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1. Duration of testsignal MI t2 2s se aoe l SS See 4 Add_SRamp RER S 2 OFF TSIG_Con naa Sept D Add_lsdRef Y y isd_ref Ramp Generator Interpolation d Current Control Pas cigcon PCON aoe isq_ref other be Wi a Position Control Speed Control Ie Current Control other SS as Rectangular TSIG_Offset Z e CON_IP RFG GfeCon SCON aeaa sinewave Lea D TSIG_Freq TSIGPRES Amp Figure 4 27 Structure of test signal generator stt n Alt Tens t 1 Step 1 D varP 1503 0 Amplitude a D va P1505 Amplitude 2 a D var P 1509 Step 2 D varP 1503 1 Frequenzy f D Hs P1506 Cycletime T PRBS 5 ms P 1508 Time t1 1 e P 15040 Time t2 HEN 1504 1 P 1501 Output Signal Selection OFF 0 off w Number of cycles N 1 P 1502 Figure 4 28 Dialogue box for the test signal generator LUST LI Test signal generator parameters Parameter name Designation in DM 5 Function Settings P 0310 CON_CCON_KP Current control gain Current controller gain P0311 CON_CCON_Tn Current integration time constant Current controller lag time P 1500 SCD_TSGenCon Testsignal generator control word Dales word ah test signal gene P 1501 SCD_TSIG_OutSel Testsignal generator output signal Test signal generator output selector select
2. 3 600 000 Preferential rotary weighting Weighting Rotary position Weighting Preferential method resolution exponent weighting rotativ degrees 3 600 000 E 0 0001 degrees Modulo weighting If Modulo indexing table application is selected the number range of the position data Modulo value must be entered If the travel exceeds the modulo range modulo calculation is carried out Position polarity The polarity of the position data preceding sign can be inverted according to the application A positive position reference indicates clockwise rotation looking at the motor shaft Figure 5 4 Weighting of position data ServoOne Application Manual 3 LUST LTi ServoOne Application Manual 74 dk als ER Z speet date Position resolution in translational mode Weighting of speed data Distance unit LSB Unit Exponent Time unit translational mode rotary mode toad Notor Toad motor EE Preferential translational weighting preferential Parameter preferential Parameter Weighting Weighting Weighting Preferential Weighting Weighting Weighting Weighting Unit E E method factor exponent weighting linear m min 1 6 0 001 mm min min min oder s min s min
3. CANopen EtherCAT User Manual Description and parameter setting of the ServoOne on the CANopen EtherCAT field bus system Hardware and software of field bus version SERCOS User Manual Description and parameter setting of the ServoOne on the SERCOS II field bus system Hardware and software of field bus version PROFIBUS DPV User Manual Description and parameter setting of the ServoOne on the Profibus DPV field bus system Hardware and software of field bus version Parameter Description Short description of all para meters Base software LUST LI How do read the documents First be sure to read the Operation Manual so as to install the device correctly C Attention Disregarding the safety notes during installation and operation can cause damage to the device and danger to the life of operating person nel The layout of the sections of this Application Manual and the order of subject areas in the DriveManager follow the chronological sequence of an initial commissioning procedure For basic configuration and operation of the motor you should follow the descriptions in the chapters of this Application Manual If you intend to utilize further internal functions of the drive such as digital or analog I Os you should read the corresponding chapters in this documentation Here you also receive information concerning errors and warn ings If you use a field bus option
4. BUS Sampling time 1 ms Figure 5 12 Configuration of position control in PG mode ServoOne Application Manual 81 LUST LI 5 2 6 Configuration of position control via IP mode In position control configuration in IP mode position references are set at a sampling time specified by the higher level control The drive controller sampling time can be matched to the sampling time of the PLC using parameter P 0306 CON_IpRefTS The position references are then transferred to the Fine Interpolator The interpolation method to be used is set via parameter P 0370 CON_IP The resulting feed forward con trol values for speed and acceleration are switched to the control loops Position Controll with IP Mode P0301 IP 1 P 0300 PCON 3 P 0165 Sampling Time P 0305 125us default OFF 0 ANAQ 1 1 Controll ANAO 2 Motion profile Basic settings Sec isq_ref isq ref a gt TAB 3 Ste Normierungs Refernce Value Interpolator Feed forward controll Wee User units assistent in Uncrements J n_ref nef Positi PLC 5 CiA DS402 Ces lati Control Speed SERCOS interpolation eps ref controler PARA 6 Mode gt Ke User iA DS402 7 SERCOS 8 PROFIBUS 9 VARAN 10 BUS Sampling time 1 ms Figure 5 13 Configuration of position control in IP mode ServoOne Application Manual 82 5 2 7 Smoothing and Velocity offset Parameter name
5. ISAOO filter time 1 ms P0405 0 Analog Input ISA00 ISA01 ISA01 Petal valle Function DEFI No function P0110 0 Options GH e P 0332 CON_SCON_TMaxScale 4 F E DIE SEENEN 1S401 filter time 1 ms P0406 0 Men b 040s MaE Pol ES Analog Channel ISAO ISAT nafog Channel Profil Generator PE 1 REFV 2 SRamp TRamp Threshold Offset Scale E asr sg A S gt S a ae P HE BEE SH 25 a Figure 6 11 Dialogue box for analog inputs not defined 1 OFF 0 Digitale Function 1 26 Analog setting options 4 to 1 EE 1 24V Weighting gg analog Input l Lo o w J Analog Parameter name E EE E Output ivi i Switching hysteresis for Designation in DM 5 Function l digital Fuction Settin gs l l P0109 MPRO_INPUT_FS_ Function of anlalog input EE P0110 ISAOO ISA01 ISAOx l oe Online torque scaling O to 10 V corre E sponds to 0 100 of the maximum set Boece AST l torque The torque scaling is recorded E Analog Torauedlimit directly after the analog filter and before LA TLIM 4 alco the backlash threshold offset The analog Figure 6 10 Analog inputs function block PG IP switching Analog channel and Weighting input describes the parameter P 0332 SCON TMaxScale torque limitation The backlash is therefore not effective for these unctions 0 to 10 V corresponds to 0 100 scaling of the parameterized travel speed in posi ioning The override is tapped directly after 3 OVR 3 Speed Overrite 0 100
6. boost voltage at zero fre F Boost voltage at zero frequency A V P0313 0 P 0313 CON_VFC_VBoost a g Boost voltage at standstill Voltage at nominal frequency Vo P0315 0 P0314 CON_VFC_FNom nominal frequency Rated frequency Nominal frequency H2 P0314 0 P 0315 CON_VFC_VNom voltage at nominal frequency Voltage at rated frequency BECHER value via VFC characteristic Figure 4 31 V f open loop control for test purposes As a test mode a voltage frequency control system is implemented in such a way that the closed loop speed control circuit is replaced by open loop control So the reference in this case is also the speed reference the actual speed is set equal to the reference The feed frequency fref is calculated by way of the number of pole pairs of the motor P 0463 MOT_PolePairs n 1 T x P 0463_Mot polpairs A linear characteristic with two interpolation points is implemented with a fixed boost voltage setting P 0313 CON_VFC_VBoost at 0 Hertz As from the rated frequency P 0314 CON_VFC_FNom the output voltage remains con stant An asynchronous machine is thus automatically driven into field weakening as the frequency rises The phase to phase voltages are specified under the voltages The internal voltage refer ence space vector variable is thus LUST a LT ServoOne Application Manual 65 LUST LI 4 6 1 Axis error compensation The actual position value delivere
7. 0 off Note On the very first power up a Start Torque P 0218 must be set P 0218 MPRO_BRK_ Start Torq Motor brake contstant initial torque If the moving load always remains con stant Mref is set by way of parameter P 0218 StartTorque Ms lasttorque lasttorque factor starttorque If LastTorque factor is set 0 as per the formula only the StartTorque setting is used If StartTorque 0 is set the Last Torque is also used On the very first operation there is no LastTorque though In this case StartTorque is set 0 and LastTorque factor unequal to 0 and then the control is started The last torque applied is adopted P 0219 MPRO_BRK_Last Torq Motor brake torque samples at last closing time This parameter is only a display param eter In it the last torque applied is en tered on shutdown and the scale factor P 0217 is applied to it as a percentage where necessary P 0220 MPRO_BRK Lock Lock brake For testing only By setting this param eter the brake can be applied during operation fade time Poiss MOTO Output from OFF to used for a wide variety of other func BC_Fail 56 l tions section 6 2 MPRO_DRVCOM_ ae P 0147 CHeck EnablePower Power up condition EPCHK Check enable power a pa f x o OFF e Oae einn ENMO i 0 ON Check enable power ENPO must be switched via a digital input The timer ENMO Enable Motor C
8. 05 ms OJ CON_IP_SFFTF P0372 Dm DON P Tod 100 ag 0 CON_IP_TFFScale KRN gt K P0376 Acceleration Friction HE nel FF O CON_SCON_TFis LA P 0386 4000 1 min 0J CON_PCON_Kp H KOK Speed Control P 0360 ECIN S Torque or Current Control Figure 4 18 Position controller setup screen name Designation in DM5 Function Settings 2 Load point Load torque is applied as from V 2 0 3 TF Time constant of speed as from V 2 0 filtering A TF2 Time constant of load torque atom 2 6 adaption 5 TFosc Time constant of oscillation reer adaption 6 AecGain Acceleration measurement as from V 2 0 gain P 0354 SONS OlBe Observer design assistent Calculation wizard for observer signAssi 0 USER User definied design as from V 2 0 1 DEE Default design for selected Start calculation with default observer design rule 2 DR Observer design by double ec ration 3 TIMES Observer design by time peter T a constant 4 4 Position control The higher the dynamics of the speed controller the more dynamically the position controller can be set and the tracking error minimized In order to improve the dynamics and performance of the position controller the parameters listed in the bottom screen are available to optimize the speed and acceleration feed forward control
9. CM16 Cam switch 1 bis 16 Cam gear as from V 2 0 55 SH_S Safe Standstill activ STO function activated 56 BC Fail prake choppettallure Braking chopper error signet Warnings warning thresholds are set via P 0730 MON_WarningLevel Output function Reference reached REF 6 P 0122 to P 0127 OSDxx REF 6 For torque and speed control as well as positioning the setting REF 6 can be used to define a range in which the actual value may deviate from the reference without the Reference reached REF message becoming inactive Reference fluctuations caused by reference input e g via analog inputs can thus be taken into account ServoOne Application Manual 105 LUST LI n 1 min REF 6 bei 100 g REF 6 bei 50 4 j PVA A 0 K t Dall N max 100 ISAOx 504 o 1 N REF 6 o t Figure 6 7 REF setting Reference reached window for speed control via analog input Output function LIMIT 14 The output function LIMIT 14 detects when a reference reaches its limit In this case the output Is set The limit values for maximum torque and maximum speed depend on the control mode A detailed description is given in the Limits section Torque control Limit value monitoring becomes active when the torque reference exceeds the max torque Speed control Limit value monitoring becomes active when the speed refere
10. DP cet ds sexsi cease ee ere EE ees 133 O13 SERCOS EE 133 10 Technology OP NON aseisti neninn deeg 135 T01 SNGosmodule isseire e E E E EN ES 135 EE 137 lu 137 statas HCH 137 S TS ere e a E E A E E 138 EIST E 138 MOMIEORINGTHUNEHOMS sesen manne otaeengeraeaineeees 139 Interpolation method ME 140 1 Power stage Il Setting the power stage parameters The ServoOne can be operated with different voltages and switching frequencies for the power stage To operate the controller generally the power stage must be adapted to the local voltage conditions A combination of mains voltage and matching power stage switching frequency is offered for this DM5 setup screen Parameter table P 0302 Parameter name Settings CON_SwitchFreq Designation in DM5 Switching frequency Description Power stage switching frequency setting of Switching frequency SE 8 kHz switching frequency P 0302 v Voltage supply mode 3 230V AC 1 3 x 230 V mains P 0307 Options Bild 1 1 Power stage screen He Du 3 a LI 2 kHz 16 kHz device specific Switching frequency It is advisable to operate the drive controller with the default setting In creasing the switching frequency can be useful to improve the control dy namics Temperature related derating may occur Switching frequency noise decreases as the switching frequency rises audible range lt 12 kHz P 0307
11. LCW o limit switch activation and to interchange limit switches is pro grammable see Error reactions alarms warnings section Limit switch evaluation without override protection The response 6 LCCW o limit switch activation and to interchange limit switches is pro grammable see Error reactions alarms warnings section 7 WOH P n manual positioning the axis can be moved in creep speed or in rapid motion 8 INCH_N n manual positioning the axis can be moved in creep speed or in rapid motion P 0101 P 0107 P no Parameter name Settings Function Start homing according to the homing method parameterized in 9 Homsi P 02261 MPRO_402_Homing Method 10 HOMSW For zero point definition in positioning Error messages from external devices cause an error message with 11 E Ext the reaction determined in parameter P 0030 Error Reaction Sub Index 11 12 WARN External collective warning 13 RSERR Error messages are reset with an ascending flank if the error is no longer present In field bus operation switching of the reference source P 0165 14 MAN CON_CfgCon and the control location P 0159 MPRO_CTRL to Term can be set via a digital switch 15 PROBE Only adjustable for the fast inputs ISDO5 and ISDO6 16 PLC Placeholder inputs can always be read irrespective of the setting 17 PLC_IR Interruption of the program 18 18 No
12. Ref_Deceleration Maximum deceleration LI LUST With the additional information on jerk P 0166 MPRO_REF_JTIME and an override factor P 0167 MPRO_REF_OVR for the travel speed the Profile Generator generates a time opti mized trajectory for the position reference taking into account all limitations in order to reach the target position The position reference values are then fine interpolated in the Interpolator with the interpolation method selected via parameter P 0370 CON_IP From the position references feed forward control values are generated for speed and acceleration These are scanned at the sampling time of the position controller normally 125 us and switched to the control loops Further information on how to generate motion commands using the field buses or in ternal options can be found in the field bus documentation Position Control with PG Mode P 0301 PG 0 P 0300 PCON 3 P 0165 Sampling Time OFF 0 P 0305 125us default ANAO 1 D Controll Motion profile i il i i ANAO 2 H Motion profile Basic settings L Se Kos Druna Standardisation E alue Profil Generator interpolator ae defined User units assistent in Increments Sergio nire e not define s Selct Position PLC 5 CiA DS402 Stop Ramps S Current fi Interpolation Controll Controll SERCOS Smoothing eps_ref Con ER User Filter Mode CIA D54027 e SERCOS 8 PROFIBUS 9 VARAN 10
13. SERCOS Duplicate address 8 ComOptSercos_Phase SwitchUp SERCOS Faulty phase switching Up shift 9 ComOptSercos_Phase SwitchDown SERCOS Faulty phase switching Down shift 10 ComOptSercos_Phase SwitchAck SERCOS Faulty phase switching missing acknowledgement 11 ComOptSercos_InitParaList SERCOS Faulty initialization of SERCOS parameter lists 12 ComOptSercos_ RunTimeError SERCOS Various runtime errors 13 ComOptSercos_Watchdog SERCOS Hardware watchdog 7 Overtempinverter 1 OvertempInverter_MON_Device Heat sink temperature too high 8 OvertempDevice 1 OvertempDevice_MON_Device Interior temperature evaluation 9 12tMotor 1 PtMotor_MON_I2t BE protection limit value 10 PowerAmplifier 1 PtPowerAmplifier_ MON Device at power stage protection limit value exceeded 11 External 1 External_MPRO_INPUT External error message 12 CAN 1 ComOptCan_BusOff CAN option BusOff error 2 ComOptCan_Guarding CAN option Guarding error 3 ComOptCan_MsgTransmit CAN option Unable to send message 4 ComOptCan_HeartBeat CAN option Heartbeat error 5 ComOptCan_Addr CAN option Invalid address 6 ComOptCan_PdoMappingError CAN option Mapping error 7 ComOptCan_SyncTimeoutError CAN option Synchronization error 13 SERCOS 14 ComOptSercos_Para SERCOS Error in parameterization selection of OP mode IP times e
14. START function In combination with parameter P 0144 DRVCOM AUTO_START LEVEL START 1 autostart mode is active If STO is active activation of the hardware enable ENPO via terminal 10 on X4 is sufficient to switch on the drive control section 6 1 4 P ou MPRO_INPUT_FS_IsDo0 FUNction of digital input ISDOO P0102 MPRO_INPUT_FS_ISDO1 Ge SU 1 Settings for the digital inputs ISDOO ISD06 e are listed in the following table P 0103 MPRO_INPUT_FS_ISD02 SE ISD02 P0104 MPRO_INPUT_FS_ispo3 Function of digital input ISD03 pows MPRO_INPUT_FS_IsDo4 Function of digital input ISD04 Function of digital input Settings for the digital inputs ISDOO ISD06 P0106 ERR FS I5D05 ISDO5 are listed in the following table P0107 MPRO_INPUT_FS_ISD06 GE EE P0110 MPRO_INPUT_FS_ISAO1 ISAO section 6 1 1 Settings for digital inputs ISDOO ISDO6 P no Parameter name e d Function P 0101 P 0107 Settings 0 OFF Input off Start of closed loop control motor is energized The direction of 1 START rotation depends on the reference 2 2 Not defined Quick stop according to quick stop reaction Low active see 3 STOP K PE v Reactions in case of quick stop The running movement of the axis is interrupted according to the 4 STOP STOP reaction see Reactions in case of STOP feed is interrupted and continued when reset Limit switch evaluation without override protection The response 5
15. Speed profile generator Calculation of the speed profile taking into account A and v integration of the speed to get the travel profile 2 Mean value filter In order to limit the jerk time a mean value filter is used to smooth the travel profile of the speed profile generator The jerk time is proportionate to the filtering depth of the mean value filter The longer the jerk time the lower the resulting jerk A jerk time of 0 means that the max permissible acceleration can be directly used for starting or braking the mean value filter is inactive followed by Max Speed control via the Profile Generator PG mode To use the Profile Generator in speed control mode the two parameters P 0301 PG 0 and P 0300 SCON 2 must be set When the reference source has been selected the reference is scaled to the matching user unit The reference is transferred to the Profile Generator Motion Profile in incre ments and passes via the Fine Interpolator Basic settings to the speed controller see figure 5 12 ServoOne Application Manual 80 Speed Control with PG Mode P 0301 PG 0 pois P 0300 SCON 2 Seine P 0305 125ys default OFF 0 ANAO 1 DIE Motion profile Motion profile Basic settings dardisation TARG Referncevalue K S Laas Profil Generator Interpolator Speed Control not defined 4 in User units in Increments past Current lt Control o Select PLC 5 CiA
16. To activate step responses the controller should be operated in speed control mode SCON For this purpose please set the parameters in the following list to the specified values and use parameter P 0402 CON_SCON_AddSRef to adjust the step height of the speed reference The important factor here is that the speed controller shows low level signal response which means that the g current reference does not reach the limitation during the step This can be easily identified by its constant value over a certain time during the accelera tion phase In this case either the maximum torque P 0329 CON SCON_TMax Tmax must be increased or the height of the reference step P 0402 reduced ServoOne Application Manual 40 Parameter name Function Settings Description with DM 5 P 0402 CON_SCON_AddSRef Value Speed reference Speed controller optimization The reference steps necessary for optimization can be executed in a user friendly way by way of the Control window This requires the following settings Open Control window SCON 2 Speed control mode v S Make settings Standard mode Jog made Reverse mode Control mode Motion profile Speed controlled SCON PG 0 setpoint effects to profile generator no ramps Acceleration ramp 0 Acceleration 0 rev min s Deceleration 1000 rev min s Reference 1000 rev min Stop
17. an evaluation via KTY the shut off threshold of the motor temperature can additionally be set ServoOne Application Manual 16 e P 0731 0 If thermal protection is implemented by way of a KTY the trigger tem perature is set via this parameter Parameter name Settings MON_MotorTem Designation in DM5 Max motor temperatur switch Function Temperature monitoring OFF 0 No motor temperature sensor v Maximum temperature wm only KTY84 100 degC Temperature monitoring connected via ECH via resolver connector X6 v Figure 2 7 Temperature monitor setting Parameter for temperature monitor setting The values refer to the rated motor current P 0457 MOT_CNom e P 0732 0 selects the matching motor temperature sensor e P 0732 1 selects the matching wiring variant P0731 Shut off threshold for KTY Max_ off value 0 0 1000 Factory setting 100 P0732 MON_MotorPTC Select motor temperature sensor Selection of sensor type 0 OFF 0 No sensor No evaluation KTY 1 KTY84 130 sensor KTY84 130 PTC 2 PTC with short circuit proof ne to DIN 44081 See circuit monitoring TSS 3 Switch Klixon Klixon switch PTC1 4 PTC1 without short circuit proof PIG 19 DIN 44081 without short circuit monitoring Not used 5 NTC 6 NTC sensor 6 Only on enquiry adapter 1 contact Sensor connection Connection variant X5 0 Motor temperature connector X5 cone
18. calg motor parameter Note In mode 1 and mode 2 the voltage regulator can be overlaid It is also possible in mode 1 to disable the characteristic and run solely with the volt age regulator h ServoOne Application Manual 57 LUST LI Selection of field weakening method This is how to select a suitable method from the various options Select setting P 0435 CON_FM_FWMode 1 Table If no rapid speed change in the field weakening range is required the voltage regulator is well suited setting 1 Disable table P 0341 0 and set entries in field parameter P 0343 0 Features of this method The method is relatively robust against parameter fluctuations The controller can only follow rapid speed and torque changes to a limited degree Anon optimized controller may cause oscillation the controller must be optimized A presetting of the controller is effected when calculating the motor data via parameter P 1530 gt 1 see Motor section If oscillation occurs when applying this method the voltage regulator gain setting P 0345 must be reduced If substantial variations between the q current reference and actual values occur during run up to reference speed in the field weakening range the drive may be at the voltage limit In this case a check should first be made as to whether the preset maximum value P 0340 has already been reached and can be increased If the maximum value ha
19. 3 8 USER Se Parameter name Description in DM 5 Function Settings P0325 CON_SCON_FilterFreq filter frequencies of digital filter Limit frequencies 0 1 8000 Hz 1 st center cutoff 1 Mid blocking frequency 1 1 1000 Hz 1 st width Width 2 1 8000 Hz 2 nd center cutoff 2 Mid blocking frequency 3 1 1000 Hu 2 nd width Width P 0326 CON_SCON_FilterAssi Digital filter calculation wizard 0 OFF 0 Reset amp switch off filter No filter active direct write parameter CON_ o ER DigFilCoeff 4 DIE aai A notch filter with blocking fre 2 Notch 2 gt filter lt OFF quency in P 0325 0 and bandwidth e in P 0325 1 A notch filter with blocking fre quency in P 0325 0 and bandwidth 1 filter notch in P 0325 1 in series with a notch 8 NOTCH NOTCH S 2 filter notch filter with blocking frequency in P 0325 2 and bandwidth in P 0325 3 1 filter notch NOTCH_PT1 4 and NOTCH_PT2 5 N NOTCH_PT1 4 2 filter PT1 A notch filter with the blocking fre quency in P 0325 0 and bandwidth 1 filter notch in P 0325 1 in series with a low 5 NOTCH_PT2 5 2 filter PT2 pass filter with limit frequency in P 0325 2 LI 3 I ServoOne Application Manual 43 LUST Magnitude dB l 3 T t l t f ee 0 200 400 600 800 1000 1200 1400 1600 1800 2000 Frequency Hz et 4 wu S 6 o Phase degyees 150 L 0 200 400
20. Application Manual 22 Emoia solecon 3 1 SinCos X7 channel 1 Eye Ft COTAN ad EECHER Encoder channel 1 is used for evaluation of high resolution encoders CH2 2 Channel 2 Resolver x6 P 0520 0 Si The signal resolution is 12 bit over one track signal period P0564 0 Encodername Encoder offset P 0349 0 deg Encoder configuration channel 1 x7 Encoder for speed control loop CH2 2 Channel 2 Resolver x6 P 0521 0 Select from Database P 0564 0 Encodername Encodemame P 0550 0 Incremental signal i d SEN Encoder for position control loop P 0505 0 OFF 0 No function K Detats Zero index pulse p 0541 0 OFF 0 Disabled Jetails CH2 2 Channel 2 Resolver x6 P 0522 0 mi iei B ec P 0564 0 Eesen Absolut interface p 0540 0 OFF 0 Incremental encoder with zero puls 7 7 7 Gear ratio if encoder is not fitted at the motor Figure 3 2 Dialogue box for setting the encoder channel l x P 0510 0 1 P 0511 0 1 Assignment of encoder information to control o Signal correction GPOC DEI No correction P0549 0 Parameter name Ge 2 Description in DM5 Function Settings encoder channel Select tor Selection of encoder channel for commuta P 0520 ENC_MCon i tion angle feedback signal for field oriented Motor Commutation coritrol Figure 3 3
21. CON_ VoltageSupply Voltage supply mode Adaptation to the voltage conditions 1x 230 MIO 3x 230 V 1 3x 400 V 2 3x 460 V 3 3x480 V 4 Safety low voltage 5 Voltage supply mode Adjustable voltage range ServoOne Application Manual 7 LUST LI Mains supply During initial commissioning the mains voltage setting must first be checked and adjusted as necessary via parameter P 0307 CON_VoltageSupply The combination of voltage value and switching frequency corresponds to a stored power stage data set An unsupported voltage value generates the non resettable error message E 02 08 If an unknown combination of voltage and switching frequency is selected the resettable error E 15 05 is generated For an overview of the error codes refer to the Diagnostics section Attention Any changes to parameters must be saved in the device The set ting is only applied on the device after a power off on cycle If the power stage parameters are changed the rated currents overload values and braking chopper thresholds may also change Switching frequency As another power stage parameter the switching frequency can also be set via P 0302 CON_SwitchFreq It is advisable to operate the drive controller with the default setting Increasing the switching frequency can be useful to improve the control dynamics Temperature related derating may occur Switching frequency noise d
22. DS402 Stop Ramps e SERCOS Snooth Interpolation PARA 6 Mode User Filter CIA Deal e SERCOS 8 T PROFIBUS 9 VARAN 10 BUS Sampling time 1 ms Figure 5 10 Configuration of speed control in PG mode 5 2 4 Speed control via IP mode In speed control via IP mode Interpolated Position mode the reference values from the reference source are scaled always interpolated in linear mode and switched to the control loops No feed forward control values are generated Speed Control with IP Mode P 0301 IP 1 P 0300 SCON 2 P0165 Sampling Time P 0305 125ys default OFF 0 ANAO 1 ANAO 2 Motion profile Basic settings TAB 3 ReferenceValuein Standardisation Speed Control User units istent Reference value in not defined 4 BS SR Increments Interpolator n_ref Current S Select aa T Control PEG CiA DS402 Interpolation PARA 6 SERCOS Mode User ciADS402 7 SERCOS 8 PROFIBUS 9 VARAN 10 BUS Sampling time 1 ms Figure 5 11 Configuration of speed control in IP mode 5 2 5 Position control via Profile Generator PG mode In configuration of position control in PG mode a PLC transfers complete motion com mands to the internal Profile Generator The setting is made in the Motion Profile subject area under Basic Settings A motion command consists of e Ref_Position target position e Rei Speed Maximum travel speed e Ref_Acceleration Maximum acceleration
23. Data Objects SDOs The communication profile additionally defines a simplified network management system Based on the communication services of DS 301 Rev 4 01 the device profile for variable speed drives DSP402 was created It describes the operation modes and device parameters supported p Note For a detailed description of the CANopen field bus system refer to the gt separate CANopen User Manual 9 2 PROFIBUS DP Short description of ServoOne PROFIBUS DP interface Reference to PROFldrive specification The implementation in the ServoOne is based on the PROFldrive profile PROFIBUS PROFdrive Profile Version 4 0 LUST LI Key features Data transmission using two wire twisted pair cable RS 485 Transfer rate optionally 9 6 K 19 2 K 45 45 K 93 75 K 187 5 K 500 K 1 5 M 3 M 6M or 12 MBaud Automatic baud rate detection PROFIBUS address can be set using the rotary coding switches or alternatively using the addressing parameters Cyclic data exchange reference and actual values using DPVO Acyclic data exchange using DPV1 Synchronisation of all connected drives using freeze mode and sync mode Reading and writing drive parameters using the PKW channel or DPV1 Note For a detailed description of the PROFIBUS field bus system refer to the 4 separate Profibus User Manual 9 3 SERCOS Short description of ServoOne SERCOS interface The basis for imple
