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User Manual DUET_FL

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1. Pinno Name Value Specification 13 14 015 15 p42 16 D13 17 pto 18 19 20 D9 All signals with 3 3 V CMOS 16 bit parallel interface data bus 21 D6 logic level 22 07 23 D4 24 05 25 p2 26 27 po 28 D1 29 A11 30 A12 31 a9 32 ato a3 a 34 A8 All signals with 3 3 V CMOS 16 bit parallel interface address bus 35 A5 logic level 36 6 37 38 39 a 40 2 41 05 42 43 44 wR 45 IRQB 5 All signals with Bus control signals for access to technology modules via the 3 3 V CMOS data and address bus and synchronous serial interface for 46 IRQA logic level access to technology modules with an SSIO interface 47 MOSI 48 scLk 49 Miso 50 5 51 GND OV Reference potential 52 GND OV Reference potential User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 181 Electrical installation of the DUET FL 48 10 Connection to Power Supply and control in system The following illustration shows a typical application with two or more DUET FL servo positioning controllers with a connection to a 48 V intermediate circuit DC bus supply to a 24 V logic supply and to a control or to a PLC
2. C IN Jo O0 O User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 142 Error word high errh_err_field_1 31 Initialization error Checksum error Stack overflow X Pos precomputation error Operating mode error N KR Position data set error N O RS232 communication error N N CAN communication error N N N Course program branch destination error Course program unknown command error Motor identification error Homing error Timeout at quick stop INO O IN 1 0 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 143 Extended options in the Display units menu Configuration of user defined display units If you click the User defined button in the Display mode field you can adapt the display units to your application Display units
3. 151 General 151 Loading and saving parameter sets a s 152 Loading firmware into the DUET FL firmware update 156 11 13 1Loading the firmware uy uy u mu tte bet cen eie ERE LED e E toe 156 hechnical datas uuu ES 159 Ambient conditions and qualification 159 11 13 2Dimensions and weight UU L u u su enne 159 11 13 3Performance rerien pete nter reni ade eee 159 Motor temperature monitoring cesses enm eene 161 11 13 4Motor connection data X301 X303 161 11 13 5hesolve r X2 Ct medi 161 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company 11 13 6Analog Hall encoder evaluation 2 162 Hiperface encoder evaluation 2 162 11 13 7Incremental encoder evaluation X2 only DUET FL 48 10 162 Six Step Hall sensor and block commutation X2 163 11 13 889232 neha eicere tete esten e teste tte n na tetto 163 11 19 9CAN Bus X ihr erede deter E ee rro eae meg eet Cre ds 163 11 13 10Analog inputs and outputs X1 163 11 13 11Digital inputs and outputs X1 164 11 13 121ncremental encoder ou
4. 30 Preparation for commissioning U u u 32 SyVSISITU OVePVISW ER 32 Connecting the DUET FL to the control system 32 3 1 Installation and start of the DUET FL ServoCommanderTM 32 Initial parameterization of the controller 33 y T uuu T E 33 Parameter set in the delivery state u 33 Manual p u L uu s Au Au 33 Parameterization using the motor 34 Basic parameterization of new motors mene enne 35 n med ter a Esta atasi ubt mt 35 3 1 1Motor d ata D mauka ama E 38 m aa m 40 94 2Gurrent controlleriu uba plumas a usa aha Se dde eed 41 DC DUS monitoring 2 2 rete a Du aga e ead cuerno saku aun 42 Motor temperature monitoring l nennen nnn nnne 43 Configuring application renne 44 General configuration eiit ee iti ede Te OE HEP E tendi dise teas 44 Configuring the display units
5. eene 13 Figure 21 Branch Line time diagram 80 eene 13 Figure 22 Level test course program 80 13 Figure 23 Level test time diagram 81 13 Figure 24 Teaching process of a target position 86 13 Figure 25 Coupled incremental encoder emulation 90 13 Figure 26 Holding brake time response 92 eee 13 Figure 27 Safe zero 991 uuu ua der cie ite ceo one dere fedes d ses p asss 13 Figure 28 Online parameterization 147 13 Figure 29 Offline parameterization 151 13 Figure 30 Arrangement of DUET FL pin and socket connectors top view of electronics module 162 oe 13 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 6 Figure 31 Housing dimensions 163 13 Figure 32 DUET FL application example Synchronous servo motor in the power range of 500 W with a DUET FL servo positioning controller and a gearbox for a steering application 164 13 Figure 33 Numbered
6. 115 Controller cascade 52 Controller enable logic 48 Course Creating a Program ER E t aae e ce dene dec Matin ie eua uetus 79 Global settirigs u mto 65 Course 77 Current controller Manual configuration u 41 Cycle times eate tens 121 D DC bus 42 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 193 Default parameter set 33 Destination parameters eren mE 66 Digital inputs 86 nu H 88 FUNGHION 6VerVieW z aaa 87 Digital 91 cte ee a m tos 91 F nctlon kaa val ite siste esiti ein n eye haya pukyupi asa 91 Directories o tee tat Added tusqanta 117 Display UMIS u ees Display Mode uuu 45 Emergency Stpm eeik PH E E 47 Error acknowledgement 112 Error analysi
7. 154 OK aret ote ettet t ute ks 114 Optimization Current controller uo iere ettet dep e cere de E eee ie ee 41 Position controller iiis y u m ul er Met 64 u u U Channel Sie saus sn e ata pasa ua aet tes bres eta eee nae ae 123 Settings yaa u u oas rence a Mate rent Aad acta ua ayaka 123 DASE hapa pss 123 123 123 P Position controller Manual eontig nalioh yu u ieee Sa idet eta ere eee eerie ett ee apaq 63 Position controlled mode 62 Posltlonirig s ooo Et cet EE e Eus Destination parameters drei dee eee Eae ree reb and e tea du tesoro 66 Speeds Acceleration Times tenen retrrrnnn nenne nnne 67 Seltifigs OR e od cat Peed tette tede et ou etl ete get aya tay 66 Power stage tote tt etaed 40 Q User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 195 Quitting the program 118 R REF DUHOM ua aa 74 RS232 interface 102 S Safety parameters
8. eene 13 Figure 5 Speed controller set correctly 52 13 Figure 6 Positioning control block diagram 57 eee 13 Figure 7 Speed controller optimization 60 13 Figure 8 Time optimal and jerk limited positioning 64 13 Figure 9 Homing run to the negative limit switch with index pulse evaluation y deer EN 13 Figure 10 Homing run to the positive limit switch with index pulse evaluation yim 13 Figure 11 Homing to the negative limit switch 68 13 Figure 12 Homing to the positive limit switch 68 13 Figure 13 Homing run referred only to the index pulse 668 13 Figure 14 Homing run to the negative stop with index pulse evaluation 69 13 Figure 15 Homing run to the positive stop with index pulse evaluation 69 13 Figure 16 Homing to the negative stop 69 13 Figure 17 Homing to the positive stop 70 eec 13 Figure 18 Course program Position branch 78 13 Figure 19 Position branch time diagram 78 eene 13 Figure 20 Course program Branch Line 79
9. eene mmm nennen nennen nnns 44 3 2Defirinig input limite ede t b e Rx ER ERR TERRE RE Lo ER eS OR PER dae es 46 3 3Selecting safety 47 Configuring the controller enable logic 48 Configuring the limit switch polarity ssseeeeee 49 Setting m 50 Making the system ready for operation enabling the power 50 4 Current and speed control 52 Function Pe ER E YR DR RR E ER CE GARY 52 Speed controlled mode nnne err 54 4 1 1Optimizing the speed controller 54 Torque controlled 57 4 2Setpoint assignment through setpoint 57 Speed controlled 58 Torque controlled 58 4 2 1Setpoint assignment through 5232 59 coat
10. Analog sensor Silicon temperature sensor K TY series KTY81 2x0 KTY82 2x0 Ros 2000 Q KTY81 1x0 KTY81 2x0 Ros 1000 Q KTY83 1xx Ros 1000 Q KTY84 1xx 1000 Q 11 13 4 Motor connection data X301 X303 Data for use with 48V Thousing max 50 Output power 500 VA Max output power for 2 s 1500 VA Output current 15 Act Tpowerstaze lt 50 C 10 TpowerStage lt 70 C Max output current for 2 s 40 Tpowerstage lt 50 C 32 Aer TpovwerStage lt 70 C Clock frequency 10 kHz 20 kHz 11 13 5 Resolver X2 Suitable resolver Industrial standard Transformation ratio Carrier frequency 10 kHz Speed resolution approx 4 rpm Absolute angle sensing lt 10 accuracy speed 16 000 rpm Resolution gt 12 bits typ 15 bits User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 162 11 13 6 Analog Hall encoder evaluation X2 Suitable Hall sensors HAL400 Micronas SS495A Honeywell and others Type differential analog output Vc 2 0 V 3 0 V Signal amplitude 4 8 Vs differential max Resotution gt 12 bits typ 15 bits Signal detection delay lt 200 us Speed resolution approx 10 rpm Absolute angle sensing lt 30 accuracy speed 16 000 rpm Other signal levels as customized versio
11. Ee Fc 107 Error display in DUET FL 112 6 2Error managemehl Got ri entes pe od Tuya e x RR canes UR HERRERA AAA SE ERE IR de 013 113 ApDp endiX 114 DUET FL ServoCommanderTM operating instructions 114 Standard DUWONS rene tU ette nutre me siete es f ILI TIPS rU 114 Numerical input fields a trn nnns 114 Control elements mte DT te tried EMIT M LE 115 6 2 1 Display of setpoints and actual values a 115 0 2 25tandard u a cele Be etra ete ted eee ere ag ea 116 Directories suu m 117 6 2 3Communication via communication objects 117 Quitting the Drograrm S ooo ea ER ee eb 118 Setting up the serial communication 2 a 119 Fast access via the tool bar a nennen 122 Using the oscilloscope function rot Unde re 123 Oscilloscope settiligs 1 S u eine xU e E at es 123 Oscilloscope WINDOW ips esterases tt teer t de cite area 125 6 3Serial communica
12. 0 000 a Selector Torque limitation Torque limitation RS232 umi If an analog input is activated as the setpoint source but the menu does not show a line towards the setpoint the digital inputs may be activated See chapter Configuring the digital inputs User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 59 4 2 1 Setpoint assignment through RS232 If you have configured one of the setpoint sources such that the setpoint is assigned through RS232 you can configure this under Operating mode Setpoint selection RS232 You can also open the menu by clicking the button next to the setpoint selector The following window will appear Setpoint selection RS232 Main m Speed setpoint 100 000 mm s X Cancel mH gt M Transmit immediately gt EE Correcting setpoint MV Transmit immediately Torque setpoint Iv Transmit immediately Torque limitation Transmit immediately E Transfer Activated RS232 sources are marked by a green arrow Here you can enter numerical values for the setpoints and limitations Click the red STOP button if you want to cancel false inputs immediately The setpoint will be set to 0 and transmitted immediately If you do not want to transmit the setpoint immediately deselect the Transmit immediately check box Then you have to click the Transfer button to
13. 86 Table 12 DUET_FL 48 10 IC digital inputs possible combinations 86 Table 13 DUET FL 48 10 FB digital inputs possible combinations 86 Table 14 Digital inputs assignment U 87 Table 15 Tipp 4 Teach Configuration of the digital inputs 89 Table 16 Error overview eere n xp se or Fete Ge porke cry sasaseecssetedapevenctatenceavacasess 108 Table 17 Control elements u u 115 Table 18 Directories I s 117 Table 19 Recovering problems with serial communication 120 Table 20 Command syntax of communication objects 128 Table 21 Meaning of letters in the command syntax 128 Table 22 RS232 command nnn nnn 129 Table 23 Meaning of letters the command syntax 129 Table 24 List of all communication objects 130 Table 25 List of basic units OC e co epe eoo en ne eo dura de tope oh 138 Table 26 Online Offline activation 155 Table 27 Pin assignment of connecto
14. C NEN No 12 Unknown error C C C WEN No 13 Error offset current metering No 14 DC bus overcurrent output stage C C No 15 DC bus undervoltage C WEN No 16 DC bus overvoltage You can use this window to define the way the servo positioning controller should respond to an error One of four reaction types is assigned to each of these 64 possible events 1 The power stage will be switched off the motor will coast down 2 Controlled shut down the motor will be decelerated to standstill in a controlled manner 3 Awarning will be displayed the error window will be opened automatically 4 A warning will not be displayed i e a warning messages will be entered into the error window but the error window will not be opened automatically Some of the events are so serious that the user cannot downgrade them to warning or that a certain reaction is inevitable In these cases the user can select the option button but the servo positioning controller will correct this entry during the online parameterization User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 114 Appendix DUET FL ServoCommander operating instructions Standard buttons If a program window is open while you are working this window will have a button bar which often looks like this The buttons have the following functions OK All changes will be accepted and the window wi
15. with SIN COS signals upon request 2 Stegman SinCos encoders with Hiperface interface Hall encoders Six Step Incremental encoders with Hall sensor only DUET FL 48 10 FB The menu for adjusting the angle encoder parameters can be called up via Parameters Device parameters Angle encoder adjustments Depending on the angle encoder used the actual menu displayed may differ from the menu shown below as different adjustment options are used Angle encoder adjustments Angle encoder Resolver Analogue Hall encoders C SinCos C Hall encoder Six Step Commutation Phasesequence C block commutation C right Sine commutation left Offset of angle encoder Automatic offset detection Torque controller recirculation P component controller via Encoder Motor EMK l component controller Encoder o Motor EMK x ces Depending on the angle encoder used the actual menu may differ from the menu shown below as different setting options are used The motor and the angle encoder can be identified automatically or manually If the motor is not installed in system and the shaft can move freely we recommend using the automatic identification The function can be called up in the following menus e Parameters Device parameters Motor data Auto detect button Parameters Device parameters Angle encoder adjustment
16. 47 Saving a Offline parameterization a 155 Online at u ip aaa uA a 0 ha 152 Saving a parameter set 151 Scope of supply 22 Serial communication Troubleshooting or cree reb er oot ue a E In ipta a A na 120 Optimization 102 Serial interface Uu au uwa u dee el et eee 119 Offline paramMeteriZatlon deo tir eR tad eibi Leben d ease eR M ukuka re Bonds 119 Retry with old parameters rdiet tide xui Lee epe oe aeneo au Rene nannten nu 119 Serial interface Search baud rates 119 Setpoint ramp 59 Setpoint values 116 Setpolnts eiie bs 57 Speed controller Manual configuration E EM 54 Speed limitation 48 Speed controlled 54 T Temperature 43 TD Fast ac6e6SS E 122 Offline online p
17. 100 Control through the serial interface sese nennen tnnt 101 Function averio W uy percer utate crie Educ e eben td oro dee 101 6 1 3Serial communication through DUET FL ServoCommanderTM 102 Configuring the RS232 communication 102 Trarisfer WilidOoW ide oe Le Re rS Re Ere BR Ee ERR REUTERS MOD Lee e a s 103 Communication window for RS232 transmission eeeeeene 103 Control through the technology interface a 104 Error messages Error U U u uuu 105 Error monitoring in the DUET EL 2 Ca tte 105 6 1 4Overcurrent and short circuit monitoring 105 DC bus voltage M ntoring cA upaya ua sy 105 Logic Supply MOnitoring aesan u eee a pet Poe te edu e Wami 106 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 10 Heat sink temperature monitoring U nennen 106 Motor monitorlrig 2 u yp ara to ro Ple rapa T dite s bases usa 106 Motion sequence monitoring l U U eene nnns 107 Additional internal monitoring functions ss ee 107 Operating hour meter rerit dha ined eto e EC eed eee Dad 107 Error overview usse di ee RR EU RE EE ERE
18. Positive limit switch reached DIN8 Negative limit switch reached DIN7 Home switch reached 0 Homing active User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 141 Error word low errh_err_field_0 Error limit switch Co Following error monitoring Output stage temperature 5 C below maximum N X Motor temperature 5 C below maximum at 80 N KR N Controller error at 100 Motor error at 100 N SINCOS track signal error Intermediate circuit overvoltage Intermediate circuit undervoltage Overcurrent intermediate circuit output stage Current measurement offset error 24V supply error out of range N 12V electronic system supply error 5V electronic system supply error Resolver track signal error carrier failure SINCOS track signal error SINCOS RS485 communication error SINCOS supply error Electronic power system under overtemperature Motor overtemperature 1
19. SPI Serial Clock 20 MBit s max SPI Serial Master Input SPI Slave Select IO interrupt signals of the DSP RESET Signal 3 3V RESET Controller System clock of the DSP Optional analog inputs of the DSP 0 V 3 3 V Optional asynchronous serial interface 3 3 V level 115 kBit s max Reference potential Technology module power supply 100 mA max together with 3 3 V Version 1 1 Motor Power Company Page 173 Connectors at the DUET FL 48 10 IC Connection Power supply and I O X1 Configuration on the device Phoenix PLUSCON VARIOCON with a total of 18 contacts Mating connector X1 Phoenix PLUSCON VARIOCON kit comprising 1x VC TFS2 2x VC TFS8 1x VC TR2 3M 1x VC MEMV T2 Z 1x VC EMV KV PG21 11 5 15 5 13 5 Dimensions approx L x W x H 86 mm x 80 mm x 32 mm WAS T Ag 81716 518765 1413 211 413 211 Figure 38 Numbered pins of X1 DUET_FL 48 10 IC Table 32 Pin assignment of connector X1 0V 24V Ready for operation 2 x DIN8 V 24 V Digital input Limit switch 1 blocks n lt 0 CANLO CAN low A3 DIN5 eee Digital input Positioning group selector bit 1 10 V 10 V Inv analog input 1 Differential analog i
20. 0 ZNIQ 44 34 NVO uone idi lu 99 4osues Josues os uls n IHS 5917509 A uone idi lu Josues O I AJ A OS sol uis n Seige 9 hh Iud s gt I 9 neseugr E C bf E sde 1l meseud n 4 v Je O quo5 JUSIINI BAVC lt Weseugn be N P ZTN neseud n elpi d Y 19 ONIV E 2 sZ WU LNIV ONIV nbio 1ol9 s 4yuoo sod NVO Er 8 oO jas I yulod N 7 5 jueuno Jojoejes 0 O juiod 195 P d u E julod yas Su ONIV INN 9159 unoe 100 Su s NVO 22654 t u ONIV 0197 1 10 99 S uoo sod 4 so
21. 16 Table 16 Error overview 106 u 16 Table 17 Control elements 113 16 Table 18 Directories 115 uuu uuu uuu usss o EFE ss qu EUR EROR M ERE 16 Table 19 Recovering problems with serial communication 118 16 Table 20 Command syntax of communication objects 126 16 Table 21 Meaning of letters in the command syntax 126 16 Table 22 RS232 command syntax 127 16 Table 23 Meaning of letters in the command syntax 127 16 Table 24 List of all communication objects 128 16 Table 25 List of basic units 136 16 Table 26 Online Offline activation 153 16 Table 27 Pin assignment of connector X1 167 16 Table 28 Pin assignment of connector X2 168 16 Table 29 Pin assignment of connector X301 X303 169 16 Table 30 Pin assignment of connector X3 169 16 Table 31 Pin assignment of connector
22. Activate homing Activate positioning Activate speed control Activate torque control Activate position control 0 controller enable User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 140 Status word rs232_stat_sum MOTID mode INTERNAL controller and output stage enabling Automatic encoder adjustment active Homing run performed Positive direction blocked Negative direction blocked Common error message Warning message no common error and no shut down Ready for operation Output stage switched on Speed message n_actual 0 n_mel_hyst SinCos encoder activated iit monitoring limitation to nominal current IIT motor servo Positioning run started activated for the duration of an IPO cycle Speed message n actual n soll n mel hyst 1 speed message n actual n mel n mel hyst Remaining distance of positioning run reached set to zero at the start of the follow up positioning Destination reached message n_actual x_setpoint x_mel_hyst Message positioning completed x_setpoint pos_x_actual set to zero at the start of the follow up positioning
23. Message delay Delay during which the actual position must be outside the tolerance window before the following error message will be set Messages Motor speed message Destination Following error Following error ranges Following error 0 139 R n Message delay 100 0 ms 100 0 ms The following error message should be activated in all positioning applications The recommendable range of the tolerance windows depends on numerous parameters such as the controller gain in the speed and position control circuit the resolution of the position detection system etc The Message delay parameter can be used to increase the robustness of the system as it makes sure that not every brief position deviation triggers a following error message User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 93 Tab Destination Angle Distance Tolerance range in which the target reached message will be set Message delay Delay during which the actual position must be inside the tolerance window before the target reached message will be set Messages Motor speed message Destination Following error Tolerance window for target reached Angle distance 4 gt Message delay 2 35 gv 100 0 ms Tab Motor speed message Declared speed Speed at which the declared speed achieved message will be set Message window Tole
24. ved Digital output Freely programmable encoder output track DOUT2 0 V 24 V B ZAINO Negative analog input 0 Differential analog input with AINO DIN1 Digital input Positioning destination selector bit 1 V 10 V AMONO 0 V 10V 2 mA Analog monitor O DING 0 V 24 V Digital input Positioning start 24 V liog 24 V power supply for the internal logic and the IOs Shared 200 mA 1000 mA round with the intermediate circuit DC bus TxD 10 V Transmission signal RS232 specification 24V Logik User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 170 11 14 1 Connection Angle encoder X2 Configuration on the device JST No B16B PHDSS Mating connector X2 JST No PHDR 16VS contacts JST No SPHD 002T P0 5 Figure 34 Angle encoder connector Table 28 Pin assignment of connector X2 Reference potential for incremental encoder analog Hall sensors Stegmann Hiperface encoder Reference potential for Hall sensor and or motor temperature sensor 5V 100mA_ 5 V supply for linear Hall sensors or incremental encoder 5 V 100 mA 5 V supply for Hall sensors 1 5 Vems aitt Resolver Connection to resolver signal S1 R gt 10 kO Others Connection to incremental encoder track A vu Phase U Hall sensor for commutation R 5 kO Input with 4 7 pull up at 5 V 1 5 Vems aitt Resolver Connection t
25. End of Program DOUT2 Off NEXT1 NEXT2 Next line 1 4 zl Next line 2 4 zl C Ignore if target not reached Ignore if target not reached to line immediately C Go to line immediately Complete position then line C Complete position then line X Exit Depending on NEXT1 and NEXT2 the program continues in different lines If the digital signal NEXT 1 is set to HIGH rising edge the program will continue in line X If the digital signal NEXT2 is set to HIGH rising edge the program will continue in line Y If the program cannot detect any rising edges the course program will remain in a waiting state If neither Evaluate NEXT1 nor Evaluate NEXT2 have been selected you can state a next line which will be used automatically neither NEXT1 nor NEXT2 line n line x line y Figure 20 Course program Branch Line In Figure 21 it is assumed that a positioning run was started in program step 10 When the positioning run is started 10 the course program switches to the next state Assuming that NEXT 1 2 has been set to Go to line immediately the NEXT 1 2 inputs will be inquired in the course of the currently active positioning process We also assume that the NEXT 1 2 signal becomes active before the positioning run is completed The evaluation takes place and the corresponding course program line next line 1 or 2 depending on whether NEXT1 or NEXT2 has become active fi
26. Page 179 Connection Extension port X8 Configuration on the device 2 26 RM 1 27 mm Buchsenreihe Mating connector X8 2 x 26 RM 1 27 mm Pinreihe Figure 42 Position and connection technology module Table 38 A Pin assignment of connector X8 Pin Name value _______ Specification All signals with 3 3 V CMOS Not used logic level 24 V Withdrawal of the protected logic supply of 24 V for future max 100 mA applications device variants piN8 0 v 24V Digital 24 V input for limit switches parallel to X1 DIN7 0 24 Digital 24 V input for limit switches parallel to X1 GND OV Reference potential GND OV Reference potential RxD 10 V Serial interface signal RxD TxD 10 V Serial interface signal TxD CANHI_NDR 0 V 5V Field bus signal CAN_H before filter CANLO_NDR 0 V 5V l Field bus signal CAN_L before filter Technology module power supply 100 mA max together with 5 V Technology module power supply 100 mA max together with 3 3 V N 24 V e 3 3 V 3 3 V 296 wa m 5 0 V 5 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 180 Continuation of the table B Pin assignment of connector X8
27. The Transfer window can be used to send commands directly to the DUET_FL servo positioning controller and to observe its response Use the menu command File Transfer to activate the Transfer window Li When the Transfer window is active all other open windows are not served e g actual 11 values oscilloscope Close the Transfer window if you do not need it anymore In general the Transfer window is used to transmit commands which are not of interest for normal operation In addition it can be used to read and write storage locations or communication objects This is only necessary in special cases If you want to transmit a command enter the command in the upper input line and press ENTER or click the Send button Communication window for RS232 transmission Under Options Communication Display communication window RS232 you can open a window in which you can observe the communication through the serial interface This window is mainly used for debugging and not of interest for standard users User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 104 RS232 or 0085 lt 0085 0000 00 54512 gt 0030 lt 0030 00000010 16 gt or 0082 0082 0017CAAE 1559214 or 0071 0071 00000000 0 gt 0070 lt 0070 00000000 0 gt or 0036 lt 0036 00000002 2 gt 0070 lt 0070 00000000 0 gt 0070 lt 0070 00000000 0 or 0032 lt 0032
28. Decimal places Direct input Standard values Feed constant X Lancet v 0 Display A a A Translatory application 1 0000000000 _____ defined User defined per revolution __ __ D ectipu Fi base Torque in Nm Factor Time base speed s 1 000000 Time base acceleration in s roo Display units User defined 1 User defined units marked You can enter the scaling User defined units per revolution into the Feed constant field in the Translatory application section Example You have a drive with 1 76 inch per revolution without a gearbox You would like to enter the position in inch You have to enter 1 76 into the Feed constant field In addition the input fields Time base speed and Time base acceleration are available Use the field Time base speed to define your own speed units Example rotary operation You have a drive with 20 mm per revolution without a gearbox You would like to enter the speed in mm minute Enter 20 into the Feed constant field and 60 into the Time base speed field 60 seconds 1 minute Use the field Time base acceleration to define your own acceleration units User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 144 Example You have a drive with 20 mm per revolution without a gearbox You would
29. Remaining distance to the end of a positioning run reached Homing run performed The configuration of the digital outputs is described in chapter 5 5 Digital outputs DOUTO to DOUT3 Homing Most applications using the DUET FL servo positioning controller in positioning mode require a zero position to which the position controller can refer This position is called home position and has to be re determined whenever the controller is switched on This is done during a so called homing run Several methods are available for this Absolute value encoders e g SinCos encoders with multiturn functionality are an exception These encoders do not need to be homed Homing methodsThere are 4 possible targets for the homing run Homing run to the negative or positive limit switch with or without the index pulse of the angle encoder Homing run without additional signal to the negative or positive stop Homing run to the index pulse of the angle encoder No movement The homing run is started by enabling the controller or through the field bus When the homing run is completed successfully this is indicated by a set status bit in the device This status can be evaluated through a field bus or through a digital output The different homing methods are explained in the following sections The numbers in little circles in the pictures correspond to the home positions of the corresponding homing method The number do n
30. User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 50 in the direction of the limit switch again The blocked direction of rotation remains blocked until the controller is disabled Setting the direction of rotation The option Reversal of rotation direction can be activated in the lower area of the Commands window This option can be used to assign a certain angle counting direction or the desired sign of the speed and current torque to a direction of movement 7 Controller enable em C Torque control Speed control C Positioning f Selection 64 positions C Course program 0143 7 New 1 0 assignment CJ High Course program Low Selection 32 positions C Tipp Teach DINO High Tipp amp Teach Low Selection 32 positions Ch DANGER 2 If this option is activated the drive moves in the opposite direction with the same settings Making the system ready for operation enabling the power stage The aim of this chapter is to let the motor rotate at a constant speed Then the other control functions such as the speed controller and the position controller can be optimized The setpoints are assigned via the analog inputs The controller has to be enabled via the digital controller enable input DANGER Do not work through this chapter until you have completely followed the instructions given in the other parts of chapter an
31. 175 11 18 3 Brake resistance connection X304 305 176 Connection CAN bus X401 and X402 sss 177 11 18 5 Connection Serial parameterization interface 5 178 Connection Extension port 8 179 Electrical installation of the DUET FL 48 10 181 Connection to Power Supply and control in 181 EMERGENCY OFF EMERGENCY STOP terminology and standards 183 EMERGENCY OFF EMERGENCY STOP wiring examples 185 11 20Notes concerning safe and EMC compliant installation 188 Definitions and terminology u uu u u DZ T S Stan nennen nnne nnns 188 General information concerning EMC 188 11 20 1EMC ranges First and second environment a a 188 Connection between the DUET FL and the motor 189 11 20 2Connection between the DUET FL and the power supply unit 189 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 12 List of Figures User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Compan
32. The Homing run button leads you to the homing menu see chapter Homing The Destination parameters button leads you to the menu for parametrizing the destinations see chapter position sets In the lower section of the window some settings for the course program can be made In case the Course program active is select the check box from the course program will be enabled in the positioning mode The l button leads to the course program menu see chapter Course program In addition you can define two start lines for the course program The option 16 64 position sets can be used to define the desired number of target positions destinations e option 64 position sets is active you can parametrize 64 independent target positions All the other motion profile parameters accelerations start delays options however have to be set in groups There are four groups with the position numbers 0 15 16 31 32 47 and 48 63 e option 16 position sets is active you can parametrize 16 independent target positions The motion profile parameters accelerations start delays options can be set individually for each position User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company In order to switch from the 64 positions mode to the 16 positions mode or vice versa the DUET FL has to reorganize the internal data structures for the positioning process During this reorganization settings
33. be found in chapter 14 2 Connection Holding brake X3 in the appendix Brake functions The holding brake is enabled when the controller is enabled and the power stage of the servo positioning controller is activated Holding brakes have switching delays due to their mechanical inertia and the electrical time constant of the control coil This is taken into consideration by the servo positioning controller You can parameterize corresponding delays If you want to edit the parameters for controlling the holding brake open the menu under Parameters Device parameters Brake functions The following window will appear Brake functions Run delay Delay to unlock brake mme 18 00 ms 44 7 Stop delay T Delay until brake locked 40 00 ms 40 00 ms X Cancel The run delay is used to adapt the control of the holding brake to its mechanical inertia When the controller is enabled in the operating mode speed control and position control or positioning the speed setpoint will be set to zero during this delay As a result the motor will be supplied with power but the drive remains in standstill with a holding torque until the brake is completely unlocked User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 96 When the controller is disabled the speed setpoint will be set to zero When the actual speed is about zero the holding brake is activated The stop delay takes effect as of th
34. 01004200 16818588 gt or 0030 lt 0030 00000010 16 gt 0082 lt 0082 0017C776 1558390 Control through the technology interface The DUET_FL servo positioning controller has a technology interface which is equipped with a synchronous serial interface As a result customized extension modules communication interfaces can be implemented Please contact your local distributor if you are interested in this option User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 105 Error messages Error table Error monitoring in the DUET FL The DUET_FL servo positioning controller has an extensive sensor system monitoring the operation of the controller power output stage motor and communication with the outside world Any occurring errors are stored in an internal error memory The main monitoring functions are described in the following chapters management system see chapter 6 2 Error management 1 The reaction to the errors can configured with the help of a comfortable error 6 1 4 Overcurrent and short circuit monitoring Overcurrent and short circuit monitoring The overcurrent and short circuit monitoring system responds as soon as the current in the intermediate circuit DC bus exceeds two times the maximum current of the controller It detects short circuits between two motor phases and short circuits at the motor output terminals against the positive reference potential of the
35. Edge sensitive inputs have to be pending for at least 100us Digital inputs which are normally used for starting and assigning a position set are used as follows when a course program is active User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 78 Table 8 Course program Assignment of the digital inputs DIN Function Explanation DIN 0 NEXT2 Rising edge Continue with following position 2 DIN 1 NEXT1 Rising edge Continue with following position 1 NEXTI has a higher priority than NEXT2 if both are switched simultaneously DIN 2 STOP Low A running positioning run will be interrupted The program stops in the current course program line Low Complete movement to position Then normal positioning mode with destination selection through DINO DIN1 DIN2 and position group selection through DIN4 and DINS STARTI Rising edge Movement to a defined start position Start of the course program START2 Rising edge Movement to a defined start position Start of the course program Course Posi High Activation of the course program STARTI has a higher priority than START2 if both are switched simultaneously Start Rising edge positioning If DIN3 low Start positioning homin If DIN 3 high Start homing Table 9 Course program Configuration of the digital inputs new I O configuration Function Explanation Course Posi H
