 0 Velocity feedback value of the motor encoder 100 actual value of the external encoder P 0 0121 100 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 69 Rotary table Ap5174f1 fh7 Fig 9 73 Velocity Mixture Diagram 9 8 Automatic Control Loop Settings General Comments To expedite drive parametrization the firmware offers an automatic control loop setting Using parameters P 0 0163 Damping factor for automatic control loop adjust and P 0 0164 Application for automatic control loop adjust it is possible to control control loop dynamics the results Note It is necessary to move the drive in order to conduct the automatic control loop settings The velocity and position control loops are optimised Prerequisites for starting the automatic control loop settings Check and make sure that the emergency stop travel range limit switch is working See section Safety Instructions for Electric Servo Drives and Controls WARNING During the command D900 Command automatic loop tuning the drive conducts its own external command value programmed motions Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 9 70 Basic Drive Functions Inputting the limits P 0 0166
255. bit variable without sign 1 word in Intel format e u32 32 bit variable without sign 2 words in Intel format e ZKL1 Status class 1 e ZKL2 Status class 2 e ZKL3 Status class 3 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Profile Types 6 3 Allocation to Drive Internal Modes By setting a profile type P 0 4084 the main operating mode in the drive is also set DOK ECODR3 FGP 03VRS FK02 EN P Operating modes used The following relationship exists between P 0 4084 Profile type and S 0 0032 Primary mode of operation I O mode with 16 bit status and control word P 0 4084 0xFF80 gt functionally compatible to DKC3 1 This means that the drive is run in Positioning block mode without lag error with encoder 1 Position control with cyclic position setpoint DKC4 3 DKC5 3 This means the drive is run in Cyclic position control without lag error with encoder 1 Drive internal interpolation This means that the drive is run in Drive internal interpolation without lag error with encoder 1 Velocity control This means the drive is run in Velocity control mode Free configurable modes e no profile dependent settings and checks e free configuration of real time channel using configuration lists P 0 4080 and P 0 4081 e makes analog operation for initial start up possible Note In all settings except free configurable mode the 1 auxiliary operating mode is automatically Jogging
256. bject is only necessary with Interbus S because of the bus structure in order to keep the length of the real time channel constant Rexroth Indramat 6 16 Profile Types ECODRIVE03 FGP 03VRS Slave gt Master In the real time channel of the fieldbus the configured data in P 0 4080 Real time input object structure are transmitted from drive to master Parameter Format P 0 4078 Fieldbus status word i16 gt 1 word S 0 0040 Velocity feedback value i32 gt 2 words S 0 0390 Diagnostic message number u16 gt 1 word S 0 0051 Position feedback 1 value i32 gt 2 words Sequence in real time data channel word1 word2 word3 word4 word5 word6 Master gt Slave P 0 4077 S 0 0036 H 0 0036 L P 0 4076 P 0 4076 P 0 4076 Slave gt Master P 0 4078 S 0 0040 H 0 0040 L S 0 0390 0 0051 H S 0 0051 L Fig 6 11 Structure of real time channel in velocity control Freely configurable operating mode P 0 4084 0xFFFE Features e The structure content of the real time data channel must be defined via the configuration lists in P 0 4080 and P 0 4081 No profile dependent settings and checks are carried out e In this profile type the Rexroth Indramat specific definitions for the fieldbus control and status words apply Some bits e g Bit 0 3 4 and 12 in P 0 4077 Fieldbus control word also see Fig 6 6 Structure of P 0 407
257. ble standstill 13 aN as per P 0 0119 S 0 0134 bit 15 Fig 6 6 Structure of P 0 4077 fieldbus control word in Rexroth Indramat profiles Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Profile Types 6 11 Structure of P 0 4078 fieldbus status word Rexroth Indramat Profiles Note The definition of bit4 in P 0 4077 Fieldbus control word setpoint reached depends on profile type With velocity control the information Setpoint velocity reached is displayed there Whereby in interpolation the In position information is displayed Status word for freely configurable modes Bit Name Definition 10 Phase4 operating mode operating mode 0 1 acknowledge 01 Phase3 00 Phase 2 parametrization mode 2 In reference 1 drive homed S 0 0403 Bit0 3 In standstill 1 drive stands S 0 0013 Bit1 1 target position reached S 0 0182 Bit10 Exceptions Profile type velocity control 1 setpoint velocity reached S 0 0013 Bit 0 Profile type cyclic position control 1 In position S 0 0013 Bit 6 4 Setpoint reached if command status has changed 5 command Change Dit if command status has not changed error in transition command 6 operating mode error ee no error in transition command o o _ drive does not follow setpoint 7 Status setpoint e g if drive halt active processing 0 drive follows setp
258. by inputting 0 for the used channel Analog output of existing parameters selection list All parameters in the list P 0 0426 Analog output IDN list of assignable parameters can be output analog configuration This first requires that their ID number be input in the signal select for channel 1 P 0 0420 or 2 P 0 0423 The unit and the attribute number of decimal places of the relevant scaling P 0 0422 or P 0 0425 is set as per the selected parameter If the selected parameter depends on a scaling mode then the settings there apply to the scaling as well scaling With P 0 0422 Analog output 1 scaling or P 0 0425 Analog output 2 scaling is it then fixed at what value 10 volts are output For example for rotary preferred position scaling and signal selection position command S 0 0047 the unit of the scaling factor is set to degrees and the number of decimal places is set to four Inputting 90 0000 degrees in the evaluation factor means that 10 volts per 90 degrees at the load will be output If signals with a binary format are selected e g S 0 0134 Master control word then the display format of the scaling is set to decimal without fractional part There is no unit With this scaling a bit number between 0 and 15 is selected The state of this bit of the set parameter is then output in such a way that for logical O 10 volts are output and for logical 1 10 volts bit output Outputting pre set signals To be able to
259. ccel Parameter S 0 0092 Bipolar torque force limit value can then be set to the required machining torque Parameter P 0 0109 Torque force peak limit always limits the maximum available torque and is set to the maximum value appropriate to the machine Generating the accel command value with position controlled drives Aso Asou Gt d Xou At Xsoll Command position at position controller Vso Command velocity on speed controller Aso Command accel Fig 9 41 Accel command values with position controlled drives Generaing the accel command value with speed controlled drives asol Vonat Fig 9 42 Accel command value with speed controlled drives Required torque equals Mg asol Jges asol Sot JLast Jmot Motor moment of inertia Jiasi Load inertia Fig 9 43 Required torque Required torque generating motor current ip T asol Jges Km Km Torque constant of motor ip Accel current Fig 9 44 Motor current The allowed maximum current thus equals Imax S 0 0092 Ipauermotor 1 00 lp IDauerMotor S 0 0111 Motor current at standstill Fig 9 45 Maximum current or if the value is smaller than Imax P 0 0109 Ipauermotor 100 Fig 9 46 Maximum current Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Limiting Velocity DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 35 Determining the torque constant and load mo
260. ceeded 1 Travel range switch input 0V gt travel range is exceeded L Bit 1 Activation 0 Travel range switch is not active 1 Travel range switch is active Bit 2 Response 0 Exceeded travel range is handled as an error 1 Exceeded travel range is handled as a warning Fig 9 51 Activating and negating the limit switches bit 0 or 1 Axis Limit Values The monitor for exceeding the axis limit parameters e S 0 0049 Positive position limit value e S 0 0050 Negative position limit value is executed only if e one of the encoder systems is homed that is when at least one actual position value refers to the machine s zero point AND e the monitoring of the position limit values in S 0 0055 Position Polarity parameter Bit 4 has been activated Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 40 Basic Drive Functions Rexroth Indramat ECODRIVE03 FGP 03VRS The monitoring is done as a default with the position value of the encoder defined with S 0 0147 Homing parameter bit 3 If this encoder is not homed the monitoring is performed with the second encoder as long as it is present and homed Exceeding the position limits is recognized when the monitored position value exceeds the travel range defined by the position limits If drive internal interpolation is used as the active operating mode the drive checks to see if the target position is outside of the axis limit valu
261. ceeded An increase in current would lead only to wasted power and reduced output power The peak power in range 3 is proportional to the square of the DC bus voltage It is ensured that the maximum power always is reached for each DC bus voltage without parameter adjustment The power in range 3 cannot be extended through the use of more powerful controllers 100 torque refers to the motor s nominal torque according to the ID plate Since the peak torque of asynchronous motors is limited to 2 5 times of the nominal value you can reach torques up to 250 The significance of the torque values changes in the field weakening range since the torque in the controller is set equal to the torque producing current Iq The torque however is the product of Iq and air gap induction which decreases in the field weakening range The assignment of the torque values in the different velocity ranges is displayed in the following picture DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Motor Configuration 7 7 N 100 S _ OL lt 100 n1 n2 n MA In this case160 per cent corresponds to the 160 effective peak current 160 1 SSe 1 M N Sv5026f 1 fh5 Fig 7 4 Torque assignment In range 1 the torque value is the actual torque 100 rated torque In range 2 the torque value corresponds to the power 100 rated power according to selection list The rated power of the motor
262. city Command Value in the Velocity Control Operating Mode In the velocity control operating mode the input of S 0 0036 Velocity Command Value is limited to S 0 0091 Bipolar Velocity Limit Value If the value entered in S 0 0036 exceeds this limit the warning e E263 Velocity command value gt limit S 0 0091 is generated To avoid accidents and damages to the machine many safety precautions are provided A part of these safety measures refers to limiting the allowed working range These limits can be introduced by the following measures e Software limits in the control only active with axis in reference e Position limits in the drive only active with axis in reference e Limit switches in the drive e Safety limit switches in the emergency safety chain Relevant Parameters e 0 0049 Positive position limit value e 0 0050 Negative position limit value e 0 0055 Position polarities e 0 0403 Position feedback value status e P 0 0090 Travel limit parameter e P 0 0222 Status Inputs travel range limits DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 37 Functional principle of travel range limits Type of working Working range limitations Effect of working range limitation range limitation lt Working range a Machine table Software limitation Software limit switches Axis shut down via NC control unit lt active after
263. ck Data Memory The motor feedback data memory contains all motor related parameters Linear Rotational Units are motordependent Rexroth Indramat For MHD MKD and MKE motors a motor feedback data memory is provided in which all motor dependent parameters are stored The drive controller recognizes this automatically and reads those parameters after turning on the device from the data memory with the command S 0 0128 C200 Communication phase 4 transition check The data memory contains values for the following parameters e 0 0109 Motor peak current e S 0 0111 Motor current at standstill e 0 0113 Maximum motor speed nmax e 0 0141 Motor type e P 0 0018 Number of Pole Pairs Pole Pair e P 0 0051 Torque Force constant e P 0 0510 Moment of inertia of the rotor e P 0 0511 Brake current Note Motor types without motor feedback memory necessitate that these parameters are input at the initial start up using the data sheet Depending on whether a linear or rotary motor is being used changes in the units and the number of decimal places of the parameters will be made The following table displays the differences in scaling of these parameters ID number Rotational Linear S 0 0100 0 1 As rad 0 1As m S 0 0113 0 0001 RPM 0 0001 mm min S 0 0116 Cycles Rev 0 00001 mm P 0 0018 Pole pairs 0 1mm P 0 0051 Nm A S 0 0348 mAs rad mAs mm Fig 7 2 Scaling in Linear or Rotary Mot
264. cked axis This application may only be used after the drive developer has been consulted and given permission Pre requisites To successfully conduct this procedure the following conditions must first be met e The rotational direction of the encoder must be set first e for rotary motors If the motor moves clockwise looking onto motor drive shaft then the value in parameter S 0 0051 Position feedback 1 value must be increasing e for linear motors If the primary part is moving to the direction of the front where the power cable of the motor branches off see Fig 7 11 Overview determining commutation offset with an LSF then the value in parameter S 0 0051 Position feedback 1 value must be increasing The position polarity in S 0 0055 Position polarities may not be inverted in this case If the value moves in the wrong direction then the motional direction of the motor encoder has to be inverted Bit 3 of S 0 0277 Position feedback 1 type is used for this purpose Also see section Command Polarities and Actual Value Polarities or mee Motor Encoder e The current and velocity control loop parameters must also have default settings or must be parameterized in a sensible way Application 1 Measuring the reference between primary and secondary parts linear motors Overview Determining commutation offset in linear synchronous motors LSF with absolute encoder systems can be determined by measuring
265. coded reference marker 1 distance coded reference marker L Bit 3 Rotational direction 0 non inverted 1 inverted Bit 6 Absolute evaluation possible 0 Absolute evaluation not possible 1 Absolute evaluation possible Bit 7 Absolute evaluation activated 0 Absolute evaluation activated only if bit 6 1 1 Absolute evaluation deactivated Fig 9 16 Parameter S 0 0277 Note The bits in the position encoder type parameter are partially set or deleted by the drive itself There are following criterias e f the connected motor has a motor feedback memory MHD MKD or MKE then bits 0 1 and 3 are cleared e lf the connected motor is a linear motor then bit O is set to 1 e Depending on the absolute encoder range and the maximum travel range or modulo value bit 6 is either set or cleared See also chapter Supplementary Settings for Absolute Measuring Systems A control with a direct measuring system facilitates higher contour precision of the machined workpieces in terms that it offers higher positioning accuracy With setting the operation mode you can determine that the position control in the drive is done with the position feedback of the optional encoder Additionally the velocity control can be completely or partially done with the velocity feedback signal of this measurement system See also sections Operating Modes and Setting the Velocity Mix Factor DOK ECODR3 FGP 03VRS FK02 EN
266. configure velocity setpoint at analog input 1 P 0 0213 S 0 0036 e the relevant evaluation of analog input must be set via P 0 0214 e all entries in configuration list P O 4080 P 0 4081 must be cleared S 0 0036 may not be cyclically configured Rexroth Indramat 6 18 Profile Types ECODRIVE03 FGP 03VRS Using the Rexroth Indramat Positioning Setting Master gt Slave Slave gt Master Sequence in real time data Features e In this operating mode a drive functionality is achieved which can be compared with the position target setting of DRIVECOM function compatibility e By configuring S 0 0282 Positioning command as a cyclic setpoint bits 0 3 4 in P 0 4077 Fieldbus control word can be used to directly switch from relative to absolute positioning function compatibility with position target setting Parametrization To parametrize the positioning setting e set profile type to freely configurable mode P 0 4084 OxFFFE e set main operating mode to positioning command S 0 0032 10 0001 1011b Also see operating mode drive internal interpolation In the real time channel of the fieldbus the data configured in P 0 4081 Real time output object structure are transmitted from master to drive Parameter Format P 0 4077 Fieldbus control word 116 gt 1 word S 0 0282 Positioning command 132 gt 2 words S 0 0259 Positioning Velocity 132 gt 2 words P 0 4076 Fieldbus con
267. controllers are run with differently polled I Os As all data of the drive controller are at least two bytes in size the polled I O can only contains words or double words not bytes as data types The length specification is in bytes because of compatibility to other bus systems The configuration of length is generally automatic and specified by the operating mode The length of the process data channel is present 2 18 bytes for each direction and must be entered separately The transmission is data consistent over the entire length Diagnose LED for DeviceNet DOK ECODR3 FGP 03VRS FK02 EN P To diagnose fieldbus interfaces there are 6 LEDs on the front side of the DeviceNet module these LEDs signal the status of synchronization between fieldbus interface and drive as wll as bus activity for the cyclic exchange of data Each LED can use the four states off red green and orange During run up of DeviceNet module the LEDs are tested This takes the form of a running light in the colours red green and orange Rexroth Indramat 5 44 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS LED definition in module operation LED design LED state Definition not assigned H60 Module status H61 MS red fatal error replace card red flashing error can be cleared green flashing configuration error green ready OK Explicit Message H62 green impulse in R W via Explicit Message query Network status
268. cs Via parameter S 0 0098 Mask class 3 diagnostic warnings can be masked in terms of their effect on the change bit The following bits are supported in class 3 diagnostics S 0 0013 Class 3 diagnostics L Bit 0 velocity feedback value velocity command value S 0 0040 S 0 0036 S 0 0037 lt S 0 0157 Bit 1 Feedback velocity lt Standstill window S 0 0124 S 0 0040 lt S 0 0124 L Bit2 velocity feedback value lt velocity threshold S 0 0040 lt S 0 0125 L Bit 4 Md gt MdLIMIT S 0 0092 Bit 6 In position Following error S 9 lt Position window S 7 0 018 0 0057 Bit 12 Target position reached Internal position command value target position S 0 0258 Fig 4 15 Structure of S 0 0013 Class 3 diagnostics Each of these messages is stored in turn in its own parameter S 0 0330 S 0 0342 Change bit of class 2 and 3 diagnostics in the drive status word If the state of a bit changes in S 0 0012 Class 2 diagnostics or S 0 0013 Class 3 diagnostics then the change bit status class 2 or 3 is set in the drive status word A read access to both parameter clears this change bit By setting the change bit as a result of a bit toggle in S 0 0012 or S 0 0013 it is possible to mask with the help of parameter S 0 0097 Mask class 2 diagnostic or S 0 0098 Mask class 3 diagnostic a ao aT S 0 0012 Class 2 Diagnostics zi CLL L II S 0 0012 at last read access
269. cted at the start of a positioning block then the faulty positioning block is acknowledged with the complement of the block number The drive generates a warning and remains standing Acknowledge with drive halt If drive halt is active then the complement of the block number of the selected positioning block is output in parameter P 0 4051 Process block acquittance Acknowledge with auxiliary modes error reaction or command settings Acknowledgement is not effected i e parameter P 0 4051 Process block acquittance retains its value Acknowledge with drive enable removed After removing the drive enable the last accepted positioning block is output If the drive is at the target position of the last positioning block then the message end position reached is additionally generated The example below shows the same absolute positioning block being started once more time Rexroth Indramat 8 44 Operating Modes vt ECODRIVE03 FGP 03VRS l l l speed profil P 0 4026 Process block selection 01 XX 1 xx A 01 P 0 4051 Process block acquittance 01 N 02 N 01 AH cote ward ER Cid control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 4 Drive enable Smit ward BE oe SS Se control word Bit 15 S 0 0346 Positioning command latch Eo
270. ction are generally parameters with physical units position speed acceleration and currents as well as parameters S 0 0135 Drive status word and S 0 0011 Class 1 diagnostics If yes then service channel error message 0x7008 Data not correct is generated Note In each of these cases only the inputs up until the faulty element is accepted Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 3 10 2 Configurable Signal Control Word Accessing signal control word Involved Parameters With the signal control word it is possible to write access single control bits in the various parameters by using a freely configurable collective parameter The configurable signal control word supports acceptance of a maximum of16 copies of bits from other drive parameters Depending on the command communications parameter S 0 0145 Signal control word is accessed in various ways e With SERCOS and fieldbus interface S 0 0145 Signal control word must be relevantly configured in cyclical data so that the mechanism can be used This function can only be used in e free configurable operating mode Note The bits in the signal control word are effective in each interface cycle at S 0 0008 Command valid time T3 The following parameters are used for the functions e 0 0027 Configuration list signal control word e 0 0329 Assign list signal control word e 0
271. ctions 9 89 Reference offset vt 0 Reference point Reference mark Starting point Sv5042f1 fhS Fig 9 88 Command profile with negative reference offset and negative homing direction If the referencing direction is positive then the drive must reverse the travel direction with types 2 and 3 after passing the reference marker Reference distance vt gt Starting point Reference marker Home point Sv5041f1 fhS Fig 9 89 Command profile with negative reference offset and positive homing direction Evaluation of the Home Switch Home switch evaluation With the help of a home switch it is possible to identify a certain reference mark in the case where an unspecific arrangement of reference marks are used If bit 5 in S 0 0147 0 then the reference mark that follows the positive edge of the home switch will be evaluated if the drive is moving towards the homing point Note The home switch input is pictured in parameter S 0 0400 Home switch Example Homing of a motor encoder with 1 reference mark per revolution Slide represented reference marker selected by home switch Ap5047f1 fh7 Fig 9 90 Selection of a reference mark depending on the homing direction If home switch evaluation is activated the drive searches at first for the positive edge of the home switch If the home switch is not actuated at the beginning of the command the drive moves in the
272. ctive operating mode The following applies Operating Mode Command Value Check Torque control Polarity of S 0 0080 Torque Force command All operating modes with drive Polarity of the internal velocity internal velocity control command value All operating modes with drive Polarity of the velocity created by the internal position control given position command values Fig 9 49 Monitoring the command values in error conditions If command values are given that would lead out of the allowable travel range the travel range error will be generated again Exceeding the Travel Range as a Warning If a 1 is entered in bit 2 of P 0 0090 Travel limit parameter then exceeding the travel range as a warning is handled with setting the velocity command value to zero The drive does not turn off its internal drive enable If the error condition is still present that is if the limit switch is still activated or if the axis limits are still exceeded only command values that go back into the allowable range will be accepted Monitoring the command values is dependent on the active operating mode See previous section Note When there is an error with the reaction of the position limit switches for example if both limit switches are activated at the same time then this will be handled as an error like in the situation when exceeding the limit switch is handled as an error is parameterized The drive wil
273. ctric Servo Drives and Controls 3 5 To be observed with electrical drives power supplies and filter components DANGER High electrical voltage High leakage current Danger to life danger of injury and bodily harm from electrical shock gt Before switching on power for electrical units all housings and motors must be permanently grounded according to the connection diagram This applies even for brief tests Leakage current exceeds 3 5mA Therefore the electrical equipment and units must always be firmly connected to the supply network Use a copper conductor with at least 10 mm cross section over its entire course for this protective connection Prior to startups even for brief tests always connect the protective conductor or connect with ground wire High voltage levels can occur on the housing that could lead to severe electrical shock and personal injury European countries EN 50178 1998 section 5 3 2 1 USA See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must maintain the above noted instructions at all times Rexroth Indramat 3 6 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 FGP 03VRS 3 6 Protection by protective low voltage PELV against electrical shock All connections and terminals with voltages between 5 and 50 Volts on INDRAMAT products are protective low voltages d
274. cts assign each drive address only once This mode does not necessitate the setting of drive address because only one participant is connected peer to peer connection DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 3 Communications via RS232 Interface Features The RS232 interface is intended for use when connecting a PC with the DriveTop startup program e Transmission rate 9600 and 19200 baud e Maximum transmission path 15m e 8 bit ASCII protocol or 8 bit SIS protocol e no parity bit e astop bit PC mit DriveTop command interface z B parallel I O bzw fieldbus PLC drive drive drive drive n n 1 n 2 n 3 FS0004d1 fh7 Fig 1 2 Communications via RS 232 interface Communications via RS485 Interface Features Communications via RS485 interface helps implement a serial bus with the following data e Upto 31 drives can be connected to one bus master e Transmission rates of 9600 and 19200 baud e Maximum transmission path 500m e Half duplex mode over a 2 wire line e 8 bit ASCII protocol or 8 bit SIS protocol e no parity bit e astop bit Rexroth DOK ECODR3 FGP 03VRS FK02 DE P Oo Indramat 1 4 Serial Communication Rexroth Indramat ECODRIVE03 FGP 03VRS Operating Several Drives with DriveTop Application advantages e Starting up several drives without replugging an interface cable central
275. current is not allowed to reach the limit during this process Enter the most salient frequency in Hz in parameter P 0 0180 Rejection frequency velocity loop Enter a minimum bandwidth in parameter P 0 0181 Rejection bandwidth velocity loop e g 25 Hz Record the previous step response again If the step response features less overshoot and shorter periods of oscillation then Check whether increasing the value of P 0 0181 Rejection bandwidth velocity loop causes an improvement or check whether a change in the value of P 0 0180 Rejection frequency velocity loop means an improvement If the step response results in the same behavior then Check the resonance frequency analysis or clearly increase the value in P 0 0181 Rejection bandwidth velocity loop with the pre optimized values of P 0 0180 Rejection frequency velocity loop and P 0 0181 Rejection bandwidth velocity loop optimize the velocity controller again see above The step responses defined above must have a similar appearance with higher values for S 0 0100 Velocity loop proportional gain and or smaller values for S 0 0101 Velocity loop integral action time An additional optimizing run may be necessary for P 0 0180 Rejection frequency velocity loop and P 0 0181 Rejection bandwidth velocity loop using the step response see above Optimization of the control loop with a notch filter band suppression does not always make the regulation good e
276. d Acceleration Data ccccccseeesseeeteeeeenees 9 1 Display Format of Position Datta ssiri hidinariiieis ustidan tarapis aarne R Api kadada ainka apii KAGA RAER 9 3 Velocity Data Display Format reter tranan ET E A ERREA AE TAA ine EEEN 9 4 Acceleration Data Display Format ecccccccseecececeeeceeeeneeeeeeseeeceeeeneeeeeesnseeeeeeneeeeeesnseaeeeeninees 9 4 Command Polarities and Actual Value Polarities cceccceceeeeeeeeeeeeeeeeeeeeseaeeeeaeeeeeeeenneeeaas 9 5 Mechanical Transmission Elements ccecceceeeeeeeeeeeeeeeeeeeaeeeeeeeaeeeeetaaeeeeesaeeeeesaeeeeeeaeeeeee 9 6 Modulo Fe i ceczssssecee ince cas siete a a A ET T e 9 8 9 2 Setting the Measurement System ccccceceseeeeeeceeeeeeeeeeeeaeeeeaeeeeeeeecaeeeeaaesecaeeseeeeesaeeeeaeeeeeetees 9 10 Motor Encoder ssc acre eit in He en hp he eee in A 9 11 Optionaliencodete stati e ae tata te a a hates RN at ita 9 14 Actual Feedback Values of Non Absolute Measurement Systems After Initialization 9 19 Drive internal format Of position Data eceeeeeeeeeeeeeeeeee erences eeeeaeeeeeseeeeeeeeeeeeeeeneeeeeteeeaeens 9 20 9 3 Supplementary Settings for Absolute Measuring SySteMS ccccccsscecesteeeeessteeeeessteeeeesseeeens 9 24 Encoder Types and Relevant Interfaces ee ceeeeeceeeeeeeeeeeeeeeeeeseneeeeeseneeeeeseeeeeeeseneaeeeeeeeaeens 9 24 Absolute encoder range and absolute encoder evaluation ccceceeeeeseneeceeeeeee
277. d Parking axis it follows e that the measuring system monitors e the control loop monitors and e the temperature monitors are deactivated The measuring system initializations are conducted at the end of the command This means all initializations as with command S 0 0128 C200 Communication phase 4 transition check are conducted The display reads PA This drive no longer accepts the drive enable Rexroth Indramat 10 26 Optional Drive Functions ECODRIVE03 FGP 03VRS 10 11 Programmable Limit Switch The Programmable Limit Switch feature allows for 16 PLS points An individual on and off switch position and a delay time are available for each PLS point The reference signal can be either S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value The corresponding PLS bit can be inverted depending on how the on and off switch level is set Note A switch cam is generated every 1 ms resulting in a total cycle time of 16 ms when parametrizing all 16 cams Pertinent Parameters e P 0 0131 Signal Select Position Switch e P 0 0132 Switch On Treshold Position Switch e P 0 0133 Switch Off Treshold Position Switch e P 0 0134 Position Switch Lead Time e P 0 0135 Status Position Switch Function diagram for the Programmable Limit Switch This feature shows whether the selected reference signal lies within the range between the on and off switch position Reference value Switch
278. d acceptance the position inputs are in an inverted condition Sv5005d1 fh7 Fig 8 32 Relative positioning block with residual path storage after jogging Relative positioning block with residual path storage after switching drive controller control voltage on and off If an absolute encoder is used then it is possible that the chain reference is retained after switching control voltage on and off The previously computed target position is stored at power shutdown The rest of the distance is travelled after the interrupted relative positioning block with residual path storage is activated If a single turn encoder is used then the remaining path is discarded and added to the actual position Rexroth Indramat 8 32 Operating Modes Reference position ECODRIVE03 FGP 03VRS The last End position reached message is used as reference position Note If a positioning block is not accepted then the drive behaves as if it had never been started Infinite running in a positive negative direction If an axis is to be run with defined speed acceleration and jerk without a specific target position then the travel block mode Travelling in a positive direction or Travelling in a negative direction must be specified The drive runs in the set direction until the start signal is reset or the position limit value or the travel range limit switch is reached The set target position is not used in
279. d and the successful completion of the command is signalled Positioning After the necessary movements to detect the reference switch or marker have been completed the drive positions at the reference point This point for non distance coded measuring systems is the sum of the position of the relevant reference mark switch trigger edge plus the reference dimension offset The reference point for distance coded encoders is the position of the 2 over travelled reference marker Running paths During the homing procedure the drive runs a specific path This mode is only possible with distance coded measuring systems The path is fixed by what has been set in parameter S 0 0165 distance coded reference 1 By following off the path that has been programmed here it is assured that the drive will always overrun two sequential markers This function makes sense for example in gantry axes parallel mechanically coupled axes equipped with distance coded measuring systems By activating this mode in all of the coupled axes it is ensured that at the simultaneous start of command S 0 0148 C600 Drive guided reference every drive will run the same profile Note If the Run path mode is used with gantry axes then the gantry axes are not automatically run in parallel by the referencing procedure The mechanically coupled axes only run a relative path Their shared position reference does not change In contrast to the Positioning mode that is
280. d by P 0 4046 Active peak current e motor accelerating in the wrong direction e and actual velocity control value is gt 0 0125 nwax Setting the position controller Pre requisite Rexroth Indramat Current and speed control must be correctly set The position controller can be set with the parameter e 0 0104 Position Controller Kv Factor This can be set by either executing the load default settings procedure or by following the process below Preparations for Setting the Position Control Loop A number of preparations must be made in order to be able to set the position controller properly e The mechanical system must be completely assembled and ready for operation e The drive controller must be properly connected as described in the user manual e The safety limit switches must be checked for correct operation if available e Operate the drive in a mode that closes the position loop in the drive Operating Mode Position Control e The velocity controller must be properly tuned The start value chosen for the K factor should be relatively small Kv 1 e For the determination of the position controller parameter no compensation function should be activated DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 65 Determining the Critical Position Controller Gain e Move axis at a slow velocity i e with a jog function at a connected NC Control Rotating Motors 10 20 Rp
281. d by the drive and motor parameters are automatically set See also chapter Setting the Motor Type IBS 2 Setting up fieldbus communication P 0 4084 Profile type must be set up in this step to be able to select the operating mode wanted and its relevant profile interpreter including status machine To ensure the functioning of the related modes S 0 0032 to S 0 0035 the following is necessary e operating mode specific settings e g positioning block data in positioning block mode e mode relevant limit value settings e command value filter settings that may be necessary e definition of the operating modes available Note In the case of command communications using a Profibus it is also possible in this step to define a parameter channel in the real time channel P 0 4083 Length of parameter channel For CANbus it is necessary to also set the P 0 4079 Fieldbus baudrate here See also section Profile Types IBS 3 Presetting the axis mechanics and measuring systems In this step the parameters needed for determining and processing position velocity and acceleration data are set These include the following parameters for the following settings e mechanical gear ratio between motor and load as well as any existing feedrate constants of the drive of linear slides e scaling settings for showing position velocity and acceleration parameters of the drive This sets for example whether the data is motor sha
282. d in 0 0128 C200 Communication phase 4 transition check and generates the command error C213 Position Data Scaling Error if necessary The following illustration shows the difference in displaying the position data in absolute format and modulo format Position isol ay Position data with modulo function Modulo pene Hia ae pecs Oe aaa a Sa Absolute position of the measurement Position data with Syam absolute format Fig 9 11 Display value of positions in absolute format and modulo format Modulo Processing Limiting Conditions If modulo processing of position data is selected in connection with e the active operating mode and e the selected position scaling the following limiting conditions for error free processing of the position data must be observed DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS S 0 0393 0 S 0 0393 1 S 0 0393 2 DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 9 The limiting conditions are as follows e The modulo range S 0 0103 Modulo Value may not be greater than the maximum travel range e f rotary or linear position scaling with load reference and without angle synchronization is used as the operating mode the product of S 0 0103 Modulo Value S 0 0116 Resolution of motor feedback and S 0 0121 Input revolutions of load gear must be smaller than 2 63 If in addition to this an external measurement system is used the add
283. d moves linearly per transmission output revolution It is specified in the parameter S 0 0123 Feed constant The value programmed here is used along with the transmission ratio for converting the position velocity and acceleration data from motor reference to load reference Example Transmission output pe Carriage Ss Feed module AP5030f1 fh5 Fig 9 9 Feed constant parameterization Example In the illustration above the feed module would cover 10 mm per transmission output revolution The proper parameterization for this would be S 0 0123 Feed Constant 10 mm Rev Rexroth Indramat 9 8 Basic Drive Functions Modulo Feature Rexroth Indramat ECODRIVE03 FGP 03VRS When the modulo function is activated all position data are displayed in the range 0 modulo value Thus it is possible to implement an axis which can move infinitely in one direction There is no overrunning of the position data The modulo value is set with the parameter S 0 0103 Modulo Value The modulo function is activated by the parameter S 0 0076 Position Data Scaling Type See also Display Format of Position Data S 0 0076 Position data scaling mode ESSERE A ae rae Bit 7 Processing format 0 absolute format 1 modulo format Fig 9 10 Setting absolute format modulo format Note Modulo processing of position data is only allowed with rotary motor types This is checke
284. d value specified in S 0 0047 Position Command Value is interpolated within the NC cycle time and is then given to the position controller Command value processing Position control Current controller Position controller Velocity controller Position Velocity command Torque power value command Fig 8 7 Position control block diagram Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 8 8 Operating Modes ECODRIVE03 FGP 03VRS Command value processing Position Control A command velocity is formed from two successive position command values The S 0 0001 NC Cycle Time TNcyc acts as the time base The instructions for calculating the command velocity are as follows Position command value k Position command value k 1 S 0 0001 Vcommand Vcommand Command velocity Fig 8 8 Calculating the command velocity This velocity is monitored to see if it exceeds S 0 0091 Bipolar Velocity Limit Value see also Position Command Value Monitoring If S 0 0091 is exceeded the error F237 Excessive position command difference is generated The commanded position profile can be filtered with the parameter P 0 0099 Position command smoothing time constant The position loop is closed every 1000usec The position command value is also fine interpolated within the NC cycle time There is either a linear or a cubic interpolator available Switching between
285. dbus 16 bits each for I O data DKC06 3 xxx 7 FW FGP02VRS lag error free with are transmitted encoder 1 T I O mode with cam This profile type makes it possible as with A SERE E status P 0 4084 0xFF80 to control up to 64 FF8th DKC05 3 xxx 7 FW FGP02VRS Positioning block positioning blocks via the fieldbus But instead of DKC06 3 xxx 7 EW mode lag error free with the travel block acknowledge the first 8 cam encoder 1 status bits are stored in the status word This profile type makes it possible as with I O mode free P 0 4084 0xFF80 to control up to 64 DKC03 3 xxx 7 FW expandable pos block positioning blocks via the fieldbus But in addition DKC04 3 xxx 7 FW mode lag free with to control and status words more real time data FF82h 9KC05 3 xxx 7 FW FGP02VRS encoder 1 can be configured in lists P 0 4080 and P 0 4081 DKC06 3 xxx 7 FW expandable real time The function of the bits in the fieldbus status data channel words can be freely configured via the config signal status word Rexroth Indramat specific profile types This profile type makes cyclic settings of freely vyy 7 selectable target positions and velocities Bree eu drive internal possible All real time data needed for execution FF9th DKC05 3 xxx 7 FW FGP02VRS interpolation lag free are pre configured in lists P 0 4080 and DKC06 3 xxx 7 EW with encoder 1 P 0 4081 Control and status words have the same structure as in free config operating mode OxFFFE Thi
286. drive The Master Axis Feedback Analysis is activated with P 0 0185 Function of encoder 2 1 or 5 The drive can be operated in the following modes e velocity synchronisation with real master axis e phase synchronisation with real master axis or e electronic cam shaft with real master axis In the drive the position of the master axis is directly derived from the position of the master axis encoder and then in turn the velocity and position command values As an alternative there is the option of transmitting of the actual position value of the master axis encoder P 0 0052 Position feedback value 3 cyclically to the control which then generates the master axis position P 0 0053 from this information This is then cyclically transmitted to one or several drives The drive can also be operated in the following modes e velocity synchronisation with virtual master axis e phase synchronisation with virtual master axis or e electronic cam shaft with virtual master axis The drive calculates velocity or position command values using the master axis position received from the control The position feedback value of the lead drive feedback is available in P 0 0052 Position feedback value 3 Parameterizing the Master Axis Feedback DOK ECODR3 FGP 03VRS FK02 EN P For the master axis encoder it is possible to use either a cyclical absolute measuring system or an incremental encoder with sine or square wave signals
287. ducting Automatic Control Loop Settings cccccceeeceeeeeeeeeeeeeaeeeeaeeseneeeeeeeseaeeeseeeeenees 9 72 Chronological Sequence of Automatic Control Loop SettingS cccccceeseeeeeeeeereeeeieees 9 74 Results of Automatic Control Loop Settings c cccccceceeeeeeeeeeeeeeeeaeeeeaeseeeeeseeeeseaeeseeeeeaes 9 76 9 9 Dive Halinen aae a aa cake a E abe leet a wba ae lt ag 9 77 Pertinent Parameters cccecscccceseenceseeeneeeeeeaneeeeeaeneeseeeaeeeseeaaeeeseaaeeeseeaaeeeeeeaeeeseegeneeeeenenaeees 9 77 The Functional Principle of Drive Halt 0 0 ee eeceeeeeeneeeeeenaeeeeeaeeeeeeaaeeeeeeaaeeeeeeaaeeeeseaaeeeenaas 9 78 Connecting the drive halt input ccceceeeceeeeeeeeeeceeeeeeeee scenes seaeeeeeaeseeeeeseeeeseaeeesaeeeeeeeeeeeess 9 79 9 10 Drive Controlled HOMING cceeecececeeeceneeeeeae scene eeeeeeceaeeecaaeseeaeeecaeeeceaeeeeaaeseaeeseeeeesaessiaeesseneeees 9 79 Pertinent Parameter orrara a a ea earar TEKES ERER EEK EAA TERRA E AALER RNA AREA RAE KARAER REAR AERAR RE 9 80 Setting the referencing parameters c ccceecceceeeeeeeeeeeeeeceeeeesaeeseaaeseeneeseeeeesaeeseaaesseneeeeaeess 9 80 Overview of the Type and Allocation of Reference Marks of Non Absolute Measuring Systems9 81 Functional Principle of Drive Controlled Referencing in Non Absolute Measuring Systems 9 82 Functional Principle of Drive Guided Referencing with Absolute Measuring Systems 9 83 Sequence control Drive Control
288. e Rexroth Indramat 5 18 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS The timing for the complete writing of a parameter can be seen in the following graphic T Master gt L Slave R Data X T Slave gt L Master R D E Fig 5 37 Timing for writing In case that an error will occur during the writing of the parameter the error timing diagram will look like this T Master gt L Slave R Data X T Slave gt L Master R D E Fig 5 38 Timing for an occurred error during writing Error messages In case that the slave has detected an error it will generate an error message It contains the error code as a 16 bit value From the error code the user can examine the cause of the error The error message has the following arrangement for format 3 Status word User data C1 E R L T Length Format Error code Data Data Data Data S 1 0 1 d O 1 0 d O 1 1 0 1 1 0 0 d d X X X X Fig 5 39 Error response message of slave Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Cancelling data transfer Command Communication via Fieldbus 5 19 The error bit is set and the R and T bit will have the same value as the master s sent bits The error code is either a SIS
289. e e 0 0349 Jerk limit bipolar Standstill for Operating Mode Velocity control or Torque Control e P 0 1211 Deceleration ramp 1 or P 0 1201 Ramp 1 pitch falls P 0 1211 0 e P 0 1202 Final speed of ramp 1 e P 0 1213 Deceleration ramp 2 or P 0 1203 Ramp 2 pitch falls P 0 1213 0 The following parameters are used for diagnostic purposes e 0 0124 Standstill window e 0 0182 Manufacturer s status class 3 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 78 Basic Drive Functions ECODRIVE03 FGP 03VRS The Functional Principle of Drive Halt If the drive halt function is activated then the drive does not follow the command values of the active mode but rather brings the drive to a halt while maintaining the parameterized accel The manner in which the standstill takes place depends on the previously activated operating mode Stand still in position control Standstill takes place in position control with the use of previously active with previously active decel and decel and jerk limit values if an operating mode with drive internal position jerk limits values command value generation was previously active Operating modes with drive internal position command generation are e drive internal interpolation e positioning block mode e jog mode If the decel parameter of the operating mode is zero then the relevant accel parameter of the operating mode is used Bringing to standstill in pos
290. e status Bit O 1 Note If one of the above conditions has not been satisfied then the drive continues to run infinitely in the set direction Note The speed at which the drive moves when jogging can be influenced with the help of the Override function Function Positioning at limited speed also has an immediate effect on the jog speed DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 47 Diagnostic Messages Warning E831 Position limit reached during jog is generated if the drive positions at the position limit value The warning is cleared e once the mode is changed and e after jogging in the opposite direction 8 10 Operating mode velocity synchronization with virtual master axis Velocity synchronization is used in printing machines in such cases as simple transport feeds The drive runs with velocity synchronous to the master axis The track speed at the circumference of the transport feed or the winder is preset by the electrical gear A defined tension control can be set with the fine offset of the gear The master axis position is set in this mode by the control The structure of the mode is illustrated below Velocity Velocity Current synchronization controller controller Steering axle Velocity command Torque power position value command value Fig 8 45 Velocity Synchronization with virtual master axis block diagram Pertinent Parameters e 0 0236 Master drive
291. e C203 Parameter calculation error gt S 0 0022 is generated The ID number of the faulty parameter is listed in e 0 0022 IDN list of invalid op data for comm phase 3 and must be corrected Rexroth Indramat 4 16 General Instructions for Installation ECODRIVE03 FGP 03VRS Checking encoder initialization Absolute encoder monitoring Encoder initialization is listed Errors can occur depending on encoder type e g index length wrong in DSF feedback Then one of the following command error e C220 Feedback 1 initializing error e C221 Feedback 2 initializing error is generated If the actual position of an absolute encoder is outside of the range of the current actual position prior to the last shutdown P 0 0097 Absolute encoder monitoring window then error e F276 Absolute encoder outside of monitoring window is generated The acknowledgement of the transition command is not faulty in this case but rather the error must be cleared by executing command S 0 0099 C500 Reset class 1 diagnostics Also see section Clearing Errors 4 3 Commissioning Guidelines Rexroth Indramat For commissioning drive controllers the parametrization interface DriveTop can be used The procedures for commissioning a drive controller with DriveTop entail 11 steps IBS 1 11 The sequence is illustrated below DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS General Instructions for Installation 4 17
292. e engaged after max braking time 1 Main spindle brake The brake will only be engaged below 10 Rpm Fig 7 13 Setting the motor brake type The behavior with a spindle Activating the motor holding brake always takes place with drive enable brake removed if the actual velocity of the motor is smaller than 10 rpm or P 0 0525 Type of motor 10mm min linear motor brake At the end of maximum decel time P 0 0126 the set error reaction is bit 1 1 completed and the drive goes torque free start error reaction 1 0 velocity command value n 10min 0 1 0 brake released break engaged 1 sera ees 0 power stage enabled power stage disabled I t ms P 0 0526 brake delay Sv5078f1 fh5 Fig 7 14 Chronological diagram with command value to zero and P 0 0525 Holding brake type Bit 1 1 Spindle brake Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Behavior with servo brake P 0 0525 Type of motor brake bit 1 0 braking time lt P 0 0126 Behavior with servo brake P 0 0525 Type of motor brake bit 1 0 braking time gt P 0 0126 DOK ECODR3 FGP 03VRS FK02 EN P Motor Configuration 7 21 The brake is activated as soon as the velocity of 10 rpm is exceeded during an error reaction or no later than upon completion of the maximum decel time Correct braking time start error reaction velocity command value v 10mm min or n 10U min