24. Dialogue box for setting channel 1 Encoder Channel Select for Selection of encoder channel for speed con noz Ene eon Speed Control figuration feedback signal for speed control l Selection of encoder channel for position P0522 ENC_PCon Encoder Channel Select for information feedback signal for position Position Control antel Note When an encoder channel is selected and an encoder physically con nected to the controller the wire break detector is automatically activated P 0505 Encoder Channel 1 SinCos X7 P 0549 Signal correction OFF P 0540 P 0545 60 SSI 1 P 0540 Absolute EnDat2 1 2 Position Interface Hiperface 3 Positionvalue P 0542 a 00 gt Analog SinCos _ 1 dee P 0510 P 0511 Vibrations P 0505 Control ba aa elektronic gear E Parameter name Settings Designation in DM5 Function Purely incremental encoder without absolute Figure 3 4 Encoder configuration based on example of channel 1 Overview of parameters for channel 1 name Settings Parameter Designation in DM5 Function 0 one value information 1 SSI Serial communication to Heidenhain SSI protocol 2 EnDat2 1 S To Heidenhain EnDat 2 1 protocol 3 Hiperface 7 To Stegmann Hiperface protocol Encoder Channel 1 Index S P0541 ENC_CH1_Np Pulse Test Mode Zero pulse evaluation Setting of the incremental number of lines For enc
25. EAE E EEA EE EEEE A RAAE 83 54 en ne DEE ER 5 4 1 Drive controlled homimg en ER eegne 93 5 6 Table setpoints Setpoint table cc cccccccccceeecceeceeeceeeeeeseeecseeeeeeeeeeesseessseeseeseeees 93 EE BEE 96 5 7 1 Setpoint setting via analog inputs IP PG model 97 58 TOUN Deeg teen eessen egene SEENEN ege 98 DPD OS te TC 99 Le Ne e ER Tele 99 6 1 1 Settings for digital inputs ISDO0 JSfD0Oe eni 100 6 1 2 Hardware enable ISDSH STO Safe Torque Off 101 6 1 3 Hardware enable and autostart sees eee eee 102 6 1 4 Manual drive control via dotalmnputs eni 102 GZ e e Ee 103 Lee AMAlOG MO EE 110 6 3 1 Weighting of analog Inputs sss zsnt oes sc asz sove s veo os seo ebrenn Ear 111 6 4 Analog output Option modulel nenene ennet 113 EN d tee 114 Bini E 115 FM a lt 12 TH T gee DE 115 7 1 1 Torque limitation torque force Wmitel ene 115 7 1 2 Speed limitation Speed Velocity cccececcceeceeeeeeeeseeeceeeeeeeseecseeeeseeeneeeeses 118 RE CR e lee LI EE 120 ServoOne Application Manual 6 7 1 4 Power stage voltage IWmttaton ene 120 FAS Power failure reaction c c escecescesceeccncassaeeoneceaececeacepeeaececcensssacnedeaeaeraren 120 KR SW THT SWWIRE EE 121 Same ele eae EENE A EE E aA 123 Sil Error stat s Warning ET 123 Geh EmO MEA CUOMS eege e EN 123 8 1 2 Error details Alarm amp warning details 124 Ee Eeler 131 9 Field s TS esac e a cantina ce ee eds 133 91 leese ehre sig eee ehre A E A E 133 SC PROFIBUS
26. Feed forward control parameters P 0372 0 5 ms Filter time for position controller feed forward control P 0374 Oms Delay time for position control feed forward control Parameter P 0375 100 Speed control feed forward control scaling factor no name Designation in DM5 Function c Settings P 0376 100 Torque control feed forward control scaling factor S ES P 0360 CON_PCON_KP Position control gain Gain of position controller P 0386 0 Compensation of friction torques SH Speed feedforward filter time Filter time for position controller feed P 1516 0 00014kgm Mass inertia P 0372 CONST for position control forward control P0166 50 ms Filter time S S l s N i l P 0374 CON_IP_EpsDly Position delay time Delay tme tonposition control fesd Figure 4 21 Optimized position gain Typical values for the position controller gain are between forward control 10000 and 40000 rpm SH SSC 7 ear 7 S P 0375 CON_IP_SFFScale Speed feedforward scaling Spee control feed forward contro factor scaling factor Torque Force feedforward Torque control feed forward control 4 4 1 Feed forward control of speed torque force P 0376 CON_IP_TFFScale EE scaling facio The feed forward control of the acceleration torque relieves the strain on the speed Acceleration feed forward Filter time for acceleration feed for EE P 0378 CON_IP_ACC_FFTF EE controller and optimizes the control response of the drive To
27. LI Stop ramps Reaction at control aff shutdown QSOPC 1 According Quickstop option cade always disable drive function ze Reaction at disable reference disable SDR 1 Slow down with slow down ramp disable of the drive function v Reaction at halt command SDR 1 Slow down on slow down ramp vj Reaction at quick stop command DSP Slow down on quickstop ramp v Quick stop ramp 3000 tev min s Reaction at fault POFF O Disable drive motor is free to rotate Error fault reactions Figure 5 16 Stop ramps screen The following ramp options are available P no System state Stop ramps Preferred setting P 2218 Quick stop MP_QuickStopOC 2 P2219 Control off MP_ShutdownOC 1 P 2220 SE MC_DisabledopOc 1 P2221 Stop feed HaltOC 1 P2222 Error MP_FaultReactionOC P 2242 Braking ramp for quick stop MPRO_402_QuickStopDec Response to Quickstop Option Code The quick stop brakes an ongoing movement The drive controller is in the Quick stop system state During braking and depending on the response acceleration is again pos sible in the old Control active state ServoOne Application Manual 83 SILT 3 I P 2218 Designation in DM 5 Function POFF 0 EE power stage drive Disable power stages the drive coasts to a stop 1 1 Slow down on slow down The drive brakes with
28. LUST a LTi ServoOne Application Manual val LI LUST Scaling via standard CiA402 profile Feed constant defines the ratio of the feed rate to the motor revolution Feed forward feed constant Motor revolution gear output side Gear ratio defines the ratio of a motor revolution upstream of the gearing to the number of revolutions on the gear output side Motor revolution gear ratio Revolution at gear output side Position encoder resolution defines the encoder resolution in increments per motor revolution 2 E Encoder Increments Position encoder resolution Motor revolution Figure 5 2 Definition of feed constant 5 1 2 SERCOS profile When using the SERCOS profile the term weighting is used in defining the units The weighting describes the physical unit and number of decimal places with which the numerical values of the parameters exchanged between the master control system and the drives are to be interpreted The method of weighting is defined by the parameters for position speed torque and acceleration weighting Note If no weighting is selected the weighting factor and weighting expo nent are irrelevant ServoOne Application Manual WP Weighting via the SERCOS profile JI SERCOS interface Units Position unit degree Une Torque force unit cNm Acceleration unit tad s 2 Li This is the star
29. M Malia ING ene EE 15 Mais Dee 8 Kanal CONTO lsrinin an 102 Manual OGG mresa e N dee 138 Measuring SS egene ARENS sn ai a aa E aA 34 Mechanical mstallaton ETZ 232529 555 T 920 7 73 Mechanism Of the Syste T 9 IWI CWO ee 10 ServoOne Operation Manual 146 Monitoring TUNGOR S essa 139 le tele UE 16 Motion Profile DS4O 2 sic cisisieii vinta ceccstsentegetasssietemtbetaceeigiveaasdevtautederae sean 17 Motor 114 MOTO Cal CUlatiOn aas eeng Seege 106 O lee 39 Operation ET 2 4 lee ee EE A RE ie Bled 17 OVER deenen Ee ee EN Overview of Application Manual 3 D PGA OC E 80 81 IER 29 Re 79 POSION CONTO EE 47 Position eg E 47 Position controller setup screen 47 Position GAIN EE 49 Position limitat ON EE 120 Power failure reaction 120 Power Stage Parameter sand 3532707 T eua a A Teten 102 Nee He Ee 9 NEE EE 50 ele e EUR 141 Br eoptrelvaluge e soccctvrabidsaSeybdnncadedssuinded be an sdacndeeeionuaic EN CC ENO M tege ee 50 BEIER tee ee 78 PROFIE GOMER TEE 79 LUST LI Q QUICK ee EE 83 85 QuICKStOp Option Code 83 R RAMP PONCHON Skrsi a E ar 83 RAMP ele ne renn eT 80 ls He 15 Reference cam 86 91 Reference INTO AGE sto n ageet EES cede AS 69 Sa a TTT 27 Reference PIOCESSIING BEE 79 KERE E 49 RIQUGULY EE 34 S SAMPLING MELANET E EET 78 79 SEITEN ee E le EL 15 DCN EE 69 SE 84 SERCOS e UE 46 SMUTAOWM Option Codeer mienke Eeer 46 Single mass system observer sssssseesssirssirssrresitsstestresst
30. P 1503 0 SCD_TSIG_Offset 0 est i P 1504 0 P 1504 1 SCD_TSIG_Time 0 SCD_TSIG_Time 1 P 1506 Period time SCD_TSIG_Freq ic ServoOne Application Manual 64 The PRBS signal is suitable for achieving a high bandwidth system excitation with a test signal A binary output sequence with parameterizable amplitude P 1509 SCD_TSIG_ RBSAmp and a random alternating frequency is generated with the aid of a looped back shift register PRBS Time range P 1509 Ka SCD_TSIG_PRBS_Amp r t APRBS a UU erss Se ae SCD_TSIG_PRBS_Time Sr A a Np 1 Np TN Susan H PRBS Frequency range Ee S nal 20 Og oh An Dit S gt A A PRBS Np Apres PRES PRBS Figure 4 29 Addition of sine and square signal Figure 4 30 PRBS signal in time and frequency range 4 6 Motor test via VFC characteristic CON_VFC_VNom usdref sqrt 2 3 x CON_VFC_VBoost x ref CON_VFC_FNom In VFC mode it is possible to run a simple test indicating to the user whether a motor is The reference is set by parameter P 0402 CON_SCON_AddSRef rpm connected correctly and moving in the right direction linear drive clockwise anti clock S i 8 8 arameter wise If the direction has been reversed the motor is stopped or executing uncontrol lable movements the termination plan and the motor data must be checked Parameter Function Description
31. Rated current 476 A Maximum speed 2 m s Magnet pitch NN 20 mm Rated force 1000 N Weight Motor weight coil 10 kg Total weight 10 kg Motor impedances Stator resistance 0905 Ohm Stator inductance 93 mH Encoder Encoder period 20 um Figure 2 4 PS Linear motor screen ServoOne Application Manual 12 Parameter Parameter name S GE P no S Designation in DM5 Function Settings P 0490 MOT_IsLinMot gt LIN 1 Selection if linear or rota Selection for rotary or linear motor tory motor data are valid P 0450 MOT_Type gt PSM Motor type Motor type P 0451 MOT_Name Name of motor Motor name parameter set P 0457 MOT_CNom Motor rated current Rated current H Width of one motor 2 P 0492 MOT_MagnetPitch pole NN Pole pitch NN P 0493 MOT_SpeedMax SEPT eminal Maximum velocity motor speed P 0494 MOT_ForceNom 2 Nominal force of motor Rated force P 0496 MOT_MassMotor Mass of motor slide Mass of motor carriage P 0497 MOT_MassSum 2 Mass of total mass Total mass to be moved moved by the motor P 0498 MOT_EncoderPeriod Period of line signals Encoder signal period P 0470 MOT_Lsig Motor stray stator Primary section inductance inductance P 0471 MOT_Rstat Motor stator resistance Stator resistance T The parameters are intended for information only but should be set for a complete motor data set 2 The parameters are used for calculation of controller setting
32. S S Ee de STOP 3 Force quickstop P0105 ISD04 P0106 ISDO5 P 0107 ISDO6 TAB1 24 Binary table index 2 al TAB2 25 Binary table index 2 7 TAB3 26 Binary table index 2 e Hardware enable NE OFF 0 Hardware enable powerstage Inputs TART 1 P 0100 EXE ee EE Terminal digital fe ISDSH 0 Activate Safty torque off STO Inputs P 0108 BHE Figure 6 1 Function selector LI 3 I Dialogue boxes for the digital inputs Digital standard inputs Low active Digital Filter Ispoo START 1 Start motor control P 0101 0 v E 0 ms pm E_EXT 11 Extemal error Po102 0 O D ms pm HOMST 9 Start homing P0103 0 se O D ms 15003 HOMS W 10 Homing switch P 0104 0 v dl D ms Ispo4 TBEN 21 Enable selected table indexP 0105 0 v E D ms ISDO5 TABO 23 Binary table index 2 0 P 0105 0 v Oo 0 ms pm TAB1 24 Binary table index 2 1 P0106 0 O D ms P 0118 1 7 Enable power stage hardware P 0118 0 ENPO OFF 0 Hardware enable powerstage P 0100 0 v 01 ms Options Show status of digital inputs Figure 6 2 Dialogue box for the digital inputs Set control and reference Control via TERM 1 via terminals Y P0159 0 Reference via TAB 3 via table sw P0165 0 Motor control start condition OFF 0 Switch off drive first in case of power or fault reset v P0144 0 Profile Profile mode PG 0 setpoint effects to profile generator x P0301 0 Profile type LinRam
33. T kad om R ee O vreg_min isdref_tab d current control J vmot_filt P 0344 CONFMVConTF ee s EE l l 1 Tf Volt Pe L T Calculation l L 2 uqref L kd K ll Figure 4 24 Asynchronous machine field weakening LI LUST ServoOne Application Manual 53 LUST LI One method involves voltage regulation with feed forward control by way of a 1 n characteristic The motor identification sets the voltage regulator so that the voltage supply in a weakened field is adequate If the drive controller is at the voltage limit it reduces the d current and thus the rotor flux Since the controller has only limited dyna mism and starts to oscillate if larger gain factors are set there is a second option The voltage regulation combines with the feed forward control by way of a freely definable characteristic modified 1 n characteristic which describes the magnetizing current as a percentage of the nominal value of P 0340 CON_FM_Imag dependent on the speed The choice between the 1 n characteristic and the static characteristic is based on pa rameter P 0341 CON_FM_ImagSLim If P 0341 becomes zero the static characteristic is evaluated If the parameter is unequal to zero the flux is routed along a 1 n characteris tic as from the speed ImagSLim P 0341 0 signifies selection of the Un characteristic no parameter setting P 0341 0 signifies selection of Isd f
34. The first zero pulse after the falling edge corresponds to the zero vi Zero pulse l Positive limit switch l Figure 5 18 Type 2 Positive limit switch and zero pulse Type 3 4 Positive reference cam and zero pulse The initial movement is as shown in Figure 5 19 towards the positive right hardware limit switch if the reference cam is inactive see symbol A in Figure 5 19 As soon as the reference cam is active the type 3 direction is reversed The first zero pulse after the falling edge corresponds to the zero With type 4 the first zero pulse after the rising edge corresponds to the zero The initial movement is towards the negative left hardware limit switch and the reference cam is active see symbol B in Figure 5 19 If the reference cam becomes inactive the first zero pulse of type 3 corresponds to the zero With type 4 the direction reverses as soon as the reference cam becomes inactive The first zero pulse after the rising edge corresponds to the zero Zero pulse ee eine d Reference cam I Z ae wan Figure 5 19 Type 3 4 Positive reference cam and zero pulse Type 5 6 Negative reference cam and zero pulse The initial movement is towards the positive right hardware limit switch and the refer ence cam is active see symbol A in Figure 5 20 With type 5 the first zero pulse after the falling edge corresponds to the zero When the reference cam becomes inactive
35. The reference of the g current must not reach the limit during the step This can be eas ily identified by its assuming a constant value over a certain time during the acceleration phase In this case either the maximum torque P 0329 CON SCON_TMax Tmax must be increased or the level of the reference reduced To set the speed controller gain the P 0322 CON_SCON_KpScale can be used The default setting of this parameter is 100 If this parameter is changed in order to set the gain the deviation of the setting from the default is precisely known ServoOne Application Manual 41 LI E Note Hard controller setup High control dynamics smooth running quality decreases Soft controller setup Control dynamics decreases smooth running quality increases 4 3 1 Digital filter To suppress potential disturbance frequencies resonances which might cause a system to oscillate it is possible to activate different filter types For this a general digital filter with the following time discrete transfer function is imple mented in the forward branch of the speed controller figure 4 1 e y k B 4 x k 4 B 3 x k 3 B 2 x k 2 B 1 x k 1 B O x k A 4 x k 4 A 3 x k 3 A 2 y k 2 A 1 y k 1 ServoOne Application Manual 42 Select Filter NOTCH_PT2 5 1 filter notch 2 filter PT2 P 0326 0 v 1 Filter center cut off 2
36. board to control a controller please use the relevant sepa rate bus documentation Attention When working with the ServoOne please always use a Drive Manager version DM 5 X z We wish you much pleasure and success working with this device ServoOne Application Manual Z LI LUST Order code The order designation provides information on the configuration variant of the servo controller supplied to you For details on the order code refer to the ServoOne Order Catalogue eevee Me xox ay HEEN ixur HEEN SxS e ST x x G NN NNN x Vi xX xX DEER NEG Li L L S e K PREHEN Sxi X x x xi X Ki GC EE SE E SE mnn MMM TMN N e NM NM HDN m p Lo SN X X X xX H EE EE rth teeth itt th x E N minn TATA NNN NNN NNN EE SORR N N x SEENEN Get Li 255 Eartha hit E oann CO SS N G e Ett x REX Li HERE Ge EE Zi ST SM SE IER SCH Se HERE be RRR NN N att x x RXXX onrod a L K i E RR PION lt Laal ZS SAT RRR Een PTT XXXXX GN SA S WAN 7 gt KEE d rE IC d N ek dorsvous Beier l en EE KEE BEE Je SC N Seite N Zx S S GE x xi M x x x DEE REEERE VRS EI X x x x HER x x KONU XIX d x x x Ze SHEE FH XX CHAK RX Ze XXX EE GE XXX TTT f F SR VELOT UR ann NNN NNN NN NNN NNN ServoOne Application Manual A Pictograms To p
37. brake response can be adapted to the requirements of the application as shown in the following illustration and using the parameters listed This function can be used in both speed and position control mode LUST LI ServoOne Application Manual 107 LI LUST P0219 P0217 P0218 Msoll last torque x 100 start torque M M Ref PS ereking function i ENPOena I ble l Brake function Reference value l 1 Amplifier is acti i l v l TEE AA A he j i i I I I l I P0148 ENMO time ym I P 0215 Rise time Ei l P 0213 Lift time E Legend timer activ I l I i I i 1 iControl is activ f 1 I I 1 l T th i je I 1 Ie P 0214 Close time p 0216 Fade time K MEE Braking function on l d d i Sen Figure 6 9 Brake function graph ServoOne Application Manual Parameter name Settings MPRO_OUTPUT_FS_ Designation in DM 5 Setting of analog Function Output for use of a motor holding brake If no brake is used the output can be P 0217 Parameter name Settings MPRO_BRK_Last TorgFact Designation in DM 5 Motor brake factor for application of last torque Function If the loads change on restarting a restart with the LastTorque torque on shutdown is recommended In this case the actual value parameter is applied with a factor 1 100
38. channel 1 initialization EnDat2 1 Position data PosConvert not consistent Encoder channel 1 initialization SSI Plausibility Lines 4 EncCH1Init_SSI_Lines from encoder 15 EncCH 1Init_SSI_Multiturn Encoder channe from encoder 1 initialization SSI Plausibility Multiturn 20 HardwareLimitSwitch 1 HardwareLimitSwitch_Inter Limit switches swapped changed 2 HardwareLimitSwitch_LCW Hardware limit switch LCW 3 HardwareLimitSwitch_LCCW Hardware limit switch LCCW 21 SEET Encoder general initialization locations which cannot be assigned to a channel 1 EncoderInit_CON_ICOM_Eps Encoder general initialization Autocommutation excessive Delta motion 2 Encoderlnit_CON_ICOM_ Encoder general initialization Autocommutation excessive Tolerance tolerance 22 Encoder CH1Init Encoder channel 1 initialization 1 EncCH1Init_Sincos_Lines Encoder channel 1 initialization Sincos Plausibility lines from PRam_ENC_CH1_Lines 2 EncCH1Init_Sincos_ABSquareSum Encoder channel 1 initialization Sincos Getting AB SquareSum Timeout 3 EncCH1Init_Sincos_EncObs Encoder channel 1 initialization SinCos Encoder monitoring Sincos 4 EncCH1Init_EnDat2 1_ NoEnDat2 1 Encoder channel 1 initialization EnDa encoder encoder may be SSI 2 1 No EnDat2 1 5 EncCH1Init_EnDat2 1_Line5S Encoder channel 1 initialization EnDa from encoder 2 1 P
39. channels CH1 CH2 CH3 Up to three encoder channels can be evaluated at a time The evaluation is made via c OFF 0 No encoder selected km connectors X6 and X7 They are part of the controller s standard on board configuration A third channel X8 can be ordered as an optional encoder COUT SINC eege P 0521 SE So i i i Gi Speed Info ___ eedbac The dialogue box figure 3 1 is used to set the encoders for torque speed and the position S Kees ree l Ch3 3 Option X8 e The Encoder offset Detect option accesses a wizard to define the current encoder offset For the definition the motor is run in Current control mode For a correct defi nition it is necessary for the motor to be able to align itself freely External load torques OFF 0 No encoder selected e will corrupt the result KTOS yac 22 EE The motor is supplied with a voltage so that the motor shaft can align itself Attention Absolute Position j Feedback Ch2 2 Resolver X6 e The motor shaft must be able to move A connected brake is automatically vented if connected to the brake output The process takes about 10 seconds Then the current value of the offset is entered in the display field and the original parameter setting is Ch3 3 Option X8 e restored Figure 3 1 Interface configuration between encoder channels and control LUST e LT ServoOne Application Manual 21 LUST LTi ServoOne
40. circuit this prediction is necessary to prevent the individual control circuits from oscillat ing against one another Prediction in feed forward control is achieved by delaying the speed and position controller reference setpoints Delay parameter The value in P 0372 CON_IP_SFFFT for the PT1 filter to delay the speed feed forward control value should be chosen slightly larger than the value for the actual speed value filter P 0351 CON SCALC_TF Useful values for floating mean value filters to delay the position reference setpoint are between 0 0625 ms and 1 5 ms The following graph shows a driving profile with feed forward control prediction Attention In multi axis applications requiring precise three dimensional axis coordination such as in the case of machine tools the delay of the posi tion signal must be equally set on all axes via parameter P 0374 IP_EpsDly Otherwise the synchronization of the axes may suffer leading to three dimensional path errors When using linear interpolation feed forward control is inactive Du 3 a LI 4 Kn ae E P Nr Wert Funktion P0351 1 2 ms Speed controller filter time P 0360 30000 Position controller gain P 0372 1 2 ms Filter time for position controller feed forward control P 0374 0 125 ms Delay time for position control feed forward control P 0375 100 Speed control feed forward control scaling factor P 0376 100 Torque control feed f
41. control TCON 1 Speed control SCON 2 Position control PCON 3 Le a u 3 LTi ServoOne Application Manual EE LUST 4 1 1 The Basic settings button opens the dialogue box for control related basic settings LI The basic settings include Basic settings e Mass moment of inertia of system e Rigidity speed controller scaling e Current speed position control gain factors e Speed filter epsef D K 0 SCD_Jsum P 0360 0 0 CON_PCON_Kp Position and Feedforward Control Total inertia D komm 100 P1515 WP Control design by stiffness l P 0320 0 4000 1 min 0 CON_SCON_Kp 0 005465 Nm rpm war 0 CON_SCON_Tn 17 5825 ms O gt 321 0 a P 0351 0 0 CON_SCALC_TF Speed Filter P 0322 0 Gain Adaption 100 gt 0 CON_SCON_KpScale T mei gt bj Ta Torque or Current Control Encoder interface Figure 4 3 Basic setting dialogue box Adaptation to the system mechanism In the standard motor data set the speed controller is preset for a moderately stiff mechanism For load adaptation the coupled reduced mass moment of inertia of the system is equal to the motor s moment of inertia load to motor ratio 1 1 ServoOne Application Manual 34 For this reason the speed controller still needs to be adapted to the mass moment of inertia and rigidity of th
42. deceleration Braking ramp Parameter name pee tionin DM5 Functi P 0198 0 15 MPRO_TAB_SRef Speed mode reference value Reference Nee Settings EE HSH P0109 MPRO_INPUT_FS_ Function of analog input E SS P0110 Giele ISAO 1 Function of the analog input Driving sets in torque control REFV 2 Andlegcommand The analog reference can be passed on to the control Parameter name Desi tion in DM 5 Functi Settings e EA UNCON P0165 MPRO_REF_SEL Motion profile selection Reference selector P 0193 0 15 MPRO_TAB_TAcc Torgueimod e acceleration Acceleratiortamp ANA0 1 Via analog channel ISA00 Selection of the analog reference source P 0194 0 15 MPRO_TAB_TDec Torque mode deceleration Braking ram l S SAGA Depending on the parameterized control mode P 0300 CON_CfgCon a speed or a P 0195 0 15 MPRO_TAB_TRef Torque mode reference value Reference torque can be set as the reference Structure diagram P Mode gt Control 0 P 0301 ISA00 2 Weighting p 0406 ISA01 P 0405 m Z e Function Selektor mut e OVRE REFV 2 not defined 1 ee e OFF 0 Dig Funk 1 26 Pe abaa aE N Filter Scale Offset LE l posa poi pois Index 0 1 Index DI Index Di ps H et Profil Generator TRamp P 0176 0 1 P 0186 0 1 I Control Bild 5 3 References via analog input analog channel ISA00 and ISA01 P
43. endless positioning It is limited by the parameter P 0328 CON_SCON_SMax Starting and braking The acceleration values for starting and braking can be parameterized independently of each other The input must not be zero Accelerations are controlled by the limitations Follow up task The motion tasks from zero up to the value set in P 0206 Number of follow up tasks to be processed are continuously processed Once the driving set in P 0206 is finished the first data set is restarted Processing is only stopped by removing the start contact If a task has the setting REL at once the driving set can be aborted and a new one can be started immediately ServoOne Application Manual 95 LUST LTi ServoOne Application Manual 96 Driving sets in speed control 5 7 Analog channel ISAOx Each driving set either for speed or torque has an acceleration and a braking ramp To be able to specify reference setpoints for the control via the two analog inputs ISAO Peer REA and ISA1 the following function selectors must be set accordingly S Designation inDM 5 Function l l Settings Setting of analog input ISA0 1 geste lane DEENS Seng D se P 0109 P 0110 must each be set to REV 2 The functions usable in analog mode are zB OSTAB SAce EE moye acceleration EES anon eee indicated by a mark see I O configuration section P 0197 0 15 MPRO_TAB_SDec Speed mode
44. in Response_Crc response 30 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface Response with returns communication error 31 EncCH1Init_Hiperface_ Response_Tec Encoder channe error bit Status 1 ini ializa ion Hiperface Response with returns technology or process error 32 EncCH1Init_Hiperface_ Response_None Encoder channe error bit Status 1 ini ializa ion Hiperface Response with returns no error 23 EncChannel2Init 1 EncCH2Init_Res_Lines Encoder channel 2 initialization Res Plausibility lines from PRam_ENC_CH2_Lines 2 EncCH2Init_Res_ Encoder channel 2 initialization Res Getting AB Square ABSquareSum_TimeOut Sum Timeout 3 EncCH2Init_Res_EncObs Encoder channel 2 initialization Res Encoder monitoring resolver 24 EncCH3Init 33 EncCH1Init_Hiperface_ Status_Com Encoder channe reports communication error 1 ini ializa ion Hiperface Status telegram 1 EncCH3Init_Module IdentificationFailed Encoder channel 3 ini wrong module a ization No module inserted or 34 EncCH1Init_Hiperface_ Encoder channe 1 ini ializa ion Hiperface Status telegram 2 EncCH3Init_Common_EO_ Error Encoder channel 3 initia option ization General EO error encoder 3 EncCH3Init_SSI_EncObs_20c Encoder channel 3 initia ization Encoder monitoring WriteToProt made to write to the prot
45. in DM 5 Error reactions Error name 4 ParameterAdd ServoOne Application Manual 124 Description of error Registration of a parameter 5 ParameterCheck Check of current parameter list values 6 ParameterListAdmin Management of parameter list 7 ParaList_PST Non resettable errors from PowerStage EEPROM data error 8 ParaList_PST_VL Error in power stage initialization selected device voltage not supported Settings Notify error execute quick stop Quick stop wait for 4 SR and wait for restart of control control restart Notify error execute quick stop Quick stop block 5 ServoStopAndLock disable power stage protect power stage secure against restart against switching on 6 ServoHalt Notify error disable power stage Block power stage 7 sarvoHaltandiock Notify error block power stage Block power stage protect against restart block enable Block power stage Notify error block power stage receten Byswn 8 WaitERSAndReset and reset only via switching off y Oy 9 on control voltage 24 V the 24 V control voltage 9 off and back on Error details Alarm amp warning details Error name Description of error 0 0 no error No fault 1 1 RunTimeError Runtime error 2 RunTimeError_DynamicModules Internal error in device initialization 3 RunTimeError_Flashmemomry Error in fl
46. information relative to a specific zero point of the measurement system is determined by counting the individual measuring increments between two reference marks The absolute position of the scale defined by the reference mark is assigned to precisely one measuring increment So before an absolute reference can be created or the last selected reference point found the reference marks must be passed over LUST LI To determine reference positions over the shortest possible distance encoders with increment coded reference marks are supported e g HEIDENHAIN ROD 280C The ref erence mark track contains multiple reference marks with defined increment differences The tracking electronics determines the absolute reference when two adjacent reference marks are passed over that is to say after just a few degrees of rotation Rotary measurement system Rotary encoder figure 3 6 Basic increment reference measure A small increment e g 1000 corresponding to parameter P 0610 ENC_CH1_Nominal increment A Basic increment reference measure B large increment e g 1001 corresponding to parameter P 0611 ENC_CH1_Nominal Increment B The number of lines is entered in parameter P 0542 ENC_CH1_Lines A sector increment difference of 1 and 2 is supported One mechanical revolution is precisely one whole multiple of the basic increment A ServoOne Application Manual 27 LUST LI Figure 3 6 Schematic view