36. Offset field you can enter an offset voltage e g to display positive and negative values If the check box Numeric overflow limitation is selected mathematical values above 10 V and below 0 V will be restricted to these limits If the check box is not selected values exceeding 10 V will be represented as voltages as of OV and vice versa m The option Freely selectable communication object is reserved for special applications It is also possible to output and check other internal quantities of the controller to analyze them User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 99 6 Communication interfaces Control through the CAN bus Function overview The DUET_FL servo positioning controller uses the CANopen protocol in accordance with DS301 DS402 The following operating modes specified in CANopen are supported Torque controlled mode profile torque mode Speed controlled mode profile velocity mode Homing homing mode Positioning mode profile position mode Synchronous position assignment interpolated position mode The following access types are supported for the exchange of data SDO Service Data Object Used for the normal parameterization of the controller About 150 SDOs are supported PDO Process Data Rapid exchange of process data e g actual speed Object possible 2 PDOs are supported SYNC Synchronization Synchronization of several CAN nodes Message EMCY Emerg
37. Optimization Evaluate the speed and the rotor position during stopping If the transient process of the position takes too long increase the gain If the speed starts to oscillate during stopping the gain has to be decreased Figure 7 Speed controller optimization Please note that the overshoots are due to missing acceleration and deceleration time values User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 65 Global positioning settings Via Parameters Positioning Settings position sets Course program you can open the Settings position sets course program menu where you can define the positioning range as a global setting for all positioning runs Settings position sets course program Positioning range Maximum value 32768 000 R Minimum value 32768 000 R Driving profiles C 16 Positions 7 16 driving profiles Course program Course program active START1 Course program line START2 Course program line ll eo Destination parameters X tea In the case of absolute positioning runs the new destination is checked to see whether it lies between the limits for the absolute positioning range The minimum and maximum parameters in the field Positioning range indicate the absolute position limits for the position setpoint and the actual position value The positioning range always refers to the zero position of the drive
38. Real voltage Idling speed Stator resistance Stator inductance Power stage This menu Parameters Device parameters Power stage determines the behaviour of the power stage You can select a clock frequency of 10 kHz or 20 kHz If the clock frequency is low the motor emits a singing sound If you want the motor to run as quietly as possible choose the 20 kHz clock frequency In addition the losses in the motor are slightly reduced at a high clock frequency on the other hand the losses in the DUET FL servo positioning controller will increase which is why the adjustable maximum current limits are slightly lower The clock frequency has practically no influence on the control behaviour The default setting of the clock frequency of the power stage is 10 kHz Clock frequency Save t Reset The settings can only changed if the power stage is switched off In addition you have to save the parameter set and reset the device to make the setting effective User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 41 3 1 2 Current controller The current controller can be configured under Parameters Controller parameters Current controller in the following menu Current controller Gain 5 2 00 ms Time constant X Cancel It is essential to adjust the current controller correctly in order to be able to the adapt the speed controller t
39. Set English language Set German language Reset servo positioning controller Save parameters Approach positions Set positions Homing Position controller Speed controller Current controller Motor data menu User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 123 Using the oscilloscope function The oscilloscope function integrated in the parameterization program allows signal courses and digital statuses to be represented and physical parameters to be optimized The graphs e g step responses can be printed saved as bitmaps or exported into Microsoft Excel The oscilloscope can be started under Display Oscilloscope or with the help of the button Two windows will open the actual oscilloscope and the window for configuring the oscilloscope Oscilloscope settings scilloscope Settings CH1 Time base Trigger CH1 Freely selectable communication object E Scaling EE 3 0 00 div 4 Clear Freely selectable communication object Object number Z hex signed physical unit Position 32 bits Mask FFFFFFFF hex The Oscilloscope Settings window includes four tabs for precise settings Chi Selection of the measuring quantity on channel 1 Ch2 Selection of the measuring quantity on channel 2 Time base Setting of the time base Trigger Configuration of the trigger The oscilloscope
40. Version 1 1 Motor Power Company Page 175 Ready for operation DINE V 24 V Digital input Limit switch 1 blocks n lt 0 DINS v 24 V Digital input Positioning group selector bit 1 AIN1 DIN3 10 V 10 V 0 V 24 V Inv analog input 1 Differential analog input with AIN1 or Digital input Positioning destination selector bit 3 V 24 V Digital input Power stage activation DIN7 o v 24 V Digital input Limit switch 0 blocks n gt 0 o v 24 V Digital input Positioning group selector bit 0 AIN1 DIN2 10 V 10 V 0 V 24 V Analog input 1 Differential analog input with AIN1 or Digital input Positioning destination selector bit 2 AIN0 DIN1 V 10 V Inv analog input 0 Differential analog input with AIN0 Digital input Positioning destination selector bit 1 DouT2 0 V 24 V Digital Output Programmable encoder output track B 0 V 10 V 2 Analog monitor O GND ov Reference potential for the control signals AIN0 DIN0 V 10 V Analog input 0 Differential analog input with AIN0 Digital input Positioning destination selector bit 0 pour1 o v 24 V Digital Output Programmable encoder output track A DING o v 24 V Digital input Posi
41. Version 1 1 Motor Power Company Page 38 In addition to the angle encoder configuration this menu can also be used to perform basic configurations concerning the control system Commutation Block commutation or sine commutation Speed controller recirculation Encoder or Motor EMK separately for P component and If a motor with analog Hall sensors is used for commutation the automatic adjustment of the encoder signals can be started by pressing the button Automatic encoder optimization The DUET_FL determines the optimum offset values and the amplitude values of the SIN and COS track signals and saves them This reduces the tolerances of the encoder and of the encoder evaluation in the DUET_FL and improves the running behavior N Caution During the adjustment the shaft automatically starts to move for approximately 60 seconds Recirculation through the Motor EMK electromotive force of the motor has a positive effect on the running behaviour of the motor if encoders with a poor resolution e g Six Step Hall encoders or a low level of accuracy are used In order to use the recirculation through the Motor EMK other electrical parameters of the motor have to be entered in the menu Options Device parameters Motor data see chapter 3 1 1 Motor data Be careful when activating the recirculation through the Motor EMK The actual speed of the motor may deviate significantly from the setpoint if
42. X8 170 16 Table 32 Pin assignment of connector X1 171 16 Table 33 Pin assignment of connector X1 172 16 Table 34 Pin assignment of connector X304 X305 174 16 Table 35 Pin assignment of connector X401 and X402 175 17 Table 36 Pin assignment of connector X5 176 17 Table 37 Pin assignment to set up an RS232 adapter cable for connection to a PCG notebook176 Tr 17 Table 38 A Pin assignment of connector X8 177 17 Table 39 Description of the requirements to be met for the categories in accordance with EN 954 1 181 J 17 Table 40 EMERGENCY OFF and EMERGENCY STOP according to EN 60204 1 poH P DET 17 Table 41 Stop categories 182 U tina eee 17 perle meer 18 Symbols used in this manual rrr ette pr EH EE E EID RR ERES 18 Features and area of application of the DUET_FL 19 Area of application and intended 19 DUB TAFE tete e eod cU es eie hip kasaq a hassei 19 DUET FL ServoCo
43. active DIN2 and DIN3 are not available 5 4 Extended function of the digital inputs Tipp amp Teach If the Tipp amp Teach option is activated in the Commands window the extended function of the digital inputs can be used Commands Controller enable zal C Torque control C Speed control Positioning C Selection 64 positions C Course program DIN3 E 7 New 170 assignment High Course program tion 32 positions J gt High Tipp amp Teach Low Selection 32 positions Reversal of rotation direction User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 89 The function is used to approach and program any desired target position through the digital inputs The programming procedure is described in section 8 2 1 Teaching positionsIn addition it is possible to start a homing run through a digital input or to interrupt a positioning run and to stop the drive through another digital input without switching off the output stage The digital inputs which are normally used for starting and assigning a position set are used as follows when the extended function is active Table 15 Tipp amp Teach Configuration of the digital inputs DIN Function Explanation DIN 0 Spec Posi High activation of the extended configuration Low normal positioning mode with destination selection through DIN1 DIN2 DIN3 and position
44. an extension of functionality in a new firmware version you also require the corresponding new version of the parametrization program You cannot parameterize any other Motor Power Company devices using this parameterization software 1 1 1 DUET_FL ServoCommander features The parametrization program has the following features lt Parametrization of the DUET FL servo positioning controller Configuration of all parameters using the PC Display of operating quantities Loading of new firmware versions Loading and saving of parameter sets Printing of parameter sets Offline parametrization Oscilloscope function Languages German English French Windows conform operation Course program Hardware and software requirements Requirements to be met for installing the parametrization program IBM compatible PC AT Pentium Il processor or higher with at least 32 MB main memory and atleast 10 MB free hard disk memory Operating system Windows 95 Windows 98 Windows NT Windows 2000 Windows CD ROM drive Free serial interface User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 22 Documentation This software manual is intended to ensure safe working with the DUET FL ServoCommander parameterization program for the DUET_FL servo positioning controller Further information can be found in the following manuals of the DUET_FL product range C
45. and when the PDO is transmitted immediately after the command interpreter is called up e Up to 8 ms may pass between the transmission of an SDO and the response of the controller since the response data have to be compiled in the controller first More information concerning the communication and the control of the DUET FL servo positioning controller via the CANopen interface as well as information concerning the connection of the CAN bus can be found in the CANopen manual for the DUET FL servo positioning controller 6 1 2 Configuring the CANopen communication parameters You can adapt the CANopen communication parameters of the DUET FL servo positioning controller to your CAN bus network under Parameters Fieldbus CANopen CANopen active Baud rate Node number 125 kBaud Basic node number n C 250 kBaud Offset inactive 0 C 500 kBaud Effective node number 1 x Cancel You can define the following communication parameters Baud rate This parameter determines the baud rate used on the CANopen bus Basic node number This parameter includes basic node number of device This number is used to calculate the effective node number It is possible to include the digital inputs into the calculation of the effective node number see below User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 101 The identifiers of the messages are based
46. ay 59 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Torque limitations I eee te eode deis da bed ER ee 60 SPositionind mode E onde elec Er ee dti dd iege 61 S 1 F fi tiorir VerVI W Cr 61 Activating the operating mode u n te og od nus 62 5 2Configuring and optimizing the position controller esee 63 Position controller a meer 64 Global positioning settings u a eta RR A Rte aie 65 Parametrizing position sets ce ctc ter tbe iced da agente 66 Setting or digital outputs n be ede Rr eru nae RE PER RR eed eee 70 Homing 70 Parameterizing the homing 74 GO rs program emo ET 77 Creating course toten aswa eter dioit inte 79 Course program optiolS Lu hi u ia aa a ie ias 80 End Of uu al EAEE EN aAA AAA EADAE EN passa ayah aaa 81 Position coti ete pet Deere egentes d 81 Branch Eine tense ate ep Elite pe beg en Seven bep anata 83 Level test84 Debugging a course progranm name ior ene Seba Litt e dut code con 85 Fu
47. be printed in the online mode and in the offline mode Offline parameterizationThe tool bar underneath the menu bar indicates whether offline or online parameterization is active User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 155 Table 26 Online Offline activation 2 Online Offline Online parameterization active Online Offline parameterization active The active mode is highlighted in green The parameterization program allows access to parameter sets even if no serial communication with the DUET_FL servo positioning controller has been established This however requires the presence of a corresponding DCO file see chapter Loading and saving parameter sets It is possible to read controller parameters from a DCO file change controller parameters save modified values in the same or in another DCO file print parameter sets see also chapter Printing parameter sets In order to let the changes made become effective the modified parameter set has to be loaded into the DUET FL servo positioning controller see chapter Loading and saving parameter sets The illustration below shows the principle of the offline parameterization DCO file DIS 2 ServoCommander Figure 29 Offline parameterization To activate the offline parameterization click on the menu item Options Communication Offline parameterisation or on the offline icon in the tool bar You wil
48. data for the different motor types can be stored Normally your distributor creates this motor database which then contains data Il concerning all motors offered by this particular distributor Please contact your distributor to order this database if it is not included on your installation CD This function can be accessed through the menu Parameters Device parameters Motor data Select new motor The program displays a list on which you can find your motor Motor selection Motor data Angle encoder Resolver Real voltage 30V Pole number 10 Idling speed 3000 r min Offset of angle encoder 95 0 Stator resistance 0 05 Ohm Rated current rms value 20 334 Stator inductance 0 20 mH Maximum current rms value 32 00 Current controller Gain 1 71 Maximum speed 4000 r min Current controller time const 1 80 ms Torque constant 012 Speed controller Gain 0 70 Sense of rotation tight Speed controller time const 16 00 ms Accept values and close dialog x Quit without changes Select your motor if you can find it on the list and confirm your selection by clicking the Accept values and close dialog button Otherwise click the Quit without changes button User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 35 Basic parameterization of new motors Angle encoders The DUET_FL servo positioning controller supports four angle encoder types Resolvers analog Hall
49. deviation between the position setpoint and the actual position is monitored Positioning range A running positioning run is monitored to see whether the positions are within the adjustable positioning range Limit switches If both limit switches are simultaneously active an error will be issued Course program The course program is monitored to detect invalid commands Additional internal monitoring functions Memory test check sums The internal FLASH memory program and data flash memory is monitored with the help of a check sum test and the processor stack is also monitored Operating mode Depending on the operating mode specific monitoring functions are activated Communication The communication through the serial interface and through the field bus CANopen is monitored Operating hour meter The DUET FL servo positioning controller has an operating hour meter In the DUET FL ServoCommander parameterization software it is displayed on the Times tab in the Info Info menu The count of the operating hour meter is saved in the internal flash once in a minute As a result there may be deviations of up to 60 seconds after a reset or a power on Error overview The following table provides an overview of all possible errors In the Reaction column the reactions you can parameterize are marked with an X The parameterization of the possible errors is described in chapter 6 2 Error management
50. freely selectable communication objects makes sense only in special cases The time resolution and the recording delay can be configured on the Time base tab The upper Time slide is used to define the time resolution A value of 10 msec div for example means that the width of one square on the oscilloscope display corresponds to a time of 10 milliseconds The Delay slide is used to determine the position of the trigger event on the oscilloscope screen A value of 0 means that the trigger event will be plotted at the left edge of the oscilloscope screen A negative delay value means that the events before the occurrence of the trigger conditions will also be recorded Pretrigger The trigger source can be selected from the list in the Trigger source field on the Trigger tab Just like and CH2 the trigger event can be selected from list of predefined standard events Alternatively you can also select Freely selectable communication object and use any communication object for triggering A distinction is made between digital and analog trigger sources Digital trigger sources can only have the status yes or no active or inactive An example is DIn7 limit switch 0 Analog trigger sources on the other hand can take on any numerical value e g actual speed value User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 125 In the case of analog trigger sources a scroll box for the trigger level wi
51. group selection through DIN4 and 0135 Only even position numbers are possible DIN 1 ZSTOP active Low a running positioning run will be interrupted low STOP has a higher priority than Tipp pos Tipp neg and Homing run Start The deceleration ramp that is used for this purpose has to be set in the Safety parameters window see chapter 3 3 Selecting safety parameters High activation of the teaching function see section 8 2 1 Teaching positions 3 TEACH DIN 4 Tipp neg High positioning run in the negative direction with the Tipp amp Teach motion parameters see chapter position sets DIN 5 Tipp pos High positioning run in the positive direction with the Tipp amp Teach motion parameters see chapter position sets Rising edge positioning If DIN 0 low Start positioning homing If DIN 0 high Start homing 8 2 1 Teaching positions The procedure described below can be used to approach positions Tipp through the digital inputs and to save them Teach in the controller internal position sets up to 64 The controller must be enabled during the teaching process 1 Activate the Tipp amp Teach mode in the commands window with DIN 0 Approach the desired target position with DIN 4 DIN 5 2 Activate the teaching function step 1 by setting DIN 3 to high This deactivates the function Homing Start of the digital input DIN 6 a
52. immediately Complete position then target line The current positioning run will be completed Then the following position following line X will be approached in accordance with the incoming signal The following applies always lt f both NEXT signals are not set to evaluate following position following line 1 will be approached If NEXT is set to evaluate but NEXT2 is parameterized differently NEXT1 will be used lt If NEXT2 is set to evaluate but NEXT1 is parameterized differently NEXT2 will be used In addition you can select the following statuses for the digital outputs DOUT1 DOUT2 in the Options field ON OFF Target reached fe KS fe Remaining distance message The following applies always The options ON OFF will be adopted immediately The options target reached and remaining distance message will not be adopted until the positioning run of the course program line is started The response to the STOP signal can also be configured in the Options field If the digital stop signal is evaluated the following actions will be performed A running positioning run will be interrupted The drive will slow down with the deceleration ramp When the stop signal reaches the HIGH level again the positioning run will be continued The position branch will not be performed The program will remain in the current program line The edge evalua
53. intermediate circuit DC bus If the error monitoring system detects an overcurrent the power output stage will be shut down immediately to guarantee resistance against short circuits current monitoring with controller warning The DUET FL servo positioning controller has an t monitoring system to limit the average power loss in the power output stage Since the power loss in the electronic power system and in the motor increases in a square manner with the current in the worst case the squared current value is taken as the measure for the power loss When 80 of the maximum integrated value are reached a warning parameterizable will be issued When 100 is reached the maximum current will be limited to the rated current Current measurement check and offset calibration when the power stage is turned on When the power stage is turned on an automatic offset calibration of the current measurement will be performed If the offset lies beyond the permissible tolerances an error will be issued DC bus voltage monitoring Overvoltage monitoring The overvoltage monitoring system of the DC bus intermediate circuit responds as soon as the DC bus voltage exceeds the operating voltage range As a result the power output stage will be shut down Undervoltage monitoring The system checks whether the intermediate circuit voltage DC bus voltage is above a certain minimum limit see chapter DC bus monitoring For User Manua
54. joh mot temp Motor temperature Basic unit temperature ioh_power_stage temp Power stage temperature Basic unit temperature 4 5 joh din Pin status of the digital inputs none posa 0085 joh dout data urrent status of the digital outputs DOUTO ready for operation Bit field hard wired DOUT1 programmable DOUT2 programmable 008 008 008 008 DOUTS holding brake Hard ired 0087 joh aout range alue range of the analog monitor Basic unit voltage maximum for both channels 0088 joh aout resolution volt Resolution of the analog monitor indication Basic unit voltage of a voltage for one bit referred to the value e onnected to which digital output 008A aoutO ko nr Analog monitor 0 Number of the Number of the communication ommunication object of the quantity to be jobject of the quantity to be bose oh aoutO scale Analog monitor 0 Scaling bosc foh aout0_ offset Offset voltage for the analog monitor Basic unit voltage 008D joh aout1 ko nr Analog monitor 1 Number of the Number of the communication ommunication object of the quantity to be jobject of the quantity to be layed bo8F joh aout1 offset Offset voltage for the analog monitor Basic unit voltage 0090 Joh ainO offs Offset AINO Basic unit voltage 0093 oh aimi safezero Safezero Basic unit voltage 00A0 J Beeval enc phi Returns the rotor position without angle Basic unit degree encoder offset displayed disp 0091 foh aini offs Offset AIN1 Basic uni
55. like to enter the acceleration in mm minute s Enter 20 into the Feed constant field and 60 into the Time base speed field 1 minute x 1s 60 x 1 s 60 s Decimal places Another way of configuring the display units is the configuration of decimal places You can enter the number of decimal places for the position speed and acceleration unit from 0 to 5 on the Decimal places tab in the menu Options Display units Display units Display units Decimal places Direct input Position Decimal places 3 Speed Decimal places 3 Acceleration Decimal pl ecimal places At Direct input of distance speed and acceleration units On the Direct input tab you can directly enter values for the factor groups Position Speed and Acceleration if you have previously selected the Direct input option in the Display mode field on the Display units tab Caution For experienced users only The direct input of physical units allows drastic changes of the controller parameters of the DUET FL servo positioning controller You can also select from the following units for the display of the parameterization program Increments Degree Radian Revolutions User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 145 Metre Millimetre Micrometre User defined No unit Here an example in millimetres and hexadecimal displa
56. lug see Figure 46 Connection of cable shield to DIS 2 48 10 with FAST ON PE cable approx 40 mm length CAN Bus AINO DIN0 DIN9 DOUTO 2 e Cable sup Lo Supply and IO cable shielded x1 Motor 1 Figure 46 Connection of the DUET FL to the power supply unit shield connection via cable The device variants DUET FL 48 10 IC and DUET FL 48 10 FB use Pluscon Variocon connectors made by Phoenix for X1 If the recommended metal connector housings see also chapter and are used a good PE connection is ensured by the design of the housing It is sufficient to connect the shield to the connector housing of the mating connector User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 191 A good PE connection has only a low impedance even in the case of very high interference frequencies Mounting the DUET FL controller and the power supply unit to the same metal part of the machine is sufficient for most cases If not use a flexible copper strip width approx 10 mm or a connecting cable with a Cu cross section of at least 6 mm to set up a PE connection DANGER For reasons of safety all PE ground connectors must be connected prior to start up The regulations of EN 50178 concerning protective grounding must be complied with during installation User M
57. messages and a following error message following error monitoring F following error gt trajectory generator correction speed position controller Position Parameter of temp data sel position set speed set positioning unit position point 2 NY e point filedbus CAN parameter Q SN homing course program speed feed POS forward dead range target reached Y remaining distance message x actual start positioning Figure 6 Positioning control block diagram User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 62 In contrast to many competition products the DUET_FL controller recalculates the entire movement process in every control cycle This means that positioning processes can be changed or aborted at any time even during the movement This concept is supported by the high level of performance of the Motion Control DSP inside the DUET_FL controller The high performance positioning control system in the DUET_FL controller has numerous parameters and position data sets Up to 64 position sets can be stored in a non volatile manner in the DUET_FL and approached with the help of the trajectory generator Each of the 64 position sets includes a separate target position destination The other parameters of the 64 position sets are divid
58. on the node number A node number may be assigned only once on a CANopen network Addition of DIN0 DIN3 to node number The value of the digital inputs DINO DIN3 will be added to the basic node number The input combination will be read out only when the CANopen interface is activated or directly after a RESET of the DUET_FL servo positioning controller Thus up to 16 different device addresses can be assigned by using simple jumpers connected to 24V at the digital inputs If you want to use this function you must parameterize the digital inputs accordingly see chapter Configuring the digital inputs Clicking the button opens the menu for configuring the digital inputs The Effective node number field shows the node number resulting from the basic node number and the offset The CANopen active check box is used to activate or deactivate the field bus communication with the set parameters This setting will be adopted straight away i e no reset is required to activate or deactivate the CANopen interface Control through the serial interface Function overview The DUET_FL servo positioning controller has an asynchronous serial interface In most cases this interface is used for the parameterization of the servo positioning controller The interface can also be used to control the controller in the application if the response time of the drive is not of prime importance In this case so called communication objects are us
59. parameterized The values for accelerating or decelerating the drive can be entered into the Acceleration field The Times field shows the times resulting from the running speed and the accelerations The field Time constant jerk free can be used to define a filter time used to smooth the acceleration ramps in order to realize a jerk limited acceleration The following illustrations show the speed profile of a positioning run with and without a jerk limited acceleration Figure 8 Time optimal and jerk limited positioning The positioning range configured under Parameters Positioning Settings position sets Course program is displayed in the field Positioning range Input limits The settings of the setpoint ramp have no effect on the motion profile during homing or in the positioning mode 1 Approaching destinationsThere are different ways to select destinations and to start positioning runs User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 69 Through the digital inputs The destinations are selected through the digital inputs DIN0 DIN5 When there is a rising edge at digital input DIN6 the destination is adopted and the positioning run is started Information on how to configure the digital inputs for the positioning run can be found in chapter 5 3 Digital inputs DIN0 to DIN9 Through the serial interface The movement to the destination position and the homing run can be started
60. pins of X1 DUET FL 48 10 165 14 Figure 34 Angle encoder connector 166 eee 14 Figure 35 Motor cable connection 167 eese 14 Figure 36 Holding brake connection 167 eee 14 Figure 37 Technology module connection 168 14 Figure 38 Numbered pins of X1 DUET FL 48 10 IC 169 14 Figure 39 Numbered pins of X1 DUET FL 48 10 FB 170 14 Figure 40 Brake resistance connection 172 14 Figure 41 Position and numbered pins X401 X402 and X5 at DUET FL 48 10 FB 179 5 uocat Mete 14 Figure 42 Position and connection technology module 175 14 Figure 43 Connection to power supply control and motor 177 14 Figure 44 Wiring example for the power supply and EMERGENCY OFF EMERGENCY STOP 1 uio am as aaa i coe 14 Figure 45 Connection of the DUET FL to the power supply unit shield connection on the chassis 186 l u 14 Figure 46 Connection of the DUET FL to the power supply unit shield connection via cable 166 M 14 Table 1 Scope of supply 2D 5 ere deett 16 Table 2 Addit
61. pulse evaluation 73 ocio etr edt n a UT RR RD ecu ER ee ren e roc rette Mh e REL 75 Go to zero position after homing run a 75 Offset start POSION eo 75 Settlligs suem ate bb orb deti ted tte Ute 74 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 194 I Incremental encoder emulation 94 Input limits 46 Installation from CD ROM 32 L cnet toh tat Scat Tee arches pL SU ELE do D du ays shi GG 48 Loading Offline parameterizati nu u uN apaina i 155 Online pararmeterizati nr u u U aa a aa E 152 Loading a parameter set 152 Loading the firmware 156 M Manual input of angle encoder data 37 5 noe Minera dece RS i e 92 63 Remaining distanCe u aaran ea de Dee be Aida 67 Motor data x u uu mas pR uhay aqa Auto detecti enan t emu ft an beets tenia aaa Sa sha SANUS 39 Motor un roi et ehe eio 38 N Numerical input fields 114 O Offline parameterization
62. servo positioning controller is mounted vertical position This means that connector X1 is located on top or at the bottom The maximum permissible temperature of the housing is 70 C to guaranteed the specified service life of the electronic system Connect the connecting cable for X1 as closely as possible to the DUET FL servo positioning controller to increase the reliability of the cabling Installation spaces Keep a minimum distance of 100 mm underneath and above the device to other components to ensure sufficient ventilation Power supply DIS 2 Inputs Outputs Communication Motor kam a Power supply DIS 2 feedback Inputs Outputs b DUET_FL mounting options a Mounted directly on the motor standard b Separated from the motor Please contact your local distributor to check whether this option is available User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 166 Position and connection of the pin and socket connectors The DUET_FL servo positioning controller has the following connections X1isthe only IO connector led to the outside It includes digital and analog inputs and outputs the power supply the CANopen interface and some debug signals X2 is used to connect the angle encoders This connector supports the following angle encoders gt Resolvers gt Analog Hall sensors upon request gt Stegmann HIPERF
63. setsYou can print parameter set in plain text display and save them by selecting the menu option File Parameter set Print The following menu will be displayed Print positions C C x Cancel none AI C frm 0 to 63 Page preview Print Save as text file In the Print positions field you have to select the positions to be printed at the end of the parameter list The selection affects the length of the plain text output You can expect none The parameter list output will not include position sets Length about 5 pages all The output will include all 64 position sets Length about 7 pages from to The position range can be defined explicitly The buttons of the Print menu have the following meaning Additional information Calls up the corresponding submenu Page preview Creates the plain text output and displays it on the screen Print Creates the plain text output and prints it on the printer Save as text file Creates the plain text output and saves it under a name defined by the user The default directory of the plain text output is the txt sub directory When the plain text output is created for the page preview and for printing the file txt will be written into the txt sub directory User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 154 Additional information The user can enter additional informatio
64. starts to move for several seconds A successful motor identification is indicated by the following message Motor identification User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 37 If an error has occurred the program displays the following message Motor identification If the automatic determination cannot be performed the angle encoder data has to be entered manually This problem may occur in the following cases e f special motors with a very high numbers of pairs of poles are used e f the motor shaft cannot move freely e f the mass inertia of the motor is very high and if the motor does not settle in the impressed position within the measurement time The manual determination of the angle encoder data requires good knowledge of synchronous machines and the encoder used We recommend contacting your local distributor in this case You have to set the following parameters Table 5 Angle encoder parameters Resolver SinCos Hall Incremental encoder with encoders Hall sensor Six Step Angle encoder offset Phase sequence Offset of second track Hall encoder Phase sequence of second track Line count number of increments Index pulse yes no Caution Incorrect angle encoder data may lead to uncontrolled movements of the drive This may damage the motor or the entire system User Manual DUET_FL DUET_FL 48 10