293. e generator command S 0 0282 V value Motion command S 0 0346 Motion command latch E247 Interpolation velocity 0 S 0 0419 E248 Interpolation acceleration 0 Motion command E249 Positioning velocity gt S 0 0091 acknowledge E253 Target position out of travel range E255 Feedrate override S 0 0108 0 E263 Velocity command value gt limit S 0 0091 E264 Target position out of num range Fp5066f1 fh7 Fig 8 18 Generating position command value S 0 0393 Command value mode Accepting and defining parameter S 0 0282 Positioning command depends on what is set in parameter S 0 0393 Command value mode Structure of parameter E Bit 1 0 Modus 00 shortest path 01 positive direction 10 negative direction Bit 2 Target position after activation of mode 0 reference for relative positioning is S 0 0258 1 reference for relative positioning is actual positon value Bit 3 Positioning command value relative or absolute 0 Positioning setpoint is absolute target position 1 Positioning setpoint is relative position travel path Bit 4 Acceptance of positioning command value 0 current target is run to before new target 1 Positioning setpoint directly run previous target ignored Fig 8 19 Structure of parameter S 0 0393 Command value mode For more information see parameter description S 0 0393 Command value mode Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02
294. e programmed homing acceleration up to standstill If the value of the velocity feedback is less than the value set in S 0 0124 Standstill window then the co ordinate system of the referenced encoder is set and the command is signalled as completed Bit 8 7 Stop positioning run path 0 0 once the reference switch or reference marker have been overtravelled the drive stops and switches into the coordinate system 0 1 after the reference swtich of marker have been overtravelled the drive positions at the reference point and switches into the coordinate system 1 0 drive always run path that is needed to overrun two sequential reference markers and then switches into coordinate system only with distance coded reference marks 1 1 Not allowed Fig 9 84 Bit 7 and 8 of S 0 0147 Homing parameter Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 86 Basic Drive Functions Motion profile prior to coordinate system switching Rexroth Indramat ECODRIVE03 FGP 03VRS The further course depends on what was set in bits 7 and 8 S 0 0147 Homing Parameter There are three options Stopping After the necessary motions to detect the reference switch or marker have been executed the drive stops with the programmed homing acceleration Once a speed is reached that is less than the value set in S 0 0124 Standstill window then the switch to the co ordinate system position feedback value switching is performe
295. e section Operating mode electronic cam shaft with virtual master axis see section Position Controller see section Velocity Controller see section Current Controller Note As long as the master axis encoder is not referenced position status bit 2 0 the drive follows the master axis position with synchronous speed The dynamic synchronization is begun as soon as the master axis encoder has been absolutely evaluated referenced and synchronous speed has been reached Rexroth DOK ECODR3 FGP 03VRS FK02 EN P a Indramat 8 62 Operating Modes Rexroth Indramat ECODRIVE03 FGP 03VRS During dynamic synchronization the path is lengthened by the position jump of the master axis encoder position when detecting the zero pulse Path XSynch S 0 0048 S 0 0047 P 0 0052 n P 0 0052 n 1 XSynch synchronous position command value Fig 8 65 Traversing path to absolute synchronization It applies P 0 0052 n P 0 0053 n Position of the master axis encoder directly after detecting the zero pulse P 0 0052 n 1 P 0 0053 n 1 Position of the master axis encoder indirectly after detecting the zero pulse DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 1 9 9 1 The combination of unit and number of decimal places is expressed with the term scaling Basic Drive Functions Physical Values Display Format Data exchange between the controller and t
296. e start of the command Drive controlled homing as well as whether e the drive should go to the reference point or not If a home switch evaluation becomes necessary then the necessary settings must first be made see Evaluation of the Home Switch All additional steps can then be conducted as follows Check the relevant position encoder type parameter S 0 0277 S 0 0115 to make sure it has been correctly set Parametrize the following parameter with 0 e 0 0052 Reference distance 1 or e 0 0054 Reference distance 2 e 0 0150 Reference offset 1 or e 0 0151 Reference offset 2 Set parameters S 0 0041 Homing velocity and S 0 0042 Homing acceleration to small values e g S 0 0041 10 Rpm S 0 0042 10 rad s Conduct the drive controlled homing command Note If the command is cleared then the original operating mode becomes active If drive internal interpolation is set then the drive immediately runs to the value set in S 0 0258 Target position This value relates to the new machine zero point co ordinate system The command should be completed without error The machine zero point is at the position of the home switch or the referencing point as the reference distances S 0 0052 54 have been parametrized with 0 The position feedback value in S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value should now have absolute reference to this preliminary machine zero p
297. e synchronization with real master axis 8 56 Pertinent Parameters for jogging mode 8 45 Pertinent Parameters for the Probe Analysis 10 19 Pertinent parameters for the system status word 10 1 Pertinent parameters for velocity synchronization with virtual master axis 8 47 Pertinent Parameters Measuring wheel operation mode 10 35 Pertinent Parameters of the analog inputs 10 9 Pertinent Parameters of the Command Parking Axis 10 25 Pertinent Parameters Setting the absolute dimension 9 100 Pertinent parameters with dynamic cam switch group 10 26 Pertinent parameters with electronic cam with real master axis 8 61 Pertinent parameters with electronic cam with virtual master axis 8 58 Pertinent parameters with velocity synchronisation with real master axis 8 49 Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Index 12 11 Phase synchronisation structure 8 50 Polarity Actual Value Polarity 9 5 Command Value Polarity 9 5 Pos limit value exceeded 4 25 Position Command Value Interpolator Associated Parameters 8 8 Block diagram 8 8 Position Command Value Monitoring 8 10 Position Control Associated Diagnostic Messages 8 7 Block diagram 8 7 Setting the Position Controller 9 64 Position Controller 8 9 Associated Parameters 8 9 Block diagram 8 9 Critical Position Controller Gain 9 65 Setting the Acceleration Feed Forward 9 67 position feedback values after switching on 9 27 Position limit
298. e up serial communications with the drive it is necessary to set the communications mode protocol e with a Change Drive command with ASCII protocol e ora valid Start telegram with SIS protocol Note Internally the first detected protocol that is valid SIS or ASCII is switched into If a different protocol is to be used at some later point in time then this is only possible by switching the 24 volt power supply off Rexroth Indramat 1 2 Serial Communication ECODRIVE03 FGP 03VRS Note The two listed options for establishing a connection are extensively described in the section on Communications procedures Setting the Drive Address Rexroth Indramat RS485 mode RS232 mode The drive address is set via the serial interface by write accessing communications parameter P 0 4022 Drive address DriveTop or a PLC can be used for this purpose Exception If value 256 is entered into communication parameter P 0 4022 then the unit address set via the address switch will be used for serial communications and not the value used in P 0 4022 Switch S3 Set drive address 91 FP5032F1 FH7 Fig 1 1 Setting the address via the address switch on the programming module l It is only absolutely necessary to set the drive address if communications uses the RS485 bus because each bus participant will be addressed at a specific bus address Note To avoid accessing confli
299. eal time channel Rexroth Indramat 8 2 Operating Modes ECODRIVE03 FGP 03VRS 8 3 Operating Mode Torque Control Pertinent Parameters Torque Control Rexroth Indramat Note With FGP firmware this is only possible in conjunction with analog operations P 0 4084 OxFFFE In the operating mode torque control the drive is given a torque command value The diagnostic message reads A100 Drive in TORQUE control when this operating mode is active The command value is set in parameter S 0 0080 Torque Force command Torque power control Torque power command value Fig 8 1 Block diagram of torque control e 0 0080 Torque Force command e P 0 4046 Active peak current e P 0 0176 Torque Force command smoothing time constant The command value in S 0 0080 Torque Force command is limited with the effective peak current P 0 4046 Active peak current This current is based on the current and torque limits See section Current Limit and Torque Control The limited torque command value is filtered through a 1 order filter The time constant of the filter is set in parameter P 0 0176 Torque Force command smoothing time constant After limiting and filtering the effective torque generating command value is generated It is the command value for the effective current control Using Analog output of predefined signals the effective command current can be output as an analog value DOK E
300. eatures e Independent from changes to the axis since there is a large enough safety margin to the stability boundaries e Safe reproduction of the characteristics in series production machines The following table shows many of the most frequently used application types and the corresponding control loop settings Velocity controller proportional gain Velocity loop Integral Action Time Comments Feed axis on standard Kp 0 5 Kpcrit Tn 2 Tncrit Good stiffness and good tool machine command response Feed axis on perforating Kp 0 8 Kpcrit Tn 0 High proportional gain no l press or chip cutter part to achieve shorter machines transient periods Feed drive for flying Kp 0 5 Kpcrit Tn 0 Relatively non dynamic control cutting devices setting without I part to avoid structural tension between the part to cut off and the machine Rexroth Indramat Fig 9 67 Identification of Velocity Controller Settings DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 61 Pre settings Determing resonance frequency Filtering oscillations from mechanical resonance The drives are able to suppress oscillations caused by the drive train gear between the motor and the axis or by the spindle mechanics even in a narrow band Thus an increased drive dynamics with good stability can be achieved The mechanical system of rotor drive train load is induced t
301. eceipt of a symbol from the serial interface As soon as either e avalid SIS start telegram e ora valid ASCII start sequence bcd address has been received there is an internal switching to the relevant protocol and baud rate The drive supports two different protocols e ASCII protocol e SIS protocol These are explained below in greater detail Rexroth DOK ECODR3 FGP 03VRS FK02 DE P Oo Indramat 1 6 Serial Communication ASCII Protocol SIS protocol Rexroth Indramat ECODRIVE03 FGP 03VRS Features e Transmission rates of 9600 and 19200 baud e Maximum transmission path 15m e 8 bit ASCII protocol e no parity bit e astop bit Structure Telegram frame In this case no telegram frame is used but instead the transmitted ASCII symbol is converted and interpreted It is only necessary to maintain a specified order Features e This is a binary protocol e Achecksum test is conducted higher Hamming distance D e Alltelegrams are identified by an unequivocal start symbol e There is a defined telegram frame structure e tis possible to trigger movements via an SIS telegram e g jogging Structure Telegram frame An SIS telegram is basically broken down into three blocks e Telegram head e user data head e user data head Telegram head User data User data head Fig 1 6 The structure of an SIS telegram DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communicati
302. eceleration ramp 2 If the value of parameter P 0 1211 Deceleration ramp 1 is zero then parameter P 0 1201 Ramp 1 pitch is used If the value of parameter P 0 1213 Deceleration ramp 2 is zero then parameter P 0 1203 Ramp 2 pitch is used If parameters P 0 1201 Ramp 1 pitch or are equal to zero then standstill takes place without ramp and at full torque Note In all cases the SS display reads AH and the diagnosis in S 0 0095 reads A010 Drive HALT If the actual velocity falls below the value of the parameter S 0 0124 Standstill window the bit 11 Drive Halt Confirmation will be set in S 0 0182 Manufacturer class 3 diagnostics The selected mode becomes active once again if e by setting the drive halt bit in the fieldbus control word The structure of this word depends on the set profile type For profile types I mode profile type FF80 FF81 or FF82 in bit 1 for Rexroth Indramat Profile types in bit 13 of fieldbus control word Connecting the drive halt input If command communication does not use a fieldbus e g SERCOS interface or Profibus then the hardware controls the drive halt function For more information on this see the Project Planning Manual sec Drive halt and drive enable 9 10 Drive Controlled Homing DOK ECODR3 FGP 03VRS FK02 EN P The position feedback value of the measuring system to be referenced forms a co ordinate system referencing the machine axis If absolute encoders are not
303. ected velocity e In parameter P 0 0098 Max Model Deviation the maximum deviation between the actual feedback value and the expected feedback value is always displayed Note The contents of this parameter are not saved After enabling the drive this parameter equals zero e This value can be used to help set the monitoring window Parameter S 0 0159 Monitoring Window should be set to P 0 0098 Max Model Deviation multiplied by a safety factor A safety factor between 1 5 and 2 0 is recommended Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 67 Example Content of P 0 0098 Maximum Model Deviation 0 1 Determination for the parameter S 0 159 Monitoring Window 0 2 2x0 1 9 Deactivation of the Position Control Loop Monitoring It is strongly recommended to activate the position loop monitoring However there are exceptions for which the position loop monitoring must be deactivated You can do that with the parameter S 0 0159 Monitoring Window if it is set to very high values Note By default the Position Control Loop Monitoring is active Setting the Acceleration Feed Forward DOK ECODR3 FGP 03VRS FK02 EN P For Servo applications where high precision at high speeds counts you have the option to greatly improve the precision of an axis during acceleration and brake phases through activation of the acceleration feed forward Typical application
304. eeeeeaeees 7 5 Torgu Evaluation ene A ieeeeta Moat ai Neat sii A aA 7 6 User defined Settings for the Asynchronous MoOtol c ccceececeeeeeeeeeeeeeeeeeeeseaeeeseaeeeeneeeeaes 7 7 A ASYMCMCONOUS MOONS wisi cafe EP a ate cess hese AT ves tcwasdh AEE 7 9 Starting up Synchronous Kit Motors cceecceceeeeeeeeeeeeeeeeeeeeeeeeeeseaeeesaaeeeeeeeseaeeesaeeeeaeeeenees 7 11 Determining COMMUtAtION onset sre ia tean aTe aE EEEE REE EREE Ea 7 11 Fieldweakening range for synchronous MOTOMS ceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeees 7 18 TS Motor Holding Brake y ea a E E T Gana S 7 19 Pertinent Parameters ci eaa A S E E T Gecbbeea paadoncerts 7 19 Setting the Motor Brake Type sssssessseessssirssrnssrrssrnssrrssinssrrsstrsstnstinstnnstnnnnnnttnnntnnntnnntnnntnn nnt 7 20 Setting the Motor Brake Integral Action Time cc cccecececeeeeeeeeeeeaeeeeneeseeeeeeaeeeeaaeseeeeeeeeeess 7 22 Setting Maximum Decel Time c ccccccceeesecsececeeeeeeeaeeeeeaeeeneeceeeeeceaeeeeaaesdeneeenaeeesaeseeaaeeeenees 7 22 Command Release motor holding brake ccccccceeeeeseeeeeeceeeeeeeeeaaeeeaaeeeeneeeeaeeessaeeeeaeeeenees 7 23 Monitoring the Motor Holding Brake ec ceecseeeeeeeneeeeeeeeeeeeeeeaeeeeeeaeeeseeaaeeeseeaaeeeeeeaeeeeneaaes 7 23 Connecting the Motor Holding Brake ccc ccceeceeeeeeeeeeeceeeeeeeeeeeeaaeeeeeeeseeeeceaeeesaeeseeeseeeeess 7 24 8 Operating Modes 8 1 8 1 Setting the Operatin
305. eeeeeeeeeaeeesaeeeseaeseceeeseaeeesaeeseaeeeeaes 5 35 Object Directory CANopen specific ceeeceecceeeeeeeeeeeeeeeeeeeneeceeeeeeeaeeeeaaeseeeeeseaeeesaeeeeaeseenees 5 35 Configuration of CANopen Slave ceccccccccceececeeececeeeeeeeeceeeeeceaeeeseaeeeaaeseeeeeeeeeeseaeseeaeeeenees 5 36 Number and length of PDO in ECODRIVE 08 c ceccceeeeseeeeeeeeceneeeeeaeeeeeeeeeeeeseaeeesaeeeeeeeees 5 37 Diagnoses LED for CANopen c ccceeeeceeeeeceeeeeceaeeeeaee scenes caeeesaaeeseaeeseeeeesaesesaaeeeeaeeeneeseas 5 37 Assignment of CANopen Connectors X50 ccccccceeeeeeeeneeceeeeeeeeeeeaeeeeeeeseeeeeseaeesseaeeneneeeeaes 5 38 5 5 Command communications with DeviceNet cccceceeeeeeeeeeeeceeeeeeaeeeeaeeseeeeeseaeeesaeeeeaeeeeneeees 5 39 General Informatio Nystad ienaa a aa andan rasei heat naapi araara Eata r Naaa ates 5 39 F nctiona l OvervieW cihcc livre a savedvedeavseseadasechec Cevsrtctiakedvsdcdeueyhedapechiaceatit dtuPeteadcevsssaedantehuadcssee 5 39 DeviceNet INtermace yrun A AE AE TEE ag iecus E EAN SERA a E SEDE ERA 5 40 Setting the Slave Address and Transmission Rates bus specific esseese essers esseen 5 40 Explicit Message iarain aia a ii EEEE EA ATEOA E A ETEA AE i AEAT EE 5 40 Electronic Data Sheet for DKC06 3 0 cccccccceeeececeeeeeeeneeeeeaeeeeeeeeeaeeesaeeesaaeseceeeseaeeesaeeeeaeeeeaes 5 40 Object Directory DeviceNet specific 20 ceceeececesseeeceeseeeeecsaeeeeecaaeeeeecae
306. eeeeeeeeecaeeesaaeesceeeseeeesaeeesaaeeeeeeeeeeeseas 4 23 Permanently Configured Collective Indication ccccccseeeeeeceeeeeeeaeeeeseeseeeeseeeeeaeeteneeesaes 4 25 4 5 Language Selection irinci a aiaei aaa aaa ieaiaia divi a a eddies 4 29 4 6 Firmware Update with the Dolfi Program ooo eee ececeeeeeeeeeeeeeeeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaeeeeeaaes 4 29 Error Message in the Firmware Loader ssssssssesssrrssesrnessrnnesssnesrnnnnsnnnnennnnnennnnnennnnnnnnnnnennnaa 4 29 Additional Problems when Loading Firmware s ssssssssssssssrssssrrssrirnssirnssrinssrinnnstnnnnnrennnsennn 4 32 5 Command Communication via Fieldbus 5 1 5 1 Bus Independent Features cca ect vndaneistentin E a a S E T iterates 5 1 PIOPIG sy e a ES a a eS 5 1 Pertinent ParameterS cceccccceceecccceseeceeeeeeeceeeeneccaeeeeeaneeseaaaeessaaaaeesaeaaeeeseaaeeeeseeeaeeeeneeaeenenaes 5 1 OBI SCHIMAPPINGss ccreriee stesso eee sacra heen SelM ed eel eck Yel ei eels eto 5 2 Setting the Slave ACIeSS cccccccececeeeeseeeeeeeeceeeeeeaaeeeeaaesaeeeaeeeceaeeeeaaesgeaeeseeeesaeeeeaaesseneeees 5 3 Drive Parametrization Via Fieldbus ee eeeeceee enn eeeeenee cette ae eeeetaaeeeeesaaeeeeeaaeeeeetaeeeeeenaeeeeneaa 5 4 5 2 Command Communications with PROFIBUS DP ccscceeeceeeeeceeeeeeaeeeeneeseaeeesaeeeeaeeseeneeeaas 5 9 General Information enaa aa a aatan ae aa e aa aE a aA aa a aut AAE EEEa Sk 5 9 FUNCTION OVEFVIOW siete cav
307. eeeeneeees 10 28 1042 Encoder Emulation sirini i iE APEE EE EA AE EORR EN ee 10 29 Perinent Paramete Sreser iu an ea A A E A E E des 10 29 Activating Encoder EmulatioMssesn ea a A A T E E AR 10 30 Functional principle Incremental Encoder Emulation ssesssssssssssssrsseerrssrerssrrrrssrrrnssrernssne 10 30 Diagnostic Messages with Incremental Encoder Emulation ssssseesesseeeeesrreserrsseerrssrernssns 10 32 Functional Principle Absolute Encoder EMmUulation ccceeecceeeeeeeeeeeeeeeeeeeeeeeeeeseneeeeeeeneees 10 32 10 13Measuring wheel operation MOdEC eeececeeeeeeeee ee eene eset eae ee eee ae eset teases ee eaaeeeeetaaeeeeeeaeeeeenaeeeeeeaea 10 34 Pertinent Parameters ccccecccceesenceceseeeeeeeceneeeeesaeeeeeesaeeeeeeaneeseeaeeseesanaeseeneeseeeenenaeesenenaes 10 35 Tho Functional Primeiplecczc s sc8 eetece knee E OEA A 10 35 Diagnostic Massages en oc shat E E O EE ase OEREO 10 37 11 Glossar 11 1 12 Index 12 1 Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS System Overview 1 1 1 System Overview 1 1 ECODRIVEO3 the Universal Drive Solution for Automation The universal automation system ECODRIVEO3 is an especially cost effective solution for drive and control tasks The servo drive system ECODRIVEO3 features e avery broad implementation range e extensively integrated functionalities e a highly favorable price performance ratio Further features of ECODRIVEO3 are its ea
308. eeesssaeeeesesaeeesseaaes 5 41 Configuration of DeviceNet Slave ccccecccccecceceeeeceeeeeeeeceeeeeeeeeeeeeaeeseneeseeeeesaeeeeaeeeeeeeseatess 5 42 Number and length of Polled I O in DKCO6 3 eccceeeeeseeceeeeeeeeeeeeeaeeeeeeeseaeeesaeeeeneesseeeeas 5 43 Diagnose LED for DeviceNet mrii na iiaa a anian a akaa aa aina iaa ERa E aina 5 43 6 Profile Types 6 1 6 1 General Introductio iii eiii ieira eiii ia i iarasi Aa ii aN 6 1 Overview of the Profile Types Supported cecececececeeeeeeeeeeeceeeeeseaeeeaaeeeeaeeeeeeeeseaeeesaeseeeeeees 6 1 DefinitiONS crna a E A aed ord T eee ARAS 6 2 Allocation to Drive Internal Modes ssssssssssensssresssirrsirnsstirnsstinnnstennnstinnnntinnantnnnntnn nanten nant 6 3 62 WOIMOd6 a a a a a iit inva de tite Lat anand e eget eS 6 4 Basi O mode tunction 24 dices ath asian hth ans eaaa aaa a ah ete aie 6 4 Status machine in I O mode Fieldbus control and status word ccceeeceeeeeeeeeeeeeeeteeeeeees 6 5 VO Mode Default Setting cceccccsseeeceeceneeeesaeeeeeeeceeeeeaaeeeeaaesganeecaeeesaaeseeaeeseeeeesaeeseaeenenees 6 8 I O mode with cam P 0 4084 OXFF81 eecceeececeeeeceeeeeeeeeceeeeeceaeeeseaeeeeaeeseaeeeseaeesenaeeeneees 6 8 I O mode freely expandable P 0 4084 OXFF82 ceccceceeeeeeeeeeeeeeeseeeeeeeaeeeeeaeeseaeeseeneesaees 6 9 6 3 Rexroth Indramat specific profile tyPOS eee ee eeeeeeeenne ee ee eene ee eee aeeeeeaaeeeeeeaaeeeeee
309. eference point in the old drive co ordinate system The desired position in the new co ordinate system referring to the machine s zero point is in parameter S 0 0052 Reference distance 1 and S 0 0054 Reference distance 2 e With Evaluation of distance coded reference marks the specific point is the zero point position of the first reference mark of the distance coded measuring system By detecting the position difference between two adjacent reference marks the position of the first reference marker in the old drive co ordinate system can be determined The desired feedback position at this point is defined by the position of the first reference mark in the machine co ordinate system at this point plus the value in S 0 0177 Absolute distance 1 for motor encoders or S 0 0178 Absolute distance 2 for optional encoders In both cases the difference between both co ordinate systems is added to the old drive co ordinate system The co ordinate systems will then correspond to one another By switching the position command and feedback value S 0 0403 Position feedback value status is set to 1 This means that the feedback position value now refers to the machine zero point Note If the drive once the reference command has been conducted is in parameter mode again then parameter S 0 0403 Position feedback value status is set to 0 because the feedback values in command S 0 0128 C200 Communication phase 4 transition chec
310. el is broken down into e aprocess data channel real time channel and e an optional parameter channel The real time channel Process data channel contains permanently programmed information Thus the receiver can directly interpret this information Parameters in general can be transported in the parameter channel To read parameters however the PLC must first receive a read request in writing This is why the parameter channel has no Real time features The cyclical data channel can be configured via the following parameters 1 0 Parameter Definition mode Interpolation P 0 4082 Length of real time data channel In 2 24 Slave gt Master in bytes P 0 4087 Length of real time data channel Out 2 24 Slave gt Master in bytes P 0 4083 Length of parameter channel in DP 0 12 Fig 5 20 Parameters to configure the cyclical data channel Parameter channel Process data channel FT real time data channel P 0 4082 Lenght of real time data channel In or P 0 4087 Lenght of real time data channel Out Fp5059f1 FH7 Fig 5 21 Structure of the cyclical channel Note The parameter channel is always at the start of the cyclical data channel The length of the parameter channel and the length of the process data channel used to exchange real time data represent the entire length of the cyclical data channel Rexroth Indramat 5 12 Command Communication via Fieldbus ECODRI
311. elefax 386 64 64 71 50 Mannesmann Rexroth Schweiz AG Gesch ber Rexroth Indramat GewerbestraBe 3 CH 8500 Frauenfeld Telefon 41 0 52 720 21 00 Telefax 41 0 52 720 21 11 Mannesmann Rexroth Suisse SA D partement Rexroth Indramat Rue du village 1 CH 1020 Renens Telefon 41 0 21 632 84 20 Telefax 41 0 21 632 84 21 Europaische Kundenbetreuungsstellen ohne Deutschland European Service agencies without Germany DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Kundenbetreuungsstellen Sales amp Service Facilities 3 3 AuBerhalb Europa outside Europe vom Ausland from abroad x nach Landeskennziffer weglassen don t dial x after country code Argentina X sates L serice Argentina Dx SALES X Service Australia X SALES X Service Australia K SALES O Service Mannesmann Rexroth S A 1 C Division Rexroth Indramat Acassusso 48 41 7 RA 1605 Munro Buenos Aires Telefon 54 0 11 4756 01 40 Telefax 54 0 11 4762 6862 e mail mannesmann impsat1 com ar Brazil K SALES X Service NAKASE Servicio Tecnico CNC Calle 49 No 5764 66 RA 1653 Villa Balester Prov Buenos Aires 54 0 11 4768 36 43 54 0 11 4768 24 13 nakase usa net nakase infovia com ar Telefon Telefax e mail Brazil Oo SALES X Service AIMS Australian Industrial Machinery Services Pty Ltd Unit 3 45 Horne ST Campbelifield VIC 3061 AUS Melbourne 61 0 3 93 59 02 28 61 0 3 9
312. ement system errors as far as this is not recognized by the other measurement system monitors To set the monitor function use the parameter e 0 0391 Monitoring window feedback 2 If an error occurs the error message F236 Excessive position feedback difference is generated Basic Operating Characteristics of the Position Feedback Monitor The position feedback monitor compares the position feedback value of the encoder 1 with the encoder 2 If the deviation of both position values is greater than S 0 0391 Monitoring window feedback 2 the error F236 Excessive position feedback difference is generated As a result the motor and optional encoder home mark bits are cleared The position feedback value is only active if an optional encoder is available and evaluated and if S 0 0391 Monitoring window feedback 2 is not parameterized with a 0 Rexroth Indramat 9 18 Basic Drive Functions Rexroth Indramat ECODRIVE03 FGP 03VRS Position feedback value 1 S 0 0051 Position feedback 1 value Position feedback value 2 S 0 0053 Position feedback 2 value S 0 0391 Monitoring window feedback 2 The error F236 Excessive Position Feedback Value Difference is generated Fig 9 21 Position feedback value monitoring schematic Setting the Position Feedback Monitoring Window The requirements for setting the position feedback value monitor are e All drive regulator loops must be set correctly e The axi
313. en 1 to 9 words or 2 to 18 bytes in either direction Setting the length of the PD channel in ECODRIVE 03 The length of the PD channel is specified in the contents of the configuration lists in P O 4080 or P 0 4081 and can be read in parameters e P 0 4082 Length of real time data channel In Slave gt Master e P 0 4087 Length of real time data channel Out Master gt Slave The setting becomes effective when the controller runs up into operating mode This is why it must be pre programmed Note Note that a change in the length of the process data channel also needs a change in the master configuration The set length of the data channel must agree with the length in the master Configuration via SET_PRM Service of PROFIBUS DP When setting up a series produced machine for example it makes sense to parametrize the drive from the fieldbus master The master can via service SET_PRM basically parametrize the slave so that data length on the bus and in the operating mode of the drive are fixed The user data of the SET _PRM service are generally set menu driven via the configuration tool of the DP master with the help of the GSD file These data User_Prm_data are documented below P 0 4083 P 0 4084 Number of P 0 4081 Real time output P 0 4080 Real time input Length PC Profile type elements of object structure object structure configuration list n in bytes HB LB HB LB P 0 4081 P 0 40
314. ends no A prompt if address is the same yes ii lt Timeout os Character sequence gt found in ho receive buffer nes Receive buffer contents Wie eae BCD 01 E01 gt Y aa The characters in only appear if Step 3 another unit on bus is open Check receive buffer for pattern A gt no gt Transmission error Drive is open gt ready for communication FD5002B1 WMF Fig 1 12 Actuating a bus user Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 DE P Serial Communication 1 11 Write Accessing a Parameter The write accessing of a parameter generally takes place as follows ID number of parameter data block element number with operating data Carriage Return Once a write operation is completed the drive signals with a prompt To access the parameter value of parameter P 0 4037 for example the following must be input Note All data entered must correspond to the data type set in the attribute HEX BIN DEZ Step 1 Communication with drive not Send request possible e g P 0 4037 7 w 1 000 CR gt check address gt check setting i gt check connection Step 2 i Drive received character a no ex Drive repeats reque
315. ent nr 010 name of parameter 011 attribute 100 unity 101 min input value 110 max input value 111 operation data Bit 6 7 reserved BIO003f4 fh7 Fig 5 8 Control byte Byte9 in the user data header Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Structure of a status byte ina reaction telegram Structure of the SIS reaction telegram Telegram header User data header DOK ECODR3 FGP 03VRS FK02 EN P Command Communication via Fieldbus 5 7 The status byte supplies the results of a transmission in the form of a code Transmission status Code numbers transmission without error 0x00 protocol error OxFO OXFF execution error 0x01 OxXEF Fig 5 9 Transmission status in a reaction telegram The following status information are presently in available Protocol error Invalid service Code Error description OxFO The requested service is not specified or is not supported by the participant addressed general protocol violation OxF 1 The command telegram cannot be evaluated e g telegram length wrong Fig 5 10 Protocol error in the reaction telegram Execution error Error description parameter processing error 0x01 An error occurred while R W a parameter phase transition error Fig 5 11 Execution error After sending a comma makes a reaction teleg 0x02 The specified target phase was not
316. equence 1 Write request of a SERCOS parameter in SIS format gt Write 2 Read out reaction telegram gt read confirm or error message Note The complete coding rules for the SIS protocol are specified in Attachment A Serial Communication SIS protocol Every SIS command telegram is made up of e 7 bytes telegram header start symbol e 5bytes user data header e nbytes user data Byte Name Definition 1 STZ start symbol 0x02 2 CS checksum not relevant with fieldbus 3 DatL data length incl user data header in bytes 4 Datlw repeat DatL 5 Cntrl control byte 6 Dienst ECODRIVE services 7 AdrS address of sender 8 AdrE address of receiver Fig 5 3 Telegram header of the command telegram Byte Name _ Definition 9 Ctrl Byte control byte in user data header 10 drive addr address ECODRIVE 11 ParaTyp parameter type 12 ParaNumL parameter number low byte 13 ParaNumH parameter number high byte Fig 5 4 User data header of the command telegram Byte Name Definition 14 luser data user data bytes Intel format 15 luser data _ user data bytes Intel format Fig 5 5 User data of the command telegram Note The number of user data is determined by the data exchange object used Rexroth Indramat 5 6 Command Communication via Fieldbus ECODRIVE03 FGP
317. erating mode Whether the drive is in preparation for operation or in parameter mode also is displayed The current operating condition can be determined from e the 2 part seven segment display H1 display e the diagnostic parameter S 0 0095 Diagnostic Message e the parameter S 0 0390 Diagnostic Message Number e the parameter P 0 0009 Error Message Number e the parameter S 0 0375 List of diagnostic numbers The current diagnostic message with the highest priority is always shown in the e H1 display e S 0 0095 Diagnostic Message and e 0 0390 Diagnostic Message Number The parameter P 0 0009 Error Message Number will contain a value unequal to 0 if an error is present The last displayed diagnostic numbers are displayed in chronological order in parameter S 0 0375 List of diagnostic numbers An overview of all diagnostic messages can be found in the diagnostic description Troubleshooting Guide Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS General Instructions for Installation 4 23 Z ee p pa rror e AOE Wier R l ply H Warning O rm rt L he Command error T rl l ommand active g L C d act Ready to operate yes no Operation lock oe curt i ci al ci J active I i I I L I l Ready to L L Communicationphase operate Li Lt rive rea i L omer 0 Drive automatic ri r check l L Drive error
318. ergency Stop appears Bit 15 is set in S 0 0012 Class 2 diagnostics manufacturer specific warning Simultaneously the bit change bit class 2 diagnostics is set in the drive status word This change bit is cleared by reading S 0 0012 Class 2 diagnostics The functional principle at work when actuating the E Stop input is that of a series connection to an external drive enable When activating the E Stop input the drive responds as if the external drive enable switched off To re activate the drive the E Stop input must become inactive and another 0 1 edge must be applied to the external drive enable Rexroth Indramat 9 54 Basic Drive Functions Interpretation as error with adjustable reaction F434 Emergency Stop active Interpretation as error with reaction as Velocity command Rexroth Indramat value to zero ECODRIVE03 FGP 03VRS If bit 2 has been set to treat it as an error then the reaction selected in bit 1 is performed The error diagnosis F434 Emergency Stop or F634 Emergency Stop E stop activated appears and bit 15 is set in parameter S 0 0011 Class 1 diagnostics Bit 13 is set in the drive status word of the drive telegram i e drive interlock error with class 1 diagnostics is set The error can be cleared via command S 0 0099 C500 Reset class 1 diagnostic or the S1 button on the drive controller if the E stop input is no longer activated This function basically works as if an error had
319. ermining detecting the active mode 8 1 DeviceNet Interface 5 40 Diagnose LED for DeviceNet 5 43 Diagnoses for LED for CANopen 5 37 Diagnoses when setting the commutation offsets 7 18 Diagnostic error messages of the system status word 10 2 Diagnostic LEDs for INTERBUS 5 33 Diagnostic LEDs for PROFIBUS 5 22 Diagnostic Message 4 24 Composition of the Diagnostic Message 4 23 Diagnostic Message Display 4 22 Diagnostic Number 4 24 Diagnostic Message Number 4 24 Diagnostic Messages in Measuring wheel operation 10 37 Diagnostic messages in multiplex channel 6 26 Diagnostic messages of jog mode 8 47 Diagnostic messages when setting the absolute dimension 9 105 Diagnostic messages with configurable signal control word 10 5 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Index 12 5 Digital Output 10 11 digital servo feedback 9 10 Directional change within a following block chain 8 42 Disable Torque 9 46 Display Format of the Acceleration Data 9 4 of the Position Data 9 3 of the Velocity Data 9 4 Dolfi 4 29 Dolfi can be used to establish a connection 4 33 Dolfi cannot open the ibf file 4 33 Dolfi signals timeout 4 33 Drive controlled positioning block diagram 8 16 Pertinent Parameter 8 16 status messages 8 21 Drive enable or drive start 9 71 Drive halt pertinent parameters 9 77 Drive Internal Interpolation Associated Parameters 8 11 Block Diagram 8 11 Diagnostic Messages 8 11 Functional Pr
320. error or an internal error code The definition and explanation of the internal error codes are listed below SIS errors are explained in a different chapter Error code Description 0x0085 The sum of all fragments that had been collected is too long 0x0088 Error occurred during communication between drive and fieldbus card 0x008A Given index does not exist 0x008B Format is not known 0x008C The valid length in the control word is longer than the PK 0x008D Communication is not possible PK is too short lt 2 byte 0x0090 While collecting several fragments the format has changed 0x0095 When reading an index data are sent in addition to index and sub index 0x0096 The internal SIS communication returned an error 0x009A This function is not implemented 0x009B The PK is already in use by the old PK 0x009C Given sub index does not exist 0x009D Sub index is write protected Ox00FO Timeout during communication between drive and fieldbus card Fig 5 40 Error codes Cancelling data transfer In some cases it might be useful to be able to cancel an existing data transfer in example reading list elements and in between the master wants to stop the slave to send data Indicating to the slave that it should stop all actions and wait for a new read or write command is done by setting the format bit to OxF and the length L and R bit to zero The slave will change its intern
321. ers EA TE E A E A E opecareniae 5 10 PROFIBUS Interface sic naine ie A ie eae an i eee a e i a 5 10 Setting a Slave Address and Transmission Rates cccccceeeeeeeeeeeeeeceeeeeseaeeeeeeeeeeeeeeeeess 5 10 Parameter Channel in the DP cccececseeceeceeeneeeeeaeeeeaeeseeeeeceaeeesaaeeseaeeseeeeesaeeesaaeeeeeeeeneeesaas 5 11 Object Directory PROFIBUS Specific ccccceeeeceeeeeceeeeeeeeeeeeeeeeseaeeeseaeeeeneeeeeeeseaeeesaeeeenees 5 20 Unit master file for DKC03 3 0 ceeecceeececeneeeeeeeeeeeeeeeaeeeeeaeeeeaee sense eae eesaaeseeaeeseeeeesaeeeeaeeseneeee 5 20 Configuration of the PROFIBUS DP Slave eccccccscseececeeeeeeee esses eeeeeeseeeeeecaeeesaeeeeeeseeeeess 5 20 Length of the process data channel PD in ECODRIVE 08 ecceceseeeeeeeeeeeeeeeteeeeeeeeseneeees 5 21 Configuration via SET_PRM Service of PROFIBUS DP cecceeeeeeeeseeteeeeeeeeeeeaeeseneeeeaees 5 22 Diagnostic LEDs for PROFIBUS 0 cececccecceeeseeceeeee eee eeeeaeeeeeeecaeeesaaeeeeaeeeeeeesaeeesaeeeaeeeeaes 5 22 Assigning PROFIBUS Plug In Connector X30 ccecsceeeececeeeeeeeeeeeeeeeeeeeseneeeseaeeeseaeeeeneeeeaes 5 23 5 3 Command Communications with INTERBUSC S 00 ccceceeeeeeee cece ee eeeeeeeaeeeeeeeseeeesaeeeseaeeeeneeees 5 23 General Information orrori narra Gpevied merat tdi daa aai a haa Eor daea bahaa R Andaa aaia adata aaa ie 5 23 F nctional OVErVIEW serineto opein naaraana a arae e eva a raaa es a Ara AE
322. es If it is the drive will not move and the warning E253 Target position out of travel range is generated and bit 13 in parameter S 0 0012 Class 2 diagnostics is also set The diagnostic message in the case that the axis limit values have been exceeded depends on the type of reaction How handled SS display Diagnostic message As an error F629 F629 Positive travel limit exceeded F630 F630 Negative travel limit exceeded As a warning E829 E829 Positive position limit exceeded E830 E830 Negative position limit exceeded Fig 9 52 Diagnostic message when axis limits have been exceeded Axis Limit Values Activation The axis limit value monitor is activated in bit 4 of S 0 0055 Position polarities S 0 0055 Position polarities K Bit 4 Position limit values 0 not active 1 active Fig 9 53 Activating the axis limits Travel Zone Limit Switches Connection see project planning manual DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 41 9 5 Master Axis Feedback Analysis The Functional Principle of Master Axis Feedback Analysis This function analyzes a master axis feedback in the drive control The master axis encoder can be evaluated parallel to the motor encoder as an optional measuring system and supports detection of the position of a mechanical shaft from which either the control velocity or position command values are computed in the
323. es can occur e D300 Command adjust commutation The commutation setting command is set Determining commutation offset is running or has been executed e D311 Commutation offset could not be determined Or e F811 Commutation offset could not be determined Commutation offset has not been determined because encoder rotational direction was wrong axis mechanically blocked brake closed axis at dead stop e D301 Drive not ready for commutation command At command start Application 2 the drive must be in torque control If not then this error is generated e D312 Motion range exceeded during commutation Or e F812 Motion range exceeded during commutation The axis has moved more than one pole width or 360 number of pole pairs because Parameter for commutation setting is too big mechanical motion generated from outside velocity controller incorrectly parameterized Fieldweakening range for synchronous motors Rexroth Indramat The working range of synchronous motors is limited in conventional mode on converters by the converter voltage The motor reaches maximum speed once its no load voltage has reached the converter voltage With a fieldweakening range for synchronous motors it has become possible to operate motors outside of this limitation If fieldweakening is to be used with synchronous motors then the following parameters must be set motor specifically as stated in the Indramat specifications
324. es that are allocated to him As per Predefined Connection Set of DS301a bus wide unequivocal address of the slave is thus necessary This address is set on the inserted firmware module Note As per CANopen an address in the range of 1 127 can be set With a DKCO05 3 it is only possible to set addresses up to 99 maximum Address 0 not allowed DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS SDO Services Command Communication via Fieldbus 5 35 DKC05 3 supports the messages defined in Predefined Connection Set of CANopen DS301 This defines the following message identifiers COB ID COB ID Definition 0x000 NMT Master gt DKC05 3 0x080 SYNC Master gt DKC05 3 0x080 address EMCY DKC05 3 Master 0x180 address PDO1 DKC05 3 Master 0x200 address PDO1 Master DKC05 3 0x280 address PDO2 DKC05 3 Master 0x300 address PDO2 Master gt DKC05 3 0x380 address PDO3 DKC05 3 Master 0x400 address PDO3 Master DKC05 3 0x580 address SDO DKC05 3 Master 0x600 address SDO Master gt DKC05 3 Fig 5 51 Message identifier COB ID For further information about services see the literature of the master circuit Electronic Data Sheet for DKC05 3 File name For each CANopen unit there must be an EDS file EDS in which the data needed to operate the unit on the BUS are stored This file is needed for the configuration of the BUS
325. esigned in accordance with the following standards on contact safety e International IEC 364 4 411 1 5 e EU countries see EN 50178 1998 section 5 2 8 1 High electrical voltage due to wrong connections Danger to life severe electrical shock and severe bodily injury WARNING Only equipment electrical components and cables of the protective low voltage type PELV Protective Extra Low Voltage may be connected to all terminals and clamps with 0 to 50 Volts Only safely isolated voltages and electrical circuits may be connected Safe isolation is achieved for example with an isolating transformer an opto electronic coupler or when battery operated 3 7 Protection against dangerous movements Dangerous movements can be caused by faulty control or the connected motors These causes are be various such as e unclean or wrong wiring of cable connections e inappropriate or wrong operation of equipment e malfunction of sensors encoders and monitoring circuits e defective components e software errors Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble free operation The monitors in the drive components make faulty operation almost impossible Regarding personnel safety especially the danger of bodily harm and property damage this alone should not be relied upon to ensure complete safety Until the built in monitors become active and effective it mu
326. est value derived from all these limitations is displayed in parameter P 0 4046 Active peak current The controller can supply this maximum current momentarily DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Thermal load of the controller S 0 0110 Amplifier Peak Current S 0 0109 Motor Peak Current Basic Drive Functions 9 29 Thermal load of the pull out current limit motor P 0 4004 Magnetizing Current r wy A Smallest value of Reduction in S 0 0109 and dependence on S 0 0110 magnetizing current Fig 9 35 P 0 0109 Peak Torque Force Limit S 0 0092 Bipolar Torque Force Limit P 0 4046 Active Peak Current a Dynamic reduction because of thermal overload Reduction by bipolar torque force limit Value displayed in P 0 4046 actual peak current P 0 4045 Active permanent current That current displayed in parameter P 0 4045 Active permanent current is the continuous current value available from the drive This current depends largely upon e the machine type and e the switching frequency of the output stage This unit specific value is additionally reduced by the magnetization current as parameter P 0 4045 Active permanent current only displayed the torque generating portion of the motor current Note If the effective peak current is smaller than the effective continuous current then the effective continuous current is set to the value of the effec
327. etting the absolute dimension is started then drive internally the co ordinate system is always automatically and immediately switched bit 2 is not relevant in this case Case P 0 0612 Behavior when executing the command Al Biti 0 Setting the absolute dimension by conducting Bit2 x P 0 0012 C300 Command Set absolute measurement e by writing 11b into P 0 0012 then in addition to command start Setting the absolute dimension the co ordinate system is also automatically switched B1 Bitt 1 Setting the absolute dimension with a 0 1 Bit2 x flank at the reference switch input e a 0 gt 1 flank at zero switch input stores the actual position e and the co ordinate system is also immediately switched Fig 9 107 Overview setting the absolute dimension without drive enable Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 102 Basic Drive Functions Case A1 Case B1 The command Switching the co ordinate Rexroth Indramat system ECODRIVE03 FGP 03VRS When activating the command by writing into the parameter proceed as follows e The axis must be brought into the precisely measured position e The actual position value of the position wanted must be entered e The command can be started by writing 11b into P 0 0012 C300 Command Set absolute measurement e The command immediately sets the actual position value of the measuring system to the reference dimension
328. every four bytes DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 3 Examples Writing a parameter Writing S 0 0057 Positioning Index 0x2039 Sub index 10 in PROFIBUS INTERBUS and window CANopen class 101 instance 57 attribute 10 in DeviceNet With a value of 4 bytes as per parameter description Writing P 0 4006 Process block a gt Index 0x3FA6 Sub index 9 in PROFIBUS INTERBUS and g target position CANopen class 133 instance 181 attribute 10 in DeviceNet list parameters With a value of 2 bytes long which equals the actual length of the list number of elements b gt Index 0x3FA6 Sub index 10 in PROFIBUS INTERBUS and CANopen class 133 instance 181 attribute 10 in DeviceNet With the first two data bytes specifying a list offset list element and the following list elements of four bytes each as per parameter description Note The number of valid user data within a telegram results automatically from the length specified in the PK control word Up to 112 bytes can be transmitted within a telegram frame distributed over several communication cycles Setting the Slave Address The address is set on the inserted firmware module State at delivery Default address 99 The address of ECODRIVE03 is set to 99 at delivery Switch S2 Switch S3 QDs ups Set drive address 91 FP5032F1 FH7 Fig
329. eviations from an ideal sine form To keep the torque linear in this case the slip factor must be increased in the same measure at which the pre magnetizing scaling factor was decreased Warning Torque constant continual torque and peak torque are reduced Example The synchronous operation should be improved in a servo drive The pre magnetizing scaling factor is set to 40 and the slip factor is set to 2 5 times of the original value The continuous and peak torque decrease to approximately 40 The base speed increases to 2 5 times the rated base speed Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P Motor Configuration 7 9 ECODRIVE03 FGP 03VRS 7 4 Synchronous Motors Automatic detection and parameterization of Rexroth Indramat housing motors MHD and MKD motors With this drive firmware it is possible to run Rexroth Indramat housing motors e MHD e MKD and MKE motors plus rotary and linear synchronous kit motors MBS and LSF Indramat housing motors have stator rotor bearings and feedback built into the housing They are equipped with a motor feedback data memory in which e motor parameters e motor feedback parameters e synchronous motor specific parameters and e default control parameters are stored These motors are recognized by the firmware and the correct setting for them is automatic The compensation between the physical rotor position and the position supplied by the feedback is set at the factory
330. ew 5 34 DeviceNet 5 39 INTERBUS 5 23 Functional Principle Digital Output 10 11 Functional principle drive halt 9 78 Functional principle master axis encoder evaluation 9 41 Functional principle multiplex channel 6 23 Functional principle of command detect marker position 10 24 Functional principle of phase synchronization with real master axis 8 57 Functional principle of the analog inputs 10 9 Functional principle of the command parking axis 10 25 Functional principle of the current limits 9 28 Functional principle of the electronic cam with real master axis 8 61 Functional principle Setting the absolute dimension 9 100 Funtional principle E stop function 9 53 G Gantry axes Commutation offset 7 17 Gearwheel encoder 9 10 General commands on automatic control loop settings 9 69 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Index 12 7 General Comments 9 69 General features of I O mode 6 4 General information about jogging 8 45 General Introduction 6 1 General Operating Characteristics of Position Control Loop Monitoring 9 65 Get OV 5 24 H H1 Display 4 24 Hall encoder 9 10 Hardware Connections 9 105 Hardware Requirements Digital Output 10 12 Home switch Connection to the connector X3 9 99 Use during Homing 9 89 Homing Error Messages 9 98 Home switch 9 89 Position Feedback Values 9 86 Reference Offset 9 88 How velocity synchronisation with real master axis works 8 50 HSF 9
331. exroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 5 28 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Value Definition 1 0x0C bus length PD in Byte 2 0x60 1 byte on bus 6041 3 0x41 1 byte on bus 6041 4 0x00 sub index for object 6041 always 00 5 0x00 oe byte on bus still for object 6041 word 6 0x00 one byte on bus still to object 6041 7 0x00 sub index for object 6041 always 00 8 0x60 3 byte on bus 6064 H 9 0x64 3 byte on bus 6064 H 10 0x00 sub index for object 6064 always 00 11 0x00 4 byte on bus still to object 6064 H D word 12 0x00 4 byte on bus still to object 6064 H D word 13 0x00 Sub index for object 6064 always 00 14 0x00 5M byte on bus still to object 6064 L D word 15 0x00 5 byte on bus still to object 6064 L D word 16 0x00 sub index for object 6064 always 00 17 0x00 6 byte on bus still to object 6064 L D word 18 0x00 6 byte on bus still to object 6064 L D word 19 0x00 sub index for object 6064 20 0x60 7 byte on bus object 606C H 21 0x6C 7 byte on bus object 606C H 22 0x00 sub index for object 606C 23 0x00 8 byte on bus still object 606C D word 24 0x00 8 byte on bus still object D word 25 0x00 sub index for object 606C 26 0x00 9 bytes on BUS still to object 606C L D word 27 0x00 9 bytes on BUS still to object 606C L D word 28 0x00 Sub index for object 606C 29 0x00 1
332. feedback 2 value will be used as signal It is optional for probe 1 to determine whether only master axis positions or actual position values are latched that are within a fixed range signal select 3 4 and 6 The range is defined with parameter P 0 0204 Start position probe function active and P 0 0205 End position probe function active Connecting the Probe Inputs See relevant project planning manual 10 8 Positive stop drive procedure The command S 0 0149 d400 Positive stop drive procedure turns off all controller monitors that would lead to an error message in Class 1 Diagnostics during the blocking of a drive during a fixed limit stop If the command is started the drive generates the diagnostic message D400 Positive stop drive procedure command The controller monitors are switched off in all drive operating modes If there is a Class 1 Diagnostics error message at the start of the command the error D401 ZKL1 Error at command start will be generated The drive will acknowledge the command as properly executed when e the controller monitors are switched off e Md S 0 0084 gt MdLimit S 0 0092 and e Nnfeedback 0 Note The message nfeedback 0 is influenced by the parameter S 0 0124 Standstill Window If the command is cancelled by the control after execution then all regular controller monitors are reactivated Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 10 24 Optional Drive
333. for all other motor types However you must ensure that the switch off limit is not set higher than the maximum permissible temperature of the motor The maximum input value for S 0 0201 Motor warning temperature is S 0 0204 Motor shutdown temperature If the temperature of the motor exceeds the value in S 0 0201 Motor warning temperature the warning message E251 Motor overtemp prewarning is generated If the temperature rises to the motor switch off temperature the error message F219 Motor overtemp shutdown is displayed The minimum input value for S 0 0204 Motor shutdown temperature is S 0 0201 Motor warning temperature Note To display the motor temperature the parameter S 0 0383 Motor Temperature is used The drive controller checks for proper functioning of the motor temperature monitoring system If discrepancies occur temperature drops below 10 celsius the warning E221 Warning Motor temp surveillance defective will be displayed for 30 seconds After that the error message F221 Error Motor temp surveillance defective is generated Rexroth Indramat 7 4 Motor Configuration Load Default Feature ECODRIVE03 FGP 03VRS MHD MKD and MKE motors have a data memory in their feedbacks The data memory contains a set of default control parameters in addition to all motor dependent parameters These parameters are activated with the load default feature See also Load Default Feature 7 2 Setting
334. ft or load related and which LSB valence these have e g position data with 0 001 degrees or 0 0001 inches and so on e Interfaces rotational directions and the resoluton of the motor encoder and where available optional encoders DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 19 See also chapter Physical Values Display Format mat Mechanical Transmission Elements and Setting the Measurement System IBS 4 Setting the error reactions and E stop In this step the reaction of the drive in the event of an error is set as well as the triggering of the drives own E stop input The following parametrizations must be performed e type and mode of error reactions in drive e selection whether NC reaction in error case should happen e selection whether and if so when the power supply is switched off and whether a package reaction is to be conducted e Configuration of the E stop input See also chapter Drive Error Reaction IBS 5 Pre setting Control Loop The parameters for current velocity and position control loops are set in this step This is done either by e Execute command P 0 0162 D900 Command Automatic control loop adjust During the execution of the command the setting for the velocity controller and the position controller is determined as well as the load inertia or e Execute command S 0 0262 C700 Command basic
335. g 9 9 Modulo Processing Limiting Conditions 9 8 Modulo format 8 27 Modulo function modulo function absolute measuring system 9 27 Modulo range error 4 15 Modulo Processing Limiting Conditions 9 8 Modulo value 8 27 Monitor velocity control loop 9 63 Monitoring Axis Limit Values 9 39 Position Command Values 8 10 Position Feedback Value 9 17 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Index 12 9 Position Loop 9 65 Monitoring actual velocity in torque control 8 3 Monitoring the Distance Between Home switch and Homing Mark 9 91 Monitoring the motor holding brake 7 23 Monitoring the thermal load of the controller 9 30 Motor Brake with velocity command value set to zero 9 45 Motor current limit 9 31 Motor Encoder 9 11 Characteristics 9 14 Encoder Interface 9 13 Parameterization 9 12 Resolution 9 13 Motor Encoder Resolution 9 13 Motor feedback Saved parameters 7 2 Motor holding brake 7 19 automatic check 7 23 command brake monitor 7 24 integral action time 7 22 type of brake 7 20 Motor holding brake connection 7 24 Motor holding brake monitor 7 23 Motor overtemperature 4 26 Motor Reference Load Reference 9 2 Motor Types Characteristics of the Motors 7 1 Linear Rotary 7 2 Setting the Motor Type 7 4 Supported Motor Types 7 1 Synchronous Asynchronous 7 3 Multiplex Channel 6 23 Multiplex Channel Overview 6 23 N Non volatile Parameter Storage Registers 4 2 notch filter 8
336. g Mode Parameters cccccceecceceeeeeeeeeeeeeeeceeeeceaeeesaaeseeneseeeeeseaeessaeeneneeeeaes 8 1 8 2 Determining detecting the active MOE eee ceeeeece ee eeneee teenie eset eases eeeaeeeeetaeeeetaeeeeeeaeeeeeeaeeeeneae 8 1 8 3 Operating Mode Torque Control c ccceccceeeeeceeeeeceeeeeceeeeceaeeeeaaeseneeecaeeesaaeedeaeeseeeescaeessnaeeneneeeeaes 8 2 Pertinent Parameters cnicana eaa aaa a a aa a aa aai 8 2 Torque Controls citeicie dean iad hentai a a a a ew eae 8 2 Diagnostic Massage E rA EAT ESR AEIR 8 3 8 4 Operating Mode Velocity Control cccccccceeceeeeeceeeeeceeeeeeaeeeeeeeceaeecaeeeeeaeseeaeeseeeeeseaeessiaeeseeeeeaes 8 4 Pertinent Parameters rrera aare Eiana AARAA ELANDA SAREEK OAAR SE PLE GA Pa OLARE E KCRA CER SA REER IA AREARE 8 4 Command value processing Velocity CONtrOl ccccceeeceeeeeeeeeeeeeeeeceaeeeeeeeeseeeeesaeeeeeeeseeeeaas 8 4 Velocity Controler res aaaea aaa aaae ieei ch speech heath edie 8 5 Current Controllere cava ele Ai eA a an ee ee ee 8 6 Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Contents V 8 5 8 6 8 7 8 8 8 9 8 10 8 11 8 12 8 13 8 14 Diagnostic Messages cunan ma aR A E E cavteetbancpegeben shed E 8 7 Operating Mode Position Control reses aaraa aaae aeaa aa aaea AAAA e kanei taana 8 7 Command value processing Position Control cccceeeseeceeeeceeeeeeeeeeeeaeseeeeeseaeeesaeeseaeeeeeeeess 8 8 Positio
337. g with absolute encoder emulation 10 33 Reject 5 24 rejection filter 9 62 Relative positioning block with residual path after activating drive enable 8 29 Relative positioning block with residual path storage 8 28 Relative positioning block with residual path storage after interrupting with jog mode 8 30 Relative positioning block with residual path storage after switching drive controller control voltage on and off 8 31 Relative positioning blocks without residual path storage 8 26 Relevant parameters of the E Stop function 9 53 Requirements for a Correct Setting of the Acceleration Feed Forward 9 67 Reset only in loader possible 4 30 Resolution 9 21 Resolution with absolute encoder emulation 10 33 Resolver 9 10 Resolver without feedback data storage 9 10 Resolver without feedback data storage incremental encoder with sine signals 9 10 Restart in phase 3 not allowed 4 30 Restart in phase 4 not allowed 4 30 Restrictions when determining the commutation offset 7 17 Results of automatic control loop settings 9 76 Results of Writing 10 21 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Index 12 13 Rexroth Indramat SIS protocol 5 5 Rexroth Indramat specific profile types 6 9 Rotational direction of the master axis encoder 9 42 Run the Load Default Settings feature as acommand 9 58 Running the load basic parameter block function automatically 4 5 S S 0 0011 Class 1 diagnostics 4 25 S 0
338. ge before More elements gt yes gt A no y Step 8 Close list send end character lt CR no Step 9 character received Character sequence s found in receiver buffer SES g Contents of receiver buffer yes 77 lt CR xxxx CR E01 gt Step 10 Clear request from receiver buffer All characters to 1st CR inclusive A Nace SS Error occurred during received _ gt yes P parameter access N ees Error code Xxxx nee i no v Parameter list successfully written FD5006B1 WMF Fig 1 16 Write accessing list parameters part 2 It is important to conclude the input with a lt symbol as only then will be the data be assumed in the drive Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 15 Reading Accessing List Parameters List parameters are read accessed in the same way as normal parameters The drive supplies a list element as response however Step 1 Send request z B P 0 4006 7 r CR Communication with drive not possible gt check address gt check setting Vv gt check connection Step 2 T Drive received character lt no f Drive repeats request i ja l lt Timeout A no j sa oe Contents of receiver buffer yes pe P 0 4006 7 r CR v a element 1 CR element 2 CR
339. generated P 0 0142 Synchronization acceleration P 0 0108 Master drive polarity P 0 0157 Master drive gear output revolutions P 0 0156 Master drive gear input revolutions P 0 0053 Master drive position S 0 0237 Slave drive 1 0 2 S 0 0236 Master drive 1 revs P 0 0083 Gear ratio fine adjust Q Synchronization ne 0 0036 Velocity command value ax Synch 1 0 Fig 8 47 Command value prep for velocity synchronisation see also Velocity Controller see also Current Controller Dynamic synchronization in the velocity synchronization operating mode Associated parameters e P 0 0142 Synchronization acceleration Dynamic synchronization is included in the velocity synchronization operating mode It consists of drive controlled acceleration or deceleration with a target of synchronous velocity The synchronization procedure starts when the velocity synchronization mode is activated A velocity command profile is generated starting with the feedback velocity at the time of activation and ending with the synchronous velocity command value The synchronization acceleration is used to generate this profile Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 49 Following synchronization the velocity command values are determined solely by the synchronous velocity command values In velocity sychronization mode the dr
340. gnal If the selected edge is recognized then the trigger will be released The Delay from Trigger to Start parameter will be set to zero DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Optional Drive Functions 10 15 Selection of Trigger Edges Various trigger edges can be selected with the parameter P 0 0030 Trigger Edge The following options are available Number Trigger Edge 1 Triggering on the positive edge of the trigger signal 2 Triggering on the negative edge of the trigger signal 3 Triggering on both the positive and negative edge of the trigger signal 4 Triggering when the trigger signal equals the trigger level Fig 10 10 Trigger edge selection Selection of Fixed Trigger Signals The parameter P 0 0026 Trigger Signal Selection determines the signal that is monitored for the parameterized edge reversal Just as for the signal selection there are drive internal fixed trigger signals for the trigger signal selection These are activated by entering the corresponding number The following signal numbers are possible Trigger signal Associated number Trigger signal trigger edge 0x00 no trigger signal not defined 0x01 Actual position feedback Position data P 0 0027 according to active operating mode 0x02 Velocity feedback value Velocity data P 0 0028 Parameter S 0 0040 0x03 Velocity deviation Velocity data P 0 0028 Parameter S
341. gnal flow chart DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Triggering motion with drive start Terminating command with drive halt DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 73 velocity profile stand still window AH START INBWG moving drive enable start autom control loop 4 adjust diagnostic display H1 1 start of the automatic control loop adjust via start buttom in Drivetop or via command D9 P 0 0162 SV5010D1 Fh7 Fig 9 76 Signal flow chart velocity profile interrupt v stand still window AH START INBWG moving drive enable start autom control loop 4 adjust diagnostic display 1 start of the automatic control loop adjust via start buttom in Drivetop or via command D9 P 0 0162 SV5009D1 Fh7 Fig 9 77 Signal flow chart Note A further run with change settings can be conducted either 1 by removing and then applying the drive enable or start signal drive start 2 or by ending and then restarting command D900 Rexroth Indramat 9 74 Basic Drive Functions ECODRIVE03 FGP 03VRS Chronological Sequence of Automatic Control Loop Settings 1 step 2 step 3 step 4 step 5 step 6 step END Rexroth Indramat Sequence Check for command errors at command start Determine total and extrinsic inertia by evaluating accel and decel procedures Calculate and use controller parameter
342. h zero then warning E255 Feedrate Override S 0 0108 0 will be generated DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 85 motional process The motional process during drive controlled homing of non absolute encoders can be made up of up to three processes e If the home switch evaluation process has been activated and there are no distance coded reference markers then the drive accelerates to the homing velocity in the selected homing direction until the positive home switch edge is detected If the drive is already on the home switch at the start of drive controlled referencing S 0 0400 Home switch 1 the drive at first accelerates in the opposite direction until the negative home switch edge is detected and then reverses the direction Make sure that the home switch trigger edge lies within the reachable travel range WARNING e f reference markers are available type 2 to 4 see above and if the reference marker evaluation is activated then the drive runs in homing direction until it detects a reference marker In distance coded measuring systems type 4 two sequential reference markers must be passed The reference markers are always evaluated there independent of bit 6 in S 0 0147 S 0 0147 Bit7 0 e The further action depends on how bit 7 has been set in S 0 0147 Homing parameter If bit 7 O is programmed any position after homing then the drive brakes with th
343. h Off position and P 0 0134 Programmable Limit Switch Lead Time can be used to set the on and off switch thresholds as well as the lead time The P 0 0134 Programmable Limit Switch Lead Time parameter always should be parameterized completely i e with all 16 Each of these parameters contains 16 elements Element 1 is assigned elements even if not using for position switch bit 1 element 2 for bit 2 and so forth the delay If one or more switch bits are not given a delay then 0 should be set for these elements in P 0 0134 Programmable Limit Switch Lead Time The status of the position switch bits are shown in parameter P 0 0135 Status Position Switch Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 29 10 12 Encoder Emulation Incremental encoder emulation Absolute encoder emulation Pertinent Parameters DOK ECODR3 FGP 03VRS FK02 EN P It is possible with the help of encoder emulation to generate positions in the following standard formats e TTL format with incremental encoder emulation e SSI format with absolute encoder emulation This makes it possible to close the position control loop with an external control Incremental encoder emulation is the reproduction of a real incremental encoder by a driver controller From the emulated incremental encoder signal signals are relayed via a higher ranking numeric control NC with information about
344. h an error with active drive halt or drive enable removed DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Measuring wheel encoder parametrized as linear encoder Diagnostic Messages DOK ECODR3 FGP 03VRS FK02 EN P Optional Drive Functions 10 37 Parametrizing the Measuring Wheel Encoder Note When using a measuring wheel encoder deactivate the monitoring window of encoder 2 Use parameter S 0 0391 Monitoring window feedback 2 to do this A measuring wheel encoder is parametrized with parameters e 0 0123 Feed constant e 0 0115 Position feedback 2 type e 0 0117 Feedback 2 Resolution If the path parametrized in parameter S 0 0123 Feed constant is not traversed during the course of one revolution i e a revolution of the gear output does not equal a revolution of the measuring wheel then the encoder must be parametrized as a linear encoder Enter encoder resolution as per the following formular measuring wheel circumference encoder resolution encoder cycle revolution Encoder resolution S 0 0117 Feedback 2 Resolution Fig 10 35 Encoder resolution if measuring wheel encoder parametrized as linear encoder In this case linear encoder bit 0 1 must be set in parameter S 0 0115 Position feedback 2 type In conjunction with the command measuring wheel operation the following error messages could be generated e D801 Measuring wheel operation not possible Rexroth
345. he 1 0 falling edge The S 0 0169 Probe control parameter determines whether both occurring edges will be evaluated and will lead to the positive negative probe values being saved Write into the parameter before activating the function The structure looks liks this Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 10 22 Optional Drive Functions ECODRIVE03 FGP 03VRS S 0 0169 Probe Control Parameter CTT Bit0 Activating Positive Edge Probe 1 0 positive edge is not analyzed 1 positive edge is analyzed Bit 1 Activating Negative Edge Probe 1 0 negative edge is not analyzed 1 negative edge is analyzed L Bit2 Activating Positive Edge Probe 2 0 positive edge is not analyzed 1 positive edge is analyzed Bit 3 Activating Negative Edge Probe 2 0 negative edge is not analyzed 1 negative edge is analyzed L Bit 4 Position Feedback Value Selection 0 S 0 0053 is always used as the measurement if an optional feedback is connected and position feedback values are chosen in the signal selection 1 S 0 0051 is always used as the measurement if position feedback values are chosen in the signal selection Fig 10 20 Structure of Parameter S 0 0169 Probe Control Signal Selection for the Probe Inputs Values to be measured are e actual position value 1 motor encoder e actual position value 2 optional encoder if mounted e internal time e master axis position e actual feedback val
346. he continuous torque at standstill of the motor should not be exceeded e during the acceleration phase 80 of the maximum torque of the motor controller combination may not be exceeded e the thermal load of the drive amplifier should equal a maximum of 80 See also chapter Current Limit With vertical axis the weight compensation must be set so that the current consumption with upwards and downwards motions of the axes have the same minimum value Check the regenerated peak power and regenerated continuous power Rexroth Indramat 4 22 General Instructions for Installation ECODRIVE03 FGP 03VRS 4 4 Diagnostic Configurations Overview of Diagnostic Configurations The diagnostics are configured into 2 groups e options for recognizing the current operating states of the priority dependent drive internal generation of diagnoses e collective messages for diverse status messages Additionally there are parameters for all important operating data that can be transmitted both via the command communications SERCOS Profibus as well as the parametrization interface RS 232 485 in the ASCII protocol or SIS serial Rexroth Indramat protocol Drive Internal Diagnostics The current operating condition of the drive depends on e any present errors e any present warnings e commands executed e the signal Drive Halt e the execution of an error reaction e the automatic drive check or self adjustment e the active op
347. he current transmission steps as either running of final transmission The control word for a transmission in several steps is described below 1 step 38 p Parameter No LSB MSB Device address Control byte el header 243 Data bytes User data head lt User data Ta0011 f1 fh7 Fig 1 46 Write following command telegram step 1 38 Status Control Device Ten header byte byte address User data head gt Ta0012f1 fh7 Fig 1 47 Write following reaction telegram step 1 2 step 38 Parameter No LSB MSB Control byte Device address el header 243 Data bytes User data head lt User data Ta0011 f1 fh7 Fig 1 48 Write following command telegram step 2 38 Status Control Device Ter nane byte byte address Kk User data head gt Ta0012f1 fh7 Fig 1 49 Write following reaction telegram step 2 Rexroth DOK ECODR3 FGP 03VRS FK02 DE P Oo Indramat 1 32 Serial Communication ECODRIVE03 FGP 03VRS Final step 3C R Parameter No LSB MSB Device address Control byte el Header 1 243 Data bytes User data head lt User data Ta0013 f1 fh7 Fig 1 50 Write with following reac
348. he optional encoder must be registered as a measuring wheel encoder in parameter P 0 0185 Function of encoder 2 e Material is in roll feed and under the measuring wheel e The roll feed is closed e The measuring wheel encoder is pressed up against the material Uncontrolled motions of the drive if measuring wheel encoder has no contact to material The position control loop is open via encoder 2 DANGER The measuring wheel operation command may only be started if encoder 2 is actually in contact with the material Activation The function is activated with command P 0 0220 D800 Command Measuring wheel operation mode At the start of the command the drive sets actual position value 2 measuring wheel encoder on actual position value 1 The active operating mode determines further drive behavior The drive switches into position control with encoders 1 and 2 Note The absolute position of the encoder is meaningless because the position is always re initialized The position of the measuring wheel encoder is correctly detected Control however uses encoder 1 Position control with the measuring wheel encoder remains active as long as the command is set When the command is cleared the drive sets actual position value 1 on value 2 and then switches back to position control with encoder 1 Note Measuring encoder evaluation remains active even if operating mode is switched during active command wit
349. he primary control system or user interface occurs by reading and writing controller parameters Information about the unit and the number of decimal places see also Parameter is necessary for interpreting the operating data of a parameter The value of the operating data is produced from these data The following illustration shows this with an example Operating data 100 Drive control Fig 9 1 Example for interpreting operating data in the drive The operating data of the parameter S 0 0109 is given the value 100 in the picture shown above When combined the unit A ampere that belongs to this parameter and the number of decimal places produce the physical value 0 100 A Each parameter can therefore be called up with a unit and the number of decimal places The combination of these two criteria is united under the term scaling When interpreting operating data these must always be included in the analysis Units and number of decimal places are listed along with all other parameter attributes in the Parameter Description Adjustable Scaling for Position Velocity and Acceleration Data The value of position velocity The parameter scaling for and acceleration data can be position set by adjustable scaling velocity and acceleration data can be adjusted It can be set by the user with scaling parameters It enables e the value of this data to be made compatible for exchange between contr
350. her bus systems in bytes The configuration of length is generally automatic and determined by the profile type Note A double word may never be divided into 2 PDOs The length of the process data channel can presently equal max 3 PDO 2 18 bytes for both directions separately The transmission is data consistent over the entire length Diagnoses LED for CANopen DOK ECODR3 FGP 03VRS FK02 EN P For fieldbus interface diagnoses there are six LEDs on the front of the fieldbus module These signal the state of synchronization between fieldbus interface and drive as well as bus activity for cyclical data exchange Each LED can accept any of the four states namely red green orange and off When running up the CANopen module the LEDs are automatically tested which can be seen by the glowing the various colours Rexroth Indramat 5 38 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS LED definition when module in operation LED design LED state Definition Initialization H50 red Initializing failed module defective green module OK operating LED H51 red Operating error Bus off Too many errors on bus detected Possible causes wrong baudrate cable defective green operation OK SDO query H52 green impulse an SDO was received SYNC H53 green SYNC news is being received The LED is green each time a SYNC arrives for 200ms In the otherwise high frequency the LED
351. his axis after the first set up Back up amp restore function Note Parameter S 0 0269 Parameter buffer mode is insignificant as of version FGP 02VRS as all the parameters are backed up from that point on ina NOVRAM Basic parameter block The drive parameters are fixed at delivery at the factory By executing the command P 0 4094 C800 Command Base parameter load it is possible to reproduce this state at any time The basic parameter block is constructed so that e all optional drive functions are deactivated e limit values for position are deactivated e limit values for torque force are set to high values e and limit values for velocity and acceleration are set to lower values Velocity control is the mode set Note The basic parameter block does not guarantee a matching of the drive to the machine as well as in some cases to the motor connected and the measuring systems The relevant settings must be made when first starting up the axis See also Basic Drive Functions and Commissioning Guidelines DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Password Accessing the password Allowable symbols and length 3 different password states are possible DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 5 Running the load basic parameter block function automatically The drive firmware is on the programming module In the event of a firm ware exchange with a differen
352. his is done with the parameters e 0 0044 Velocity data scaling type e 0 0045 Velocity data scaling factor e 0 0046 Velocity data scaling exponent The scaling type is set in S 0 0044 Velocity data scaling type The parameter is defined as follows S 0 0044 Velocity data scaling type OOC i i Bits 2 0 Scaling mode 000 not scaled 001 linear scaling 010 rotary scaling Bit 3 0 Preferred scaling 1 Parameter scaling L Bit 4 Unit of measure for linear scaling 0 Meter m 1 Inch in Unit of measure for rotary scaling 0 Revolutions 1 reserved L Bit5 Unit of time 0 minute min 1 second s Bit6 Data relationship 0 to the motor cam 1 to the load L Bits 15 7 reserved Fig 9 4 S 0 0044 Velocity data scaling type The scaling type setting is checked for plausibility in S 0 0128 C200 Communication phase 4 transition check and the command error message C214 Velocity Data Scaling Error is generated if necessary Acceleration Data Display Format The scaling of the drive controller s acceleration data is adjustable This is done with the parameters e 0 0160 Acceleration data scaling type e 0 0161 Acceleration data scaling factor e 0 0162 Acceleration data scaling exponent The scaling type is set in S 0 0160 Acceleration data scaling type The parameter is defined as follows Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FG
353. i el header Status Contol Device 245 Data bytes I lt User data head ip User data gt Ta0008f1 fh7 Fig 1 39 Following command telegram 1 2 step 3C Control Device Param Parameter No Tel header byte address type LSB MSB lt Userdatahead __ Ta0007f1 fh7 Fig 1 40 Following command telegram 2 38 Status Control Device Tel header byte byte address 245 Data bytes I User data head gt lt User data gt Fig 1 41 Following command telegram 2 Last step Control Device Param Parameter No Tel neader byte address type LSB MSB l User data head gt Fig 1 42 Following command telegram 3 DOK ECODR3 FGP 03VRS FK02 DE P Ta0008f1 fh7 Ta0007f1 fh7 Rexroth Indramat 1 30 Serial Communication ECODRIVE03 FGP 03VRS 3C Devi Tel header ae ae am 1 245 Data bytes I lt User data head ap User header gt Ta0015f1 fh7 Fig 1 43 Following command telegram 3 Parameter Write Service Ox8F A single write access is concluded with one transmission step The master enters the following information into the command telegram e The unit address is entered e In the control byte in bits 3 5 Element the operating data is selected Bit 2 is set to 1
354. ic control loop settings Velocity control loop monitor Position control loop monitor Drive halt Rexroth Indramat 1 6 System Overview Rexroth Indramat ECODRIVE03 FGP 03VRS Command Drive controlled homing Command Set Absolute Measuring Analog output Analog input Oscilloscope function Probe function Command Parking Axis Command Detect marker position Command Positive stop drive procedure Command Measuring wheel operation mode Dynamic cam switch group Encoder emulation e absolute encoder emulation SSI format e incremental encoder emulation DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Important directions for use 2 1 2 Important directions for use 2 1 Introduction Rexroth Indramat products represent state of the art developments and manufacturing They are tested prior to delivery to ensure operating safety and reliability The products may only be used in the manner that is defined as appropriate If they are used in an inappropriate manner then situations can develop that may lead to property damage or injury to personnel Note Rexroth Indramat as manufacturer is not liable for any damages resulting from inappropriate use In such cases the guarantee and the right to payment of damages resulting from inappropriate use are forfeited The user alone carries all responsibility of the risks Before using Rexroth Indramat products make sure that all the pre requisites for an
355. ieldbus e P 0 4073 CANopen event mask e P 0 4074 Fieldbus data format e P 0 4075 Fieldbus watchdog time e P 0 4076 Fieldbus container object e P 0 4077 Fieldbus control word e P 0 4078 Fieldbus status word e P 0 4079 Fieldbus baudrate e P 0 4080 Real time input object structure e P 0 4081 Real time output object structure e P 0 4082 Length of real time data channel In e P 0 4083 Length of parameter channel in DP e P 0 4084 profile type e P 0 4085 Fieldbus version e P 0 4087 Length of real time data channel Out Rexroth Indramat 5 2 Command Communication via Fieldbus Object mapping Reading S 0 0057 Position Reading P 0 4006 Process block Rexroth Indramat window target position list parameters ECODRIVE03 FGP 03VRS The following parameters are relevant to the internal data exchange between drive and communications card e 0 0001 NC Cycle time TNcyc e 0 0002 SERCOS Cycle time Tscyc e 0 0007 Feedback acquisition starting time T4 e 0 0008 Command valid time T3 Each drive parameter has an object number as specified in the following regulation This makes it possible to best use the bus specific communications e g PCP SDO It is addressed via a direct computation of the SERCOS parameter number into an object number The allocation of an ID number to an index and sub index DKC03 3 DKC04 3 DKC05 3 or class instance and attribute DKCO06 3 is
356. ies Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Safety Instructions for Electric Servo Drives and Controls 3 3 3 4 General Information Rexroth Indramat GmbH is not liable for damages resulting from failure to observe the warnings given in these documentation Order operating maintenance and safety instructions in your language before starting up the machine If you find that due to a translation error you can not completely understand the documentation for your product please ask your supplier to clarify Proper and correct transport storage assembly and installation as well as care in operation and maintenance are prerequisites for optimal and safe operation of this equipment Trained and qualified personnel in electrical equipment Only trained and qualified personnel may work on this equipment or within its proximity Personnel are qualified if they have sufficient knowledge of the assembly installation and operation of the product as well as an understanding of all warnings and precautionary measures noted in these instructions Furthermore they should be trained instructed and qualified to switch electrical circuits and equipment on and off to ground them and to mark them according to the requirements of safe work practices and common sense They must have adequate safety equipment and be trained in first aid Only use spare parts and accessories approved by the manufacturer Fol
357. ig 10 30 Computing the maximum number of lines Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 10 32 Optional Drive Functions ECODRIVE03 FGP 03VRS Compensation of delay Between position measurement and pulse output there is a dead time deadtime between real and delay of about ims in devices If in parameter P 0 4020 Encoder emulated positions emulation type bit 4 is set to 1 then this time is compensated in the drive Pulse breaks at the end of the At the end of each time interval the signal level for a specific period can pulse output cycle remain constant The output frequency may not be changed during the time interval of Ta This is especially true of high frequencies i e with a large number of lines and or at high speeds Diagnostic Messages with Incremental Encoder Emulation The following diagnoses are generated with incremental encoder emulation e F253 Incr encoder emulator pulse frequency too high Cause The output frequency at the chosen number of lines exceeds the value of 1024 kHz Remedy e Decrease input for P 0 0502 Encoder emulation resolution e Drop travel speed Functional Principle Absolute Encoder Emulation SSI Format The following illustrates the format of SSI data transmission T Tp gt tm T 2 Data 1 e23 e22 G21 e20 a19 a18 G17 erefaisfera arsfar2 aneto co as c7 c6 65 Ga es e2 G1 E Pre 0 1 e28 ez2 a Resolution for 4096 revol
358. ignment at the BUS Note Up to 18 words in both data directions can be configured at the BUS Note here that P 0 4077 Fieldbus control word and P 0 4078 Fieldbus status word are always configured first e Data direction input The data direction input is the data transmission direction from slave to master e Data direction output This data direction specifies data transmission from master to slave Length of the process data channel PD in ECODRIVE 03 DOK ECODR3 FGP 03VRS FK02 EN P The parameter channel optional and the process data channel in which the real time data of the drive controller are transmitted are allocated within the cyclical channel The PROFIBUS slave circuit permits a flexible configuration of the process data channel The length of the process data channel depends on the profile type which has been set User specific expansions of the process data channel can mean that individual drive controllers will have varying process data channel lengths depending on the data direction Note The available profile tyoes are described in the chapter Profile Types The data types of the process data channel can only be words or double words not bytes Length is specified in bytes for the sake of compatibility to other bus systems Rexroth Indramat 5 22 Command Communication via Fieldbus Length of the PD channel ECODRIVE03 FGP 03VRS The length of the process data channels can range betwe
359. in these motors The offset results are stored in parameter P 7 0508 Commutation offset in the motor feedback memory synchronous motor parameter Rexroth Indramat housing motors are configured ready for operation at the factory meaning that they can be run without having to make any motor settings Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 7 10 Motor Configuration fo S New motor first instalation j NS i A lt motortype _ ke standard housed motor frameless motor with integrated feedback Input motor parameters For Indramat motors use the DriveTop data base otherwise supplier data sheet set up feetback device input feedback device sense of direction l input commutation offset amp M motor ready set up installation complete ECODRIVE03 FGP 03VRS Motorinstalation exchange motor N fora new motor ofthe i same type n p lt motortype _ Sa standard frameless motor housed motor with integrated feedback teed back co device a absolute incremental input commutation offset y motor ready set up installation complete Fd5030f1 flo Fig 7 7 Overview of starting up the motor Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Motor Configuration 7 11 Starting up Synchronous Kit Motors Synchronous kit motors necessita
360. inciple 8 11 Pertinent Parameters 8 11 Drive parametrization via fieldbus 5 4 Drive start with automatic control loop settings 9 71 Drive status word 4 27 Drive Controlled Homing 9 86 Drive controlled positioning Monitoring and diagnoses 8 21 Drive guided positioning Acknowledging command value latch 8 19 functional principle 8 16 Monitoring and diagnosing 8 13 Drive internal format of position data 9 20 Drive internal interpolation 6 13 Features 6 13 Status messages 8 14 Drive s Error Response 4 9 DSF 9 10 Dynamic Synchronisation in the Phase Synchronisation Operating Mode 8 53 Dynamic synchronization in the velocity synchronization operating mode 8 48 E Electronic cam shaft 8 57 8 61 Electronic Data Sheet for DKC05 3 5 35 Electronic Data Sheet for DKC06 3 5 40 Emergency Stop Activation 9 54 Emulated position reference 10 33 Encoder emulation 10 29 Encoder interface 9 42 Encoder intialization 4 16 Encoder with EnDat interface 9 10 EnDat 9 10 Error Drive Error Reaction 4 9 Error Classes 4 9 Exceeding the Travel Range 9 38 Error Classes 4 9 Error Conditions of the Load Default Settings Procedure 9 58 Error during flash verification 4 30 Error message in Firmware loader 4 29 Error message when setting the absolute dimension 9 105 Error messages when reading and writing the operating data 4 2 Error Messages during drive controlled homing 9 98 Error messages in multiplex channel 6 26 Rexroth Indramat 12 6 Index
361. ion dependent block commutation means that the target position of the start block is run through at the positioning speed of the following block The drive runs in the direction of the target position X with infinite blocks in set direction set in current position block n As the drive approaches Xn there is acceleration a to the next positioning speed Vn so that the speed Vn 1 Can be achieved prior to target position Xn The switch to the next positioning block does not occur here either until the next target position is overrun DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 35 vt speed profil target position target position block 1 block 2 I I P 0 4026 Process block selection 01 P 0 4051 Process block acquittance A AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 S 0 0346 Positioning command latch Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV0008d2 fh7 Fig 8 35 Example Position dependent block commutation Mode2 c Block transition with intermediate halt P 0 4019 Process block mode 41h absolute block with following block P 0 4019 Pr
362. ioning block with residual path memory then the target position is related to the current actual position as if it were a relative path DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Example vt Operating Modes 8 29 Note The rest of the path is discarded once a different positioning block is started Relative positioning with residual path storage with target position 700 without interruption message End position reached with position 200 S 0 0124 a window speed profil 200 x 900 P 0 4026 01 Process block selection P 0 4051 1 Process block acquittance 0 A AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 S 0 0346 Positioning command latch gt lt 4ms t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition 4 Sv0000f1 fh7 Reference position Example DOK ECODR3 FGP 03VRS FK02 EN P Fig 8 30 Relative positioning block with residual path storage Relative positioning block with residual path storage after activating drive enable The last End position reached message is used as refere
363. ions 9 99 e C606 Reference mark not detected For incremental encoders the recognition of the reference mark captures the actual position While searching the reference mark during homing the performed distance is monitored If the performed distance is greater than the calculated max distance necessary to detect a reference mark the error message C606 Reference not detected is generated The monitoring is done with the following encoder types e Rotary incremental encoder Maximum travel path equals one encoder revolution if O has been set in P 0 0153 Optimal distance home switch reference mark If P 0 0153 has not been parametrized with 0 then the maximum travel path equals twice the value of P 0 0153 e Linear incremental encoder maixmum travel path equals twice the value of P 0 0153 if P 0 0153 0 then there is no monitoring e Distance coded measuring systems maximum travel path defined with S 0 0165 Distance coded reference offset 1 The cause for this error message can be e No recognition of the reference marks possible because of wire break defective encoder etc e S 0 0165 Distance coded reference offset 1 has a wrong value Configuration of the Home switch Note The home switch should be set up so that the activation range remains within the travel range of the axis Otherwise the travel range may be overrun at command start if the start position is in an unfavourable position Damage to the
364. is 2 2 3 Safety Instructions for Electric Servo Drives and Controls 3 1 Sal Taiko 101e iLO a PREE PAE E EE E A A EET 3 1 3 2 Explanatio NSn aa as an aaa a Aaa a a A Ae A aE E ONE Eaa 3 1 3 3 Hazards by inappropriate USC nesearersocir riari eerti rikta AEA EAA AE eieiei Eea Tiii 3 2 3 4 General Informatio Masserie e a Ge al as es Ge es eee 3 3 3 5 Protection against contact with electrical Parts ee eee ee eeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeseeeeeeseeeaeeeeeeeaeens 3 4 3 6 Protection by protective low voltage PELV against electrical shock ccceeeeeceeeeeeeeeeeeeneeees 3 6 3 7 Protection against dangerous MOVEMENNS ccececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteeeaeeeseeaeeeeeeeaeees 3 6 3 8 Protection against magnetic and electromagnetic fields during operations and mounting 3 8 3 9 Protection against contact with hot Parts 2 0 eee escent ee eete ee ee eee ee eee ae ee ee tae sete eaaeeeeetaeeeeeeaeeeeneae 3 9 3 10 Protection during handling and installation 2 2 0 cece ee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeseeaeeeeeeeaeeees 3 9 3 11 Battery Safety vieci esc cck geese die ie eset era ea aiT EEEE aN SEEE Eaa EEA NE a eased 3 10 3 12 Protection against pressurized SySteMS ccccecceeeceeeeeeeceeeeeeaeeceeeeeceaeeeeaaeseeeeeseaeeesaeeeeaeeeeaeeees 3 10 4 General Instructions for Installation 4 1 4 1 Definition of Terms Introduction ccceessesececeeeceanesseeceeeececeaueesseceeeece
365. is established in operating mode phase synchronisation The drive synchronizes in this mode to one of the master axis positions set by the control virtual P 0 0053 The structure of the phase synchronisation mode with virtual master axis is illustrated below Command value prep Position Velocity Current Phase synchronization controller controller controller Master axis Position Velocity command Torque power position command value value command value Rexroth Indramat Fig 8 49 Virtual phase synchronisation block diagram DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Pertinent Parameters Operating Modes 8 51 e 0 0048 Position command value additional e 0 0236 Master drive 1 revolutions e 0 0237 Slave drive 1 revolutions e P 0 0053 Master drive position e P 0 0108 Master drive polarity e P 0 0156 Master drive gear input revolutions e P 0 0157 Master drive gear output revolutions e P 0 0159 Slave drive feed travel Command value preparation with phase synchronisation with virtual master axis DOK ECODR3 FGP 03VRS FK02 EN P In phase synchronisation mode with a virtual master axis the position command value is generated by adding the synchronous position command value XSynch and S 0 0048 Position command value additional S 0 0047 XSynch S 0 0048 S 0 0047 Position command value XSynch synchronous position command value S 0 0048 S 0 0048 Position command va
366. itches to the next travel block n 1 as soon as the input for the following block cam 1 goes from 0 gt 1 If the target position is not reached then the new positioning block is switched into while travelling The drive switches to the penultimate travel block n 2 as soon as the input for the following block cam 2 goes from 0 gt 1 If a following block cam is actuated during this run then the drive switches to the positioning block after the next A following relative positioning block references that position at which the following block cam was switched Note The following block cams are checked ever 2 ms The accuracy of the position detected therefore depends considerably on the speed at the time of overrun Cam 2 Can 1 Drive reaction 0 drive runs to target position of block n xX 0 gt 1 block n 1 started 0 gt 1 X block n 2 started Fig 8 37 Drive reaction with different switching signal sequences X Don t Care n positioning block selected via parallel inputs or parameter P 0 4026 Process block selection Rexroth Indramat 8 38 Operating Modes ECODRIVE03 FGP 03VRS S 0 0124 Standstill window vt speed profil target position block 3 P 0 4026 l Process block selection 02 l l P 0 4051 Process block acquittance 02 A cam 2 l l P 0 4057 Positioning block input linked blocks Bit 1 cam 1 P 0 4057 Positioning block l input linked bl
367. ition If previously a position control mode without drive internal position control with S 0 0138 and command generation was active then the standstill takes place in S 0 0349 position control with the use of accel in S 0 0138 Bipolar acceleration limit value an the jerk in S 0 0349 Jerk limit bipolar Operating modes without drive internal position command generation are e position control e angle synchronization e Electroni cam Jerk according to S 0 0349 Decel per used parameters Jerk limit bipolar Velocity vt command U a value i Operating mode Drive HALT Operating mode activ activ activ gt t ms Sv5037f1 fh5 Fig 9 80 Principle of drive halt with previously active position control without drive internal position command value generation Note If an operating mode with position control with lag error was also previously activated then the position controlled standstill is conducted with position control with lag error Otherwise the function is conducted without lag error Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Standstill in velocity control Drive halt acknowledgement Activating the operating mode Basic Drive Functions 9 79 If either the velocity control or torque control modes were previously active then deceleration in velocity control uses parameters e P 0 1202 Final speed of ramp 1 e P 0 1211 Deceleration ramp 1 e P 0 1213 D
368. itional requirements are e f rotary position scaling with motor reference and no angle synchronization operating mode is used the product of S 0 0103 Modulo Value S 0 0117 Feedback 2 Resolution and S 0 0122 Output revolutions of load gear must be smaller than 2 63 Compliance with the limiting conditions is checked in S 0 0128 C200 Communication phase 4 transition check and the command is terminated with the error C227 Modulo Range Error if necessary Processing Command Values in Modulo Format Shortest Path Direction Selection The interpretation of position command values such as S 0 0047 Position Command Value and S 0 0258 Target Position when the modulo function has been activated is dependent on the selected mode The following possibilities exist e Shortest Path e Positive Direction e Negative Direction Parameter S 0 0393 Command value mode is used to set the mode This parameter is effective only if modulo format has been activated in S 0 0076 Position data scaling type The following settings can be entered Modulo Mode Shortest Path The next command value is reached with the shortest path If the difference between two successive command values is greater than half of the modulo value the drive moves toward the command value in the opposite direction Modulo Mode Positive Direction The command value is always approached in a positive direction regardless of whether or not the difference between
369. ive and enabled command set and enabled but not executed BEEBE command set and enabled but not executed as error present Fig 1 20 Status messages DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 19 The command status is transmitted in bit list form The definition of the individual bits is illustrated below EEEE TUNTHUENEETM KEM o pe Bit 0 0 command not set in drive 1 command set in drive reserved reserved Bit 1 0 command execution interrupted in drive 1 command execution enabled in drive Bit 2 0 command executed 1 command not executed Bit 3 0 no error 1 error command execution not possible Bit 8 0 operating data is valid 1 operating data invalid Fig 1 21 Command acknowledgement data status Ending a command A command is ended as follows ID number of command 7 w 0 Carriage Return Rexroth DOK ECODR3 FGP 03VRS FK02 DE P Indramat 1 20 Serial Communication ECODRIVE03 FGP 03VRS Communicating with the SIS protocol General information about read accessing General information for following telegram accessing Rexroth Indramat Actuating a Drive via an SIS protocol When communicating with SlSprotocols a difference is made between comand telegram and reaction telegramm depending on transmission direction A user can only be addressed if a specific telegram format frame is maintained at his addre