47. main inductance responding to rated magnetizing current P 0340 Determination of default motor P 1530 SCD_SetMotor Start of calculation Control control settings data set 1 The parameters are intended for information only but should be set for a complete motor 2 The parameters are used for calculation of controller settings but have no direct influence on the behaviour of the servocontroller All other parameters have a direct effect Figure 2 6 Motor parameters For asynchronous motors the following parameters are stored in the dialogue box In the Parameter Editor motor data can be modified without using dialogue boxes Parameter name Settings Designation in DM5 Function P0490 MOT_IsLinMot gt ROT 0 E ad Selection for rotary or linear motor P 0450 MOT_Type gt PSM Motor type Motor type P 0451 MOT Name Name of motor parameter set Freely selectable motor name P0452 MOT_CosPhi Motor rated cos phi Parameter informative only P0455 MOT_FNom 2 Motor rated frequency Rated frequency of the motor P 0456 MOT_VNom 2 sa eet Rated voltage of the motor P 0457 MOT_CNom Motor rated current Rated current of the motor P 0458 MOT_SNom Motor rated speed Rated speed P 0459 MOT_PNom Motor rated power Rated speed f the mass moment of inertia of the motor P 0461 MOT_J is not known a moment of inertia for a standard motor is calculated from the power output
48. more items of system equipment e When the STO is cancelled the motor runs uncontrolled The drive controller has its own relay contact for feedback terminal RSH on x4 Attention The machine manufacturer is responsible for determining the safety category required for an application minimizing risk ServoOne Application Manual 101 LUST LI 6 1 3 Hardware enable and autostart The digital input ENPO terminal 10 on X4 is reserved for hardware enable In its default setting OFF it only executes the Hardware enable function Apart from this it can also be assigned the START function In combination with parameter P 0144 DRVCOM AUTO_START LEVEL autostart mode is active If the Safe Stop function is active the activation of the hardware enable ENPO via terminal 10 on X4 suffices to switch on the drive control When the ENPO is cancelled the drive runs down freely Power up sequence Regardless of which control mode was selected the power up sequence must be fol lowed in order to start the drive Power up sequence Command System state ISDSH STO STO ISDSH 2 Switch on inhibit ENPO STO ENPO Enable Power 3 Ready to switch on FS_ISDXX_ or Start BIT START 1 4 Switched on Regelung aktiv control active 5 Control active ServoOne Application Manual 102 6 1 4 Manual drive control via digital inputs Setting a digital input to MAN 14 allow
49. n characteristic modified 1 n characteristic Parameterization of Isd f n characteristic setting of d current dependent on the speed The speed is specified relative to the rated speed in P0458 MOT_SNom the d current relative to the magnetizing current in parameter P 0340 CON_FM_Imag Up to the field weakening speed a constant magnetizing current is injected P 0340 0 7 Parameter Function name Designation in DM5 Settings Effective value of the rated current for magnetization P 0340 CON_FM_Imag magnetization current r m s Only valid for ASM Field weakening activation point as of P 348 MOT_SNom This effects the switch from the 1 n to the Isd f n P 0341 CON_FM_ImagSLim characteristic For a synchronous machine this value must be set to 0 ServoOne Application Manual 54 Parameter Function name Designation in DM5 Settings speed values for mag current Speeds as of P 0340 CON_FM_ P 0342 CON_FM_SpeedTab scaling Imag Used to set the field weakening characteristic mag current scaling vs speed d current scaled as Imag as of P 0340 CON_FM_Imag Used to set the field weakening characteristic P 0343 CON_FM_ImagTab Application example P 0342 0 7 P0300077 P 0348 Rated speed Magnetizing current in Field weakening speed S i field weakening mode 0 100 OA 1 110 55A 2 120 70A 3 1
50. of track signal B 2 Gain A stack luis Determined gain correction factor for track signal A 3 Gain B Gain track B sin Defined gain correction factor for track signal B 4 Phase ghz Calculated phase correction between track signals A and B Encoder correction Open the open loop control window and set speed controlled mode Set the optimization speed Resolver approx 1000 to 3000 rom Optical encoder approx 1 to 5 rpm Adjust scope Plot actual speed value LUST LI Switch to ADAPT during operation and wait about 1 3 minutes for the compensation algorithms to reach their steady state The speed ripple should decrease after about 1 minute observed with scope Apply setting and save secure against mains power failure Procedure 1 Access the stored values with CORR or Procedure 2 Use current correction values with ADAPT With the Reset setting the values are restored to their factory defaults Note The setting made with ADAPT applies only to the motor with which the function was executed If the motor is replaced by another of the same type this method must be applied again ah For channel 3 encoder correction as from software version V 2 0 is configured 3 2 Resolver X6 channel 2 Channel 2 evaluates a resolver by default Functions of encoder channel 2 A 12 bit fine interpolation over one track signal period takes place The pole pa
51. procedure to determine the detent torque characteristic is as follows P 0380 KORA Run the motor at low speed feed frequency lt 0 1 Hz in speed control mode then write Compensation Ee Teach Tab the control word P 0385 to the value TeachTab1 1 The characteristic of the q current current Tab es Offset WS is averaged by a special filter and recorded in the table values of parameter P 0383 S CON_TCoggTeach1 Each table value should have been written at least once The motor 0 IR 0 li should thus have moved through several pole pitch divisions during teach mode Then Compensation ON OFF SE the control word P 0385 is written to the value CalCorrTab 3 The recorded currents are P 0382 P 0385 filtered a calculated offset is extracted and the result is written to the compensation table of parameter P 0380 CON_TCoggAddTab P l P isqref Position isqref_nreg Current Compensation Controller Controller P 0382 CON_TCoggComp ON OFF enables the compensation table The interpolation between the table values is linear The characteristic is not saved automatically the SAVE Figure 4 6 Schematic for detent torque compensation command must be used The following parameters are available to activate this process The progress of the teach process and the compensation can be tracked on the scope The signal isqCoggTeach indicates the current output value of the teach table during teach mode while isqCoggAdapt contains the current value f
52. reference cam Type 10 reverses the direction of movement after an active reference cam The zero cor responds to the first zero pulse after a falling edge ServoOne Application Manual 90 Zero pulse a l l l KEE i Reference cam l l l l l l Positive limit switch T T Figure 5 21 Type 7 to 10 Reference cam zero pulse and positive limit switch Type 11 to 14 Reference cam zero pulse and negative limit switch The initial movement is towards the negative left hardware limit switch It and the reference cam are inactive see symbol A in figure 5 24 Type 11 reverses the direction of movement after an active reference cam The zero cor responds to the first zero pulse after a falling edge With type 12 the zero corresponds to the first zero pulse with an active reference cam Type 13 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 14 the reference cam is overrun and the first zero pulse after that corresponds to the zero The initial movement is towards the negative left hardware limit switch It is inactive and the reference cam is active see symbol B in figure 5 24 Type 13 reverses the direction of movement if the reference cam is inactive The zero corresponds to the first zero pulse after the rising edge With type 14 the first zero pulse after a falling edge of the referenc
53. response to rated current Ip heap ee ee ee ee es See eee ee isd A ischef A vd Figure 4 5 Step up to rated current The faster the actual value approaches the setpoint reference the more dynamic is the controller setting During settling the overshoot of the actual value should be no more than 15 of the reference setpoint The current controller can also be set by way of the test signal generator This controller optimization method is described in more detail in section 4 5 Commissioning Detent torque compensation anti cogging In order to compensate for detent torques caused by non sinusoidal EM curves the torque forming q current is entered in a table and taught in for one pole pitch divi sion After elimination of the offsets compensated table the q current is inverted and fed in as the feed forward control value of the control see figure 4 6 The compensation func tion can be described by means of compensating currents q current scope signal isqref dependent on a position electrical angle scope signal epsrs A teach in run imports the values into a table with 250 interpolation points Parameter P 0382 CON_TCog gComp activates the function ON OFF ServoOne Application Manual 35 LUST LTi ServoOne Application Manual 36 Teach anti cogging Teaching is controlled via parameter P 0385 CON_TCoggTeachCon The teach
54. set the control parameters of the speed controller e Gain e Lag time e Gain scaling e Filter time e Speed limitation Pl Speed Controller P 0320 0 0 005465 Nm rpm 0 CON_SCON_Kp Position and Feedforward me FF 0321 0 17 5825 ms 0 CON_SCON_Tn d wef ro eo Control P 0322 0 100 0 CON_SCON_KpScale Gas Torque or Current igel FF soret n saer O adle Le nact obs T zt scon Analysis of P 0350 1 Feedback Selection OBS 0 Feedback from observer method v P 0350 0 Observer Method FILTER Q PT1 fiter lt P 0351 0 Digital Filter Control Speed observer and State space Control 9 06 ms Encoder Interface 0 CON_SCALC_TF L Figure 4 10 Speed controller screen ServoOne Application Manual 39 LUST LI All parameters take effect online though only the scaling parameter P 0322 is transferred in defined real time with speed controller sampling time So setting the gain via the scaling parameter P 0322 is useful for the following reasons e With this the gain can be adapted via the field bus or an internal PLC to respond to a variable mass moment of inertia e By selecting the scaling there is always a refer back to the reference setting of 100 Speed controller optimization by step responses
55. the programmed deceleration SDR 1 gs ramp ramp then the power stage is disabled QSR 2 2 2 Slow down on slow quick Braking with quick stop ramp then the power stage is stop ramp disabled Braking with max dynamics at current limit The speed CLIM 3 3 3 Slow down on current limit reference value is set equal to 0 then the power stage is disabled Reserve 4 Reserve RIS Slowdown EE Braking with programmed deceleration ramp The drive SDR_QS 5 R remains in the quick stop state current is applied to the stop ramp and stay in quickstop axis at zero speed Braking with quick stop ramp QSR_QS 6 ES EE See The drive remains in the quick stop state current is ap P P ying P plied to the axis at speed 0 Braking with max dynamics at the current limit CLIM_QS 7 7 7 Slow down on current limit the speed reference is set equal to 0 and stay in quickstop The drive remains in the quick stop state current is ap plied to the axis at speed 0 Reserve 8 Reserve Transition to the Ready state is only possible by resetting the quick stop request In the Quick stop state cancelling the Start closed loop control drive signal has no effect as long as the quick stop request is not reset as well ServoOne Application Manual 84 Response to shutdown option code Control off The state transition Control off is passed through when the power stage is switched off The control i
56. translatorisch N 1 0 1N Preferential rotary weighting of force data Preferential weighting Wighting exponent Weighting factor Weighting method Unit rotatorisch Nm 1 ef 0 01 Nm ServoOne Application Manual 76 User Standardisation P 0270 MPRO_FG_PosNorm Position Pos Unit P 0271 MPRO_FG_Num Pos incr gt xy gt x y Kl x y P 0272 MPRO_FG_Den P 0273 MPRO_FG_Reverse Control Control command i Speed Speed Unit ell Key gt Speed rev min E P 0274 MPRO_FG_SpeedFac xey gt Acc rev s L P 0275 MPRO_FG_AccFac Acceleration Acc Unit Figure 5 8 Schematic of user scaling Figure 5 7 Weighting method for torque and force data Torque polarity The polarity is switched outside of a controlled system at the input and output A posi tive torque reference difference and non inverted polarity means the direction of rota tion is clockwise looking at the motor shaft 5 1 3 USER scaling without scaling wizard No wizard is available for USER scaling and it should only be used when scaling using the wizard is not possible The following schematic is provided an an aid to parameter setting Calculation of the factors P 0271 P 0272 for position P 0274 for speed and P 0275 for acceleration is dependent on the selected User Unit 1 and the feed constant o
57. 00 Hz P 0325 0 3 aB width 10 Hz P 0325 1 2 Filter ter cut off center cut ol 100 Hz P 0325 2 cut off f width 10 Hz P 03253 wi Coefficients b0 ak 0 0014532 bi x k 1 3 5782E 05 al x k 1 3 85677 b2 x k 2 0 0028348 a2 x k 2 5 60426 b2 x k 3 3 5782E 05 a3 x k 3 3 6353 b4 x k 4 0 0014532 a4 x k 4 0 88795 Figure 4 12 Dialogue box for setting the digital filters With the notch filter P 0326 CON_SCON_FilterAssiit is possible to suppress defined un wanted frequencies The blocking frequency and bandwidth are required for this When writing the parameter the corresponding coefficients of the transfer function in P 0327 are changed For parameterization of standard filters field parameter P 0325 CON_SCON_FilterReq is provided to specify limit frequencies and bandwidths Settings for assistance parameter P 0326 CON_SCON_FilterAssi Parameter name Description in DM 5 Function Settings ol me E PT1 6 PT2 7 PT3 8 PT4 9 a el ee 3 At lower frequencies higher order 8 PT3 8 n Ke Ke PT3 PT4 should not be 9 PT4 9 1 filter OFF 2 filter PT4 P 0327 CON_SCON_FilterPara coefficients of digital filter Coefficients of the digital filter 0 a0 x k 1 USER a1 x k 1 2 USER a2 x k 2 3 USER a3 x k 3 4 USER a4 x k 4 5 USER b1 y k 1 6 USER b2 y k 2 7 USER b3 y k
58. 3 results from the TABx assignment The TABO setting has the lowest significance 20 and the TAB3 the highest 23 A Logical 1 level at the input activates the significance Triggering via field bus system Cross check Execute motion task bit with control word Enabling a selected driving set The selection of a new motion task always interrupts an ongo ing positioning or follow up task logic Triggering via field bus system Cross check Activate follow up task bit with control word The binary significance 20 21 22 23 results from the TABx assignment of the control word The TABO setting has the lowest significance 20 and the TAB3 the highest 23 Table settings dependent on control mode Control Table Acceleration Braking Velocity Positioning mode reference ramp ramp mode Torque P 0195 P 0193 P 0194 Speed P 0198 P 0196 P 0197 Position P 0202 P 0199 P 0200 P 0201 P 0203 LUST LI Reference setting Motion Control provides references in user defined travel units These values must be converted into internal units This is done by way of the scaling block Standardisation units There are three options for scaling of the drive controller The selection is made via P 0283 MPRO_FG_Type for more information see Scaling section Velocity The speed can be specified signed A negative setting is only evaluated in case of
59. 3 Dependence in case of field weakening and or limitation by power stage e LT ServoOne Application Manual 117 LUST LUST LI In the following cases additional limitations of the torque may occur so that the param eterized limit torque is not reached Possible parameterization error Ratio of rated current to rated torque incorrect The torque constant of the motor parameterized by way of the flux for a synchronous machine or the magnetizing current for an asynchronous machine does not fit the ratio of rated current and rated torque If the torque constant is less than this ratio the motor current is limited in order to prevent excessively high motor current These parameteriza tion error is avoided by using an original motor data set or by generating the motor data using the servocontroller s calculation wizard Maximum power stage current too high The maximum current resulting from the torque limitation is greater than the maximum current of the power stage The field forming d current is not equal to zero In the field weakening range the field forming current isd becomes unequal to O for the synchronous machine The q current component isq remaining for the torque is reduced correspondingly so that the maximum current iS a is not exceeded a In the upper field weakening range for asynchronous machines the speed is then more than 3 to 5 times the rated speed the slip is limited to the pull out sl
60. 30 90A Naom 1800 rpm 4 140 100A 5 150 100A 6 160 100A 7 170 100A Attention The speeds in P 0342 CON_FM_SpeedTab must continuously increase from index 0 7 Voltage regulator parameters The voltage regulator is overlaid on the selected characteristic When using the volt age regulator a portion of the available voltage is used as a control reserve The more dynamic the running the more control reserve is required In this case it may be that the voltage for rated operation is not sufficient and also that the regulator starts to oscillate The PI voltage regulator can be optimized by adaptation of the P gain P 0345 the lag time P 0346 and the filter time constant for the motor voltage feedback P 0344 Parameter P 0347 sets the voltage reference though the threshold needs to be reduced in response to rising demands as this maintains a kind of voltage reserve for dynamic control processes A certain voltage reserve is necessary for stable operation It is specified by way of pa rameter P347 CON_FM_VRef lt 100 The value should be set high lt 90 where there are high demands in terms of dynamics For less dynamic response the maximum attainable torque can be optimized by higher values gt 90 Note If the control reserve is too small the inverter typically shuts off with an overcurrent error Parameter Parameter Function name Designation in DM5 Settings
61. 3000 0 3000 Motor control Quick stop Halt operation Activate manual mode Parameter name Description with DM 5 Function Settings P0165 MPRO_REF_SEL TAB 3 via table Selection of reference source P 0300 CON_Cfg_Con SCON 2 Speed control activated P 0320 CON_SCON_Kp Speed controller gain P 0321 CON_SCON_Tn Speed controller lag time P 0322 CON_SCON_KpScale 100 Gain scaling P 0328 CON_SCON_SMax Speed limitation P 0351 CON_SCALC_TF GE SC S Actual value filter Figure 4 11 Speed controller optimization Hand operating trigger Status Auf Trigger warten Channels Trigger Time Aeference speed summed QO 1min Plot to rig aci speed from filter 0 00052734 rpm sef cusrenf from speed control inc oscillation 0 A Plot to rig Open scope Setting Channel CH 0 speed reference nref CH 1 actual speed nact CH 2 actual torque mact Trigger Trigger signal Speed reference nref Mode Rising edge Level 30 rom Pretrigger 0 Time Sampling time base time 6 25E 0 5 s Recording time 0 2 s Figure 4 11 Speed controller optimization LUST LI z mei 1 min nact rpm mech Nm Figure 4 11 Speed controller optimization This graph figure 4 11 shows a typical speed step response with a rise time of 14 ms and an overshoot amplitude of 15
62. 305 125 us cycle In this method the interpolation points are approximated by means of B splines The trajectory normally does not run exactly through the points specified by the control The deviation is normally negligibly small In the interpolation points the transitions are continuous with regard to acceleration which becomes apparent by minor noise In start and target position the interpolation points always match the trajectory Application Minimizing noise smoother motion restrictions on contouring field busses or internal possibilities can be found in the field bus documenta tion Note Further information on how to generate motion commands using the gt ServoOne Application Manual 141 LT ServoOne Application Manual SES LUST LI LUST ServoOne Application Manual SES LT ServoOne Application Manual Ea LUST Index A Acceleration enar ee E E E EA E EAE EREEREER 81 Acceleration TONG UE 50 Actual values see 139 Adaptation of current contre 37 Additive references cecceccceeecceeeeecceeceeeeceeeceeeeeeeceeeecseeeeeeseeeteeeneeeaes 62 AMANO GD EE 78 Ee Rae 96 Analog OULD E 113 LR as lele aLe MEE E E T 35 elle leet re EE 61 ASYNCNFONOUS MOTOMS eee eeeeeeeeeeeeeceeeeeeeeeeeceeeeeceeeeeceeeeecneeeesteeeeteeeeneees 66 B EIERE 34 78 C CAN 79 EE ER Channel EE 22 CIA OZ Lee UE 70 Closed lOOp contmol eects eeteeeecneeeeteeesteeeeeneeeee 31 COMMISSION M T 61 Contour
63. 5 LTi DRIVES ServoOne Application Manual Description of Base Software LI ServoOne Application Manual ID no 1100 22B 1 00 Date 03 2009 Applicable as from firmware version V1 35 ServoOne Application Manual ServoOne High performance drives The modularity of the ServoOne guarantees you optimum integration into the machine process Communication with the machine controller can be routed via a high speed field bus system or via the distributed programmable Motion Control intelligence in the drive controller We reserve the right to make technical changes The content of this Application Manual was compiled with the greatest care and atten tion and based on the latest information available to us We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products Information and specifications may be subject to change at any time Please visit www lt i com for details of the latest versions Overview Since the drive controller software offers a wide range of functions including the facil ity to interface different field buses the documentation is spread across a number of individual documents Systematics of the ServoOne documentation Document Operation Manual Contents Device mounting installation safety specification Description Hardware Application manuals Function description Base software
64. 600 800 7000 7200 7400 7600 7800 2000 Frequency Hz 200 Figure 4 13 Frequency responses of PT1 PT2 PT3 PT4 filters 10 c Le 10 Magnitude dB 300 400 50 60 70 80 9001000 Frequency Hz v T Si Nee L L 0 500 1000 1500 Frequency Hz Phase degyees Figure 4 14 Notch filter Blocking frequency 500 Hz and bandwidths 25 50 75 and 100 Hz ServoOne Application Manual 44 Note that the filters not only influence the amount but also the phase of the frequency response At lower frequencies higher order filters PT3 PT4 should not be used as the phase within the control bandwidth is negatively influenced P Note The coefficients can also be specified directly via parameter P 0327 CON_SCON_FilterPara They take effect directly so changing them is only recommended when the control is switched off Procedure ll Scope setting isq unfiltered torque forming current Set shortest sampling time Create scope plot without filtering Click Mathematical functions gt FFT Fourier analysis icon From the following pop up menu choose isq Disturbance frequency is displayed 3 Select filter Select filter center cut off Enter disturbance frequency 5 width Enter the bandwidth of the disturbance frequency the width has no effect when using PTx filters Create Scope plot with filtering Note A higher bandwidth results in l
65. CH Position control mode P0300 v Owing to the cascade structure of the control loops it is necessary to perform the opti Basic Settings mization from the inside outwards Sequence for optimization of controllers 1 Current control loop For LTI motors with motor encoder optimization of the cur rent controller is not needed because the corresponding parameter values are transferred when the motor data set is loaded For linear motors and third party motors the motor must be identified section 3 Motor 2 Speed controller The settings of the speed controller with the associated filters are dependent firstly on the motor parameters mass moment of inertia and torque force constant and secondly on mechanical factors load inertia mass friction rigidity of the connection Consequently a manual or automatic optimization is often required 3 Position control loop The position control loop is dependent on the dynamics of the underlying speed controller on the reference type and on the jerk acceleration and interpolation methods Figure 4 2 Control screen for selection of the contro parameters Parameter P 0300 CON_CFG_Con specifies the control mode with which the drive is to be controlled This parameter takes effect online Uncontrolled online switching can cause an extreme jerk a very high speed or an overcurrent which may cause damage to the system Selection of control mode Current
66. LUST LI ServoOne Application Manual 47 LUST LTi Position controller optimization The reference values for the necessary setpoint steps for controller opti mization can be easily preset by way of a reference table or the Control window see also Motion profile section Reference via Control window Control mode A PCON 3 Position control mode Standard mode Homing mode Jog mode Reverse mode Homing method Type 1 1 Reference position homing offset parameter x Motor control Quick stop Halt operation C za Stop Stop Stop Activate manual mode Manual mode off Select control mode PCON Homing method 1 Type 1 sets the current posi tion as the zero Start the power stage via START motion control Start stop homing mode Control mode PCON 3 Position control mode v Standard mode Homing mode Jog mode Reverse mode Motion profile PG 0 setpoint effects to profile generator v Acceleration 10000 rev min s Deceleration 10000 rev min s Speed 1000 rev min Mode absolute relative to O actual speed controlled reference Reference 3600000 mDegree Motor control Quick stop Halt operation Start L Start L Start l Stop Stop Activate manual mode Manual mode off Select standard mode Set ramps Set position reference Activ
67. P 0560 ENC_CH2 Lines Encoder Channel 2 Number of Parameterization of number of pole Pole Pairs pairs of resolver The GPOC encoder correction func P 0561 ECC_CH2_Corr ENC_CH2 Signal correction type tion see section 3 2 2 is also avail able to channel 2 3 4 Encoder gearing For channels 1 and 3 one gear ratio each can be set for the encoder e Adaptation of a load side encoder to the motor shaft e Inversion of the encoder information For encoder channel 2 it is assumed that the resolver is always mounted on the motor shaft The adjustment range is therefore limited to 1 or 1 i e the encoder signal can only be inverted Parameters of encoder gearing P no rare gare Designation in DM5 Settings Function P 0510 ENC_CH1_Num Encoder Channel 1 Gear Nominator Denominator in channel 1 P0511 ENC_CH1_Denom Encoder Channel 1 Gear Denominator Nominator in channel 1 P0512 ENC_CH2_Num Encoder Channel 2 Gear Nominator Denominator in channel 2 P0513 ENC_CH2_Denom Encoder Channel 2 Gear Denominator Nominator in channel 2 P0514 ENC_CH3_Num Encoder Channel 3 Gear Nominator Denominator in channel 3 P0515 ENC_CH3_Denom Encoder Channel 3 Gear Denominator Nominator in channel 3 3 5 Increment coded reference marks In the case of relative encoders with increment coded reference marks multiple refer ence marks are distributed evenly across the entire travel distance The absolute position
68. PLC sets output Use output via PLC program 23 WARN Warning Collective warning message 24 UV Warning undervoltage Warning undervoltage in DC link 25 WOW Warning overvoltage Warning voltage overload in DC link Warning IxIxt power Warning Hat power stage protection threshold 26 WIT stage reached Warning overtemperatur S 27 WOTM Warning motor temperature motor Warning overtemperatur s l 28 WOTI dive Warning heat sink temperature of inverter Warning overtemperatur ee E 29 WOTD Warning internal temperature in inverter motor 30 WLIS Warning current Warning apparent current limit value exceeded threshold reaktion Japp Warning speed bs 31 WLS threshold reaktion Warning speed limit value exceeded 32 WIT Warning Ixixt motor Warning l xt motor protection threshold protection Warning torque force 3 K 33 WLTQ brecholel Warning torque limit value exceeded 34 TBACT Table positioning active Table positioning in AUTO and activated state 35 TBO Actual table index 240 Significance 2 Warnings warning thresholds are set via P 0730 MON_WarningLevel LUST LI Parameter name Settings Designation in DM 5 Description P0122 MPRO_OUTPUT_ Function of digital Function selection P0127 FS_OSDOx output 36 TB1 Actual table index 241 Significance 2 37 TB2 Actual table index 242 Significance 2 38 TB3 Actual table index 243 Significance 2 39 54 CM1
69. SC 2 TC_ASC2 TriCore ASC2 3 TC_FPU TriCore floating point error ServoOne Application Manual 129 LUST LI Error name 4 TC_FPU_LNO_RET_ADDR Description of error riCore floating point error no return address available Error name ServoOne Application Manual 130 Description of error 37 Syncronization controller 1 RatioError The ratios between interpolation synchronization and or speed control time do not match 38 Braking chopper monitoring 1 BC_Overload Braking chopper overload 39 TwinWindow Monitoring of speed and torque 1 TwinWindow_Speed Speed deviation between Master and Slave 2 TwinWindow_Torque Torque deviation between Master and Slave 40 Twin Sync Module Communication fault TECH option 1 TOPT_TWIN_CommLost 2 TOPT_TWIN_SwitchFreq Error in Twin Sync technology option 3 TOPT_TWIN_ModeConflict 4 TOPT_TWIN_RemoteError 41 DC link fast discharge Maximum period for fast discharge 1 FastDischarge_Timeout Maximum period for fast discharge exceeded 35s 42 EtherCAT Master Implementation Fehler EtherCat Master 1 Location can t specified Communication error EtherCat Master CommeError 43 Ethernet interface Error in Ethernet configuration 1 Ethernet lnt Initialization error TCP IP communication 44 Cable break detected 30 InitCon 1 InitCon_Ana
70. Settings Designation in DM 5 Function Setting of smoothing time jerk P 0166 MPRO_REF_JTIME Motion profile jerk time Sra limitation The reference is weighted in percent dependent on the maximum specified reference value Motion profile speed override P 0167 MPRO_REF_OVR factor The jerk limitation increases the acceleration and deceleration time by the smoothing P 0166 The smoothing settings field appears on the screen only when JerkLin 3 Jerk imited ramp is set in parameter P 2243 Profile type see figures 5 16 5 17 With Speed override P 0167 the maximum preset speed reference can be scaled in percent nref rpm a 0 MPRO_FG_UstActSpeed SPEED trigger level epsact incr Figure 5 14 Without smoothing Red actual speed value Grey actual position Ke ref rpm 0 MPRO_FG_UstActSpeed SPEED en trigger level epsact incr Figure 5 15 With smoothing of 2000 ms Red actual speed value Grey actual position value 5 3 Stop ramps Each reference source has its own acceleration and braking ramps In addition to this there are the special deceleration ramps to the CiA 402 standard listed below The ramp functions are only effective in certain system states The required settings can be selected from the screen Clicking the Error fault reactions button directly accesses the dialogue box for the error responses LUST