65. the or command and an error code will be transmitted ON FFFF FFFF Read maximum value X NNNN NNNN DDDDDDDD Always 32 bits as the reply In the case of an error the or command and an error code will be transmitted OX FFFF FFFF Table 21 Meaning of letters in the command syntax ener Meaning hexadecimal Communication object number l l Data bytes Error code 0x00000002 0x00000003 0x00000004 0x00000005 0x00000008 0x00000009 0x00000010 0x00020000 0x00030000 Data value too low gt not written Data value too high gt not written Data value too low gt written but limited beforehand Data value too high gt written but limited beforehand Bit constant value not permissible Bit data value not permissible at present in this operating mode Read or write error in flash memory Lower object limit does not exist Upper object limit does not exist User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 129 0x00040000 No object present with this number object does not exist 0x00050000 Not allowed to write object In addition to the commands for accessing the communication objects there are also some commands for controlling the servo positioning controller The following table shows the command set used Table 22 RS232 command syntax ommand Response Description BAUDbbbb Set baud rate Eoor SERVICE APPLICATION _ Status inqu
66. the window for parameterizing the position controller under Parameters Controller parameters Position controller Position controller Position controller Gain 0 20 0 20 f r Following error max correction speed 500 000 r min See Message 4 1 Dead range Dead range Enter the following values Gain Max correction speed In this field you can define the speed to be added to the running speed in the event of a deviation between the position setpoint and the actual position At the beginning it should be set to about 500 rpm Dead range Here you can state an admissible distance between the setpoint value and the actual value within which the position controller stays inactive The dead range can suppress oscillations which may occur when encoders with a low resolution are used e g in block commutated drives with position recirculation exclusively through the Hall sensor integrated in the motor The dead range should be set to zero to reach the highest possible position accuracy Following error Parameterization of a following error and a response delay When the deviation between the setpoint and the actual value is greater than the configured limit a message or an error will be issued The reaction has to be set accordingly in the fault management system User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 64 Position controller optimiza
67. then automatically adopt the selected unit If you want to use the unit Nm for the torque you have to make the torque constant known i e the conversion factor between the current and the torque The torque constant has to be entered into the menu Parameters Device parameters Motor data and can be calculated using the information stated on the type plate of the motor Divide the rated torque by the rated current Il A torque constant of 0 Nm A is not permissible if torques in Nm has been selected 4 2 Setpoint assignment through setpoint selectors The DUET_FL servo positioning controller allows you to assign the setpoint through a setpoint management system in the torque control and speed control mode You can find the corresponding menu under Operating mode Setpoint Selection The following setpoint sources can be selected 2 analog inputs gt AIN 0 and AIN 1 parameterization see chapter Analog inputs AINO and AIN1 Fixed value RS232 Fixed value CAN Position controller in speed control mode Speed controller in torque control mode 1 If no setpoint source is active the setpoint is zero The setpoint management system manages your settings separately for the individual operating modes This means that when you change the operating mode the setpoint selector will be automatically set to the values defined last by you in the respective operating mode User Manual DUET FL DUET FL 48 10 Version 1
68. 0V5V Signal CAN_H according to CAN bus specification 5 CANLO 0V5V Signal CAN_L according to CAN bus specification User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 178 11 18 5 Connection Serial parameterization interface X5 Configuration on the device M8 flush type socket 3 pin type Position front right see Mating connector M8 mating connector for free configuration e g Phoenix SACC M8MS 3CON M SH Table 36 Pin assignment of connector X5 Ficus me pu pee L RxD 10 V Reception signal RS232 specification TxD 10 V Transmission signal RS232 specification Reference potential for the serial interface internally 4 GND OV connected with the common reference potential for the intermediate circuit and the logic system Table 37 Pin assignment to set up an RS232 adapter cable for connection to a PC notebook X5 pin Ew at Dsub 9 connector Specification FL 48 10 FB connection to 1 RxD 3 Ile p Transmission signal RS232 specification Reference potential for the serial interface internally 4 ND 5 GND connected with the common reference potential for the intermediate circuit and the logic system _ hield _ Shield Connect the cable shield on both sides of the connector housing User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company
69. 1 Selectthe firmware to loaded and click the Open button 2 Then a window for selecting the data transfer rate baud rate opens Baudrate Boot Baudrate Boot C 4800 C 9600 C 19200 C 38400 57600 115200 3 Try a baud rate of 115200 bauds If this leads to data transfer problems error messages you have to reduce the baud rate for the next trial A successful firmware download is indicated by the message below User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 158 Load firmware If the firmware download was not successful the message Error at firmware download will be displayed Information x d Error at firmware download Load firmware In most cases this is due to a communication error during the transfer to data into the DUET_FL servo positioning controller Repeat the process described above with a lower baud rate User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 159 Technical data Ambient conditions and qualification Permissible temperature Storage temperature 25 to 70 C ranges Operating temperature 0 C to 50 C 50 C to 70 C with power decrease of 2 K Temperature shut down at about 80 C Permissible altitude Up to 1000 m above msl 1000 to 4000 m above msl with power decrease Atmospheric humidity Rel humidity up to 90 non condensing Type of prot
70. 1 Motor Power Company Page 58 Speed controlled mode The setpoint management system includes a ramp generator Any of the above mentioned setpoint sources can be selected under Selector Speed setpoint and run through the ramp generator You can also select another addition setpoint source Selector Correcting setpoint This other setpoint source however will not be fed through the ramp generator The total setpoint is a summation of the two values The acceleration and deceleration time of the ramp can be parametrized depending on the direction Setpoint selectors Torque control Speed control Setpoint ramp r Selector Speed setpoint Vass x Cancel Speed setpoint r Selector Correcting setpoint 0 000 r min Torque limitation Selector Torque limitation Analog input 1 E 0 219A In the speed setpoint selector menu shown above you can also activate the torque limitation This is symmetrically possible and the limitation source can be selected as desired Torque controlled mode If you select the Torque control tab you can select any of the above mentioned setpoint sources under Selector Torque setpoint However the ramp generator and the correcting setpoint are not available in torque controlled mode You can also activate the torque limitation Torque control Speed control Sf OK Selector Torque setpoint j Torque setpoint Analog input
71. 15 2 k bits s 11 13 9 CAN Bus X1 CANopen controller TJA 1050 Full CAN Controller 1M bit s maximum adjustable value 500 kbit s CANOopen protocol In accordance with DS301 and DSP402 11 13 10 Analog inputs and outputs X1 High resolution analog inputs 10V input range 12 bits differential lt 250us delay input protection circuit up to 30V Analog input Analog input can be used to assign current or speed setpoints AINO AINO multiple use with DINO and DINI Analog input Analog input can be used to assign current or speed setpoints AINI AIN1 multiple use with DIN2 DOUTI and DIN3 DOUT2 Analog output 0 10V output range 8 bit resolution fi 1kHz AMON0 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 164 11 13 11 Digital inputs and outputs X1 Signal level 24V 8V 30V active high compliant with EN 1131 2 Logic inputs in general BitO 1 Bit 1 Destination selection for positioning Bit 2 16 destinations can be selected from destination table Bit4 Destination group selection for positioning 4 groups with separate positioning parameters Bit5 e g speed accelerations positioning mode can be selected Control signal for positioning start Limit switch input 0 Limit switch input 1 Power stage enabling in the case of a rising edge Error acknowledgement in t
72. 3000 000 rimin Correcting setpoint E 0 00 V 0 00 V Offset H m s Safe Zero 0 00 V 0 00 V Here you can enter a conversion factor between the input voltage and the torque setpoint or the speed setpoint In the Offset field you can enter a voltage that will be automatically added to the voltage measured at the analog input This can be used for instance to compensate for the offset of the analog control voltage of a control system and for the offset of the analog input in the controller This solves the problem that a very small setpoint is generated when a voltage of 0 V is assigned externally Another area of application is the possibility to assign positive and negative setpoints at an input voltage of 0 10 V The Safe zero function limits the setpoint to zero if it lies within the voltage range defined in this field This makes sure that in the case of a setpoint of 0 V the drives remains at precisely at standstill for a long time without drifting away slowly voltage safe zero Figure 27 Safe zero Do not activate the safe zero function in the case of applications with a position control internally or through the external control as from a control point of view it acts like a dead range or a backlash in the control system see Figure 27 During operation this downgrades the stability in the control circuit This menu has separate tabs for the two analog inputs so that you can scale th
73. 6 EEC is available from the manufacturer 11 20 1 EMC ranges First and second environment Proper installation and wiring of all connecting cables provided the DUET FL servo positioning controllers fulfil the requirements of product standard EN 61800 3 This standard no longer refers to classes but to so called environments The first environment includes mains supply networks supplying residential buildings The second environment includes mains supply networks exclusively supplying industrial buildings User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 189 Connection between the DUET_FL and the motor If the DUET_FL servo positioning controller is mounted directly on the motor the cables are located inside the housing They are only a few cm long In this case shielding is not necessary If you want to mount the motor and the DUET_FL separately please observe the following wiring instructions Use shielded cables only The encoder cables should have an internal and an external shield Use separate cables for the motor phases and the angle encoder Alternative Use a combined cable for the motor and the angle encoder but with separate shields Connect all external shields with the housing of the DUET_FL controller Connect the shield of the motor cable with the motor housing Connect the internal shield of the encoder cable to PIN 1 of X2 Make sure to set up a good PE connection between the m
74. 8 6 3 Serial communication protocol A serial communication protocol in the ASCII format is used for the communication between the DUET FL servo positioning controller and the DUET FL ServoCommander parameterization program interface A command always has to be terminated by CR The technical data of the serial interface are described in chapter 6 1 3 Serial communication through DUET FL ServoCommanderTM So called communication objects are used mainly for the communication You can access the actual values and parameters of the servo positioning controller using these communication objects Physical quantities are transferred in standardized basic units The following table shows the command syntax of the communication objects Table 20 Command syntax of communication objects ommand Response Description rite object W NNNN DDDDDDDD OK In the error free case OK will be returned In the or case of an error the command and an error code will OW FFFF FFFF be transmitted Read object R NNNN NNNN DDDDDDDD Always 32 bits as the reply In the case of an error the or command and an error code will be transmitted OR FFFF FFFF Read internal value I NNNN NNNN DDDDDDDD Always 32 bits as the reply In the case of an error the or command and an error code will be transmitted OLEFFFF FFFF Read minimum value N NNNN NNNN DDDDDDDD Always 32 bits as the reply In the case of an error
75. ACE gt Digital Hall sensors Six Step encoders lt is used to connect the holding brake lt X301 X302 X303 are the connectors for the three motor phases U V W lt X8 is an extension port for future technology modules Figure 30 Arrangement of DUET_FL pin and socket connectors top view of electronics module User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 167 Housing dimensions Figure 31 Housing dimensions User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 168 Installation The servo positioning controller can be mounted directly on the motor using a seal The mounting surface on the motor should be plain and smooth with a circumferential groove to protect the installation against splash water An IP67 class of protection is possible with a good mechanical design 5 8 5 E 5 e a 8 r X 5 H _ _ gt amp A 5 uw 72 g gt E IE 5 21 Figure 32 DUET_FL application example Synchronous servo motor in the power range of 500 W with a DUET_FL servo positioning controller and a gearbox for a steering applicat
76. ANopen manual CanOpen Manual DUET FL Description of the implemented CANopen protocol in accordance with DSP402 Mounting instructions Mounting instructions DUET FL Instruction manual concerning the installation of the DUET FL servo positioning controller The servo positioning controller has a FLASH program memory allowing the operating software of the controller to be updated even after it has be delivered and installed in a machine The manufacturer is continuously revising and extending the operating software of the controller to meet a wide range of customer requirements The information stated in this manual refers to the following versions of the controller operating software and of the parametrization program DUET FL servo positioning controller firmware Version 3 0 Parametrization software Version 2 1 1 2 Supply state and scope of supply The supply comprises Table 1 Scope of supply DUET FL servo positioning controller Supply state Default parameter set for operating the resolver motor Table 2 Additional parametrization program DUET FL ServoCommander Windows parametrization program German English French Mating connectors for power control or rotary encoder connections are not part of the standard scope of supply They can be ordered as accessories User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 23 Table 3 DUET FL 48 10 accessories Connector set AMP pin an
77. C bus voltage User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 43 An undervoltage detection value lt 50 makes not sense as in this case the power supply unit cannot supply the voltage required by the controller in the application Use a stronger power supply unit instead In the error field you can define the response of the servo when it detects an undervoltage You can also make this setting in the error management menu see chapter 6 2 Error management Motor temperature monitoring If your motor is equipped with a temperature sensor the sensor can be adjusted in the menu Parameters Device parameters Temperature monitoring Temperature monitoring Motor temperature C no motor temperature sensor C digital motor temperature sensor analog motor temperature sensor Type krv 81 82 210 220 250 Temperature threshold 100 0 C m In the Motor temperature field you can select whether you are using no motor temperature sensor at all an analog sensor or a digital sensor Select the digital motor temperature sensor option if the motor used is equipped with a normally closed contact or with a temperature sensor with PTC characteristics The controller supplies the sensor with a measuring current The system detects a voltage drop at the sensor and triggers the overtemperature error In the case of partly linear analog temperature sensors
78. COMPANY User Manual DUET FL 48 10 Motor Power Company Telefon 39 0522 682710 Via Leonardo da Vinci 4 Telefax 30 0522 683552 info motorpowerco it POWER 42024 Castelnovo di Sotto RE E mail P http Awww motorpowerco co COMPANY Italy Page 2 Copyrights 2006 Motor Power Company All rights reserved The information and data in this document have been composed to the best of our knowledge However deviations between the document and the product cannot be excluded entirely For the devices and the corresponding software in the version handed out to the customer Motor Power Company guarantees the contractual use in accordance with the user documentation In the case of serious deviations from the user documentation Motor Power Company has the right and the obligation to repair unless it would involve an unreasonable effort A possible liability does not include deficiencies caused by deviations from the operating conditions intended for the device and described in the user documentation Motor Power Company does not guarantee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer Motor Power Company does not assume any liability for damages resulting from the combined use of its products with other products or resulting from improper handling of machines or systems Motor Power Company reserves the right to modify amend or improve the
79. DUET FL controller combined with the winding capacity between the motor phase and PE in the motor To make sure that the radiation limits are complied with use a shielded cable User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 190 cage clamp presses cable shield to conductive chassis e g Phoenix SK 20 CAN Bus i um beu AIN1 SSS DOUTO 2 Electrical conductive connection Cable Supply and 10 cable shielded Electrical conductive connection Mounting chassis sheet metal Figure 45 Connection of the DUET_FL to the power supply unit shield connection on the chassis If possible connect the cable shield to the machine part on which the DUET_FL servo positioning controller is mounted as shown in Figure 45 Remove the cable sheath only in the area of the shield terminal Then press the open cable shield onto the machine part using a shield terminal The selection of the shield terminal depends on the mechanical design The suggested SK 20 D shield terminal made by Phoenix is rated for a maximum metal sheet thickness of 2 mm A conductive and flat connection between the motor and the machine part and between the machine and the cable shield has to be ensured If this type of shield connection is not possible for design reasons you can also connect the cable shield under the fastening screw of the DUET_FL using a suitable cable
80. ENCY STOP Stop category 2 is often realized by the control by setting the setpoint to zero In order comply with the requirements of stricter safety categories additional external monitoring devices have to be used Table 41 Stop categories Stop category 0 Uncontrolled stop Stopping by immediate EMERGENCY OFF or EMERGENCY STOP disconnection from power Stop category 1 Controlled stop Power is disconnected when the EMERGENCY STOP machine has come to a standstill Stop category 2 Controlled stop Power is not disconnected when Not suitable for EMERGENCY OFF or the machine is at a standstill EMERGENCY STOP User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 185 EMERGENCY OFF EMERGENCY STOP wiring examples Figure 8 on the next page shows a realization example for a system that comprises one or several DUET_FL units power supply units with a mains power connection a control system and switching elements to realize the EMERGENCY STOP function in accordance with EN 60204 1 stop category 1 The system comprises the following components S1 Mains power switch F1 Fuse for the 24 V logic supply The logic supply is supplied with 230 V AC on the primary side through L1 and N Q1 3 phase circuit breaker The rating depends on the number of DUET_FL units and on the requirements of the power supply unit K1 Power contactor F2 Fuse in the 48 V power stage supply system Every DUET_FL needs a sep
81. FFFFFFF c J CH2 inactive Scaling 20 div Offset 0 00 div B 2 Time base Time 2 ms div Delay 6 00 ms T Trigger inactive Level 1 00 Rising Mode Auto 2 ms 7 div Cursor 7 ms PISIS Force inactive User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 126 The oscilloscope has various buttons to start certain activities They are shown in the following section Icon Errpre sargente del riferimentp non trovata Additional buttons and controls Icon Errore sorgente del riferimento non trovata iCuisop CH2 30 ms 451 r min CHI CH2 X te Force m RUN 5 wait forwioger Errore sorgente del riferimento non User Manual DUET_FL DUET_FL 48 10 Meaning Calls up the Oscilloscope Settings window Uses thin lines on the oscilloscope display Uses thick lines on the oscilloscope display Maximizes the oscilloscope window Minimizes the oscilloscope window Prints the oscilloscope window Calls up Excel and creates a spreadsheet containing the measurement values of the last measurement Excel has to be installed on the PC Zoom function Help text Stops the zoom function Shifts the area shown in the horizontal direction Meaning 1 2 3 4 9 Version 1 1 Motor Power Company 1 2 3 4 9 Page 127 These contr
82. FL ServoCommander Proceed as follows for the installation from CD ROM 1 Put the CD ROM into the CD ROM drive of your computer 2 Start the Windows Explorer 3 Select the directory DEUTSCH or ENGLISH on the CD ROM 4 Double click the SETUP EXE program to start it 5 Follow the instructions of the installation program The installation program creates a new program group called Motor Power Company In this program group you will find the entry DUET_FL ServoCommander through which you can start the parametrization program User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 33 Initial parameterization of the controller Commissioning Parameter set in the delivery state The DUET_FL servo positioning controller comes supplied with the default parameter set During commissioning the default parameter set has to be adapted to the specific application Otherwise the DUET_FL servo positioning controller has the status not commissioned The default parameter set includes a basic parameterization of the controller for use as a speed controller with setpoint assignment through analog input AINO The controller settings and the current limits are set so low that a connected motor of a typical type will not be overloaded or destroyed if the controller is released accidentally The manufacturer settings in the default parameter set can be restored with the help of the menu File Parameter set Load de
83. L application example Synchronous servo motor in the power range of 500 W with a DUET_FL servo positioning controller and a gearbox for a steering application eese 168 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 14 Figure 33 Numbered pins of X1 DUET FL 48 10 169 Figure 34 Angle encoder connector eese 170 Figure 35 Motor cable 171 Figure 36 Holding brake connection U 171 Figure 37 Technology module connection eese 172 Figure 38 Numbered pins of X1 DUET FL 48 10 173 Figure 39 Numbered pins of X1 DUET FL 48 10 174 Figure 40 Brake resistance 176 Figure 41 Position and numbered pins X401 X402 and X5 at DUET FL 48 10 FB uu u UD 177 Figure 42 Position and connection technology module 179 Figure 43 Connection to power supply control and motor 181 Figure 44 Wiring example for the power supply and EMERGENCY OFF EMERGENCY STOP c MR 186 Figure 45 Connection of the DUET FL to the power supply unit shield connection
84. Pin assignment of connector X301 X303 X3 _ Vae Specification 15 antes 40 Arms max 0 Hz 200 Hz Connection of the three motor phases 11 14 2 Connection Holding brake X3 Configuration on the device JST No B02B XASK 1 Mating connector X3 JST No XAP 02V 1 contacts JST No SXA 001T P0 6 Figure 36 Holding brake connection Table 30 Pin assignment of connector X3 n aa 0V 24V Digital output high active for the holding brake max 700 mA internal supply via the 24 V logic supply OV Reference potential for the holding brake User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 172 Connection Extension port X8 Configuration on the device lt Mating connector X8 2 x 8 RM 2 54 female 2 x 8 RM 2 54 mm male X8 8 6 715 Figure 37 Technology module connection Table 31 Pin assignment of connector X8 Pin no Value 1 GND 3 3 V Mos SCLKB miso 55 RESET 10 12 14 no All signals with 3 3 V CMOS logic level User Manual DUET_FL DUET_FL 48 10 Specification Reference potential Technology module power supply 100 mA max together with 5 V SPI Serial Master Output
85. Power Company Page 91 tignore gt 200 ms parameterizable Attention After the time tignore the digital inputs re assume their functionality as it was before the teaching mode As a result the drive may start to move 5 5 Digital outputs DOUTO to DOUT3 There are four digital outputs DOUTO DOUT3 to display selected operating states of the DUET FL servo positioning controller The DOUTO output is hard wired and indicates the readiness for operation of the servo positioning controller Readiness for operation will be indicated if the DUET_FL servo positioning controller has started after power ON and no error has been detected or if the user has acknowledge an error The digital outputs DOUT1 DOUT2 can have different functions assigned see chapter Configuring the digital outputs The digital output DOUTS3 is permanently assigned to the holding brake see chapter 5 6 Holding brake DOUTS An overview of the available digital outputs and their current function assignment can be found in the menu Display Digital outputs Digital outputs Functional overview Standard outputs DOUT Controller ready for operation DOUT1 Off DOUT2 DOUT 3 Holding brake unlock Z Configuring the digital outputs The digital outputs DOUT1 amp 00072 can be parameterized in the menu Parameters lOs Digital outputs Standard outputs pouto Controller ready fo
86. T_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 29 Do not touch electrical connections of the components when switched on Prior to accessing electrical parts carrying voltages exceeding 50 Volts disconnect the device from the mains or power supply Protect it from being switched on again Nep For the installation the amount of DC bus voltage must be considered particularly regarding insulation and protective measures Ensure proper grounding wire dimensioning and corresponding short circuit protection 2 1 1 Protection against electrical shock by means of protective extra low voltage PELV All connections and terminals with voltages between 5 and 50 Volts at the servo drive controller are protective extra low voltage which are designed safe from contact in correspondence with the following standards International IEC 60364 4 41 European countries within the EU EN 50178 1998 section 5 2 8 1 DANGER b High electrical voltages due to wrong connections Danger to life risk of injury due to electrical shock Only devices and electrical components and wires with a protective extra low voltage PELV may be connected to connectors and terminals with voltages between 0 to 50 Volts Only connect voltages and circuits with protection against dangerous voltages Such protection may be achieved by means of isolation transformers safe optocouplers or battery operation Protection against dan
87. The abbreviations C E and W have the following meaning Critical error The controlled operation of the motor cannot be guaranteed The power stage will be switched off immediately The motor will coast down Error The motor will be decelerated with the safety ramp Then the power stage will be switched off Warning The motor can still be used though perhaps only for a limited amount of time The user can parameterize whether warning will be displayed or not User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 108 gt Display The error will be displayed but no other measures are taken gt No display The error will be ignored completely Table 16 Error overview a Possible causes measures Release time Check the configuration of the temperature lt imal monitoring system Temperature sensor correctly wired Motor Movement of mechanical system impaired overtemperature motor too hot Temperature of the electronic power lt 100ms system lt 40 C or gt 85 C DUET_FL heated up by the motor Decouple the DUET_FL thermally if Over necessary undertemperature Check improve the installation and the power stage cooling conditions Angle encoder connected lt 5ms Angle encoder cable defective Angle encoder defective Error SINCOS Check the configuration of the angle supply encoder interface Angle encoder connected lt 5ms Angle encoder cable defective Angle en
88. The mains power supply with the master contactor fuses and an EMERGENCY OFF device is not shown The connection is described in chapter EMERGENCY OFF EMERGENCY STOP terminology and standards Power Supply Each drive 15 DIS 2 48 10 IC C characteristic PM synchronous machine prn U ZK aec an RE 24V 48 V DC i gt 20 15 n T C characteristic AMONO RxD TxD vec EE lt a holding Fewer Supply p AIN0 J brake ee 120R 6 10 AL CANLO gt O DIS 2 48 10 FB 24VDC gt 2A central GND point Controller PLC 7 I connected ES ra T internal 1 AMON0 I E i E PM synchronous machine 25 Y s m AINO AIN0 RxD holding TxD X5 aM brake GND i X401 CANH X402 Resolver Encoder DOUT DINx x4 DINx DOUTx X2 12 2 2 X304 X304 RBrake other DIS 2 48 10 Figure 43 Connection to power supply control and motor User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 182 The servo positioning controller is connected to the 48 V intermediate circuit DC bus supply and to the 24 V logic supply A shared reference potential GND is used A central star point near the power supply units for all GND connections reduces the ground bouncing effects between the controllers The mot
89. The risk assessment will indicate whether the total or partial loss of the safety function s arising from faults is acceptable User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 184 The standard EN 60204 1 describes possible actions for emergency situations and defines the terms EMERGENCY OFF and EMERGENCY STOP see Table 11 Table 40 EMERGENCY OFF and EMERGENCY STOP according to EN 60204 1 EMERGENCY This intervention is used to achieve electrical An EMERGENCY OFF has to be used if there is a risk of OFF safety in an emergency situation by electric shock or another risk caused by electricity disconnecting the electrical power to a complete system or installation or part of it EMERGENCY This intervention is used to achieve functional An EMERGENCY STOP is used to stop a process or a STOP safety in an emergency situation by stopping a movement which has become hazardous machine or moving parts As a consequence an EMERGENCY OFF device requires the disconnection of the power supply through at least one power contactor whereas an EMERGENCY STOP can be performed without disconnecting the power supply For stopping the drives EN 60204 1 describes three stop categories that can be used depending on a risk analysis see Table 12 The next section includes a connection suggestion that allows to realize the stop categories 0 and 1 Stop category 2 is not suitable for an EMERGENCY OFF or an EMERG
90. a DIN5 DING DIN7 DIN8 DIN9 analog inputs active X X X X Lx X active X ELM EN encoder mulation active nalog monitor active x Digital outputs 1 amp 2 active Table 12 DUET_FL 48 10 IC digital inputs possible combinations pio DIN1 DIN2 DIN3 pia DIN5 DING DIN7 DIN8 DIN9 analog inputs active x x X X Penis s active x x 1 encoder mulation active car el r s E analog monitor active Digital outputs 1 amp 2 active Table 13 DUET_FL 48 10 FB digital inputs possible combinations Dio DIN1 DIN2 DIN3 DIN5 DING DIN7 DIN8 DIN9 analog inputs active X X X X x omo m active xix NN Ls mulation active L encoder analog monitor active Digital outputs 1 amp 2 active User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 87 An overview of the available digital inputs and their current assignment can be found in the menu Display Digital inputs Digital inputs Functional overview DINO inactive Analoginput gt DIN 1 inactive Analoginput d DIN 2 inactive Analoginput 2 DIN 3 inactive Analoginput o DIN 4 Positioning selection 2 DIN 5 Positioning selectio
91. already made for the targets are lost The position data sets are reset to default values This means that you have to re parameterize all the targets after you have changed the operating mode Parametrizing position sets In the DUET_FL servo positioning controller 16 or 64 positions sets can be parametrized The parametrizing accomplished in the menu Parameters Positioning Destination parameters Click the GO to start a positioning run with the destination set currently displayed Click the Positioning settings button if you want to change general positioning settings e g position limits see chapter Global positioning settings Tab Settings Destination Settings Driving profile Position 0 15 Positioning 0 15 Start during positioning C relative C Ignore start command relative to last destination C for end of positioning run C absolute Interrupt actual positioning rMessages 0 63 Start delay 0 15 Remaining 0 000 R distance C Tipp amp Teach C CAN Bus x Cancel Positioning settings 33 50 You can select the positioning set which is to be parametrized in the Destination section on the left In use of 64 positioning sets these sets are divided into 4 position groups 0 15 16 31 32 47 48 63 If the option 16 Positions 16 driving profiles is activated in the menu Settings position sets Course program only 16 pos
92. am will continue in line X If the digital signal NEXT1 is LOW the program will continue in line Y An unconditional program jump e g for infinite loops can be generated by stating the same branch destination for NEXT 1 2HIGH and NEXT1 LOW In Figure 23 the level test of NEXT1 2 is performed immediately at the start of program step 11 The line of the next course program command is determined depending on the result of this level test program step program step 10 program step 11 program step 12 DOUT 1 2 high low program step 10 target reached remain ng distance progra DOUT 1 2 high low program step 11 DOUT 1 2 high low DOUT1 2 high program step 12 low DOUT1 2 target reached remaining distance activities course program step 10 calculate N new branch destination new positioning evaluate level NEXT1 2 Figure 23 Level test time diagram Debugging a course program If you switch to Debug mode additional status information will be displayed in the course program window User Manual DUET_FL DUET_FL 48 10 Course program active Indicates that the course program is running and being processed Course program stop Indicates that the course program has been stopped by the stop signal NEXT1 NEXT2 Shows the current status of the digital inputs for NEXT1 amp 2 DOUT1 DOUT2 Shows the current status of the digital outputs DOUT1 amp 2 Li