370. ive operates with velocity loop control Synchronization status message during the velocity synchronization operating mode Associated parameters e 0 0037 Additive velocity command value e 0 0040 Velocity feedback value e 0 0182 Manufacturer class 3 diagnostics e 0 0183 Velocity synchronization window The drive sets bit 8 in the Manufacturer Class 3 diagnostics if dXSynch S 0 0037 S 0 0040 lt S 0 0183 Note The bit is updated only if the velocity synchronization operating mode is set in the S 0 0032 Primary mode of operation 8 11 Operating mode velocity synchronisation with real master axis Analog to velocity synchronisation mode with virtual master axis this operating mode is used in printing machines The master axis position in this case is detected by means of a master axis encoder This operating mode can also be set for use with a DKC01 3 No cyclical command communications for command value specification is needed The relevant status messages can be applied via the freely configurable signal status word to the digital outputs The structure of the operating mode is illustrated below Maser axis feedback Velocity Velocity control Current control analysis synchronization Actual feedback value 3 Velocity command Torque power Maser axis position value command value Fig 8 48 Velocity synchronisation with real master axis block diagram Pertinent Para
371. ject the data are transmitted in SIS format to the master Telegram header Byte Name Definition code 1 STZ start symbol 0x02 02 2 CS checksum XX 3 DatL data length incl user data header 05 in bytes 4 DatlW repeat DatL 05 5 Cnirl control byte reaction telegram 10 6 Service ECODRIVE services 80 7 AdrS address of sender 05 8 AdrE address of receiver 00 Fig 5 17 Telegram header in the reaction telegram read P 0 4082 User data header Byte Name Definition Code 9 Status status byte in the user data header 00 10 Ctrl bytes control byte 3C 11 address of sender 05 unit address ECODRIVE Fig 5 18 User data header in the reaction telegram read P 0 4082 User data Byte Name Definition Code 14 user data low byte P 0 4032 15 user data high byte P 0 4082 oD Fig 5 19 User data in the reaction telegram read P 0 4082 Note The actual results i e the contents of the parameter P 0 4082 are in bytes 14415 5 2 Command Communications with PROFIBUS DP General Information The drive controller ECODRIVE 03 has a PROFIBUS command communications module which supports the PROFIBUS DP protocol It is possible with this module to transmit real time data via the process data channel A master that only supports PROFIBUS DP suffices Optional parameter channel cyclical channel The drive can be parametrized via the optional parameter channel in the Note
372. k are re initialised See also the functional description Commissioning with Evaluation of reference marker home switch edge See also the functional description Commissioning with Evaluation of distance coded reference marker Functional Principle of Drive Guided Referencing with Absolute Measuring Systems DOK ECODR3 FGP 03VRS FK02 EN P If the referenced measuring systems per bit 3 of S 0 0147 is to be evaluated as an absolute measuring system i e in the relevant encoder type parameter S 0 0277 S 0 0115 bit 6 is at 1 and bit 7 on 0 then command S 0 0148 C600 Drive controlled homing procedure command supports two different purposes e drive guided travelling to the reference point e triggering the switch of the position feedback value if absolute measurement is conducted with drive enable applied Rexroth Indramat 9 84 Basic Drive Functions ECODRIVE03 FGP 03VRS Drive guided travelling to reference point If the absolute encoder is referenced i e parameter S 0 0403 Position feedback value status is set to 1 then the drive after the start of command S 0 0148 C600 Drive controlled homing procedure command runs to the reference point if 1 is set in bit 7 of parameter S 0 0147 Homing parameter for Drive on reference point after drive guided referencing The reference point is defined in parameters S 0 0052 Reference distance 1 or S 0 0054 Reference distance 2 Triggering position feedback
373. l 1 and P 0 0024 Signal Selection Channel 2 The selection will be defined with numbers that are assigned to various signals The triggering is activated by setting the bit 1 in the Trigger Control Word parameter The trigger conditions can be set with the parameters P 0 0025 Trigger Source P 0 0026 Trigger Signal Selection and P 0 0030 Trigger Edge The signal amplitude that releases the trigger can be set with the parameters P 0 0027 P 0 0029 Trigger Level If a trigger event is recognized then the number of values in the parameter P 0 0033 Number of Samples after Trigger will be recorded and the function will end Parameters P 0 0031 Timebase and P 0 0032 Size of Memory can define the recording duration and the time intervals for the measurement samples The sampled values are stored in P 0 0021 and P 0 0022 List of scope data and can be read by the control Parameterizing the Oscilloscope Feature DOK ECODR3 FGP 03VRS FK02 EN P Oscilloscope feature with defined recording signals Preset signals and state variables can be selected through the P 0 0023 and P 0 0024 Signal Selection parameters The selection can be made by entering the signal number hex format in the corresponding signal selection parameter The selected signal number defines the unit of data stored in the list of scope data The following signals are predefined with numbers Number Signal selection Unit of the probe value list 0x00 Channel no
374. l be written to the target parameter in the drive The target parameter is that parameter addressed via S 0 0368 in the configuration list S 0 0370 Note Parameter S 0 0360 is not write accessible via the required data channel The display format is hexadecimal without decimal places The drive copies the data of the source parameter into parameter S 0 0364 AT Data container A The source parameter is that parameter addressed via S 0 0368 in the configuration list S 0 0370 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Profile Types 6 25 Note Parameter S 0 0364 is not write accessible via the required data channel The display format is hexadecimal without decimal places Processing Single List Elements Using both addressing parameters e 0 0362 List index MDT data container A e 0 0366 List index AT data container A it is possible to access single elements of list parameters It is thus possible to cyclically and by element write into list parameters The element to be written into or read of a list parameter is written into both parameters Note The parameters become effective if in S 0 0368 Addressing for data container A a list parameter has been addressed If the addressed parameter is not a list parameter then the evaluation of parameters S 0 0362 and S 0 0366 is terminated The following illustrates the processing of a list element with the
375. l generate both error diagnostic messages F643 Positive travel limit switch detected and F644 Negative travel limit switch detected DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 39 Travel Zone Limit Switch Monitoring The state of the travel range limit switch is illustrated in parameter P 0 0222 Status Inputs travel range limits Bit 0 in this case is the positive end switch bit 1 the negative one The monitor for exceeding the travel zone limit switch is only activated if e the monitor is switched on in bit 1 of P 0 0090 Travel limit parameter Exceeding the travel zone limit switch is recognized when these are activated The diagnostic message depends on the type of reaction How handled SS display Diagnostic message As an error F643 F643 Positive travel limit switch detected F644 F644 Negative travel limit switch detected As a warning E843 E843 Positive limit switch activated E844 E844 Negative limit switch activated Fig 9 50 Diagnostic message when travel zone limit switch is exceeded Travel Zone Limit Switches Activation and Polarity The travel zone limit switches are activated with the parameter P 0 0090 Travel limit parameter Additionally the inputs can be inverted in this parameter OV on E2 3 gt Travel range exceeded P 0 0090 Travel limit parameter fe Pn o Bit 0 Negation 0 Travel range switch input 24V gt travel range ex
376. l position is compared continuously to the actual position If the deviation exceeds S 0 0159 Monitoring Window for more than 8MSeC an error F228 Excessive deviation will be generated Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 66 Basic Drive Functions ECODRIVE03 FGP 03VRS Position command value Position feedback value Motor and mechanical system Position gt o controller Position i controller loop _ model Peak value detector x P 0 0098 y Maximum Model Deviation The error F228 Excessive Control Deviation is generated Fig 9 71 Schematic of Position Control Loop Monitoring Note For accurate monitoring the actual feedback value from the position control is always used This means that for position control with the motor encoder position feedback value 1 is used and for position control with the external encoder the position feedback value 2 is used Setting the Position Control Loop Monitor Requirements Requirements for the setup of the position loop monitoring are e Check the velocity and position control loops for their appropriate settings e The axis in question should be checked mechanically and should be in its final state settings The position control loop monitor settings are performed e Through the connected control you should proceed in a typical operation cycle In this mode move at the maximum proj
377. led HOMING ccccceeeceeeeeee eens eeeeeeeeeeceeeeeeaeeetaeeeeeeeeeetes 9 84 Commissioning with Evaluation of reference marker home switch edge 0ceseeeeee 9 87 Commissioning with Evaluation of distance coded reference marker a se 9 93 Functions of the Control During Drive Controlled Homing cccceeeeeeeeceteeeeeeeeeneeeeees 9 98 Possible Error Messages During Drive Controlled Homing cccceeeceeeeeeeeeeeeeeeeeneeteees 9 98 Configuration of the Home SWItCh eee cee cee eeee cere eeeee tees sees caus saeseaeeeaeseeeseeeseeeseneeeaeeeaees 9 99 Connection of the Home switch cccceeeeeceeeeeeeeee cae eeeeeeeeeeee eae eeeaaeseeeeeseeeeesaeeetaaeeeeeeseeeeess 9 99 9 11 Setting the Absolute DiMenSion cccccceeesceeeeeeeceeeeceaeeeeaaeeeeeeeceaeeesaaeeseaeeseaeeesaeeesaeeseneesenees 9 100 Pertinent arameters sivsccocccavaseisescctee cde cccbca nag laepevacepsaveditispeasdebes pad Sis eeeeuii dyed stosvbassaneesag unas 9 100 Functional Principle sc aeaaea celeste a ets eek ee eed ed eee neds 9 100 Actual Position Value after Setting the absolute dimension c cccceceeeeeeeteeeeneeteeeeeees 9 105 Actual position value of absolute encoders after power ON s eee eee eens eee eeeeeteeeeees 9 105 Diagn stic MESSAGES 4 iis nesi dale cient edatieoe A A N vada eehauctede iaaa 9 105 Hardware Connections cccccccceececeeeeeceeeeesaeeseneeceaeeeseaeessaaeseeeeese
378. lfi and the display on the drive read as follows Dolfi32 C INDRAMAT Dolfi Download FwWwA_ECODR3_SMT01 07 ibf File Transmit Options Extras Help al Ael eela Messages Header Read ini file COM1 9600 Transmit CAINDRAMATDolfiDownloadFWA_ECODR3_SMTO1W07 ibf Modul FWC ESP02 1 FBC 01V07 Firmware is erased Do not switch OFF Power Connect No PCCard OO o o cOm1 9600 Fig 4 19 Example An illustration of how an error firmware was cleared Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 4 30 General Instructions for Installation ECODRIVE03 FGP 03VRS The table below lists the error messages SIS error 7 segment message display Error message 0x9002 dL 00 Firmware was cleared 0x9003 Loading into phase 3 not allowed 0x9004 Loading into phase 4 not allowed 0x9102 dL 03 Firmware was cleared 0x9103 Restart in phase 3 not allowed 0x9104 Restart in phase 4 not allowed 0x9200 dL 06 Read error 0x9400 dL 07 Timeout during reset 0x9402 dL OF Address range not within flash storage 0x940A dL 08 Reset only in loader possible Ox960A Programming only possible in loader Ox96E0 dL 0b Error during flash verification Ox96E1 dL 0C Timeout when programming flash Ox96FF dL 09 Error when writing into RAM 0x9701 dL 0d Addition checksum faulty 0x9702 dL 0E CRC32 checksum faulty Fig 4 20 SIS error of firmwa
379. lid record acceptance the y n inverted condition SV5012d1 Fh7 Fig 8 36 Example Following block commutation with target position with intermediate halt Note This mode should be used if there is a change in direction with two sequential following blocks within one following block change Otherwise the position at which the direction is to be changed will be overrun Rexroth Indramat 2 Switching signal dependent block commutation P 0 4019 Process block mode 81h absolute block with following block P 0 4019 Process block mode 82h relative block with following block P 0 4019 Process block mode 84h infinite block in positive direction with following block P 0 4019 Process block mode 88h infinite block in negative direction with following block Block commutation to a block with the next highest block number is triggered with an externally applied switching signal DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Switching with cams Definition Reference position Allocation table for cams DOK ECODR3 FGP 03VRS FK02 EN P Operating Modes 8 37 The switching signal dependent block commutation makes a transition to a following block possible based on an external switching signal As signal input the two following block inputs are available The state of the hardware signals is shown in parameter P 0 4057 Positioning block input linked blocks The drive sw
380. llowable torque 9 32 Transmission Feed Constant 9 7 Transmission Ratio 9 6 Transmission Ratio 9 6 Travel range limit switch monitor 9 39 Travel range limit switch in positioning block mode 8 32 Travel range limits Relevant parameters 9 36 Travel Range Limits 9 36 Monitoring as a Warning 9 38 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Index 12 15 Parameterization 9 37 Travel range limits with automatic control loop settings 9 71 Travel Zone Limit Switch Activation and Polarity 9 39 Connection 9 40 Monitoring 9 39 Monitoring the allowable travel range 9 37 Trigger causes of the velocity control loop monitor 9 64 Triggering a motion with automatic control loop setting 9 72 Tripping a motion 9 72 U Undervoltage 9 52 Undervoltage error 4 25 Unit master file for DKC03 3 5 20 Use See appropriate use and see inappropriate use Using Rexroth Indramat positioning setting parametrization 6 18 Using the data container with multiplex channel 6 24 Using the multiplex channel in positioning block mode 6 19 Features 6 19 Parametrization 6 19 Using the Rexroth Indramat positioning setting Features 6 18 Using the Rexroth Indramat Positioning setting 6 18 Using the signal control and status words 6 20 Features 6 20 Parametrization 6 20 V Velocity Command Value Reset 9 45 Velocity Command Value Set to Zero Time Elapsed 9 45 Velocity command value to zero drive error reactions
381. llows to obtain the wanted assignment of the control word Note Up to 16 Bits can be configured Configuration takes place from the lowest to the highest value bit In other words The position of the bit copy in the signal control word is derived from the continuous configuration in S 0 0027 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 5 Diagnostic Error Messages 10 3 Analog Output When inputting one of the parameters S 0 0027 or S 0 0329 the following checks are run e f more elements are programmed in S 0 0329 Assign list signal control word then in S 0 0027 Configuration list signal control word then error message 0x1001 ID number not available is generated e lf an ID number specified in S 0 0027 Configuration list signal control word is not available then error message 0x1001 ID number not available is generated e lf an ID number specified in S 0 0027 Configuration list signal control word is not on the list of the configured data S 0 0399 then error message 0x7008 Data not correct is generated Note In each of these cases only that input prior to the faulty element will be accepted With the help of the function Analog output drive internal signals and state variables can be generated as analog voltage signals These can be examined with an oscilloscope connected to the analog outputs The conversion of the digital values from the drive is d
382. log inputs The digitalized voltages of both differential inputs are displayed in the parameters P 0 0210 Analog input 1 and P 0 0211 Analog input 2 DOK ECODR3 FGP 03VRS FK02 EN P Rexroth Indramat 10 10 Optional Drive Functions ECODRIVE03 FGP 03VRS Assignment of analog inputs to Both P 0 0210 analog input 1 and P 0 0211 analog input 2 which parameters depict the analog to digital converted voltages can be assigned to other drive parameters i e they can be cyclically copied while taking e an offset and e aselectable scaling into account Processing of analog inputs Analog channel 1 is processed every 500 us e Analog channel 2 is processed every 8 ms Exception In modes velocity control or torque control the command values are read every 500 us The assignment applies the following principle P 0 0210 Analog input 1 z ay P 0 0217 Analog input 1 Offset P 0 0213 P 0 0214 Analog input 1 scaling per 10V Analog input 1 assignment Fig 10 6 Functional principle of assigning analog input 1 to a parameter Displaying analog value 1 The converted voltage signals of both differential inputs are stored in parameter P 0 0210 Analog input 1 respectively Configuring the analog input1 An assignment of an analog input to a parameter is activated if in parameter P 0 0213 Analog input 1 assignment a value not equal to S 0 0000 has been paramet
383. low all safety regulations and requirements for the specific application as practiced in the country of use The equipment is designed for installation on commercial machinery European countries see directive 89 392 EEC machine guideline The ambient conditions given in the product documentation must be observed Use only safety features that are clearly and explicitly approved in the Project Planning manual For example the following areas of use are not allowed Construction cranes Elevators used for people or freight Devices and vehicles to transport people Medical applications Refinery plants the transport of hazardous goods Radioactive or nuclear applications Applications sensitive to high frequency mining food processing Control of protection equipment also in a machine Start up is only permitted once it is sure that the machine in which the product is installed complies with the requirements of national safety regulations and safety specifications of the application Operation is only permitted if the national EMC regulations for the application are met The instructions for installation in accordance with EMC requirements can be found in the INDRAMAT document EMC in Drive and Control Systems The machine builder is responsible for compliance with the limiting values as prescribed in the national regulations and specific EMC regulations for the application European countries see Directive 89 336 EEC E
384. lse occurs after referencing is successfully completed It is output at the same position however reference marker Zero pulse offset With rotary motors it is possible to offset the zero pulse using P 0 0503 Marker pulse offset within a electrical or mechanical rotation in a clockwise direction The unit of P 0 0503 is degrees The input range for motor encoders that are absolute after their initialization with unequivocal positions within a motor revolution of 0 359 9999 degrees The input range for resolvers with an absolute unequivocal position within an electrical revolution is 0 359 9999 degrees number of pole pairs Limiting Incremental Encoder Emulation In contrast to the conventional incremental encoder with which the pulse output frequency is practically infinitely separated into very fine increments i e the pulses are allocated to a fixed position emulated incremental encoder signals are subject to certain restrictions These are primarily the result of how the digital process of the drive controller works Maximum output frequency The maximum pulse frequency for devices is 1024 kHz If this frequency is exceeded then pulses could be lost The non fatal error F253 Incr encoder emulator pulse frequency too high is generated A position offset of the emulated position in contrast to the real position takes place fmax 60 max max Imax maximum line number Nmax allowable maximum speed in 1 min F
385. lso be attenuated If the actual position value 3 is transmitted to other drives as a master axis position then this will help achieve a considerably quieter run of the slave axes S 0 0403 Position feedback value status valuation of master axis feedback P 0 0052 Position feedback value 3 se P 0 0087 Offset position feedback value 3 The principle of master axis encoder evaluation Referencing the master axis encoder DOK ECODR3 FGP 03VRS FK02 EN P Cyclically absolute measuring systems supply after being powered up absolute positions within one revolution and therefore do not have to be referenced A single setting of parameter P 0 0087 Offset position feedback value 3 can set the desired position Incremental measuring systems cannot supply an absolute position until their zero pulse has been situated e In addition to the position status of the motor encoder bit 1 parameter S 0 0403 Position feedback value status also contains the position status of the optional encoder bit 2 This means that in bit 2 the position status of the master axis encoder is available e f an incremental measuring system is used as a master axis encoder then its position status is 0 once it is turned on The detection of the zero pulse is active if the position status of the master axis encoder 0 To detect the zero pulse it is necessary to overrun it e After detecting the zero pulse the master axis position j
386. lue 3 to do this The format of the position feedback value 3 is2 increments per revolution and the format cannot be changed Determining the Feedback Interface of the Master Axis Feedback Determining the encoder interface of the master axis encoder uses parameter P 0 0075 Feedback type 2 Enter the number of the encoder there If an 0 is entered then encoder evaluation is switched off Master Axis Feedback Resolution The resolution must be entered in parameter S 0 0117 Feedback 2 Resolution Parametrization of the resolution of the master axis encoder is only needed if an encoder with feedback data storage capabilities is not used Rotational Direction of the Master Axis Encoder To parametrize the rotational direction of the master axis encoder use bit 3 of S 0 0115 Position feedback 2 type Smoothing the actual position value The non linearized position value can be smoothed using a low pass filter The time constant is fixed with parameter P 0 0186 Actual Position value 3 smoothing time DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Sine encoder ENDat Incremental encoder P 0 0075 Interface feedback 2 Fig 9 55 S 0 0115 Position feedback 2 type P 0 0186 Actual position value 3 smoothing time Basic Drive Functions 9 43 Note Position errors caused by the accuracy of the encoder can be suppressed with this filter Any oscillations of the master axis encoder can a
387. lue additional Fig 8 50 Generating the position command value The synchronous position command value Xsynch is calculated in terms of the selected polarity for the master drive P 0 0108 Master drive polarity and the scaling type S 0 0076 Position data scaling type using the following formula Xsynch P 0 0053 FAR P 0 0156 5 0 0236 P 0 0157 S 0 0237 XSynch synchronous position command value Fig 8 51 Generating the synchronous position command value with rotary scaling Xsynch P 0 0053 P 0 0156 S 0 0236 XSynch synchronous position command value Fig 8 52 Generating the synchronous position command value with translatory scaling P 0 0157 P 0 0159 Note The master axis position is fixed at 220 increments per master axis revolution Note The synchronous position command value is generated after the slave drive is synchronized to the master axis position Rexroth Indramat 8 52 Operating Modes ECODRIVE03 FGP 03VRS Note The electronic gearbox generated with the above formular with the help of parameters S 0 0237 S 0 0236 or P 0 0159 S 0 0236 can be precisely set 32 bit Parametrization can however not take place during processing but only in parametrization mode Phase 2 The electronic gearbox generated by the parameter P 0 0157 P 0 0156 is less precise 16 bits but it can be changed during processing A dynamic fine adjustment can be executed meaning th
388. lue preparation for electronic cams DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 61 8 15 Operating mode electronic cam shaft with real master axis There is a fixed relationship between master axis position and following axis in operating mode electronic cam with real master axis The real master axis position is determined from the master axis encoder evaluation The structure of the mode Electronic cam with real master axis is illustrated below Master axis i Position Velocity Current Os feedback electronic cam shaft controller controller controller analysis actual feedback value 3 Position Velocity command Torque power Master axis position command value value command value Fig 8 64 Electronic cam shaft Block Diagram Pertinent Parameters The parameters listed in the sections on Operating mode electronic cam shaft with virtual master axis and Master Axis Feedback Analysis are involved in this operating mode Functional Principle Operating mode electronic cam with real master axis combines the modes Electronic cam with virtual master axis and the Master axis encoder evaluation P 0 0052 Position feedback value 3 determined by master axis encoder evaluation is copied into parameter P 0 0053 Master drive position The function of the individual blocks is outlined in the relevant sections see section Master Axis Feedback Analysis se
389. m linear Motors 1 2m min e Raise the K factor until instability appears e Reduce the K factor until the continuous oscillation ends by itself The Kv factor determined through this process is the Critical position control loop gain Determining the Position Controller Setting In most applications an appropriate position controller setting will lie between 50 and 80 of the critical position controller loop gain This means S 0 0104 Position Loop KV Factor 0 5 0 8 Kvcrit Position Control Loop Monitoring The position control loop monitor helps to diagnose errors in the position control loop Reasons for errors in the position control loop can be e Exceeding the torque or acceleration capability of the drive e Blocking of the axis mechanical system e Disruptions in the position encoder The monitoring of the position circuit is only active when an operation mode with closed position loop is active in the drive To set and check the monitoring function two parameters are used e 0 0159 Monitoring Window e P 0 0098 Max Model Deviation If the drive detects an error in the position control loop the error message e F228 Excessive deviation is issued General Operating Characteristics of Position Control Loop Monitoring To monitor the position control loop a model actual position value is computed which depends only on the commanded position profile and the set position loop parameters This mode
390. manner The following block is that block with the next highest block number A following block can also have a following block so that after a start block up to 63 following blocks can be set The potential following block of the block with number 63 is block 0 There are two possibilities for continuing block mode These are also broken down into 1 Position dependent continue block mode With position dependent continue block mode the following block is switched into at the target position of the start block There are three different types of block transitions a Block transition at old positioning speed Mode 1 P 0 4019 Process block mode 11h absolute block with following block P 0 4019 Process block mode 12h relative block with following block P 0 4019 Process block mode 14h infinite block in positive direction with following block P 0 4019 Process block mode 18h infinite block in negative direction with following block In this mode the target position of the start block is run through at the speed of the start block and then switched to the positioning speed of the following block With relative and absolute blocks with sequential processing the drive runs in the direction of the target position As soon as the target position is exceeded it switches to the next block n 1 With infinite blocks the drive runs positive or negative As soon as the target position is exceeded the drive switches to next po
391. master for each participant The EDS file for an ECODRIVEO3 is an ASCII file designated with DKCO05P3 EDS All the objects in the unit are described in this EDS file Note The EDS file is stored at installation of DriveTop in directory Indramat Device Data Sheets Object Directory CANopen specific Object definition DOK ECODR3 FGP 03VRS FK02 EN P The communications objects defined by CANopen in DS301 are made available here All drive parameters can be read write via SDO service data object To make acyclic accessing easy the objects index and sub index were allocated to drive parameters This is described below The data of an object is accessed via e Index e Sub index Rexroth Indramat 5 36 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Generating law for object index Generating law for object sub index e Index 0x2000 IDN S 0 xxxx S parameters e Index 0x3000 IDN P 0 xxxx P parameters See also Bus Independent Features Example 1 accessing data of S 0 0051 Index 0x2000 IDN S 0 0051 0x2000 51 0x2033 attribute 7 or 10 as data accessing is wanted Example 2 accessing data of P 0 0051 Index 0x3000 IDN P 0 0051 0x3000 51 0x3033 attribute 7 or 10 as data accessing is wanted Configuration of CANopen Slave P 0 4080 Real time input object structure PDO mapping objects 1A00 1A01 Rexroth Indram
392. matically command S 0 0148 C600 Drive controlled homing procedure command is started With command execution the drive recognizes that it is dealing with an absolute measuring system and conducts Setting the absolute dimension In other words the actual position value is set to the reference dimension The position command value is simultaneously set to the same value S 0 0047 Position command value In position control mode this automatically leads to the automatic switch of the co ordinate system but as the control cannot bring its command value immediately up to the new actual value there is an abrupt transition e Clear command P 0 0012 C300 Command Set absolute measurement In the event that the co ordinate system switch is not automatic and drive internal P 0 0621 Bit 2 0 then basically the same procedure as with case C1 should be followed but the command is here activated by a flank at the zero switch input e Activate the zero switch input by setting P 0 0612 Biti 1 e Run the axis to the measured position e g jog it there e andso on Note Both biti of P 0 0612 and the command itself are automatically drive internally deleted after Setting the Absolute Dimension If the co ordinate system is to be switched drive internally and automatically at the start of command Setting the absolute dimension P 0 0621 Bit 2 1 then basically proceed as with case C2 but here the command is activa
393. ment of inertia The torque constant in Rexroth Indramat synchronous motors is in the motor data memory The tolerance especially via temperature equals about 5 20 The load moment of inertia can be set with the automatic control setting The tolerance error of the torque constant is automatically allowed for when determining the load moment of inertia by means of the automatic controller setting Note Error reactions leading to velocity to zero P 0 0119 Best possible deceleration 0 and fatal warnings mean that the torque is limited to the value set in P 0 0109 Torque force peak limit The following parameters limit the velocity of the drive e 0 0113 Maximum Motor Speed nmax e 0 0091 Bipolar Velocity Limit Value The parameter S 0 0091 Bipolar Velocity Limit Value is designed to allow variable limits of the maximum velocity to values smaller than the maximum allowable velocity during operation The parameter S 0 0113 Maximum Motor Speed nmax designates the maximum possible motor velocity It is contained in the motor encoder data storage of MHD MKD and MKE motors and does not need to be entered but with other types of motors this value must be taken from the motor parameter specifications Limiting to Maximum Motor Velocity The maximum motor velocity defines the maximum velocity of the drive It becomes active and is included in the calculation of e the maximum value entered in the parameter S
394. meter S 0 0393 Command value mode it is ensured that a positioning command value specified once will always be run to The acknowledgement of acceptance takes place when the new positioning command value is accepted into the intermediate memory in parameter S 0 0258 Target position and thus in the position command value generator Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 8 20 Operating Modes ECODRIVE03 FGP 03VRS S 0 0346 Positioning command latch S 0 0282 Positioning command LETT tiy a e e ory E ae Xdrive internal position k 1 command value a S 0 0419 Positioning command acknowledge Message target position reached S 0 0013 Bit Fig 8 21 Acknowledge acceptance of positioning command value in mode running of positioning command value k 2 Acknowledge with error when _ If in mode Running to positioning command value the attempt is made positioning setpoint overrun to set a new positioning command value by toggeling parameter S 0 0346 Positioning command latch even though the previous positioning command value k 1 has not yet been accepted as the previous one was not run to yet then error F250 Overflow of target position preset memory is generated S 0 0346 Positioning command latch S 0 0282 Positioning k 2 command a drive internal position e i command value k 3 250 Overflow of target position reset memor S 0 0419 Po
395. meters The parameters listed in the sections Velocity synchronisation with virtual master axis and Master axis evaluation are involved here Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 8 50 Operating Modes Functional Principle ECODRIVE03 FGP 03VRS This mode combines the function of master axis encoder and velocity synchronisation in the drive The master axis encoder supplies P 0 0052 Position feedback value 3 which is copied by the drive into parameter P 0 0053 Master drive position The function of the individual function blocks is described in the relevant sections see chapter Master Axis Feedback Analysis see chapter Operating mode velocity synchronization with virtual master axis see chapter Velocity Controller see chapter Current Controller Note If the master axis encoder incremental encoder is not homed then zero pulse detection is automatically activated As soon as the zero pulse is generated there is a position jump to the value P 0 0087 Offset position feedback value 3 The resulting velocity jump is suppressed The automatic referencing of the master axis encoder can be switched off in parameter P 0 0185 Function of encoder 2 8 12 Operating mode phase synchronisation with virtual master axis In machining processes that need absolute phase synchronisation e g printing punching or perforating in printing machines then the position relevant to the master axis
396. mmediately after initialization of the drive in other words in communication phase 0 passive axis If bit 0 then the drive must be in communications phase 4 and without error before the power can be switched on for the first time In units that cannot release energy generated during brake by means of bleeders or a mains regenerated power supply bit 2 should be set to 1 to prevent the drive coasting Reaction to Undervoltage DC bus voltage too small Bits 3 4 and 5 of P 0 0118 Power off on error offer various options on how to handle Undervoltage Undervoltage is present if the drive has been enabled subject to torque and the DC bus voltage drops below the minimum value about 75 of the mean value of a periodic quantity Using Bit3 1 treats undervoltage as a fatal warning This makes sense if the energy in the DC bus must be retained for that period of time which a control needs to start a synchronized deceleration of several drives The drive does not signal a class 1 diagnostics error and the reaction parametrized in P 0 0119 Best possible deceleration is also not conducted Switching the motor off leads to a slower drop in the DC bus voltage This means that asynchronous motors can still have a magnetic field when the control starts the synchronised deceleration of the drive Braking then takes place in generator mode If undervoltage is treated as an error bit 3 5 0 then bit 4 can be used to set a
397. mmunication ECODRIVE03 FGP 03VRS 1 6 Error Messages Rexroth Indramat The error codes defined in the SERCOS interface specification are used See SERCOS Interface specification sec 4 3 2 3 Error messages in service channel These codes are also used with faulty accessing of control and system parameters Error code Explanation 0x1001 IDN not available 0x1009 element 1 incorrectly accessed 0x2001 name not available 0x2002 name transmission too short 0x2003 name transmission too long 0x2004 name cannot be changed 0x2005 name presently write protected 0x3002 attribute transmission too short 0x3003 attribute transmission too long 0x3004 attribute cannot be changed 0x3005 attribute presently write protected 0x4001 unit not available 0x4002 unit transmission too short 0x4003 unit transmission too long 0x4004 unit cannot be changed 0x4005 unit presently write protected 0x5001 minimum input value not available 0x5002 minimum input value transmission too short 0x5003 minimum input value transmission too long 0x5004 minimum input value cannot be changed 0x5005 minimum input value presently write protected 0x6001 maximum input value not available 0x6002 maximum input value transmission too short 0x6003 maximum input value transmission too long 0x6004 maximum input value cannot be changed 0x6005 maximum input value presently write protected 0x7002 data transmission to
398. mode selection or status bits control word Fd5033f1 fh7 Fig 6 8 Rexroth Indramat status machine phase transition via fieldbus Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Profile Types 6 13 Drive internal interpolation P 0 4084 OxFF91 Master gt Slave Slave gt Master DOK ECODR3 FGP 03VRS FK02 EN P Features The main operating mode drive internal interpolation lag free with encoder 1 is set Also see operating mode drive internal interpolation The first auxiliary mode is set to jog The entire contents of the real time data channel is set with P 0 4084 Profile type Via the fieldbus parameters S 0 0258 Target position and 0 0259 Positioning Velocity and S 0 0051 Position feedback 1 value and S 0 0040 Velocity feedback value are cyclical transmitted In this profile type the Rexroth Indramat specific definitions for fieldbus control and status words apply also see section Rexroth Indramat status machine of the drives Bits 0 3 4 and 12 in P 0 4077 Fieldbus control word and bit10 in P 0 4078 Fieldbus status word are not relevant in this profile type Length of cyclic data channel fixed with P 0 4082 P 0 4087 12 Byte P 0 4083 The optional parameter channel can be expanded in Profibus DP with P 0 4083 Length of parameter channel in DP to 6 words Default P 0 4083 0 gt without parameter channel Note To use the functi
399. motor encoders that achieve an absolute position within one motor revolution after initialization or within one electrical revolution with resolvers the zero pulse is always generated at the same motor position each time the unit is switched on Non absolute encoders do not have an automatic method of determining position after powering up This is why it is necessary to home Homing uses the incremental encoder emulator zero pulse DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 31 With non absolute encoders e g sine gearwheel encoders the following occurs automatically with each progression of phases 2 to 4 in other words after each powering up of the drive controller e The detection of the motor encoder internal reference point is activated e The zero pulse output of the incremental encoder emulator is locked e The increment output is activated It is assumed that the motor can now be run via the position control loop by the control homing going to zero or referencing Drive guided referencing The drive can also conduct drive guided referencing if the control permits it As soon as the motor encoder internal reference point is detected the following is conducted e general release of zero pulse output e immediate output of a zero pulse by the emulator e initialization of zero pulse so that it is always output at this absolute motor position Note The output of the zero pu
400. n 86 10 65 05 03 80 Telefax 86 10 65 05 03 79 India K SALES X Service Mannesmann Rexroth China Ldt A 5F 123 Lian Shan Street Sha He Kou District Dalian 116 023 P R China 86 411 46 78 930 86 411 46 78 932 Telefon Telefax X SALES X Service India Mannesmann Rexroth China Ldt Guangzhou Repres Office Room 1014 1016 Metro Plaza Tian He District 183 Tian He Bei Rd Guangzhou 510075 P R China 86 20 8755 0030 86 20 8755 0011 86 20 8755 2387 Telefon Telefax X SALES O Service Indonesia Rexroth China Lat 1 F 19 Cheung Shun Street Cheung Sha Wan Kowloon Hongkong 852 22 62 51 00 852 27 41 33 44 Telefon Telefax Japan O sates Xl service Mannesmann Rexroth India Ltd Rexroth Indramat Division Plot 96 Phase III Peenya Industrial Area IND Bangalore 560058 Telefon 91 0 80 8 39 73 74 Telefax 91 0 80 8 39 43 45 Japan KX sates Kl service Mannesmann Rexroth India Ltd Rexroth Indramat Division Plot A 58 TTC Industrial Area Thane Turbhe Midc Road Mahape Village IND Navi Mumbai 400 701 91 0 22 7 61 46 22 91 0 22 7 68 15 31 Telefon Telefax Mexico Xl SALES O Service PT Rexroth Wijayakusuma JI Raya Bekasi Km 21 Pulogadung RI Jakarta Timur 13920 62 21 4 61 04 87 62 21 4 61 04 88 62 21 4 60 01 52 Telefon Telefax Korea X SALES Xl Service Rexroth Automation Co Ltd Service Center Japan Yutakagaoka 1810
401. n automatic delete of the error once the control removes the drive enable signal This makes sense if the error occurs even with normal shutdowns and the cause is simply that the drive does not remove the enable fast enough Using Bit5 1 it is possible to switch off every response to undervoltage in the DC bus mains errors or mains section errors Only one warning is generated If either the mains section or controller detect undervoltage in the supply network mains error then a softstart is initiated by the mains section for the power supply mains coupled via the bleeder resistor If the control does not response by bringing the machine to a standstill then in response to this warning error F220 Shutdown due to bleeder overload could be generated DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 53 NC Response in Error Situation NC response during an error situation is only possible during non fatal errors Otherwise the drive reacts immediately with an error response If the drive control device recognizes an error it sends a message to the control CNC The control can then decelerate the servo axis of the machine thus preventing damage If this is desired you have to delay the drive error reaction to allow the axis to continue movement to the values set by the control This is achieved by setting the time delay between the recognition of the error and the drive s error reaction
402. n completed L Bit 10 IN_TARGET POSITION S 0 0258 target position S 0 0051 53 act pos val 1 2 lt S 0 0057 pos window L_ Bit 11 AHQ drive halt amp amp jact vel lt S 0 0124 L Bit 12 End position S 0 0258 target pos act pos lt S 0 0057 pos window amp amp End of following block sequence has been reached only relevant in Positioning block mode Fig 4 17 Structure of S 0 0182 Manufacturer class 3 diagnostics DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS General Instructions for Installation 4 29 4 5 Language Selection With the parameter S 0 0265 Language Selection you can switch between several languages for e Parameter names and units e Diagnostic texts The following languages are implemented Value of S 0 0265 Language 0 German 1 English 2 French 3 Spanish 4 Italian Fig 4 18 Language Selection 4 6 Firmware Update with the Dolfi Program With the help of the Dolfi program it has become possible to conduct firmware updates for a drive controler via the serial interface The program can be ordered from Indramat with item number SWA DOL PC INB 01VRS MS C1 44 COPY or material number 279804 This includes an extensive description of the program as well Error Message in the Firmware Loader If a firmware update is conducted with a serial interface using the SIS protocol then the drive can generate error messages Do
403. n parameters e S 0 0165 Distance coded reference offset 1 and e S 0 0166 Distance coded reference offset 2 the greater and smaller distance of the reference mark must be entered These values can be retrieved from the encoder specification Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 95 1001 1001 me aE 1000 aS 1000 L Distance coded reference dimension 2 l Distance coded reference dimension 1 smaller value SERCOS ID No S 0 0166 larger value SERCOS ID No 3 0 0165 Input unit pitch Input unit pitch unit The manufacturer of the length measuring system indicates distance travelled up to the absolute position value 20 mm pitch unit 20 um 0 02 mm For Heidenhein length measuring system the larger value is the product of distance travelled pitch unit pitch unit therefore 20 02 mm 0 02 mm 1001 pitch units 20 mm 0 02 mm 1000 pitch units ee This value 1001 pitch units is to be entered This value 1000 pitch units is to be in parameter ID No S 0 0165 entered in parameter ID No S 0 0166 Setting up of distance coded Heidenhain length measuring systems taken from Catalog for NC length measuring systems September 1993 Length measuring Distance Pitch unit Input in Input in system Type _ travelled in mm in um ID No S 0 0166 ID No S 0 0165 LS 403C LS 406C LS 323C LS 623C LS 106C
404. n setting accepted 0 gt 1 change to operating mode 1 operating mode set 1 gt 0 change to parametrization mode 0 gt 1 reference command C6 start 2 drive to zero point S 0 0148 511b 1 gt 0 reference command C6 end S 0 0148 0b absolute relative 0 S 0 0282 Positioning command value only effective when is processed as abs target pos in drive 3 used with S 0 0282 1 S 0 0282 Positioning command value Positioning is processed as rel travel path in drive command value S 0 0393 Bit3 Immediate block 0 S 0 0282 Positioning command value change not i until target position is ffecti h reache 4 sonly e echvewneni 1 S 0 0282 Positioning command value used with S 0 0282 ST d Positioni is immediately accepted after setpoint ositioning acceptance is toggled command value S 0 0393 Bit4 5 srrot d lste 0 gt 1 clear error command C5 start 1 gt 0 command C5 end 6 jog forward 1 jog forward P 0 4056 Bit0 1 1 jog backwards P 0 7 jog backwards 4056 Bit1 1 00 main mode S 0 0134 Bit 8 9 8 9 setpoint operating 01 1 auxiliary mode e g jog gt mode 10 2 auxiliary mode 11 3 auxiliary mode 10 11 reserved Interpolator cycle only in cycl pos control 12 IPOSYNC toggles when new setpoint is transmitted f 1 gt 0 Edge causes standstill of drive Ae aa S 0 0134 Bit 13 1 gt 0 Edge causes immediate torque to zero 14 drive enable S 0 0134 Bit 14 1 gt 0 Edge causes best possi
405. nce position Note The chain reference dimension is guaranteed An interrupted relative positioning block with residual path storage after active drive enable with target position 600 Rexroth Indramat 8 30 Operating Modes vt ECODRIVE03 FGP 03VRS S 0 0124 Standstill window speed profil P 0 4026 Process block selection P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 1 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 Drive enable S 0 0134 Master control word Bit 15 S 0 0346 Positioning command latch 024 4 A e 4 ms j I I I ms t IA IA Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the Example Reference position Behavior position inputs are in an inverted condition Sv5006d1 iiy Fig 8 31 Relative positioning block with residual path storage after activating the drive enable Relative positioning block with residual interrupting with jog mode path storage after Interrupted relative positioning block with residual path storage after jogging with target position 600 without overrunning the target position while jogging The last End p
406. ncy velocity loop e P 0 0181 Rejection bandwidth velocity loop The setting can be made by e conducting the load base values function once e in accordance with the procedure described below e by starting the command automatic control loop settings Preparations for Programming the Velocity Controller A number of preparations must be made in order to be able to set the velocity loop controller e The mechanical system must be set up in its final form in order to have actual conditions while setting the parameters e The drive controller must be properly connected as described in the user manual e The safety limit switches must be checked for correct operation if available e The Operating Mode Velocity Control must be selected in the drive Start settings The controller setting must be selected for the start of parameterization as follows S 0 0100 Velocity Loop Proportional Gain default value of the connected motor S 0 0101 Velocity Loop Integral Action Time 6500 ms no integral gain P 0 0004 Smoothing Time Constant Minimum value 500us gt Filter is switched off P 0 0181 Rejection bandwidth velocity loop 0 Hz deactivated Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 60 Basic Drive Functions Application Type ECODRIVE03 FGP 03VRS Definition of the Critical Proportional Gain and Smoothing Time Constant e After turning on the controller enable let the drive move at a low
407. ndependent of the fieldbus type Usually the setting of parameter P 0 4084 profile type suffices The fieldbus can also be used to parametrize by writing the drive parameters over the PCP channel with the SERCOS parameters relevant objects for assignment see previous section The state of this parameter can be read via this object Further the INTERBUS S object 6000 6001 defined in profile 12 sensor actuator can be read via the PCP channel However this configuration option requires that the master supports the PCP services Note It applies to both the process input data and output data that changes in word length must always lead to modifications in the data stored in the master that were intended for the slave This is why length changes are not effective until the drive is switched on again Switching from parametrization into operating does however not change the configuration Instead a reconfiguration request is sent to the master to tell him that the configuration will change with the next bus reset This makes a PC free configuration possible The structure and therefore the number of words and their assignment with objects indices for the process input data is illustrated in this parameter The user can read the existing structure via the PCP read service The master can use this configuration to obtain information about the position of the individual objects in the BUS The structure of the process output d