71. User defined speed dimensio m s 1 Meters per second ia m min 2 Meters per minute deg s 3 Degrees per second deg min 4 Degrees per minute rev s 5 Revolutions per second rev min 6 Revolutions per minute inc s Increments persecond Figure 5 2 Definition of feed constant Scaling via standard CiA402 profile Scaling via standard CiA402 profile In this dialogue box the units for the position speed and acceleration are defined j The gt Continue button navigates the user through the subsequent dialogue boxes Feed constant In the catalogue windows of these three variables initially the exponent is set The deg desired units for position and speed must also be selected SS 1 rev of driving shaft CANopen Gear ratio if available PATCHETT oine Input revolutions motor shaft 1 rev Position control modes clockwise O anti clockwise Gidea evel Taio shall rp Speed control modes 7 clockwise O anti clockwise Position encoder resolution 1048576 incr 1 rev motor Definition of direction Referred to the motor the positive direction is clockwise as seen when looking at the motor shaft A side bearing plate Figure 5 2 Definition of feed constant Input of changes should not be aborted prematurely Always finish the action in the regulation manner and restart input from the first screen Figure 5 2 Definition of feed constant
72. al 119 LUST LI Parameters Parameter name b Designation in DM 5 Function Settings P0335 CON_SCON_DirLock Pirection lock for speed Directional lock left and right reference value Speed control maximum Scaling to the rated speed in PCER CONE ISSUE speed P 0458 Motor rated speed P 0333 CON_SCON_AMax Motor speed Set Speed limitation in negative direction Neg negative limit P 0334 S Mess motor U Speed limitation in positive direction Scale line factor P0337 CONSCON_SMaxScale Motor speed scalin percentage speed weighing S P default 100 P 0740 MON_SpeedThresh monitoring speed threshold Setting of threshold for maximum speed P 0744 MON SDiffMax Monitoring speed differ Setting of threshold for maximum posi ence threshold tion tracking error P 0167 moor EE Setting of override factor override factor 7 1 3 Position limitation Parameter name Settings Designation in DM 5 Function reached status P 0743 MON_UsrPosDiffMax monitoring position difference Limit value for the maximum permissible threshold tracking error in USER units P0746 MON_UsrPosWindow position window for target Standstill window for position reached ServoOne Application Manual 120 7 1 4 Power stage voltage limitation Parameter name E Function Settings P no Designation in DM 5 voltage limit for power fail reaction Voltage threshold fo
73. al and ActSpeed reference speed P 0418 CON_SCON_RefTorque reference torque Torque reference P 0419 CON_SCON_ActTorque actual torque Actual torque E0700 MON_CurrentRMS actual current r m s Actual current mean value P 0702 MON_State Device status word Status word P 0703 MON_PowerStage_TKK Power sece temperaiue i Heat sink temperature cooling block e i Power stage temperature of P 0704 MON_Device_Tint i Interior temperature interior P0734 MON_Motorlemp motor temperature Motor temperature P 0742 MON_UsrPosDiffHistory monitoring maximum posi Position tracking error in user tion difference units Parameter name Setting Designation in DM 5 Function P 0276 MPRO_FG_UsrActPos actual position in user units Current position in user units P0277 MPRO_FG_UsrRefPos SE DSS Reference position in user units P 0278 MPRO_FG_UsrCmdPos EH command in user Position command in user units P 0279 MPRO_FG_UsrPosDiff tracking error in user units Tracking error in user units P 0280 MPRO_FG_UsrRefSpeed reference speed in user units Speed reference in user unit P 0281 MPRO_FG_UsrActSpeed actual speed in user units Actual value in user units LUST LI ServoOne Application Manual 139 LUST LI More actual values are contained in field parameter P 0701 Parameter name Setting P 0701 MON_ActValues Designation in DM 5 Monitoring actual values of motor and inverter Function Display of
74. alculate control settings subject to motor data identification Stator resistance 0 905 Ohm Stator inductance 3 3 mH Calculation Identification 9 Start calculation Show motor parameters Motor protection Further settings Figure 2 3 Dialogue box for data set calculation Figure 2 2 Motor data Parameters Parameter name P no Settings Designation in DM5 Function H Selection if linear or rotator 2 1 2 Motor Ca Iculation P0490 MOT_IsLinMot gt ROT 0 l y Selection for rotary or linear motor motor data are valid Click the Calculation button to open the dialogue box for calculation of a data set 2 P 0450 MOT_Type gt PSM Motor type Motor type ASM PSM The motor data relevant to the calculation must be entered manually from the data S P0451 MOT_Name Name of motor parameter set Freely selectable motor name sheet see figure 2 3 P0455 MOT_FNom 7 Motor rated frequency Rated frequency of the motor Motor rated voltage P 0456 MOT_VNom l Rated voltage of the motor line voltage P 0457 MOT_CNom Motor rated current Rated current of the motor P 0458 MOT_SNom Motor rated speed Rated speed P 0459 MOT_PNom Motor rated power Rated power output P 0460 MOT_TNom Motor rated torque Rated torque P 0461 MOT 17 Motor inertia Mass inertia of the motor The following values are calculated Parameter name Se
75. als Control via terminal 2 PARA 2 via parameter interface via parameter 3 3 not defined not defined 4 PLC 4 via IEC 61131 program IEC 1131 a om IST lon 6 SERCOS 6 via SERCOS motion profile SERCOS 7 PROFIBUS 7 via PROFIBUS DPV motion profile PROFIBUS PG 0 setpoint effects to profile generator PG 0 The internal reference is generated by the Profile Generator In it all ramp func tions such as acceleration and braking ramps jerk smoothing are implemented The internal generation is always executed at a sampling time of 1 ms Parameter name E Designation in DM 5 Function Settings IP 1 The reference input of the higher level PLC is routed setpoint effects directly to control directly to the RE interpolator 1 IP 1 isop twithout amp Adaptation of the sampling time P E between the PLC and the drive controller is essential The default setting is 125 us EE S Adaptation of sampling time P 0306 CONEIPRETS coll EE between ext PLC and drive default 250 us controller 0 25 ms 1000 ms i Selection of interpolation P 0370 CON_IP Interpolation type control Ee s The interpolation methods are 0 Nel No interpolation described in section 1 2 1 Lin 1 Linear interpolation Linear interpolation 2 SplineExtFF 2 Interpolation with external feed Interpolation with external feed forward forward control value 3 Splinell 3 Cubic spline i
76. alues must be converted into internal units This section describes how the various factors influence the system how they are calculated and what variables are required for the purpose A wizard is provided for scaling in the standard CiA DS402 and SERCOS profiles To start it click the Standardisation units button Scaling via USER is only possible by way of the Parameter Editor ServoOne Application Manual 69 LUST LI Normalization profile Standard DS402 Sercos User Figure 5 1 Selection of scaling mode Parameter j Designation in DM 5 Function name Setting P 0283 MPRO_FG_Type Factor group Type selection Scaling source Scaling is based on the parameters Standard acc To CANopen specified in the CIA 402 profile 0 STD_DS402 DSP402 Used in open loop control via termi nal or PLC f Scaling is based on the parameters 0 SERCOS Units ace To SERCOS specified in the SERCOS profile D Scaling is based on parameters P 270 2 User specific User defined units to P275 ServoOne Application Manual 70 5 1 1 Standard CiA 402 profile Scaling via standard CiA402 profile inc 4 Increment L 1 Normalization assistant D 402 1 N a CANopen Units Position m 3 mil M X degil Degree Y mdg Speed D Y N tev min 6 Revolutions per minute M rev min Acceleration WEI Y N rev min s gt rev min s User 0
77. alues to be worked through in sequence from top to bot tom Example If this value is set to 6 the first six reference values from the table are worked through in sequence This process is repeated until the table is disabled or the start contact is removed P 0207 ServoOne Application Manual 94 Parameter name i Function Settings Index Designation in DM 5 Display of the currently EES selected motion task MPRO_TAB_Actldx Note Before a driving set can be executed the data set is first selected Then it must be read in If the activation is via terminal this is done with a digital input parameterized to TBEN A motion task is selected via field bus by setting the corresponding bits see SERCOS CANopen user manual Note The driving sets contain predefined standard units So before config uring the driving set parameters the units and scaling must first be checked Once the reference source has been selected from the table parameter P 0283 MPRO_FG_Type must be set to gt USER see section 5 1 Scaling Selection of driving sets Activation Triggering via termi nal _ WO configuration Setting Input ISDxx TBEN Description Enabling a selected driving set The selection of a new motion task always interrupts an ongo ing positioning or follow up task logic Triggering via termi nal _ I O configuration Input ISDxx TABO to TAB3 The binary significance 20 21 22 2
78. and number of pole pairs The progress of the identification can be observed on the DM5 View gt Messages menu by way of the Message window Identification sequence e Current controller tuning e Measurement of P 0470 Stator resistance P 0476 Rotor resistance P 0471 Stray leakage inductance e Max effective current Idmax P 0474 e Calculation of operating point P 0462 Rated flux P 0340 of magnetizing current e Calculation of current speed and position control d Attention All existing motor parameters are overwritten Calculation of motor data from rating plate data Input of rated data as above Parameter P 0452 MOT_CosPhi must additionally be en tered By setting P 1530 SCD_SetMotorControl 2 the motor parameters of the asyn chronous machine are calculated Parameters calculated are P 0470 MOT_Rstat P 0471 MOT_Lsig the main inductance in the basic setting range P 0473 MOT_LmagTab P 0474 MOT_LmagldMax and the flux P 0462 MOT_FluxNom P 0340 CON_FM_Imag Identification sequence e Calculation of P 0470 Stator resistance P 0476 Rotor resistance P 0471 Stray leak age inductance e Calculation of main inductance in the basic setting range P 0473 P 0474 e Calculation of operating point P 0462 Rated flux P 0340 Quadratic mean of mag netizing current e Calculation of current speed and position control LI LUST 2 3 2 Saturation characteristic for main inductance The main inductanc
79. arameter name Designation in DM 5 Function Settings MPRO_INPUT_FS_ISDOO P 0101 P0107 Function of digital input Set digital input to MAN 14 ISDO6 The control mode must not P 0159 MPRO_CTRL_SEL Motion control selection be changed when switching reference source P 0164 MPRO_REF_SEL_MAN Motion profile selection Target reference source P0165 MPRO_REF_SEL Motion profile selction Reference source Control mode must not be P 0300 CON_CfgCon Select control mode changed When a digital input set to MAN 14 is activated the control location P 0159 MPRO_REF_ SEL switches to TERM switch to TERM is not displayed in the DM5 In parallel the refer ence source is set to the reference selected via parameter P 0164 MPRO_REF_SEL_MAN Additionally the start signal must be connected to a digital input ISDxx Start The control mode P 0300_CON_CfgCon cannot be switched MAN 14 mode is displayed in the remote bit in the CIA 402 P Note e It is not possible to switch to MAN mode when the power stage is acti vated system states 1 2 3 or when the drive in the DM5 is operated via the Control window e A level triggered START P 0144 MPRO_DRVCOM_AUTO_START LEVEL 1 is ignored in MAN mode After activation of MAN mode the START input must be reset e When MAN mode is ended the motor control also stops e Du 3 a LI 6 2 Digital outputs The dig
80. arameters for reference processing are available for all control modes torque speed and position control The scaling weighting an offset and a threshold backlash are programmable The parameters are described in the following sections The reference can also be filtered via parameters P 0405 CON_ANA_Filt0 and P 0406 CON ANA FI Note For additional information on PG and IP modes refer to the Motion control section 5 2 3 Profile generator Interpolated mode LI LUST 5 7 1 Reference input via analog inputs IP PG mode The parameter P 0301 CON_REF_Mode is used to determine whether the analog refer ences are specified via the ramp generator setting PG 0 or directly setting IP 1 If direct input via IP mode is selected only the input filters are active The analog values are in this case scanned and filtered in the current control cycle and then directly trans ferred as references for the speed or torque control This is the mode to set for example if the position controller or speed controller is implemented in a higher level controller and transfers the speed references or torque references to the drive controller via the analog input Scale offset backlash function ramps At start of configuration the 10 V is assigned Scale to the maximum reference value e g 3000 rpm Component spread is compensated by way of the offset function and the Backlash setting defines a backlash range The setting for speci
81. as the current and a time of at least 4 seconds e The motor may be moved jerkily during autocommutation The coupled mechanical system must be rated accordingly e If the axis is blocked i e the rotor is unable to align itself freely the methods will not work properly As a result the commutation angle will be incorrectly defined and the motor may perform uncontrolled movements Description of the LHMES 2 method with braked machine In this method saturation effects in the stator inductance are evaluated Two test signal sequences are used for this purpose whereby the position of the rotor axis is known after the first sequence and the direction of movement after the second This method is suitable for determining the rotor position with braked rotors or motors with a relatively high mass inertia Precondition The rotor must be braked so that the motor cannot move even when the rated current is applied The stator of the machine must be iron core Parameterization of a test signal example Frequency of test signal f 333 Hz P 1506 Amplitude 1A P 1505 Number of periods 50 P 1508 Direct component 31A P 1503 In most cases a good result is achieved with a test signal frequency of 333 Hz an ampli tude of the magnitude of one quarter of the rated current evaluation of 50 oscillations and a direct component equivalent to the rated current 3 1A changed by qualified personnel If they are set inco
82. ash initialization 4 RunTimeError_PLC PLC runtime error 2 ParaList 3 OFF 1 Off_MON_Device Undervoltage 4 OverVoltage 1 OverVoltage_MON_Device Overvoltage 5 OverCurrent 1 OverCurrent_HardwareTrap Overcurrent shut off by hardware 2 OverCurrent_Soft Overcurrent shut off fast by software 3 OverCurrent_ADC Measuring range of AD converter exceeded 4 OverCurrent_WireTest Short circuit test on initialization 5 OverCurrent_DC Fast Overcurrent shut off below 5 Hz 6 OverCurrent_Zero Total current monitoring 7 OverCurrent_I2TS Fast I2xt at high overload 6 OvertempMotor 1 ParameterInit Error in parameter initialization 1 OvertempMotor_MON_MotTemp Calculated motor temperature above threshold value 2 ParameterVirginInit Basic parameter initialization factory setting 3 ParameterSave Parameter data backup 2 OvertempMotor_MON_De PTC to DIN1 vice_DIN1 3 OvertempMotor_MON_De PTC to DIN2 vice_DIN2 Error name 4 OvertempMotor_MON_De vice_DIN3 Description of error PTC to DIN3 Error name 3 ComOptSercos_CableBreak Description of error SERCOS Cable break 4 ComOptSercos_DataDisturbed SERCOS Disturbed data transmission 5 ComOptSercos_MasterSync SERCOS Faulty synchronization 6 ComOptSercos_MasterData SERCOS Data telegrams missing 7 ComOptSercos_Address Double
83. at the analog filter and before the backlash positioning At this point the system branches off to parameter P 0167 Profile Speed override factor The backlash threshold offset is hus without any effect for these functions RAE Ray 6 3 1 Weighting of analog inputs Designation in DM 5 Function Settings It is possible to change the weighting of the two inputs With the two parameters P 0109 MPRO_INPUT_FS_ Function of anlalog input P 0428 and P 0439 the input gain and input offset can be changed P 0110 ISA00 ISA01 ISAOx Funcion seleciton Reasons for changing the weighting Reference input 10 V Observe the scal e Ch f leat ji 2 RERFV 2 Analog command ing and adapt the reference structure by ange to input voltage range ot analog torque scaling means of the reference selector e Change to input voltage range of speed override function 1 Not defined 1 Not defined Not assigned e Change to switching threshold of a digital input function 0 OFF 0 No function No function The illustration shows how the weighting function works With the specified formulas the gain and offset can be defined Corresponds to the settings for digital inputs ISDOO to ISDO6 START Tab3 1 26 The analog inputs ISDOO to ISDO6 can also be used as digital inputs 1 26 Attention The analog inputs are operated in a 1 ms cycle By switching parameter P 0301 from PG 0
84. ate scope function see Scope screen Start motion Figure 4 19 Setting for Control window and scope in position controller optimization ServoOne Application Manual 48 Open scope Stop Setting Hand operating trigger Channel CH 0 speed reference Status Off 6 nref CH 1 actual speed Channels Trigger Time 13 nact H CH 2 tracking error in user units 279 UsrPosDiff Aleference speed summed D 1 min Plot to right axis C Trigger Trigger signal Speed reference 6 nref Mode Rising edge Level 30 rom Pretrigger 10 aci speed from fiter 0 00044937 rpm Plot to right axis C J i Time postion facking error in user units Sampling time Base time D mDegree 6 25E 0 5 s Plot to right axis Recording time 1 0 s Figure 4 19 Setting for Control window and scope in position controller optimization The position controller gain When a standard motor data set is read in the control setting is also adopted The set ting equates to a controller with a medium rigidity P Note In the default setting no smoothing is selected The following graphs show optimization of the position control of a synchronous ma chine The dimensioning of the tracking error 279 MPRO_FG_UsrPosDiff is on the right side y axis A changed variable relative to the previous graph is highlighted in brown in the value table The step responses show the controller setti
85. atus and control word Supported commands S 0 0099 Reset state class 1 S 0 0127 Preparation for switch to phase 3 S 0 0127 S 0 0128 Preparation for switch to phase 4 S 0 0148 Drive controlled homing S 0 0152 Position spindle command ServoOne Application Manual 134 S 0 0170 Touchprobe command S 0 0262 Parameter initialization to defaults command S 0 0263 Parameter initialization to backup values command S 0 0264 Save current parameter values command Note For a detailed description of the SERCOS field bus system refer to the gt separate SERCOS User Manual 10 Technology option 10 1 SinCos module The SinCos module enables evaluation of high resolution encoders A track signal period is interpolated at a 12 bit resolution fine interpolation Evaluation of the absolute value information is in preparation Note For more information refer to the SinCos Module specification LI FE n a ServoOne Application Manual LT ServoOne Application Manual Beal LUST A Appendix Drive status The Drive status window displays the current device status In an error state the green rectangle at the top turns red The rectangles at the bottom turn from transparent to green as soon as a condition high is met a Switch on disabled Alarm messages Error history Quit erro 3 Target reached E Refe
86. cale P 0460 MOT_TNom P0741 MON_TorqueThres DM 5 designation motor torque scaling of limits motor torque scaling of negative limit motor torque scaling of positive limit motor torque scaling online factor motor rated torque monitoring torque force threshold Function Scaling of the maximum torque referred to the rated torque P 0460 MOT_TNom not changeable online Torque limitation in negative direc tion not changeable online Torque limitation in positive direc tion not changeable online Percentage torque weighting de fault 100 changeable online Rated motor torque Setting of limit for torque threshold The torque reference is limited symmetrically by parameter P 0332 If the limitation is to be directional the setting can be made via P 0330 negative direction and P 0331 posi tive direction The limitation of the torque reference always corresponds to the parameter with the lowest value ServoOne Application Manual 116 Current Torque Limit Online Calculation 1 ms Control task Initialisation CON_SCON_TMaxScale CON_SCON_TMaxNeg CON_SCON_TMaxPos pi_control_n min weg Speed Control MOT_TNom O CON_SCON_TMax pi_control_N max Legend Multiplication Limitation Sum Subtraction ES most minimal value Figure 7 1
87. ce P 0593 Legend Interpolation point _ Incorrected Positionvalue conter clockwise rotation conter clockwise correction Interpolation point lncorrected Positionvalue clockwise rotation clockwise correction Figure 4 33 Correction value formation from the defined correction interpolation points ServoOne Application Manual 67 LT ServoOne Application Manual Bicol LUST 5 Motion profile At the start of drive parameterization the reference interface between Motion Profile and loop control is configured In the dialogue box the basic settings necessary for initial turnover of the drive can be set see below Motion Profile screen Interface between Motion profile and control Standardisation Basic settings eM Profile Selction eM Control Selection e Autostart eProfilgenerator Stopramps homing type Jog Mode Standardisation unts Postion unit 1 degree accelerationunt 1 degree s s Speed unit 1 degree s Torque force unt 1 Z Tn Control via TERM 1 via terminals Basic settings Reference via TAB 3 via table Profile mode PG 0 setpoint effects to profile generator Type 3 3 Pos reference cams zero pulse at RefNock Bild 5 10 Reference interface LUST LI Bild 5 11 Motion Profile screen 5 1 Scaling By way of Motion Control reference values must be preset in user defined travel units These v
88. contactor can be taken into account This ensures that the reference will only be applied after the start enable when the contactor is closed or if the motor is isolated from the position control ler via contactor when the power stage is inactive Note The MPRO_DRVCOM_ENMO _Ti timer time should allow additional times for typical contactor bounce They may be several hundred ms depend ing on contactor Relay output RELOUT1 Motor brake This output is to be used in conjunction with a brake If the output is set to BRAKE 2 the brake can be configured by way of the option field Motor brake details Torque rise time P 0215 0 D ms a Break lift time P 0213 0 D ms ID Break close time P 02140 D ms fc Torque fade time P 0216 0 D ms d Torque bias Constant start value P 02180 D Nm Misc Constant start value x Factor Factor last torque bias p 9217 0 og t 1 3 apply break HZ2 release break Figure 6 8 Brake output An optional holding brake built in to motor provides protection against unwanted motion when the power is cut and in case of error If the brake is mounted on the axle mechanism and not directly on the shaft undesirably severe torsional forces may occur on sudden engagement of the brake Attention Please check the settings of the stop ramps if use of a holding brake is specified Motion profile section Stop ramps P 2219 The
89. cope signal T ATTENTIONG The pulse width of the scope signal does not match the pulse 3 1 2 Encoder correction GPOC For each channel the GPOC Gain Phase Offset Correction method can be activated for the analog track signals This enables the mean systematic gain phase and offset errors to be detected and corrected GPOC weights the amplitude of the complex pointer described by the track signals by special correlation methods The dominant errors can thereby be determined very precisely with no interference from other encoder errors and then corrected There are two GPOC variants to use Track signal correction can be used with stored values CORR or with online tracked values ADAPT Where multiple encoders are in use it is advisable to apply the method for the encoder used to deter mine the velocity signal Parameters for GPOC encoder correction based on the example of channel 1 Parameter name Designation in DM5 Function Settings ee aise ENC_CH1 2_Corr ZE Channel T Sangi Selection of correction method P0561 Correction 0 OFF No reaction No method 1 CORR Correction with saved values Activate correction with stored values 2 ADAPT Auto correction Autocorrection 3 RESET Reset correction values Reset values P0550 ENC_CH1 Encoder Channel 1 2 SE P 0562 2_CorrVal Signal Correction Values gna COMES 0 Offset A Offset track A Defined offset of track signal A 1 Offset B Offset track B Defined offset
90. d Application This method is used mainly for test purposes and for initial commissioning SplineExtFF 2 Cubic spline interpolation with ext pre control value This method enables highly accurate adaptation of the position profile The expected result should exhibit high contouring accuracy and low reference actual value deviation Application This method is only used from firmware version V 2 0 Splinell 3 Cubic Spline Interpolation Reference value A gt time Zeit 125 us Le 500 ms E 500 ms Reference value from control Z Interpolated points Figure A 2 Cubic spline interpolation P 0305 125 us cycle In this method interpolation is effected between the interpolation points of the control P1 P5 P9 P10 by means of cubic splines The trajectory is guided precisely by the con trol based on the specified points This may cause a slight jerk at those points noticeable in the form of noise Application High contouring accuracy slight noise is possible Noise refers to mathematical anomalies which cannot be entirely eliminated by the computing methods applied LI LUST NonIPSpline 4 Cubic Spline Approximation Reference value A Target Startposition time 125 IEN em IER 500 ms 500 ms L 500 ms gt l 500 ms Reference value from control Interpolated points Figure A 3 Cubic spline approximation P 0
91. d by the encoder system and the real actual position value on the axis may vary for number of reasons These may be Inaccuracy of the measuring system Transfer inaccuracies in mechanical elements such as the gearing coupling feed spindle etc Thermal expansion of machine components To compensate for these non linear inaccuracies the axis error compensation function can be used Parameter name Settings ServoOne Application Manual 66 Parameters all values in user defined path units Designation in DM 5 Function Encoder assignment Setting range P 0590 ENC_ACOR_Sel Axis Correction Select O OFF 1 encoder1 2 encoder2 see ENCODER section 3 6 P0591 ENC_ACOR_PosStart Axis Correction Start Position Definition of correction range The 3000 2500 ACortVal table values 8 S S Achsfehlerkorrektur kub BSpiines 5 H scaled Input position table index P 0592 ENC_ACOR_PosEnd Axis Correction End Position range is defined by parameters P 0591 Start Position and P 0592 End Position The start position is user specified the end position is determined from the maximum value of correction table interpolation points used P 0595 P 0596 and the interpolation point pitch P 0593 P 0593 ENC_ACOR_PosDelta Axis Correction Delta Position Interpolation point pitch The positions at which the correction interpolation points are plott
92. ded with the Drive Manager Scope function The IECON 4 method movement of shaft not permitted The motor shaft motion can be minimized by an angle controller The structure and parameters of the speed controller are used for the purpose The gain can be scaled via parameter P 0391 CON_ICOM_KpScale This therefore means that the speed control loop must already be set e Increasing the gain results in a reduction of the motion e An excessively high gain will result in oscillation and noise In both methods 1 and 4 the flux forming current Isdref is injected as a test signal the course of which is shown in the diagram The diagram illustrates the IECON 4 method IECON Method Isdref 1 1 P 0393 CON_ICOM Current P 0392 gt CON_ICON time Figure 4 26 Schematic for the IENCC 1 and IECON 4 methods Parameter setting ServoOne Application Manual 60 P no Setting Function P 0391 0 10000 Scaling of dynamics P 0392 0 10000 ms Measuring time 0 500 ms Ramp time t 0 1 500 ms Injected current time t 1 2 500 ms Ramp time t 2 3 500 ms Injected current time t 3 P 0393 Preferential value 0 If Rated current l step 1 1 I 2 Rated current lhom step 2 For linear motors the values for time and current adjust automatically when calculating the data set Note e Inexperienced users should always choose the rated motor current ampli tude