93. anual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 192 INDEX A Actual speed value filter 54 Actual yale S mea RID het AGt al valg WING OW rcx 116 Analog inputs 96 Analog uY Numeric overflow imtialipha u l a 98 le p M 98 Analog monitor 98 Angle encoder iie eins eM 35 Angle encoder identification 35 B Baud rate E tee dva Actual data transfer rate e sert ee x ee De eval 102 Brake functions 95 C niea pers 114 eren Basic node number eiie bes a nae Mee a nala pti ski hali 100 TER 100 Configuring the communication cee eee U 100 Addition of DIN0 DIN3 to node address 101 COMMISSIONING u u u Lu uy aus aasan SA Loading a parameter Set L a degunt done d d aae dae delere eda sue Ed ene 33 Commissioning aean naaa Saates 33 Communication via communication objects 117 Communication window for RS232 transmission103 Configuring the communication 102 Control elements
94. arameterisation a 154 Torque constant 57 Torque controlled 57 Transfer window 103 Homing run at controller enable 75 Setting of digital outputs 70 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 196 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company
95. arameters in this window Decelerations gt Quick stop deceleration This deceleration will be used when the controller is no longer enabled or in the event of an error if possible User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 48 gt Limit switch deceleration This deceleration will be used when the drive hits a limit switch gt Decelerations STOP input This deceleration is used if the digital input DIN1 is set to low in the jogging amp teaching mode Maximum stop delay If the drive could not be brought to standstill in a controlled manner after the controller was disabled e g due to an incorrect parametrization the output stage will be switched off after this delay and the motor will coast down if it had not already been decelerated to zero Speed limitation The speed setpoint will be limited to the value set in this field Torque limitation The Settings button opens the Motor data menu see chapter 3 1 1 Motor data There you can define a torque limitation in Amperes by setting the limit Maximum current in A rms value Absolute positioning range The Settings button opens the Settings position sets Course program menu see chapter Global positioning settings There you can define a maximum positioning range SW limit switch functionality Depending on the settings of the control circuits for current speed and position the parameters set may be temporarily exc
96. arate fuse ECS EMERGENCY STOP switching device A safety chain is connected to this device PLC An SPC or an industrial PC that is used to control the system Under normal operating conditions the switching contacts in the ECS are closed The SPC actuates the power contactor K1 through a digital output Every DUET_FL unit signals to the SPC that it is ready for operation via DOUTO Thus every DUET_FL unit requires one digital input at the SPC The SPC uses a second digital output to control the controller enabling signal DIN9 of all the connected DUET_FL units This common enabling signal is also fed through the ECS In the event of an error EMERGENCY OFF EMERGENCY STOP the intermediate circuit supply and the controller enabling signal will be disconnected The selection of a suitable ECS depends on the actual application In the simplest case no ECS is used Instead multipolar switching contacts are used in the safety chain User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 186 553 uleyo s jJ i x 1noq 1n0Q Jaajosay OV 00r A 8r lddns Zi TT 4 nun HSH Apz rs OV A OES snouoiuoSu s id OL 8r c SIG A pz lddn
97. ation program If the Online button in the toolbar is displayed in green see illustration the communication parameters are already set correctly If the parameterization program cannot open the serial interface the following error window will be displayed when the program is started C Change COM port C Search Baud rates C Offline parameterisation C Firmware download C Exit program wv OK This error can be due either to a wrong interface setting mostly mouse driver setting or another Windows or MS DOS program accessing the serial interface To solve this access conflict close the other program in the case of MS DOS based programs also close the MS DOS shell and click the button Retry with old parameters To correct the interface configuration click on the radio button Change COM port and following the instructions see chapter Configuring the RS232 communication parameters The servo positioning controller may use another baud rate than the one set in the parameterization program If you select Search baud rates the parameterization program will try out all kinds of baud rates to set up a communication Use the Offline parameterisation option only if you want to work on parameter set files without a servo positioning controller See also chapter Offline parameterization If the servo positioning controller has no valid firmware or if you want to download the firmware you can initiate this by selec
98. ay for positions 1 2 3 and 18 has to be parameterized when the destinations are programmed Example 2 Linear linking of positions and setting of a digital output The drive shall approach the positions 1 2 3 18 It shall stop for 1 second in every position Then the course program shall stop When the drive reaches position 3 the digital output DOUT1 shall be set to HIGH for one second pos 1 Do gt Poss D gt C Pos 18 D Realization Course program 0 Posi ignore automatic 1 ignore Off Off Posi ignore automatic 2 ignore Off Off a Posi ignore automatic 3 ignore Target Off 3 Posi ignore automatic ignore Target Off a a ES RISUS 5 End accept 8 End accept z End accept End accept rame __ Deu Course program active NEXT1 DOUTI Line 4 X Exit Course program stop 2 00072 Position 18 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 147 Implementation Positions 1 2 18 are parameterized with a start delay of 1 second The target reached setting for DOUT1 must be listed in line and 4 as the setting ON and OFF will be taken over immediately and the signal would not be applied for one second When the drive moves to position 18 DOUT1 will be cleared Example 3 Setting and inquiring digital inputs and outputs infinite loops First DOUT1 shall be
99. ch stop Crawl Reversal of movement at low speed to determine the contact threshold Running Optional movement to the zero point home position of the application User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 76 Homing position User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 77 Course program A course program allows several position sets to be linked together in one sequence These positions will be approached one after the other A course program has the following characteristics Up to 32 course program steps can be set Apart from linear sequences which are terminated sooner or later circular linking is also possible A special digital input can be used to approach a position out of turn within the course program This position can be selected using digital inputs Up to 2 following positions can be set for every course program step As a result a course program can include branching Branching occurs depending on the logic status of digital inputs The course program can control two digital outputs For this purpose every course program step offers 4 different options on off target reached remaining distance message Please note On the DUET_FL 48 10 and on the DUET_FL 48 10 IC the digital outputs DOUT1 and DOUT2 are connected to the same pins as the digital inputs DIN2 and DIN3 If you use the outputs the contro
100. coder defective Error SINCOS Check the configuration of the angle RS485 encoder interface communication New or unknown SINCOS encoder Angle encoder connected lt 5ms Angle encoder cable defective Error of track Angle encoder defective signals of Check the configuration of the angle SINCOS encoder encoder interface Resolver connected lt 5ms Angle encoder cable defective Error of resolver Angle encoder defective track signals Check the configuration of the angle carrier failure encoder interface The error may be due to a defective angle lt 5ms encoder due to defective Hall sensors or due to a wiring error of X2 Possible error on technology module X8 Electronic error in the DUET FL device The error cannot be eliminated by the user Error 5V internal Send the servo positioning controller to the supply distributor Error 12V The error may be due to a defective angle lt 5ms internal supply encoder due to defective SINCOS encoder or due to a wiring error of X2 Electronic error in the DUET FL device The error cannot be eliminated by the user User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 109 Possible causes measures Release time Send the servo positioning controller to the distributor 24 V logic supply too high or too low X 24 V logic supply cannot be loaded e g when the holding brake is actuated Error in the holding brake or in the wiri
101. command must be issued via the CAN bus Configuring the limit switch polarity The servo positioning controller supports limit switches with normally closed contacts and normally open contacts Adjust your drive such that no limit switch is active when the drive is located in the permissible positioning range Make sure that no LED is active in the menu shown below You can set this by selecting either the NC contact option DIN7 DIN8 24V setpoint enabled or the NO contact option DIN7 DIN8 24 V setpoint blocked Type of limit switches NC contact C NO contact Limit switch Limit switch 0 1 E1 The little illustration in the middle shows a red arrow when the drive moves in the direction of one of the limit switches Thus you can directly see how the limit switches are assigned to the direction of movement and change the wiring of the limit switches if necessary L As long as a limit switch is active the setpoint in the corresponding direction of rotation is blocked In applications where the drive can overrun the limit switches or in applications with bouncing limit switches the option Limit switch inhibits direction permanently can be used If the option is activated the direction of rotation in which a limit switch has been set off remains blocked when the limit switch has been left In this case the drive can leave the limit switch but it is not possible to move
102. correctly wired Limit switch defective Check the configuration of the limit Switches Has an angle encoder error occurred Motor identification not performed successfully Acceleration parameterization too high Homing run could not be completed successfully Check the configuration of the homing run Parameterization of the controller including the angle encoder configuration OK Angle encoder connected Angle encoder cable defective Angle encoder defective Check the configuration of the angle encoder interface Please contact the technical support team The digital inputs for START1 amp START2 are set simultaneously An invalid branch destination an invalid target position will be addressed 8100 CAN Communication disturbed Check the lt 5ms X X communication installation under EMC aspects User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 111 CAN Possible causes measures Release error time E Check the baud rate setting Check the node number setting node used more than once in the network RS232 Communication disturbed Check the communication installation under EMC aspects 56 7510 error 6191 Conflict between acceleration and running Error position speed data set Please contact the technical support team Error Operating Change of operating mode while the power lt 5ms B x 6380 mode stage is switched on Error Pos Internal error lt 5ms 6190 p
103. d 2 you have to make sure that the index mark or the index pulse of the encoder does not coincide with the switching edge of the limit switch or that it is located near the switching edge as this may lead to a home position offset of one motor rotation Method 17 Homing to the negative limit switch If this method is used the drive moves in the negative direction at search speed until it reaches the negative limit switch In Figure 11 this is represented by the rising edge Then the drives moves back at crawl speed and tries to find the exact position of the limit switch The zero position refers the falling edge of the negative limit switch User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 72 Figure 11 Homing to the negative limit switch Method 18 Homing to the positive limit switch If this method is used the drive moves in the positive direction at search speed until it reaches the positive limit switch In Figure 12 this is represented by the rising edge Then the drives moves back at crawl speed and tries to find the exact position of the limit switch The zero position refers the falling edge of the positive limit switch T 290 Positive Limit Switch s Figure 12 Homing to the positive limit switch Methods 33 and 34 Homing to the index pulse In the case of method 33 and method 34 the direction of the homing run is negative or positive The zero position refers to the first index pul
104. d jes u Figure 2 Speed controller Version 1 1 Motor Power Company User Manual DUET_FL DUET_FL 48 10 Page 54 Speed controlled mode To activate the speed controlled mode the Commands windows has to be configured as follows Controller enable m Torque control i C Positioning 7 Course program m Setpoint assignment through setpoint selectors 1 For information on how to configure the setpoints in this operating mode see chapter 4 2 4 1 1 Optimizing the speed controller To optimize the speed controller for your application you can open the menu for configuring the controller parameters under Parameters Controller parameters Speed controller Speed controller Gain 9 70 mw 0 70 Time constant E 8 00 ms 4 LI Actual speed filter 1 6 ms 1 6 ms EM X Cancel In this menu you can configure the Gain and the Time constant for the PI controller To optimize the control response the measured actual speed value has to be smoothed This is done using an Actual speed filter The effective filter time constant can be parametrized If the time constant of the actual speed value filter is too high the dynamic response deteriorates as disturbances are detected with a delay In certain unfavourable cases a too high time constant can have a negative effect on the stability of the speed control circuit The additional run time may lead
105. d particularly the instructions concerning the configuration of the current limits the current controller and the safety parameters User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 51 Incorrect basic settings may destroy the servo positioning controller motor and the mechanical drive It has turned out to be useful to set the current limits and particularly the maximum current of the controller to small values e g to half of the rated current as this prevents strain on all components including the mechanical system if other drive parameters are improperly configured To let the motor rotate in a speed controlled manner you have to configure the following points 1 Activate the speed control mode see chapter Speed controlled mode 2 Set the controller enable logic to via digital input see chapter Configuring the controller enable logic 3 Activate the speed control via the analog input 0 see chapter 4 2 Setpoint assignment through setpoint selectors and parametrize the desired analog speed range chapter Analog inputs AIN0 and AIN1 If you cannot use the analog input you can also assign the setpoints via the serial interface see chapter 4 2 Setpoint assignment through setpoint selectors 4 Before you test the controller enabling process you should save the parameters in the drive To do so click the button shown here You can Nm find the button on the upper menu bar of the main wi
106. d socket connector Motor Power Company part number 9019 0200 00 1x 16 pin AMP mating connector incl crimp contacts 1x 16 pin mating connector for angle encoder incl crimp contacts 1x 2 pin mating connector for holding brake incl crimp contacts DUET FL control panel with AMP pin and socket Motor Power Company part number 9019 0300 connector 00 Table 4 DUET FL 48 10 IC and DUET FL 48 10 FB accessories 18 pin Phoenix mating connector comprising VARICON mating connector sleeve frame and sleeve housing brake incl crimp contacts DUET FL IC control panel with Phoenix pin and Socket connector DUET FL FB control panel with Phoenix pin and Socket connector RS232 connecting cable for DUET FL 48 10 FB Assembled connecting cable for the controller parameter configuration length approx 150 cm 8 circular connector for connection to the controller DSUB9 connector for connection to the COM port of the PC Braking resistor for DUET FL 48 10 FB Plate resistor Metallux PLR 250 5 1096 100 W dimensions 55 mm x 43 mm height 1 5 mm height in the area of the connecting cable 4 mm with strands 100 mm User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 24 2 Safety notes for electrical drives and controllers General notes In the case of damage resulting from non compliance of the safety notes in this manual Motor Power Company Me
107. d through a separate setpoint This prevents the drives from spinning under no load conditions and the speed will be limited to non dangerous values User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 61 5 Positioning mode Li You can skip this chapter if your drive is used only in speed or torque mode il 5 1 Function overview In the positioning mode a positioning control is superimposed on the speed control In the positioning mode a specified position is set The motor has to move to this position automatically i e without any interaction with an external control system In this operating mode the controller cascade in the DUET FL controller will be extended as shown in Figure 6 e position controller is a proportional controller short P controller The current position is determined using the information of the internal encoder evaluation The position deviation is processed in the position controller and passed on to the speed controller as a speed setpoint e Atrajectory generator computes the motion profile needed to reach the target based on the current position and on the current speed It provides the position setpoint for the position controller and a pilot speed for the speed controller to improve the control dynamics in the event of rapid positioning processes e The positioning control provides numerous messages required for the external control system e g a target reached
108. document or the product without prior notification This document may neither entirely nor in part be reproduced translated into any other natural or machine readable language nor transferred to electronic mechanical optical or any other kind of data media without expressive authorization by the author Trademarks Any product names in this document may be registered trademarks The sole purpose of any trademarks in this document is the identification of the corresponding products Revision Log Author Motor Power Company mm name User Manual DUET_FL 48 10 File name UserManual_DUET_FL_V10 doc 001 First authorized version 1 0 24 06 2005 02 Revision 1 1 15 05 2006 Extension to DUET FL and to firmware 3 0 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 3 ber dieses Handbuch Page 4 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 5 TABLE OF CONTENTS TABLE OF CONTENUES LIT U Da a Sha Nis su 5 List of iTe OEE E 12 Figure 1 Current controller step response 38 13 Figure 2 Speed controller 49 eese nnne nnn 13 Figure 3 Speed controller too soft 52 ne 13 Figure 4 Speed controller too hard 52
109. during positioning run Basic unit speed posi busO x trig Remaining distance for remaining distance Basic unit position rigger applies to all position targets At present 0 Positioning group parameter posi busO a acc Acceleration in the motor range of the drive Basic unit acceleration Positioning group parameter posi busO a dec Acceleration in the generator range of the Basic unit acceleration drive deceleration Positioning group parameter Positioning group parameter Positioning group parameter User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 136 12B homing method Homing method In accordance with CANopen DSP 402 Ssel ainO x per volt Position setpoint scaling AINO Basic unit position Revolutions per volt Bsel ain1 x per volt Position setpoint scaling AIN1 Basic unit position Revolutions per volt Seqc home sw zero dist Distance between index pulse and Basic unit position L2C 2D E reference limit switch home switch not O12F home sw zero min urrent position setpoint Basic unit position pos control n korr Position controller output Basic unit speed posi rev dist distance not supported Basic unit position pos sel x switch Position controller selector for position none Setpoint 30 31 32 33 34 35 L pos_sel_n_switch etpoint selector for speed feedforward bos can xip Position setpoint in selected position set Ba
110. e up to 1000 V devices EN 60204 Electrical equipment of machines EN 50178 Electronic equipment for use in power installations Safety notes for assembly and maintenance The appropriate DIN VDE EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system The plant engineer or the operator is responsible for compliance with these regulations The servo drive controller must only be operated maintained and or repaired by personnel trained and qualified for working on or with electrical devices Sp Prevention of accidents injuries and or damages Additionally secure vertical axes against falling down or lowering after the motor has NE been switched off e g by means of gt Mechanical locking of the vertical axle gt External braking catching or clamping devices or gt Sufficient balancing of the axle The motor holding brake supplied by default or an external motor holding brake driven by 5 the drive controller alone is not suitable for personal protection Render the electrical equipment voltage free using the main switch and protect it from being switched on again until the DC bus circuit is discharged in the case of 5 gt Maintenance repair work gt Cleaning gt long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been turn
111. ection IP54 depending on method of installation up to IP67 Pollution class CE conformity Low voltage directive Not applicable EMC directive EN 61 800 3 Other certifications UL under preparation 11 13 2 Dimensions and weight Dimensions H W D 65 x 90 x 100 mm without mating connector Weien approx 500 g 11 13 3 Performance data Intermediate circuit voltage 0 V 60 V DC 48 V DC rated 15 A rated DC bus voltage 24V supply 24 V DC 20 1200 MA U rippte gt 1 5 Vss 700 mA 100 mA Internally protected through a poly switch switches at about 1 A Braking resistor connection Rer 2 4 7 Q Prom 20 W 200 W only present in DUET FL 48 10 FB Switching threshold ON Ua 60 V 45 Brake chopper DUET_FL FB MN Switching threshold OFF Uchop of 55 V 5 An external 15A fuse is required 2 Current consumption of the DUET FL 48 10 without additional wiring User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 160 3 Maximum admissible current consumption of an optional holding brake 4 Maximum current consumption when DOUTO to DOUT2 and the CAN bus are loaded User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 161 Motor temperature monitoring Parameter Values Digital sensor Normally closed contact lt 500 Q gt 100
112. ed off locked and the DC bus circuit is discharged Be careful during the assembly During the assembly and also later during operation of the drive make sure to prevent drill chips metal dust or assembly parts screws nuts cable sections from falling into the device Also make sure that the external power supply of the controller 24V is switched off User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company The DC bus circuit or the mains supply must always be switched off prior to switching off the 24V controller supply N Jo e Carry out work the machine area only if AC and or DC supplies switched off Switched off output stages or controller enablings are no suitable means of locking In the case of a malfunction the drive may accidentally be put into action sD Initial operation must be carried out with idle motors to prevent mechanical damages sb e g due to the wrong direction of rotation Electronic devices are never fail safe It is the user s responsibility in the case an electrical device fails to make sure the system is transferred into a secure state NED The servo drive controller and in particular the brake resistor externally or internally can sD assume high temperatures which may cause serious burns Protection against contact with electrical parts This section only concerns devices and drive components carrying voltag
113. ed for the communication There are communication objects used to read out certain quantities such as the current or the speed Other communication objects are used to read and write parameters A communication objects comprises the following values Permissible minimum setting value Permissible maximum setting value Value set for the parameter Controller internal value of the parameter Information concerning the command syntax can be found in chapter 6 3 Serial communication protocol Chapter List of communication objects contains a list of all communication objects supported by the system The controller internal value of a parameter may differ slightly from the adjusted value as the servo positioning controller internally uses other units and standardizations than the communication objects User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 102 6 1 3 Serial communication through DUET FL ServoCommander The parameterization program uses the serial interface to communicate with the DUET FL servo positioning controller In the delivery state the parameterization program assumes the following data Interface COM1 9600 bauds data transfer rate factory setting of the servo positioning controllers 8 data bits 1 stop bit no parity check These settings are fixed It uses a certain protocol defining the individual commands You can find a list of these commands in chapter 6 3 Serial commu
114. ed into 4 groups The following parameters can be set for each of the 4 position groups Q Accelerations Running speed Selection of the type of acceleration Jerk limited speed profile or time optimal constant acceleration Relative or absolute positioning Wait for end of running positioning run or reject Start delay 62 62 As an alternative the DUET_FL also allows to save all the parameter of a position set individually for each position set This means a higher level of flexibility in the various motion profiles As a result the maximum number of available position sets is reduced to 16 The maximum number of available position sets i e 16 or 64 can be set through the DUET_FL ServoCommander see chapter Global positioning settings In addition there are position data sets for positioning processes using the CAN bus DSP402 and position sets for homing The positioning control thus supports point to point movements with the final speed zero standstill at target point Positioning process can be aborted during the movement and the next position can be directly approached The groups and positions are selected through the digital inputs see chapter Approaching destinations The RS232 interface can be used alternatively for the selection The position data sets for homing or for positioning processes through CAN DS402 are fed directly to the trajectory generator Activating the
115. eeded due to overshoots in the control system This has to be taken into consideration when setting the system up It might be necessary to optimize the controller under real operating conditions Configuring the controller enable logic To enable the power stage with a control system in the DUET FL servo positioning controller the controller enable logic has to be configured The controller enable logic defines the conditions to be fulfilled so that the controller can be enabled and the motor can be supplied with power You can find the menu for configuring the controller enable logic under Parameters Device parameters Controller enable logic This menu can also be called up via the Commands window To do so click the button in the Controller enable field Controller enable logic Controller enabled via Dis and d RS 232 01 9 and CAN bus You can select the following options from a so called combo box User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 49 Via digital input DIN9 The controller will be enabled exclusively via the digital input DIN9 Via DIN9 and serial interface RS 232 To enable the controller DIN9 must be set and a corresponding serial command must be issued This can be ensured for example by selecting the Controller enable check box in the Commands window Via DIN9 and CAN bus To enable the controller DIN9 must be set and an enabling
116. em independently from each other User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 98 Analog output AMON The DUET_FL servo positioning controller has an analog output for outputting and displaying internal control variables that can be visualized using an external oscilloscope The output voltage is in the range of 0 V to 10 V The resolution is 8 bits Select Parameters IOs Analog outputs to configure the analog monitor Analog outputs Channel 0 Analog monitor 1r Scaling C Speed setpoints C Speed actual value raw C Speed actual value filtered C Speed actual value Motor EMK C Position setpoint ES ES 5 Position actual value reely selec communication object C Active current setpoint Object number 80 hex C Active current actual value j C Reactive curent setpoint C Reactive current actual value L Phase current U Offset 10 Volt is equal to C Phase current V Offset 5 00 V C Rotor position C Following error C DC bus voltage C Fixed voltage value C Freely selectable communication object Numeric overflow limitation 2 X Cancel Here a range of values is available Select the quantity you want to output through the analog monitor Configure the scaling in the Scaling field If you change the quantity to be displayed the units will be adapted automatically In the
117. ency Transmission of error messages Message NMT Network Network service All CAN nodes can be influenced Management simultaneously for example HEARTBEAT Error Control The communication members are monitored through Protocol regular messages More information concerning the communication and control of the DUET_FL servo positioning controller via the CANopen interface and information concerning the connection of the CAN bus can be found in the CANopen manual for the DUET_FL servo positioning controller User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 100 6 1 1 Processing of CAN messages The DUET FL has a command interpreter for the CAN messages received This command interpreter is activated every 1 6 ms It can process an SDO or a special message such as a SYNC telegram or an emergency message every time it is activated The processing of PDOs may take two time slices of the command interpreter depending on the complexity This structure results in restrictions concerning the speed with which the DUET FL can process the CAN objects e The control system must not transmit PDOs more often than every 4 ms as otherwise the DUET FL may not be able to detect or evaluate a PDO This may cause jumps in the control system or jerking of the motor e Inthe worst case a PDO does not become effective until after 4 8 ms e g as a speed setpoint This happens when two time slices are required to process the PDO
118. equences differently It might be necessary to interchange the phases U and W User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 52 4 Current and speed control Function overview The current and speed control system is a cascade control structure with an internal current control circuit and a superimposed speed control circuit These controllers are PI controllers The setpoint selectors are used to transfer setpoints from various different sources to the corresponding controllers see chapter 4 2 Setpoint assignment through setpoint selectors The basic structure is shown in the block diagram on the next page In the case of a rotor oriented control two phase currents and the rotor position are measured At first the currents are transformed into an imaginary part and a real part with the help of a Clark transformation Then they are transformed back into the rotor coordinates using a Park transformation This allows the rotor currents to be controlled to corresponding rotor voltages using PI controllers and to transform them back into the stator system The driver signal generation uses a symmetrical pulse width modulation for the power stage in sine commutation with the third harmonic An integrator monitors the current time integral of the controller If a maximum value maximum current for 1s is exceeded a warning will be issued and the current will be limited to the rated current The main advantages
119. er Lower 16 bits Subrevision identification 1 Identify angle encoder nom Rated current peak value of the motor bois rvc u nenn mot Rated motor voltage Basic unit voltage borp urrc i max Maximum current peak value of the motor Basic unit current 0020 __ nenn mot speed Rated motor speed 0021 n ref lim pos peed setpoint limitation 0022 eeval enc polp num Number of pairs of poles of the encoder Number of pairs of poles not System motor number of poles 0023 foh mot nductivit of the Ls winding of the motor Basic unit inductivit 0024 Joh mot _ Resistance of the Rs winding of the motor 0025 oh mot temp max Maximum motor temperature Basic unit temperature User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company 0018 0019 001A 001B 001C 001 001E 001F 0021 iit mot time ______ integration time for the motor Basic unit time Srvc torque const orque constant Basic unit torque constant Page 131 0026 soft prod step Firmware main revision and subrevision Upper 16 bits Main revision number Lower 16 bits Subrevision ramp 0031 conf2 1 onfiguration words of the drive 0032 5232 stat sum tatus word of the status window 0033 _ brake unlock time Delay for unlocking the holding brake 0034 Seqc brake lock time Delay for locking the holding brake 0035 Seqc auto brake time Minimum waiting time until the brake Basic unit t
120. ers the commutation signals are checked Other intelligent encoders have other means of error detection Motor temperature measurement and monitoring The DUET_FL servo positioning controller has an analog input for detecting and monitoring the motor temperature Due to the analog signal detection also non linear sensors are supported The shut down temperature can be parameterized Alternatively the motor temperature can also be monitored with the help of a normally closed contact or a PTC In this case however the shut down threshold cannot be parameterized Pt current monitoring with motor warning The DUET FL servo positioning controller also has an t monitoring system to limit the average power loss in the motor Since the power loss in the electronic power system and in the motor increases in a square manner with the current in the worst case the squared current value is taken as the measure for the power loss When 8096 of the maximum integrated value are reached a warning parameterizable will be issued When 100 is reached the maximum current will be limited to the rated current Automatic motor identification process monitoring The system monitors whether the automatic identification of the phase sequence the number of pairs of poles and the angle encoder offset has been performed successfully User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 107 Motion sequence monitoring Following error The
121. es exceeding 50 V Contact with parts carrying voltages of more than 50 V can be dangerous for people and may cause electrical shock During operation of electrical devices some parts of these devices will inevitably carry dangerous voltages DANGER pA High electrical voltage Danger to life danger due to electrical shock or serious personal injury The appropriate DIN VDE EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system The plant engineer or the operator is responsible for compliance with these regulations Before switching on the device install the appropriate covers and protections against accidental contact Rack mounted devices must be protected against accidental contact by means of a housing e g a switch cabinet The regulations VGB4 must be complied with Always connect the ground conductor of the electrical equipment and devices securely to NE the mains supply Comply with the minimum copper cross section for the ground conductor over its entire length as per EN60617 5 Prior to the initial operation even for short measuring testing purposes always connect the ground conductor of all electrical devices as per the terminal diagram or connect it to the ground wire Otherwise the housing may carry high voltages which can cause electrical shock NE User Manual DUE