408. near synchronous motors and MBS motors should be set in this direction during installation see Other Motor Encoder Characteristics The command polarity and actual value polarity of the drive is thereby fixed If the motor definition of the positive direction does not conform to the requirements of the machine the parameters e 0 0055 Position Polarity Parameter e 0 0043 Velocity polarity parameter e 0 0085 Torque Force polarity parameter can invert the command and actual value polarities Rexroth Indramat 9 6 Basic Drive Functions ECODRIVE03 FGP 03VRS Note If the polarity needs to be changed all 3 parameters should always be inverted at the same time so that the polarities of the position velocity and torque have the same sign The following illustration shows the operating characteristics of the polarity parameters S 0 0036 S 0 0037 S 0 0043 Bit 0 S 0 0043 Bit 1 Velocity controller Position Torque force controller controller encoder 2 Fig 9 7 Polarity parameter operating characteristics The polarity parameters affect only the display values not the control feedback values The drive software only allows all bits within a polarity parameter to be inverted If bit O is inverted all other bits of the parameter are also inverted This protects against the danger of adding positive feedback into the control loop command and feedback values with op
409. nector X30 5 23 Assignment INTERBUS S connectors X40 X41 5 33 Assignment of analog inputs to parameters 10 10 Assignment of CANopen Connectors X50 5 38 Automatic check of motor holding brake 7 23 Automatic control loop setting prerequisites 9 69 Automatic control loop settings 9 69 9 76 Automatic controller settings 9 70 Automatic Execution of the Load Default Feature 9 57 Axis Limit Values Monitoring the allowable travel range 9 37 Axis Limit Values 9 39 Axis Limit Values Activation 9 40 Basic functions of I O mode 6 4 Basic functions of Rexroth Indramat Profile 6 9 Basic I O mode function 6 4 Basic parameter block 4 4 Baud rate 4 34 bb 4 12 BB contact 9 50 BB relay 9 50 BB contact 9 50 Best Possible Deceleration as velocity command value decelerated to zero 9 45 Drive Error Reaction 4 9 Best possible standstill Programming drive reaction 9 44 Torque disable 9 46 Best possible standstill as speed command to zero with filter and ramp 9 48 Bipolar Velocity Limit Limiting the Command Value 8 5 Bipolar Velocity Limit Value Limiting Velocity 9 35 Block transition 8 33 Block transition at old positioning speed 8 33 Block transition with intermediate halt 8 35 Block transition with new positioning speed 8 34 Brake with velocity command value set to zero 9 45 Brake monitor 7 24 Bus Independent Features 5 1 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Index 12 3 C Cam mode wi
410. nertia momentum of the load kg m P 0 4010 Kt Torque constant of the motor Nm A P 0 0051 Fig 9 72 Value for the Acceleration Feedforward The determined value is entered in parameter S 0 0348 Acceleration Feedforward prop Gain Checking the effect of the acceleration feedforward and if necessary fine tuning of the parameter S 0 0348 Acceleration Feedforward prop Gain The deviation of the actual feedback value to the position command can be displayed through the analog diagnostic output of the drive controller or the oscilloscope function To check the effect of the acceleration feed forward you must oscilloscope the signal during movement of the axis along the desired operation cycle In acceleration and brake phases the feedforward must reduce the control deviation drastically Setting the Velocity Mix Factor Rexroth Indramat With the help of the velocity mix factor you can combine the velocity feedback value used for velocity control from the motor and the external measurement system This might be an advantage when there is play or torsion between motor and load To set the mixing ratio use the parameter e P 0 0121 Velocity Mixfactor Feedback1 amp 2 Precondition The function is only applicable when there is an external measurement system If this is not available P 0 0121 is automatically settoO The mixture of the velocity feedback value can be continuously varied between e 100 Velocity feed
411. ng and writing of parameters via the SERCOS Interface is done in the service channel DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS 12 Index DOK ECODR3 FGP 03VRS FK02 EN P Index 12 1 Rexroth Indramat status machine of the drive 6 9 0 0x1001 ID number not available 10 5 0x7008 Data not correct 10 5 0x9002 dL 00 Firmware was cleared 4 30 0x9003 Loading into phase 3 not allowed 4 31 0x9004 Loading into phase 4 not allowed 4 31 0x9102 dL 03 Firmware was cleared 4 31 0x9103 Restart in phase 3 not allowed 4 31 0x9104 Restart in phase 4 not allowed 4 31 0x9200 dL 06 Read error 4 31 0x9400 dL 07 Timeout during reset 4 31 0x9402 dL OF Address range not in flash 4 31 0x940A Reset only possible in loader 4 31 Ox96E0 dL Ob Error when verifying the flash 4 32 Ox96E1 dL OC Timeout when programming the flash 4 32 Ox96FF dL 09 Error when write accessing the RAM 4 32 0x9701 dL 0d Wrong checksum 4 32 0x9702 dL 0e CRC32 checksum faulty 4 32 1 1MB 7 1 2AD 7 1 7 7 Segment Display Diagnostic Number 4 24 A Abort 5 24 Absolute encoder modulo evaluation 9 27 Absolute encoder emulation 10 32 Absolute encoder emulation 10 32 10 33 Absolute Encoder Monitor Deactivating 9 27 Absolute Encoder Monitoring 9 26 Absolute encoder monitoring check in transition command 4 16 Absolute measuring systems interfaces 9 24 Modulo evaluation 9 27 types of encoders 9 24 Absolute
412. ng to Bipolar Velocity Limit Value 9 35 Limiting to Maximum Motor Velocity 9 35 Limiting Velocity Associated Parameters 9 35 Bipolar Velocity Limit Value 9 35 Maximum Motor Velocity 9 35 Monitoring 9 36 Linear Rotary Scaling 9 2 Linear motors Commutation offset 7 13 List elements of multiplex channel 6 25 List of diagnostic numbers 4 24 Load 9 30 Loading into phase 3 not allowed 4 30 Loading into phase 4 not allowed 4 30 LSF 7 1 Magnetization current 7 18 Main Function of the Probe Analysis 10 20 Manufacturer class 3 diagnostics 4 28 Manufacturer specific error 4 25 Manufacturer status class 3 8 21 Manufacturer s class 3 diagnostics 4 28 Master axis 8 47 Master axis encoder 8 57 8 61 features 9 42 function principle of evaluation 9 41 interface 9 42 Master axis encoder parametrization 9 42 Master axis encoder resolution 9 42 Master Axis Feedback Analysis 9 41 Master Axis Feedback Resolution 9 42 MBS 7 1 MBW 7 1 Measuring wheel operation 10 34 Mechanical Transmission Elements 9 6 MHD 7 1 Automatic Setting of the Motor Type 7 4 Temperature Monitoring 7 3 Minimum values for accel and jerk with positioning blocks 8 41 MKD 7 1 Automatic Setting of the Motor Type 7 4 Temperature Monitoring 7 3 MKE 7 1 Motor feedback data memory 7 2 mmand Parking Axis 10 25 Mode Velocity Control 8 4 Mode Drive controlled positioning 8 15 Modulo Evaluation of Absolute Measuring Systems 9 27 Modulo Feature 9 8 Command Value Processin
413. ning manual DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 55 9 7 Control Loop Settings General Information for Control Loop Settings Optimizing the regulator settings is generally not necessary DOK ECODR3 FGP 03VRS FK02 EN P The control loop settings in a digital drive controller are important for the characteristics of the servo axis Determining the control loop settings requires expert knowledge For this reason application specific control parameters are available for all digital Rexroth Indramat drives These parameters are either contained in the feedback data memory and can be activated through the command S 0 0262 C700 Command basic load with MHD MKD and MKE motors or they must be input via the setup service program See also Load Default Feature In some exceptions however it may be necessary to adjust the control loop settings for a specific application The following section gives a few simple but important basic rules for setting the control loop parameters in such cases In every case the given methods should only be seen as guidelines that lead to a robust control setting Specific aspects of some applications may require settings that deviate from these guidelines The control loop structure is made up of a cascaded nested position velocity and torque force loop Depending on the operating mode sometimes only the torque control loop or the torque and velocit
414. not then the data channel error message 0x1001 ID number not available is generated e It is checked whether the entered IDN in parameter S 0 0188 List of configurable data in the MDT is available If not then the data channel error message 0x7008 Data not correct is generated DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Checking while running Profile Types 6 27 Checking the Indices The drive monitors whether the index shows non initialized locations in lists S 0 0370 Configuration list for the MDT data container or S 0 0371 Configuration list for the AT data container If it does then warnings e E408 Invalid addressing of MDT data container A e E409 Invalid addressing of AT data container A is generated Note The warnings can only occur if the lists has fewer ID number entries than is maximally possible S 0 0368 Addressing for data container A E409 Invalid 1 0 addressing of AT data container A S 0 0371 Configuration list S 0 0370 Configurationlist for the AT data container for the MDT data container Tb0207f1 fh7 Fig 6 3 Invalid addressing of MDT data container A Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 6 28 Profile Types ECODRIVE03 FGP 03VRS Notes Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P 7 1 Characteristics of the Different Motor Types You can use the following mot
415. not changeable Reason The operating data is write protected Less bytes than the parameter is long are sent to the drive More bytes than the parameter is long are sent to the drive 0x7005 Data currently write protected 0x7006 Data smaller than minimum value 0x7007 Data larger than maximum value 0x7008 Data is not correct Supplement A Parameter description The operating data cannot be written to in this communication phase see The operating data is smaller than its minimal input value The operating data is larger than its maximum input value The value could not be accepted as written because internal tests lead to a negative result 0x7009 data write protected with password Fig 4 2 The parameter cannot be write accessed as the customer password was activated in parameter S 0 0267 Password All parameters listed in S 0 0192 IDN list of backup operation data are therefore locked Error messages while reading writing operating data Non volatile Parameter Storage Registers Various non volatile parameter storage registers that buffer operating data are contained in the drive The operating data apply to e setting the configuration or e parametrizing the control drive settings Each time operating data is written to it is stored The following modules contain non volatile memory e Control drive e Motor feedback optional e Programming module DOK ECODR3 F
416. nough This happens for example when the closed loop does not have significant resonance frequencies Activation of a second smoothing filter with low pass response can depending on the case improve the regulation quality as desired DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 63 To do this set the parameter P 0 0181 Rejection bandwidth velocity loop to 1 The notch filter as well as the assigned parameter P 0 0180 Rejection frequency velocity loop are deactivated Instead of the notch filter a smoothing filter is activated in the control loop This uses the same smoothing time constant T as the smoothing filter with P 0 0004 Velocity loop smoothing time constant Together with the smoothing filter at the input of the velocity controller you obtain a low pass filter of 2nd order 2 poles Frequencies greater than the cut off frequency fy 1 2nTg are much more suppressed and cannot excite oscillations in the control loop any more The parameter for the filter is P 0 0004 Velocity loop smoothing time constant 0 1 1 10 100 Sv5053f1 fh7 Fig 9 69 Frequency response of low pass filters with 1 pole and with 2 poles Note The adjustment is the same as described under Definition of the Critical Proportional Gain and Smoothing Time Constant Velocity Control Loop Monitoring If the velocity control loop monitor detects a fault in the velocity control loop then error
417. nt Should the current being supplied once again drop to under the effective continuous current then the load of the unit sinks and the maximum possible current increases To monitor the thermal controller load two warnings are issued e E257 Continuous current limit active is issued when the load reaches 100 e E261 Continuous current limit pre warning is issued when the load reaches the value set in parameter P 0 0127 Overload warning This means that a response to any eventual overload is possible even before a peak torque reduction It makes sense to parametrize a value of 80 for this purpose This value should not be exceeded when operating the drive under normal conditions Thermal A overload 100 Value in P 0 0127 Overload warning a A Duration current Duration current limiting active E257 limiting and pre warning active E261 P 0 4046 Active peak current Command Current_Profile P 0 4045 Active permanent current gt Sv5031f1 fh7 Fig 9 37 Monitoring the thermal load and continuous current limit Parameter P 0 0141 Thermal drive load can be used to check the extent of the controller load A correct layout would mean that this would never exceed 80 To check the load it is possible to subject the machine to a test run The time until the load achieves a stationary condition must be greater than 10 minutes DOK ECODR3 FGP 03VRS FK02 EN P ECO
418. nter 0x01 in the service of the telegram head e Enter the terminated service in the user head If there is no error then the reaction telegram has the following structure Telegram head Status byte Fig 1 22 Structure of the reaction telegram If there is an error then user data containing the error codes are sent The user data head corresponds to the SIS specificaiton Telegram head User data User data head Fig 1 23 Structure of the reaction telegram Note If no following telegrams are processed but this service is sent anyway then no error reaction telegram will be sent Service 0x0F Token Passing Note This service is not suppported in ECODRIVE Error code OxOF Invalid service is sent in the status byte of the des user data Telegram head User data head Fig 1 24 Structure des Reaction telegrams Service 0x80 read a parameter e Enter 0x80 in the service of the telegram head e Enter the parameter to be read in bytes Parameter type and Parameter no of the user data head e Do not enter user data bytes e Using bit 2 the running final transmission is designated in the control byte of the reaction telegram Rexroth Indramat 1 22 Serial Communication Rexroth Indramat Command telegram Reaction telegram Command telegram Reaction telegram Command telegram Reaction telegram ECODRIVE03 FGP 03VRS Service 0x81 Read a List Segment Enter
419. number 7 e g S 7 0100 the original data without write access are stored in the motor feedback data memory These are copied after powering up into the parameters of parameter block number O e g S 0 0100 Parameter block with number O is stored in the programming module Note The parameters of parameter block number 0 take effect Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 4 4 General Instructions for Installation ECODRIVE03 FGP 03VRS Parameters Stored in DSM Programming Module Rexroth Indramat Back up amp Restore All application parameters are stored in the programming module control loop mechanical system interface parameters and so on All ID numbers backed up in this module are listed in parameter S 0 0192 IDN list of backup operation data If the programming module is exchanged then these application parameters must be read out before hand so that they can be written into the new module after the exchange Note By switching the programming module when devices are exchanged the characteristics firmware and parameter of the device that has been exchanged can be easily transferred to the new device Data Saving To save the data of the axis all important and changeable parameters of the axis are stored in the list S 0 0192 IDN List of backup operation data By saving the parameters listed there with the control or parametrization surface you can obtain a complete data backup of t
420. o generate mechanical oscillations as a result of position velocity feedback in a closed control loop This behavior identified as a two mass oscillator is generally within the 400 to 800 Hz range depending on the rigidity or elasticity and spatial volume of the mechanical system This two mass oscillation usually has a clear resonance frequency which can be specifically suppressed by a notch filter band suppressor provided in the drive By suppressing the mechanical resonance frequency the dynamics of the velocity and position control loops in terms of control can be significantly improved compared to without a band suppression filter This results in greater contour accuracy and smaller cycle times for positioning processes leaving sufficient stability margin The rejection frequency and bandwidth can be set The rejection frequency is the one with highest attenuation the bandwidth determines the frequency range at whose borders the attenuation is 3dB less Greater bandwidth leads to smaller band attenuation of the center frequency The following parameters can be used to set both e P 0 0180 Rejection frequency velocity loop e P 0 0181 Rejection bandwidth velocity loop Attenuation in dB Bandwidth Frequency f 0 Ba 1 1 rt ud A Rejection frequency fsperr Sv5052f1 fh7 Fig 9 68 Amplitude response of the rejection filter in terms of bandwidth qualitative To set the band filter we recommend
421. o short 0x7003 data transmission too long 0x7004 data cannot be changed 0x7005 data presently write protected 0x7006 data smaller than minimum input value 0x7007 data greater than maximum input value 0x7008 data not correct 0x7009 data password protected Fig 1 28 Error specification per SERCOS DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 25 Error with ASCII Communication The following error messages specifically occur when communicating with an ASCII protocol Error code Explanation 0x9001 fatal error symbol cannot be identified 0x9002 parameter type error 0x9003 invalid data block number 0x9004 Input cannot be identified 0x9005 data element number not defined 0x9006 error in write read r w 0x9007 nonsense symbol in data Fig 1 29 Error messages during ASCII communications Error with SIS Communication status byte Error code DOK ECODR3 FGP 03VRS FK02 DE P Error during Parameter Transmission If an error occurs during parameter transmission then error during parameter transmission is signalled in the status byte An error code is transmitted in the first two bytes of the user data It describes the type of error The following errors can occur during parameter transmission Error code Explanation 0x0000 no error 0x0001 service channel not open 0x0009 element 0 incorrectly accessed Service channel presently occupied BUSY
422. ocess block mode 42h relative block with following block With block commutation with intermediate stop the drive positions at the target position of the start block Once the position command is at the target position the following block is automatically started without a new start signal generated externally Definition As the drive approaches the target position the drive is decelerated to speed 0 at the target position and then accelerated to the new positioning speed Note Commutation takes place if the internal command value generator reaches the target position Very small jerk values result in a creeping to target position which is like a dwell time Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 8 36 Operating Modes ECODRIVE03 FGP 03VRS AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0346 Positioning command latch Positioning inputs valid position inputs are in a S 0 0124 Standstill window pacers a T aa speed profil LN target position target position block 1 block 2 I P 0 4026 01 Process block selection l l P 0 4051 Process block acquittance A S 0 0182 Manufacturer class 3 diagnostics Bit 1 Ld Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after va
423. ocks Bit 0 AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 l S 0 0346 Positioning command latch gt t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs a Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition Sv0010d2 fh7 Fig 8 38 Example switching signal dependent block commutation No switching signal for block If the start block of a switching signal dependent following block is an commutation absolute or relative positioning block then the drive positions on target position if the switching signal for block commutation does not arrive The drive thus generates the message End position reached after the following block chain is completed If a switching signal is applied during the course of processing then the drive will execute the following block Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS speed profil Operating Modes 8 39 S 0 0124 Standstill window seal a ae P 0 4026 Process block selection P 0 4051 Ol Process block acquittance cam 1 P 0 4057 Positioning block input linked blocks Bit 0 AH S 0 0134 Master control word
424. oder by moving the axis and examining the position feedback value of the external encoder in parameter S 0 0053 Position feedback 2 value it can be checked whether a distance is correctly displayed in this process S 0 0051 Position feedback 1 value and S 0 0053 Position feedback 2 value should run parallel when jogging a specific path If not then check the settings in P 0 0075 Feedback type 2 S 0 0117 Feedback 2 Resolution S 0 0115 Position feedback 2 type and P 0 0185 Function of encoder 2 See also chapter Physical Values Display Format Mechanical Transmission Elements and Setting the Measurement System IBS 7 Limits for position velocity and torque The limits for the travel range are conducted by setting e position limits values and or e travel range limit switches as well as the limit values for the axis velocity and maximum drive torque force are parametrized also See also chapter Torque Limit Travel Range Limits and Limiting Velocity IBS 8 Optimizing the control loop This step is only necessary if the settings for velocity and position control loops in IBS 4 did not achieve the needed quality As such optimize the control behavior as follows e modify the parameter for velocity and position control loops e possibly activate the acceleration pre control e possibly activate the velocity mixture and e possibly activate the notch filter See also chapter Control Loop Settings
425. of encoder emulation MEE E i Bit 1 0 Selecting the emulation type 0 0 no output 0 1 incremental encoder emulation 1 0 absolute encoder emulation Bit 4 Deadtime compensation 0 deadtime compensation is switched off 1 deadtime compensation is active Bit 10 8 Selecting the emulated position 0 0 0 output of the position of the motor encoder 0 0 1 output of the position of the optional encoder 0 1 0 output of the position command value S 0 0047 All other bit positions are always 0 Fig 10 29 Parameter encoder emulation type P 0 4020 Functional principle Incremental Encoder Emulation Number of lines Unit Absolute encoder Non absolute encoder Rexroth Indramat The number of lines of the emulated incremental encoder is fixed in parameter P 0 0502 Encoder emulation resolution e 1to 65536 2416 lines revolution Note If a motor with resolver feedback is mounted then the emulator generates as many zero pulses per revolution as the resolver has pairs of poles It must therefore be noted that the input for P 0 0502 Encoder emulation resolution must be divisible by the number of resolver pole pairs without a remainder otherwise the zero pulse will run away The parameter unit depends on the motor type i e e rotary motors lines revolution e linear motors lines mm or lines inch Position of the Zero Pulse as Relates to Motor Position With
426. of the PCP if the master supports PCP communication To achieve the highest possible flexibility within the system all process data can be reached via objects which can be allocated to the process data channel as real time data and are thus also cyclically transmittable It is also possible to transmit process data via the acyclical channel by using the INTERBUS PCP However objects See also P 0 4081 defined in the real time channel cannot be write accessed by the master via the PCP Note The use of a master circuit that supports PCP 2 0 G4 is recommended The INTERBUS S command module has the following features e INTERBUS S real time channel and PCP 2 0 G4 channel are supported e Configurable process data channel up to 18 words in both data directions The configuration can be read write via PCP object 6000 and 6001 or parameter P 0 4080 or P 0 4081 of the drive e Process data channel monitored watchdog function e LED diagnosis field on front panel of command module to simplify diagnoses of BUS functions and the most important communications between drive and fieldbus e Direct accessing of drive parameters via PCP service R W e Upload download function for all parameters of the drive including lists of four arrays of 16 to 128 byte data lengths serviced with PCP Rexroth Indramat SIS protocol Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 5 24 Command Communication via Fieldbus ECODRIVE03 FGP
427. of the optional encoder If 0 is entered in P 0 0075 Feedback type 2 as encoder type then the encoder evaluation of the optional encoder is switched off Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 17 Optional Encoder Resolution To parameterize the resolution of the optional encoder use the parameter S 0 0117 Feedback 2 Resolution This parameter indicates the number of lines of the optional encoder If using a measurement system with intrinsic feedback data storage the resolution will be taken from this and does not need to be entered Measurement systems with feedback storage are available if e DSF HSF e Encoder with EnDat Interface is used as the optional encoder interface Depending on whether a rotary or linear measurement system was parameterized in bit 0 of S 0 0115 Position feedback 2 type the unit and number of digits after the decimal is switched by S 0 0117 Feedback 2 Resolution Rotary Cycles Rev Linear 0 00001 mm Actual Feedback Value Monitoring In applications where an optional measurement system is used the position feedback monitor can offer an additional margin of safety The actual position monitor compares S 0 0051 Position feedback 1 value and S 0 0053 Position feedback 2 value and is thus capable of diagnosing the following axis error e Slip in the drive mechanical system e Measur
428. oint To set the correct machine zero point you can now conduct the following steps gt Run the axis to the desired machine zero point and enter the feedback position value displayed there with opposite sign in S 0 0052 Reference distance 1 or S 0 0054 Reference distance 2 or Run the axis to position feedback value 0 measure the distance between the current position and the desired machine zero point Enter the distance in S 0 0052 Reference distance 1 or S 0 0054 Reference distance 2 Once the drive controlled reference command is again completed the position feedback value should refer to the desired machine zero point Rexroth Indramat 9 88 Basic Drive Functions positiv reference offset Negative reference offset Rexroth Indramat ECODRIVE03 FGP 03VRS The reference point can be shifted relatively to the reference mark see Consideration of the reference offset Parameter S 0 0041 Homing velocity and S 0 0042 Homing acceleration can now be set to their final values Consideration of the Reference Offset If the evaluation of the reference mark is activated in the homing parameter then the reference point is always set on the position of the selected reference mark If a measurement system of type 1 3 is present not distance coded you can shift the position of the reference point relatively to the reference marker Doing so you can select any position after homing The offset is set wi
429. oint 00 main mode 8 9 actual operating 01 1 aux mode e g jog gt mode 10 2 aux mode 11 3 aux mode S 0 0135 Bit 8 9 Setpoint the drive acknowledges by toggling the bit 10 P S 0 0419 BitO the acceptance of S 0 0282 acknowledge Positioning command value the bit is set when a status class 3 message is 11 Message ZKL3 present the bit is set when a status class 2 warning is 12 warning ZKL2 present the bit is set when a status class 1 error is 13 drive error ZKLT pending drive locked S 0 0135 Bit 13 00 not ready for power 01 ready for power 10 control and power sections ready and torque free 11 in operation with torque S 0 0135 bits 14 15 14 15 ready to operate ZKL1 Status class 1 ZKL2 Status class 2 ZKL3 Status class 3 Fig 6 7 Structure P 0 4078 fieldbus status word in Rexroth Indramat profiles Rexroth DOK ECODR3 FGP 03VRS FK02 EN P O Indramat 6 12 Profile Types ECODRIVE03 FGP 03VRS Interaction of Control and Status Bits status machine homing C6 status word 110x xxyy 1xxx xx10 Jogging JF Jb status word 110x xx01 xxxx xx10 drive error Fxxx status word 0110 xxyy 100x xxxx 111x xx01 10xx x01x oder 111x xx01 01xx x01x 4110x xx00 00xx x01x drive halt AH status word 110x xxyy 10xx xx10 drive operation AF status word 110x xxyy 10xx xx10 clear error C5 110x xxYY
430. ol system and control drive or in other words the data can be exchanged in the control system s internal format The control system will not need to convert this data e this data to conform to machine kinematics Linear movements can be described with linear units for example and rotary movements can be described with rotary units It is possible to select between linear and rotary scaling and preferred and parameter scaling as well as between motor and load reference Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 2 Basic Drive Functions ECODRIVE03 FGP 03VRS Linear Rotary Scaling Adjustable scaling allows either linear or rotary scaling to be selected Linear motors normally use a linear scale Rotary motors use either a rotary or linear scale if their rotary movement is converted into a linear movement with a ballscrew for example Preferred Scaling Parameter Scaling Adjustable scaling allows either preferred scaling or parameter scaling to be selected If preferred scaling is selected the appropriate scaling factor parameters and scaling exponent parameters in S 0 0128 C200 Communication phase 4 transition check are overwritten with preferred values This sets a pre defined scaling The scaling factor parameter and the scaling exponent parameter are not entered The preferred scaling adjusts itself to the selection of linear or rotary scaling The following preferred scalings are available
431. olding brake 7 24 Connecting the Probe Inputs 10 23 Connection of drive halt input 9 79 Connection of the Emergency Stop Input 9 54 Connection of the Home switch 9 99 Control enable with automatic control loop settings 9 71 Control loop dynamics 9 69 Control loop settings 9 71 Control voltage error 4 25 Cooling error 4 26 Co ordinate system 9 102 CRC32 checksum faulty 4 30 Criteria for triggering the monitor 9 64 Current Controller Associated Parameters 8 6 Block diagram 8 6 Setting the Current Controller 9 58 Current flow procedure 7 15 Current Limit 9 28 Cyclic position control 6 14 Cyclic Position Control Features 6 14 Cyclical data channel 5 11 D Data container 6 23 Data direction 5 21 5 26 Data Saving 4 4 Deactivation of the Position Control Loop Monitoring 9 67 Definition of the Critical Proportional Gain and P 0 0004 Smoothing Time Constant 9 60 Detect marker position 10 24 Determining commutation offset 7 11 Determining encoder interface of optional encoder 9 16 Determining the Critical Integral Action Time 9 60 Determining the Critical Position Controller Gain 9 65 Determining the Encoder Interface of the Optional Encoder 9 16 Determining the Feedback Interface of the Master Axis Feedback 9 42 Determining the Feedback Interface of the Motor Feedback 9 13 Determining the Position Controller Setting 9 65 Determining the torque constant and load moment of inertia 9 35 Determining the Velocity Controller Setting 9 60 Det
432. olding brake if the theoretical decel time is exceeded due to an error The motor holding brake is activated if the time since the start of the error reaction exceeds the time set in P 0 0126 Maximum braking time Note The value in P 0 0126 Maximum braking time must be set so that the drive can come to a standstill with the greatest possible moment of inertia and force from maximum speed If the value in P 0 0126 Maximum braking time is too small then the error reaction is terminated and the motor holding brake activated at a speed greater than 10 UPM This will damage the brake if permitted to continue over ATTENTION extended periods of time Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Motor Configuration 7 23 Command Release motor holding brake The open holding brake command as specified in P 0 0542 B100 Command Release motor holding brake is used to release the holding brake if the drive enable has been switched off First the command must be enabled using bit 9 in the P 0 0538 Motor function parameter 1 The motor holding brake is opened upon activation of the command Upon completion of the command the brake is again applied Given an active command to switch drive enable on and off then the brake is again closed Releasing the holding brake on a vertical axis may lead to unwanted motion ATTENTION Monitoring the Motor Holding Brake Applying drive enable Rem
433. oming Outgoing Interface in project planning manual 5 4 Command communications with CANopen General Information A CANopen communications module is available for use by an ECODRIVEO3 It supports protocol e CANopen per DS301 version 3 0 PDO and SDO With this module it is possible to transmit both real time data via the so called process data objects PDO and parameters and data via the Service data objects SDO of the CANopen services Note The real time data are always transmitted with PDO To achieve the greatest possible system flexibility all data can be reached via objects These objects can be allocated as real time data to the process data channel and thus also be cyclically transmitted The option of transmitting via an acyclical channel with SDO is also possible but the master may not write access any of the objects see also P 0 4081 defined in the real time channel Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 5 34 Command Communication via Fieldbus ECODRIVE03 FGP 03VRS Functional Overview CANopen Interface The CANopen command communication module has the following features e Simple configuration due to the use of predefined connection set and boot up per DS301 e The baudrates specified by CANopen per DS301 of 20 50 100 125 250 500 kbps and 1 Mbps except for 800 kbps are supported e Freely configurable process data channel but not with up to 9 words in both data directions via
434. ommand value reaches the drive Parameterization mode The drive is in parameterization mode if communication phases 1 3 have been set The drive cannot be activated drive enable signal applied Operating mode must first be switched into Some parameters can only be written into during parameterization mode Programming module The programming module contains the software and parameter memory It is mounted in slot U5 When exchanging the controller a simple insertion of the programming module out of the old into the new unit means that the features of the replaced unit have been transferred to the new one Home Switch If during the command S 0 0148 C600 Drive controlled homing several reference marks can be reached within the travel range it s the home switch which must specify one singular mark The home switch is connected to the respective input at the drive and activated by bit 5 in S 0 0147 Homing Parameter This input is mirrored in the parameter S 0 0400 Home switch Scaling The combination of unit and number of decimal places of a parameter are defined as scaling It can be set for position velocity and acceleration data SERCOS interface Digital interface for communication between control and drives in numerically controlled machines One or multiple ring structures are implemented The physical connection of the participants generally implements a fiber optic cable Service Channel The non cyclic readi
435. on the plant 3 8 Protection against magnetic and electromagnetic fields during operations and mounting Rexroth Indramat Magnetic and electromagnetic fields generated by current carrying conductors and permanent magnets in motors represent a serious health hazard to persons with heart pacemakers metal implants and hearing aids WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment gt Persons with pacemakers metal implants and hearing aids are not permitted to enter following areas Areas in which electrical equipment and parts are mounted being operated or started up Areas in which parts of motors with permanent magnets are being stored operated repaired or mounted If it is necessary for a person with a pacemaker to enter such an area then a physician must be con sulted prior to doing so Pacemaker that are already implanted or will be implanted in the future have a considerable deviation in their resistance to interference Due to the unpredictable behavior there are no rules with general validity Persons with hearing aids metal implants or metal pieces must consult a doctor before they enter the areas described above Otherwise health hazards will occur DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Safety Instructions for Electric Servo Drives and Controls 3 9 3 9 Protection against contact with
436. on 1 7 Byte name Telegram Head Structure Definition of the individual telegram bytes Start symbol STX 0x02 This is the checksum byte It is generated by adding all subsequential telegram symbols as well as the start symbol StZ and concluding negation In other words the sum of all telgram symbols always equals 0 if the transmission was successful 1 siz 2 CS DatL The length of the subsequential user data and the variable part are in the frame protocol Up to 247 bytes 255 7 subaddresses 1 running telegram number user data can be transmitted in one telegram 4 DatLW The repetition of DatL takes place here The telegram length is generated from the DatLW and the fixed part of the frame protocol byte 1 8 i e telegram length DatLW 8 5 Cntrl Bit 0 2 Number of subaddresses in the address block 0 7 Bit 3 running telegram number 0 gt not supported 1 gt additional byte Bit 4 0 gt command telegram 1 gt reaction telegram Bit5 7 Status data for the reaction telegram 000 no error request was processed 001 transmission request being processed 010 transmission cannot presently be processed 100 warning 110 error 6 Service This specifies the service that the sender is requesting of the receiver or which the receiver is conducting 0x00 OxOF general services 0x00 participant ID 0x01 terminate a data transmission 0x02 Flash operation 0x03 Initializati
437. on S 0 0393 Command value mode Monitoring and Diagnosing The diagnosis with activated e A106 Drive controlled interpolation encoder 1 operating is one of the following A107 Drive controlled interpolation encoder 2 e A108 Drive controlled interpolation lagless encoder 1 e A109 Drive controlled interpolation lagless encoder 2 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 8 14 Operating Modes E253 Target position out of travel range E247 Interpolation velocity 0 E248 Interpolation acceleration 0 E249 Positioning velocity gt S 0 0091 E255 Feedrate override S 0 0108 0 E264 Target position out of num Status messages Rexroth Indramat range ECODRIVE03 FGP 03VRS The following checks are executed e If axis limit value monitoring is activated Bit 4 of S 0 0055 Position Polarity Parameter is set and the measurement system used for the operating mode has been homed the parameter S 0 0258 Target Position is monitored for staying within the axis limit values S 0 0049 and S 0 0050 If these are exceeded the warning E253 Target position out of travel zone is generated The prescribed target position will not be accepted e f the positioning velocity specified in S 0 0259 Positioning velocity equals 0 then warning E247 Interpolation velocity 0 is generated This warning is only generated if S 0 0259 is not cyclically transmitted via command communications SERCOS
438. on of SIS communication 0x0F Token Passing 0x10 Ox7F presently reserved 0x80 Ox8F special services for ECODRIVE 0x90 Ox9F special services for SYNAX OxA0 OxAF special services for MT CNC or MTC200 OxBO OxBF special services for ISP200 OxCO OxCF special services for CLC GPS OxDO OxDF special services for HMI system OxEO OxFF presently reserved Adrs AdrE AdrES1 AdrES2 AdrES3 AdrES4 AdrES5 AdrES6 AdrES7 PaketN Address of the sender station number 0 127 Adress of the receiver AdrE 0 127 gt specifies a single station AdrE 128 254 gt addresses logical groups AdrE 255 gt fixes a broadcast Telegrams with AdrE 128 255 are not answered with a reaction telegram Subaddress 1 of the receiver if for Bit 0 2 if for byte control it applies that gt 000 Subaddress 2 of the receiver if for Bit 0 2 if for byte control it applies that gt 001 Subaddress 3 of the receiver if for Bit 0 2 if for byte control it applies that gt 010 Subaddress 4 of the receiver if for Bit 0 2 if for byte control it applies that gt 011 Subaddress 5 of the receiver if for Bit 0 2 if for byte control it applies that gt 100 Subaddress 6 of the receiver if for Bit 0 2 if for byte control it applies that gt 101 Subaddress 7 of the receiver if for Bit 0 2 if for byte control it applies that gt 110 running telegram number package number if bit 3 in byte cntrl has
439. on phase 2 transition e S 0 0262 C700 Command basic load e 0 0099 C500 Reset class 1 diagnostic e S 0 0148 C600 Drive controlled homing procedure command e P 0 0012 C300 Command Set absolute measurement A command can be started terminated and completed via the serial interface The status of command execution can also be read DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 17 A command is started as follows step 1 communication with drive not Send request possible z B P 0 0162 7 w 11b CR gt check address gt check setting v gt check connection step 2 A received signal from drive d n drive repeats request echo lt Timeout A Character sequence gt found in receiver buffer no contents of receiver buffer P 0 0162 7 w 11b CR stig xxxx CR E01 gt step 3 to check transmission compare request with receiver buffer no _ gt transmission error step 4 delete request from receive buffer All characters up to 1 CR inclusive y ngn Error occured during next maaan En yes gt parameteraccess receiver buffer Z se Error code xxxx no Drive accepted command ae rA Command being processed read command a A status P 0 0162 1 w 0 CR 4 partl 2 A next page
440. on reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 oo S 0 0346 Positioning command latch Prerequisite Chain dimensional reference Rexroth Indramat lt 4ms gt lt gt 4ms Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV5002d1 Fh7 Fig 8 29 Terminating a relative positioning block without residual path storage Relative positioning with residual path storage Parameter P 0 4019 Process block mode 102h Relative positioning blocks with residual path storage are also executed if the drive is not referenced In a relative positioning block with residual path storage the target position is a relative path which relates to the target position which last generated the message end position reached By sequencing relative positioning blocks it is possible to position with chain dimensional reference If a relative block is interrupted with residual path storage then this chain reference is retained Note If a second positioning block is started while such a positioning block is being executed then the remainder of the path is discarded If this is a new block a relative posit
441. onal expansion transition absolute relative of the drive internal interpolation it is necessary to change into freely configurable mode P 0 4084 OxFFFE Then in the list P 0 4081 replace S 0 0258 Target position with S 0 0282 Positioning command value Structure of the Real Time Data Channel In the real time channel of the fieldbus the travel block data configured in P 0 4081 Real time output object structure are transmitted from the master to the drive Parameter Format P 0 4077 Fieldbus control word i16 gt 1 word S 0 0258 Target position i32 gt 2 words S 0 0259 Positioning Velocity P 0 4076 Fieldbus container object i32 gt 2 words i16 gt 1 word In the real time channel of the fieldbus the travel blocks configured in P 0 4080 Real time input object structure are transmitted from the drive to the master Parameter Format P 0 4078 Fieldbus status word i16 gt 1 word S 0 0051 Position feedback 1 value i32 gt 2 words S 0 0040 Velocity feedback value S 0 0390 Diagnostic message number i32 gt 2 words u16 gt 1 word Rexroth Indramat 6 14 Profile Types Sequence in real time data ECODRIVE03 FGP 03VRS channel word1 word2 word3 word4 word5 word6 Master gt Slave P 0 4077 S 0 0258 H S 0 0258 L S 0 0259 H S 0 0259 L P 0 4076 Slave gt Maste
442. one via two 8 bit digital to analog converters The maximum output voltage equals 10 volts There is an output every 500 usec Possible output functions 1 Direct writing into the analog outputs 2 Assigning ID numbers to analog outputs 3 Output of pre set signals 4 Byte output of RAM memory cell 5 Bit output of RAM memory cells To parametrize the function the following parameters are available e P 0 0139 Analog output 1 e P 0 0140 Analog output 2 e P 0 0420 Analog output 1 signal selection e P 0 0421 Analog output 1 expanded signal selection e P 0 0422 Analog output 1 scaling e P 0 0423 Analog output 2 signal selection e P 0 0424 Analog output 2 expanded signal selection e P 0 0425 Analog output 2 scaling e P 0 0426 Analog outputs IDN list of assignable parameters Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 10 6 Optional Drive Functions ECODRIVE03 FGP 03VRS Direct analog outputs With the parameters P 0 0139 Analog output 1 and P 0 0140 Analog output 2 it is possible for the control to use the two 8 bit digital analog converters of the drive Voltage values written into these parameters ranging between 10 000 volts and 10 000 volts are output by the drive to the analog outputs The quantization equals 78 mV A precondition for the use of an analog output is that the signal selection P 0 0420 or P 0 0423 and the expanded signal selection P 0 0421 or P 0 0424 were deactivated
443. only possible with non distance coded encoders where the axes are automatically run in parallel by the driveside referencing procedure itself Actual Feedback Values After the Drive Controlled Homing Command The position feedback values from the motor and optional encoders after the drive controlled homing command is processed depend on bit 3 in S 0 0147 Homing parameter and on the availability of an absolute encoder as a motor or optional encoder Actual Actual Motor Ext S 0 0147 feedback feedback encoder encoder Bit 3 value 1 value 2 absolute Not 1 unchanged reference absolute distance 2 not absolute 0 reference unchanged absolute distance 1 not not 0 reference reference absolute absolute distance 1 distance 1 not not 1 reference reference absolute absolute distance 2 distance 2 Fig 9 85 Position feedback values after the drive controlled homing command DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 87 Commissioning with Evaluation of reference marker home switch edge Result of the Drive Controlled Homing Command DOK ECODR3 FGP 03VRS FK02 EN P If the encoder does not have distance coded reference marks type 1 to 3 then select in S 0 0147 Homing parameter whether e home switch evaluation is desired or not and or e reference mark evaluation is desired Additionally it must be defined e in which direction the drive should move with th
444. oop proportional gain e 0 0101 Velocity loop integral action time e 0 0104 Position loop Kv factor e 0 0106 Current loop proportional gain 1 e 0 0107 Current loop integral action time 1 e 0 0348 Acceleration feedforward gain e P 0 0004 Smoothing Time Constant e P 0 0181 Rejection bandwidth velocity loop The feature Load Default Settings can be activated in two different ways e Automatic activation during the command procedure S 0 0128 C200 Communication phase 4 transition check for the first operation of this motor type with this drive e With the command procedure S 0 0262 C700 Basic Load Automatic Execution of the Load Default Feature If a controller has been operated with a specific type of motor then the controller will detect this from that point forward During the execution of command S 0 0128 C200 Communication phase 4 transition check it compares parameter S 7 141 Motor type which is read out of the data memory with the value for parameter S 0 0141 Motor type which is backed up in the parameter memory of the controller If these two parameters are different then error F208 UL The motor type has changed is generated UL appears in the 7 segment display Note Before the user can reset the error and thus start the base load function the option of saving a specific set of controller parameters is available Error F208 UL The motor type has changed can be reset in three different wa
445. or 3T 1 i Command cleared 0 pza i ee a ECODRIVE03 FGP 03VRS Beginning of Command finished the command Handicap lt gt t abt 64msec Command at work t Sv5021d1 fh5 Fig 4 4 Input acknowledgement and Command Change Bit during proper execution Date of A command tae parameter eann of the handcap 4 comman the command parameter acknow ledgment Sbit command change in drive status message Fig 4 5 0 T Command cleared A t Data status of OxF 4 OW N Command finished Command at work Handicap Sv5022d1 fhS Input acknowledgement and Command Change Bit during erroneous execution A delay time of up to 64ms can occur in the drive between receiving the command input and setting the command acknowledgement Operating Modes Operating modes define which command values will be processed in which format leading to the desired drive motion They do not define how these command values will be transmitted from a control system to the drive One of the four selectable operating modes S 0 0032 S 0 0035 is active when the control and power supply is ready for operation and the controller enable signal is positive Note The drive displays AF in the H1 display All implemented operating modes are stored in parameter S 0 0292 List of all operation modes See also chapter Operating Modes Rexroth Indramat DOK EC
446. or brief measurements or tests Before working with electrical parts with voltage potentials higher than 50 V the equipment must be disconnected from the mains voltage or power supply The following should be observed with electrical drives power supplies and filter components Wait five 5 minutes after switching off power to allow capacitors to discharge before beginning work Measure the voltage on the capacitors before beginning work to make sure that the equipment is safe to touch Never touch the electrical connection points of a component while power is turned on Install the covers and guards provided with the equipment properly before switching the equipment on Prevent contact with live parts at any time A residual current operated protective device r c d must not be used on an electric drive Indirect contact must be prevented by other means for example by an overcurrent protective device Equipment that is built into machines must be secured against direct contact Use appropriate housings for example a control cabinet European countries according to EN 50178 1998 section 5 3 2 3 U S A See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must observe the above noted instructions at all times DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Safety Instructions for Ele