93. drawn from the machine in field weakening mode even at rated current This must be taken into consideration when configuring the motor LUST LI The maximum amount of the field weakening d current is defined by parameter CON_FM_Imag P340 specification of effective value P Note Parameter P 0341 must be set to zero for synchronous machines For field weakening of synchronous motors various options are implemented The method is selected via parameter P0435 FWMode which specifies how the d current reference is calculated Parameter Function name Designation in DM5 Settings Selection mode for field weakening of synchronous motors Fieldweakening mode for P 0435 CON_FM_FWMode synchrounus motors Fieldweakening is disabled Field weakening is off regardless of other 0 None settings Isd set by PI Controller and table Field weakening is effected by way of parameter a characteristic which specifies the d current dependent on the speed isd f n and is set via parameters P342 and P343 1 Table Field weakening is effected by way of a characteristic which is set internally via the motor parameters The d current refe rence is then calculated dependent on the speed AND the required q current isd f n isq_ref The inaccuracies with regard to the motor parameters the available voltage etc can be compensated by way of the Scale parameters P436 Isd set by PI Controller and 2
94. e Application Manual 23 LUST LI 3 1 1 Zero pulse evaluation via encoder channel 1 The zero pulse evaluation via encoder channel CH1 is only set active for SinCos encod ers with no absolute value interface Setting P 0505 ENC_CH1_Sel setting SinCos encoder P 0540 ENC_CH1_Abs setting OFF Incremental encoder with zero pulse e Sin Cos encoders only ever output a zero pulse when no absolute value interface is present e TTL encoders always have a zero pulse e Resolvers output no zero pulse Zero pulse evaluation only works by selecting the intended homing types see Homing in Motion profile section ServoOne Application Manual 24 Test mode for zero pulse detection Test mode is activated by parameter P 0571 ENC_CH3_Np 1 Encoder initialization is triggered manually by P 0149 MPRO_DRVCOM_Init 1 Homing runs can also be carried out during test mode When homing is completed or if an error has occurred detection is aborted even though parameter P 0541 1 To reactivate test mode parameter P 0541 must be reset from 0 to 1 and re initialized To view the zero pulse with the scope function the variable CH1 np 2 index pulse length 1 ms can be recorded on the digital scope width of the actual zero pulse The representation on the scope appears wider 1 ms when using variable CH1 np 2 enabling better detection of the zero pulse The decisive factor here is the rising edge of the s
95. e UI eia 34 A 2A Advanced torque COMO rresia a E ER 37 Speed Control aiin e texans EE as noes Al tend A cea eee enna ae 39 ABA Digital 2 srecnsnesorne a a E r 42 POSIEIOMSCOMERO aeinn ea a vie Gee ean ea a Gaels et en da eee beeen 47 4 4 1 Pre control of speed Ioroueitorce sese 50 AA 2 Field weakening ue E 52 AA3 sAULOGOMMULAUOMciess careers hese nd e ioe tea ail enlace meee 59 COMMISSIONING EE 61 ASA AUTOR le EE 61 4 5 2 Test signal generator 1G a aci 25 4252422 0 E ORE aoe 62 Motor test via V F characteristics set wanvascnteadenlntee Gece aperiaseancent beeen 65 461 AXiserroricOMPENSAtlON essa cues yas dee Geade e aa Raa Tarn 66 MOHON Profile E 69 II 69 5 1 1 Standatd CiA 402 Profile ss z cesseccesasasievessuasesansaeacssaiacea sae sansaidaens nec sagen E 70 E NEE ee Ee 72 5 1 3 USER scaling without scaling wizargd ee 76 5 1 4 Scaling examples for USER Scalig erreser 76 Ta le cst cae tate cerca ces ts cee cee ee eee erect A 78 5 2 1 Control location control source Set control and Retierence 79 PA E E P A A A 79 5 2 3 Profile generator Interpolated position mode 79 5 24 Speed controlvia lP MOS 2cc ceccesasastevezevenedsevenesstesnasersecessaiatateanctaventiaieeens 81 ServoOne Application Manual LUST LI 5 2 5 Position control via profile generator PG mode 81 5 2 6 Configuration of position control via IP mode 82 5 2 7 Smoothing and Velocity oftfeet 82 53 SLOP aM PS 2 cHcelaesisn ie EA AE
96. e arrows de signate the individual state transitions oriented to CA 402 Changeable state transitions are bordered in grey Power Fault 1 3 Fault Reaction Active 14 Disabled U 7 Switch On Disabled Power Ensabled Quick Stop Activ Bild A 15 State machine of the drive controller ServoOne Application Manual 138 Manual mode Manual mode enables a controller to be controlled in different modes regardless of whether a higher level control system is pre installed or not All that is required is for the hardware to be enabled first STO and ENPO When the manual mode window is closed all the original settings are restored The drive motion can be plotted with the scope function permitting analysis of the control performance for example commissioned into operation as stipulated in the Operation Manual When the Control window is opened the parameter settings in the connected device are automatically changed and are then restored when the window is closed Communication should not be interrupted such as by a power failure unplugging the connecting cable or suchlike while the Control window is active T ATTENTION Before this function is started a controller must have been DANGER Manual mode causes the axis to execute movements The con JA nected control system is not active and cannot intervene in the movement It must be ensured that no hazard is posed to people or machinery In an em
97. e cam is the zero point The initial movement is towards the positive right hardware limit switch The positive limit switch is inactive and the reference cam is active see symbol C in figure 5 24 With type 11 the zero corresponds to the first zero pulse after a falling edge of the reference cam Type 12 reverses the direction of movement after a falling edge of the reference cam The zero corresponds to the first zero pulse after the rising edge of the reference cam The initial movement is towards the negative left hardware limit switch It and the reference cam are inactive As soon as the negative limit switch becomes active the direction of movement is reversed see symbol D in figure 5 24 With type 11 the reference cam must be overrun then the first zero pulse corresponds to the zero Type 12 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 13 the zero corresponds to the first zero pulse with an active reference cam Type 14 reverses the direction of movement after an active reference cam The zero cor responds to the first zero pulse after a falling edge LI LUST Figure 5 22 Type 11 to 14 Reference cam zero pulse and negative limit switch Type 15 and 16 These homing methods are not defined Type 17 to 30 Reference cam Homing method types 17 to 30 are similar to types 1 to 14 Determina
98. e encoder Move drive to reference position machine zero Then enter the zero offset the value by which the position is to be changed rela tive to the displayed position BR WN 5 Repeat homing Start homing 6 Save setting zero offset 7 At power on the system is automatically homed Manual homing is no longer necessary Type 4 Ongoing homing negative reference cam As homing method 22 with subsequent possibility of continuous homing For more information see Type 2 Type 3 Ongoing homing positive reference cam As homing method 20 with subsequent possibility of continuous homing Types 3 and 4 can only be used with an infinite travel range They are used for fully auto mated compensation for slip or inaccurate gear ratios After initial homing the actual position is overwritten with the zero offset at every rising edge of the reference cam The distance still to be travelled is corrected enabling the axis to perform any number of relative movements in one direction without drifting even with drives susceptible to slip The circumferential length must match the distance between two reference signals as closely as possible In other words The same position must be indicated again after one circulation otherwise disturbing movements may occur during a correction The permis sible lag must be larger than the maximum mechanical inaccuracy ServoOne Application Manual 87 LUST LI celera
99. e is frequently determined inaccurately in particular for higher pow ered motors An improvement of this value can be achieved at high speed with no load on the machine if possible by way of a measurement process Procedure Run motor at 50 90 of rated speed e g via Manual mode Tuning is started when P 1531 Tune Lmag characteristics 4 Sequence The main inductance is determined with varying magnetization The results are written to parameters P 0473 MOT_LmagTab P 0474 MOT_LmagldMax The operating point is recalculated ServoOne Application Manual 15 LUST LI 2 3 3 Motor protection The Hat monitor protects the motor against overheating throughout the speed range This is especially important for internally cooled motors When IEC asynchronous stan dard motors ASM are operated for a prolonged period of time at low speed the cool ing provided by the fan and the housing is insufficient Consequently for an internally cooled ASM a reduction of the maximum permissible continuous current dependent on the rotation frequency is required When set correctly the 12xt monitor replaces a motor circuit breaker The characteristic can be adapted to the operating conditions by way of the interpolation points Temperature monitor setting The device can evaluate different temperature sensors With P 0732 the sensor fitted in the motor and the wiring variant are set sensor cable routed in resolver or separate In
100. e mechanism The adjustment described next should result in a good control response with the drive Determination of motor mass inertia see also 4 5 Set control mode to speed control P 0300 SCON Open Control Commissioning Autotuning subject area Set parameter P 1517 SCD_AT_JsumCon to Start 2 start test signal and calculation This calculates the mass inertia When the calculation has been successfully made the value for the mass inertia on the Motor screen must change Adaptation to the rigidity of the mechanism Adaptation to the rigidity of the mechanism can be effected after calculating the mass moment of inertia P 1516 by writing parameter P 1515 for the rigidity of the control By writing a percentage value the rigidity and thus also the phase reserve of the speed control loop is influenced Based on the rigidity set via P 1515 the mass moment of inertia and the filter time con stant for the speed feedback P 0351 the PI speed controller P 0320 P 0321 and the P position controller P 0360 are set At the same time the ob server for a single mass system is parameterized but not yet activated Speed feedback still takes place via the delaying digital filter 4 2 Current control Torque controller By optimizing the current controller it can be adapted to the special requirements of the drive task For dynamic applications it is highly recommended to design the current con troller as dynamically as possible with a shor
101. ec Status_Tec returns technology or process error 35 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface Type identifica TypeKey tion of encoder unknown 36 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface An attempt was tion cells in the encoder 4 EncCH3Init_EnDat2 1_ NoEnDat2 1 Encoder channel 3 initia encoder encoder may b ization EnDat2 1 No EnDat2 1 e SSI 5 EncCH3Init_EnDat2 1_Lines Encoder channel 3 ini Lines from encoder a ization EnDat2 1 Plausibility PositionBits 37 EncCH1Init_TTL_ Encoder channel 1 initialization TTL Control pcb does not IncompatibleHardware support TTL evaluation 38 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 Plausibility position bits from encoder 6 EncCH3Init_EnDat2 1_ Multiturn Encoder channel 3 initia Multiturn from encod ization EnDat2 1 Plausibility er 7 EncCH3Init_EnDat2 1_ Singleturn Encoder channel 3 initia ization EnDat2 1 Plausibility Singleturn from encoder Error name 8 EncCH3Init_EnDat2 1_CrcPos Encoder channe position transfer Description of error 3 ini ializa ion EnDat2 1 CRC error 9 EncCH3Init_EnDat2 1_CrcData Encoder channe transfer 3 ini ializa ion EnDat2 1 CRC error data Error name Description of error 10 EncCH3In
102. ecreases as the switching frequency rises audible range lt 12 kHz For an overview of the currents de pendent on the switching frequency refer to the Operation Manual ServoOne Application Manual 2 Motor To start up a system quickly and easily and attain good overall performance we recommend using LTi standard motors and encoders from the Servomotors catalogue ID 0814 05B 2 01 LTi synchronous Motor series LST or LSH Edge dimmensions of motor mm not flange dimensions CG Length Nominal speed x100 DC link voltage of controller V Figure 2 1 Motor key Each motors can only be operated if its field model and the control parameters are cor rectly set If a third party motor is used instead of an LTi motor with a matching data set it is possible to calculate or identify a motor data set The difference between the two methods is that when calculating a motor data set the impedances must be taken from the data sheet The impedances in the case of identifi cation are measured automatically LI LUST 2 1 PS Motor Synchronous motor 2 1 1 Loading the motor data Electrical data PS The LTi website provides a database with the data sets of all LTi standard motors Using the right motor data set ensures that e the electrical data of the motor are correctly parameterized e the motor protection is correctly set e the control circuits of the drive are preset e the torque controller is op
103. ed Channels encoders with EnDat2 1 and Hiperface protocols P0542 ENC_CH1_Lines Number of Lines e P P the lines per revolution are read out of the en SinCos Encoder l coder and automatically parameterized1 g Encoder Channel 1 DE P 0543 ENC_CH1_MultiT REENEN Multiturn Bit width setting Encoder Channel 1 Num lt ee P0544 ENC_CH1_SingleT ber of SingleTurn Bits Singleturn Bit width setting P0545 ENC_CH1_Code EE Selection of coding Gray binary Select 1 For EnDat2 1 and Hiperface the single multiturn coding and lines per revolution information is automatically read from the encoder P0505 ENC_CH1_Sel Encoder channel 1 Select Configuration of the incremental interface 0 OFF No evaluation 0 dines 7 High resolution SinCos encoder with fine interpolation 2 SSI 7 Purely digital encoder via serial communication Setting of the incremental number of lines For Encoder chanel encoders with EnDat2 1 and Hiperface protocols P0542 ENG CH Une Number of Lines Ve h p gt the lines per revolution are read out of the en SinCos Encoder i d coder and automatically parameterized1 1 65535 Definition of protocol type When starting the de Encoder channel 1 vice and after changing the encoder parameters Loo WE A A Absolute Position Interface the absolute position of an incremental measuring system is read out via a digital interface 5SILTi 3 I ServoOn
104. ed are defined via para meters P 0593 Interpolation point pitch and P 0591 Start position Between the correction interpolation points the correction values are calculated by cubic spline interpolation P 0594 ENC_ACOR_Val Axis Correction Actual Position Value Actual position Figure 4 32 Axis error compensation Example of axis error correction in case of interpolation with cubic B splines P0595 ENC_ACOR_VnegTab Axis Correction Table for neg speed Correction table for negative direction P 0596 ENC_ACOR_VposTab Axis Correction Table for pos speed Correction table for positive direction For prec rection values must be used in the drive controller ision machining such as spindle drives position and directions dependent cor For this a correction value table is filled with values for each of the two directions The respective correction value is produced from the current axis position and the direction of movement by means of cubic jerk stabilized interpolation The actual position value is adapted on the basis of the corrected table Both tables contain 250 interpolation points Directional dependence of the correction In speed controlled mode the directional dependence is determined by way of the rated speed whereas in positioning it is determined from the speed feed forward control value scope variable nref_FF by comparison with a standstill wi
105. eed limit P 1519 SCD_AT_SConHysTorq Autotuning Tor Jsum speed hyste Determination of mass inertia resis control torque limit 4 5 2 Test signal generator TG The TG is a function for optimization of the control loops over a protracted period of motion with a reference value sequence The TG is particularly well suited to current controller optimization Various signal forms can be generated with the possibility of overlaying different signal forms Test signals additive reference values Regardless of the control mode additive references test signals which take effect im mediately are used for the individual control loops The test signal generator can overlay defined signal forms over those references If the test signal parameter are set to zero the pure signal forms are switched to the control lers see Structure of test signal generator Note An additive position reference P 0403 CON_IP AddEpsRef only takes effect in position control the additional speed reference via ramp P 0404 CON_SCON_AddSRamp only takes effect in speed control mode with reference via ramp Motion Profile Reference Speed from TSIG_Output Testsignal Generator
106. elerating several times to the parameterized speed P 1519 SCD_AT_SConHysTorg with the parameterized torque P 1518 SCD_AT_SConHysSpeed If the torque and speed have not been parameterized setting zero the process uses default values determined on the basis of the rated speed and nominal torque The mass moment of inertia determined for the entire system is calculated after the end of the test signal and entered in parameter P 1516 SCD_Jsum ServoOne Application Manual 61 H Du 3 a LI Parameter name Settings ServoOne Application Manual 62 Designation in DM 5 Function P 0400 CON_FM_AddlsdRef additional d current d current reference P0401 CON_SCON_AddTRef CHEMO terguehore air Torque force reference rence value P 0402 CON_SCON_AddSRef additional speed reference Speed reference without value direct without ramp ramps P 0403 CON_IP_AddEpsRef EE DUR IT additional speed reference P 0404 CON_SCON_AddSRamp Speed reference with ramp value via ramp generator Parameter Parameter name Designation in DM5 Function Settings P 1515 SCD_ConDesign speed and Positioncontrol dyna Rigidity of the mechanism mic stiffness P 1516 SCD_Jsum Total inertia of motor and plant Mees moment fev ut meien and load P 1517 SCD_AT_JsumCon Autotuning for Jsum estimation Automatic estimation of mass control word inertia naise l soar scond AE m yeee peee ennnen mess inertia control sp
107. erence Backlash for the speed reference 2 PThreshold Threshold for Backlash for the position reference position reference user unit SE Designation in DM 5 Function Ge MPRO_ANAO_TRamp ees Acceleration ramp 0 braking ramp 1 0 TRamp Torque acceleration ramp Torque acceleration ramp 1 TRamp Torque deceleration ramp Torque braking ramp S GE MPRO_ANAO_SRamp EE 0 Acceleration and braking ramp 0 SRamp Speed acceleration ramp Speed acceleration ramp 1 SRamp Speed deceleration ramp Speed breaking ramp d GER CON ANA Pl filter time Filter time for analog input 0 100 ms The reference can be filtered via parameter P 0405 CON_ANA_Filt0 5 8 Touch probe The touch probe function is described in section 9 of the SERCOS User Manual 6 Inputs outputs 6 1 All digital inputs of the controller are set by way of a function selector By this selector a unique function can be assigned to each input Other settings can be made by clicking Digital inputs the gt Options button Function selector for the digital inputs Digit Inputs ISDxx Hardware enableilz glaef t igtz s e Digit Inputs e Settings OFF 0 No function P0101 ISDOO START 1 Start motor control P 0102 ISDO1 Terminal 2 not defined digital
108. ergency the drive can be stopped at any time by cancelling the hardware enable ENPO STO In the case of lifting applications it must be ensured that a mechanical brake is installed Monitoring functions Note If a drive cannot be moved by way of the Control window check the following points Controller system state Motor data Possibly safety switch Quick stop active Hardware enable via STO and ENPO Note For a detailed description of manual mode the drive administration and actual values and for information on firmware downloading refer to the separate DriveManager User Manual Actual values Parameter name Setting Designation in DM 5 speed command in user Function P 0282 MPRO_FG_UsrCmdSpeed KOS Speed command in user units P 0312 CON_CCON_VMot se UE maw vokece me ul arr valans phase to phase P 0410 CON_ACT_VDC actual DC link voltage Actual DC link voltage Se Ee Actual position value in P 0412 CON_PCON_ActPosition actual position in increments increments P 0413 CON_PCON_RefPosition Ee EEN Position reference in increments p 0414 CON_PCON_PosDiff actual position diffence Difference between actual and RefPosition ActPosition reference position P0415 CON_SCALC_ActSpeed actual speed Actual speed P0416 CON_SCON_RefSpeed reference speed Reference speed P0417 CON_SCON_SDiff speed difference RefSpeed Difference between actu
109. error 1 ini ializa ion Hiperface Encoder impos Error name 39 EncCH1Init_EnDat2 1_ TransferBits ServoOne Application Manual 128 Descr iption of error Encoder channel 1 initialization EnDat2 1 Plausibility transfer bits in transfer 25 EncCH1Init_Hiperface_ EStatResp_Crc Encoder channe error status resp 1 ini onse ializa ion Hiperface CRC error in 40 EncCH1Init_Np_ Nominallncrement Encoder channel 1 initialization NP Plausibility Lines and Nominal Increment 26 EncCH1Init_Hiperface_ EStatResp_Com Encoder channe response returns communic 1 ini ializa ion Hiperface Error status ation error 41 EncCh1Init_Endat21_Common Encoder channel 1 initialization Endat21 Interface general error 27 EncCH1Init_Hiperface_ EStatResp_Tec Encoder channe 1 ini ializa ion Hiperface Error status response returns technology or process error 42 EncChiInit_SSI_Common Encoder channel 1 initialization SSI Interface general error 28 EncCH1Init_Hiperface_ EStatResp_None Encoder channe 1 ini response returns no e ializa rror ion Hiperface Error status 43 EncChiInit_Sincos_Common Encoder channel 1 initia error lization Sincos Interface general Response_Com error bit Status 29 EncCH1Init_Hiperface_ Encoder channel 1 initialization Hiperface CRC error
110. erssnrsrerrsrennsee 78 Steier let DEE 39 Software limit switches ccceeccecececeeeeceeeeeeeeeeeeeeeeeceeesneeeeteeeteeesteeeneeens 39 KI Deelen EE A0 Speed laiis 138 State machine 106 ServoOne Operation Manual 147 T Table ENEE 78 EEEE E E 81 Rs 9 Le le ER eer EE 62 TECMMOIOGY OPO 62 Test Signal generator TG 98 TSE SIC eelere 81 ele Une TEE EN V NEVO CIV e 106 VIF CIVARACEO NSTC ereere See EENS 54 W Warmin Bun le EE 131 Z Seat Een EEN ER ZETO pulse EVALUATION EE 86 LTi ServoOne Operation Manual LUST LUST LI DRIVES LTi DRIVES GmbH GewerbestraBe 5 9 35633 Lahnau Germany Phone 49 0 6441 96 6 0 Heinrich Hertz StraBe 18 59423 Unna Germany Phone 49 0 2303 77 9 0 www lt i com info lt i com We reserve the right to make technical changes The content of our documentation was compiled with the great est care and attention and based on the latest information avail able to us We should nevertheless point out that this document cannot always be updated in line with ongoing technical developments in our products Information and specifications may be subject to change at any time Please visit www It i com for details of the latest versions ID no 1100 02B 1 00 e 01 2009
111. es and in conjunction with internal reference generation P 2221 Designation in DM 5 Function f SDR 1 1 1 Slow down on slow down ramp The drive brakes with a programmed deceleration ramp QSR 2 2 2 Slow down on slow quickstop ramp Braking with emergency stop ramp 5 A 1 Drive controlled homing CLIM 3 3 Slow down on current limit Braking with max dynamics at current limit When relative encoder systems are used the drive must be homed via bit 11 in control The speed a set egual toO word 1 As soon as this bit is set by the master the drive performs a position controlled homing run using an internal profile generator taking into account homing speed hom ing acceleration and the strategy stored in the homing method Free 4 Response to Fault Reaction Option Code Homing speed The homing speed is preset via parameter P 2262 MPRO_402_HomingSpeeds in the P 2222 Designation in DM 5 Function DriveManaceR In this the user has the possibility to specify two different homing speeds SDR 1 Disabled drive motor is free to rotate Disable power stages the drive coasts to a stop j S S P2262 MPRO_402_HomingSpeeds GE Function QSR 2 Slow down on slow down ramp Dezo brakes with a programmed deceleration ea DM B S St 0 SpeedSwitch 0 Speed during search Speed on the way to the limit switch CLIM 3 3 3 Slow down on current limit Braking with max d
112. esponds to 32mm pitch See P 0274 P 0275 Parameter name Default setting 3 Description S Settings e for linear motor P0270 MPRO_FG_PosNorm ncrements 1048576 revolution P 0271 MPRO_FG_Num Numerator 1 P 0272 MPRO_FG_Den Denominator 32000 um Direction of False P 0273 MPRO_FG_Reverse SEH S 1 875 rps corresponds to 1mm s P 0274 MPRO_FG_SpeedFac Velocity factor 1 32 mm 0 03125 rps 0 03125 rps 60 s 1 875 rps Acceleration 1 32 mm 0 03125 rps P 0275 MS factor corresponds to 1 mm s ServoOne Application Manual aL LUST LI 5 2 Basic settings From the Motion Profile screen clicking on Basic settings navigates to the lower screen In it settings are made for the required motion profile such as control location reference source start condition profiles and a possible directional limitation Parameter name Settings MPRO_DRVCOM_ ServoOne Application Manual 78 Designation in DM 5 Function Set control and reference Control via PARA 2 via parameter interface Reference via PARA 6 via parameter definition Motor control start condition QFF 0 Switch off drive first in case of power or fault reset Profile Profile mode PG 0 setpoint effects to profile generator Profile type JerkLim 3 Jerk limited ramp Jerk time 50 Speed override 100 x Direction bar
113. ess attenuation of the blocking frequen S o because of the filter structure Filter as little as possible but as much as necessary Oscillation of a motor shaft at speed zero Speed controller gain reduction at low speeds 4 To avoid standstill oscillations with a simultaneously highly dynamic speed control setting during a short positioning cycle the speed control gain can be adapted at low speeds Pe rere i KU Ed quadrature axis actual current L Figure 4 15 Oscillation of a motor shaft under current at standstill without filter Oscillation suppression by a notch filter L nu My fever ba Latest fl quadrature axis actual current T 1 0 a00 1000 1100 Figure 4 16 Motor shaft under current at standstill with activated notch filter width f 40Hz mid frequency f 420 Hz LUST LI or speed zero especially effective with TTL encoders Speed gain reduction at low speeds prevents buzzing or cogging especially effective for TTL encoders The configuration is set by a parameter P 0336 Parameter name Designation in DM5 Function Settings CON_SCON_KpSca Adaptation of speed control gain Reduction of speed controller gain P 0336 leSpeedZero zero speed at low speeds or speed 0 0 Index 0 in gain for low zero speed Weighting of the speed controller gain reduction in percent 1 Index 1 Rom de
114. essful the torque control is adequately configured An adjust ment to the machine mechanism and to the motion profile is also required LUST LI Calculate control settings subject to motor data identification LSH 097 3 30 560 Les Motor name Name plate data Rated voltage 330 Rated speed 3000 Rated torque 61 Inertia Motor inertia 0 00035 Start identification y Rated current 476 A pm Rated frequency 250 Hz Nm oR O kg mn Show motor parameters Figure 2 5 Motor identification ServoOne Application Manual 13 LUST LI AS motor electrical parameters LSH 097 3 30 560 Pole pairs 5 Motor impedances Stator resistance 0 905 Ohm Rotor resistance D Ohm Magnetisation characteristic Magnetisation current DA Main inductance scaling factor 100 x Rated flux Leakage inductance 100 ei 100 Rated main inductance 0 120 Vs 3 3 mH 1E 09 mH Parameter name ServoOne Application Manual 14 P no B Designation in DM5 Function Settings P 0460 MOT_TNom Motor rated torque Rated torque P 0461 MOT 17 Motor inertia Mass inertia of the motor P 0470 MOT_Rstat Motor stator resistance Stator resistance P 0471 MOT_Lsig Motor stray stator inductance Stator inductance Motor main inductance cor P 0478 MOT_LmagNom Motor
115. eters Motor name lT Scaling In l 5 I H Kant TER me FE P 0472 Pole pairs 5 Rated flux 0 122 Vs WE a pointes Motor impedances Figure 4 9 Example of current control adaptation Stator resistance 0 45 Ohm Stator inductance 36 mH Nonlinear stator inductance due to saturation of the motor Parameter 100 P0472 0 D P0472 4 no name Description in DM 5 Function Stator inductance Rated current i 100 P 0472 1 100 gt p 0472 5 settings a of 96 mH at of 43 A q Stator inductance variation 100 P 0472 2 200 P 0472 6 P 0472 MOT_LsigDiff in Scaling of q stator inductance of MOT_Lsi 100 P0472 3 300 P 0472 7 j S 8 0 3 100 signa 63 Scaling of q stator inductance 7 in interpolation points 0 3 Figure 4 8 DM5 dialogue box for adaptation to current controller 4 7 100 Current 0 3 Scaling of raten ege Interpolation points 4 7 In the lower area of the screen the values for the interpolation points are entered On the left are the inductance values and on the right the values for the overload gt 100 of rated current see figure 4 8 Note Between the interpolation points the scaling factor is interpolated in linear mode The current scaling of the inductance is plotted in the scope vari able Is_ActVal_under Control Flux Model Observer Current calc
116. f priority rized to q priority regenerative Currentcontrol Nre NL usare A Speedcontrol QO Ee LCT des O ve wol Expert mode Switch from d priority l motorized to q priority regene a SE S S Priority with reserve CON_ rative A portion of the voltage is 1 PRIO_RES 1 CCON_VLimit held in reserve the amount can be specified via parameter P 0431 a f CON CCON_VLimit SH 2 Phase 2 CON_CCONOV_Mode Phase Phase correct limitation Figure 4 7 Structure diagram of current and speed control Hexagon modulation with phase Sara met ste imiti correct limitation More voltage is 3 HEX_PHASE 3 on SE ortect hase adle available for the motor The current P exhibits a higher ripple at high volta ges however LUST a LTi ServoOne Application Manual 37 LUST LTi ServoOne Application Manual 38 A ion of current control gain schedulin daptation of current control gain scheduling Scaleing of q stator inductance L In the high overload range saturation effects reduce the inductance of many motors Consequently the current controller optimized to the rated current may oscillate or S become unstable 10 too As a remedy it can be adapted to the degree of magnetic saturation of the motor 1 90 The gain of the current controller can be adapted to the load case over 4 interpolation P 0472 points Interpolation Hl 68 points Index 0 3 3 30 PS motor electrical param