122. esistors in the DUET_FL and in the power supply unit takes some time duration gt 5 minutes With Upc tus 50 V the electrical energy per DUET FL unit is Pe pc bus 0 7 Ws In applications where this is not acceptable the intermediate circuit has to be quickly discharged with the help of an additional contact connected to K1 and a suitably rated discharging resistor EMERGENCY STOP stop category 1 An additional contact set in the ECS also disconnects the controller enabling signal from the DUET_FL The drives decelerate along the quick stop ramp to zero speed Then the DUET FL switches the output stage off The connection example shown may differ from the actual connection depending on the required safety category The connection example shown in Figure 44 fulfils the requirements of EN 954 safety category 1 The connection example shown in Figure 44 as well as drives with a holding brake delayed disconnection of the 24 V logic supply of the DUET FL through the ECS ECS in accordance with EN 954 safety category 3 fulfils the requirements of EN 954 safety category DANGER The EMERGENCY OFF and EMERGENCY STOP wiring described herein is only one possible realization example Depending on the application broader or completely different regulations concerning the design of these functions may apply The machine manufacturer or the project manager has to gather all the necessary information concerning the act
123. eterized remaining distance applies to all 64 destinations Information on how to feed this message to the digital outputs can be found in chapter 5 5 Digital outputs DOUTO to DOUTS The Start delay field can be used to define a certain delay period After a start command the servo positioning controller has to wait until this delay is over before it can start the positioning run Tab Driving profile User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 68 Destination parameters P r Destination Settings Driving profile Destination 0 12 000 R Position Positioning range Input limits 32768 000 32768 000 R r Speed 0 15 Running speed 1000 000 rimin m r Times 0 15 Acceleration time 100 0 ms Deceleration 100 0 ms Time constant jerk free 0 15 Acceleration Acceleration 0 15 Acceleration 10000 r min s 0 ms 4I Negative acceleration 10000 r min s C CAN Bus x Cancel ay Positioning settings z Go You can enter the destination into the Destination field The destination will be interpreted in different ways depending on whether the user has selected an absolute positioning run or a relative positioning run See the Settings tab C Tipp amp Teach The Speed field can be used to enter the Running speed used to approach the destination The final speed is always zero and cannot be
124. f by bypassing them or by not activating them Protection against contact with hot parts DANGER Housing surfaces may be hot Risk of injury Risk of burning p Do not touch housing surfaces in the vicinity of heat sources Danger of burning Before accessing devices let them cool down for 10 minutes after switching them off Touching hot parts of the equipment such as the housing which contain heat sinks and resistors may cause burns sD 2 1 2 Protection during handling and assembly Handling and assembly of certain parts and components in an unsuitable manner may under adverse conditions cause injuries DANGER Risk of injury due to improper handling Personal injury due to pinching shearing cutting crushing The following general safety notes apply Comply with the general setup and safety regulations on handling and assembly User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 31 Use suitable assembly and transportation devices Prevent incarcerations and contusions by means of suitable protective measures Use suitable tools only If specified use special tools Use lifting devices and tools appropriately If necessary use suitable protective equipment e g goggles protective footwear NE protective gloves Do not stand underneath hanging loads sb Remove leaking liquids on the floor
125. fault parameter set m When the default parameter set is loaded the application specific parameters will be overwritten and the controller status will be set to not commissioned This should be taken into consideration when using this function as it requires a new commissioning Manual commissioning If you do not have a parameter set adapted to your motor or application you should parameterize the following menus in the order stated 1 Parameters Application parameters General configuration 2 Options Display units 3 Options Input limits 4 Parameters Device parameters Motor data Motor identification using the list or the motor data menu 5 Parameters Device parameters Angle encoder adjustments 6 Parameters Safety parameters T Parameters Controller parameters Current controller User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 34 8 Parameters Controller parameters Speed controller 9 Parameters Controller parameters Position controller 10 Parameters Device parameters Temperature monitoring 11 File Parameter set Save parameter set Flash Permanent storage of the parameters in the internal flash memory of the servo 12 File Parameter set Servo gt gt File Storage of the parameter set as a file option Parameterization using the motor database The DUET_FL DUET_FL ServoCommander parametrization program has a motor database in which the most important
126. figer te und Elektronik GmbH will assume any liability If the documentation in the language at hand is not understood accurately please contact and inform your supplier Sound and safe operation of the servo drive controller requires proper and professional transportation storage assembly and installation as well as proper operation and maintenance Only trained and qualified personnel may handle electrical devices In the sense of this product manual or the safety notes on the product itself are persons who are sufficiently familiar with the setup assembly commissioning and operation of the product as well as all warnings and precautions as per the instructions in this manual and who are sufficiently qualified in their field of expertise Education and instruction or authorization to switch devices systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment First aid training The following notes must be read prior to the initial operation of the system to prevent personal injuries and or property damages m 1 1 1 These safety notes must be complied with at all times Do not try to install or commission the servo drive controller before carefully reading all safety notes for electrical drives and controllers co
127. g DINO DIN5 positioning active DOUT target readched position setpoint position actual value t1 gt 1 6ms Pulse length of the START signal t2 lt 1 6ms Delay until the drive starts t3 Nx1 6 ms Target window reached response delay t4 gt 1 6ms Position selection set up time 15 gt 16 Position selection hold time Speed signal speed setpoint speed actual value DOUT speed setpoint reached t1 lt 1 6ms t2 lt 1 6ms User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 150 Quit error ca 10ms controller enable DOUT READY DOUT error Limit switch A limit switch active L 2 velocitiy actual value velocitiy actual _ value t1 0 2ms t2 Nx0 2ms Depends on the quick stop ramp 1t3 0 2ms t4 Nx0 2ms Depends on the speed ramp Actual speed Direction of rotation permanently blocked by the limit switch Actual speed Direction of rotation not permanently blocked by the limit switch User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 151 Parameter set management General In order for the DUET_FL servo positioning controller to control the motor properly the properties of the DUET_FL servo positioning controller must be set correctly In the following the individual properties are called parameters The total of all parameters for a servo positioning controller motor combination is cal
128. g an adapter plate Highly precise control thanks to a high quality sensor system User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 20 Full integration of all components for the controller and power section including an RS232 interface for PC communication and a CANopen interface for integration in automation systems Integrated universal rotary encoder evaluation for the following encoder types gt Resolvers gt Analog Hall sensors with SIN COS signals upon request gt High resolution Stegmann incremental encoders absolute encoders with HIPERFACE gt Six step Hall encoders gt Incremental encoders with commutation signals Integrated driver stage for 24 V holding brakes Compliance with current CE and EN standards without any additional external filter measures EMC optimized metal housing for direct mounting on the motor The device has an IP54 degree of protection Depending on the mounting methods and the seals used a degree of protection up to IP67 can be reached Integration of all filters in the unit required for compliance with the EMC regulations industrial environment e g filters for the 24 V supply and the inputs and outputs Can be used as a torque controller speed controller or position controller Integrated positioning control with extensive functionality in accordance with CAN in Automation CiA DSP402 and numerous additional application specific functions Jerk free
129. g input limits Options Input limits opens the following menu User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 47 Torque values Maximum adiustable asa OK torque value X Cancel S peed values Maximum adiustable 13000 000 rimin velocity 4 Maximum adiustable 200000 riminis acceleration Enter the maximum speeds and accelerations you are expecting for your application The program uses this information to limit the input fields The input limits can be changed later They affect only the input fields of the parametrization program Speeds and accelerations will not be limited physically in the drive The quantities in the drives can be limited in the Safety parameters menu described in chapter 3 3 Selecting safety parameters 3 3 Selecting safety parameters To protect the mechanical system from overload the speed and acceleration values as well as the movement range have to be limited to safe values for many applications The setpoint values can be limited in the menu Parameters Safety parameters Safety parameters i Decelerations Torque limitation i Settings Speed limitation 250000 r min s Quick stop cM switch ee cmi Speed limit 4 LI Absolute positioning range 32768 000 32768 000 R Settings X Cancel You can configure the following safety p
130. gerous movements Dangerous movements can be caused by faulty control of connected motors for different reasons Improper or faulty wiring or cabling Error in handling of components Error in sensor or transducer Defective non EMC compliant components Error in software in superordinated control system These errors can occur directly after switching on the device or after an indeterminate time of operation The monitors in the drive components for the most part rule out malfunctions in the connected drives In view of personal protection particularly the danger of personal injury and or property damage this User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 30 may not be relied on exclusively Until the built in monitors come into effect faulty drive movements must be taken into account their magnitude depends on the type of control and on the operating state DANGER Dangerous movements Danger to life risk of injury serious personal injuries or property damage For the reasons mentioned above personal protection must be ensured by means of monitoring or superordinated measures on the device These are installed in accordance with the specific data of the system and a danger and error analysis by the manufacturer The safety regulations applying to the system are also taken into consideration Random movements or other malfunctions may be caused by switching the safety installations of
131. has two channels The following settings can be selected on the tabs CH1 and CH2 for the corresponding channels Quantity to be displayed Click on the scroll box of the channel and select the physical quantity or the event you would like to display graphically User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 124 Channel colour Click on the coloured screen area A dialog box for selecting a colour will be displayed Y Scaling Use the slide next to Scaling to adjust the scaling in vertical direction Offset Y Position Use the slide next to Offset to shift the vertical position of the curve Clicking the 0 button resets the offset to 0 The representation of the two channels can be cleared by clicking on the Clear button If Freely selectable communication object has been selected as the quantity to be displayed you can display any desired communication object on the oscilloscope This requires the following additional information The object number of the communication object Information as to whether the object returns a value with a sign In this case please check the signed check box The physical unit of the object A mask This mask is used to single out and display individual bits of a communication object In the case of analog values this mask should be set to FFFFFFFF hex The main purpose of this mask is to display individual bits of a status word The representation of
132. he case of a falling edge Logic outputs in general 24V 8V 30V active high short circuit proof against GND DOUTO Ready for operation 24 V 20 mA max DOUTI Can be configured as desired Can be used as 24 V 20 mA max encoder output signal A pin is used multiple times with DIN2 and AINI Can be configured as desired Can be used as 24 V 20 mA max encoder output signal B pin is used multiple times with DIN3 and AIN1 DOUT3 X3 Holding brake 24 V 700 mA max 11 13 12 Incremental encoder output X1 Number of increments of the 32 64 128 256 512 1024 lines per revolution can be programmed output Connection level 24V 20 mA max Output impedance R 300 Q Limit frequency fimt gt 100 kHz lines sec fix depends on the cable length data measured with 1 and Crow 1 nF corresponds to cable length of 5 m User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 165 11 14 Mechanical installation Important notes The DUET FL servo positioning controller was designed for direct installation on the motor Optionally it is also possible to use it separately from the motor In this case additional connecting cables between the motor and the DUET FL servo positioning controller are required These cables should be as short as possible The maximum length is 1 m Optimum cooling can be ensured if the DUET FL
133. iage to transport goods for further treatment Configuring the display units The menu Options Display units can be used to configure the display units for positions speeds and accelerations These unit will be used only for the display in the parametrization program The parametrization program uses so called communication objects to communicate with the controller These communication objects have a fixed physical basic unit These basic units are used for every access via the RS232 interface User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 45 The user can select display units for the following physical quantities Position Revolutions Speeds Accelerations Torques in Nm or A Display units Display units Decimal places Direct input Display mode Gearbox gt Standard values with gear User defined Direct input Speed Torque in Nm Factor i s Display units Acceleration r min s Revolutions IR z C Ug rotatory gt gt translatory Display units R r min r min s m The display units are configured regardless of any setpoint assignment via field bus Thus the configuration of the display units does not affect the factor group or the notation and dimension indices in field bus specific protocols such as the CANopen factor group Table 6 Display mode Selection Units Standard valuesFor l
134. igh Activation of the course program Low Complete movement to position Then normal positioning mode with destination selection through DINO DINI DIN2 and position group selection through DIN4 and DINS STOP Low A running positioning run will be interrupted The program stops in the current active low course program line START2 Rising edge Movement to a defined start position Start of the course program STARTI has a higher priority than START2 if both are activated simultaneously NEXTI Rising edge Continue with following position 1 NEXTI has a higher priority than NEXT2 if both are activated simultaneously NEXT2 Rising edge Continue with following position 2 STARTI Rising edge Movement to defined start position Start of the course program Start Rising edge positioning If DIN3 low Start positioning homin If DIN 3 high Start homing The new IO configuration that is shown in table 9 ensures a better utilization of the functions in the course program in spite of the double utilization of the signals DIN2 DOUT1 and DIN 3 DOUT2 on the X1 connector It can be activated through the corresponding check box in the commands window If the digital input Course Posi is set to 0 V the course program is inactive Normal positioning runs can be called up through the digital inputs but as shown in table 10 the number of destinations is reduced by half i e t
135. ime responds Not supported at present 0036 ommh ctrlenab log Parameter describes the component 0 Only DIN9 enabling the controller 1 DIN9 and RS232 DIN9 and CAN 0040 commh nul uxiliary object that always returns zero none 0050 s232 baudrate Baud rate for the RS232 communication RS232 baud rate 0051 5232 para conf onfiguration word for parameterization none software 0052 5232 unit x var i Physical units position 0053 0054 0055 0056 0057 0058 005A 0055 005c 005D 5 005F 0060 0061 0062 0063 Bit 1 Error active Bit 1 Error active 0072 errh_prio_field_0O Bit field of main error numbers 1 to 32 Error 0059 5232 unit n numerator Factor group speed numerator Bit 0 Brake motor power 0073 ferrh prio field 1 Bit field of main error numbers 33 to 64 0074 errh warn field O Bit field of main error numbers 1 to 32 Bit 0 Do not display arning errh warn field 1 Bit field of main error numbers 33 to 64 Bit 1 Display warning 0031 pos2 m poso 0052 poss posa 0055 pose 0057 pose poso posa poss pose poso poso 0061 0062 poss 0073 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 132 0080 puro ju act Measured phase current of phase U 0081 puro act Measured phase current of phase V 2 joh_uzk_volt DC bus voltage intermediate circuit Basic unit voltage oltage 6 0083
136. imits may depend on the clock frequency of the output stage To parametrize the clock frequency click the Power stage button See also chapter Power stage In addition you can enter the number of poles of your motor There is also an automatic identification function which determines the number of poles and the offset angle of the angle encoder automatically Simply click the Auto detect button If the motor is equipped with Six Step Hall sensors the number of poles of the motor has to be entered through the parametrization software DANGER pa Prior to starting the motor identification you have to set the current limits menu Parameters Device parameters Motor data as otherwise the motor may be destroyed If encoders with a poor resolution e g Six Step Hall encoders are used speed recirculation through the Motor EMK can have a positive effect on the running behaviour of the motor If the speed is determined with the help of the Motor EMK electromotive force of the motor the following formula N N eux E lU u x x Nenn User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 40 is used to determine another actual speed value of the motor using the terminal voltage at the motor the impressed current and the motor parameters You can configure the parameters required for calculating the Motor EMK on the advanced parameters tab Motor data Basic parameters Advanced parameters
137. immediately to prevent slipping User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 32 Preparation for commissioning System overview The DUET_FL servo positioning controller was designed such that it can be mounted directly on the motor As a result it forms a compact and harmonized unit together with the motor Simply connect the power supply and if applicable the inputs and outputs or field busses used for your application The DUET_FL ServoCommander parameterization program can be used to parameterize commission and analyze the DUET_FL servo positioning controller in a particularly comfortable way Connecting the DUET FL to the control system Prior to activating the power supply for the DUET FL servo positioning controller for the first time you should connect or completely wire the superordinated control inputs and outputs field busses and the power supply unit Please read chapter Connectors at the DUET FL 48 10 in the appendix For the parametrization of the servo positioning controller the serial interface of the DUET FL has to be connected to a free COM port on the notebook PC Please check the wiring and the level of the supply voltages carefully prior to activating the power supply for the first time Wiring errors are the most common reason for operating problems A wiring error or a too high operating voltage may also damage the device 3 1 Installation and start of the DUET
138. in assignment of connector X304 X305 Name Specification X304 ZK 48 V 15 A nom Intermediate circuit supply DC bus 305 BR CHOP 0V 48 V Connection to brake resistance transistor User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 177 Connection CAN bus X401 and X402 lt Configuration on the device X401 lt Position Mating connector X401 X402 X401 X402 M12 flush type plug 5 pin type A coded M12 flush type socket 5 pin type A coded front centre front left Assembled M12 bus cable e g made by Phoenix one end male connector one end female connector prefabricated lengths order name SAC 5P MS xxx 920 FS SCO xxx defines the length in m The following lengths are available xxx 2 0 3 0 5 1 0 2 0 5 0 10 0 15 0 ADU UU M12 female M12 male female o 20 oy NE X402 X401 X5 Figure 41 Position and numbered pins X401 X402 and X5 at DUET FL 48 10 FB Table 35 Pin assignment of connector X401 and X402 Pinno Name ____ Value Specification Contact for cable shield in the DUET FL connected with the 1 Shield PE housing 2 Not used Reference potential for the CAN bus internally connected 3 CAN_GND OV with the common reference potential for the intermediate circuit and the logic system 4 CANHI
139. inear axles User defined Positions in distance units speeds in distance units s accelerations in distance units s2 For rotary drives Positions in revolutions degree or radian different speed and acceleration units Examples Direct input linear axles and non metric distance speed and acceleration units e g inch inch min For rotary drives with special User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 46 Selection Units distance speed and acceleration units Free configuration of the distance speed and acceleration units For experienced users only The Decimal places tab can be used to adapt the resolution of the quantity to be represented to the actual conditions The Direct input tab can be used to configure the DUET_FL SerovCommander such that other display units than the ones offered can be used Further information can be found in chapter Extended options in the Display units menu Caution For experienced users only On the Direct input tab you can directly write to the factor group if you have select the direct input option When you quit the menu the program displays the following question 7 Do you want to adapt the input limits O The input limits are automatically adapted to the selected physical units If you want to il you can check this Click the Yes button to do so 3 2 Definin
140. ing speed or the corresponding acceleration on the Driving profile tab for the speed acceleration and time values This tab will be described in detail below If there is a certain distance between the actual homing position i e the calculated zero point for the subsequent positioning runs and the home position of the homing run this distance can be entered into the Offset start position field If the option Go to zero position after homing run is selected the drive will move to the zero position at running speed after the homing run has been performed O iL If you select this option make sure that the zero position is not located behind the destination of the homing run as this would cause a homing run error You can define a maximum search path If the DUET_FL servo positioning controller cannot detect a limit switch signal within this search distance it will issue an error message The search path is based on the maximum position limits The Max position limits button will lead you to the menu for parameterizing the general positioning settings e g positioning limits See chapter Global positioning settings If the option Homing run at controller enable is selected the homing run will be started automatically once the controller is enabled Tab Driving profile Here you can enter Speed and Acceleration values for the following processes Search Movement of the drive until it reaches the destination limit swit
141. ion User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 169 Connectors at the DUET FL 48 10 Connection Power supply and I O X1 Configuration on the device AMP Junior Timer 1 963215 1 Mating connector X1 AMP 1 963217 1 contacts 929938 1 1615141312 1110 9 Figure 33 Numbered pins of X1 DUET_FL 48 10 Table 27 Pin assignment of connector X1 Digital input Power stage activation Digital input Limit switch 0 blocks n gt 0 CAN high Digital input Positioning group selector bit 0 0 V 24 V Analog input 1 Differential analog input with AIN1 Digital input Positioning destination selector bit 2 O Digital output Freely programmable encoder track 7 AINO Analog input 0 Differential analog input with AINO UU Digital input Positioning destination selector bit O 10 V 10 V Reception signal RS232 specification Shared ground potential for the DC bus voltage and the 24V logic supply Intermediate circuit supply DC bus Ready for operation DINE Digital input Limit switch 1 blocks n lt 0 CANLO CAN low DIN5 Digital Positioning group selector 1 Negative analog input 1 Differential analog input with AIN1 SANI Digital input Positioning destination selector bit 3
142. ion 1 1 Motor Power Company Page 95 Suppress zero pulse If the check box is selected no index pulse will be issued Reversal of rotation direction If the check box is selected the direction of rotation of the incremental encoder emulation will be inverted Offset angle Here you can set an offset between the index position of the encoder of the DUET FL servo positioning controller and the emulated index pulse The outputs DOUT1 and DOUT2 supply signals with a 24 V level so called HTL signals Older or low cost control systems in particular can directly process these signals In order to be able to transmit high speeds with a high resolution DOUT1 and DOUT2 should be equipped with a resistor of 1 kO against O V Please contact your local distributor if your control system cannot process HTL signals but RS422 compatible track signals In many cases the DUET FL controller can also be connected to these inputs provided they are equipped with additional resistors 5 6 Holding brake DOUT3 If your motor has a holding brake this brake can be controlled by the DUET FL servo positioning controller as required by the operation The DUET FL servo positioning controller can only control holding brake having a rated voltage of 24 V DC It has to be connected the digital output DOUTS at connector A detailed description concerning the connection of the holding brake and the maximum permissible operating currents of the brake can
143. ional parametrization program 20 16 Table 3 DUET FL 48 10 accessories 21 16 Table 4 DUET FL 48 10 IC and DUET FL 48 10 FB accessories 21 16 Table 5 Angle encoder parameters 35 16 Table 6 Display mode 43 16 Table 7 Error elimination Speed control 49 16 Table 8 Course program Assignment of the digital inputs 76 16 Table 9 Course program Configuration of the digital inputs new I O co tig rati n TO susu nuyu rm 16 Table 10 Available position sets if the course program is active and the CourselPosi input 0 77 16 Table 11 DUET FL 48 10 digital inputs possible combinations 84 16 Table 12 DUET_FL 48 10 IC digital inputs possible combinations 84 16 Table 13 DUET_FL 48 10 FB digital inputs possible combinations 84 16 Table 14 Digital inputs assignment 85 nna 16 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Table 15 Tipp amp Teach Configuration of the digital inputs 87
144. iry Bootloader active Bus xxxx BUS nn bbbb mmmm CAN bus status Turn on message Load default parameter set Turn on message cause HW reset xxxx CQT Clear error memory DONE Save parameter set in FLASH DONE Load parameter set from FLASH TYP dddd Type inquiry xxxx VERSION dddd Version inquiry iiiiss dd Simulation SDO write access iiiiss dd Simulation SDO read access Status message Data bytes Node number Baud rate Mode index of CANopen SDObject ks Subindex of CANopen SDObject User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 130 List of communication objects This chapter describes the communication objects used by the DUET_FL ServoCommander parameterization interface to exchange data with the DUET_FL servo positioning controller A list of the basic units used for the communication objects can be found in chapter Basic units Table 24 List of all communication objects 0000 urrent controller cycle time urrc_cyc_time_spdc peed controller cycle time 0003 main_abtast_ablauf ommunication handler cycle time 10 11 12 13 14 Lower 16 bits Subrevision Lower 16 bits Subrevision number of the version management system Lower 16 bits Subrevision ubrevision number Lower 16 bits Subrevision load
145. is point of time During this time the drive will be kept in its current position until the holding brake has developed its full holding torque When the delay period is over the controller is disabled In both cases the mechanical wear of the holding brake is reduced controller enable output state active holding brake unlock t delay ta stop delay lt gt speed setpoint speed actual value Figure 26 Holding brake time response After the controller has been enabled speed setpoints or positioning start commands do not become effective until at the end of the run delay In torque control mode the torque setpoints become active or inactive when the controller is enabled internally Analog inputs AIN0 and AIN1 The servo positioning controller has two analog inputs for the input voltage range of 10 V They have a resolution of 12 bits These inputs can be used flexibly to assign speed and torque setpoints If you select Parameters IOs Analog inputs or click the button in the setpoint selector menu when the analog input is activated the following menu will be displayed User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 97 Analog inputs AINO AIN 0 Scaling n input voltage of 10 V corresponds to x Cancel Torque setpoint Z 7 07 A Torque limitation Speed setpoint 3000 000 r min
146. ith the left mouse key pressed down The value can easily be preset over the entire value range Control elements The user is guided preferably with the help of graphically oriented windows The following table shows and describes the control elements used in the windows Table 17 Control elements Control element cd Check box An option which the user can activate or deactivate by checking the corresponding check box It is possible to check several boxes at once ie Radio button With this button the user can choose one of several options 8 button A button which opens another menu when clicked by the user Settings General button button which opens another menu when clicked by the user 6 2 1 Display of setpoints and actual values The parameterization program creates the setpoints which correspond to a desired user input and the actual values used in the device in accordance with the following concept 1 The user changes the scroll box in the window by moving the scroll bar or by entering a new value 2 The parameterization program transmits the value to the DUET FL servo positioning controller 3 The parameterization program immediately reads out the now valid parameter and displays it in the green field The scroll box itself remains unchanged Speed controller Bain Time constant User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Co
147. ition sets are available These position sets however can be parametrized completely independently As an alternative to the displayed motion profile from the standard position sets 0 15 or 0 63 the motion profile from the options CAN Bus which has been parametrized via the CAN Bus and Tipp amp Teach can be also displayed and modify here User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 67 The information 0 15 after the field name Positioning indicates that the selection relative applies to all positions in the 0 to 15 position group Some of the other parameters in this menu apply to all 64 positions In this case the field name is followed by 0 63 If no information is given after the field name the parameter applies only to this position The Positioning field can be used to state whether the specified destination should be interpreted as an absolute value referring to the reference point or as a relative value Relative refers to the current position setpoint e g during a positioning run being performed The option relative to last destination calculates the new position on the basis of the destination reached or currently being approached The relative option leads to different results depending on the setting in the field Start during positioning see below If the combination relative Wait for end of positioning run is selected the new position refers to the destination I
148. l DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 106 applications requiring the intermediate circuit to be run empty or a set up mode with a reduced DC bus voltage intermediate circuit voltage the response to this error can be configured Logic supply monitoring 24V overvoltage undervoltage monitoring The power supply of the logic component of the DUET FL servo positioning controller is monitored If the power supply of the logic component is too high or too low a fault message will be issued Internal operating voltages All operating voltages generated internally such as the 3 3 V supply of the processor are monitored Heat sink temperature monitoring Temperature derating The permissible maximum current will be reduced at high temperature levels to ensure a long service life of the servo positioning controller Shut down at overtemperature The heat sink temperature of the power stage is measured using a linear temperature sensor When the temperature limit described in the appendix in chapter Ambient conditions and qualification is reached an error message will be issued In addition a temperature warning will be issued when the temperature is about 5 C below the limit value Motor monitoring Rotary encoder monitoring An error in the rotary encoder shuts down the power output stage In the case of resolvers the track signal is measured for example In the case of incremental encod