447. or electronic cam 8 58 Command value preparation for velocity synchronization with virtual master axis 8 47 Command value processing Position Control 8 8 Command value processing Velocity control 8 4 Command value profile with actuated home switch at the start of the command 9 90 Commands 4 6 Change Bit Command 4 7 Command Input and Acknowledgment 4 7 Command Types 4 7 Load Default Command 9 57 Probing Cycle Procedure Command 10 21 Commissioning Guidelines 4 16 Commissioning instructions 4 16 Communications error 4 25 Communications phase operating mode 4 12 parametrization phase 4 12 Communications phase 4 transition check 4 14 Commutation offset 7 11 Condition for Power On 9 52 Conducting automatic control loop settings 9 72 Conducting Automatic Control Loop Settings 9 72 Configurable signal control word 10 3 Configurable signal status word 10 1 Configuration of CANopen Slave 5 36 Configuration of DeviceNet Slave 5 42 Rexroth Indramat 12 4 Index Rexroth Indramat ECODRIVE03 FGP 03VRS Configuration of INTERBUS Slave 5 26 Configuration of process data channel 5 26 Configuration of the process data channel 5 20 Configuration of the process data channel PDO 5 36 Configuration of the process data channel Polled I O 5 42 Configuration of the PROFIBUS DP Slave 5 20 Configuration of the signal status word 10 1 Configuration with multiplex channel 6 23 Configuring the signal control word 10 3 Connecting the motor h
448. or types MKD MHD 2AD ADF 1MB MBW MKE LAR MBS LSF LAF The individual motor types differ in the following points e Availability of data memory in the motor feedback for all motorspecific parameters e Synchronous motor Asynchronous motor e Linear motor rotational motor e Temperature check can be changed or not e Basic load load default is possible when a Feedback Data Memory is present e Motor encoder interface setting can be changed or one setting only e Start of commutation offset setting command possible or not e Motor temperature sensor with PTC or NTC features The individual motor types have the following characteristics Motor Motor feedback encoder Load Temp Motor type datamemory Sync Async Temp check interface default Sensor MHD MKD MKE yes synchronous fixed fixed 1 possible PTC 2AD ADF no asynchronous param param no NTC 1MB no asynchronous param param no NTC LAF LAR no asynchronous param param no PTC LSF no synchronous param param no PTC 2AD with PTC no asynchronous param param no PTC MBS no synchronous param param no PTC Fig 7 1 Characteristics of the Motor Types part 1 see also parameter description P 0 4014 Motor type Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat ECODRIVE03 FGP 03VRS 7 Motor Configuration Motor Configuration 7 1 7 2 Motor Configuration ECODRIVE03 FGP 03VRS Motor Feedba
449. ords S 0 0145 Signal control word 116 gt 1 word In the real time channel of the fieldbus the travel block data configured in P 0 4080 Real time input object structure are transmitted from drive to master Parameter Format P 0 4078 Fieldbus status word 116 gt 1 word S 0 0051 Position feedback 1 value 132 gt 2 words S 0 0040 Velocity feedback value 132 gt 2 words S 0 0390 Diagnostic message number 116 gt 1 word S 0 0144 Signal status word 116 gt 1 word Sequence in real time data channel word1 word2 word3 word4 word5 word6 word7 Master gt P 0 4077 S 0 0282 H S 0 0282 L S 0 0259 H S 0 0259 L S 0 0145 P 0 4076 Slave Slave gt P 0 4078 S 0 0051 H S 0 0051 L S 0 0040 H S 0 0040 L S 0 0390 S 0 0144 Master Fig 6 15 Contents of real time channel in interpolation with signal control and status words Cam mode with real master axis DOK ECODR3 FGP 03VRS FK02 EN P Features In this operating mode the drive itself generates the position setpoints out of a per cent value table dependent on the position of the master axis encoder These table values are multiplied by the so called hub and then become the synchronous position setpoint The drive controls the actual position value based on this synchronous position setpoint By emulating the actual position value of a master drive axis a master axis coupling between a
450. ored and the trigger signal will be ANDed with the trigger signal screen mask Setting the Time Resolution and the Memory Depth The recording ranges for the oscilloscope feature can be defined with parameters P 0 0031 Timebase and P 0 0032 Size of Memory The maximum memory depth is 512 samples If you need fewer samples you can change the value in the memory size parameter The time resolution can be set from 500 us to 100 ms in steps of 500 us This determines the time intervals in which the samples are recorded The minimum recording duration is 256 ms the maximum recording duration is 51 2 s In general Recording duration Time resolution x Size of Memory us Fig 10 14 Determining of the recording duration Setting the Trigger Delays By setting the parameter P 0 0033 Number of Samples after Trigger it is possible to record probe values before the trigger event occurs trigger delay function of an oscilloscope The setting occurs in units of the parameterized time resolution The input value determines the number of probe values still recorded after a trigger event By entering 0 time resolution only data available before a trigger event will be recorded If the value of the P 0 0032 Size of Memory parameter is entered then only the probe values occurring after the trigger event will be recorded Trigger threshold e Trigger signal Trigger status 5 222 4 Bit 0 P 0 0033
451. ormation about the structure of the internal data memory therefore this feature can be used effectively only by the corresponding developer The feature can be activated with the Signal Selection P 0 0023 amp P 0 0024 parameters by setting bit 12 1 The format for the data to be saved can be defined with bit 13 P 0 0023 amp P 0 0024 Oscilloscope Function Signal Selection oi a Bit 12 Expanded oscilloscope function ON Bit 13 Data width of the measurement values 0 16 Bit 1 32 Bit Fig 10 9 Structure of Parameters P 0 0023 and P 0 0024 If the expanded signal selection is parameterized then the desired signal address can be defined in parameters P 0 0147 Expanded signal K1 address and P 0 0148 Expanded signal K2 address During the recording process the contents of the selected addresses are saved in the lists of scope data Note If a 16 bit data width is selected then the signal data will be stored as sign extended 32 bit values Oscilloscope Feature Trigger Source The P 0 0025 Trigger Source parameter makes it possible for the user to choose between two trigger types The trigger is activated by the control through bit 0 in the Trigger Control Word This makes it possible to transmit a trigger event to several drives This parameterization supports parameter P 0 0035 which is needed to visualize the recording data Triggering occurs through the monitoring of the parameterized trigger si
452. ors The selected motor type also affects the scaling of the position data For example it is impossible to set rotary motor settings for linear motors and linear motor settings for rotary motors This would generate the command error C213 Position data scaling error during a phase progression DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Motor Configuration 7 3 Synchronous Asynchronous Synchronous Asynchronous Specific parameters are used only for synchronous motors others only for asynchronous motors There are differences in the use and review of the parameters in the command S 0 0128 C200 Communication phase 4 transition check They are e P 0 4004 Magnetizing current is set to 0 if need be e P 0 0508 Commutation offset is checked for validity e P 0 4047 Motor inductance is initialized e P 0 4004 Magnetizing current is initialized e P 0 0508 Commutation offset is not checked Temperature Monitoring The switch off limit for the motor temperature check is fixed at one point for MHD MKD MKE motors DOK ECODR3 FGP 03VRS FK02 EN P The following parameters are used to monitor the motor temperature S 0 0201 Motor warning temperature S 0 0204 Motor shutdown temperature For MHD MKD and MKE motors the parameter default values are S 0 0201 Motor warning temperature 145 0 C S 0 0204 Motor shutdown temperature 155 0 C Those default values can be used to help set the parameters
453. osition This value relates to the new machine zero point related co ordinate system The command should be completed without error The machine zero point is at the position of the first reference mark of the distance coded measuring system as the absolute offset S 0 0177 0178 was parametrized with 0 The relevant position feedback value in S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value should now have the absolute reference to this preliminary machine zero point To set the correct machine zero point the following steps can be conducted Move the axis to the desired machine zero point and enter the position feedback value displayed there with the opposite sign in S 0 0177 Absolute distance 1 or S 0 0178 Absolute distance 2 Or gt Run the axis to position feedback value 0 and measure the distance between the current position and the desired machine zero point Enter the distance in S 0 0177 Absolute distance 1 or S 0 0178 Absolute distance 2 Once the drive controlled reference command is again completed the position feedback value should refer to the desired machine zero point Parameters S 0 0041 Homing velocity and S 0 0042 Homing acceleration can now be set to their final values DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 97 Home switch Evaluation with Distance coded Reference Markers To evaluate a home switch together with homing of a distance
454. osition means that only the overrunning of the target position of the current position block will be detected The following block is completed from this position The commutation conditions due to switching signals is always detected Terminating a following block If a new block number is selected during an interruption e g with drive chain and selecting anew block halt then the previously interrupted following block chain is not number completed after a restart Instead the current block is executed Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Reference position Interrupting a following block chain with absolute following blocks when selecting a new block number with selecting the same block number Operating Modes 8 41 Current actual position value Note The chain dimension reference is lost if the following block is interrupted The conditions for the interruption of following blocks also apply after the control voltage is switched off if an absolute encoder is used An interruption with absolute positioning blocks represents no problem as the absolute dimension is always guaranteed If a new block number is selected with an interruption then the interrupted following block is not completed if S 0 0346 Setup flag for relative command values is toggled Instead the current block is executed If the same block number is selected with an interruption then the in
455. osition reached message is used as reference position The stretch jogged between the interruption and restart of the positioning block is taken into account The drive continues to run to the already computed target position Note The chain dimensional reference is guaranteed Example Rexroth Indramat Interrupted relative positioning block with residual path storage after jogging with target position 600 with overrunning the target position while jogging DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Behavior Reference position speed profil Operating Modes 8 31 The drive runs back to the target position set prior to the interruption Note The chain dimensional reference is guaranteed The last End position reached message is used as reference position S 0 0124 Standstill window P 0 4026 Process block selection P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 S 0 0346 Positioning command latch Jog P 0 4056 Jog inputs Bit 0 Behavior DOK ECODR3 FGP 03VRS FK02 EN P Fok Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid recor
456. oth Indramat 2 2 Index Rexroth Indramat ECODRIVE03 FGP 03VRS S Service 0x01 Terminating a data transmission 1 21 Service 0x80 read parameter 1 21 Service 0x81 read a list segment 1 22 Service 0x8E write a list segment 1 22 Service 0x8F write eines Parameters 1 22 Set absolute measurement 1 16 Setting the drive address 1 2 Single read access Service 0x00 1 28 SIS protocol 1 6 1 28 Starting a command 1 16 1 23 Structure des Telegram heades 1 7 Structure of the user data field 1 9 Structure of the User Data Head 1 8 Structure Telegram frame 1 6 W Write access with following telegrams Service OxFE 1 31 Write accessing list parameters 1 13 DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Kundenbetreuungsstellen Sales amp Service Facilities 3 1 3 Kundenbetreuungsstellen Sales amp Service Facilities Deutschland Germany Vertriebsgebiet Mitte Ld sates Germany Centre X service Vertriebsgebiet Mitte Ld sates Germany Centre O senice vom Ausland from abroad X SALES K Service Vertriebsgebiet Ost Germany East x nach Landeskennziffer weglassen don t dial x after country code X SALES o Service Vertriebsgebiet Ost Germany East Rexroth Indramat GmbH Bgm Dr Nebel Str 2 97816 Lohr am Main Mannesmann Rexroth AG Gesch ber Rexroth Indramat LilistraBe 14 18 63067 Offenbach Rexroth Indramat GmbH Beckerstra e 31 09120 Chemnitz Mannesmann Rexroth AG
457. ould be blocked off with fences or grids Secure vertical axes against falling or slipping after switching off the motor power by for example Mechanically securing the vertical axes Adding an external brake clamping mechanism Balancing and thus compensating for the vertical axes mass and the gravitational force To set the motor holding brake use parameters e P 0 0126 Maximum braking time e P 0 0525 Type of motor brake e P 0 0526 Brake control delay e P 0 0538 Motor function parameter 1 e P 0 0540 Torque of brake e P 0 0541 B200 Brake check command e P 0 0542 B100 Command Release motor holding brake Parameters P 0 0525 and P 0 0526 are automatically set in MHD MKD and MKE motors For all other motor types the values which must be entered are specified in the data sheet of the motor or the motor brake Parameter P 0 0126 must be parametrized to meet machine requirements Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 7 20 Motor Configuration ECODRIVE03 FGP 03VRS Setting the Motor Brake Type Using parameter P 0 0525 Type of motor brake it is possible to set the motor brake type It must be identified in terms of e self releasing or self holding brake e spindle brake or servo brake P 0 0525 Type of motor brake BitO 0 electrically released brake OV applied engages the brake 1 electrically engaged brake 24V applied engages the brake Bit 1 0 Servo brake The brake will b
458. oving drive enable DOK ECODR3 FGP 03VRS FK02 EN P The holding brake monitor can be executed each time the drive enable is switched off or on or by executing command Brake monitor An automatic check necessitates that bit 10 is set in motor function parameter P 0 0538 Motor function parameter 1 Automatic Checks When applying the drive enable the opening of the brake is checked This means that the drive is run at maximum decel nominal torque If it is possible to move the motor at nominal brake torque then the brake has opened as it should If the motor cannot be moved then the brake is closed Error F269 Error when releasing the motor holding brake is generated When switching drive enable off the holding torque of the brake is checked This means that the nominal brake torque is applied to the motor with the brake closed If no movement is possible then the brake is in order If the motor moves during the check then warning E269 Brake torque too low is generated The warning remains pending until the monitor recognizes one of the brakes as alright Rexroth Indramat 7 24 Motor Configuration ECODRIVE03 FGP 03VRS Command brake monitor With the activation of the command it is first checked whether the motor can be moved with a torque that is smaller than the nominal brake torque If this is not possible then the motor holding brake is closed Error F269 Error with motor brake release is generated
459. parameter communication by introducing fieldbus overlapping objects Note For detailed information see the relevant section Backwards compatible parameter accessing For backwards compatibility to the present fieldbus versions FGP01VRS and FGPO2VRS the data exchange objects and the option of parametrization as per SIS telegram definition remain available This is why the structure and definition of an SIS telegram is briefly discussed below Four data exchange objects with varying lengths are made available These are only accessible via the acyclical services Read and Write of the relevant fieldbus Object 5E70 16 bytes R W Object 5E71 32 bytes R W Object 5E72 64 bytes R W Object 5E73 128 bytes R W DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Reading a parameter Writing a parameter Structure of an SIS command telegram Telegram header User data header User data max 115 bytes DOK ECODR3 FGP 03VRS FK02 EN P Command Communication via Fieldbus 5 5 Rexroth Indramat SIS protocol Reading and writing a parameter complies with the rules set forth in the Rexroth Indramat SIS protocol A parameter of a drive cannot be directly read but rather a specific sequence must be maintained 1 Read request of a SERCOS parameter in SIS format gt Write 2 Read out of requested parameter in SIS format gt Read or error message reaction telegram Writing a parameter also requires a specific s
460. parameter to these outputs Parameter structure This parameter is a 4 byte parameter The lowword contains the ID P 0 0124 number of the assigned parameter the highword the number of digital interfaces P 0 0124 Assignment IDN gt Digital output Bit 0 15 ID number Lowwort Bit 16 31 Interface number Highwort Fig 10 7 P 0 0124 Assignment IDN gt Digital output Example Parameter S 0 0144 is to be brought to the digital outputs of the drive controller 1 interface number 1 gt highword 1 2 ID number S 0 0144 gt lowword 0x90 The value 0x10090 must therefore be written into P 0 0124 Note With a DKCx 3 the number of digital interfaces is always 1 If ID number 0 in P 0 0124 is entered then the drive automatically puts the READY signal power section ready and no error and WARNING one bit of class 2 diagnostics is set and masked with S 0 0097 on the outputs Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 10 12 Optional Drive Functions Hardware Requirements ECODRIVE03 FGP 03VRS DKC 3 The following applies with a DKC 3 P 0 0124 Assignment IDN gt Digital output Bit 0 gt output X3 8 Bit 1 gt output X3 10 the data of the assigned ID number DKC01 3 Note The freely configurable signal status word are assigned to digital outputs X15 14 to X15 23 in a DKC01 3 10 6 Oscilloscope Feature The oscilloscope feature is
461. path Fig 9 98 Travel path when referencing with distance coded reference marks and in Run path mode for translatory measuring systems linear scales For the homing of a translatory optional encoder encoder 2 it applies S Re fen S 0 0165 S 0 O117 S 0 0165 Value in Parameter S 0 0165 Distance coded reference offset 1 S 0 0117 Feedback 2 Resolution Sreten Travel path Fig 9 99 Travel path when referencing with distance coded reference marks and in Run path mode for translatory measuring systems linear scales Rexroth Indramat 9 94 Basic Drive Functions ECODRIVE03 FGP 03VRS homing of a rotary motor For the homing of a rotary motor encoder encoder 1 it applies encoder encoder 1 360Deg S 0 0165 S Re fen S 0 0116 S 0 0165 Value in parameter S 0 0165 Distance coded reference offset 1 S 0 0116 Feedback 1 Resolution SRefen Travel path Fig 9 100 Travel path when referencing with distance coded reference marks and in Run path mode for rotary measuring systems homing of a rotary optional For the homing of a rotary optional encoder encoder 2 it applies encoder encoder 2 360Deg S 0 0165 S Re fen S 0 0117 S 0 0165 Value in parameter S 0 0165 Distance coded reference offset 1 S 0 0117 Feedback 2 Resolution S kefen Travel path Abb 9 101 Travel path when referencing with distance coded reference marks and in Run path mode for rotary measuring systems I
462. plus sinus encoder 1 2 14 yes no Fig 9 15 Determining encoder interface for the motor encoder Note The motor encoder is only then unnecessary if you work with a loadside motor encoder This is only possible with rotary asynchronous motors P 0 4014 Motor type 2 or 6 In this case the external encoder is the only control encoder see also Optional encoder DOK ECODR3 FGP 03VRS FK02 EN P Motor Encoder Resolution The motor encoder resolution is parameterized in the parameter S 0 0116 Feedback 1 Resolution Enter the graduation scale of the motor feedback If using a measurement system with intrinsic feedback data storage the resolution will be taken from this and does not need to be entered Measurement systems with feedback storage e DSF HSF e Resolver e EnDat Rexroth Indramat 9 14 Basic Drive Functions Optional encoder Rexroth Indramat ECODRIVE03 FGP 03VRS Depending on whether a rotary or linear motor is used the units and the number of decimal places are changed via S 0 0116 Feedback 1 Resolution see also chapter Linear Rotational Other Motor Encoder Characteristics To parameterize the other motor encoder characteristics use S 0 0277 Position feedback 1 type The structure of this parameter is as follows S 0 0277 Position feedback 1 type RE Gt Se l Bit 0 Encoder type 0 rotary 1 linear Bit 1 Distance coded reference marker 0 no distance
463. posing polarities due to incorrectly set command and feedback value polarities Mechanical Transmission Elements Mechanical transmission elements are gearboxes and feed mechanisms between the motor shaft and the load Entering this data is necessary for the load to convert the position velocity and acceleration physical values if these are scaled for the load See also Adjustable Scaling for Position Velocity and Acceleration Data To see if this parameter has been entered correctly move the shaft and compare the path followed with the position feedback value and the path actually taken Transmission Ratio The transmission ratio can be set with the parameters e 0 0121 Input revolutions of load gear e 0 0122 Output revolutions of load gear The ratio between transmission input and transmission output is parameterized here Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 7 Example transmission input motor shaft Fs5003f1 fh5 Fig 9 8 Transmission ratio parameterization In the illustration above 2 transmission input revolutions motor revolutions were equivalent to 1 transmission output revolutions The proper parameterization for this would be S 0 0121 Input revolutions of load gear 2 S 0 0122 Output revolutions of load gear 1 Feed Constant The feed constant defines how far the loa
464. puts Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition V0001D2 fh7 Reference position Residual path Chain dimensional reference Rexroth Indramat Fig 8 27 Absolute positioning block Relative positioning Prerequisite Parameter P 0 4019 Process block mode 2 Relative positioning blocks are executed if the drive has not been referenced In relative positioning blocks without residual path storage the target position in the positioning blocks are added to the current position If positioning blocks are interrupted then a part of a path to the target position remains This remaining distance is the residual path By sequencing relative positioning blocks it is possible to position with chain dimensional reference If a relative block is interrupted without residual path storage then this chain reference is lost If the positioning block is completed i e the drive reaches target position and message end position reached is activated then positioning is possible without the loss of the chain reference DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Example Operating Modes 8 27 Note If infinite positioning in either a forward or backward direction is achieved by sequencing relative positioning blocks transport belt then the position data must be scaled in modulo format Modulo value transport belt
465. r Position controller Velocity controller actual feedback value 3 Position Velocity command Torque power Master axis position command value value command value Fig 8 57 Real Phase Synchronization Block Diagram Pertinent Parameters The parameters listed in sections Operating mode phase synchronisation with virtual master axis and Master Axis Feedback Analysis are involved in this mode Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 57 Functional Principle the modes Phase synchronization with virtual master axis and the master axis encoder evaluation are combined in the drive The master axis encoder evaluation gained in P 0 0052 Position feedback value 3 is copied by the drive into parameter P 0 0053 Master drive position The function of the individual function blocks is described in the relevant sections see section Master Axis Feedback Analysis see section axis see section see section see section Operating mode phase synchronisation with virtual master Position Controller Velocity Controller Current Controller Note As long as the master axis encoder has not been referenced position status Bit 2 0 the drive follows the master axis position velocity synchronously The dynamic synchronization is begun as soon as the master axis encoder has been absolutely evaluated referenced and the synchronous velocity has been
466. r P 0 4078 S 0 0051 H S 0 0051 L S 0 0040 H S 0 0040 L S 0 0390 Fig 6 9 Contents of real time channel in profile type interpolation Cyclic Position Control P 0 4084 0xFF92 Master gt Slave Slave gt Master Rexroth Indramat Features e Inthe main operating mode cyclic position control with encoder 1 set The 1 auxiliary mode is jog e The entire contents of the real time data channel is fixed with the setting in P 0 4084 Profile type Parameters S 0 0047 Position command value and S 0 0051 Position feedback 1 value are cyclically transmitted via the fieldbus The position setpoint processing in the drive is synchronised using a software PLL to the synchronization telegram SYNC pulse of the fieldbus e In this profile type the Rexroth Indramat specific definitions of the fieldbus control and status word apply Bits 0 3 and 4 in P 0 4077 Fieldbus control word also see Fig 6 6 Structure of P 0 4077 fieldbus control word in Rexroth Indramat profiles as well as bit10 in P 0 4078 Fieldbus status word also see Fig 6 7 Structure P 0 4078 fieldbus status word in Rexroth Indramat profiles are not relevant in this profile type e Bit 4 in P 0 4078 Fieldbus status word setpoint reached signals in this profile type that the drive is IN position S 0 0013 Bit 6 e Length of the cyclic data channel is fixed with P 0 4082 P 0 4087 8 bytes P 0 4083 Structure of the Real Time Data Ch
467. rating yyyy yyyy 011x xxx0 mode S 0 0128 C200 Communication heck alidi coca ee me Check all drive parametrizations plausibility validity phase 4 transition check C2 oe initialization computation of conversion S 0 0127 C100 Communication actors phase 3 transition check C1 i aay P 0 4023 Input all write accessed parameter including the parametrization mode raina configuration parameter for control communications P2 communications i status word h 2 C4 e g profile selection parameter channel yyyy yyyy 001x xxx0 phase 2 C4 control voltage ON Self test hardware initialization parameter and motor initialization initialization mode yy positioning block selection or acknowledge bits control word Fd5032f1 fh7 Fig 6 5 Structure of status machine in I O mode Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 6 8 Profile Types I O Mode Default Setting ECODRIVE03 FGP 03VRS Note The data for the fieldbus status word refer to the I O mode with block acknowledge P 0 4084 0xFF80 In the other two types OxFF81 and OxFF82 only in bit 0 1 and bit 8 15 have a different definition Features of the I O mode default setting Fixed length of real time channel of 2 bytes This also fixes the length of the cyclic data channel P 0 4082 P 0 4087 2 P 0 4083 Bits 0 to 5 of P 0 4051 Process block acquittance are copied on to bits 8 13 of P 0 4078 Fieldbus status word also see
468. re loader Note While the firmware is being updated the display of the drive reads dL 0x9002 dL 00 Firmware was cleared Description a Programming the module FBC bootkernel or FIL firmware loader Firmware FIL is running or the bootkernel must be replaced To do so the command Drive firmware shutdown must be sent i e the control must go from the FIL module to the FGP SGP or SMT module During the transition it is checked whether the checksum of the FGP SGP or SMT is correct to ensure that the module was correctly programmed and can be called up This checksum check went wrong b Modules FGP SGP or SMT must be programmed Firmware FGP SGP or SMT must be replaced To do so the command Shutdown Loader must be sent This means that the control must change from module FGP SGP or SMT into module FIL During the transition it is checked whether the addition checksum of the FIL module is correct or not to ensure that the module was correctly programmed and can be conducted This checksum check went wrong Clearing the errors Ona Prior to programming the FIL it is necessary to program modules FGP SGP or SMT On b Prior to programming FGP SGP or SMT it is necessary to program FIL Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors
469. re loader on one or all of the modules of an ibf file must be programmed with Dolfi The drive firmware is started by pressing the separate button DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for Installation 4 33 Dolfi can be used to establish a connection a A baud rate other than Dolfi was set in parameter P 0 4021 P 0 4021 Baud Rate RS 232 485 Baud rate Baud Setting in parameter P 0 4021 9600 0 19200 1 It is advisable to set parameter P 0 4021 to 0 for Connecting process 9600 Baud The baud rate for the download can be set to a different value in Dolfi If the programming of a module was terminated e g due to interference at a serial interface then the baud rate for the download is still set in a DKC For Dolfi to be able to re establish a connection it is necessary to set the connect rate to the same value with which the most recent download occurred If the unit was switched back on and if the display reads dL then a baud rate of 9 600 is always set b The receiver and unit address is not identical with the address set at the controller via switches S2 and S3 Dolfi can not open the ibf file Dolfi signals Wrong ibf format when opening the ibf file The ibf file was generated with a different release and the ibf format has changed To open the file the correct Dolfi version must be used This can be obtained from the manufac
470. reached via objects In DeviceNet these objects can be addressed via class instance and attribute Some of these objects can be assigned as real time data to the polled I Os and thus cyclically transmitted The option of transmitting via Explicit Message is also given but no object defined by the master may be transmitted in the real time channel P 0 4081 Process data channel output via Explicit Message The DeviceNet command communication module has the following features e DeviceNet General Device per specification ODVA 2 0 e Easy configuration by using Group 2 only Server e Support of all data rates 125 250 and 500 kbps e Free configurable process data channel up to 9 words in data directions via the SERCOS parameters P 0 4080 and P 0 4081 of the drive e Supplementary similar functions in comparison to other command communications modules of the ECODRIVEO3 e Monitoring of process data channel Watchdog function e LED diagnostic field in front panel of command communications module for easy diagnoses of BUS functions and the most important communications relationship between drive and fieldbus e All parameters of the drive are directly write accessible via Explicit Message and if allowed can be write accessed also e Upload download function for all drive parameters including lists over four arrays of 16 to 128 byte data lengths with Explicit Message services possible Rexroth Indramat SIS protocol e Open Plugg
471. resonance frequencies a notch filter can be applied to this torque force command value Using parameter P 0 0180 Rejection frequency velocity loop and P 0 0181 Rejection bandwidth velocity loop the frequency range which must be suppressed can be parametrized See also Setting the Velocity Controller Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 8 6 Operating Modes ECODRIVE03 FGP 03VRS S 0 0101 Velocity loop integral action time P 0 4046 Active peak proportional gain P 0 0180 Rejection P 0 0004 Velocity loop smoothing frequency velocity loop bandwidth velocity loop S 0 0091 bipolar velocity value limit ee A 2 Torque EnA a O f O gt 4 Le E orce command value A f L a command S 0 0037 Additive velocity command value Actual velocity 4 P 0 0004 Velocity loop smoothing time constant E259 Command velocity limit active Fig 8 5 Velocity Controller See also chapter Command value processing Velocity control See also chapter Current Controller Current Controller The current controller is parameterized with S 0 0106 Current loop proportional gain 1 and S 0 0107 Current loop integral action time 1 See also chapter Setting the Current Controller S 0 0107 Current loop integral action time 1 S 0 0106 Current loop proportional gain 1 4 S 0 0080 Torque force command O Actual current value Fig 8 6 Current Controller Rexroth O Indramat D
472. rinciple eienenn eai EAE AE ENA E EENEN AAE EEEN AEN 8 50 Operating mode phase synchronisation with virtual master aXxiS sssseseseesrrsrresrresrresrreeree 8 50 Pertinent Param Steric es iceec ssseebenphlatesth sabeehhasdae ph ahet aba cenee E cues piste dabastccens phaatedbhasednnehss 8 51 Command value preparation with phase synchronisation with virtual master axis 8 51 Operating mode phase synchronization with real Master axis ceseeeeeeeeeeeeeeeeeeeneeteeeeetaees 8 56 Pertinent Parameters penrre Anen nRT E AT A eA DEERE OTA EEE EEEE 8 56 Functional PriftCiple senriska ena EAE ANTE EE E TAE E TA EEE 8 57 Operating mode electronic cam shaft with virtual master AXiS ccccsceceesseeeeeeseeeeesneeeeeaaes 8 57 Pertinent Parameters ecrin i EAA ia AN E ENE ATAA EEEa 8 58 Command Value Preparation for Electronic Cam ccceccceceecceseeeeeeeeeeeeeseeeeeeaeeeseaeeeeeeeeeeeees 8 58 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat VI Contents ECODRIVE03 FGP 03VRS 8 15 Operating mode electronic cam shaft with real master AXIS 0 0 0 eee eee eee eeeeeeneeeneetneeesaeenaeens 8 61 Pertinent Parameters auno eua ence sheen ch candccvd aveue A E EAA EAE EEEE caressa 8 61 Functional PrinGiple nosena ces vielen cece ad i ai a a a a 8 61 9 Basic Drive Functions 9 1 9 1 Physical Values Display Format siessssiairnieoii an r enaka NRE ANEA K DEAE CEREREA RIS 9 1 Adjustable Scaling for Position Velocity an
473. ring system not installed is generated once command P 0 0012 C300 Command Set absolute measurement is started without an absolute measuring system having been installed Hardware Connections See project planning manual zero switch input terminal X3 pin Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 106 Basic Drive Functions ECODRIVE03 FGP 03VRS Notes Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 1 10 Optional Drive Functions 10 1 Configurable Signal Status Word Pertinent Parameters The configurable signal status word supports the acceptance of a maximum of 16 copies of bits from other drive parameters This makes it possible for a user to put a bit list together which contains drive status information that is important to the control The signal status word can only be used in e a free configurable operating mode e afree expandable I O mode Note The bits in the signal status are put together in every command communication cycle at S 0 0007 Feedback acquisition starting time T4 These parameters are used with this function e 0 0144 Signal status word The desired bits are applied there e 0 0026 Configuration list signal status word ID number list with variable length to configure the bit strip e 0 0328 Assign list signal status word e Bit number list with variable length to configure the bit strip Configur
474. rized The contents of P 0 0210 Analog input 1 minus the contents of P 0 0217 Analog input 1 Offset is scaled with the scaling factor set in P 0 0214 Analog input 1 Scaling per 10V and then copied into the parameter with the ID number set for the assignment in P 0 0213 Analog input 1 Assignment Evaluation parameter unit The unit of the parameter P 0 0214 Analog input 1 Scaling per 10V complies with the unit of the assigned parameter Selection list Only those parameters can be assigned that are listed in P 0 0212 Analog inputs IDN list of assignable parameters Configuring analog input 2 Note The configuration or allocation of analog input 2 can be conducted accordingly Example Assignment of analog input 1 to S 0 0036 velocity command value with 10 V equal to 1000 rpm Parameter setting P 0 0213 analog input 1 S 0 0036 P 0 0214 analog input 1 evaluation per 10V 1000 0000 rpm Analog Inputs Connection See also project planning manual Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 11 10 5 Digital Output The drive controller has two digital outputs available to it with the basic unit independent of command communications Pertinent Parameters e P 0 0124 Assign IDN gt Digital output e 0 0097 Mask class 2 diagnostic Functional Principle With parameter P 0 0124 Assignment IDN gt Digital output it is possible to assign any
475. rk limit bipolar S 0 0403 Position feedback value status also can be used Setting the referencing parameters The basic sequence is dependent on how parameter S 0 0147 Homing parameter has been parametrized The following settings are performed Rexroth Indramat referencing direction positive negative referencing with motor or optional encoder evaluation of the home switch yes no evaluation of the marker yes no go to reference point yes no DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 81 The parameter is structured as follows S 0 0147 Homing parameter OTI L Bit 0 Start direction 0 positive clockwise with view towards motor shaft 1 negative counter clockwise with view towards motor shaft Bit 3 Feedback selection 0 with motor feedback feedback 1 1 with external feedback feedback 2 Bit 5 Home switch evaluation The home switch is 0 detected 1 not detected Bit 6 Reference mark evaluation The Reference mark is 0 detected 1 not detected Bit 8 7 Stop positioning run path 0 0 once the reference switch or reference marker have been overtravelled the drive stops and switches into the coordinate system 0 1 after the reference switch of marker have been overtravelled the drive positions at the reference point and switches into the coordinate system 1 0 drive always run path that is needed to overrun two seq
476. rminated control loop setting D904 Gain adjustment failed store default loop settings FD5023X1 FLO Fig 9 78 Automatic control loop setting sequence Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 76 Basic Drive Functions ECODRIVE03 FGP 03VRS Results of Automatic Control Loop Settings Note The current control loop is not effected hereby as its setting is load dependent and set to optimum current control parameters at the factory The results of automatic control loop settings depends on the selection in P 0 0165 Parameter structure Bit 0 reserved Bit 1 set speed control Bit 2 set position control Bit 3 set acceleration feedforward Bit 4 determine load Bit 5 reserved Bit 6 determine maximum accel Bit 7 13 reserved Bit 14 0 oscillation 1 motion in one direction only Bit 15 Fixing travel range 0 input limits 1 input travel range Fig 9 79 Select parameter for automatic control loop settings Possible results are e Set velocity control loop e Set position control loop e P 0 4010 Load inertia reduced to motor shaft The load determined for automatic control loop settings is stored here e P 0 0168 Maximum acceleration Maximum drive acceleration for loop settings is stored here e 0 0348 Acceleration feed forward gain As the results of the automatic settings the value for accel pre control is calculated in accordance with the
477. rol of the 1 motor brake 0 7 1 End stage release 0 lt _ _______ _ _ gt P 0 0526 Motor brake lag time C gt t ms Sv5033f1 fh5 Fig 9 58 Time sequence of the velocity command value reset Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 9 46 Basic Drive Functions Best possible standstill P 0 0119 1 or fatal error Rexroth Indramat ECODRIVE03 FGP 03VRS Note Activation of the motor holding brake depends on P 0 0525 bit 1 See section Motor Holding Brake Note lf the value entered in P 0 0126 is too small then the error reaction could be terminated without axis standstill Danger of damaging the motor brake if P 0 0126 Maximum braking time is set too low The value for P 0 0126 Maximum braking time WARNING must always be set higher than the time needed to decelerate the axis with the velocity command value reset taking maximum possible velocity into account Disable Torque In the event of an error the drive goes torque free and is braked only by the frictional force i e it coasts The actual time to standstill can be considerable especially with spindles Note The error reaction Torque disable is absolutely necessary with fatal errors F8xx because braking with a defective end stage or feedback is no longer possible Drive continues to move unbraked with error Danger to life from parts in motion if the machine safety
478. ror when write accessing the RAM An error occurred during programming A memory cell in the flash could not be write accessed Check whether the target address is actually in the RAM If the error continues then the firmware module ESF02 1 must be replaced 0x9701 dL 0d Wrong checksum The programmed checksum is checked at the end of the updating of the firmware module This check went wrong Reprogram the module check the checksum of the source file ibf 0x9702 dL 0e CRC32 checksum faulty The programmed CRC32 checksum is checked at the end of the updating of the firmware module This check went wrong Reprogram the module check the checksum of the source file ibf Additional Problems when Loading Firmware Rexroth Indramat The programming of a module was terminated Problems on the serial interface can lead to the termination of a transmission In the event that the loading procedure of the FBC module was terminated then do not switch the unit off This module is responsible for starting the firmware and therefore absolutely necessary A module that has not been completely programmed can simply be reprogrammed open ibf file press transmit button in the Send window select Module single and by skipping find the right module Now press the send button After the unit is switched on the display reads dL The last programming procedure with Dolfi was not correctly completed To leave the firmwa
479. rror Diagnostic Class Messages Drive Response Fatal F8xx The error response parameter settings in P 0 0117 NC reaction on error and P 0 0119 Best possible deceleration will be ignored since a driver response is impossible Torque force is instantly cut off Travel range F6xx Independently of the settings in parameters P 0 0117 NC Reaction on Error and P 0 0119 Best possible deceleration the velocity command value is immediately set to zero This response corresponds to the settings P 0 0117 0 no NC Reaction P 0 0119 0 Velocity Command Value Reset This setting provides the fastest stop of the axis if the drive range is exceeded Interface F4xx A response from the control is impossible since the communication to the control became inoperative The drive proceeds instantly with P 0 0119 Best possible Deceleration Non fatal F2xx The drive conducts the decel procedure set in P 0 0117 NC reaction on F3xx error and P 0 0119 Best possible deceleration If NC reaction is set as an error response then the drive continues to operate for 30 seconds after detecting an error as if no error had been detected The NC has this time to bring the axis to a controlled standstill The drive then conducts the response set in P 0 0119 Fig 9 56 Error Response of the Drive Best Possible Deceleration Rexroth Indramat The drive reaction P 0 0119 Best possible deceleration is conducted automatically with e interface errors F4xx e
480. rror occurs during this process then command error e C211 Invalid feedback data gt S 0 0022 is generated Check whether an internal position resolution has been set via parameter S 0 0278 Maximum travel range which guarantees the correct commutation of the motor If not then this command error appears e C223 Input value for max range too high Check internal ability to illustrate conversion factors from display format to an internal one and vice versa for scaling dependent data If an error occurs then one of the following command errors can be generated e C213 Position data scaling error e C214 Velocity data scaling error e C215 Acceleration data scaling error e C216 Torque force data scaling error All parameters are checked for maintaining extreme values or permissible bit combinations If an error occurs then command error e C202 Parameter limit error gt S 0 0022 is generated The ID number o the faulty parameter is listed in e 0 0022 IDN list of invalid op data for comm phase 3 and must be corrected Checking whether an activated modulo scaling of the position from parameter S 0 0103 Modulo value is possible If it is not then command error e C227 Modulo range error is generated The physical values of parameters input format with decimal places and units are converted to internal formats This conversion is monitored If incongruencies are detected during this process then command error
481. rts a new initialization of all the functions within the drive DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS General Instructions for Installation 4 13 Checks in the Transition Commands Checking the telegram configuration of the command communications Checking validity of communications parameters Extreme value check of the communications parameters Checking plausibility and maintaining the marginal conditions for command communications DOK ECODR3 FGP 03VRS FK02 EN P To switch from communication phases 2 to 3 and 3 to 4 it is necessary to activate transition checks in the drive first This includes a number of checks and parameter conversions Note The reasons for and assistance with transition command errors are specified in the diagnostics description S 0 0127 C100 Communication phase 3 transition check The timing of command communications is checked in transition command C1 These checks are irrelevant for those units without command communications Examples of command communications are SERCOS Profibus and so on The following checks are conducted in the C1 command This checks as to whether the parameters selected for the configurable data block in the master data telegram or drive data telegram may be configured or not It also checks whether the allowable length of the configurable data blocks has been retained or not The following command errors can occur in this case e C10
482. ry therefore this feature can be used effectively only by the corresponding developer activation of the bit and byte The bit and byte output is only possible if the signal selection for the used output channel P 0 0420 or P 0 0423 is deactivated by inputting the ID number 0 configuration The selection of the function and the storage address takes place in the parameters e P 0 0421 Analog output 1 expanded signal selection and e P 0 0424 Analog output 2 expanded signal selection In the high nibble half byte with bits 28 31 byte output is activated with a 1 and bit output with a 2 The least significant 24 bit of the parameter inputs the storage address 31 30 29 282726 252423 2221 2019 1817 1615 1413 12111098 7 6543210 Bit 0 23 24 Bit adress Bit 28 31 Byteoutput 0x1 Bitoutput 0x2 Fig 10 4 Parametrizing bit or byte output scaling The parameters P 0 0422 Analog output 1 scaling and P 0 0425 Analog output 2 scaling either select the bit to be output or it can be determined from which least signifiant bit on the byte to be generated will start When selecting the bit number only values between 0 and 15 make sense If greater values are entered then only bits 0 3 are used When outputting bits 10 volt bit 0 or 10 volt bit 1 is output Byte output With byte outputs the MSB of the byte to be output is interpreted as sign bit Voltages ranging from 10 to 10 volts are output
483. s S SERCOS P Product specific parameter set 0 7 and a number 1 4096 Load default or basic load The control parameters are stored in the motor feedback data memory in both MDD and MKD motors This makes it possible for the drive controller to work trouble free with this motor The control parameters have not been optimized for the application Modulo format Both position feedback and command values can be processed in modulo or absolute format If modulo processing has been set then the position data move within the range of 0 S 0 0103 modulo value With this function it is possible to realize an endlessly turning axis Motor encoder The motor encoder is the measuring system that is used during commutation A measuring system is absolutely necessary The position feedback value of the encoder can be seen in S 0 0051 position feedback value 1 By activating the position control operating mode with encoder 1 the position control loop is closed with the help of the position feedback of the motor encoder Operating data The operating data is data block element 7 of a parameter The value of the parameter is stored there Rexroth Indramat 11 2 Glossar Rexroth Indramat ECODRIVE03 FGP 03VRS Operating mode Operating mode is set in parameters S 0 0032 35 It determines in what way a command value is processed in the drive and eventually initiates an axis movement The operating mode does not define how the c
484. s command is now signalled as completed Note The drive generates no command values The mode active at command start remains unchanged To override the reference marker the control must generate command values e g by jogging that cause a motion in the direction in which the reference markers are to be detected Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 25 Additional uses of parameter S 0 0173 Marker position A In parameter S 0 0173 Marker position A the position of the reference marker is also stored during the command S 0 0148 C600 Drive controlled homing procedure command This relates however to the old coordinate system before the coordinate system was switched while performing a homing function 10 10 Command Parking Axis Pertinent Parameters Functional principle DOK ECODR3 FGP 03VRS FK02 EN P The command Parking Axis supports the operational decoupling of an axis This may for example be necessary if an axis is temporarily brought to a standstill The start of the command switches off all monitoring functions of the measuring system and the control loops e 0 0139 D700 Command parking axis The command may only be started without drive enable If the command is activated with drive enable applied then the drive generates command error D701 Park axis only without drive enable After starting command S 0 0139 D700 Comman
485. s for the use of the acceleration feed forward e Free form surface milling e Grinding To set the acceleration feed forward use the parameter e 0 0348 Proportional Gain Acceleration Feed Forward This value can be determined as follows Requirements for a Correct Setting of the Acceleration Feed Forward e Velocity and position loop have to be set appropriately e For the Position Controller a lagless operation mode must be selected Setting the Acceleration Feed Forward Setting the correct acceleration feedforward can only be done by the user since it depends on the inertia Note With automatic control loop settings it is not only possible to determine inertia but also the value for S 0 0348 Rexroth Indramat 9 68 Basic Drive Functions ECODRIVE03 FGP 03VRS The setting is done in two steps e Calculation of the preset value for the acceleration feedforward For this purpose you need the size of the complete inertia momentum translated to the motor shaft JMotor JLoad of the axis This value is known approximately from the size and set up of the load Additionally you need the torque constant of the used motor This data can be retrieved from the motor data sheet or the parameter P 0 0051 Torque Force Constant Kt The preset value is calculated as Acceleration Feedforward Motor Load q 000 Acceleration Feedforward mA rad s JMotor Inertia momentum of the motor kg m P 0 0510 JLoad I