117. feed forward control the filter time ward control acceleration torque the mass inertia reduced to the motor shaft must be known Dees CON SCON vn friction compensation scaling Scaling factor for friction compen If the parameter for the overall mass inertia of the system P 1516 has a value unequal to a 7 factor sation O that value will be automatically used to feed forward control the acceleration torque Ee SH Total inertia of motor and Reduced mass inertia of motor and sum S c SS lant machine The feed forward control of the speed reference is preset by default to 100 via pa S rameter P 0375 CON_IP_SFF_Scale This value should not be changed Attention The feed forward control does not take effect if the control reaches the set limits because the ramp setting is too steep The acceleration torque feed forward control can be optimized with P 0376 CON_IP_TFF_ Scale Reducing this reduces the feed forward control value conversely increasing this value also increases the feed forward control value Note The overall mass moment of inertia in P 1516 must not be changed to optimize the feed forward control because this would also have an effect on other controller settings The position tracking error can be further reduced by predictive torque and speed feed forward control i e in advance of the position referencing Owing to the time discrete mode of operation of the control circuits and the limited dynamics of the current control
118. finition of the speed limit to Weighting of the speed controller detect zero speed gain reduction in rom filter time for change from zero Filter time for the speed transition 2 Index 2 ms to higher speed from Dron ET chang from higher Filter time for the speed transition 3 Index 3 ms to zero speed filter time for Tromp to 0 change from higher to zero speed mag ServoOne Application Manual 45 LUST LI n Romi kp Scale Actualspeed P0281 n ist T P 0336 2 P 0336 3 P0336 Wi 100 Speedgain CON_SCON_KpScaleSpeed von P 0322 P 0336 0 40 P 03361 P 0336 3 Figure 4 17 Speed controller gain reduction Single mass observer to determine actual speed value With the single mass system observer the phase shift over time caused by the jitter filter can be reduced in the feedback branch thereby considerably enhancing the speed controller performance During basic setting of the speed controller by means of the calculation assistant P 1515 SCD_ConDesign a single mass system observer with medium dynamism has already been calculated The observation algorithms are calculated as soon as the selector P 0350 Index 1 is set to Filter 1 The PT1 filter and the selected observer type are then calculated in parallel Feedback via the PT1 filter or via the observer can then be toggled by the selector P 0350 Index 1 ServoOne Application Manual 46 Observer o
119. forward control scaling factor P 0386 6 Compensation of friction torques P 1516 0 00014 kgm Mass inertia Figure 4 23 Graph of feed forward control torque reference and actual torque value 4 4 2 Field weakening mode Field weakening for asynchronous motors For field weakening of asynchronous motors the motor parameters must be known very precisely This applies in particular to the dependency of the main inductance on the magnetizing current In the process default values for the control circuits and the magnetic operating point are set based on the rated motor data and the magnetizing current presetting in P340 CON_FM_Imag A range of different methods are available for operation in field weak ening mode Field weakening for Asynchronous motor Feed forward control with 1 n characteristic P0415 CON_SCALC_ActSpeed Nat p gt gt P 0341 0 default CON_FM_ImagSLim IhAct Le Lh Characteristic PD 1 Glied 4 Feed forward control with modified isd f n P 0343 2 xy CON_FM_ImagTab P 0415 P xan CON_SCALC_ActSpeed CON_FM_imag a K TR lt P 0342 CON_FM_SpeedTab P 0348 MOT_FM_SNom P 0341 0 P 0341 0 default CON_FM_ImagSLim X CON_FM_ImagSLim P 0347 CON_FM_VRef Voltage control Available Uzk vey P0345 P0346 f i vert Kp Tn vreg_max isdref_tab isdref_tab l e o soll l SF vreg_isdref isdref
120. functions P no SECH Designation in DM 5 Function P 0129 MPRO_Output_FS_ Function of anlalog output SIE P 0130 OSA0 1 OSAx SE 0 OFF 0 No function No function 1 NACT 1 Actual speed Actual speed value 2 TACT 2 Actual torque force Actual torque value 3 IRMS 3 RMS current Mean current value Value of parameter Value in parameter P 0134 is delivered H PARA 4 P 0134 directly at the analog output LUST a LTi ServoOne Application Manual 113 LUST LI Parameter name Settings MPRO_Output_ Designation in DM 5 MPRO_OUTPUT_OSA_Off Function Pot OSAx_Offset set Cria 0 Offset Offset OSA00 Voltage offset in V Offset setting Changing P 0131 shifts the operating point of the analog outputs out of 1 Offset Offset OSA01 the 0 point see diagram above MPRO_Output_ P0132 OSAO_ Scale MPRO_OUTPUT_OSA_ Scale Scale 0 Scale Scale OSA00 Scaling of analog output Scale function setting The scaling function 1 Scale Scale OSAO1 can be used to scale the analog output MPRO_Output_ 2 e P 0133 OSAO Filter MPRO_OUTPUT_OSA_Filter Filter 0 filter Filtertime for_OSAO Filter time of analog output Filter function setting Noise and component 1 filter Filtertime for_OSA1 spread can be compensated 6 5 Motor brake See Digital outputs section Relay output RELOUT1 ServoOne Application Manual 114 7 Limits 7 14 Control limitation To pro
121. fying torque refer ences is made via the analog channel as in speed control The braking and acceleration ramp corresponds to the ramp for torque rise and fall Scaling Value 10 correspond to ppm 2000 degree s 10 Offset 0 Poia o degrees Backlash B P0175 2 0 degrees Motion profile Acceleration ramp P0177 4000 degree s s Deceleration ramp rom 1000 degree s s Bild 5 4 Analog channel ISA00 ServoOne Application Manual 97 LUST LI Parameter name Designation in DM 5 Function Parameter name ServoOne Application Manual 98 Settings S ne MPRO_ANAO_ Scale scale factors Scaling weighting scale factor for torque Scaling for the torque reference 0 TSeale reference Nm 10 V scale factor for speed Scaling for the speed reference 1 SScale reference rpm 10 V scale factor for position Scaling for the position reference 2 Postale reference user unit 10 V d Ta MPRO_ANA1_OFF Offset Reference offset Nm 0 TOffset Offset for torque reference Offset for the torque reference Nm 1 SOffset Offset for Speed reference Offset for the speed reference 2 POffset Offset for position reference Offset for the position reference user unit I MPRO_ANA1_Thresh threshold Backlash 0 TThreshold Threshold for torque reference Backlash for the torque reference Nm 1 SThreshold Threshold for speed ref
122. g 1 The set combination of voltage regulator and map entails the highest commissioning commitment but it enables the best stationary behaviour highest torque relative to cur rent and the best dynamic response to be achieved 4 4 3 Autocommutation For field oriented regulation of permanently excited synchronous machines with a purely incremental measuring system the commutation position must be determined once when the control is started adjustment of current rotor position to encoder zero Encoder offset This procedure is executed by the Autocommutation function after initial enabling of the control when the mains voltage has been switched on for the first time It can also be forced during commissioning by changing a parameter which causes a complete controller initialization e g change of autocommutation parameters change of control mode etc Owing to the differing requirements arising from the applications various commutation methods are provided The selection is made via the selector P 0390 CON_ICOM For synchronous machines with no absolute measuring system the two methods IENCC 1 and IECON 4 are recommended Use of the much more complex LHMESS 2 commutation method requires prior consultation with LTi DRIVES LUST LI Selection of commutation method Parameter name Designation in DM 5 Function settings P 0390 CON_ICOM gaal Sasani Selection of the commutation method ding me
123. i b Hin Ft monitoring Permitted continuous current Rated motor current IN 100 fn f Hz gt Rated motor frequency DH 250 Hz Sub Id 04 fn fy f Hz gt 1 current interpol point UO 133 33 2 current interpol point 11 rl Figure 2 11 Characteristic of PSM 2 frequency interpol point F1 250 Hz F1 GG TH l l l l l n f the preset integrator exceeds its limit value the error E 09 01 is triggered see Diag Point of switch off nostics section The current value of the integrator is indicated in parameter P 0701 1 266 66 IN for 5 s l Error reactions l Warning level Figure 2 10 Pxt protection PSM It is necessary to adapt the l xt characteristic because the factory settings mostly do not exactly map the current motor The difference between factory setting and the charac teristic configured above is shown in the following illustration CO LT ServoOne Application Manual 19 LUST LT ServoOne Application Manual 29 LUST Interfaces between encoder and control 3 Encoder OFF 0 No encoder selected e P 0520 A range of encoder variants are available to measure the position and speed The en CHUM OE 0 Motor s x Mey pi x 2 commutation coder interfaces can be flexibly selected for a specific application Singleturn Info Ch2 2 Resolver X6 e Ch3 3 Option X8 e Selection of encoder
124. ing is assigned on and off thresholds This enables parameterization of sera a hysteresis 19 Protection of braking chopper warning threshold exceeded When a warning is triggered the corresponding bit is entered in parameter P 0034 20 Overtorque ERR_WRN_ State The binary value enables a status interrogation Warnings can also be zu D se programmed onto digital outputs see section 6 I O s The following warning thresholds are supported by the parameter 22 Reserve 23 Reserve P 0034 Warning thresholds 24 Speed reference limitation active BIT number 25 Current reference limitation 0 Hat integrator motor warning threshold exceeded 26 Right limit switch active 1 Heat sink temperature 27 Left limit switch active 2 Motor temperature 28 External warning via input 3 Interior temperature 29 Reserve 4 Reserved for SERCOS 30 Reserve 5 Overspeed 31 Reserve 6 Reserved for SERCOS 7 See The ON and OFF options enable suitable on and off thresholds switching hysteresis to 8 Reserved for SERCOS be defined for the following warnings 9 Undervoltage Parameter name MON M EE Warni 10 Reserved for SERCOS WarnigLevel eaning Warning leve arn ngs 11 Reserved for SERCOS 0 UnderVoltage_ON DC link undervoltage 12 Reserved for SERCOS Undervoltage 1 UnderVoltage_OFF DC link undervoltage 13 Reserved for SERCOS 2 OverVColtage_ON DC lin
125. ioning mode 0 ABS 0 Absolut Absolute positioning Relative positioning after 1 REL 1 Relative after target reached target position reached ServoOne Application Manual 93 LUST LI Parameter name Settings REL at once 2 Designation in DM 5 Relative at once Function The current motion task is in terrupted and a new pending task is directly accepted and executed 3 SPEED 3 Endless Speed controlled Endless motion SPD endless motion task If a table value is set to SPD an endless motion task is transmitted If a table value with the setting ABS or REL is additionally selected the endless task is quit and the newly selected table value is approached from the cur rent position P 0204 0 15 MPRO_TAB_Wait time Max time for position or speed control With follow up tasks Wait time until execution of the next motion task P 0205 MPRO_TAB_Mode Operation mode Selection of table values PARA 0 Control via parameter P0207 Selection of a table value via P 0207 TERM 1 Control via terminals Selection of a table value via terminal AUTO 2 Control via timer P 0204 Selection of a table value via terminal P 0204 3 BUS 2 Control via fieldbus Selection of a table value via field bus system P 0206 MPRO_TAB_Maxldx Max Index im AUTO Mode Setting for number of table v
126. ioning mode Response Absolute Before enabling an absolute motion task a check is made whether the target is in the valid range that is within the software limit switches If the target is outside no motion task is signalled Relative l and the programmed error response as per P 0030 is executed The drive travels until a software limit switch is de Endless tected Then the programmed error response as per P speed controlled 0030 is executed a LTi ServoOne Application Manual 121 LUST LT ServoOne Application Manual SES LUST 8 Diagnostics 8 1 Errors are shown on the drive controller display for D1 2 display see Operation Manual and in parallel in the DriveManager When a new error occurs the bottom window opens indicating the error name location and cause In addition the green rectangle in the Drive Status switches to red Error status Warning status Device error occured 5 D Fault External error at digital Error 11 1 input detected Demodok gt USB gt 0 gt S084 006 Alarm messages H Target reached E Reference limited Cause External error at digital input detected Remedy E Standstill E Movement right Additional No additional Info D information 2 Movement left source MPRO_INPUT c line 3578 2 Homing Jog mode active Homing attained Source Negative limit switch E Positive limit switch Brr HALT state E Moto bra
127. ip by reducing the torque limit 7 1 2 Speed limitation Speed Velocity The following diagram shows the speed limitation structure The speed can be symmetri cally limited in relation to the rated speed by the scaling parameter P 0328 CON_SCON_ SMax Asymmetric limiting is possible via parameters P 0333 CON_SCON_SMaxNeg and P 0334 CON_SCON_SMaxPos An activated reversing lock P 0337 CON_SCON_DirLock also has an effect on the limita tions with respect to the reference speeds for the control The setting POS locks the positive references and NEG the negative references ServoOne Application Manual 118 With P 0745 MON_RefWindow the standstill window is set for the speed Note Parameters P 0337 CON_SCON_SMaxScale P 0328 CON_SCON_SMax P and P 0335 CON_SCON_DirLock are not changeable online Parameters P0333 SCON_SCON_SMaxNeg P 0334 CON_SCON_SMaxPos are changeable online P 0335 CON_SCON_DirLock Initialisation Speed limitation in CON_SCON P 0333 P 0337 SCON_SMaxScale P 0458 MOT_SNom P 0328 SCON_SMax SCON_SMaxNeg Min P0334 SCON_SMaxPos Legend Multiplication H Limitation Sum Subtraction Figure 7 14 Speed limitation nmax_neg_1 n max_pos_1 Speed control nmax_neg_2 L J n max_pos_2 LUST LI ServoOne Application Manu
128. ipng ACCULACY seee tineisrninineraneiei barnera kodd inib irea EENE 2 OAA 0a nran 141 DIEG IGG T T EE 78 Cubic spline approximation 140 Cubic spline IMterPOlatlom zegesin 140 Current Control 34 a e LI D Re CHE EN Detent torque COMPENSATION see eee 35 36 Digital TITEL E 103 le ee 103 Digital CUDU aria a E a E 16 Disable Option Code ikeir sinir nEri Ea EEE EP nne N E EEEE 79 LEINEN eessen 137 E viele 24 Encoder edel EE 24 Encoder correction GPOC 0 0 1 Aa gaah ZR Ra oaa niire aa oaa anaa 27 Encoder ee 26 Encoder mod le xg 58 dell Hinne EE 79 F FaltReaction Option Code ss sssiseseisssisestiststistritttrttttisteristtrssrrnsrern nen 85 feed forward Control 35 47 51 61 Feed f rward COMO lliiinciccissrssrsesgdeocodedrdbadeesadgadhiabscaddcbwnddnedenaha ddiinabinnt ssaiien 50 tee 95 Field bus Systems eee 133 Field weakening mode 52 H Halt Option Codeseira rie ae Er EEA EFE T REEE EEA 84 Hardware eT 101 Hardware limit awitch tikidi daea iA 85 FNCU TO T E 107 l ServoOne Operation Manual KS LUST LI 2t MAONIONI DEE 16 Tae EN HE 78 ECON EE 60 TENE e 59 Increment coded reference mark 27 Jil eiert e EE 99 Interpolation Method EE 78 Juge Et OM e en EE ER Juge Eet ene EE EN Eloge TE EA eendeitege eeegdeeegetge genee cke eege ie 101 J Ee eeh 78 Jier TING TTT 46 L DEE eebe 60 BIO 106 Bil le 37 ln 115 LPT SWIG EE 86 Hirit switten EE Le TEE 102 Lin ar interpolation ia a aea a E 140
129. irs are set via P 0560 ENC_CH2_Lines An additional function is shut off of the excitation for evaluation of a Hall sensor for more information consult the LTi Helpline ServoOne Application Manual 25 LUST LTi ServoOne Application Manual 26 3 3 Optional encoder module X8 channel 3 Encoder configuration channel 2 X6 With the channel 3 encoder module option the same encoder types can be evaluated as in channel 1 SinCos TTL SSI piace P 0564 The ServoOne EnDat2 1 SinCos module specification details encoder channel 3 Encoder type RES 1 Resolver po506 lt Number of pole pairs a P 0560 Note When using two identical encoders the speed encoder should be con nected to channel 1 and the position encoder to channel 3 in order to obtain optimum controller performance L Gear ration if encoder os not fitted at the motor P 0512 1 P 0513 1 Signal correction GPOC DEFI No correction P0561 v Figure 3 5 Dialogue box for setting channel 2 Parameter name S Description in DM5 Function Settings E P 0564 ENC_CH2_Info Encoder information ch2 Encoder name P 0506 ENC_CH2_Sel Encoder Channel 2 Select Interface configuration OFF 0 No evaluation RES 1 Resolver evaluation P0512 ENC_CH2_Num ENC CH2 Gear Numerator Numerator of transmission ratio P0513 ENC_CH2_Denom ENC_CH2 Gear Denominator Denominator of transmission ratio
130. it_EnDat2 1_ WriteToProt Encoder channe 3 ini ializa ion EnDat2 1 An attempt was made to write to the protection cells in the encoder 11 EncCH3Init_EnDat2 1_ SscTimeout Encoder channe transfer 3 ini ializa ion EnDat2 1 Timeout on SSC 12 EncCH3Init_EnDat2 1_ StartbitTimeout Encoder channe start bit from encoder 3 ini ializa ion EnDat2 1 Timeout no 40 EncCH3Init_Np_ Encoder channel 3 initialization NP Plausibility Lines and Nominallncrement Nominal Increment 41 EncCH3Init_Endat21_Common__ Encoder channel 3 initialization EnDat21 Interface general error 42 EncCH3Init_SSI_Common Encoder channel 3 initialization SSi Interface general error 43 EncCH3Init_Sincos_Common Encoder channel 3 initialization Sincos Interface general error 50 EncCH3Init_TOPT_cfg Encoder channel 3 initialization interface general error 13 EncCH3Init_EnDat2 1_ PosConver Encoder channe not consistent 3 ini ializa ion EnDat2 1 Position data 14 EncCH3Init_SSI_Lines Encoder channe interface 3 ini ializa ion SSI Error initializing SSI 15 EncCH3Init_SS I_Multiturn Encoder channe from encoder 3 ini ialization SSI Plausibility Multiturn 16 EncCH3Init_SSI_Singleturn Encoder channe Singleturn fro 3 ini ializa m encoder ion SSI Plausibility 17 E
131. ital standard outputs OSDOO to OSDO2 can also be assigned corresponding func tions via selectors P 0122 to P 0124 The relay output P 0125 MPRO RELOUT1 is intended for the motor brake It can also be assigned other functions via function selectors P 0122 to P 0124 as necessary The digital output RELOUT2 is set to the STO SH_H function and its setting cannot be changed Additional information on the STO function can be found in the Safety sec tion of the Operation Manual Digit Outputs OSDxx RELOUT1 e Settings mc OFF 0 Digit Outputs Error ERR 1 Motor brake BRAKE 2 Terminal SE Powerstage active ACTIVE 3 SC P 0122 OSDOO puts digital Value S P0123 OSD01 P0124 OSD02 i P 0126 RELOUT1 Safe torque off STO active SH_S 55 Brake Chi failure piae E RS BC_Fail 56 Figure 6 5 Function block for adaptation of the digital outputs ServoOne Application Manual 103 LUST LI osbo0 osbo1 osbo2 RELOUT1 Relay outputs Digital standard outputs OFF O No function P0122 0 ze DEFI No function P0123 0 ze OFF 0 No function P 0124 0 OFF 0 No function P 0126 0 P 0142 0 C Low active Options C Low active Options C Low active Options C Low active Options Show status of digital outputs Parameter name Settings ServoOne Application Manual 104 Desig
132. k overvoltage 14 Reserved for SERCOS Overvoltage 3 OverVoltage_OFF DC link overvoltage 15 Reserved for SERCOS 16 2xt integrator device exceeded LUST a LTi ServoOne Application Manual 131 LUST LT ServoOne Application Manual 132 Parameter name MON S Meaning Warning level Warnings WarnigLevel 4 Current_ON Motor current Motor current 5 Current_OFF Motor current 6 Device Dt ON It internal device protection Dat device protection 7 Device Dt OFF It internal device protection 8 Motor 1 2_ON Pt Motor protection lxt motor protection 9 Motor 1 2_OFF Pt Motor protection 10 Torque ON Motor torque Torque limit reached 11 Torque OFF Motor torque 12 Speed On Motor actual speed Speed limit reached 13 Speed OFF Motor actual speed 14 TC ON Cooler power electronics temperature Heat sink temperature reached 15 TC OFF Cooler power electronics temperature 16 Tint ON Internal control electronics temperature Housing internal temperature 7 Tint OFF Internal control electronics reached temperature 18 Motortemp ON Motor temperatur Motor temperature reached 19 MotorTemp OFF Motor temperatur 9 Field bus systems 9 1 CANopen CANopen functionality of the ServoOne The CANopen Communication Profile is documented in the CiA DS 301 and regulates how communication is executed It differentiates between Process Data Objects PDOs and Service
133. ke closed Waming Bild 8 1 Current error display LI LUST Clicking the Error button in the Drive Status window calls up a buffer memory log isting the last 20 errors When the 21st error occurs the oldest error in the list is over written Time stamp Cause Remedy Z TTT 2 Em 188 AED Homing Jogging error Drive not ready wrong control m Switch to supported control mode 3 Em Di Oh 1 Em Di Oh External error at digital input detected Bild 8 2 Error history storage of last 20 errors 8 1 1 Error reactions Each of the errors listed in parameter P 0030 Sub Id 0 44 can be assigned one of the error responses listed below However not every error has every selection option Parameter name e Error reactions Description in DM 5 Settings P 0030 Error Programmable reaction in case of E Sub Id 0 44 Reactions failure EE 0 Ignore Ignore error The error is ignored Notify error reaction is forced b A specific error 1 Specific1 internal PLC function block 9 response can be pro grammed via PLC Sos A second specific error 2 Specific2 EE is forced by response can be pro grammed via PLC l The error is registered 3 FaultReaction Notify error reaction as given by The error reaction OptionCode fault reaction option codes follows the set Error Option Code ServoOne Application Manual Ze LUST LI Parameter name Description
134. lausibility lines 20 EncCH1Init_SSI_EncObs bit 16 EncCHiInit_SSI_Singleturn Encoder channe 1 initialization SSI Plausibility Singleturn from encoder 17 EncCHtInit_SSI_ParityPos Encoder channel 1 initialization SSI Parity error position transfer 18 EncCHIInit_SSI_SscTimeout Encoder channel 1 initialization SSI Timeout on SSC transfer 19 EncCHInit_SSI_PosConvert Encoder channel 1 initialization SSI Position data not consistent Encoder channel 1 initialization SSI Encoder monitoring 21 EncCH1Init_Hiperface_ NoHiperface Encoder channe 1 error initializing Hiperface interface 6 EncCH Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 Plausibility Multiturn Multiturn from encoder 7 EncCH 1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 Plausibility Singleturn Singleturn from encoder 22 EncCH1Init_Hiperface_ Common Encoder channe general error 1 initialization Hiperface Interface 8 EncCH1Init_EnDat2 1_CrcPos Encoder channel 1 initialization EnDa position transfer 2 1 CRC error 23 EncCH1Init_Hiperface_ Timeout Encoder channe Timeout 1 initialization Hiperface Interface LUST LI ServoOne Application Manual 127 LUST LI Error name 24 EncCH1Init_Hiperface_ CommandMismatch Encoder channe sible COMMAND in response Description of
135. lnput Initialization error analog input 2 InitCon_FM_GetKM Initialization error calculating motor torque constant 3 InitCon_FM_ASM Initialization error asynchronous motor 4 InitCon_FM_ASM_FW Initialization error asynchronous motor in field weakening 31 PLC 1 PLC_Location User specific Errors generated in PLC program 0 65536 32 Profibus 1 ComOptDp_Timeout PROFIBUS DP Process data Timeout 33 Timing Task overflow 1 Timing_ADCTask_ReEntry ADC task automatically interrupted 2 Timin_ControlTask Control task exceeded scan time 34 PowerFail Power failure detection PowerFail Power failure detection supply voltage error 35 EncObs Encoder cable break 1 EncObs_CH1_Sincos Cable break Encoder channel 1 1 EncObs_CH2_ Resolver Cable break Encoder channel 2 1 EncObs_CH3_Sincos Cable break Encoder channel 3 1 EncObs_CH1_SSI Cable break Encoder channel 1 36 VARAN 1 WireBreak_MotorBrake No consumer on output X13 motor holding brake 1 ComOptVARAN_InitHweError Error in hardware initialization VARAN option 2 ComOptVARAN_BusOffError Bus off error no bus communication VARAN option 8 1 3 Waming messages In order to get timely information on excessive or inadequate values via an external con 17 Monitoring of apparent current troller or the drive s internal PLC warning thresholds can be freely parameterized with n GE 18 Overvolt P 0730 Each warn
136. menting SERCOS in the ServoOne is the document titled Specification SERCOS Interface Version 2 2 Key features Data transfer by fibre optic cable Transfer rate optionally 2 4 8 or 16 MBaud Automatic baud rate detection Transmission power adjustable by DIP switches ServoOne Application Manual B3 LUST LI SERCOS address programmable via buttons and display Cyclic data exchange of references and actual values with exact time equidis tance SERCOS sampling time of 125 us to 65 ms multiples of 125 us programmable Multi axis synchronization between reference action times and actual value measurement times of all drives in the loop Full synchronization of all connected drives with the master control system Free configuration of telegram content Maximum configurable data volume in MDT 20 bytes Maximum configurable data volume in AT 20 bytes Programmable parameter weighting and polarity for position velocity acceleration and torque Modulo weighting Additive velocity and torque references Fine interpolation linear or cubic inside the drive Optionally master control side external or in drive generation of rotation speed and acceleration pre control Service channel for parameter setting and diagnosis Support for touch probes 1 and 2 Support for configurable real time status and control bits Support for configurable signal st
137. ming Control mode does not match homing method 10 Parameter_CON_CCON Current control 9 MotionControl_MC_HOMING_ EncoderInitFailed Homing Encoder initialization error 11 Parameter_reserved1 not used reserved 12 Parameter_Inertia Moment of inertia is zero 10 MotionControl_MC_HOM ING_MaxDistanceOverrun Homing Homing travel exceeded 13 Parameter_MPRO PARA_WatchDog in open loop control via DM5 11 MotionContro abledOperationFail _MPRO_REF_En ed Max permissible tracking error on Start control exceeded 14 Parameter_DV_INIT DV_INIT Error in system initialization 12 MotionContro _MPRO_REF_SSP_ StackOverflow Memory overflow for table values 13 MotionControl_MC_HOM ING_RestoreBackupPos Error initializing last actual position after restart 19 FatalError Non resettable error 1 FatalError_PowerStage_Limit_Idx PST Data index too large 16 SpeedDiff 1 SpeedDiff_MON_SDiff Speed tracking error above threshold value 2 SpeedDiff_MON_NAct Current speed above maximum speed of motor 17 PositionDiff 1 PositionDiff_MON_ActDelta Position tracking error too large 18 Motion control 2 FatalError_PowerStage_Switch Freq PST Error in switching frequency dependent data 1 MotionContro _MC_HOMING_ LimitSwitchInterchanged Homing Limit switches interchanged 3 FatalErr
138. ming Ee P2261 MPRO_INPUT_FSISDxx Method ghel iae 31 32 Not defined Reserved 33 Next left zero pulse Zero pulse in negative direction Left reference cam polarity ge SA 34 Stop at RefCam High Zero pulse in positive direction Actual position A 35 Reference position Zero is current position Homing method The homing method is selected via parameter P 2261 MPRO_402_HomingMethod type 5 to type 35 The different homing methods are described in the following The individual reference points corresponding to the zero are numbered in the graphs The different homing speeds V1 SpeedSwitch V2 SpeedZero and the directions of movement are also shown Type 5 Absolute encoder This type is suitable for absolute encoders e g SSI Multiturn encoders Homing is performed immediately after power on It can also be activated with the power discon nected The current position corresponds to the zero point The zero position is calculated on basis of the absolute encoder position zero offset LUST LI Accordingly in operation of a SSI Multiturn encoder for example homing with zero offset 0 delivers the absolute position of the SSI encoder Another homing run with unchanged setting of the zero offset does not cause a change in position Homing or zero balancing of the system is performed as follows Enter zero offset 0 Homing Start homing delivers the absolute position of th
139. motor and controller actual values ServoOne Application Manual LIN 1 Linear interpolation 140 0 12xt_Motor actual values of 2xt integrator for motor protection Actual value of the I2xt integra tor for motor protection 1 I2xt_Inverter actual values of 2xt integrator for inverter protection Actual value of the l xt integrator for controller protection Actual value of motor current 2 Phasor actual motor current amplitude p amplitude 3 Ima actual magnetization d cur Actual amplitude value of mag g rent amplitude netizing current 4 Km actual torque constant Torque constant Reference value A P5 P9 P4 P3 P2 P10 P1 Lasel 125 us 500 ms 1 lt 500 ms Reference value from control Interpolated points gt time Zeit Interpolation method P 0370 CON Ip Interpolation type in IP mode 0 NOlp 0 No Interpolation 1 Lin 1 Linear interpolation 2 Spline_Ext_FF 2 Interpolation with external pre control 3 Splinell 3 Cubic spline Interpolation 4 NonIPSpline 4 Cubic spline approximation NoIP 0 No interpolation The values are transferred 1 1 to reference processing in 1 ms cycles Figure A 1 Linear interpolation In the linear interpolation method the acceleration between two points is generally zero Pre control of the acceleration values is thus not possible and speed jumps are always cause