149. l be asked which DCO file to open Select a corresponding file DANGER If you use a DCO file for a different type of device make sure to check the configurations for rated current maximum current angle encoder offset phase sequence number of poles current controller and speed controller to prevent damages to the servo positioning controller motor During the offline parameterization the parameterization program shows a behaviour which may deviate from the online parameterization Certain menus e g firmware download are inaccessible The menu File Parameter set has different submenus gt Open file User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 156 gt Save file gt Save file as When you quit the program you will be asked whether the currently open parameter file shall be saved To end the offline parameterization click on the menu item Options Communication Online parametersation or on the online icon in the tool bar Loading firmware into the DUET FL firmware update The firmware is the operating program of the DUET FL servo positioning controller The controllers come supplied with a firmware loaded Under the following circumstances it might be necessary to load a new firmware Update to a new firmware version Loading of a special firmware with customized functions in order to be able to use additional functions Incomplete fir
150. l of the course program is subject to certain restrictions Please use the DUET FL 48 10 FB in this case In the DUET FL 48 10 FB the digital inputs and outputs are led out separately There are two alternative start points for starting the course program The start points can be parametrized as desired and are started with the help of digital inputs As a result you can either create a course program with two start points or as an alternative two smaller course programs with up to 32 steps which can be called up completely independently A course program can be created and monitored a comfortable manner in the parametrization interface The application thus created can be saved in the parameter set or as an alternative in a course program file It can be transferred to other DUET FL servo positioning controllers The program lines of the course program are processed every 1 6 ms This ensures that an output set by the course programs remains set for at least 1 6 ms The course program mode can be activated through the corresponding button in the commands window see chapter Activating the operating mode The setting can be saved permanently in the servo positioning controller The course program is controlled through the digital inputs Digital inputs which are subject to level evaluation high low have to be pending stably for at least 1 6 ms course program processing time so that the level can be detected safely
151. led a parameter set The following illustrations shows how the parameter sets are managed DCO file DIS 2 ServoCommander Reading from servo and save in file serial communication Servocontroller Default parameter set load default parameter set save parameter set reset controller Figure 28 Online parameterization The current parameter set of the DUET FL servo positioning controller is stored in the RAM RAM Random Access Memory The RAM looses its contents when the power supply is switched off In order to permanently save a parameter set it can be copied into the controller memory using the command File Parameter set Save parameter set The memory keeps its contents even if the power supply is switched off User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 152 When the servo positioning controller is reset the contents of the FLASH memory are copied into the RAM A reset can be initiated as follows gt Deactivation and reactivation of the power supply i Activation of the menu item File Reset Servo i lt Activation of the RESET button in the toolbar of parameterization program The DUET_FL also has default parameter set This parameter set is fixed in the firmware and cannot be overwritten If a parameterization is not successful for some reason the default parameter set can be loaded to continue with default values The default
152. ler is supplied with power through a power supply unit or a battery with 24 V DC or 48 V DC protective low voltage At the motor connection it supplies the synchronous machine with a pulse width modulated symmetrical 3 phase rotating field with variable frequency current and voltage The DUET_FL was designed for a continuous torque speed and position control in typical industrial applications such as e Positioning and feeding drives in machines Palletizing and packaging machines e Wood processing machines e Reeling drives wire drawing drives etc e Drives in tightening and press fitting applications e Conveying applications Prior to using the DUET FL controller in special areas of application with particularly high normative requirements e g medical technology or avionics requiring particularly high levels of device safety the user has to check whether the DUET FL fulfils the corresponding standards In case of doubt please contact your local distributor The DUET FL may only be used if the operating conditions described and the technical data of the controller stated in the appendix in chapter Technical data are complied with In addition all relevant regulations concerning installation start up dismounting and maintenance have to be complied with DUET FL features The DUET FL has the following features Compact design The housing closed on five sides be mounted on the motor either directly or usin
153. line parameterization the status window and the actual value window are not open The Actual values window displays the current controller parameters such as currents speeds etc The Actual values window is configured under Display Actual values The check boxes of all values to be displayed must be checked With the options Enable all or Disable all the Actual values window can be quickly minimized or maximized User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 117 Speed Actual value 1963 000 r min Act val Motor EMK 1979 000 r min Setpoint 1964 000 r min Torque Actual value 0 74 A Motor current rms 0 78 A Rotor position 155 84 Temperatures Temp motor Temp in power unit 31 C Position 3272 203 R Ft motor 0 Ft servo 0 DC bus voltage 24V Directories The installed version of the parametrization program has the following sub directories Table 18 Directories Directory Content FIRMWARE Firmware versions TXT Default directory for plain text output of parameter data DCO Default directory for the parameter files 6 2 3 Communication via communication objects The parametrization program accesses the DUET FL servo positioning controller by means of so called communication objects via a standardized internal software interface During the processing of the communication tasks an internal check for
154. ll be closed Cancel All changes will be undone and even already transferred values will be restored and the window will be closed You can actuate a button in the following ways e Click it with the left mouse button e Press the TAB key to activate the button and then press the ENTER key to confirm e Use the keyboard and press the underline letter key together with the ALT key If the appearance of the buttons in some menus differs from the form described here you will find more detailed information in this manual Numerical input fields In the windows of the parameterization program you will always find fields for numerical entries as shown below 100 000 r min gt Entries can be made in the following ways 1 Directly using the keyboard Enter the value directly into the entry line As long as the entry is not complete the text will be shown in thin print and will not be transferred to the parameterization program yet see the illustration User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 115 At the end of the entry press the ENTER key or switch to another input field using the TAB key The numerical value will then be shown in bold print 2 Clicking the arrow keys The value changes in small steps fine adjustment 3 Clicking the areas between the grey boxes and the arrow keys The value changes is large steps rough adjustment 4 Clicking the grey box and moving the mouse w
155. ll be displayed The trigger process starts when the analog value has exceeded or fallen below the level The trigger edge can be used to define when the system should react to an event Rising edge Digital trigger Event occurs Analog trigger Level exceeded Falling edge Digital trigger Event disappears Analog trigger Below level The trigger mode and the therefore the oscilloscope are only active if the Run Stop check box in the oscilloscope window is selected When you open the Transfer window or save the parameter set the oscilloscope will be deactivated This is why the check box has to be deselected and reselected afterwards to reactivate the oscilloscope The Mode field is used to select when triggering should occur There are three different trigger modes Auto Triggering occurs and is displayed continuously regardless of whether the trigger condition has been fulfilled or not Normal Triggering occurs and is displayed when the trigger condition is fulfilled After the display and if the trigger condition reappears triggering occurs again Single Itis triggered only once when the trigger conditions has been fulfilled Then the status is set to inactive by deselecting the Run check box see below Oscilloscope window AAs Settings CH1 Freely selectable communication object Scaling 1 R div Offset 0 00 div Free 0xE Type Position 32 bits s Mask 0xF
156. ller time constant l part boze pdc sel n switch peed controller selector for speed setpoint hone eo E E E E E E E E E E E E E i i i i i e f ct Cx IX EF sel h n switch Auxiliary setpoint selector for speed none Setpoint Number of revolutions per volt Number of revolutions per volt ea time constant of actual speed value ilter 00F3 oo generator gradient at Positive Speed rising edge 00F4 pus T generator gradient at Positive Speed falling edge generator gradient at Negative speed rising edge LEN gt generator gradient at Negative Speed falling edge Ssel lim sw ramp dec Deceleration for limit switch ramp Basic unit acceleration off ramp dec Deceleration for quick stop ramp Basic unit acceleration 00F9 n target speed Declared speed for message When n Pasic unit speed n mel hyst is reached one bit will be set in the status word OOFA Hysteresis for speed messages Basic unit speed In_ist and n_ist n_ soll 00 Maximum time at quick stop O0FC h ramp brake min peed at which quick stop was successfully Basic unit speed ompleted ogging setpoint 1 not supported DOFE n ref jog2 ogging setpoint 2 not supported Basic unit speed User Manual DUET FL DUET FL 48 10 Ver
157. minology and standards In accordance with a danger analysis risk assessment following the machinery directive 98 37 EC EN ISO 12100 EN 954 1 and EN 1050 the machine manufacturer has to plan the safety system for the entire machine whilst taking into account all the integrated components Among these are also electric drives The standstill of the machine has to be initiated and ensured by the control system of the machine This applies particularly to vertical axes without a self locking mechanism or weight compensation The standard EN 954 1 subdivides the requirements placed on control systems into five categories graduated according to the level of risk see Table 10 Table 39 Description of the requirements to be met for the categories in accordance with EN 954 1 Category Summary of requirements System behavior Principles to achieve D safe Safety related parts of control systems and or their protective equipments as well as their components shall be designed constructed selected assembled and combined in accordance with relevant standards to that they can withstand the expected influence The occurrence of a fault can lead to the loss of the safety function Mainly characterized by selection of components 1 The requirements of category B shall apply Well tried components and well tried safety principles shall be used The occurrence of a fault can lead to the loss of the safety function bu
158. mmanderTM features a 21 Basic Information iioii eite rece Suha Febr eate dv euer edited 21 1 1 4DUET FL ServoCommanderTM 21 Hardware and software requirements 21 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 8 22 1 2 Supply state and scope of 22 2Safety notes for electrical drives and controllers 24 General notes u e rre khaka ERR RI FERNER nay E PR HR usaha 24 2 1Danger resulting from MISUSE iacet e RA REDE E SR ERE 25 Safety note c En 26 General safety eise ideis ee tie o eme ce euam 26 Safety notes for assembly and maintenance aa aaaaasssss 27 Protection against contact with electrical parts 28 2 1 1Protection against electrical shock by means of protective extra low voltage PELV S A a uh 29 Protection against dangerous movements 29 Protection against contact with hot parts nEn nn nannan n nnn ennna 30 2 1 2Protection during handling and
159. mpany Page 116 Definition of terms Setpoint value The setpoint value value desired by the user transmitted to the DUET_FL servo positioning controller Actual value This value is currently active in the DUET FL servo positioning controller Deviations from the setpoint value may have several reasons Examples gt Quantization effects rounding effects etc The changed parameter has to be saved and a RESET has to be performed in order to make the parameter effective Temporary value range overshoots e g rated current maximum current gt Incorrect value ranges e g when loading a parameter set of a servo positioning controller of a higher class of performance rated current rated device current The idea behind the concept of different setpoints and actual values is the following A parameter set can be loaded from a servo positioning controller of one class of performance to a servo positioning controller of another class of performance and vice versa As long as no other parameterization has been performed the setpoints remain unchanged Only the actual values will be different due to the different class of performance This prevents a step by step change of a parameter set resulting from the device s class of performance 6 2 2 Standard window In the default configuration the commands window the status window and the actual value window are open during the online parameterization During the off
160. mulation The master operates in one of the operating modes described earlier speed control positioning while the slave is in synchronized mode Among others the following applications are possible with this configuration Speed synchronous movement lt Position synchronous movement D Flying saw Classical servo applications such as speed control in the servo controller or position control in the control system also required a feedback of the actual position from the servo controller to the control system This is also handled using the incremental encoder emulation of the servo positioning controller In both cases the DUET FL controller as the master emulates the track signals of the incremental encoder defined by the parameters in the menu Operating mode Incremental encoder emulation Incremental encoder emulation Incremental encoder Number of increments 1024 z Number of increments per revolution Suppress zero pulse Reversal of rotation direction Offset angle 0 0 In addition you can deactivate the incremental encoder emulation in order to be able to use the digital inputs DIN2 and DING or the digital outputs DOUT1 and DOUT2 for other functions You can make the following configurations in the Incremental encoder field Number of increments You can select 32 64 128 256 512 or 1024 as the number of increments for the emulation User Manual DUET FL DUET FL 48 10 Vers
161. mware e g due to an interrupted firmware download Due to continuous product developments the parameterization program may include options which require a correspondingly advanced firmware version If the DUET FL servo positioning controller has no firmware or if its firmware is complete the following window will be displayed IN Servo has no firmware Boot now If the correct firmware is already installed in the DUET_FL servo positioning controller the error message will not be displayed In this case you can skip the following chapter To read out the firmware version installed in the controller open the Firmware Hardware tab in the Info Info menu 11 13 1 Loading the firmware You can load a new firmware under File Firmware download User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 157 When a new firmware is loaded the parameter set stored in the servo positioning controller will be overwritten This is why the following message is displayed The firmware download overwrites the current parameter set Do you want to save the current parameter set before the download Here you can decide whether you want to save your parameter set on the PC If you click the Yes button the menu for saving the parameter set will be opened The following selection menu is displayed Suchen in a Firmware a PvV_DIS2_1p1 s 7 Dateityp Firmware code Abbrechen ZA
162. n o DIN 6 Positioning Start DIN 7 Limit switch 0 DIN8 Din8 Limit switch 1 DINS Error Clear Table 14 Digital inputs assignment Function Description Selection of positioning parameter set or course program control Positioning mode DIN5 amp DIN4 Selection of the positioning parameter group accelerations times positioning speeds e DIN3 DINO Selection of the destination within a group Course program mode e See chapter Course program Positioning start In the case of a rising edge the positioning run will be performed using the parameter set selected beforehand Negative limit switch Positive limit switch Controller enable Clear error Clear limit switch Positive DIN8 or negative DIN7 setpoints are enabled only if the limit switch inputs are passive 24V if normally closed contact OV if normally open contact If there is no signal the drive decelerates to zero speed at the current limit The power stage remains active In the case of a rising edge the control system will be initialized and then enabled together with the power stage In the case of a falling edge the motor will be decelerated to zero speed and then the power stage will be deactivated If the controller is set to error the falling edge is used to acknowledge any pending errors If this is successful the controller will be set to ready fo
163. n concerning the parameter set into this menu The information will be taken over into the plain text output This applies particularly to the date which may differ from the current date Additional information xi Order Project 00000000 Comment Comment 1 Comment2 Comment 20 Motor data Motor data Date 04 05 05 12 23 40 Change Z DK X Cancel The fields Order Comment1 2 and Motor data will be taken over unchanged into the plain text output Enter the information as follows Field Content Order ID of the order project for which the parameter set was created Comment1 Comment2 Special features of the parameter set Motor data ID of the motor data set from the file motor ini For formatting reasons the entries should not be longer than half a line about 40 characters The current data is the default date for the plain text output The date field can be edited if you select the Change function The date will be taken over into the plain text output Page preview Press this button in the Print menu to create the plain text output and display it as a page preview It is a preview of the print output Save as text file If you click the Save as text file button you can save the print output as a txt file on the hard disk and process it further e g you can send it to another location by e mail The text files are saved in the TXT subdirectory of the parameterization program Parameter sets can
164. n the case of the combination relative Interrupt actual positioning the new destination will be calculated starting from the current positioning setpoint The field Start during positioning defines the behaviour of the servo positioning controller when a positioning run is still running and the controller receives a start command for a new destination It has the following options Wait for end of positioning The current positioning run will be completed before the new positioning process is started The next positioning run can be selected prior to the running positioning run The new positioning run will be started automatically when the current positioning run is completed Interrupt actual positioning The current positioning run will be interrupted and the new position will be approached immediately Ignore start command The positioning command for the new position cannot be selected or started before the current positioning run is completed Please note that a bouncing switch at the digital start input may lead to problems if wait for end of positioning run or interrupt actual positioning is allowed in the case of a relative positioning run As a result the drive may move just a little too far The Messages field can be used to parameterize trigger signals which can be issued via the field bus or a digital output These trigger signals indicate the remaining distance up to the end of a positioning run The param
165. nction of the inputs and outputs I 86 5 3Digital inputs DINO to DINO 4er asia ToO Oen Etpe 86 Configuring the digital INPUtS 88 5 4Extended function of the digital inputs Tipp amp 88 9 2 1 Teachirig positlons oer ra tete Bente pue 89 3 oDigital outputs DOUTO to DOUT Bia cd ctn ettet to Eg teneo tcu ce erectos ARAN 91 Configuring the digital outputs a T Eii 91 Configuring the messages for the 5 92 Incremental encoder emulation through DOUT1 and 2 93 5 6 Holding brake DQUT3 eere tri 95 Brake TUnCtlOn Siem ua odit fec tpe Ple ree atl e niti efe 95 Analog inputs AINO and INIT etat ase ta TG Sulu vere 96 Analog output AMON usa ori o eat anu rese tup aqa 98 6 Communication interfaces UU u 99 Control through the CAN cheatin eet ee ees 99 Function Overview i cicadas eo tecto aqu wa E e pH dea re OR Seca en Mere s eI BER EAE R EE 99 6 1 1Processing of CAN messages eene eere 100 6 1 2Configuring the CANopen communication
166. nd EMERGENCY STOP according to EN 60204 1 X C 184 Table 41 Stop categories ette eese cree 184 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 18 1 General Symbols used in this manual Information Important information and notes Caution Non observance may result in severe property damage DANGER Non observance may result in property damage and personal injuries Caution Dangerous voltage The safety note indicates the possibility of a highly dangerous voltage User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 19 Features and area of application of the DUET FL Area of application and intended use The DUET_FL servo positioning controller was designed for the decentralized control of three phase magneto electric synchronous machines Thanks to numerous options for feedback and to various different control methods such as block commutation and sine commutation the controller can be adapted optimally to the motor characteristics Normally it is mounted directly on the motor However it is also possible to detach the DUET_FL from the motor and to connect it to the motor using a short shielded cable Further information concerning the installation can be found in the appendix in chapter 11 14 Mechanical installation The DUET_FL servo positioning control
167. nd activates the teaching function 3 Activate the teaching function step 2 by setting DIN 6 to high 4 Use the digital inputs DIN 0 to DIN 5 to select the position set into which the current actual position is to be saved User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 90 5 With the falling edge at DIN 6 the current actual position is taken over into the selected position set 6 The digital inputs will now be ignored for a preset time before they are available again This time has to be set in the Destination parameters window in the Tipp amp Teach position set Attention The position s that is are written into the position set s with the help of the teaching function is are not automatically permanently saved in this these set s They can be saved permanently using the Save Parameter button _y set pos I teach k wreak mi xi DING p Ref Teach ons DIK b Des 1K Tipp neg N DIN3 i Teach ENS N ER ix s TE MEN A ___ i l l Activ ate special m B 3 4 5 i 6 7 Figure 24 Teaching process of a target position tw gt 1 6 ms gt 1 6 ms s teach gt 1 6 ms gt 5 ms gt 1 6 ms User Manual DUET FL DUET FL 48 10 Version 1 1 Motor
168. ndow 5 Now briefly activate the controller enabling system After the control system has been enabled the shaft has to start rotating If the motor does not show this behaviour there is either an error or the DUET FL servo positioning controller has been parameterized incorrectly The following table shows typical errors and how you can eliminate them Table 7 Error elimination Speed control Error Remedy The motor develops a holding The number of pairs of poles and or the phase sequence is incorrect Set the torque It blocks in different correct number of pairs of poles and or interchange the motor phases Perform positions another automatic identification See chapter 3 1 1 Motor data The motor shaft oscillates or runs The parametrization of the angle encoder offset see chapter Speed controlled unevenly mode and or the controller parameters are incorrect Perform another automatic identification See chapter Angle encoders The shaft does not rotate No intermediate circuit voltage DC bus voltage The limit switches are active The shaft does not rotate The actual The speed setpoint has not been configured correctly Further information can be value window still shows a speed found in chapter 4 2 Setpoint assignment through setpoint selectors setpoint of 0 When you are connecting the motor phases please have mind that the servo motor Il manufacturers configure the phase s
169. ne Shows the current line of the course program In addition the current line is highlighted in blue in the table Position Indicates the position set approached last CMD STOP NEXT1 Pos line 1 NEXT2 Pos line 2 DOUT DOUT2 63 Posi ignore automatic ignore Off Off Posi ignore automatic 62 ignore Off Off Posi ignore automatic 61 ignore Off Off Posi ignore automatic 50 ignore Off Off ignore ignore target ignore target Target ignore automatic 10 ignore On Off Posi ignore automatic 11 ignore On Off Posi ignore automatic 12 ignore On Off Posi ignore automatic 40 ignore On Off Modus a tm Course program active 2 DOUTI 2 Line 4 X Exit Course program stop 2 o DOUT2 Position 50 Version 1 1 Motor Power Company Function of the inputs and outputs chapter Connectors at the DUET_FL 48 10 1 Information concerning the pin assignment of the inputs and outputs can be found in 5 3 Digital inputs DIN0 to DIN9 The DUET_FL servo positioning controller has ten digital inputs DIN0 to DIN9 Due to the limited number of connectors at the pin and socket connector some of the digital inputs are not active in all configurations The following table provides an overview of the configuration in which the digital inputs cannot be used X not available Table 11 DUET FL 48 10 digital inputs possible combinations m DIN1 DIN2 DIN3 Din
170. nfiguration bit field be recorded 0167 psc timebase Number of cycles until next storage Multiple of sampling time sampl osc timebase osc sample time 0168 psc delay rigger delay Number of samples alue 0 Recording of events after trigger alue 0 Recording of events before trigger osc_data0 Function number for channel recording bsc KO nro Free CO address CO number free CO osc KO maskO0 Optimal mask to hide unnecessary bits none alue ranges in a communication object 0160 Fee CO address CO number free CO 0169 016A 016B 0162 pse datai Function number for channel recording 016D 016E psc KO mask1 Optimal mask to hide unnecessary bits or none alue ranges in a communication object 0165 psc data Function number for channel recording 0170 bsc KO m2 CO address CO number free CO 0171 psc KO mask2 Optimal mask to hide unnecessary bits or none alue ranges in a communication object d pointer course prog Pointer at an entry in a course program 0191 ftd line course prog Pointer at a line in a course program 0193 d line course prog akt Pointer at currently processed line in a none ourse program 0193 d line course prog start ets the start lines for 1 and 2 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 138 Basic units Table 25 List of basic units urrent 32 bits 1 2 215A lAcceleration 32 bit
171. ng to X3 or overload of the brake output due to a brake with a too high current consumption Electronic error in the DUET FL device The error cannot be eliminated by the user Error 24V supply Send the servo positioning controller to the out of range distributor The error cannot be eliminated by the user Error offset Send the servo positioning controller to the current metering distributor Motor defective e g winding overloaded and burnt short circuit between winding and housing Short circuit in the cable between two phases or between a phase and the shield DC bus Insulation of motor phase connections overcurrent Defect inside DUET_FL output stage output stage defective or insulation fault insulating foil DC bus intermediate circuit supply too low DC bus intermediate circuit supply cannot be loaded sufficiently e g during acceleration with full current Check the configuration of the DC bus intermediate circuit monitoring system If DC bus necessary set to 70 to 50 of the rated undervoltage voltage DC bus intermediate circuit voltage gt 70 V DC bus intermediate circuit supply too high during idling Check rating Brake energy too high when axes are decelerated Capacity in DC bus intermediate circuit too low Install an additional capacitor DC bus approx 10 000 uF per 10 A motor overvoltage current Angle encoder connected Angle encoder cable defective Angle enc
172. nication protocol When the program is started it tries to set up a communication with a servo positioning controller If it fails an error message will be displayed In this case you have to configure the data for the communication correctly To do so you need to know the serial interface COM port number and the data transfer rate used Configuring the RS232 communication parameters You can increase the baud rate based on the actual data transfer rate in the menu under Options Communication Baud rate Actual data transfer rate 115200 Baud Preferred data transfer rate 115200 Baud __ Cancel 115200 Baud You have to select a preferred data transfer rate The program tries to set up a communication using the baud rate defined The preferred transfer rate will either be accepted or set to a lower value The actual baud rate will be displayed in the field Actual data transfer rate This baud rate is used for the normal online communication with the servo positioning controller A special baud rate will be selected for downloading the firmware Under Options Communication Interface you can select the interface COM port to be used by the parameterization program for the communication with the servo positioning controller Do port active until COM1 now New COM port COMI User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 103 Transfer window
173. nput with AIN1 A4 DIN3 0 V 24 V Digital input Positioning destination selector bit 3 DOUT2 0 V 24 V Digital output Programmable encoder output track B A5 DIN9 0 V 24 V Digital input Power stage activation A6 DIN7 0 V 24 V Digital input Limit switch 0 blocks n gt 0 CAN high A7 DIN4 0V 24 V Digital input Positioning group selector bit 0 AIN1 10 V 10 V Analog input 1 Differential analog input with AIN1 A8 DIN2 0 V 24 V Digital input Positioning destination selector bit 2 DOUT1 0 V 24 V Digital output Programmable encoder output track A AINO 10 V 10 V Inv analog input 0 Differential analog input with AINO 0131 E Digital input Positioning destination selector bit 1 B2 TxD 10 V Transmission signal RS232 specification amono 0v 10v 2mA Analog monitor 0 B4 GND o V Reference potential for the control signals AIN0 10 V 10 V Analog input 0 Differential analog input with AIN0 B5 DINO 12 Digital input Positioning destination selector bit 0 B6 RxD 10 V Reception signal RS232 specification User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 174 s7 v 24 V Digital input Positioning start 24 V ligg 24 V power supply for the internal logic and the 105 Shared B8 24V Logik 200 mA 1000 mA ground
174. ns upon request Please contact your local distributor Hiperface encoder evaluation X2 Suitable encoder Stegmann Hiperface SCS SCM60 SRS SRM50 SKS36 For other types please contact your local distributor Resolution Up to 16 bits depending on line count Signal detection delay 200 us Speed resolution approx 4 rpm Absolute angle sensing lt 5 accuracy speed 6 000 rpm generell 3 000 rpm with an encoder with 1024 lines 11 13 7 Incremental encoder evaluation X2 only DUET_FL 48 10 FB Line count 32 1024 lines per revolution can be prarametriezed Connection level 5 V differentiell RS422 standard Supply feedback system 5 V 100 mA max Input impedance Ri 1600 Q Limit frequency fi gt 100 kHz lines sec User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 163 Six Step Hall sensor and block commutation X2 Suitable Hall sensors Hall sensor with 5V supply 120 phase offset open collector or push pull output gt 5 mA Resolution 6 steps per electrical revolution Signal detection delay 200 us Speed resolution Depending on the number of pairs of poles of the motor Max speed 3 000 rpm in the case of a motor with two pairs of poles 11 13 8 RS232 X1 RS232 In accordance with RS232 specification 9600 bits s to 1
175. ntained in this document These safety instructions and all other user notes must be read prior to any work with the servo drive controller In case you do not have any user notes for the servo drive controller please contact your sales representative Immediately demand these documents to be sent to the person User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 25 responsible for the safe operation of the servo drive controller If you sell rent and or otherwise make this device available to others these safety notes must also be included 10 o0 The user must not open the servo drive controller for safety and warranty reasons Professional control process design is a prerequisite for sound functioning of the servo drive controller m 2 1 Danger resulting from misuse User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 26 Safety notes General safety notes The servo drive controller corresponds to IP54 class of protection as well as pollution level 1 Make sure that the environment corresponds to this class of protection and pollution level P sb Only use replacements parts and accessories approved by the manufacturer The devices must be connected to the mains supply as per EN regulations so that they can be cut off the mains supply by means of corresponding separation devices e g main 5 switch contactor power switch Gold contact
176. o 32 or 8 destinations depending on the operating mode User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 79 Table 10 Available position sets if the course program is active and the Course Posi input 0 Configuration 64 positions 16 positions Explanation able 8 4 groups with 8 positions each 8 complete positions Standard configuration Pos 0 7 16 23 32 39 48 65 Pos 0 7 Control signal Course Posi at DIN 3 able 9 4 groups with 8 positions each 8 complete positions New configuration Pos 0 2 4 6 60 62 Pos 0 2 4 6 8 10 12 14 16 Control signal Course Posi at DIN 0 Creating a course program The menu for managing and creating course programs with up to 32 program lines can be opened under Parameters Positioning Course program En m cub stop Pose Pos ine 2 DOUTZ ignore complete pos ignore ignore ignore ignore complete pos ignore ignore ignore complete pos ignore complete pos ignore ignore ignore complete pos ignore complete pos ignore ignore ignore ignore complete pos ignore Modus ET gt X Exit The File gt gt Program can be used to load an already existing course program into the servo positioning controller while the Program gt gt File button can be used to save a program just created In the Modus field yo
177. o resolver signal S3 R gt 10 kO Others Connection to incremental encoder track A Phase V Hall sensor for commutation 2 4 A 6 COS A Input with 4 7 pull up at 5 V 1 5 Vrms aitt Resolver Connection to resolver signal S2 Ri gt 10 Others Connection to incremental encoder track B 0 lt 5M Phase W Hall sensor for commutation Input with 4 7 pull up at 5 V 1 5 em ait Resolver Connection to resolver signal S4 R 10 kO Others Connection to incremental encoder track ZB 0 v 13 3 Motor temperature sensor normally closed contact analog sensor of KTY series connected to GND a 3 Vea Resolver Connection to resolver signal R1 max 50 mArms Others Connection to incremental encoder track N DATA MAN 12 V 100 mA 12 V power supply for Stegmann Hiperface encoder A 3 Resolver Connection to resolver signal R2 max 50 Others Connection to incremental encoder track N ZDATA 16 n c 10 H icm 12 MTEMP X 14 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 171 Connection Motor X301 X303 Configuration on the device 6 3 mm FAST ON male lt Mating connector X301 X303 6 3 mm FAST ON female insulated externally Figure 35 Motor cable connection Table 29