486. s in drive The Parameters P 0 0163 Damping factor for automatic control loop adjust and P 0 0164 Application for automatic control loop adjust will be checked Check speed conirol loop and correct controller parameter if need be until correct behavior appears depends on dynamics programmed Check position control loop and correct controller parameters if need be until aperiodic behavior in control loop appears Wait for new start or end of command This drive here is idle velocity 0 and the display reads D9 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 75 Step1 Pa Se yes D901 Start requires drive enable _ Error at SS D902 Motor feedback data command start gt gt not valid EN wi D905 Position range invalid nee D906 Position range exceeded Step2 no go to middle position y Determine moment of inertia v Step3 Pa Sh lt Momentof N mo i inertia s Ss gt D903 Inertia detection failed store default successfully control loop setting determined Ee she Step4 ea Compute control parameter Step5 if Optimize velocity control loop 7 no Optimized a successfully yes Step6 i v Optimize position control loop a Optimized PS successfully P gt LUE sage Step7 y v v Store inertia P 0 4010 and max compute parametrizable accel also dete
487. s mechanical system must be in its final form e The axis must be homed The monitoring window must be determined according to the application The following basic procedure is recommended for doing this e Run a typical operating cycle While doing this set the planned acceleration and velocity data of the axis e Enter progressively smaller values in the parameter S 0 0391 Monitoring window feedback 2 until the drive gives the error message F236 Excessive position feedback difference Depending on the mechanical system you should start with 1 2 mm and decrease the window in steps of 0 3 0 5 mm e The value at which the monitor is triggered should be multiplied with a tolerance factor of 2 3 and entered in parameter S 0 0391 Monitoring window feedback 2 When determining the monitoring window make sure that the position feedback monitor works dynamically This means that even dynamic deviations of both position feedback values in acceleration and braking phases are registered This is why it is not enough to use statical axis errors as the basis for the setting Deactivating the Position Feedback Monitor It is possible to turn off the position feedback monitor in applications where the optionally connected measurement system does not control the axis position but is used for other measurements To do this enter O in the parameter S 0 0391 Monitoring window feedback 2 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 F
488. s of the respective manufacturer Before the disassembly of pressurized systems lower pressure and drain off the fluid or gas Use suitable protective clothing for example protective eyewear safety shoes and gloves Remove any fluid that has leaked out onto the floor immediately Note Environmental protection and disposal The fluids used in the operation of the pressurized system equipment is not environmentally compatible Fluid that is damaging to the environment must be disposed of separate from normal waste Observe the national specifications of the country of installation DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS General Instructions for Installation 4 1 4 General Instructions for Installation 4 1 Definition of Terms Introduction Parameter The Data Status Parameter structure DOK ECODR3 FGP 03VRS FK02 EN P It is helpful to explain the terms used in this document so that they will be better understood Communication with the drive occurs with a few exceptions with the help of parameters They can be used for e Setting the configuration e parametrizing the control drive settings e Accessing control drive functions and commands e Cyclical or acyclical depending on requirements transmission of command and actual values Note All of the drive s operating data are identified by ID numbers Each parameter is provided with a data status which can also be read It
489. s profile needs clock synchronous and cyclic transmission of position setpoints in cyclic MAER cyclic position control position control modes All real time data FF92h A ey FGP02VRS lag free with needed are pre configured in lists P 0 4080 and encoder 1 P 0 4081 Control and status words have the same structure as in free config operating mode OxFFFE This profile makes cyclic setting of velocity DKC03 3 xxx 7 FW Function setpoints in velocity control mode possible All DKC04 3 xxx 7 FW compatible to velocity control with real time data needs are pre configured in lists FF93h DKC05 3 xxx 7 FW profile type filter and ramp P 0 4080 and P 0 4081 Control and status words DKC06 3 xxx 7 FW velocity control 2 have same structure as free config operating mode OxFFFE FGP02VRS This profile allows free configuring of real time DKC03 3 xxx 7 FW makes possible data as well as selection of operating mode FFFEh DKC04 3 xxx 7 FW function heures mode possible i e access to all drive functions Control DKC05 3 xxx 7 FW DKC06 3 xxx 7 FW compatibility to profile position target setting interpreter and status word have an Indramat specific structure This choice is also suited for operation with analog setpoints in commissioning phase Fig 6 1 Supported profile types FWA ECODR3 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Rexroth Indramat 6 2 Profile Types Definitions Rexroth
490. s the initialization value P 0 0019 Position feedback Position feedback written value 1 value 2 no init motor encoder value init motor encoder value yes position start value position start value Fig 9 23 Non absolute measurement system position feedback values after initialization Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 20 Basic Drive Functions ECODRIVE03 FGP 03VRS No valid position feedback values exist before the measurement system is initialized Initialization is performed during the transition check for communication phase 4 WARNING ere Some measurement systems have limitations concerning the maximum velocity during their initialization Measurement system DSF HSF Maximum initialization velocity 300 rpm EnDat Initialization should occur at standstill Multiturn resolver 300 rpm Fig 9 24 Velocity allowed during initialization Drive internal format of position data The drive internal position resolution depends on the travel range to be described Rexroth Indramat There are two different formats in the drive used to display position data We differentiate between e display format and e drive internal format The display format defines the unit i e the value with which the position data are exchanged between drive and control surface When a position data parameter is read it is sent in the display format to the control The display forma
491. s work In this example the drive is at the start position when the new target position is given DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 15 The following time diagram result vel feedback value 0 _ standstill 7 window Xt target _ Positioning position position com window position start state feedback __ Positioning z window AX following a or lag Positioning distance gt window magnified t 0 0013 Bit 12 4 target position E A reached t S 0 0182 Bit 10 ns a In target position 0 t S 0 0182 Bit 6 a _ IZP 0 gt t t new start state is given Sv5050f2 fh7 Fig 8 16 Generating the status bit of the operating modes with drive internal interpolation 8 7 Operating Mode Drive Controlled Positioning Note Mode Drive controlled positioning can only be used in free configurable mode profile selection P 0 4084 OXxFFFE Parameter S 0 0282 Positioning command is configured in this case in the real time channel to transmit absolute target position or travel path The control and status bits needed for the function are in the fieldbus control and status words In Drive controlled positioning the drive receives a positioning command value absolute or relative The drive runs maintaining positioning velocity accel and jerk to the specified target position Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 8
492. scilloscope feature with defined recording signals 10 13 Oscilloscope Feature With External Trigger and Internal Trigger Condition 10 17 Other Motor Encoder Characteristics 9 14 Other Optional Encoder Characteristics 9 19 Overload warning 4 26 Parametrize the pre warn threshold 9 31 Overview of the Profile Types Supported 6 1 P PA 10 25 Parameter 4 1 Parameter channel 5 11 Parameter channel in the DP 5 11 Parameter Channel in the DP Definition of Terms 5 11 Parameter involved when configuring signal control word 10 3 Parameter Storage in Motor Feedback 4 3 Parameter structure 4 1 Parameterizing the Master Axis Feedback 9 41 Parameters pertinent in encoder emulation 10 29 Parameters pertinent in the multiplex channel 6 23 Parameters pertinent to PROFIBUS communicaiton 5 1 Parameters Stored in DSM Programming Module 4 4 Parameters Stored in the Digital Drive 4 3 Parametrization mode 4 12 Parametrization notes for positioning blocks 8 41 Parametrizing the Measuring Wheel Encoder 10 37 PCP channel 5 23 PCP services 5 24 PD channel 5 31 Peak current Saving in the motor feedback 7 2 Peak torque 9 32 Permanently Configured Collective Indication 4 25 Pertinent parameter of phase synchronisation with virtual master axis 8 51 Pertinent parameter with current limits 9 28 Pertinent Parameter with Drive Controlled Homing 9 80 Pertinent Parameters 5 1 Motor holding brake 7 19 Pertinent Parameters Digital Output 10 11 Pertinent parameters for angl
493. sec Linear interim interpolation takes place between these two steps with an accuracy of 1 usec You can read the absolute values of these signals at the time of a positive or negative edge as well as their difference by parameters Pertinent Parameters for the Probe Analysis DOK ECODR3 FGP 03VRS FK02 EN P S 0 0170 Probing cycle procedure command S 0 0401 Probe 1 S 0 0402 Probe 2 S 0 0169 Probe control parameter P 0 0200 Signal select probe 1 P 0 0201 Signal select probe 2 P 0 0204 Start position for active probe P 0 0205 End position for active probe S 0 0405 Probe 1 enable S 0 0406 Probe 2 enable S 0 0130 Probe value 1 positive edge S 0 0131 Probe value 1 negative edge S 0 0132 Probe value 2 positive edge S 0 0133 Probe value 2 negative edge P 0 0202 Difference Probe Values 1 P 0 0203 Difference Probe Values 2 S 0 0409 Probe 1 positive latched S 0 0410 Probe 1 negative latched S 0 0411 Probe 2 positive latched S 0 0412 Probe 2 negative latched Rexroth Indramat 10 20 Optional Drive Functions ECODRIVE03 FGP 03VRS Main Function of the Probe Analysis The function is activated by setting and enabling S 0 0170 Probing cycle procedure command The change bit command is never set as there is neither a positive nor negative command acknowledge To activate the feature S 0 0170 must be written with 3 decimal 11 binary From this point on the status of the probe signals will be displayed in
494. ser date bytes Intel format i 15 user data user date bytes Intel format Fig 5 14 User data in the reaction telegram The choice of a suitable data exchange object is exclusively determined by the field length of the data that is to be transmitted The field length must span the entire SIS telegram The structure of this protocol permits data block splitting so that even lists with more than 117 bytes header can be transmitted 1 Sending a read request An SIS telegram is to be used to read the data of SERCOS parameter P 0 4082 Length of real time data channel In Byte Name Definition Code 1 STZ start symbol 0x02 02 2 CS checksum data length incl user data header in bytes DatlW repeat DatL 4 5 Cntrl control byte command telegram 00 E e ECODRIVE services 80 7 Adrs address of sender 00 8 AdrE address of receiver 05 Fig 5 15 Telegram header in the command telegram read P 0 4082 sender address here master address receiver address here slave address Fig 5 16 User data header in the command telegram read P 0 4082 Ox8FF2 Bit 15 1 gt parameter FF2 4082 Dec gt P 0 4082 e operating data final transmission Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS 2 Reading a reaction telegram Command Communication via Fieldbus 5 9 By reading a reaction telegram via a data exchange ob
495. show such signals in an analog manner which do not exist as a parameter there a way to select these via predefined signal numbers and to output these via the expanded analog output The parameters e P 0 0421 Analog output 1 expanded signal selection and e P 0 0424 Analog output 2 expanded signal selection do the selection Activation of the expanded The expanded output only functions if the signal select for the channel output used P 0 0420 or P 0 0423 is deactivated by inputting the ID number 0 Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 7 Example The following list shows which signal is output with which signal number Reference unit Evaluation factor 1 0000 Signal number P 0 0421 424 Output signal 0x00000001 motor encoder sine 0 5V 10V signal 0x00000002 motor encoder 0 5V 10V cosine signal 0x00000003 Opt enc sine signal 0 5V 10V 0x00000004 Opt enc sine cosine 0 5V 10V 0x00000005 Position command rot 1000rpm 10V cae ae lin gt 100m min 10V 0x00000006 DC bus power tkW 10V 0x00000007 absolute DC bus power amount 0x00000008 effective current S 0 0110 10V 0x00000009 relative current S 0 0110 10V 0x0000000a thermal load 100 10V 0x0000000b motor temperature 150 C 10V 0x0000000c magnetizing current S 0 0110 10V 0x0000000d velocity command at rot gt 1000rpm 10V h loci ll
496. signal word Degree of hazard seriousness The degree of hazard seriousness describes the consequences resulting from non compliance with the safety guidelines DANGER Bodily harm or product damage will occur WARNING Death or severe bodily harm may occur CAUTION Death or severe bodily harm may occur Fig 3 1 Classes of danger with ANSI DOK ECODR3 FGP 03VRS FK02 EN P Rexroth Indramat 3 2 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 FGP 03VRS 3 3 Hazards by inappropriate use High voltage and high discharge current Danger to life risk of severe electrical shock and risk of injury Dangerous movements Danger to life and risk of injury or equipment damage by unintentional motor movements High electrical voltage due to wrong connections Danger to life severe electrical shock and severe bodily injury Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment o o gt gt Z Q Q m m 5 5 5 D CAUTION Surface of machine housing could be extremely hot Danger of injury Danger of burns gt CAUTION Risk of injury due to inappropriate handling Bodily injury caused by crushing shearing cutting and mechanical shock or improper handling of pressurized systems gt CAUTION Risk of injury due to inappropriate handling of batter
497. sitioning e Relative Positioning e Relative Positioning with residual path memory e Infinite travel in positive negative direction e Following block processing Note The control of fieldbus drive does not work over parameter S 0 0134 Master control word but rather via the profile dependent bits in P 0 4077 Fieldbus control word Absolute Positioning Prerequisite Parameter P 0 4019 Process block mode 1 In an absolute positioning block the target position is a fixed absolute position within the machine co ordinate system e The drive must be referenced e The travel range can be limited with position limit value Absolute positioning blocks are only executed if the target position lies within the allowable travel range Rexroth Indramat 8 26 Operating Modes ECODRIVE03 FGP 03VRS Example Absolute positioning with target position 700 S 0 0124 X ian window speed profil x 200 x 700 l i E II I l P 0 4026 01 i Process block selection l l P 0 4051 Process block acquittance oi AH kE l i S 0 0134 Master control word Bit 13 LA target position reached TE i S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill a S 0 0182 Manufacturer class 3 diagnostics Bit 1 P Il S 0 0346 Positioning command latch gt le lt 4ms t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning in
498. sitioning block n 1 n represents the block currently in process Note If the target position is not in the travel direction then the target position is nonetheless run to Thus the drive always reaches the switching position Rexroth Indramat 8 34 Operating Modes vt speed profil ECODRIVE03 FGP 03VRS target position target position block 1 block 2 P 0 4026 01 Process block selection P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 S 0 0346 Positioning command latch Definition Rexroth Indramat gt t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition V0007d2 fh7 Fig 8 34 Example Position dependent block commutation mode 1 b Block transition with new positioning speed Mode 2 P 0 4019 Process block mode 21h absolute block with following block P 0 4019 Process block mode 22h relative block with following block P 0 4019 Process block mode 24h infinite block in positive direction with following block P 0 4019 Process block mode 28h infinite block in negative direction with following block In following block mode 2 posit
499. sitioning command acknowledge Fig 8 22 Acknowledge error overrun in positioning command value Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 21 Monitoring and Diagnoses Diagnoses with active mode is one of the following E253 target positioning outside of travel range E247 Interpolation velocity 0 E248 Interpolation accel 0 E249 Positioning velocity gt S 0 0091 E255 Feedrate Override S 0 0108 0 E264 target position cannot be illustrated Status messages DOK ECODR3 FGP 03VRS FK02 EN P A106 Drive controlled interpolation encoder 1 A107 Drive controlled interpolation encoder 2 A108 Drive controlled interpolation lagless encoder 1 A109 Drive controlled interpolation lagless encoder 2 The following tests are conducted In If monitoring of position limit value is active Bit4 of S 0 0055 Position polarities is set and the measuring system of the mode is in reference then the parameter S 0 0258 Target position is checked to maintain position limit value S 0 0049 or S 0 0050 If it overruns it then warning E253 Target position out of travel range is generated The prescribed target position will not be accepted If specified positioning velocity in S 0 0259 Positioning Velocity is 0 then warning E247 Interpolation velocity 0 is generated It is only generated if S 0 0259 is not cyclically transmitted via command communication
500. ss see programming module Note Only after the drive has received at least a valid SIS telegram is the SIS channel free for further communications The individual access modes are described briefly below before the individual services are explained If acommand telegram is used to start a read of a parameter then the drive checks whether a following telegram is needed In this case the reaction telegram in the control byte is retained in Bit 2 running final transmission at 0 until the final reaction telegram is sent Bit 2 is set to 1 herein The transmission of a following reaction telegram is triggered by the renewed transmission of an unchanged command telegram If write or read of a parameter is started in the drive with a following telegram then this must be concluded of terminated before a different service can be started If a different service was started anyway then error code 0x800C unallowed access is sent in the reaction telegram The previously started service with following telegrams can then be processed as usual in the next command telegram or terminated A difference is made between e general and e special services DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Command telegram Reaction telegram Reaction telegram Command telegram Reaction telegram DOK ECODR3 FGP 03VRS FK02 DE P Serial Communication 1 21 Service 0x01 Terminating a Data Transmission e E
501. st echo N A l lt Timeout gt character sequence gt found if no receiver buffer e een Contents of receiver buffer DA P 0 4037 7 w 1000 CR Ja xxxx CR E01 gt Step 3 To check transmission compare request with receiver buffer String compare no Transmission error ja y Step 4 Delete request in receiver buffer All characters to 1st CR inclusive Next character in Error occurred during a yes gt parameter access receiver buffer i 3 Error code xxxx no y Parameter succesfully written FD5001B1 WMF Fig 1 13 Write accessing a parameter Also see Error Messages Rexroth Indramat 1 12 Serial Communication Rexroth Indramat Read Accessing a Parameter ECODRIVE03 FGP 03VRS Read accessing a parameter looks like this ID number of parameter data block element number Carriage Return The drive plays back the contents of the addressed data block element To access the operating data of parameter P 0 4040 for example the following must be input Step 1 Send request e g P 0 4040 7 r CR Communication with drive not possible gt check address gt check setting gt check connection Step 2 Drive received character Drive repeats request echo i yes lt q_no character sequence gt found in receive buffer ja Step 3 To check transmission compare request with receiver
502. st be assumed in any case that some faulty drive movements will occur The extent of these faulty drive movements depends upon the type of control and the state of operation Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Safety Instructions for Electric Servo Drives and Controls 3 7 DANGER Dangerous movements Danger to life and risk of injury or equipment damage gt Personnel protection must be secured for the above listed reason by means of superordinate monitors or measures These are instituted in accordance with the specific situation of the facility and a danger and fault analysis conducted by the manufacturer of the facility All the safety regulations that apply to this facility are included therein By switching off circumventing or if safety devices have simply not been activated then random machine movements or other types of faults can occur Avoiding accidents injury or property damage gt Keep free and clear of the machine s range of motion and moving parts Prevent people from accidentally entering the machine s range of movement use protective fences use protective railings install protective coverings install light curtains or light barriers Fences must be strong enough to withstand maximum possible momentum Mount the emergency stop switch E stop in the immediate reach of the operator Verify that the
503. stant of a linear scale distance per division period is set there The parameter values for the multiplication are calculated by the drive during command S 0 0128 C200 Communication phase 4 transition check They describe the resolution per division period dp It thus applies for the drive internal resolution for rotary motors resolution multiplication encoder resolution Resolution drive internal resolution of position data Incr rev multiplication value in S 0 0256 or S 0 0257 Incr dp encoder resolution value in S 0 0116 or S 0 0117 dp Incr Fig 9 25 Drive internal resolution of rotary motors and for linear motors multiplication resolution encoder resolution Resolution drive internal resolution of positon data Incr mm multiplication value in S 0 0256 or S 0 0257 Incr dp encoder resolution value in S 0 0116 or S 0 0117 mm dp Fig 9 26 Drive internal resolution of linear motors Examples 1 MKD motor S 0 0116 4 S 0 0256 32768 therefore drive internal resolution 131072 increments motor revolution or 0 00275 degrees increment 2 Linear scale as optional measuring system S 0 0117 0 02 mm grid division 20um S 0 0257 32768 therefore drive internal resolution of approximately 1638400 increments mm_ or 0 00061 um How to compute the drive internal resolution if an optional encoder is used is described in greater detail below Note The value for the multiplica
504. stment current is increased to twice the motor standstill current Then P 0 0562 Commutation adjustment periodic time is increased to 128 milliseconds DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Initial start up Restrictions when using holding brakes or clamps Restrictions with axes with dead stops Peculiarities of Gantry axes DOK ECODR3 FGP 03VRS FK02 EN P Motor Configuration 7 17 Note By changing the parameter values the time that the drive needs for the commutation setting can increase considerable up to two minutes This is why an initial start up is recommended The values described above for P 0 0560 Commutation adjustment current and P 0 0562 Commutation adjustment periodic time are determined and stored in the parameter module These are then available as start values for setting the commutation offset which is started after transition into operating mode This means that the drive saves the time needed to determine the best parameter for the commutation setting Conducting the initial start up 1 Switch drive into operating mode and power on 2 Execute command P 0 0524 D300 Commutation adjustment command The drive runs the commutation setting At the end the determined values are stored in the parameter memory in parameters P 0 0560 Commutation adjustment current and P 0 0562 Commutation adjustment periodic time They can be used as start values for commutation settings in the future
505. switch from parametrization to operating mode is controlled by start and end commands e 0 0127 C100 Communication phase 3 transition check e 0 0128 C200 Communication phase 4 transition check e P 0 4023 C400 Communication phase 2 transition It is necessary to trigger the transition command P 0 4023 C400 Communication phase 2 transition to get into parametrization mode Note In order to be able to switch between the parametrization mode and operating mode it is only possible to start a transition command if the drive is not in control mode or command communications is not active The current status of command communications is in parameter P 0 4086 Command communication status If the drive reaches phase 4 without an error then the message H1 bb appears on the 7 segment display on the front of the drive amplifier The corresponding diagnosis is A013 Ready for power on operating mode communication phase 4 Communications phase 4 transition i S 0 0128 parametrization f modus communication phase 3 communications phase 3 transition S 0 0127 communication phase 2 Fig 4 8 The communications phases Note The evaluation of the measuring systems as well as the processing of the encoder emulation s only takes place in operating mode Switching from operating mode into parametrization mode means that these functions are no longer active The switch into operating mode always sta
506. switches from an energized to a de energized state To reactivate the drive e clear the error AND e enter a 0 1 edge bit into the controller enable Note In fieldbus drives the state machine must first be initialised Error memory and operating hour counter Once errors are cleared they are stored in an error memory The last 19 errors are stored there and the times they occurred Errors caused by a shutdown of the control voltage e g F870 24Volt DC error are not stored in the error memory Simultaneously there is an operating hour counter for control and power sections of the drive controller This function has the following parameters e P 0 0190 Operating hours control section e P 0 0191 Operating hours power section e P 0 0192 Error recorder diagnosis number e P 0 0193 Error recorder operating hours control section There are parameters in the drive that in turn contain ID numbers of drive parameters These support the handling of the drive parameters with parametrization programs e g DriveTop S 0 0017 IDN list of all operation data The ID numbers of all parameters in the drive are in this parameter This list supports for example the parametrization program in the menu of which All drive parameters the information as to which ID number is in this drive firmware is stored DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P General Instructions for
507. sy assembly and installation extreme machine accessing and the elimination of system components ECODRIVEO03 can be used to implement numerous drive tasks in the most varying of applications Typical applications are e machine tools e printing and paper processing machines e handling systems e packaging and food processing machines e handling and assembly systems 1 2 ECODRIVEO3 a Drive Family FWA ECODR3 FGP 0xVRS MS In addition to the here documented firmware FWA ECODR3 FGP O03VRS MS drive for general automation with fieldbus interfaces there are also two additional application related firmware variants FWA ECODR3 SMT OxVRS MS_ drive for machine tool applications with SERCOS analog and parallel interface FWA ECODR3 SGP OxVRS MS_ e drive for general automation with SERCOS analog and parallel interface Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 1 2 System Overview ECODRIVE03 FGP 03VRS 1 3 Drive Controllers and Motors Available controllers Supported motor types Rexroth Indramat The drive controller family of the ECODRIVEO3 generation is at present made up of eight different units These differentiate primarily in terms of which interface is used command communications DKC01 3 DKC11 3 DKC21 3 DKC02 3 DKC03 3 DKC04 3 DKC05 3 DKC06 3 Parallel interface Analog interface Parallel interface 2 SERCOS interface Profibus DP interface InterBus interface CANopen interface DeviceNet interf
508. system is possible Travel range limits ee N A A A A A Correct home switch order Incorrect home switch order ES Homing direction at start SV5073f1 fh7 Fig 9 105 Configuration of the home switch in reference to the travel range Connection of the Home switch see project planning manual Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 9 100 Basic Drive Functions ECODRIVE03 FGP 03VRS 9 11 Setting the Absolute Dimension Establishing the absolute reference Activating the function Command reference point Saving the data Pertinent Parameters Functional Principle Rexroth Indramat When commissioning an absolute measuring system the initial actual position value represents just any point on the machine and not the machine zero point Note The value of S 0 0403 Position feedback value status is Oo In contrast to non absolute measuring systems finding the absolute dimension of an absolute measuring system is something that only has to be done once namely at the time that the axis is commissioned With the use of command C300 Set absolute measuring the actual position value of this measuring system can be set to the desired value After Setting the absolute dimension procedure has been completed then the actual position value of the relevant encoder has a defined reference point for its machine zero point The command can be triggered by e writing into
509. t activated 0x01 value dependent on operating mode Actual position feedback dependent on position scaling S 0 0051 or S 0 0053 mel x lt oO Po Velocity feedback value velocity scaling dependent Parameter S 0 0040 0x03 Velocity control velocity scaling dependent deviation S 0 0347 0x04 Following error dependent on position scaling Parameter S 0 0189 0x05 Torque force command Percent value Parameter S 0 0080 0x06 Position feedback 1 value dependent on position scaling S 0 0051 0x07 Position feedback 2 value dependent on position scaling S 0 0053 0x08 Position command value dependent on position scaling S 0 0047 0x09 Velocity command value velocity scaling dependent Parameter S 0 0036 Fig 10 8 Selection of predefined signals Rexroth Indramat 10 14 Optional Drive Functions Rexroth Indramat External trigger P 0 0025 0x01 Internal trigger P 0 0025 0x02 ECODRIVE03 FGP 03VRS Note Parameter P 0 0149 List of selectable signals for oscilloscope function was introduced so that the control can detect the number of preset numbers This parameter is constructed in terms of a list parameter and transmits the ID numbers of the possible signals Expanded Oscilloscope Recording Function In addition to the oscilloscope feature with preset signals the drive also allows for recording of any desired internal signals Use of this feature is meaningful only with inf
510. t address set at the address switch must be entered here Parameter Number and Type The parameter number has the format set in the SERCOS interface specification To be able to address control parameters as well 1 byte is set in front of the address to identify the parameter type Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS Serial Communication 1 9 Parameter type Parameter number Bit 0 11 Parameter number 0 0001 0 FFF Bit 12 14 Parameter set 0 7 0000 S Parameter drive Bit 15 Parameter type 0001 P Parameter drive 0010 not used in the drive Bit 0 2 Parameter type 0100 not used in the drive 1000 not used in the drive Bit 3 7 Reserve always 0 Parameter type uses bit 15 in Parameter number and three further bits in the byte Parameter type BI0001f1 fh7 Fig 1 10 Parameter number and type in user data head Structure of the User Data Field Values of any kind can be entered in the user data byte These cans can be interpreted as needed by a specific service For example binary symbols are entered into the user data during flash programming and the decimal value when writing a parameter The length of the user data field is set with both the DatL and DatLW bytes in the telegram head 1 5 Communications procedures General Information on the Parameter Structure DOK ECODR3 FGP 03VRS FK02 DE P All p
511. t here If the value is not high enough then command error D903 is generated Rexroth Indramat 9 72 Basic Drive Functions ECODRIVE03 FGP 03VRS Note The reasons that command error D903 Inertia detection failed is generated can either be an excessive inertia a too slow speed acceleration or torque Conducting Automatic Control Loop Settings Triggering a motion by starting command D900 Rexroth Indramat Note 1 The execution of the settings is connected with a drive motion This means that the drive moves in terms of the travel range fixed in parameters P 0 0166 and P 0 0167 or P 0 0169 2 The parameter settings needed to conduct the command must be generated prior to command start Start command Initiated by writing into parameter P 0 0162 D900 Command Automatic control loop adjust with binary numeric value 3 11b command start Tripping a motion An axis motion and thus the execution of a setting is only possible if the signal Drive halt has not been set Otherwise D900 Command automatic loop tuning at the appears in the display start of the command and the axis does not move velocity profile vA AH START swm re H time span of autom control loop adjust drive enable start autom control loop 4 adjust diagnostic display H1 1 start of the automatic control loop adjust via start buttom in Drivetop or via command P 0 0162 SV5008D1 fh7 Fig 9 75 Si
512. t is set with parameter S 0 0076 Position Data Scaling Type S 0 0077 Linear Position Data Scaling Factor S 0 0078 Linear Position Data Scaling Exponent and S 0 0079 Rotational position resolution The control generally sets the format See also Physical Values Display Format The drive internal format determines the value the position command and feedback value editing as well as how the position control loop in the drive is performed The drive uses the value of parameter S 0 0278 Maximum travel range to calculate the drive internal format Functional principle of the drive internal position data formats Position data processing in the drive has a constant data width from which the resolution of the position data to cover the travel range of the axis depends Note The longer the distance to be represented the smaller the drive internal position resolution These parameter values are used to compute the drive internal resolution e 0 0116 Feedback 1 Resolution and e 0 0256 Multiplication 1 DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Setting the maximum travel range at start up DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 21 The parameters for the encoder resolution are listed in the data sheets of the measuring system or they are automatically read out of the feedback memory if such a measuring system is present The number of lines per encoder revolution or the grid con
513. t no of S 0 0144 Signal original original status word parameter parameter Definition 0 S 0 0013 1 Vist 0 1 S 0 0182 6 IZP 2 S 0 0403 0 position status 3 P 0 0016 4 P 0 0015 specifying memory address of a drive internal counter Transmission is from bit 4 Fig 10 1 Example of a configurable signal status word Signal status word output Bits 0 9 of parameter S 0 0144 Signal status word are copied in the DKC01 3 to the digital outputs X15 14 24 Note A maximum of 16 bits can be configured Configuration is performed from the least significant to most significant bit In other words the position of the bit copy in the signal status word is the result of the continuous configuration in S 0 0026 Diagnostic Error Messages The following checks are run when inputting parameters S 0 0328 Assign list signal status word or S 0 0026 Configuration list signal status word If more elements are programmed in S 0 0328 Assign list signal status word than S 0 0026 Configuration list signal status word then error message 0x1001 ID number not available is generated If an ID number specified in S 0 0026 Configuration list signal status word does not exist then error message 0x1001 ID number not available is generated Check whether the IDN variable data length list parameters specified in S 0 0026 Configuration list signal status word exists or a so called online read function Parameters with online read fun
514. t number of buffered parameters the drive controller will detect this the next time the machine is switched on In this case the message PL appears on the 7 segment display By pressing the S1 key the basic parameter block is activated Note Any previous parameter settings are lost with the replacement of the firmware followed by load base parameter block If this is to be prevented then the parameters must be stored prior to an exchange and must be reloaded after exchange and load base parameter block Note As long as the drive displays PL and the command is active then communications via the serial interface with DriveTop is not possible The affected parameters are stored in S 0 0279 IDN list of password protected operation data To secure these parameters against unwanted or non authorized changes the customer password can be activated By editing S 0 0279 IDN list of password protected operation data the user can select the parameter which are to be protected with a password Note The default value of S 0 0279 IDN list of password protected operation data corresponds to the contents of S 0 0192 IDN list of backup operation data The password is accessed with parameter S 0 0267 Password The password has to have e atleast 3 symbols e no more than ten symbols e can only use the letters a zandA Z e andthe numbers 0 to 9 The password function can have three different states Depending on the
515. ta have to be fragmented The necessary information for the fragmentation is hereby also contained in the control status word The general usage of the PROFIBUS DP channel can be seen in the following picture Length of PK 3 words length of process data channel 3 words The complete length of the transferred data can be up to 128 bytes It depends on the used format if further limitations exist Word 63 of PK Word 64 of PK Word 3 of PK Word 4 of PK Status Control Word 1 of PK Word 2 of PK Word 1 of Word 2 of Word 3 of word process data process data process data Parameter channel PK process data channel Cyclic channel Rexroth Indramat Fig 5 26 Contents of the PROFIBUS DP channel The transmitted data is highly dependant on the used format At the moment only one format is defined for the new parameter channel It is called Format 3 and has the format code 1100b in the format nibble of the control status word DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 15 For a further explanation of the communication using the PK an example will be used with the following assumptions e Format is format 3 1100b e PK is in total 4 words long e Reading or writing will be done to index 0x2001 sub index 0x02 In the following example we are less interested in the user data but more in the handling of the control and status word The con
516. tainer object 116 gt 1 word In the real time channel of the fieldbus the data configured in P 0 4080 Real time input object structure are transmitted from drive to master Parameter Format P 0 4078 Fieldbus status word 116 gt 1 word S 0 0051 Position feedback 1 value 132 gt 2 words S 0 0040 Velocity feedback value 132 gt 2 words S 0 0390 Diagnostic message number U16 gt 1 word channel word1 word2 word3 word4 word5 word6 Master gt Slave P 0 4077 0 0282 H S 0 0282 L S 0 0259 H S 0 0259 L P 0 4076 Slave gt Master P 0 4078 0 0051 H S 0 0051 L S 0 0040 H S 0 0040 L S 0 0390 Rexroth Indramat Fig 6 13 Contents of real time channel in Indramat positioning setting DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Profile Types 6 19 Using the multiplex channel in positioning block mode S 0 0370 Configuration list MDT data container S 0 0371 Configuration list AT data container Master gt Slave DOK ECODR3 FGP 03VRS FK02 EN P By using the multiplex channel the number of cyclically transmitted data bytes can be increased This means that the use of this option always makes sense if the real time channel does not suffice for the pending task Also see section Multiplex channel Features e By using the multiplex channel the number of cyclically transmitted real time data c
517. tched parameters are also cancelled Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 21 Probing Cycle Procedure Command 3 0 Probe Emable Probe Probe negative latched Laiching the selected signal here at the negative edge creates a new measurement l difference Probe pqsitiv latched _ gt t ms Latching the selected signal here at the positive edge creates a new measurement difference Sv5081f1 fh5 Fig 10 19 Evaluation of probe signal edges when positive and negative signal edge evaluation are set in the probe control parameter Results of Writing 3 to the S 0 0170 Probing Cycle Procedure Command The probe feature begins when 3 decimal 11 binary is written into the parameter S 0 0170 Probing cycle procedure command The following will happen e The data status will be set to 7 by S 0 0170 Probing cycle procedure command i e command in process e All probe values and probe value differences will be set to 0 e All probe latched parameters will be cancelled e The external voltage monitor will be activated if it has not yet been activated Signal Edge Selection for the Probe Inputs A positive probe value and a negative probe value are available for every probe input The positive probe value is assigned the 0 1 rising edge of the probe signal and the negative probe value is assigned t
518. te the additional setting of the following prior to start up e motor parameters must be input e the motor encoder programmed see section Motor Encoder e the rotational motion of the motor encoder must be set see section Command Polarities and Actual Value Polarities e Commutation offsets must be determined The motor parameters can be input via the motor data bank in the start up program DriveTop The commutation offset is determined with command P 0 0524 D300 Commutation adjustment command This is done automatically in drives with an incremental motor encoder after the drive enable is applied See also capter Determining commutation offset Determining commutation offset Motor with absolute measuring system Motor with incremental measuring system Setting the motor encoder A condition for a constant torque through the complete motor rotation of a synchronous machine is the permanent offset setting between stator current vector and the rotor flow vector If the angle between these two vectors y 90 then the machine generates maximum torque The synchronous machine is operated in this state To set the stator current vector see the information about absolute rotor positions The difference between the motor position encoder rotor raw position and that of the absolute rotor position in terms of the stator is called the commutation offset Once the offset is determined the value is stored in parame
519. ted by a flank at the zero switch input e Activate the zero switch input with P 0 0612 Biti 1 e Run the axis to the measured position e g jog it there e andsoon Note Both biti of P 0 0612 and the command itself are automatically drive internally deleted after Setting the absolute dimension DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 105 Actual Position Value after Setting the absolute dimension The state of the actual position value of the motor encoder and any other encoders that might be mounted after the execution of the setting the absolute dimension command depends on bit 3 in S 0 0147 Homing parameter and whether the absolute encoder is a motor or an optional encoder Actual Actual Motor Optional S 0 0147 position position encoder encoder Bit 3 value 1 value 2 absolute not any Reference Reference absolute or dimension 1 dimension 1 not there not absolute any Reference Reference absolute dimension 2 dimension 2 absolute absolute 0 Reference unchanged dimension 1 absolute absolute 1 unchanged Reference dimension 2 Fig 9 109 Actual position value after setting the absolute dimension Actual position value of absolute encoders after power on See section Actual position values of absolute measuring systems after initialization Diagnostic messages While executing the command it is possible that command error C302 Absolute measu
520. teeseaeees 9 25 Absolute Encoder MOnitoring ccccccceeeeeeeeeeeeeeeeeeeeceeeeeeaeeeeeeaeeeeetaeeeeneaaeeeeesaeeeesnaeeeeneaa 9 26 Modulo Evaluation of Absolute Measuring Systems c ccceccceeeseeeeseeeeeeeeeeeeetaeeeeeeeseeneeeas 9 27 Actual position values of absolute measuring systems after initialization eee 9 27 9 4 Dive Limitations eeri arii ieiki tE EEA EAT OEE EEOAE ETNA EAEE PEE K Ea 9 28 C rre nt EINMIT Saine a ote ak A cas A E ca a neds co a A iad A cela 9 28 Torque Lmt ersan a a S T E T dace aver dads 9 32 Limiting VOC eain EE E Me ae eed E 9 35 Travel Range LIMIS o aerer n E eed Ate ieee 9 36 9 5 Master Axis Feedback Analysieren a a Ee 9 41 The Functional Principle of Master Axis Feedback Analysis eecsceeeeeseeeeeeeneeeeeenaeeeeeaes 9 41 Parameterizing the Master Axis Feedback cecccceeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeseeeeeeeseneeeeeteneaeees 9 41 Referencing the master axis encoder ececeeeeeeeeeeeeeeeeeeeeneeeeeeeaeeeeeseeeeeeteneeeeeseneeeeeseeeaeess 9 43 9 6 Dive Error Reactii osia T O EA ETET 9 44 Best Possible Deceleration ecccceesseceeeeeeeeeeeeeeeeeeeesaeeeeeaeeeeeeneeeeeeeneeaeeeessnaeeeeneeeeeeenenaes 9 44 POWSROIE ON oTi er aaraa Aaaa REINA E ARINKA a IREA EA dit el eet nd hence 9 50 NC Response in Error Situation ccc ccecscececceceeeceeeeeeeneeceeeceenaeeeeaaeeseaaeseeaesnaesesaeeeeaaeseeeeeeaas 9 53 Emergency Stop feature neres ior ieii errii uintia KTR
521. ter P 0 0508 Commutation offset When determining the offset at start up the difference is made between absolute and incremental measuring systems used as motor encoder The motor has a motor encoder which makes the absolute rotor position known In this case it is necessary e with the initial start up of the axis e or after the measuring system has been replaced to determine the commutation offset one time Fault in motor control and moving parts Commutation offset must be determined every time the mechanical reference between motor feedback and motor has changed This is the case for WARNING example when the encoder or the motor have been exchanged The motor is equipped with an incremental measuring system Rotor position is unknown every time the control voltage is switched on Commutation offset must be determined with every transition into operating mode e g after control voltage is switched on This is automatic when the drive enable is applied With the help of P 0 0074 Feedback 1 type the measuring system type is parameterized The following illustrates whether it is an absolute or incremental system Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 7 12 Motor Configuration How to determine the commutation setting ECODRIVE03 FGP 03VRS Value of P 0 0074 Feedback 1 type Absolute rotor information 1 Yes 2 No 3 No 5 No 8 Yes 9 No 10 Yes 11 Yes
522. ternative to Application 1 e With linear or rotary synchronous motors with incremental encoders this procedure should be used at initial start up of axis In this case parameters P 0 0560 Commutation adjustment current and P 0 0562 Commutation adjustment periodic time are determined and stored in the drive With each new start of the axis the commutation must be determined if synchronous motors with incremental encoders are used Application 3 is used to do this As start values for the third procedure the parameter values determined at the initial start up for P 0 0560 and P 0 0562 are used e P 0 0508 Commutation offset e P 0 0524 D300 Commutation adjustment command e P 0 0560 Commutation adjustment current e P 0 0562 Commutation adjustment periodic time The following encoder types are available as motor encoders with absolute rotor position information Values for P 0 0074 feedback 1 type with kit motors Motor encoder interface 1 digital servo feedback DSF or resolver with feedback data memory 8 Heidenhain encoder with EnDat Interface 10 Resolver without feedback data memory Resolver incremental encoder with sine signals without feedback data memory Fig 7 12 Possible motor encoders for synchronous kit motors K Also see parameter description P 0 0074 Feedback 1 type Note There is no feedback memory with this type of encoder This is why the commutation offset is stored in
523. terrupted following block is completed if S 0 0346 Setup flag for relative command values is toggled Parametrization notes for positioning blocks General information DOK ECODR3 FGP 03VRS FK02 EN P Taking drive limits into account When parametrizing following blocks the maximum values of the drive must be taken into account These are e maximum accel capability e maximum speed mains voltage dependent If blocks are parametrized that demand values greater than the maximum value of the drive then this will generate an excessive lag error The drive will signal error F228 Excessive deviation to indicate that it cannot comply with the position command value Minimum values for accel and jerk Accel values that are too small can also cause problems which is why the following should be taken into account with fixing the positioning blocks e Minimum accel value l 2 2 speed difference Vin 2t arg et positiondifference 2 x X acceleration gt n l Xn 1 targetposition of the block n 1 Vn block speed n Vina blockspeedn 1 Fig 8 41 Minimum accel value with following block mode translatory Note The above relationship applies to a very large jerk i e a jerk filter that has been switched off 0 If such a filter is used then the computed values are doubled The stretch to be run with a block and its speed are generally fixed in percents If the minimum accel value computed alre