140. n data LUST LI Schematic 3 Acceleration data Preferential translational weighting Preferential weighting Weighting Weighting factor exponent Weighting method Unit translatorisch mei 1 6 0 001 mm s Preferential rotary weighting Preferential weighting Weighting Weighting factor exponent Weighting method Unit Rotatorisch rad s 1 3 0 001 rad s Figure 5 6 Weighting method for acceleration data Weighting of torque and force data Schematic 4 Torque force data Weighting of torque and force data Reie transational mode Force rotary mode Torque 1 Load Motor Load Motor Load Motor Parameter preferential preferential Parameter Weighting Weighting Weighting Weighting N N Nm Nm LSB LSB LSB 1 0 N variabel LSB 10 E 2 Nm yartabeal Figure 5 7 Weighting method for torque and force data ServoOne Application Manual 75 LUST LI Schematic 4 Torque force data In percentage weighting the permanently permissible standstill torque of the motor is used as the reference value All torque force data is given in with one decimal place LSB Unit Exponent Preferential translational weighting of force data Preferential weighting Wighting exponent Weighting factor Weighting method Unit
141. nation in DM 5 Description Figure 6 6 Dialogue box for digital outputs Parameter name Settings Designation in DM5 Description P0122 MPRO_OUTPUT_ Function of digital Funcionsclection P 0127 FS_OSDOx output SE 0 OFF 0 No function Input off 1 ERR 1 Error Collective error message Output becomes active in accordance with the 2 BRAKE 2 Motor brake holding brake function see section 4 6 Motor brake 3 ACTV 3 Poweractiv Power stage active and closed loop open loop control in function 4 S_RDY 4 Device initialized Output is activated when the device is initialized after power on Output is activated when the device is Ready to switch on based on setting of the ENPO 5 C_RDY 5 Control initialized signal and no error message has occurred Device ready ReadyToSwitchOn flag in DriveCom status word set in states 3 4 5 6 7 P0122 MPRO_OUTPUT_ Function of digital uncioni eledin P 0127 FS_OSDOx output SE 6 REF Target reached The preset reference has been reached depen dent on control mode 7 HOMATD Homing attained Homing complete 8 E_FLW Following error Tracking error Di ROT_R Rotation right Motor in standstill window when running clockwise 10 ROT_L Rotation lett Motor in standstill window when running anti clockwise 11 ROT_O Motor stand still Motor in standstill window depending on actual val
142. ncCH3Init_SSI_ParityPos Encoder channe transfer 3 ini ializa ion SSI Parity error position 18 EncCH3Init_SSI_SscTimeout Encoder channe transfer 3 ini ializa ion SSI Timeout on SSC 19 EncCH3Init_SS I_PosConvert Encoder channe consistent 3 ini ializa ion SSI Position data not 20 EncCH3Init_SS _EncObs Encoder channe bit 3 ini ializa ion SSI Encoder monitoring 38 EncCH3Init_EnDat2 1_ PositionBits Encoder channe position bits f 3 ini ializa rom encoder ion EnDat2 1 Plausibility 39 EncCH3Init_EnDat2 1_ TransferBits Encoder channe 3 ini ializa transfer bits in transfer ion EnDat2 1 Plausibility LUST LI 25 EncoderCycl Encoder general cyclic 1 EncoderCycl_CON_ Encoder general cyclic Autocommutation excessive ICOM_Epsdelta motion 2 EncoderCycl_CON_ Encoder general cyclic Autocommutation excessive ICOM Tolerance tolerance 26 EncCh1Cycl 1 EncCH1Cycl_Np_Distance Encoder channel 1 cyclic NP Plausibility CounterDistance 2 EncCH1Cycl_Np_ Encoder channel 1 cyclic NP Delta correction not possible DeltaCorrection 3 EncCH1Cycl_Np_Delta Encoder channel 1 cyclic NP Plausibility CounterDelta 27 EncCh2Cycl 1 EncCH2Cycl_NoLocation Not used 28 EncCh3Cycl 1 EncCH3Cycl_NoLocation Not used 29 TC TriCore 1 TC_ASC TriCore A
143. nce exceeds the max speed ServoOne Application Manual 106 Positioning Limit value monitoring becomes active when the speed reference exceeds the max speed or the torque reference exceeds the max torque Endless positioning speed mode Monitoring is activated in endless positioning speed mode when the speed reference has been reached If an ongoing positioning operation is interrupted with HALT the Reference reached message is not sent in this phase The message only appears after the actual target posi tion has been reached Output function Switch motor contactor OSDxx ENMO 21 The motor cable must always be switched with the power cut otherwise problems such as burnt out contactor contacts overvoltage or overcurrent shut off may occur In order to assure currentless switching the contacts of the motor contactor must be closed before the power stage is enabled In the opposite case the contacts must remain closed until the power stage has been switched off This can be achieved by implement ing the corresponding safety periods for switching of the motor contactor into the control sequence of the machine or by using the special ENMO software function of the drive controller A power contactor in the motor supply line can be directly controlled by the drive con troller via parameter P 0125 MPRO_OUTPUT_FS_MOTO ENMO With the timer param eter P 0148 MPRO_DRVCOM_ENMO_Ti the on and off delay of the power
144. ndow If there is no mechanical play such as in the case of direct drives both tables must be filled with the same values The standstill window setting is currently fixed at 1 min e The function is only active when P 0590 ENC_ACOR_Sel is unequal to OFF P 0593 ENC_ACOR_PosDelta is unequal to zero and homing has been carried out e New values only take effect following control initialization retrigger ENPO and enable e Start position P 0591 ENC_ACOR_PosStart resolution P 0593 ENC_ACOR_PosDelta and the last table index of P 0595 ENC_ACOR_VnegTab or P 0596 ENC_ACOR_VposTab unequal to zero produce the end position P 0592 ENC_ACOR_PosEnd Note The parameters are set in the selected user unit for the position as integer values Note It is advisable to use the same number of correction interpolation points for the positive and negative directions The first and last correction values in the table must be zero in order to avoid instability step changes in the actual position value P Note Differing correction values for the positive and negative directions at the same interpolation point will lead to instability in the associated actual LI LUST position value when the direction is reversed and so possibly to a step re sponse adjustment to the reference position Correction factor A Endposition P 0592 Startposition P 0591 Correction interpolation points Interpolation point distan
145. ng with increased gain factor P component with smoothing influence of feed forward control Controller with medium rigidity KP 4000 P 0375 100 Speed control feed forward control scaling factor P 0376 100 Torque control feed forward control scaling factor P 0386 0 Compensation of friction torques P 1516 0 00014 kgm Mass inertia P 0166 D ms Filter time Figure 4 20 Position gain after read in of a standard motor data set 11 S Naila B ss tr ot T T Ft T T T TT Position controller gain optimization HT GET POEST ee eee eee GES ot E RES ERR DREES ER nref D min nach rpm 0 MPRO_FG_UsrPosDiff mDearee P no Value Function P0351 12 Speed controller filter time P 0360 4000 Position control gain P 0372 0 5 ms Filter time for position controller feed forward control P 0374 D ms Delay time for position control feed forward control Figure 4 20 Position gain after read in of a standard motor data set mei Hien nact rom 0 MPRO_FG_UsiPosDift mDegree P no Value Function P0351 1 2 ms Actual speed filter time P 0360 30000 Position controller gain Figure 4 21 Optimized position gain Typical values for the position controller gain are between LUST LI 10000 and 40000 rpm ServoOne Application Manual 49 LUST LT ServoOne Application Manual 50
146. nput must be se lected with the available selection parameter LCW 5 for a positive or LCCW 6 negative limit switch In homing to a cam the selection parameter HOMSW 10 must be chosen see parameters P 0101 P 0107 Parameter name Parameter name Setting P 0101 to P 0107 ServoOne Application Manual 86 Designation in DM 5 MPRO_402_Homing Function Designation in DM 5 Function Setting P0101 to P 0107 MPRO_402_Homing Deg P2261 MPRO_INPUT_FSISDxx Method Bigiialinputs 7 Move pos direction for Homing method for increment coded distance coded encoder encoder for positive direction Le Move pos direction for Homing method for increment coded distance coded encoder encoder for negative direction Act position homing 5 offset multituan eneoded Homing absolute value encoder LA HOMSW Homing mode type 22 Continuous homing negative edge of with continuous reference reference cam 3 HOMSW Homing mode type 20 Continuous homing positive edge of with continuous reference reference cam 2 S No homing mode act No homing only an offset adjustment position homing offset is made Reference position 1 homing offset parameter Actual position Zero HOOFF P2261 MPRO_INPUT_FSISDxx Method TRIST inue 0 Not defined No homing um LCCW Neg end switch zero Homing negati
147. nterpolation Cubic spline interpolation 4 NonIPSpline 4 Cubic spline approximation Cubic spline approximation Du bal a BUS field buses LI Note The possible settings must be checked for plausibility The standard profile of the servocontroller is the Motion Profile CiA 402 effective for the control locations and reference sources over the CAN EtherCAT and PROFI 5 2 1 Control location control source Set control and Reference P 0159 Selection of control location P0165 Selection of reference source P 0144 Selection of controller start condition Autostart 5 2 2 Profile P 0301 Selection of reference processing via Profile Generator or interpolated position mode see following section P 2243 Setting of different smoothing curves only in PG mode P0166 Setting of smoothing time only in PG mode P0167 Setting of speed override dependent on the maximum preset reference value only in PG mode P 0335 Direction block 5 2 3 Profile generator Interpolated position mode The Profile Generator has 3 different operating modes e Absolute positioning The specified target position is approached e Relative positioning New position old position relative position e Speed mode The specified speed is implemented regardless of the position ServoOne Application Manual 79 LI LUST The Profile Generator calculates the motion profile in two stages 1
148. oder s Preferential rotary weighting Meter Meter Weighting Weighting Wighting Preferential method factor exponent weighting P 7 LSB variabel oa sg ee D LSB variabel rotativ 1 min 1 4 0 001 1 min rotativ 1 5 H 6 0 000001 1 s If no weighting is selected the weighting factor and weighting exponent are irrelevant Figure 5 5 Weighting of speed data Figure 5 5 Weighting of speed data Speed polarity The polarity of the speed data preceding sign can be inverted according to the applica tion A positive speed reference difference indicates clockwise rotation looking at the motor shaft Weighting of acceleration data Schematic 3 Acceleration data Weighting of acceleration data translational mode rotary mode Load Motor Load Motor Load Motor preferential Parameter preferential Parameter Weighting Weighting Weighting Weighting s oder d sl oder c s oder d s oder d Meter Meter Grad Grad PRSIOES Variabel ben Variabel me H LSB Weight mis22 LSB Weight All acceleration data reference actual and limit values are subject to the preset weighting If no weighting is selected the weighting factor and weighting exponent are irrelevant Acceleration in translational and rotary mode Distance unit LSB Unit Exponent Time unit Figure 5 6 Weighting method for acceleratio
149. of circular graduations with increment coded reference marks Example of a rotary measurement system Basic increment G Nominal Increment A Nominal Increment B Basic increment G Number of refer Number of lines P 0542 nce mark Se P 0610 P 0611 18 x 1000 lines 18 basic marks Reference measure A Reference measure B 18 coded 1000 lines corre 1001 lines marks 336 sponding to 20 ServoOne Application Manual 28 Linear measurement system Linear System Nominal Increment of Referencemarks P 0572 ENC_CH3_Number of lines Referencemarks Small distance P 0630 ENC_CH3_Nominal Increment A Basic Increment Reference Measure A large distance P 0631 ENC_CH3_Nominal Increment B Basic Increment Reference Measure B Figure 3 7 Schematic view of a linear scale with increment coded reference marks 3 6 Pin assignment for X6 and X7 X8 X6 PIN Assignment Description 1 Sin S2 Analog differential input track A 2 Refsin S4 Analog differential input track A 3 Cos S1 Analog differential input track B S 4 Internally connected to pin 7 9 5 Sy PTC KTY Klixon 6 Ref R1 Analog excitation at 16 KHz 8 11 V AC 7 Ref R2 Analog excitation 8 Refcos S3 Analog differential input track B 9 G PTC KTY Klixon Figure 3 8 Pin assignment resolver on X6 LUST LI Geber SSI Absolute encoder Ab
150. of the sensor to terminal X5 x6 1 Wid Resolverconnector XG Sensor connection is routed in resolver cable P 0733 MON_Motorl2t Motor Dt protection parameters Setting of 12t characteristic 0 Lom 1 0 Rated current FNom Rated current of the motor First current interpolation point of 1 L 1 Rated current 0 Hz motor protection characteristic Maximum permissible standstill current Parameter S Designation in DMS Function name Settings J Second current interpolation point of motor protection char 2 1 12 Ratedicurrnt sh acteristic referred to maximum characteristic current First frequency interpolation 3 f Hz 3 Interpolation point only ASM point of motor protection char acteristic 4 fa F A Hz 4 Nominal frequency Rated frequency 5 I 5 ENTENTE Max overload current referred to ZE rated motor current 6 tnax seco Motor maximum currrent Overload time t at Characteristic setting for an asynchronous motor ASM When internally cooled ASMs are operated for a prolonged period of time at low speed the cooling provided by the fan and the housing is insufficient Consequently for an internally cooled ASM a reduction of the maximum permissible continuous current de pendent on the rotation frequency is required Motor protection characteristic setting To protect the motor as a rule of thumb the motor protection characteristic and opera ti
151. on E tactor generates an On Off delay of the MPRO_DRVCOM_ Time out n Ready to motor contactor and thus of the power P 0148 switch On to enable S o ENMO S stage The effect is active when setting and resetting the START command and in case of error The lift time takes account of the me sie 6 Ai chanically dictated opening time of the P 0213 MPRO_BRK_LiftTime Motor brake lift time brake An applied reference will only be activated when this timer has elapsed The Closetime starts after cancelling E the start condition or in case of error It P0214 MPRO_CloseTime Motor brake close time is the mechanically dictated time which a brake takes to close P 0215 MPRO_RiseTime Motor brake torque The rise time is the rise of the ramp to rise time build up the reference torque Mref The fade time is the descending P0216 MPRO_FadeTime Motor Drake vorque ramp to reduce the reference torque Mref to 0 LUST LI ServoOne Application Manual 109 LUST hg ServoOne Application Manual 110 6 3 Analog inputs Analog standard inputs With the two analog inputs ISAOO and ISA01 the analog references input signals are c S ISA00 processed and filtered Four analog functions are available Function OFF O No function P 0109 0 ze Options
152. on of the IEC asynchronous motor should conform to the following limit values LUST LI Temperature monitoring OFF O No motor temperature sensor v Maximum temperature only KTY84 100 degC Temperature monitoring connected via ver connector lt 6 v Ft monitoring Permitted continuous current Rated motor current IN 100 Rated motor frequency fN 250 Hz 1 current interpol point 10 133 33 2 current interpol point 11 100 amp 2 frequency interpol point F1 250 Hz F1 fy ft Hz Figure 2 8 Pxt protection ASM It is necessary to adapt the 12t characteristic because the factory settings mostly do not exactly map the current motor The difference between factory setting and the charac teristic configured above is shown in the following illustration ServoOne Application Manual 17 LUST LI Defaultsetting l fa i Sub Id 00 Iy LA kat Sub Id 02 lu Sub Id 00 Sub Id 01 Io f fn f Hz gt B p U Sub Id03 Sub Id 04 g Til gt N Example Sub Id 05 150 x In Sub Id 00 Sub Id 06 f r 120s Figure 2 9 Figure left Constant characteristic Figure right Characteristic with interpolation points Frequency Hz Rated motor current 0 30 U 25 f 80 1 50 f 100 The shut off point to VDE 0530 for IEC asynchronous standard m
153. operties e Constant speed synchronism e Positioning accuracy absolute and repeatable e High dynamics e Constant torque e Disturbance adjustment When using a LTi DRIVES standard motor data set the control parameters are preset for the specific motor model If using third party motors a manual setting must be made for den drive by way of the motor identification or by calculation in order to get the ap propriate control parameters for the motor model see Motor section The individual controllers for position speed and current are connected in series see figure 4 1 The matching control loops are selected by the control mode LUST LI ServoOne Application Manual Bil ServoOne Application Manual Ea SILTi J l Positioncontroll with feed forward P 0376 2 P0372 P 0375 P0386 S g position a E S isq_FF Speedcontrol 5 pref FF po322 eps RS isq Currentcontrol P 0374 P 0360 Poea P 0302 P 0320 c pos_delta Uep 5 A isqref_nreg e ned S P0328 a position speed anti cogging dig Filter fw controller velocity controller posact Inact P0351 dig Filter bw branch of Feedback Figure 4 1 Control structure c The basic control settings are made on the Control screen Note Synchronous and asynchronous machines and also synchronous linear motors ironless iron core can be controlled Control mede E
154. or P 1502 SCD_TSIG_Cycles Number of Testsignal Cycles Number of cycles P 1503 SCD_TSIG_Offset Testsignal generator Offsets Level of square signal P 1504 SCD_TSIG_Time Testsignal generator times for Period of square signal rectangular waves P1505 SCD_TSIG_Amp L genaraiier Smile Gi Amplitude of a sine signal sinusoidal wave P 1506 SCD_TSIG_Freq Testsignal e Frequency of sine sinusoidal wave Testsignal generator initial phase Start phase of current space vector dae EE for rotating current vector in VFCON and ICON mode P 1508 SCD_TSIG_ PRBSTime Testsignal generator PRES minimum PRBS signal generator cycle time toggle time P1509 SCD_TSIG_PRBSAmp eg EE Ee ServoOne Application Manual 63 LI The duration of a test signal sequence results from the parameterized times t1 t2 P 1504 0 1 and the number of test cycles Ncyc P 1502 for the square signal sequence e Square signal sequence The signal level is set via P 1503 0 1 SCD_TSIG_Offset and the times via P 1504 0 1 SCD_TSIG_Time e Sine generator with presetting of amplitude P 1505 SCD_TSIG_Amp and frequency P 1506 SCD_TSIG_Freq e A PRBS Pseudo Random Binary Sequence noise signal with presetting of ampli tude P 1509 SCD_TSIG_PRBSAmp and cycle time P 1508 SCD_TSIG_ PRBSTime This enables different frequency responses to be plotted Sum of Sinus und Squaresignal wens Output Les 4 Amplitude P 1505 SCD_TSIG_Amp P 1503 1 SCD_TSIG_Offset 1
155. or_PowerStage_Dataln valid PST Invalid EEPROM data 2 MotionContro MC_HOMING Unexpected home switch event Homing Limit switch tripped unexpectedly 4 FatalError_PowerStage_CRC PST CRC error 5 FatalError_PowerStage_Error ReadAccess PST Error reading power stage data 3 MotionControl_MC_HOMING_ Homing Limit switch error ErrorLimitSwitch 4 MotionControl_MC_HOMING_ Homing Wrong homing method homing method not UnknownMethod available 6 FatalError_PowerStage_Error WriteAccess PST Error writing power stage data 7 FatalError_ MON_Chopper Current in braking resistor even though transistor switched off Error name 8 FatalError_HW_lIdentification Description of error Hardware identification error 9 FatalError_FlashMemory Error in flash memory Error name Description of error 9 EncCH1lnit_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 CRC error data CrcData transfer 10 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 An attempt was WriteToProt made to write to the protection cells in the encoder 11 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 Timeout on SSC SscTimeout transfer 12 EncCH1Init_EnDat2 1_ Encoder channel 1 initialization EnDat2 1 Timeout no StartbitTimeou start bit from encoder 13 EncCH1Init_EnDat2 1_ Encoder
156. orresponds to 0 torque scaling 10 V input voltage Inmax 10 V corresponds to 10 V output voltage OUTmax 0 V corresponds to 100 torque scaling Based on the formula this results in Gain G 0 5 Offset O 5V 0V 6 4 Analog output option module ree The analog outputs serve to output an actual value from the device To set the analog DES outputs OSAO0O and OSA01 the scaled actual values to be outputted by the analog out Function OFF 0 No function P0129 0 v put must be specified 10 corresponds to 1 V DIM P 0132 0 The sampling time depends on the speed controller and is 125 us default The following Offset 0 ol v P 0131 0 settings are available for processing of actual values S Filter time D ms P 0133 0 OEAO1 Analog Output Function OFF Q No function P 0130 0 v D Settings 10 Y corresponds to 1 V DIM P 0132 1 SCH P0129 Offset 0 Du P 0131 1 la dua De e Scale rei dails 0 ms P 0133 1 NACT 1 Actual speed actual value OSA00 Deeg TACT 2 Actual torquerforce d NG IRMS 3 RMS current OSAO Figure 6 14 Dialogue box for the analog outputs PARA 4 Value of parameter P 0134 P0133 P0132 P0131 l Index 0 1 Index OD Index 0 Analog output settings eis Parameter name d E y Figure 6 13 Schematic of analog output with Filter Scale Offset
157. orward control scaling factor P 0386 0 Compensation of friction torques P 1516 0 00014 kgm Mass inertia P 0166 50 ms Smoothing Figure 4 22 Driving profile with feed forward control ServoOne Application Manual 51 LUST LI Friction It is advisable to compensate for higher friction torques in order to minimize tracking er ror when reversing the speed of the axis The drive controller permits compensation for Coulomb friction components by means of a signum function dependent on the refer ence speed nref_FF The speed controller can compensate for the other e g viscous friction components because of their lower change dynamics The compensation can be effected step by step as a percentage of the rated motor torque by means of P 386 CON_SCON_TFric The following graph shows a good match between the feed forward control torque reference and the actual torque value 3 meint nac rom met FF Nml mact Nm P no Value Function P0351 12 ms Speed controller filter time P 0360 30000 Position controller gain P0372 12s Filter time for position controller feed forward control Figure 4 23 Graph of feed forward control torque reference and actual torque value ServoOne Application Manual 52 P 0374 0 125 ms Delay time for position control feed forward control P 0375 100 Speed control feed forward control scaling factor P 0376 100 Torque control feed
158. otors is 150 x IN for 120 s For servomotors it is advisable to set a constant characteristic The switch off point defines the permissible current time area up to switching off 4 Note For servomotors refer to the motor manufacturers specifications ServoOne Application Manual 18 If the integrator exceeds its limit value the error E 09 01 is triggered The current value of the integrator is indicated in parameter P 0701 0 Note The limits are specified in the servocontroller as percentages of the rated quantities e g current torque speed so that following calculation logical default settings are available The default settings refer to 100 of the rated values and the parameters must thus be adapted to application and motor Characteristic setting for a permanently excited synchronous motor PSM A synchronous motor by design has lower loss than the ASMs because permanent mag nets replace the magnetizing current It is normally not internally cooled but discharges its heat loss by internal convection For that reason it has a different characteristic which typically looks like this Temperature monitoring Defaultsetting A l A OFF 0 No motor temperature sensor v T l Maximum temperature 100 A kd onip KTY84 ee Suites Temperature monitoring connected via 73 via res C connector x6 v V
159. p 0 Linear ramp trapeziodal profile w P2243 0 Speed override 100 x P 0167 0 Direction barrier UEFI No locking v P0335 0 Figure 6 3 Example of Start function ServoOne Application Manual LUST LI Seven digital inputs ISDOO to ISD06 can be assigned a wide variety of functions via parameters P 0101 to P 0107 The two inputs ISDSH STO Safe Torque Off and ENPO Enable Power are reserved for the hardware enable For the touch probe function the two fast inputs ISDO5 and ISDO6 are provided Overview of function selectors Parameter name Settings Designation inDM 5 Function P 0108 Parameter name Settings MPRO_INPUT_FS_ISDSH ServoOne Application Manual 100 Designation in DM 5 Function of digital input ISDSH Function Reserved for STO Safe torque off see also Inputs outputs section P 0109 MPRO_INPUT_FS_ISA00 Function of analog input ISA00 Analog input ISA00 see Analog inputs section Function of analog input Analog input ISA01 see Analog inputs P0100 MPRO_INPUT_FS_ENPO Ge of digital input setting of hardware input ENEO OFF O Hardware enable The digital input ENPO terminal 10 on powerstage X4 is reserved for hardware enable In its default setting OFF it only executes the Hardware enable function Apart from this it can also be assigned the
160. ptimization 1 The mass moment of inertia must be determined correctly 2 The dynamism is set via the equivalent time constant P 0353 Index 0 which be haves in a similar way to the actual speed filter time constant Increasing the time constant enhances the noise suppression but also reduces the dynamics 3 By writing the calculation assistant P 0354 Def the observer is reconfigured This change takes effect online 4 An optimization can be made iteratively in steps by adapting the equivalent time constant linked with rewriting of the calculation assistant Parameter Parameter name Designation in DM5 Function Settings P 0350 CON_SCALC_SEL Selection of Speed calculation Selection of speed calculation method method 0 SEL_ObserverMethod l Signal from observer system Filter 0 PPS actual value filter activated OBS1 1 One mass observer Single mass observer OBSACC 2 Observer with acceleration Observer with acceleration sensor sensor OBS2 3 Two mass observer Dual mass observer 1 SEL_FeedbackMethod Feedback from Observer OBS method Filter 1 Feedback from Filter P 0353 CON_SCALC_Obs Observer design parameters Equivalent time constant of DesignPara observer 0 TF Time constant of observer Time constant 1 ms 1 Alpha Damping coefficient Parameter geet input Motion py epp A Profile lation Dm 0 CON_IP_ACCFFTF P 0378
161. r gear ratio 5 1 4 Scaling examples for USER scaling Rotary motor scaling Presetting 1 motor revolution corresponds to 360 or 1048576 increments e Velocity in rpm e Acceleration in rpm s e Positioning in degrees Example Given Feed constant Gearing Pos Unit P 0284 um Speed Unit P 0287 m s Acc Unit P 0290 m s2 1mm 10 rev 1 drive revolution Parameter setting Pos Unit 3 motor revs 1 um 1 1000 mm 10 1000 rev output 30 1000 rev motor P 0271 30 or P0271 3 P 0272 1000 or P 0272 100 Speed Unit 1 m s 1000 mm s 10 000 rev s output 30 000 rev s motor 60 min 1 800 000 rev min P 0274 1 800 000 Acc Unit 1 m s2 1000 mm s 10 000 rev s output 30 000 rev s Motor 60 min 1 800 000 rev min P 0275 1 800 000 Parameter name s Default setting for Internal S Function S Settings rotary motor unit P0270 MPRO_FG_PosNom crementsper 1048576 incr rev revolution P0271 MPRO_FG_Nom Numerator 1 rev Pos 1 P 0272 MPRO_FG_Den Denominator 360 POS EE revolution P 0273 MPRO_FG_Reverse Reverse direction False clockwise P 0274 MPRO_FG_SpeedFac Velocity factor 1 rpm rpm P0275 MPRO_FG_AccFac oes 1 60 0 01667 rom s rps 2 LT 2 I Linear motor scaling Example Scaling of the linear motor Given Travel in um Speed in mm sec Acceleration in mm s One revolution corr
162. r power failure response P 0747 MON_PF_ONLimit Limitation of rated motor current L Note Information on motor temperature and current limitation is given in the Motor and Encoder sections at 7 1 5 Power failure reaction If the value of the d c link voltage drops below the value set in parameter P 0747 MON_PF_OnLimit the error ERR 34 Power failure detected is reported and the parameterized error reaction is triggered By parameterizing a quick stop as an error reaction with a sufficiently steep deceleration ramp the d c link voltage can be maintained above the undervoltage threshold power failure bridging This reaction lasts until the drive has been braked to a low speed The default setting is O V function disabled 7 1 6 Software limit switches The software limit switches are only applicable in positioning mode and are only acti vated once homing has been completed successfully The software limit switches are deactivated with the setting 0 Parameter name Settings Designation inDM 5 Function P2235 MPRO_402_Software 607DH DS 402 Software Positive and negative software limit switch PosLimit Position Limit 1 Software Position Limit min position lim Negative limit switch 2 Software Position Limit max position lim Positive limit switch The response to reaching a SW limit switch depends on the preset error response see parameter P 0030 Error reaction Posit