178. o the motor used The parameters to be configured are the gain and the time constant Enter the correct parameters If you are unsure keep the uncritical values Caution Incorrect data for the current controller gain and the time constant may lead to oscillations and due to temporarily excessive currents also destroy the motor The overcurrent detection system of the servo positioning controller may be activated DANGER Make sure that the maximum currents and the rated currents of the motor have been adjusted correctly prior to optimizing the current controller If the currents are too high the motor will be destroyed as the permanent magnets inside the motor will be demagnetised The current limits stated by the manufacturer must not be exceeded See chapter 3 1 1 Motor data The current controller can be optimized using the oscilloscope function see chapter Using the oscilloscope function You can display the step response of the current controller by setting the oscilloscope channels to the actual value and to the setpoint value of the active current Select the Torque control option in the Commands menu and enter a current setpoint Then try to adjust the optimum step response by varying the parameters The following illustration shows a good step response The current should reach the setpoint value within 1 ms and not overshoot by more than 20 In the case of motors with a high stator inductance the current may need m
179. oder defective Error Hall Check the configuration of the angle encoder encoder interface error motor Pt Angle encoder number of pairs of poles 100ms X X X at 100 and direction adjusted correctly Automatic motor identification performed Motor blocked User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 110 2311 at 80 Motor temperature 5 C 4380 below maximum 2380 Output stage temperature 5 C 4280 below maximum Following error 8611 control 8612 Error limit switch Timeout Quick 6199 stop Error during 8A80 homing run Error Motor and resolver 6197 identification Course program unknown 6193 command invalid branch 6192 destination Course program Possible causes measures Release error time Check the power rating of the drive package lt error controller See error 19 lt Pt at 100 Motor blocked Check the power rating of the drive package lt 100ms MI Check the power rating of the drive package Check the power rating of the drive package DUET FL heated up by the motor Decouple the DUET FL thermally if necessary Check improve the installation and the cooling conditions Motor blocked Controller adjusted optimally particularly the internal control circuits for current and speed Acceleration parameterization too high Error window too small Increase the window Limit switch
180. of the rotor oriented current control have already been summarized in chapter features In torque controlled mode a current setpoint i_set is predefined for the active current controller In this operating mode only the current controller in the servo positioning controller is active As the torque generated on the motor shaft is approximately proportional to the active current in the motor one can justifiably talk about torque control The accuracy of the torque control depends mainly on the motor and the sensor system used to measure the rotor position With a good synchronous machine a high resolution rotary encoder SINCOS encoder and good controller adjustment the DUET_FL can reach a torque ripple in the range of 1 to 3 referred to the maximum current or the associated maximum torque of the motor In speed controlled mode a certain speed setpoint is assigned The DUET_FL servo positioning controller determines the current actual speed n_actual through the encoder evaluation To make sure that the speed setpoint is complied with the current setpoint i_set is determined User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 53 uni Y yoe x Jay AjoojoA kl pe N 4ju09 9 NVO 22654
181. ols are used to control and visualize the cursor of the oscilloscope When the user opens the actual oscilloscope window the current value of the selected channel cursor position is displayed in a numerical form In this example channel CH2 has the value 451 rlmin at the time t 30 ms The Cursor button can be used to switch to another channel These check boxes are used to show and hide the channels in a selective manner A selected check box means This channel is shown This coloured area indicates the current status of the oscilloscope The following entries are possible inactive The oscilloscope is not active at present start The oscilloscope is started wait for trigger The system waits for the trigger event pretrigger The system has started to record data for the pretrigger trigger found A trigger event has been found but the system has not started to record data yet data read The channel data are transferred to the parameterization program The LED indicates the current operating status of the oscilloscope A green LED means The oscilloscope is active An inactive oscilloscope is indicated by a red LED The RUN STOP check box is used to activate or deactivate the oscilloscope Activate the oscilloscope if you want to use it This button can be used to trigger a trigger event manually The oscilloscope starts recording data straight away User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 12
182. on Times FlexiDuet Version 2 4 Application 0 KM release 1 1 Copyright Motor Power Company Srl Via Leonardo da Vinci A 41043 Castelnovo Sotto RE ITALY Tel 39 0522 682710 FAX 39 0522 683552 Internet http www motorpowergroup com Email info motorpowerco it You can find the following information on the Copyright tab gt Program name version Sales partner Address and phone number Internet link Click on the button to activate it 2 Email address Click on the button to create an e mail e X X You can find the following information on the Firmware Hardware tab Main board Type serial number version Bootloader Version Firmware Version You can find the following information on the Communication tab COM port and baud rate used online parametrization File used offline parametrization The Times tab gives you information concerning the cycle times of the following components Current controller Speed controller Position controller The current count of the operating hour meter Ke ae ae ae User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 122 Fast access via the tool bar Some functions of the parametrization program can be accessed directly using the icons beneath the menu bar Meaning Oscilloscope Offline parameterization Online parameterization Search for communication Set French language
183. on the chassis rete p ero ced Hao e ERE E Ee E 190 Figure 46 Connection of the DUET FL to the power supply unit shield connection via cable u rM 190 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 15 List of Tables User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 16 Table 1 Scope of supply ostendere eens enemas 22 Table 2 Additional parametrization 22 Table 3 DUET FL 48 10 accessories u 23 Table 4 DUET FL 48 10 IC and DUET FL 48 10 FB accessories 23 Table 5 Angle encoder parameters UU u u 37 Table 6 Display mode l l U uuu 45 Table 7 Error elimination Speed control 51 Table 8 Course program Assignment of the digital inputs 78 Table 9 Course program Configuration of the digital inputs new I O configurati on Ir 78 Table 10 Available position sets if the course program is active and the Course Posi input 0 79 Table 11 DUET_FL 48 10 digital inputs possible combinations
184. operating mode Controller enable To activate the homing or positioning mode the Commands windows has to be configured as follows C Torque control C Speed control Positioning Selection 64 positions C Course program DIN3 7 New 1 0 assignment 0 High Course program 0 Low Selection 32 positions C Tipp amp Teach DINO High Tipp amp Teach Low Selection 32 positions User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 63 DANGER Do not activate the positioning mode unless you have adjusted the motor parameters and the current and speed controller Incorrect basic settings may destroy the servo positioning controller the motor and the mechanical drive 5 2 Configuring and optimizing the position controller In positioning mode a superordinated position controller is active in addition to the speed control This position controller processes the deviation of the actual position from the set position and converts it into the corresponding setpoints for the speed controller The position controller generates a correction speed on the basis of the difference between the set position and the actual position and transfers this speed value as a setpoint to the speed controller The position controller is used in conjunction with the positioning control system It is a P controller with parameterizable input and output limitations You can open
185. or has to be connected through the FASTONs X301 to X303 on the circuit board of the DUET FL The DUET FL controls an optional holding brake through connector X3 The encoder and the temperature sensor have to be connected through the recessed connector X2 on the circuit board The DUET FL 48 10 FB has an additional integrated brake chopper It is therefore possible to connect the braking resistor through the FASTONs X304 and X305 on the circuit board as shown below right in Figure 43 Connection to power supply control and motor Normally the braking resistor is installed on the mounting plate for the electronics housing If the analog inputs are used to assign setpoints we recommend using shielded and twisted cables for AINx AINx even if the control does not provide any differential signal Connection of AINx to the OV reference potential at the control system prevents common mode interferences which are caused by high currents flowing through the power stage and the external cables The shield prevents the penetration of interferences and should be connected on both ends to the housing of the DUET FL servo positioning controller and to the housing of the control system The CAN bus should be cabled in the same way as the analog inputs A terminating resistor of 1200 196 has to be installed at both ends of the CAN bus network The individual nodes of the network are always connected in line so that the CAN cable is looped thr
186. or time optimal positioning relative or absolute with regard to a reference point Point to point positioning with and without spot tracing Speed and angle synchronous operation with an electronic gearbox via field bus Numerous homing methods Changeable clock frequency for the output stage Integrated course program to create simple positioning sequences with or without dependence on digital inputs Programmable digital outputs High resolution 12 bit analog input User friendly parametrization using the DUET FL ServoCommander PC program Automatic motor identification Easy connection to a superordinated control system e g to a PLC on the I O level or via a field bus Technology slot for extensions e g field bus connections only DUET_FL 48 10 lt monitoring system to limit the average power loss the power stage and in the motor Integrated brake chopper only DUET_FL 48 10 Separate RS232 and field bus connection only DUET_FL 48 10 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 21 DUET_FL ServoCommander features Basic information The parametrization program ensures the comfortable parametrization of the DUET_FL servo positioning controller You adapt the DUET_FL servo positioning controller optimally to your application using the parametrization software The firmware of the DUET_FL servo positioning controller must match the parametrization software This means that following
187. ore time to reach the setpoint value In any case the transient process should subside in a well damped manner and without excessive overshoots User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 42 Fm 500 us 7 div Figure 1 Current controller step response DC bus monitoring In special applications e g when shafts with a high mass are strongly accelerated or decelerated the intermediate circuit voltage DC bus voltage may break down or become too high If the intermediate circuit voltage becomes to high overvoltage 70 V the DUET FL servo positioning controller will be shut down This is a safety function and cannot be parametrized Intermediate circuit voltages that are too low can cause an error if this is configured accordingly by the user The menu can be activated under Parameters Device parameters DC bus monitoring Rated DC bus voltage detection Response threshold C Error Immediate Stop of output stage Error Controlled Stop Warning Show Warning C Warning Do not show Warning The field Rated DC bus voltage shows the voltage for which the power stage is rated This value cannot be changed In the field Undervoltage detection you can define the response threshold below which the voltage has to fall so that the controller detects an undervoltage Depending on the power supply unit used a normal value would be 50 70 of the rated D
188. ot correspond to the homing method numbers defined in CANopen DSP402 Chapter Parameterizing the homing run describes how to active the homing methods and how to set the required parameters Method 1 Negative limit switch with index pulse evaluation User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 71 If this method is used the drive moves in the negative direction at search speed until it reaches the negative limit switch In Figure 9 this is represented by the rising edge movement from the right to the left Then the drives moves back at crawl speed and tries to find the exact position of the limit switch The zero position refers the first index pulse of the angle encoder in the positive direction from the limit switch Figure 9 Homing run to the negative limit switch with index pulse evaluation Method 2 Positive limit switch with index pulse evaluation If this method is used the drive moves in the positive direction at search speed until it reaches the positive limit switch In Figure 10 this is represented by the rising edge Then the drives moves back at crawl speed and tries to find the exact position of the limit switch The zero position refers the first index pulse of the angle encoder in the negative direction from the limit switch SSS El Index Positive Limit Switch aoe en ae Figure 10 Homing run to the positive limit switch with index pulse evaluation In the case of homing methods 1 an
189. otor and the DUET FL controller A good PE connection has only a low impedance even in the case of very high interference frequencies An optimum PE connection can be obtained by mounting the DUET FL controller directly on the motor If you want to mount the DUET FL controller and the motor separately make sure to mount them on the same metal part of the machine In this case the surface of the machine part should be made of uncoated aluminium or galvanized sheet metal 11 20 2 Connection between the DUET FL and the power supply unit Use cable with a sufficient cross section to reduce ground bouncing effects on the DC bus supply intermediate circuit supply 2 5 mm AWG13 should be sufficient for a cable length of up to 5 m between the power supply unit and the DUET FL controller Use a star shaped cable layout see chapter Connection to Power Supply and control in system if you want to connect several DUET FL controllers to one power supply unit The star point of the reference potential should be as close as possible to the power supply unit The power supply unit should have a Y capacitor of at least 100 nF between the DC bus voltage intermediate circuit voltage and PE as well as between GND and PE Make sure to set up a good PE connection between the DUET FL controller and the power supply unit It is important to ensure a good feedback of the high frequency leakage currents generated by the clocked power stage in the
190. ough from controller to controller In the case of the DUET FL 48 10 and DUET FL 48 10 IC above right in the picture it may be necessary to connect two cables to one pin of connector X1 This is not necessary in the case of the DUET FL 48 10 FB below right since there are already two connectors X401 and X402 for the CAN bus The DUET FL 48 10 FB has a separate connector X5 for the serial service interface On all the other DUET FL variants it is connected through X1 The signals for the digital IOs DINx and DOUTx do not need a shield to protect them against interferences but a shielded cable between the DUET FL servo positioning controller and the control system improves the EMC behaviour through out the entire system and particularly in view of radiated interferences At least the control signals DIN9 controller enable and DOUTO ready for operation have to be connected between the SPC and the controller Make sure that the DUET FL servo positioning controller is completely connected prior to switching on the power supply for the intermediate circuit DC bus and the logic system If the power supply connections are reversed if the power supply is too high or if the connections of the intermediate supply and the logic supply are mixed up the DUET FL servo positioning controller may be permanently damaged User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 183 EMERGENCY OFF EMERGENCY STOP ter
191. parameter set is activated by selecting File Parameter set Load default parameter set The default parameter will then be copied into the FLASH memory and into the RAM Loading and saving parameter sets Parameters can also be stored and managed externally i e on a hard disk or floppy disk etc The parameter set is read by the DUET_FL servo positioning controller and saved to a file or it is read from a file and saved in the DUET_FL servo positioning controller The extension of the parameter files on the PC end is DCO The following menus of the parameterization program are used for reading and writing of the DCO files File Parameter set File gt gt Servo This command transfers a DCO file from the PC to the servo File Parameter set Servo gt gt File This command writes a DCO file to the PC Please note that when writing a parameter set to a file on the PC you can fill in the fields Motor type and Description You can also enter a comment of up to 100 lines if you select the Comments tab We highly recommend generating descriptions to prevent confusions of parameter sets The name of the parameter set should also be selected carefully to facilitate finding the right file Please use the comment fields to save information DCO files can be sent from one location to another on floppy disks CD ROMs and or by e mail User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 153 Printing parameter
192. r X1 169 Table 28 Pin assignment of connector 2 170 Table 29 Pin assignment of connector X301 303 171 Table 30 Pin assignment of connector X3 171 Table 31 Pin assignment of connector X8 172 Table 32 Pin assignment of connector X1 173 Table 33 Pin assignment of connector X1 174 Table 34 Pin assignment of connector X304 X305 176 User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 17 Table 35 Pin assignment of connector X401 and X402 177 Table 36 Pin assignment of connector 5 178 Table 37 Pin assignment to set up an RS232 adapter cable for connection to a PC noteDOOK u uu St es 178 Table 38 A Pin assignment of connector 8 179 Table 39 Description of the requirements to be met for the categories in accordance with EN 954 1 eoo Cod doa ose 183 Table 40 EMERGENCY OFF a
193. r operation mode and the power stage can be re enabled with the next rising edge If the motor has hit the limit switch the falling edge is used to allow the motor to continue to move in the same direction The digital inputs DINO DIN3 can be used in all operating modes for an offset for the CAN node number See chapter Configuring the digital inputs User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 88 Configuring the digital inputs The menu Parameters lOs Digital inputs can be used to configure the functionality of the digital inputs DIN0 DIN5 Digital inputs Digital inputs 0 3 Offset node numbers v AIN s used as DIN s DINO Positioning selection DINI Positioning selection DIN2 Positioning selection DIN3 Positioning selection DIN4 Positioning selection DIN5 Positioning selection DING Positioning Start x Cancel Functional overview In the positioning mode a 6 bits wide position selector DIN0 DIN5 can be configured for addressing a destination on the basis of the 64 freely programmable targets In addition the Start input DIN6 is of importance for the positioning run The digital inputs DIN0 DIN3 can be used for an offset for the CAN node address m The functionalities of DINO DIN3 can only be used if the analog inputs AINO and AIN1 Il are used as digital inputs If the incremental encoder emulation is
194. r Power Company Page 148 The times stated in the diagrams have a tolerance of 100 us This tolerance has to be taken into consideration in addition to the times given in the timing diagrams m The DUET_FL position controller has a sequential control with a time base of 1 6 ms The statuses of the digital inputs and outputs are checked and updated cyclically The cycle time of the SPC or of the control must be set to values lt 1 6 ms 100 us 1 5 ms so that the SPC can detect all messages from the DUET_FL On the other hand all the control signals from the SPC must be applied gt 1 6 ms 100 us 1 7 ms in order to ensure that the DUET_FL can recognize the signals correctly Example SPC with tyce 1 ms setting of the SPC outputs for at least 2 x ta 2 ms 11 10 1 Switch on sequence Power On DOUTO READY 2 51 controller B enable powerstage active 7 holding brake unlocked speed setpoint actual velocity value t1 500ms Boot program and start of the application t2 gt 1 6ms t3 10ms Depends on the operating mode and on the status of the drive t4 Nx1 6ms Can be parameterized run delay braking parameter 1t5 1 6ms t6 Nx0 2ms Depends on the quick stop ramp t7 Nx1 6 ms Can be parameterized stop delay braking parameter User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 149 Positioning Destination reached start positionin
195. r operation pour1 DOUT 2 El Holding brake unlock eee One of the following signals can be assigned independently to DOUT1 or DOUT2 gt OFF i e output inactive LOW level through integrated pull down resistor gt ON i e output active 24 V HIGH level through integrated high side switch User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 92 X Output stage active i e output stage switched Motor Servo Warning Following error Remaining distance message Target reached Homing mode complete Declared speed achieved Course program X S X v X v X X X v X v X Some of the scroll boxes are followed by a button with three dots Clicking this button opens another window where you can make additional settings Configuring the messages for the digital outputs For many applications combined with a control system it is useful that the servo positioning controller generates a message when the required operating conditions are violated or reached The menu item ParametersIMessages opens a window for configuring these messages Here you can configure tolerance ranges for the messages declared speed achieved target reached and following error Tab Following error Following error Tolerance range for the permissible following error
196. rance range within which the actual speed has to be in the range of the declared speed so that the declared speed achieved message is set Messages Motor speed message Destination Following error Motor speed message 20 000 rimin Declared speed H mM 10 000 rimin HM E Message window Incremental encoder emulation through DOUT1 and DOUT2 An activated incremental encoder emulation requires the digital outputs DOUT1 and DOUT2 As these outputs are connected to the digital inputs DIN2 and DINS these inputs cannot be used if the incremental encoder emulation is active Exception DUET FL 48 10 FB with DOUT1 and 00072 led out separately User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 94 For complex servo control systems two servo positioning controllers can be synchronized by coupling them in a master slave configuration using incremental encoder signals At present the DUET_FL servo positioning controller can only assume the role of the master The master transmits the position information the form of incremental encoder track signals through the outputs DOUT1 track signal A and 00072 track signal B to the slave which receives the information through the corresponding incremental encoder input The illustration below shows the configuration X1 out input Master Slave M1 M2 Figure 25 Coupled incremental encoder e
197. recomputation Please contact the technical support team Internal error lt 5ms 62 6180 Stack overflow Please contact the technical support team Internal error lt 5ms X Check sum error 63 5581 Please contact the technical support team Internal error lt 5ms X 64 6187 Initialization error Please contact the technical support team The servo positioning controller internally manages the error no 1 to no 64 If your device displays an error number which is not described in the error table and marked as an unknown error in chapter 6 2 Error management please contact your local distributor It is possible to assign these error numbers for firmware extensions or customized firmware versions with additional monitoring functions User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 112 Error display in DUET FL ServoCommander The error window is a permanent window in the parameterization program If there is no error the window is minimized In the event of a controller error the user interface changes in two ways 1 The error window will be maximized and put to the surface 2 The error will be stated in red writing on the lower bar of the main window Error messages Error text Errors are handled in three steps 1 Error analysis In the example given here the error is caused by a broken unconnected connection to the angle encoder 2 Error elimination Eliminate
198. rive Optimization strategies The behaviour of the speed controller can be observed best by recording its response to a speed step Activate the speed control mode and deactivate any ramp functionality active in the setpoint selector menu You can realize a speed step for example by assigning setpoint steps through the RS232 interface Or you can use the setpoint assignment via an analog input which you have to short circuit in order to realize a step The reaction of the speed controller can be observed using the oscilloscope function see chapter Using the oscilloscope function You can display the step response of the speed controller by setting the oscilloscope channels to the actual speed value rough and to the speed setpoint value Make sure that you do not change the numbers for the gain factor and the time constant in too large steps Use small changes You should start with a relatively long integration time in the range of 8 ms to 10 ms and then increase the gain progressively Only after you have felt your way towards the right setting by increasing the gain should you reduce the integration time step by step After the numbers have been changed there may be two different situations If the setting is too hard the speed controller will become unstable If the setting is too soft the drive will not be rigid enough which will lead to following errors The speed controller parameters are not independent of each o
199. rst will be accessed and processed User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 84 Level test program step positioning program step 10 program step 11 program step x y go to postion program step 10 target reached edge NEXT1 2 recognized DOUT1 2 high low DOUT1 2 target reached remaining activities course program DOUT1 2 high low program step 10 DOUT1 2 high low program step 11 target reached remaining distance positioning program step 10 distance start new position T NEXT1 2 evaluate calculate new branch destination Figure 21 Branch Line time diagram Course program line 8 Befehlsart C Position branch C Branch Line Level test Optionen Evaluate NEXT1 Evaluate NEXT2 Evaluate Stop signal DOUT1 Off End of Program Off NEXT1 HIGH NEXT1 LOW Next line 1 2 mest ine 2 sj Complete position then evaluate Evaluate immediately X Exit Depending on the level of NEXT1 the program will continue in different lines NEXT1 high NEXT1 low line n line x line y Figure 22 Level test course program User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 85 If the digital signal NEXT 1 is HIGH the progr
200. s e eei 112 Error elimination 112 Error management 113 Error messages 105 Error window a 112 F Factory setting ect th 102 G General configuration 44 H Hardware and software requirements 21 info er To PS 70 Sp eds Acc leration TIMES ed eret E Feo ER LER M nte Ea Meo di tap et 75 Er uM Ier Mm E EI M MD E S Lc Sse 70 Homing method C rrent positiOh er time e eade ut Rt c e E Guat E ERE Mee e e RON Dun 74 Index pulSg n Yuya a ieri I 72 Negative limit Switch HR REL ab EH eR ore gn cedi hi n 71 Negative limit switch with index pulse evaluation 70 Negative Stop uu u 73 Negative stop with index pulse evaluation 72 PPositive limit SWIECIY 5 1 2 nu n n late aaa tt 72 Positive limit switch with index pulse evaluation a 71 PositlVe StoD u Sua a de erede d qan dere tat usuka iaae aaa atana Maw sand dd exe udo 73 Positive stop with index
201. s Automatic offset detection button User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 36 During the automatic angle encoder identification the controller is automatically activated for several seconds and the motor is driven with a controlled rotating field The automatic identification process determines the following parameters Number of pairs of poles of the motor not in the case of Six Step Hall encoders Angle encoder offset i e the offset between the index mark of the encoder and the magnetic axis of symmetry of the winding of phase 1 Phase sequence of the angle encoder left right Line count only in the case of SinCos encoders and incremental encoders The following conditions have to be fulfilled for an automatic identification The motor is completely wired The DC bus voltage intermediate circuit voltage is present The servo positioning controller is error free The shaft must move freely DANGER Prior to starting the motor identification you have to set the current limits menu Parameters Device parameters Motor data as otherwise the motor may be destroyed Click the Auto detect button in the angle encoder menu The following menu will appear Motor identification For the identification the motor must be able to rotate freely Attention Motor is starting on its own X Cancel Caution During the adjustment the shaft automatically
202. s 1 28 rpm s 22 rpm s 32 bits 1 2 rpm 524 288 rpm position 32 bits 1 2 5R 2 5R constant 32 bits 1 2 2 Nm A 524 288 Nm A otage 32 bits 1 278 Volt 2 5 Volt Power 32 bits 1 25 VA 2 VA 32 bits 1 2 2 constant 32 bits 0 1 us 107 s 430 5 16 bits 1 2 C 211 C 2 bit factor 32 bits 1 26 275 6 bit factor 96 16 bits 1 2 0 100 0 0 Resistance 32 bits 1 28 16 7 MQ orque change 32 bits 1 2 A s 223 A s User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 139 11 7 2 Bit configuration for command word status word error word Controller reset hardware reset via commh Debug mode 0 off 1 on Load default parameters from program memory init Setpoint lockout activated internally by the controller Direction bit 0 left handed rotation 1 right handed rotation inverts the speed setpoints and the position setpoints in the torque control mode also the torque setpoints Error acknowledgement Positioning or homing start Rotation direction reversal inverted rotation direction with identical setpoints Activate synchronous positioning submode
203. s 21601 1 Senes ul JO 96 UOO puz jeuondo z L otl Q Figure 44 Wiring example for the power supply and EMERGENCY OFF EMERGENCY STOP Version 1 1 Motor Power Company User Manual DUET_FL DUET_FL 48 10 Page 187 EMERGENCY OFF stop category 0 In an EMERGENCY OFF situation the safety chain is activated Depending on the actual machine the safety chain comprises various elements e g EMERGENCY OFF buttons key operated switches start buttons etc The ECS also checks the safety chain for faults such as line breaks short circuits etc In the event of an error or if the chain is open it ensures that K1 is switched off safely The mains power supply for the 48 V power supply unit will be interrupted The connection example shown may differ from the actual connection depending on the required safety category The connection example shown in Figure 44 fulfils the requirements of EN 954 safety category 1 The connection example shown in Figure 44 may be extended by a second power contactor and an ECS unit in accordance with EN 954 safety category 3 fulfils the requirements of EN 954 safety category 3 After the disconnection of the mains power supply there is still some residual energy in the intermediate circuit capacitors of the 48 V power supply unit and of the DUET FL The elimination of this energy by internal discharging r
204. s or contacts with a high contact pressure should be used to switch the Nep control contacts Preventive interference rejection measures should be taken for control panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operated must be complied with o The environment conditions defined in the product documentation must be kept Safety critical applications are not allowed unless specifically approved by the manufacturer For notes on installation corresponding to please refer to chapter 11 20 Notes concerning safe and EMC compliant installationThe compliance with the limits required by national regulations is the responsibility of the manufacturer of the machine or system o0 The technical data and the connection and installation conditions for the servo drive controller are to be found in this product manual and must be met DANGER The general setup and safety regulations for work on power installations e g DIN VDE EN IEC or other national and international regulations must be complied with Non compliance may result in death personal injury or serious property damages User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 27 Without claiming completeness the following regulations and others apply o0 VDE 0100 Regulations for the installation of high voltag
205. se evaluation 73 Figure 16 Homing to the negative stop 73 Figure 17 Homing to the positive 74 Figure 18 Course program Position branch 82 Figure 19 Position branch time diagram ee 82 Figure 20 Course program Branch Line 83 Figure 21 Branch Line time diagram ee 84 Figure 22 Level test course program eese nnn 84 Figure 23 Level test time diagram l 85 Figure 24 Teaching process of a target 90 Figure 25 Coupled incremental encoder emwulation 94 Figure 26 Holding brake time response eese 96 272 Safe n 97 Figure 28 Online parameterization U 151 Figure 29 Offline parameterization U u 155 Figure 30 Arrangement of DUET_FL pin and socket connectors top view of electronics 2 0 UU UU L 166 Figure 31 Housing dimensions l 167 Figure 32 DUET_F
206. se of the angle encoder in search direction IndexPulse Figure 13 Homing run referred only to the index pulse Method 1 Negative stop with index pulse evaluation If this method is used the drive moves in the negative direction until is reaches the stop The DUET_FL servo positioning controller needs at least 1 second to recognize the stop The mechanical design of the stop must be such that it cannot be damaged at the parameterized maximum current The zero position refers the first index pulse of the angle encoder in the positive direction from the stop User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 73 Figure 14 Homing run to the negative stop with index pulse evaluation Method 2 Positive stop with index pulse evaluation If this method is used the drive moves in the positive direction until it reaches the stop The DUET_FL servo positioning controller needs at least 1 second to recognize the stop The mechanical design of the stop must be such that it cannot be damaged at the parameterized maximum current The zero position refers the first index pulse of the angle encoder in the negative direction from the stop r Index Pulse Figure 15 Homing run to the positive stop with index pulse evaluation Method 17 Homing to the negative stop If this method is used the drive moves in the negative direction until it reaches the stop The DUET FL servo positioning controller needs at least 1