524. th real master axis 6 21 Features 6 21 Parametrization 6 21 CANopen Interface 5 34 Checking for existing ID numbers in multiplex channel 6 26 Checking the configuration list with multiplex channel 6 26 Checking the configured IDN order with multiplex channel 6 26 Checking the indices of multiplex channel 6 27 Checking the thermal load of the drive controller 9 30 Checks in the transition commands 4 13 Chronological sequence of automatic control loop setting 9 74 Chronological sequence of automatic control loop setting 9 74 Chronological Sequence of Automatic Control Loop Setting 9 74 Class 1 diagnostics 4 25 Class 1 Diagnostics 10 23 class 2 diagnostics 4 26 Clearing Errors 4 10 Clearing Errors When Controller Enable Is Set 4 10 Collective indication 4 25 Command automatic control loop settings 9 69 brake monitor 7 24 set absolute dimension 9 100 Command detect marker position 10 24 Command communication via fieldbus 5 1 Command communications interface 1 3 Command communications using PROFIBUS DP 5 9 Command communications with CANopen 5 33 Command communications with DeviceNet 5 39 Command Communications with INTERBUS S 5 23 Command error 4 13 Command Input and Acknowledgment 4 7 Command Polarities and Actual Value Polarities 9 5 Command settings 9 71 Command settings with automatic control loop settings 9 71 command telegram Telegram header 5 5 User data 5 5 User data header 5 5 Command Types 4 7 Command Value Preparation f
525. th the parameters e Reference Offset 1 for motor encoder e Reference Offset 2 for optional encoder If the reference offset is positive then its drive internal direction is positive see Command Polarities and Actual Value Polarities In other words the reference point is moved in terms of the reference mark in a clockwise direction when looking towards the motor shaft If the homing direction is also positive then the drive does not reverse the direction after passing the reference marker Reference distance offset vt gt X Starting Reference marker Home point Sv5040f1 fh5 Fig 9 86 Command value profile for positive reference offset and positive homing direction If the reference direction is negative then the drive must reverse the direction with types 2 and 3 after passing the reference marker x Reference point Starting point Sv5043f1 fh5 Fig 9 87 Command profile for positive reference offset and negative homing direction If the reference offset is negative then its drive internal direction is negative see chapter Command Polarities and Actual Value Polarities In other words the reference point is shifted counterclockwise looking towards the motor shaft If the reference direction is negative then the drive does not reverse the travel direction once it has passed the reference marker DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Fun
526. the parameters S 0 401 Probe 1 and S 0 402 Probe 2 A probe input is enabled with parameter S 0 0405 Probe 1 enable or S 0 0406 Probe 2 enable With a 0 1 switch of the signal the trigger mechanism is activated to evaluate the positive and or negative edge of the probe signal It must be set in parameter S 0 0169 Probe control parameter which probe inputs are to be evaluated and whether the positive or negative flanks From this point on when a probe signal edge is recognized the selected signal will be stored in the positive or negative probe value parameter At the same time the difference between the positive probe value and the negative probe value will be computed and saved in the probe value difference parameter The following status messages will be set to 1 S 0 0409 Probe 1 positive latched and S 0 0410 Probe 1 negative latched or S 0 0411 Probe 2 positive latched and S 0 0412 Probe 2 negative latched When the probe enable is cancelled the following status messages will be erased S 0 0409 Probe 1 positive latched and S 0 0410 Probe 1 negative latched or S 0 0411 Probe 2 positive latched and S 0 0412 Probe 2 negative latched Note Only the first positive and the first negative signal edge of the input will be evaluated after the 0 1 rising edge of the probe enable For each new measurement the probe enable must be reset to 0 and then to 1 When the probe enable is cancelled the corresponding probe value la
527. the procedure described as follows Set rejection filter inactive Set O in parameter P 0 0181 Rejection bandwidth velocity loop Connect oscilloscope to analog output channels Assign velocity feedback value to analog output 1 in P 0 0420 Analog output 1 signal selection S 0 0040 and in P 0 0422 Analog output 1 scaling enter the scaling e g 100 rom 10 volts Or Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 62 Basic Drive Functions Determining the initial state of the loop Turn rejection filter on and check the effect Optimize rejection filter or velocity loop Filtering with double Rexroth Indramat smoothing filter ECODRIVE03 FGP 03VRS Use the oscilloscope function of the drive to display velocity feedback value This can be read out directly by an FFT of the frequency response Excite the drive mechanics e g tap lightly with a rubber hammer Record the time of the velocity oscillations with an oscilloscope or oscilloscope function and analyze the clearly salient frequencies If the oscilloscope function is used then the resonance frequency can be directly read out of the frequency readout Set the drive enable signal and optimize the velocity loop with inactive rejection filter see Setting the Velocity Controller Record step response of the velocity feedback and the torque force generating command current with a small velocity command step The torque generating command
528. the product Rexroth Indramat GmbH Bgm Dr Nebel Str 2 e D 97816 Lohr a Main Telephone 09352 40 0 e Tx 689421 e Fax 09352 40 4885 http www rexroth com indramat Dept ECD TH JR This document has been printed on chlorine free bleached paper DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS About this Documentation Summary of Documentation Box Functional Description Description of all implemented Function based on SERCOS Parameters Order designation DOK ECODR3 FGP 03VRS FK02 EN P re Parameter Description A description of all parameters used in the firmware PA Order designation DOK ECODR3 FGP 03VRS PA01 EN P Troubleshooting Guide Explanation of the diagnostic states How to proceed when eliminating faults gt er WA Order designation DOK ECODR3 FGP 03VRS WA01 EN P Firmware Version Notes Description of new and changed functions Bae in terms of the derivatives Z Order designation FWA ECODR3 FGP 02VRS M SMS DOK ECODR3 FGP 03VRS 7302 EN P Order designation DOK ECODR3 FGP 03VRS FV01 EN P Project Planning Manual Planning control cabinet construction Planning the electric layout in the control cabinet Order designation DOK ECODR3 DKC 3 PRxx EN P Ces CD DRIVEHELP eS Collection of Windows help systems which oe contain documents on firm
529. the velocity of the motor mounted to the controller By integrating this signal the control generates information for itself about position It is thus able to close a higher ranking position control loop Absolute encoder emulation means that the drive controller has the option of emulating a real absolute encoder in SSI data format The drive controller thus offers the possibility of transmitting the position in SSI data format to the connected control NC Thus the control is able to close the position control loop e P 0 4020 Encoder emulation type e P 0 0502 Encoder emulation resolution e P 0 0012 C300 Command Set absolute measurement Parameter e P 0 0503 Marker pulse offset is used additionally for incremental encoder emulation Parameters e 0 0076 Position data scaling type e 0 0052 Reference distance 1 e 0 0051 Position feedback 1 value e 0 0053 Position feedback 2 value e 0 0047 Position command value e P 0 0053 Master drive position e P 0 0052 Position feedback value 3 e 0 0121 Input revolutions of load gear e 0 0122 Output revolutions of load gear e 0 0123 Feed constant are used additionally for absolute encoder emulation Rexroth Indramat 10 30 Optional Drive Functions ECODRIVE03 FGP 03VRS Activating Encoder Emulation It is possible to control the behavior of the function with the help of parameter P 0 4020 Encoder emulation type P 0 4020 Type
530. thus the automatic control loop settings are only conducted if e the drive enable is present and e drive start is issued Note lf there is no drive enable at command start then command error D901 Start requires drive enable is generated Command settings All parameters used in the execution of the command must be programmed before command start so that they are effective in the automatic control loop setting e P 0 0163 Damping factor for automatic control loop adjust Use this parameter to select the desire control loop dynamics e P 0 0164 Application for automatic control loop adjust helps taking the mechanical conditions with controller optimization into account e P 0 0165 Selection for automatic control loop adjust Used to select functinalities modes of the automatic control loop settings e 0 0092 Bipolar torque force limit value The maximum torque for the automatic control loop settings can be programmed with parameter S 0 0092 Bipolar torque force limit value This can help limit the torque to prevent mechanical wear and tear e 0 0108 Feedrate override The velocity of the automatic control loop settings can be programmed via the analog channel Poti with this parameter e 0 0259 Positioning Velocity This sets the speed for the control loop settings If the value is not high enough the command error D903 is generated e 0 0260 Positioning Acceleration The maximum positioning speed is se
531. tion 0 Travel range switch is not active 1 Travel range switch is active Bit 2 Response 0 Exceeded travel range is handled as error 1 Exceeded travel range is handled as warning Fig 9 48 Setting the drive reaction to exceeding the travel range bit 2 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Oo Indramat 9 38 Basic Drive Functions Rexroth Indramat ECODRIVE03 FGP 03VRS Note Decelerating the axis with the use of a velocity command value ramp is not possible Braking always occurs at maximum allowable torque see P 0 4046 Active peak current Exceeding the Travel Range as an Error If a O is entered in bit 2 of P 0 0090 then exceeding the travel range is handled as an error with the reaction of the velocity command value being set to zero See also chapter Velocity Command Value Reset After the velocity command value has been set to zero the drive turns off the internal drive enable and becomes torque free The ready to operate contact opens For re installation e Clear the error with the command S 0 0099 C500 Reset class 1 diagnostic or press the S1 button e Reactivate the drive with the 0 1 edge of the drive enable signal If the error condition is still present that is if the limit switch is still activated or if the axis limits are still exceeded only command values that go back into the allowable range will be accepted Monitoring the command values is dependent on the a
532. tion is limited to 4 4194304 for technical reasons Setting the drive internal position data format To set the drive internal resolution use the parameter S 0 0278 Maximum travel range This parameter must be set at the time when an axis is commissioned to a value that equals at least the distance that the axis must travel While executing the command S 0 0128 C200 Communication phase 4 transition check the drive computes the values for S 0 0256 Multiplication 1 and if an optional measuring system is mounted for S 0 0257 Multiplication 2 as well These parameters thus help to display the resolution Rexroth Indramat 9 22 Basic Drive Functions Multiplication is only reduced if the travel range can no longer Rexroth Indramat be described ECODRIVE03 FGP 03VRS The maximum possible resolution of the position feedback value of a position encoder for technical reasons equals 32768 increments per division period of the measuring system This maximum resolution is only reduced if the travel range is set so large that it can no longer be described with the maximum resolution To compute the multiplication the following calculations are conducted in the command S 0 0128 C200 Communication phase 4 transition check for rotary measuring systems 931 multiplication travelrangexencoder re solution travel range travel range shown in encoder revolutions multiplication value in S 0 0256 or S 0 025
533. tion of the Probe Analysis 0 ccccecsececeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeseaaeeeeeeaaeeeseeaeeeeeeaas 10 20 Signal Edge Selection for the Probe Inputs cccceeececeeeeeeeeeeeeaeeeeeeeeneeeseaeeeseaeeseneeeeaes 10 21 Signal Selection for the Probe Inputs 2 ccceecceeeeeeeeeceseeeeeceaeeeeaeeeeaaeseeeeeseaeeessaeeseeeseaes 10 22 Connecting the Probe INputs c ceccceeeeeceececeeeeeeeaeeeeaeeeeeeeceaeeesaaeeeeaaeseeeeseaeeesaeeseneeennees 10 23 10 8 Positive stop drive PrOCOCUre ue eeececeeecteceeeeneeeeeeeneeeeeeaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeeeeeeeaeeeeneiaeeeeeneaa 10 23 10 9 Command detect marker position ceccceceeeeeeeeeceeeee eae eeseaeseeeeeaeeeeaaeeeeeeseeeeeseaeeeseaeeseaeeeeaes 10 24 Functional principle of command detect marker position cccccceeeseeceeeeeeeeeeeeneeeeeeeees 10 24 10 10Command Parking AXIS grisei iiaeia a a aaa iaa aiaa 10 25 Penine Paramnetol Esi e EE AAS AT RS 10 25 Functional pineper a E T yeghes iinet se hes 10 25 10 11 Programmable Limit Switch 0 00 ecceececeeeeeeeceeeeeeeeceeeeeceaeeeeaae sense seaeeseaeeesaaeseeeeeseeeesaeeseaeeseaes 10 26 FPeriment Parametar aoaea eA D rera KIF A RAE EAR ENEA EERSTE SEA DiE EA Ae NAFA CEARA R E LAAR E Ri ARAY 10 26 Function diagram for the Programmable Limit Switch c cccseeeesceceeeeeeeeeeseeeeeneeeeenees 10 26 Parameterizing the Programmable Limit Switch ecccecceeeeeseeeeeeeeceeeeeeeeesaeee
534. tion telegram step 3 3C Control Device Tel header byte address User data head Ta0014f1 fh7 Fig 1 51 Write with following reaction telegram step 3 1 8 Connection Techniques See Project Planning Manual Rexroth Indramat DOK ECODR3 FGP 03VRS FK02 DE P ECODRIVE03 FGP 03VRS 2 Index DOK ECODR3 FGP 03VRS FK02 DE P Index 2 1 0 OxFD and OxFF 1 30 A A control unit 1 5 Actuating a drive via an SIS protocol 1 20 Actuating a specific bus user 1 10 ASCII protocol 1 3 1 27 Base load 1 16 Basic state after switching control voltage on 1 1 C Communicating with ASCII protocol 1 10 Communicating with SIS protocol 1 20 Communications via RS232 interface 1 3 Communications via RS485 interface 1 3 Connection techniques 1 32 E Ending a command 1 19 Error during parameter transmission 1 25 Error with ASCII communication 1 25 Error with SIS communication 1 25 Execution and protocol acknowledgement 1 25 F Features 1 3 Features 1 3 1 6 G General parameter structure 1 9 O Operating several drives with DriveTop 1 4 P Parametrization and diagnosing with a PLC 1 4 Parametrization mode 1 16 Passive mode 1 1 Possible commands in drive 1 23 Q Querying command status 1 18 R Read accessing a parameter 1 12 Read accessing list parameters 1 15 Read accessing with following telegrams Service 0x01 1 29 RS232 mode 1 1 RS485 mode 1 1 Rexr
535. tive peak current This can be the case if the peak motor current is smaller than the continuous current of the controller or the current limit of the motor reduces the current to under the continuous current of the controller P 0 4011 P 0 4004 Switching Frequency J Magnetizing Current P 0 4046 Active Peak Current P 0 4045 Active Permanent Current Reduction by magnetizing current Selection of permanent current from switching frequency and device data Parameter value of the effective continuous current Fig 9 36 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat 9 30 Basic Drive Functions Thermal current limit of the controller Checking the thermal load of the Rexroth Indramat drive controller ECODRIVE03 FGP 03VRS It is the task of the thermal current limit of the controller to protect the unit against overheating To do so the thermal controller load P 0 0141 is computed from e the controller specific data e the command current profile and e the selected switching frequency If this reaches 100 then the peak current is reduced The maximum current that can be continuously supplied by the controller is displayed in parameter P 0 4045 Active permanent current This current also leads to a 100 load To what extent and how quickly the current can be reduced depends on how the actual current supplied by exceeds the effective continuous curre
536. trol status word will be displayed in its single bits while the rest of the PK is displayed in the single bytes In this documentation the capital letter X had been used to display undefined data while d had been used to display a certain value that is not known The first example is to read a parameter value Reading a value The master indicates reading by setting the R bit In this example a parameter is addressed by its index and sub index hence no further data is needed The length is set to four giving the valid length in the following user data in bytes The toggle bit is set to 1 assuming that it had the value 0 before The L bit is set because all the necessary information had been sent within one block of data Control word User data C1 R L T Length Format Index HB Index LB Subindex Data Data Mii 0 0 170 1 0 1 7 0 1 0 0 71 1 0 0 0x20 0x01 0x00 0x02 X x Fig 5 27 Read request by the master The slave will return a read response that contains the necessary data here 10 bytes The length had been set to 6 and the toggle bit has the same level as from the master defined Also the last bit had not been set because only the first 6 byte of data could be sent in this fragment Another fragment will be necessary to send the remaining data Status word User data C1 E R L T Length Format Data Data Data Data Data Data 1
537. trol cycle and then processed in accordance with the formula If table limits are exceeded in a positive direction then the table starts over at the beginning The same happens in a negative direction DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Changes of P 0 0061 Angle offset begin of profile P 0 0085 Dynamical phase offset Selecting the active cam table Changing the cam hub DOK ECODR3 FGP 03VRS FK02 EN P Operating Modes 8 59 The position command value generated as per the following relationship XF n gL XFin gL h Atab IN a Xv e P 0 0108 Master drive polarity P 0 0108 1 gt XFin pos com value of slave drives S 0 0047 in current control cycle XFin 1 pos com value of slave drives S 0 0047 in the last control cycle L P 0 0053 Master drive position Ov P 0 0061 Angle offset begin of profile Qa dynamic angle offset see following formula h P 0 0093 Cam shaft distance tab P 0 0072 Cam shaft profile 1 or P 0 0092 Cam shaft profile 2 Xv 0 0048 Position command value additional Ga P 0 0157 Master drive gear output revolutions Ge P 0 0156 Master drive gear input revolutions Fig 8 61 Bildung des Lagesollwertes f r den Folgeantrieb To avoid jumps of the table access angle a new value for parameter P 0 0061 Angle offset begin of profile does not immediately become effective Starting with the current value a ramp like approximation of
538. trolled by a PLS bit In that way a theoretical adjustment value can be calculated from the lead time and the current drive velocity for the on and off switch positions The PLS bit switches by the lead time before reaching the corresponding position The assumption is that velocity is constant in the range between the theoretical and real on or off switch position Rexroth Indramat 10 28 Optional Drive Functions ECODRIVE03 FGP 03VRS Reference value Theoretical reference value Actual reference value Time Cam switch bit with i Derivative action time x 0 and without derivative action time lt lt Derivative action time x Fig 10 27 Diagram for the Programmable Limit Switch Lead Time Parameterizing the Programmable Limit Switch The P 0 0131 Signal Selection for Programmable Limit Switch parameter is used to activate the programmable limit switch and to select a signal The following values can be entered P 0 0131 Feature 0 The programmable limitswitch is not activated 1 The programmable limit switch is activated the reference signal is S 0 0051 Position feedback 1 value 2 The programmable limit switch is activated the reference signal is S 0 0053 Position feedback 2 value Fig 10 28 Programmable Limit Switch Activation and Setting the Reference Signal The programmable limit switch parameters P 0 0132 Switch On position P 0 0133 Switc
539. turer Dolfi signals timeout Timeout messages appear while the ibf files are being transmitted Interference at the serial connections could be the problem or the deactivated COM interface FIFO This can be activated as follows Windows 95 Start Settings System control gt System Unit manager Connections COM and LPT gt COM connections COMx gt Connection settings Expanded Activate FIFO Use standard setting Windows NT Start Settings System control Connections COMx gt Settings Expanded Activate FIFO Rexroth Indramat 4 34 General Instructions for Installation ECODRIVE03 FGP 03VRS Select the download baud rate Depending on the length of serial interface cable there is a physical limit for the maximum baud rate at which serial communications runs without a fault The factory sets the maximum download baud rate at 19 2 kBd The baud rate can be increased considerably in some applications which helps achieve a reduction in the time needed for a firmware update The following baud rates can be implemented at the specified cable lengths Cable length m max baud rate kBd 2 115 2 5 57 6 10 57 6 15 38 4 Fig 4 21 Maximum baud rate as dependent on the cable length Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Command Communication via Fieldbus 5 1 5 Command Communication via Fieldbus
540. tween the home switch and the reference mark will be monitored Half the reference mark spacing must be entered in P 0 0153 Optimal distance home switch reference mark Fig 9 96 Monitoring the distance Home switch Reference Mark For every homing with home switch evaluation the difference between actual distance and optimal distance is monitored The difference is saved in parameter S 0 0298 Reference cam shift The home switch edge can be shifted mechanically for this value To avoid a mechanical shifting of the home switch edge you can set this procedure in the software with the parameter S 0 0299 Home switch offset The value in parameter S 0 0298 Reference cam shift is transferred to parameter S 0 0299 Home switch offset Optimal distance 0 5 Distance of reference marks A aA A A Distance of reference marks S 0 0299 Home switch offset Actual home switch Homing direction at start SV5072f1 fh7 Fig 9 97 Operation of parameter S 0 0299 Home Switch Offset Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 93 The parameter S 0 0299 Home switch offset can be set as follows e Running the homing command with S 0 0299 Home switch offset 0 e f the distance is not in the range between 0 5 1 5 P 0 0153 Optimal distance home switch reference mark the error message C602 Distance home switch reference mark erroneous will
541. two successive command values is greater than half of the modulo value Modulo Mode Negative Direction The command value is always approached in a negative direction regardless of whether or not the difference between two successive command values is greater than half of the modulo value Rexroth Indramat 9 10 Basic Drive Functions ECODRIVE03 FGP 03VRS 9 2 Setting the Measurement System Rexroth Indramat Encoder interface 1 Encoder interface 2 The drive controller is equipped with two permanently installed encoder interfaces i e X4 and X8 The encoder interface 1 X4 is designed so that the following encoder types can be evaluated e digital servo feedback DSF HSF e resolver e resolver without feedback data memory Using encoder interface 2 X8 it is possible to evaluate the following encoder types e incremental encoder with sine signals 1Vss e incremental encoder with square wave signals TTL e measuring system with EnDat interface e gearwheel encoder with 1Vss signals Both encoder interfaces can be used to connect either a motor or an optional encoder At which interface the motor encoder should be connected and what type it is set in parameter P 0 0074 Feedback type 1 If an optional encoder is also to be used the parameter P 0 0075 Feedback type 2 must be used to define encoder interface and encoder type The following table explains the relationship Value in Meas
542. ty and Torque Limitations Position limit values and travel range limit switch velocity limit values torque limit values v IBS8 Possible optimizing the control loop Velocity and position control loop possible acceleration pre control y IBS 9 Establishing the absolute referenc dimension Set absolute dimension or use drive controlled referencing y IBS 10 Other settings Drive halt Status messages Optional drive functions y IBS 11 Checking Drive Dimensions Torque force check Weight compensation Regenerated energy Y End of Initial Start Up D Fosoz7n FLO Fig 4 9 Commissioning guidelines DOK ECODR3 FGP 03VRS FK02 EN P Rexroth Indramat 4 18 General Instructions for Installation ECODRIVE03 FGP 03VRS motor without data memory motor with data memory Rexroth Indramat IBS 1 Motor configuration These guidelines are needed in the case where the motor used does not have a motor feedback memory It is necessary with these motors to enter e the parameters for motor features peak current maximum velocity etc using the data sheet or with DriveTop using data from the motor data bank e the parameters for the motor temperature warning and off thresholds must be parametrized as well e and given a motor holding brake these parameters must be properly set also Those motors with data memory such as e MHD MKD MKE motors are recognize
543. ue 3 The choice is made via parameters e P 0 0200 Signal select probe 1 and e P 0 0201 Signal select probe 2 as well as in bit 4 of S 0 0169 Probe control parameter Using P 0 0200 or P 0 0201 it is possible to determine for both probe inputs whether an actual position value an master axis position or an internal time is to be measured Value of P 0 0200 Signal 0 actual position value 1 2 1 time 2 master axis position 3 position feedback value 1 or 2 with monitoring window active 4 position feedback with monitoring window active 5 position feedback 3 6 position feedback 3 with monitoring window active Fig 10 21 Probe input function signal selection for probe 1 Rexroth Oo Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Optional Drive Functions 10 23 Value of P 0 0201 Signal 0 actual position value 1 2 1 time 2 master axis position Fig 10 22 Probe input function signal selection for probe 2 Depending on this choice the units decimal places of parameter measured value positive and negative Measured value difference Start position probe function active and End position probe function active of the relevant probe are switched If the actual position value is selected in the signal select parameters select 0 or 3 then bit 4 in S 0 0169 Probe control parameter decides whether S 0 0051 Position feedback 1 value or S 0 0053 Position
544. uential reference markers and then switches into coordinate system only with distance coded reference marks 1 1 Not allowed Fig 9 81 Structure of parameter S 0 0147 Homing parameter Note The sequence also depends on the type and arrangement of the reference markers in terms of the referenced encoder see next section Overview of the Type and Allocation of Reference Marks of Non Absolute Measuring Systems For better a understanding you can divide the measurement systems into 4 groups according to the type and configuration of their reference marks e Type 1 Measurement systems with absolute single turn range such as the Single turn DSF or Resolver These measurement systems have an absolute range of one encoder revolution or fractions of it resolver Typical systems are e the encoders for the MHD MKD and MKE motors e the GDS measurement system e Single turn encoder with ENDAT Interface from Heidenhain e Type 2 Incremental rotational measurement systems with a reference mark for each encoder rotation such as the ROD or RON types from the Heidenhain Company e Type 3 Incremental translation measurement systems with one or several reference marks such as the LS linear scaling of the Heidenhain Company e Type 4 Incremental measurement systems with distance coded reference marks such as the LSxxxC linear scaling of the Heidenhain Company Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat
545. uittance 01 A A AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 C S 0 0346 Positioning command latch Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition for example positioning block 2 Positioning inputs valid for example positioning block 1 Positioning acknowledgement outputs show the negated status of the positioning inputs V5020d1 fh7 Rexroth Indramat Fig 8 42 Parametrizing a following block with directional change DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Operating Modes 8 43 Note In this case it is necessary to take the rule of thumb into account for minimum acceleration to avoid overshooting of position Acknowledge positioning block selected DOK ECODR3 FGP 03VRS FK02 EN P Acknowledging with active operating mode After the positioning block mode is activated the complement of the block number of the selected positioning block is acknowledged until a start signal condition change S 0 0346 Setup flag for relative non cyclic command values is generated As of the first start signal and if operating is problem free the block number of the positioning block that has started is generated If an error is dete
546. uljdwes ES00 0 S gt _0 1S00 0 S A T 7 err oy ey A Ge 2600 0 S REX on yenioe Pe by uana jene g Lig a od E 9v0 is d 9010 0 S dy anyjea ewwod L8L0 0 d jueind 08L0 0 d Z010 0 a a al Ss wdoby 2 01 U09 JUIN L8L0 O d ane lt LOLO N1 SNA PUBWLUOD A40 p Y 6S h 00 0 S A L600 0 S 2 6810 0 5 0010 055 000 0 Mu BE000S aes sao Ez o 0 S AM 6600 0 d Ak dka hk eng _ F z puewuoo uo isod Fig 9 65 Control structure DOK ECODR3 FGP 03VRS FK02 EN P 9 56 Basic Drive Functions 101 U09 90 A L lt pIp yeawo9 sod G 8ve0 0 S a O lt PJEMIO P99 UOl EJBj999Ne ug Z 00 0 S jO4 U09 uo sod Rexroth Indramat F ECODRIVE03 FGP 03VRS Load Default DOK ECODR3 FGP 03VRS FK02 EN P Basic Drive Functions 9 57 With the command Basic Load you can activate the default control parameters for motor types with motor feedback data memory such as e MHD e MKD e MKE With these parameters the relevant control parameters can be set for the motor type used Note The parameters are pre defined by the manufacturer for the moment of inertia relationship of Jmotor Jload Most applications can work with these values Default values can be set for the following parameters e 0 0100 Velocity l
547. umps to its absolute value The position of the zero pulse equals parameter P 0 0087 Offset position feedback value 3 e f the procedure of detecting the zero pulse is to be repeated then by using command S 0 0191 D600 Cancel reference point procedure command it is possible to clear the position status of the master axis encoder The procedure to detect the zero pulse is again conducted Note If there is a real master axis encoder then independent of bit 3 in S 0 0147 Homing parameter only the position status of the master axis encoder is cleared With P 0 0185 Function of encoder 2 1 encoder 2 is evaluated as master axis encoder Incremental encoders that overrun the zero pulse are automatically referenced With P 0 0185 5 master axis encoder referencing is automatically switched off Rexroth Indramat 9 44 Basic Drive Functions ECODRIVE03 FGP 03VRS 9 6 Drive Error Reaction The error response depends on the current error class If an error is recognized in the drive controller a preset error response occurs This drive error response depends on e the error class of the current error e and the setting of the parameters P 0 0117 NC reaction on error P 0 0118 Power off on error P 0 0119 Best possible deceleration Note The error class defines the behaviour in the event of a fault There are 4 error classes which have different priorities see also Error Classes E
548. unit dependent see Command communications with DeviceNet The elements of the parameter can be addressed with the use of the sub index or attribute Sub index Data type Access Description attribute 0 UINT8 R Highest sub index CANopen only 1 UINT16 R W ID number 2 visible String R Name 3 UINT16 R Attribute 4 visible String R Unit 5 R Minimum input value 6 R Maximum input value 7 2 32Byte R W Operating data as sub index 10 8 UINT16 R Maximum length of list elements 9 UINT16 R W actual list length elements 10 2 32Byte R W operating data as sub index 7 11 137 2 32Byte R continuation of data with lists Fig 5 1 Definition of sub index attributes Examples reading a parameter gt Index 0x2039 Sub index 10 CANopen class 101 instance 57 attribute 10 in PROFIBUS INTERBUS and in DeviceNet The response is 4 byte long as specified in the parameter description a gt Index 0x3FA6 Sub index 9 CANopen class 133 instance 181 attribute 9 in PROFIBUS INTERBUS and in DeviceNet The response is 2 bytes long and contains the actual length number of elements of the list b gt Index 0x3FA6 Sub index 10 CANopen class 133 instance 181 attribute 10 in PROFIBUS INTERBUS and in DeviceNet The response is 4 byte long as specified in the parameter description i e maximum 8 elements are transmitted per
549. uring system type Interface P 0 0074 75 digital servo feedback or resolver 1 1 incremental encoder with sine signals 2 2 from Heidenhain with 1V signals Incremental encoder with square wave 2 5 signals from Heidenhain Encoder with EnDat interface 2 8 gearwheel encoder with 1Vss signals 2 9 Resolver without feedback data storage 1 10 Resolver without feedback data storage 1 2 11 incremental encoder with sine signals Hall encoder square wave encoder 1 2 12 Hall encoder plus sinus encoder 1 2 14 Fig 9 12 Measuring systems connections DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Basic Drive Functions 9 11 The table illustrates that some combinations are not possible as each encoder interface is only physically present once To display the actual position value of the individual measuring systems use parameters e 0 0051 Position feedback 1 value e 0 0053 Position feedback 2 value To set the absolute reference of actual position value 1 2 to the machine zero point use commands e 0 0148 C600 Drive controlled homing procedure command or e P 0 0012 C300 Command Set absolute measurement Motor Encoder The measurement system which is directly coupled with the motor shaft without a gearbox between them is called the motor encoder As the motor is usually coupled to the load with a mechanical gearbox and possibly a feed unit this is an indirect measurement system
550. us bits in the drive himself which are also transmitted along with the fieldbus control and fieldbus status word in real time via the fieldbus Rexroth Indramat Also see section Configurable signal control word and Configurable signal status word Features By using S 0 0144 and S 0 0145 16 more freely configurable control and status bits become available Makes possible the start of commands which are entered in list S 0 0399 IDN list of configurable data in the signal control word via a bit in the signal control word compare with signal control word Makes possible the reading of any bit in any parameter compare with signal status word Parametrization The following settings are needed To configure the bit strips use the configuration lists S 0 0026 S 0 0328 for S 0 0144 and S 0 0027 S 0 0329 for S 0 0145 To use the function select profile type freely configurable mode P 0 4084 OxFFFE Parameter S 0 0032 Primary mode of operation e g can be set to drive internal positioning setting lag error free with encoder 1 The configuration lists P 0 4080 and P 0 4081 must be parametrized as follows DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Master gt Slave Slave gt Master Profile Types 6 21 Parameter Format P 0 4077 Fieldbus control word 116 gt 1 word S 0 0282 Positioning command 132 gt 2 words S 0 0259 Positioning Velocity 132 gt 2 w
551. use of the multiplex channel S 0 0368 Addressing for data container A 0 1 Addressing AT Addressing MDT 31 31 Ez 5 0 0040 E 1 gt E P 0 4006 qast y prameter S 0 0051 0 lt 7 S 0 0047 0 S 0 0371 Configuration list S 0 0370 Configuration list of the AT data container of the MDT data container S 0 0366 List index S 0 0362 List index AT data container A MDT data container A X 1 element n n 1 element n 1 n 2 asked T element 2 1 lt ist addressin i i R denned g al Sne 0 list addres n sing MDT because Addressing AT has gt P 0 4006 not selected any parameter Tb0206f2 fh7 Fig 6 2 Processing list elements with the multiplex channel here for the MDT container Rexroth Indramat 6 26 Profile Types Diagnostic Messages Checks in transition command Rexroth Indramat Checking the input ECODRIVE03 FGP 03VRS In conjunction with the multiplex channel various checks are conducted Checking the Configured IDN Order The temporal sequence of the processing of cyclical MDT data in the drive has an order specified with which the configured IDNs are entered in parameter S 0 0024 Config list of the master data telegram If both the parameter S 0 0360 MDT Data container A and S 0 0368 Addressing for data container A are configured in the MDT then the MDT data container
552. utions Resolution for 1 revolution L e i 1 eo i E mem RCO I a 1 Monoflop P S GO lowest value bit in the Gray Code G23 highest value bit in the Gray Code m saved parallel information T cycle signal period duration tm monoflop time 15 us to 25us Tp cycle rest tv delay time for the first cycle max 540ns for all others max 360ns PFB Power Failure Bit is not used and is logically always 0 ap5002d1 fh7 Fig 10 31 SSI format as pulse diagram Note The Power Failure Bit is not generated in the drive Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS DOK ECODR3 FGP 03VRS FK02 EN P Optional Drive Functions 10 33 Emulated position reference The emulated signals Actual position value encoder 1 Actual position value encoder 2 and Position command value depends on S 0 0076 Scaling type for position data and is scaling dependent The values or emulator and parameter S 0 0051 Actual position value encoder 1 S 0 0053 Actual position value encoder 2 or S 0 0047 Position command value run synchronously This simplies emulation control e g with the DriveTop program If S 0 0076 Scaling type for position data is used to parametrize motor reference then an encoder related emulation is possible If the data reference is load related then the feed constants and gear ratios must be entered application specifically
553. val of drive enable Bit5 Undervoltage as non fatal warning 0 undervoltage as error or fatal warning 1 undervoltage error treated as if it were a non fatal warning Fig 9 62 P 0 0118 Power off on error Power off and package reaction on error In the case of drive packages this is defined as a collection of multiple drives that have a power supply common to all and which can execute errors commonly it is possible to inform the individual controllers and any power supply module which may be present as to whether the drive has detected an error as a result of which the power source must be shutdown This communication utilises signal line BBdrive x11 5 and X11 14 If the controllers without error detect the error state on the signal line BB drive then they will in turn also conduct the error reaction and shut power off The point in time at which the drive package is signalled at start or end of the error reaction is set in bit 2 Rexroth Indramat 9 52 Basic Drive Functions passive axis Undervoltage as fatal warning Automatic deleting of the undervoltage Undervoltage as warning Rexroth Indramat Mains error ECODRIVE03 FGP 03VRS Condition for Power On Using bit 1 of P 0 0118 Power off on error it is possible to set that point in time at which the drive signals its readiness to operate and therefore at which power can be switched on If bit 1 then power can be switched on i
554. value switch with absolute dimension set If command P 0 0012 C300 Command Set absolute measurement is conducted with drive enable applied then the switching by the drive of the actual position value register S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value is not conducted until e command S 0 0148 C600 Drive controlled homing procedure command is also conducted after the start of P 0 0012 or e drive enable is switched off See section Setting the Absolute Dimension Sequence control Drive Controlled Homing Rexroth Indramat maximum velocity The command profile depends on the parameters e 0 0041 Homing velocity e 0 0108 Feedrate override e 0 0042 Homing acceleration To limit the acceleration changes you can additionally activate a jerk limit You can do this by entering the parameter S 0 0349 Jerk limit bipolar The following diagram explains this S 0 0042 S 0 0108 S 0 0041 Homing Feedrate Homing acceleration Override velocity vi 0 x Starting point Home point Sv5038f1 fh5 Fig 9 83 Position command profile with homing velocity and homing acceleration The maximum velocity is influenced as with all drive controlled functions by the feedrate The effective maximum velocity is the result of the product of S 0 0041 Homing velocity and S 0 0108 Feedrate override Note If the parameter S 0 0108 Feedrate Override is set wit
555. volution lt __ _ _ gt S 0 0052 reference distance Sv5089f1 fh5 Fig 10 32 SSI display limits To avoid this then use commando P 0 0012 C300 Command Set absolute measurement to shift the SSI position value It is recommended to move the position into the centre of the SSI display range by means of the S 0 0052 Reference distance 1 This offers the option of running 2048 revolutions to the left and to the right 10 13 Measuring wheel operation mode The measuring wheel operation function is used for example in sheet metal machining to feed the material into the machine With the help of a measuring wheel encoder mounted to the material a highly precise material machining is ensured even if some slip occurs between the driven motor and the material itself The measuring wheel encoder is only used if material is being machined See the illustration below actual feedback value 2 optional encoder is probe encoder actual feedback value 1 motor encoder Fs5007f1 fh7 Fig 10 33 A typical arrangement of drive with measuring wheel encoder Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Pertinent Parameters Optional Drive Functions 10 35 The following parameters are used to parametrize this function e P 0 0185 Function of encoder 2 e P 0 0220 D800 Command Measuring wheel operation mode e P 0 0221 Actual position filter time constant for
556. ware derivatives Order designation DOK GENERL DRIVEHELP GExx MS D0600 Rexroth DOK ECODR3 FGP 03VRS FK02 EN P Indramat About this Documentation ECODRIVE03 FGP 03VRS Notes Rexroth oO Indramat DOK ECODR3 FGP 03VRS FK02 EN P ECODRIVE03 FGP 03VRS Contents Contents 1 System Overview 1 1 1 1 ECODRIVE03 the Universal Drive Solution for Automation cee cece cess eeeeeeeeteeeeeeeenaeeeeneeees 1 1 1 2 EGODRIVEO3 a Drive Family tice netsh heat ae ae ene ee eee 1 1 1 3 Drive Controllers and Motors 0 ccccceecceceeeceeeeeeeeeeeceeeeeceaeeecaaeseaeseeeeeceaeeesaaeseeaeeseeeeeseaeeeeaaeeseneeee 1 2 1 4 Function Overview FWA ECODR3 FGP 03VRS MS cccceeeeeeeeceeeeteeeeaeeeeeeeseeeeesaeeetaeeeeneeees 1 3 Command Communications Interface ccccceccceceeeeeeeeeeeeeeeeeeeeceaeeeeaaeeseaeeseeeeseaeeetaeseeneeees 1 3 Supported Profile Types ececesssessseeeeececeeeceseeeeesaeeeeaaeseeaaesaaeesaaeseeaaesaaeessaeeeesaeseeeaesseeeees 1 3 Supported Types of MOTOTS neiise eis nihiv cel withthe 1 3 Supported Measuring SySteMs ccccccceeeceesecceceeeeeeaeeeeaaeeeeneeceaeeesaaeseeaaeseeeesaeeeseaesseneesseeesaas 1 4 Firmware Functions nedunin eae ea EENEN T EE N E D EE aaeeea 1 5 2 Important directions for use 2 1 QM MMPOGUCHOM eiai nirani oana a Ea a aa aaia o aea tinaaa snini esini 2 1 2 2 IMAPPOPMALC USGsisis iiie iiaii oa aiaiai aiiai io iaa tiai eia aiiai iin
557. will only be properly processed if the addressing was previously processed To maintain the correct order when configuring the MDT the drive checks in command S 0 0127 C100 Communication phase 3 transition check whether the IDN S 0 0368 is configured before S 0 0360 If not then the drive generates a command error message e C118 MDT order for configuration faulty Checking the Configuration Lists It must be ensured that the ID numbers in the configuration lists can be cyclically configured This is why it is checked in command S 0 0127 C100 Communication phase 3 transition check whether ID numbers in S 0 0187 List of configurable data in the AT or S 0 0188 List of configurable data in the MDT are contained in the list The following errors are possible If list S O 0370 Configuration list for the MDT data container has one or more IDNs which are not available are not in S 0 0188 List of configurable data in the MDT then error message e C104 Configured ID number for MDT not configurable is generated If list S O 0371 Configuration list for the AT data container contains one ore more IDNs that are not available or not in S 0 0187 List of configurable data in the AT then error message e C106 Configurated ID numbers for AT not configurable is generated Checking for Existing ID Numbers When inputting S 0 0370 and S 0 0371 the following checks are conducted e It is checked whether the entered IDN is available If
558. xxxx xx1x 000x xxYY xxxx xx1x 110x xxYY xxxx xx0x control and power F sections ready Ab Error with phase 000x xxYY xxxx x01x gt status word transition 100x xxyy 10xx xx10 C402 110x xxYY xxxx x01x status word 11xx xxyy X1xx xx10 power ON control section ready bb status word 010x xxyy 10xx xx10 000x xxyy xxxx xx0x Check all drive parametrizations plausibility validity encoder initialization computation of conversion factors S 0 0128 C200 Communication phase 4 transition check C2 P 0 4023 Inputting all write accessed parameters except communication phase 3 P3 transition to for configuration parameters for control status word communications communications OOxx xxyy 1Xxx xx01 phase 2 C4 PLL initialization check control communications configuration timing configuration lists S 0 0127 transition check communication phase 3 C1 Attention 000x xxYY xxxx xx1x Once operating power is switched on the drive automatically goes from parametrization into operating parametrization mode P2 mode status word 00xx xxyy 1xxx xx00 Input all write accessed parameter including the configuration parameter for control communications e g profile selection parameter channel and so on 000x xxYY xxxx xx0x Self test hardware initialization parameter and motor Bune a air initialization mode initialization control voltage ON yy operation
559. y control loops become operative The control is structured as depicted below Rexroth Indramat ECODRIVE03 FGP 03VRS Zuybiz00 d4 Ueno yeed sayoy 9v0 Jo QWWeIed UOOUNY JOJO 8E90 0 doo Ay00 8A yjpimpueg uoNoelay 4840 ZB YORQHS9 10798 XIU AYOO AA 1Z1 0 jUB SUOD al Buiyjoows PUBWILUOD UOIISOg 6600 indjno Boyeue p pu a x JO JON 4 9 00 0 S indjno Boyeue 104 peus Jo uoneuBbisip pue ou aid SHIGA UBIO NIIIN D anjea yoeqpee edJoj anbso Y800 0 S urep dod premuojpas uolje1a e09y 8P E0 0 S puewwod soojanbiol 0800 0 S 10119 Bulmol o4 6810 0 S anjea z yORqPaa UOIISOg S00 0 S Stuy UOHoR jesBajul doo juano 2010 0 S anjea yoLeqp UOIISOg 1S00 0 S ues feuoiodosd doo juano 9010 0 S njea pueWWOD UOIISOg 00 0 S 4oj0e Ay doo uolsod 010 0 S anjea yoeqnpes 420l9A 0v00 0 S atu UOOR jesHaju doo AUIOISA L0L0 0 S anjea puewwos AjID09A BANIPPY ZE00 0 S ure6 jeuotodoud dooy Aj 00 8 0010 0 S anjea puewWwWos 420 2A 9E00 0 S anjer yw AYWDO 9A Je OdIg 1600 0 S uolyeiado jo apow Aewlid ZE00 0 S O d O d O d doo Ayls0jan Aouanba y uonoafoy 08L0 0 d O d O d O d JUe SUOD OUI HulyJOOWUS doo A 7O00 AAIHGOOA sw o sn gz 9w Hudwes 7800 0 S gt 0800 0 S v000 0 d D 19 CS L MH093 288N 00S xVIG 29eSsn ogg wy Budwes Japooue x 1040W ISIA SIA 00L 0 oo E Z 00 0 S xVIG 2 snogz wy H
560. y of the Diagnostic Message With the help of this display it is possible to quickly determine the current operating status without using a communication interface The operating mode cannot be seen on the H1 Display If the drive follows the operating mode and no command was activated then the symbol AF appears on the display Diagnostic Message The diagnostic message contains the diagnostic number followed by the diagnostic text as shown in the example Excessive Control Deviation It can be read with the parameter S 0 0095 Diagnostic Message and directly displays the operation status on an operator interface The diagnostic message language can be changed Diagnostic Message Number The diagnostic message number contains only the diagnostic number without the text It can be read with the parameter S 0 0390 Diagnostic Message Number Error Number The error number contains only the error number without the diagnostic text It can be read with the parameter P 0 0009 Error Message Number and can indicate an error condition without a language barrier This parameter contains a value unequal to 0 if an error is present in the drive An error is formed from the bottom 3 digits of the diagnostic number For example the error F228 Excessive deviation with the diagnostic message number 0x F228 would produce the error number 228 List of diagnostic numbers The 50 previously displayed diagnostic numbers are displayed in
561. ys 1 executing the command S 0 0099 C500 Reset class 1 diagnostic 2 Actuating key S1 3 Applying 24 V at error reset input In all three cases the load base values function is activated Rexroth Indramat 9 58 Basic Drive Functions ECODRIVE03 FGP 03VRS If the execution of load base values is not possible then the relevant command error of command S 0 0262 C700 Command basic load will appear See also section Error Conditions of the Load Default Settings Procedure Run the Load Default Settings feature as a command With parameter S 0 0262 C700 Basic load the feature can be run as a command This might be useful if manually changed control parameters are to be set back to the default values Error Conditions of the Load Default Settings Procedure If the function started by running the command S 0 0262 C700 Basic load is not successfully processed then the reason for this error is displayed either on the 7 segment display or with the diagnostic parameter S 0 0095 The following could cause an error during basic load SS Display C702 Default parameters not available Diagnostic Message Cause Basic load or load defaults is impossible for the motor type selected load defaults is only possible for MHD MKD and MKE Connection of drive to motor encoder data memory is interrupted or feedback is defective Default parameters invalid C704 Parameters incorrect The existing def
562. zation factor Basics for the Asynchronous Motor Asynchronous motors are divided in three working ranges PA Prax Psy bon or ae Ses l n2 n Sv5025f 1 fh7 Fig 7 3 Subsections of Work Ranges DOK ECODR3 FGP 03VRS FK02 EN P Rexroth Indramat 7 6 Motor Configuration Torque Evaluation Rexroth Indramat ECODRIVE03 FGP 03VRS Range 1 The Basic RPM Range is defined by a constant torque and a fixed torque force constant parameter P 0 0051 In idle the programmed magnetization current flows The motor voltage is less than the maximum control output voltage The corner RPM n1 is directly proportional to the DC bus voltage Range 2 Range of Constant Power The motor voltage is constant the idle voltage and the corresponding magnetization and torque constants fall with increasing velocity The slip is increased correspondingly The adjustment of magnetization current and slip is executed automatically by the vector control The voltage is decreased during idle to the motor idle voltage P 0 0535 and when fully in use it is increased to the maximum motor voltage P 0 0536 Range 3 Range of decreasing Peak Power The motor works at the stability limit through the vector control the current is maintained at an efficient and stable level According to the parameter current stability limit the peak current will be decreased enough so that the maximum power cannot be ex

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