207. second to recognize the stop The mechanical design of the stop must be such that it cannot be damaged at the parameterized maximum current The zero position refers directly to the stop aos g Figure 16 Homing to the negative stop Method 18 Homing to the positive stop If this method is used the drive moves in the positive direction until it reaches the stop The DUET_FL servo positioning controller needs at least 1 second to recognize the stop The mechanical design of the stop must be such that it cannot be damaged at the parameterized maximum current The zero position refers directly to the stop User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 74 o Figure 17 Homing to the positive stop Do not use homing methods 16 and 17 unless the mechanical system of the positioning axis is configured accordingly Set the running speed as low as possible in order to limit the kinetic energy when the drive hits the stop Method 35 Homing to the current position no movement In the case of method 35 the zero position refers to the current position when the homing run is started Parameterizing the homing run The homing run can be parameterized in the Homing position menu You can open this menu under Parameters Positioning Homing position or by clicking the REF button in the tool bar The following window will appear Homing position Settings Driving profile Mode ma
208. set to HIGH for one second Then the system shall wait until NEXT1 is active Once this is the case the drive will move infinitely to position 16 start delay 3 seconds Realization Course program o Posi ignore automatic 0 ignore n Off Jump ignore automatic 2 ignore On Off 2 Posi ignore complete pos 16 ignore Off Off Posi ignore automatic ignore E NHEN RN aaa 5 accept e 7 7 End accept mi rame Course program active NEXTI DOUTI Line 4 X Exit Course program stop 2 0072 Position 16 Implementation A trick is used to realize the defined setting of DOUT1 Position 0 is 0 revolutions relatively with a start delay of 1 second At first the drives approaches position 0 and DOUT1 is set to HIGH Then the program jumps to line 2 obtain an infinite loop line 4 contains a program line jump to line 3 Timing diagrams The following diagrams show some typical applications of the DUET_FL servo positioning controller and the corresponding timing of the digital inputs and outputs Since some times depend on the operating status of the controller only approximate values can be given in some cases In these cases the control system has to inquire additional status messages of the DUET FL User Manual DUET FL DUET FL 48 10 Version 1 1 Moto
209. sic unit position 136 pos_bus0_delay tart delay after start of a positioning run Basic unit time applies to all position targets posc x diff_32b urrent position difference between the Basic unit position d d urrent position setpoint the actual position pos sel2 x switch Position controller selector for position none Setpoint pos sel2 n switch etpoint selector for speed feedforward 3 3 d 8 9 0 c n n an node id offset Node number offset through digital inputs node id base Basic node number for CAN ets the baud rate for the CAN bus to kBaud 125 250 500 kBaud 0144 comm active factivates the CANopen protocol 1 CANopen 0145 transmit option option 014A i i an sync time slot Nominal interval between two SYNC frames none n offset 1 T 2 3 an_baudrate n on the CAN bus required for interpolated 014B an pos fact num Numerator of the factor for position none representation User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 137 an_pos_fact_div Denominator of the factor for position none representation L4D an_val_fact_num Numerator of the factor for speed representation representation representation representation 0160 control Oscilloscope control word operating modes none 0 osc_ status Oscilloscope status word operating modes none hannel Samples O4L etc FFL rigger co
210. sion 1 1 Motor Power Company 9 t 100 d 7 7 E 9 T 9 Z o e o amp x 0 0 11 12 13 14 15 16 117 18 19 LA JQ uw LF 120 121 122 123 124 125 0129 N D Page 135 Actual speed value calculated through Basic unit speed machine model Speed value filter joh pos selector alue of target selector valid at present posi busO pointer Pointer at current position parameter 0 63 position data sets hrough RS232 hrough CAN hrough FTD hrough Profi posc ctrl gain Position controller gain Basic unit gain elocity from the position controller pos sel parameter posc x diff time posc x diff lim pos Following error position difference Basic unit position set actual posc x dead rng pos Position difference dead range Basic unit position ipo sw lim pos Positive position limit software limit switch Basic unit position ipo sw lim neg Negative position limit software limit switchBasic unit position posi busO start delay tart delay after start of a positioning run Basic unit time applies to all position targets posc x target win pos posc x target time psel home process of the current positioning run posi busO x end h posi busO0 v max Running speed during positioning run Basic unit speed Positioning group parameter posi busO v end Final speed
211. started in program step 10 When the positioning run is started 10 the course program switches to the next line program step 11 If we assume that NEXT 1 2 has been set to Complete position then target the inquiry of the NEXT 1 2 inputs takes place at the far end of the program step when the target reached message has been activated However the system also evaluates the edges that have been detected since the start of the positioning run If the target reached signal has been set but the system has not detected a rising edge of NEXT 1 2 the program will remain in program step 11 until at least one edge of NEXT 1 2 is detected program step program step 10 program step 11 iain A new pos target reached edge NEXT1 2 recognized DOUT1 2 high low program step 10 DOUT1 2 target reached remaining distance target reached positioning program step 10 remaining distance activities course program stat Va evaluate new position NEXT1 2 DOUT1 2 high low DOUT 1 2 high low program step11 Z calculate new branch destination new positioning Figure 19 Position branch time diagram User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 83 Branch Line Befehlsart ptionen C Position branch Evaluate NEXT1 Iv Evaluate NEXT2 Branch Line Evaluate Stop signal C Level test DOUT1 Off
212. t the probability of occurrence is lower than for category B 2 The requirements of category B and the use of well tried safety principles shall apply The safety function must be checked at suitable intervals by the control system of the machine The occurrence of a fault can lead to the loss of the safety function between the checks The loss of a safety function is detected by the checks 3 The requirements of category B and the use of well tried safety principles shall apply Safety relevant parts must fulfill the following requirements It must be ensured that a single fault in any When a single fault occurs the safety function is always performed Some but not all faults will be detected Mainly characterized by Accumulation of undetected faults can structure of the parts does not lead to a loss of the lead to the loss of the safety function safety function The single fault is detected whenever this is reasonably practical 4 The requirements of category B and the use of When faults occur the safety function is well tried safety principles shall apply always performed Safety relevant parts must have a redundant NM design permanent self checking complete Faults will be detected in time to prevent fault Foal the loss of the safety function 1 The categories are not intended to be used in any given order or in any given hierarchy in respect of safety requirements 2
213. t voltage 0092 foh safezero Bafe zero Basic unit voltage 0094 ROSE onfiguration of analog monitors amp none emperature sensor 0095 pins used Optionally the values for DINO DIN3 can none be parameterized as AINO AINO AIN1 poa fno config Encoder configuration word etting of operating modes revolution 00A4 eeval_x2b_line_cnt Line count of an analog incremental Increments line count 4 x encoder line count User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 133 ___ Name Meaning Scalig 0A5 emu enc line cnt So line count 2 4 x encoder emulation line count 21 1024 peu cis between the angle setpoint and the output angle of the encoder emulation Synchronization Synchronization poaa enc encoder status JAngle encoder status boas knc hiperface line cnt Line count of a SINCOS encoder eeval enc phi offs 2 Offset angle of the 2 track e g Hall Basic unit degree encoder in the case of an incremental oordinates oordinates ree I or oordinates oordinates MTM power stage od urrent status of the i2t integrator for the motor limited to 0 i max 0 0 0 0 007 he ________ bop urrc_ctrl_time_q Active current controller time constant I part Basic unit time urrc ctrl gain d Reactive current controller P gain Basic unit gain 0 0 0 0 oe 7 current controller time cons
214. tant part 0 0 0 urrc sel i switch orque setpoint selector none urrc sel i lim switch orque limitation selector none D7 ro IER M Amperes per volt Amperes per volt User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company 0 2 0 4 0 5 0 6 0 0000 pumo gam Active current controller P gain 0 1 0 2 0D3 0 0 0D6 0 Page 134 T ogging setpoint 1 not supported D9 ogging setpoint 2 not supported E e peed setpoint input variable of the speed Basic unit speed ontroller c gt e 0 1 2 i e n act Actual speed value Basic unit speed n n n act disp Actual speed value filtered for display in Basic unit speed D2SC 3 n ref rs232 35232 speed setpoint e speed setpoint gt E5 n ref ftd FTD speed setpoint Basic unit speed n ref profi Profi speed setpoint Basic unit speed 7 _ n ref hilf rs232 Auxiliary RS232 speed setpoint Basic unit speed e e C exe i E P a 8 n ref hilf can Auxiliary CAN speed setpoint Basic unit speed n ref hilf ftd Auxiliary FTD speed setpoint Basic unit speed A n ref hilf profi Auxiliary Profi speed setpoint Basic unit speed B stat peed control configuration C gpac ctr gain ontroller P gain ED ctrl time ontro
215. ternal control Configure the ramps such that the drive will not be controlled into the current limitation during acceleration under realistic load conditions When the setpoint ramp is configured correctly overshoots of the speed controller when running into the speed setpoint can be reduced considerably compared to the operation without a setpoint ramp The setpoint ramp must not be activated in the case of application with a position control system either internal or through the external control as from a control point of view the ramp operates like a PT filter and decreases the stability in the control circuit Torque limitation As mentioned before a torque limitation can be parametrized in the speed control operating mode In this case the selected setpoint source specifies a certain maximum torque This maximum torque then limits the setpoint symmetrically for the current controller or the torque controller Please keep in mind that the current setpoint is also limited by the values set in the motor data menu for the rated current and the maximum current The current setpoint is limited to the lowest torque limit Application requiring torque control in a quadrant i e the adjustment of the torque from zero to maximum in one direction of rotation can be realized well in most cases in the speed control mode with torque limitation e The torque setpoint is assigned through the torque limitation e The speed setpoint is assigne
216. the cause of the error In this example the correct connection to the angle encoder has to be provided 3 Error acknowledgement Click on the Clear button in the error window If the error was successfully eliminated the window will be minimized If the error still exists it will be maximized again You can minimize the window by clicking the Cancel button Any existing error message will remain in the error window on the status bar The Cancel button does not eliminate any error User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 113 6 2 Error management The error management window and the error window are used for error messages and warnings You can open the error management window under Error Error management 1 16 17 32 33 48 49 64 Error Immediate Stop of output stage v X Cancel No 1 Unknown error cocco wa NC I No 2 Unknown error E C HN No 3 Motor overtemperature C C NEN No 4 Over undertemperature power stage C C No 5 ErorSINCOS supply gees a No 6 Error SINCOS RS485 communication No Error of track signals of SINCOS encoder CC C BR No 8 Eror of resolver track signals carrier failure EN No 3 Error 5V internal supply C C 10 Error 12V internal supply C C C No ti Enor 24V supply out of range
217. the following errors will be performed Write access to read only communication objects Read access to write only communication objects lt Overshooting or undershooting of the values range Erroneous data transfer The first two cases are fatal errors which normally should not occur in practice In the last case the parameterization program repeatedly tries to perform the read or write process without a bit error Overshooting and undershooting of the value range of a communication object are indicated by a warning If there is an internal value for this object the value will be saved as a desired value However the original value will be maintained internally Otherwise the value will be rejected User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 118 Quitting the program The program can be quit as follows Select the menu option File Exit Press the shortcut lt Alt gt F4 Click the X button on the upper left hand side of the main window User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 119 Setting up the serial communication You have to perform the following steps to configure the data for the communication 1 Connect the DUET_FL servo positioning controller completely 2 Connect aa free port of the PC with the DUET FL servo positioning controller using null modem cable 3 Switch the DUET FL servo positioning controller on 4 Start the parameteriz
218. the function and the motor data are not properly configured The tolerances of the magnets and the windings of the motors in the series also affect the result A good compromise between smooth running and a good stationary accuracy can be realized by setting only the P component of the speed controller to EMK 3 1 1 Motor data m Il This menu must be used if the motor could not be identified with the help of the motor list User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 39 This function can be accessed via Options Device parameters Motor data The following menu appears You can enter the maximum current and the rated current of the motor used Motor data Basic parameters Advanced parameters Select new motor Limit values Maximum current in rms value Rated current in A rms value Ft time motor Power stage Number of poles 4 2 pairs Torque constant 0 24 P Auto detect Enter the data shown on the type plate You can calculate the torque constant as the quotient of rated torque rated current Please note that the values to be entered for the maximum current and the rated current are effective values If the currents are too high the motor will be destroyed as the permanent magnets inside the motor will be demagnetised The current limits stated by the manufacturer must not be exceeded The maximum current l
219. the temperature threshold has to be set If the analog motor temperature sensor option is selected you can do this in the analog motor temperature sensor field In addition you can choose one of the following standard temperature sensor in the scroll box KTY 81 82 210 220 250 lt KTY 81 82 110 120 150 lt KTY 83 110 120 150 KTY 84 130 150 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 44 Configuring application parameters General configuration The possible options depend on the selected general configuration which can be set in the menu Parameters Application parameters General configuration The following menu in which you can select the drive configuration will be displayed General configuration Application gt Gearbox rotary motion Gearbox physical units translatory motion Display units la 17min 17min s OK X Cancel In the Application section you can define whether your application is a rotary or a translatory application If you want to use the unit of the outgoing shaft for the configuration of your application click the button in the Gearbox field or click the Settings button This will lead you to the Display units menu described in chapter Configuring the display units Application examples e Rotary with gearbox Opening closing a barrier e Translatory with feed constant Positioning a carr
220. ther A measurement 1 curve which differs from trial to trial can have various reasons This is why you should change only one parameter at a time Either the gain factor or the time constant To adjust the speed controller increase the gain until oscillation starts and then decrease the gain in small steps until oscillation ceases Then decrease the time constant until oscillation starts and decrease it again in small steps until the controller is stable and rigid enough at a setpoint 0 Case 1 Speed controller too soft User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 56 Figure 3 Speed controller too soft Remedy Increase the gain factor by 2 to 3 tenths Then decrease the time constant by 1 to 2 ms Case 2 Speed controller too hard Figure 4 Speed controller too hard Remedy Decrease the gain factor by 2 to 3 tenths Increase the time constant by 1 to 2 ms Case 3 Speed controller set correctly Figure 5 Speed controller set correctly User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 57 Torque controlled mode To activate the torque controlled mode the Commands windows has to be configured accordingly Controller enable Speed control Positioning 7 Course program oe The torque setpoint can be specified in A or Nm This can be done with the help of the menu item Options Display units The associated menus will
221. ting the Firmware download option User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 120 Clicking the radio button Exit program immediately terminates the parameterization program The following table describes possible error causes the error elimination strategies Table 19 Recovering problems with serial communication Communication error Click on Retry with old parameters Wrong COM port selected Click on Change COM port and follow the instructions The baud rate of the parameterization program Click on Search baud rates does not match the baud rate of the servo positioning controller The communication of the servo positioning RESET the servo positioning controller i e switch it off and on controller is disturbed again Then click on Retry with old parameters Hardware error ie Servo positioning controller not switched on Eliminate the error and then click on Retry with old parameters Connecting cable disconnected Connecting cable broken ie Incorrect pin assignment for the serial connection Connecting cable too long Reduce the baud rate or use a shorter cable User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 121 Info windowYou can call up general information concerning the DUET FL ServoCommander under Info Info The following window will appear Copyright Firmware Hardware Communicati
222. tion il il To optimize the position controller it is essential that the current controller and the speed controller have been adjusted correctly See the preceding chapters Please make sure that the motor shaft can rotate freely and that the drive cannot be damaged The following steps have to be performed for the optimization 1 Activate the position controller and set the gain to 0 5 2 Open the menu for parametrizing the position data sets see chapter position sets and enter the following values for destination 0 and destination 1 X Ke 4 ae ae Destination 0 10 R Destination1 10 Speed half rated speed Acceleration maximum value Deceleration maximum value 3 Startthe oscilloscope see the appendix chapter Using the oscilloscope function by activating the menu item Display Oscilloscope and set the following values Channel 1 Actual speed value scaling 1000 rpm div 2 div Channel 2 Rotor position scaling 50 div offset 1 div Time base 100 ms div delay 200 ms Trigger Source actual speed value level half running speed mode normal falling edge 4 Enable the power stage Start the positioning run alternately with destination 0 and destination 1 with the help of the Go to destination menu see chapter Approaching destinations The motor now reverses within the specified limits
223. tion of the signals NEXT1 and NEXT2 will be continued even if the stop signal is active The outputs DOUT1 and DOUT2 will not be affected by the stop signal User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 81 End of program Course program line 21 A running positioning run will be completed Then the program will be stopped at this point No digital outputs will be set reset No other positioning run will be started If the check box Evaluate stop signal is selected the running positioning run can be interrupted Position branch Course program line 0 Different positions are approached depending on NEXT1 and NEXT2 The course program continues in the following command line User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 82 neither NEXT1 nor NEXT2 oS line n line 1 Figure 18 Course program Position branch If the digital signal NEXT1 is set to HIGH rising edge position A will be approached If the digital signal NEXT2 is set to HIGH rising edge position B will be approached If the program cannot detect any rising edges the course program will remain in a waiting state If neither Evaluate NEXT1 nor Evaluate NEXT2 have been selected the drive will always approach the position set under NEXT1 Thus a linear positioning run e g POS1 gt POS2POS83 be performed In Figure 19 it is assumed that a positioning run will be
224. tion protocol sse 128 List of communication objects Ete de n e ka aoa 130 Basic UNITS oec teet estu ee iu ee ML ee 138 11 7 2 Bit configuration for command word status word error word 139 Extended options in the Display units menu 143 Configuration of user defined display units eseeeeeeeenn 143 Decimal places DET decem neto o pe 144 Direct input of distance speed and acceleration units 144 Course program Examples rennen 145 6 3 1Example 1 Linear linking of 145 Example 2 Linear linking of positions and setting of a digital output 146 Example 3 Setting and inquiring digital inputs and outputs infinite 147 k u Ue 147 11 10 SEQUENCE aeter eg o 148 Positioning Destination U U u 149 Speed sigrial iid Win doer averted ersten eee eeepc d ud 149 Quit error150 Amit SWICK stem amanta EIE OR ELE eres ous 150 Parameter set U
225. tioning start 24V Logik 24 v 24 V power supply for the internal logic and the 105 eno lov Shared ground potential for the intermediate circuit voltage DC bus voltage and the 24V logic supply ZK 48 V 15 A nom Intermediate circuit supply DC bus The X1 interface of the DUET_FL FB is to a large degree compatible with the one of the DUET_FLIC The double utilization of the inputs and outputs has been reduced to a large degree DOUT1 and DOUT2 as well as DIN4 and DIN5 are now available in all operating modes Connection Motor encoder brake extensions The connectors for the motor phases X301 X303 the holding brake X3 the angle encoder X2 and the extension port X8 are compatible with the DUET FL 48 10 Information concerning the connection and the pin assignment of these connectors can be found in the corresponding sub sections Connectors at the DUET FL 48 10 of the appendix User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 176 11 18 3 Brake resistance connection X304 X305 Configuration on the device 2 8 mm FAST ON female Mating connector X304 X305 2 8 mm FAST ON male insulated externally Configuration brake resistance Rer gt 4 7 Q Prom 100 W z B metallux PLR 250 5R Rag connect between X304 und X305 fttt tet 92229222 Figure 40 Brake resistance connection Table 34 P
226. to oscillations If the time constant is too low and gain factors are high you will hear current noise in the speed controller and notice a slight unsteadiness of the shaft In addition the motor will heat up more strongly Set the time constant as low as possible for reasons of stability The downward limit is the noise Typical values for the actual speed filter are 0 6 ms to 2 0 ms The speed controller has to be adjusted such that there is only one overshoot of the actual speed value The overshoot should be about 15 higher than the set speed The falling edge of the overshoot however should not be below the speed setpoint or just slightly below it and then reach the User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 55 speed setpoint This setting applies to most motors which can be operated using the servo positioning controller If a harder control response is required the gain of the speed controller can be increased further The gain limit is due to the fact that the drive tends to oscillate at high speed levels or when the shaft is excited The gain that can be reached in the speed control circuit depends on the load conditions at the motor shaft This is why you have to check the speed controller setting again when the drive is installed ill If you parameterize the speed controller while the motor shaft runs at no load you have to increase the speed controller gain after you have installed the d
227. tput X1 r 164 11 14 Mechanical installation mme 165 mporta t Otesu 165 Position and connection of the pin and socket 166 Housirig dimensiotls u u uuu uha shua e ee beg e 167 Inestallatienkuu au una at ete ela Abul ttle sh aah esten isi et 168 Connectors at the DUET FL 48 10 169 Connection Power supply and I O X1 Y 169 11 14 1Connection Angle encoder X2 170 Connection Motor X301 X303 nennen 171 11 14 2Connection Holding brake 171 Connection Extension borkt X8 _ u uu Lr uu M Rota ie lad og 172 Connectors at the DUET FL 48 10 C 173 Connection Power supply and I O 1 173 11 14 3Connection Motor encoder brake extensions 174 Connectors at the DUET FL 48 10 174 Connection Power supply and I O 1 174 Connection Motor encoder brake
228. transmit new setpoints Setpoint ramp The DUET_FL servo positioning controller can process speed steps in numerous different ways It can transfer the step directly to the speed controller without filtering it or it can calculate a function to smooth the setpoints of the Selector Speed setpoint using a ramp with an adjustable gradient The ramp generator can be activated and deactivated using this button m The menu for configuring the ramp can be activated in the setpoint selector menu using the icon or under Operating mode Ramps The following window will be displayed User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 60 Ramps s Speed r Connections B 4 12 12 13 14 1 Positive direction of movement 125000 r min s 4 125000 riminis r1 0 gt ref 12 n ref gt 0 Negative direction of movement 125000 r rin s 13 0 n ref 14 n ref gt 0 125000 r min s dI The ramps can be configured separately for right handed and left handed rotation as well as for rising and falling speeds If the ramp accelerations are partly identical you can reduce your input workload by selecting the check boxes r3 r1 r4 r2 or r2 r3 r4 r1 The ramp generator should be used if the controller is in speed controlled mode and no position control is active also not in an ex
229. u can select either the input mode Edit or the monitoring mode Debug The monitoring mode is described in detail in chapter Debugging a course program If you click the Edit line button or a line in the table another window opens in which you can define commands for the selected course program line The program offers the following basic course program commands Position branch and linear position sequence Branch Line Level test and unconditional program jump End of program Chapter Course program Examples includes three small example applications for a course program The various course programs are explained in detail in chapter End of program to Level test User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 80 Course program options In the Options field you can define the evaluation of the digital inputs NEXT1 and NEXT2 If you have selected Evaluate NEXT1 or Evaluate NEXT2 the lower section of the window will show an additional field with the input options for the corresponding signal Ignore if target not reached If the signal comes in while a positioning run is running it will be ignored If no positioning run is currently being performed the new following position following line X will be approached to position line immediately The new following position following line X will be approached immediately The positioning run currently being performed will be interrupted
230. ual safety requirements work out a safety concept for the system and then select the connection and the components accordingly User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 188 Fi NK 11 20 Notes concerning safe and EMC compliant installation Definitions and terminology Electromagnetic compatibility EMC or electromagnetic interference EMI includes the following requirements Sufficient immunity of an electrical installation or an electrical device against external electrical magnetic or electromagnetic interferences via cables or the environment Sufficiently small unwanted emission of electrical magnetic or electromagnetic interference of an electrical installation or an electrical device to other devices in the vicinity via cables or through the environment General information concerning EMC The interference emission and interference immunity of a servo positioning controller always depend on the overall drive concept consisting of the following components fe KS Power supply Servo positioning controller Motor Electromechanical system Configuration and type of wiring Superimposed control system fe DUET FL servo positioning controllers are certified in accordance with product standard EN 61800 3 for electrical drives In most cases no external filter measures are required see below The declaration of conformity for the EMC directive 89 33
231. via the parametrization program To do so activate the menu Parameters Positioning Go to destination You can move to the desired destination by clicking on the corresponding button You can also click the GO button to start a positioning run and to move to the destination currently being displayed see also chapter position sets In the lower section of the window you can make settings for the course program If you select Course Program active the course program will be enabled in the positioning mode The button opens course program menu see chapter Course program In addition you can define two start lines for the course program Go to destination to destination _ 2 e _ le le le s N N EEE EERE BERIE e be le le REKE Pll Eble g le 18 le leg m em le le s le le m m M me m mom N le le le le le ls eo elll 5 5 Destination 0 v DK Pm Start Homing D User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 70 Setting of digital outputs In the positioning mode a superimposed control system can be informed through digital outputs of the fact that a positioning run has been is being completed The digital outputs can transfer the following information Target reached
232. with the intermediate circuit DC bus Shared ground potential for the intermediate circuit Cl SNP voltage bus voltage and the 24V logic supply C2 ZK 48 V 15 A nom Intermediate circuit supply DC bus The signals AMONO and DING were separated as there were still some free pins 1 The X1 interface of the DUET_FL IC is compatible with the interface of the DUET_FL 11 14 3 Connection Motor encoder brake extensions The connectors for the motor phases X301 X303 the holding brake X3 the angle encoder X2 and the extension port X8 are compatible with the DUET_FL 48 10 Information concerning the connection and the pin assignment of these connectors can be found in the corresponding sub sections Connectors at the DUET_FL 48 10 of the appendix Connectors at the DUET FL 48 10 FB Connection Power supply and I O X1 Configuration on the device Phoenix PLUSCON VARIOCON with a total of 18 contacts Mating connector X1 Phoenix PLUSCON VARIOCON kit comprising 1x VC TFS2 2x VC TFS8 1x VC TR2 3M 1x VC MEMV T2 Z 1x VC EMV KV PG21 11 5 15 5 13 5 Dimensions approx L x W x H 86 mm x 80 mm x 32 mm m ee 2 1 8165817165 Figure 39 Numbered pins of X1 DUET_FL 48 10 FB Table 33 Pin assignment of connector X1 Pin no Name ____ Value Specification ______ User Manual DUET_FL DUET_FL 48 10
233. x search path Destination Limit switch z A Max position limits Home position Limit switch gt Direction negative z 65536 000 R Mode 17 ffset start position non R Homing run at controller enable Go to zero position after homing run ay Positioning settings iB 60 Cancel The Positioning settings button will lead you to the menu for parameterizing the general positioning settings e g positioning limits See chapter Global positioning settings Click GO if you want to start a homing run Tab Settings User Manual DUET FL DUET FL 48 10 Version 1 1 Motor Power Company Page 75 You can select one of the homing methods described in chapter Homing methods in the Mode field During the homing run the motor will run until the Destination has been activated The No movement method is a special case In this case the current actual position is defined as the homing position In this case the drive will not move at all In all other cases the destination will be approached at search speed Then the drive moves back at crawl speed to determine the exact contact threshold The running speed is used to approach the home position zero point of the application This may differ from the destination The index pulse for instance is preferred as the home position as it has a higher level of accuracy You can find the settings for the search crawl and runn
234. y Display units Decimal places Direct input 7 K wara ieur a Factor group position Numerator Milimeter mm O y Denominator Factor group speed Bec Millimeters per second mm s z Numerator Millimeters per second mm s gt Denominator Factor group acceleration 3 Numerator Millimeters per square second mm s 1 i Ih Course program Examples This chapter includes several example to demonstrate the flexible solutions possible with the course program The input of course programs is described in chapter Creating a course program 6 3 1 Example 1 Linear linking of positions The drive shall approach the positions 1 2 3 18 It shall stop for 1 second in every position Then the course program shall stop pos 1 Do DC Poss oC Pos 18 7 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company Page 146 Realization f sme __ pour Posi ignore automatic ignore Off Off ignore automatic 2 ignore Off Off ignore automatic 3 ignore Off Off ignore automatic 18 ignore Off Off accept accept accept accept a i i Course program active NEXT1 DOUTI Line 4 X Exit Course program stop 2 DOUT2 Position 18 Implementation The start del
235. y Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Page 13 Current controller step responses 42 Spe d controller u Leste 53 Speed controller too sott 56 Speed controller too hard 56 Speed controller set Correctly eecccceeesseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 56 Positioning control block diagram eene 61 Speed controller 2 nnnnnn nnana 64 Time optimal and jerk limited positioning 68 Homing run to the negative limit switch with index pulse evaluation 71 Figure 10 Homing run to the positive limit switch with index pulse evaluation P 7 Figure 11 Homing to the negative limit switch 72 Figure 12 Homing to the positive limit switch eene 72 Figure 13 Homing run referred only to the index pulse 72 Figure 14 Homing run to the negative stop with index pulse evaluation 73 Figure 15 Homing run to the positive stop with index pul

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