163. rence limited 3 Standstill E Movement right E Movement left E Homing Jog mode active E Homing attained E Lel limit switch E Right limit switch E HALT state E Motor brake closed E Waming As soon as an error is detected the status indica tor at the top of the window turns red Detailed information on the error and on previous errors can be viewed by clicking the Error history button At the bottom of the window the current state are displayed A green light signifies active Figure A 1 Drive status window LI LUST Status bits H Ready to switch on E Switched on E Operation enabled E Faut 3 voltage enabled 2 Duck stop 3 Switch on disabled 2 Motor activ 2 Waming 3 Target reached 2 Intermal reference limita E Safety hold request EI Brake activ E Halt activ E Homing attained 2 Homing jog mode activ 3 Drive configurable EI Drive operation enabled 2 Drive ready to switch on The Status bits window displays the current system states The basis of those states is the DriveCom state machine The active states are displayed in green A schematic view is pre sented in figure A 3 and in figure 5 36 in the Motion profile section Figure A 2 Status bits window ServoOne Application Manual 137 LUST LI State machine State machine of the drive controller The system states of the controller are recorded in the bordered boxes Blu
164. rier OFF O No locking Figure 5 9 Basic settings selection screen Parameter name P0144 DriveCom Auto start of system Autostart function Auto_start Normal operation The drive is 0 omo Switch off drive first in case of power stopped by cancelling the start of fault reset condition or in the event of an error The drive automatically starts 1 ON 1 Start Restart drive automaticly in immediately on completion of case of power or fault initialization provided the mains voltage is connected P 0165 MPRO_REF_SEL Motion profile selection Selection of reference source 0 OFF 0 No setpoint No reference selected 1 ANAO 1 via analog channel ISAO Analog input ISAO 2 ANA1 2 via analog channel ISA1 Analog input ISA1 3 TAB 3 via table Table values 4 PLC4 Basic Library PLC open as from V 2 0 5 PLC 5 via IEC 61131 program as from V 2 0 6 PARA 6 via parameter definition The reference is preset by parameter 7 CiA 402 7 via CiA CiA 402 motion profile CIA 402 8 SERCOS 8 via SERCOS motion profile SERCOS 9 PROFIBUS 9 via PROFIBUS DPV motion profile PROFIBUS P 0301 Con_Ref_Mode Select Reference Mode Selection of interpolation type SOKE Designation in DM 5 Function P0159 MPRO_CTRL_SEL Motion control selection Selection of control location 0 OFF 0 No control selector defined No control location selected 1 TERM 1 via termin
165. rom the compensation table Parameter name DM5 description Function Settings P 0380 CON_TCoggAddTab Anti Cogging compensation Table with compensated values current table Anti Cogging compensation Compensated table values are eee EE on off imported into the control Anti Cogging recorded cur The characteristic of the q rents at teaching current is averaged by a special P 0383 CON_TCoggTeach1 filter and imported into the table of parameter P 0383 CON_TCoggTeach1 P 0385 CON TeogaTeachcon Anti Cogging teach control Start of teach function to fill word table 4 2 1 Advanced torque control Limitation Limitation of the voltage components usqref and usdref This also enables so called overmodulation limitation to hexagon instead of circle in order to make better use of the inverter voltage There are additional functions to improve the control performance of current and speed controllers Here the gt Limitation gt Gain Scheduling and gt Observer functions are de scribed P 0310 Parameter Pi L No name Description in DM 5 Function Currentcontrol e etti n g S Fluxcontrol IC 1 O N soret m 8 lect current control limita I P 0432 CON_CCONMode Es Voltage limitation of us ef and US ref tion mode aire d Z Z deg Hard switch from d priority moto os ar 0 PRIO O Hard Change over o
166. rovide clear guidance this Application Manual uses pictograms Their meanings are set out in the following table The pictograms always have the same meanings even where they are placed without text such as next to a connection diagram Important Misoperation may result in damage to the drive or malfunctions Danger from electrical tension Improper behaviour may endan ger human life Danger from rotating parts Drive may start up automatically EEC Note Useful information Table of contents OVOP eae a ene ee a 3 UE ee 7 II Setting the power stage parameters 7 Ze Lene EE 9 JI PS Motor SynchronoUSs MOTO spip apmseiireee rensar ninnenardarnin iani aena e 9 2 1 1 Loading the motor data Electrical data DS 9 22 Motor Tee 10 203 Tee ale 25T LE EE 11 2D PS IT e iesse ann e ae TOE a 12 2 3 AS IST ST eee Eae T 12 2 3 2 Saturation characteristic for Main inductance eee 15 E Motor protectio sesini one aaee a EEEE E EE EE 16 E OM GE 21 SA SINGOS X7 channel EE 22 3 1 2 Zero pulse evaluation via encoder channel 24 3 13 Encoder correction GROG NEE 24 32 Resolver X6 Ell TE EE 25 23 Optional encoder module X8 channel 21 26 34 ENCODER ele Le 27 3 5 Increment coded reference marks sese eee 27 3 6 Pin assignment for X6 ANd TE erosen e AEE 29 LI 3 I 4 4 1 4 2 4 3 4 4 4 5 4 6 5 5 2 ale eTel e enee eegen 31 Controller basic e EE 31 AWA BASIC Settingan E E E E 34 Heit
167. rrectly the motor may start Attention Parameters of the Autocommutation subject area may only be WN up in an uncontrolled manner 1 Note It is advisable to parameterize speed tracking error monitoring with the Power stage off error response This monitoring feature reliably pre vents the motor from racing LI LUST 4 5 Commissioning 4 5 1 Autotuning The drive controller is able to automatically determine the mass moment of inertia re duced to the motor shaft by means of a test signal However this requires that the mass moment of inertia only fluctuates very little or not at all during motion The moment of inertia has the following effect on the control response e It is taken into account when calculating the speed controller gain e In feed forward control the moment of inertia is used to translate the acceleration into force torque or q current e In feed forward control the moment of inertia is used to translate the acceleration into force torque or q current To determine the mass inertia the drive controller generates a pendulum movement of the connected motor complete with the mechanism and uses the ratio of acceleration torque to speed change to determine the mass inertia of the overall system After the control has been started determination of the mass inertia is activated by set ting the control word P 1517 SCD_AT_JsumCon to the value Start 2 The drive executes a short pendulum movement by acc
168. s a change of control location to the reference source selected in P 0164 MPRO_REF_SEL_MAN This enables fast switching to manual control for setup or emergency running mode for example Parameter name Settings Designation in DM 5 Function P 0164 MPRO_INPUT_FS_ISDx Function of digital input Function selection 0 OFF No profile selected No profile selected 1 ANAO Profile via channel analog Reference value of analog input ISAO 2 ANA Profile via channel analog 1 Reference value of analog input ISA1 3 TAB Profile via table positioning Reference from table 4 4 not defined vacant 5 PLC Profile via PLC definition Reference from PLC 6 PARA Profile via parameter Reference via parameter definition 7 DS402 Profile via DS402 definition Reference via CIA402 1E1131 8 SERCOS Profile via SERCOS definition Reference via SERCOS 9 PROFI Profil via PROFIBUS definition Reference via DriveCom 10 VARAN Profil via VARAN definition Reference via VARAN 11 TWIN Profil via TechOption Reference via external option definition Figure 6 2 Starting sequence for control If the power up sequence as shown in figure 6 49 is followed the drive starts with a rising edge of the digital input parameterized to START or when the corresponding Start bit is set via a bus system The reference polarity determines the direction of rotation Required parameters P
169. s and have a direct influence on the behaviour of the servocontroller The following values are calculated 1 Translation of the linear nominal quantities into virtual rotary nominal quantities Default values for autocommutation Encoder lines per virtual revolution 2 3 4 Flux settings including for torque constant 5 Control settings for PI current controller The current controller is dimensioned dependent on the switching frequency setting 6 Pl speed controller and position controller gain In this a moderately rigid mecha nism and a 1 1 moment of inertia adjustment from the load to the motor are assumed if total moment of inertia 0 If the total mass moment is not equal to O the calculation wizard is used to calculate the speed controller with the total mass inertia P 1515 100 On each change of parameter P 1515 the speed and position controller is recalculated 7 The default setting of the speed tracking error monitor is 50 8 V F characteristic 2 2 AS Motor Asynchronous motor 2 3 1 Electrical data Electrical data AS For commissioning of third party motors the rated data and characteristic variables of the motor must be known and be entered manually in the relevant dialogue box Click the Identification button to calculate the basic setting for the control based on those values The impedances stator and stray impedances are obtained by measurement If the identification is succ
170. s not yet been reached the voltage regulator is not dynamic enough and the gain P 0345 must be increased If no suitable compromise can be found the voltage threshold as from which the voltage regulator intervenes must be reduced by the scaling parameter P 0347 CON_FM_VRef This then also quadratically reduces the torque available when stationary however If the response with voltage regulator is unproblematic and no particular demands are made in terms of dynamics the available torque can be optimized by setting P 0347 to values up to 98 ServoOne Application Manual 58 Select setting P 0435 CON_FM_FWMode 2 Calc If very rapid speed or load changes occur in the field weakening range the setting P 0340 CON_FM_FwMode 2 is preferable Features of this method Very fast adaptations with high dynamism are possible open loop control method Motor parameters must be known quite precisely A badly set table can result in continuous oscillation If continuous oscillation occurs it should first be determined whether the drive is tem porarily at the voltage limit The preset negative d current value is then not sufficient In this case the scaling parameter P 0436 can be used to evaluate the map at higher speeds P 0436 gt 100 The voltage regulator is overlaid on the evaluation of the map if the gain P 0345 is set greater than zero The voltage regulator can be set in the same way as described above for settin
171. s overrun and the first zero pulse after that corresponds to the zero The initial movement is towards the negative left hardware limit switch The positive limit switch is inactive and the reference cam is active see symbol B in figure 5 23 With type 7 the zero corresponds to the first zero pulse after a falling edge of the reference cam Type 8 reverses the direction of movement after a falling edge of the reference cam The zero corresponds to the first zero pulse after the rising edge of the reference cam The initial movement is towards the positive right hardware limit switch It is inactive and the reference cam is active see symbol C in figure 5 23 Type 9 reverses the direction of movement if the reference cam is inactive The zero corresponds to the first zero pulse after the rising edge With type 10 the first zero pulse after a falling edge of the reference cam is the zero point The initial movement is towards the positive right hardware limit switch It and the reference cam are inactive As soon as the positive limit switch becomes active the direction of movement is reversed see symbol D in figure 5 23 With type 7 the first zero pulse after overrunning the reference cam corresponds to the zero Type 8 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 9 the zero corresponds to the first zero pulse with an active
172. s switched off by way of various control channels terminals bus PLC P2219 Designation in DM 5 Function S l In response to a shutdown command the stop variant ore daal A S code selected in the quick stop option code is executed POFF 0 Disable power stage drive function Disable power stages the drive coasts to a stop SDR 1 Slow down with slow down ramp The drive brakes with the programmed deceleration disable of the drive function ramp then the power stage is disabled Response to Disable Option Code The disable operation option code parameter determines which action is to be ex ecuted at the transition from Operation enable to Switched on 4 and 5 P 2220 Designation in DM 5 Function POFF 0 0 0 Disable power stage drive function Disable power stages drive coasts to a stop SDR 1 1 1 Slow down with slow down ramp dis The drive brakes with the programmed decel able of the drive function eration ramp then the power stage is disabled Response to stop option code Stop feed The Stop feed state brakes an ongoing movement for as long as the state is active During braking the drive can be accelerated back to the previous state When deacti vated the programmed acceleration ramp is again applied Note These drive controlled homing runs with the corresponding param eters are also used in the case of control via the SERCOS and PROFIBUS field bus
173. solute encoder AUIS ASS SSI EnDat 2 1 HIPERFACE 1 A A REFCOS 2 A A COS 5 V max 150 mA 5V max150mA Jumper between pins 3 7 and 12 produces a voltage of 12V 100 mA on X7 3 4 Data Data 5 Data Data 6 B B REFSIN 7 S e 8 GND GND GND 9 R 10 R e 2 11 B B SIN 12 Sense Sense 13 Sense Sense S 14 CLK 15 CLK Figure 3 9 Pin assignment connector X7 ServoOne Application Manual Attention A jumper between X7 7 and 12 delivers a voltage rise up to 11 8 V on X7 3 only for use of a Hiperface encoder 29 LI Attention Encoders with a voltage supply of 5 V 5 must have a separate sensor cable connection The sensor cables are required to measure a supply voltage drop on the encoder cable Only use of the sensor cables ensures that the encoder is supplied with the correct voltage The sensor cables must always be connected If a SinCos encoder delivers no sense signals connect pins 12 and 13 Sense to pins 3 and 8 5 V GND on the encoder cable end ServoOne Application Manual 4 Closed loop control 4 1 Control basic setting A servocontroller works on the principle of field oriented regulation In the motor the current is injected where the magnetic flux is at the maximum This produces a maxi mum torque on the motor shaft or on the carriage of a linear motor Specified pr
174. started Jog speeds P 0168 1 degree s degres s P 0168 0 Slow jog speed Quick jog speed Bild 5 1 Dialogue box for jog mode Control mode TERM 1 control via terminals Y P0205 Set number 0 Reference P 0202 0 Mode P 0203 0 Speed P 0201 0 Acceleration P 0199 0 0 Deceleration P 0200 0 0 BEL Relative after target rea na P 0202 1 P 0203 1 P 0201 1 P 0199 1 P 0200 1 Time del iAuto mode Oms P 0204 0 Oj ms Po204 1 2a Max table index in Auto mode 0 P 0206 0 Actual table index o P 0207 0 5 6 Table references Fixed speeds fixed torques or a fixed position can be preset by way of a table A travel profile is generated internally using the Profile Generator The 16 table values can be selected using the on screen slider Reference input for fixed positions Each position value is assigned a speed and acceleration and braking ramps LUST LI Bild 5 2 Reference table screen There are 16 driving sets 0 15 Parameter name S Designation in DM 5 Function Settings P 0199 0 15 MPRO_TAB_PAcc Position mode acceleration Acceleration ramp P 0200 0 15 MPRO_TAB_PDec Position mode deceleration Braking ramp P 0201 0 15 MPRO_TAB_PSpd Position mode speed Velocity Position mode reference P 0202 0 15 MPRO_TAB_PPos H Reference position P 0203 0 15 MPRO_TAB_PMode __ Position mode Posit
175. t defined 19 19 Not defined 20 20 Not defined 21 TBEN Import and execution of selected table driving set 22 TBTBA Teach in for position driving set table 23 TABO Binary driving set selection Bit 0 significance 20 for speed 24 TABI Binary driving set selection Bit 1 significance 21 for speed or positioning 25 TAB Binary driving set selection Bit 2 significance 22 for speed or positioning 26 TAB3 Binary driving set selection Bit 3 significance 23 for speed or positioning LUST LI 6 1 2 Hardware enable ISDSH STO Safe Torque Off For the function Save Torque Off STO acc to EN 954 1 Category 3 under due consideration of the requirements specified in EN 61508 concerning the fulfillment of the systematic integrity for SIL2 the drive controllers are equipped with an integrated circuit with feedback contact The logic cuts the power supply to the pulse amplifiers to activate the power stage Combined with the ENPO controller enable a two channel block is placed on the occurrence in the power circuit of a pulse pattern suitable to gen erate a rotating field in the motor When the ENPO is cancelled the motor runs uncontrolled Function test The STO function protection against unexpected starting must essentially be checked to ensure it is operative e During initial commissioning e After any modification of the system wiring e After replacing one or
176. t rise time For noise sensitive applications a less dynamic setting with a longer rise time is recommended ec veer ES o gt 0 CON_CCON_Kp P03100 20 V A 0 CON_CCON_Tn p 0311 0 2 3 ms p PWM ager Details of Speed control gt o gt Torque and Current Control Step response of current control isdref Step 2 Trigger Step 1 j a k t1 k t2 t Record transfer function P 01503 0 P 01503 1 P 1509 0 Step 1 os A Step 2 2 15 Noise Amplitude O var Time t1 p 015040 1 s Time t2 T 1 EI Cycletime 5 ms P 1504 1 P 1508 0 Set Default 8 Set Default i Record time 0 05 lt L Test Signal Generator L Start Test Signal Stop Test Signal Figure 4 4 Dialogue box for the current control loop Current controller optimization In order to optimize the current control loop a stepped current reference Step1 is injected for the time Time1 In the process the motion of the rotor results in a current output value isd With Step2 a current reference step response is preset for the time Time2 This should correspond to the rated current of the motor The Start Test Sig nal button opens a dialogue box containing safety instruction before the step response can be generated The necessary setting of the scope function is made automatically by the wizard The time base can be set manually LUST LI Step
177. t screen of the SERCOS scaling wizard in which the settings for position speed torque and acceleration can be made From this screen the user is navigation through the scaling parameters So as not to have to display all individual screens the following schematic views are presented e Schematic 1 Weighting method for position data e Schematic 2 Weighting method for speed data e Schematic 3 Weighting method for force torque e Schematic 4 Weighting method for acceleration Figure 5 3 Weighting wizard for SERCOS Weighting of position data Schematic 1 Position data Wheighting of position data translational mode rotary mode Load Motor Load Motor Load Motor preferential Parameter preferential Parameter eighting Weighting Weighting Weighning Meter Meter Grad Grad LSB 10 E 7 m LSB variabel Resolution 360000 e variabel Position resolution in translational mode LSB Unit Exponent Preferential translational weighting method factor linear m 1 exponent Weighting Unit Weighting Weighting Preferential weighting 0 1 um Figure 5 4 Weighting of position data LUST LI Schematic 1 Position data Position resolution in rotary mode 1 Revolution LSB Unit Position resolution in rotary mode 360 degree Example
178. tab T A 7 T S l v2 P 0340 CON_FM_Imag vmot_filt P 0344 CON_FM_VConTFO qe a rE Pn e I a udref 1 Tf j L Voltage A Vmot nee er Calculation Spee Figure 4 25 Synchronous machine field weakening The following conditions must be met 1 To effectively reduce the voltage consumption the ratio of stator inductance P 0471 x rated current P 0457 to rotor flux P 0462 must be sufficiently large Lstator gt Rotor 2 P 0457 P 0471 gt Factor D 0462 Factor gt 0 2 2 If the speed achieved by field weakening is so high that the induced voltage exceeds the overvoltage threshold of the device for 400 V devices approximately 800 V for 230 V devices approximately 400 V this will result in DESTRUCTION of the servocontroller if no additional external safety measures are applied Condition Rotorflux Maximal speed inrad s lt 700 V A 211 P 0462 P 0458 P 0328 ER lt 700 Attention When configuring projects it must be ensured that the speed NEVER exceeds the value of pn In such cases the induced no load voltage reaches the overvoltage limit 3 In contrast to field weakening of asynchronous motors synchronous motors can also be operated in the field weakening range with full rated torque at the nominal value of the q current Power beyond the rated power output can there fore be
179. tart the calculation The progress of the calculation can be observed on the DM5 View gt Messages menu by way of the Message window Attention All previous speed and position control parameters are overwritten 2 1 3 Motor identification e Current controller tuning Current controller optimization e Measurement of P 0476 Rotor resistance P 0471 Stray leakage inductance for operation below rated current e Measurement of the saturation characteristic table values of the stator inductance P 0472 Measurements are taken up to 4 times rated current provided the power stage current permits it at standstill If it does not measurements are taken with a correspondingly lower current e Calculation of operating point via P 0462 Rated flux P 0340 Magnetizing current e Calculation of current speed and position control parameters LUST a LTi ServoOne Application Manual 11 LI LUST 2 2 PS Linear motor To make the calculations based on the characteristic quantities for a linear motor P 0490 must be LIN 1 The parameter automatically sets the number of pole pairs of the mo tor to P 0463 1 Thus one pole pitch division from north to north corresponds to a virtual revolution P 0492 Linear PS motor setting Calculation of control settings for linear PS motor Motor name LSH 097 3 30 560 Name plate data Rated voltage 330 V
180. tc 14 EtherCat 1 ComOptEtherCat_Sm EtherCat Syn Manager0 Watchdog WatchdogO 2 ComOptEtherCat_Wrong EtherCat Parameter error parameter data implausible EepData 3 ComOptEtherCat_RamError EtherCat Internal RAM error 15 Parameters 1 ComOptSercos_Hardwarelnit SERCOS Hardware initialization 1 Parameter_MON_Device_ Current Error in current monitoring initialization 2 ComOptSercos_IllegalPhase SERCOS Invalid communication phase 2 Parameter MON 121 Motor protection LUST LI ServoOne Application Manual 125 LUST LI Error name Description of error Error name 5 MotionControl_MC_HOMING_ MethodUndefined ServoOne Application Manual 126 Description of error Homing Homing method available but not defined 3 Parameter_CON_ICOM Autocommutation Plausibility tolerance exceeded 4 Parameter_CON_FM Field model 5 Parameter_CON_Timing Basic initialization of control 6 Parameter_MPRO_FG Error calculating user units 6 MotionControl_MC_HOMING_ DriveNotReadyHoming Homing Drive not ready for homing 7 Parameter_ENC_RATIO Error initializing encoder gearing 7 MotionControl_MC_HOMING_ DriveNotReadyJogging Homing Drive not ready for jog mode 8 Parameter_Nerf Speed detection observer 9 Parameter_ObsLib Error in matrix library 8 MotionControl_MC_HOMING_ WrongConMode Ho
181. tect the device and the motor it is necessary to limit some variables The different limitations are described in the following They take effect independently of other limita tions within the motion profile In addition the servocontroller offers the possibility to set the limits for positive and negative values asymmetrically and or to change the limits online The limits are specified as percentages of the rated quantities current torque speed so that following calculation logical default settings are available The default settings refer to 100 of the rated values and the parameters must thus be adapted to application and motor 7 1 1 Torque limitation torque force limits To protect against overspeed when the maximum rotation speed P 0329 is reached a speed governor is activated which limits the speed to the configured maximum It is possible to limit the negative P 0330 and the positive torque P 0331 independently of each other online LUST LI Curent Tma e 1 Limit K Rea E aiou bel iori Tome Coniciingh DLEO cumin ae Saeed C crim K E eo ried Ol pe Av Legend i FAL a on ka Umt nn GR Inte aCe EJ mgt mrima v Rue Figure 7 12 Torque limitation without field weakening ServoOne Application Manual 115 LI l Parameter P Parameter name Ln Settings P 0329 CON_SCON_TMax P 0330 CON_SCON_TMaxNeg P 0331 CON_SCON_TMaxPos CON_SCON_TMax P 0332 S
182. the type 6 direction is reversed and the first zero pulse after the rising edge corresponds to the zero The initial movement is towards the negative left hardware limit switch and the reference cam is inactive see symbol B in Figure 5 20 With type 5 the direction of movement is reversed as soon as the reference cam be comes active and the first zero pulse after the falling edge corresponds to the zero LI LUST For type 6 the first index pulse after the ascending flank corresponds with the zero point Zero pulse Referece cam Figure 5 20 Type 5 6 Negative reference cam and zero pulse Homing method for increment coded encoders Type 6 move negative direction for distance coded encoder Type 7 move positive direction for distance coded encoder Type 7 to 10 Reference cam zero pulse and positive limit switch The initial movement is towards the positive right hardware limit switch It and the reference cam are inactive see symbol A in figure 5 23 Type 7 reverses the direction of movement after an active reference cam The zero corresponds to the first zero pulse af ter a falling edge With type 8 the zero corresponds to the first zero pulse with an active ServoOne Application Manual 89 LUST LI reference cam Type 9 reverses the direction of movement if the reference cam has been overrun The zero corresponds to the first zero pulse after the rising edge With type 10 the reference cam i
183. thod OFF 0 Function off No commutation method selected IENCC 1 autocommutation with movement An easily parameterized method in which IENCC 1 Current injection however the rotor moves by as much as half a revolution or half a pole pitch unit where p 1 2 LHMES 2 autocommutation with braked machine LHMESS 2 Saturation of inductance The machine must be blocked by a suitable evaluated brake during auto commutation The occur ring torques and forces may attain the rated torque and force of the machine IECSC 3 not implemented Not implemented IECON 4 autocommutation with minimized movement IECON 4 Current injection minimized Here too the rotor must be able to move movement though appropriate parameter setting can reduce the rotor movement to just a few degrees per mm d HALLS 5 autocommutation Evaluation of HALLS 5 not implemented analog Hall sensors from V 2 0 The IENCC 1 method movement of shaft permitted In the IENCC method the rotor aligns in the direction of the injected current and thus to a defined position The relatively large movement up to half a rotor revolution must be taken into consideration This method cannot be used near end stops or limit switches It is advisable to use the rated current laom The time should be set so that the rotor is at rest during the ServoOne Application Manual 59 LUST LI measurement For control purposes the commutation process can be recor
184. timally set so no further adaptations are required for the initial turnover of the motor Motor selection e Selection of the desired motor data set via Motor selection possibly LTi DRIVES GmbH website All necessary parameters e g motor protection control param eters are read in e With the motor identification the complete motor data set name parameter motion mode is loaded Preset parameters are overwritten e Save motor data to device e The individual items of motor data are displayed in the Show motor data win dow and can be edited manually ServoOne Application Manual 9 LUST LTi ServoOne Application Manual 10 Motor data set Motor data and control settings Calculation of control settings for PS motor Motor name 097 3 30 LT Motor name LSH 097 3 30 560 e 47 LSH 097 330560 Show motor data Name plate data Rated voltage 330 V Rated current 4764 Rated speed 3000 rpm Rated frequency 250 Hz Select motor data and control setting from database Ratedt on O ated torque 61 info Motorselection We Manual control data setting Inertia Motor type PSM 1 Permanent synchrononous motor KA Motor inertia 0 00035 kg m m Total inertia 0 00035364 komm Motor movement ROT O rotative motor v Motor impedances Calculate control settings subject to motor name plate data C
185. tion of the zero point does not depend on the zero pulse but solely on the reference cam or the limit switches ServoOne Application Manual 91 Reference cam fo Figure 5 23 Type 17 to 30 Reference cam Type comparison for the individual homing methods Type 1 corresponds to type 17 Type 12 corresponds to type 28 Type 4 corresponds to type 20 Type 14 corresponds to type 30 Type 8 corresponds to type 24 Type 31 and 32 These homing methods are not defined ServoOne Application Manual Type 33 and 34 Zero pulse The zero corresponds to the first zero pulse in the direction of movement 92 H l l HA gt l Zero pulse III Figure 5 24 Type 33 34 Zero pulse Type 35 The current actual position corresponds to the zero 5 5 Jog mode Jog mode enables the drive to be moved manually A bus system or reference sourcing via terminal can be selected as the reference The unit corresponds to the selected user unit It is possible to select fast and a slow jog speeds in both directions For jogging in positive and negative direction two digital input parameters must be set to INCH_P 7 Jog and INCH_P 8 Jog For jogging at different speeds both switches must be activated If the Jog left switch is activated first and then switch two quick jog mode left is started If the Jog right switch is activated first quick jog mode right is
186. tion ramps are active The correction is this treated like a tracking error adjustment The maximum speed of the positioning driving profile has no effect here T Attention Correction of the actual position is effected in steps No ac Type 2 No homing is performed No homing is performed The current position is added to the zero offset The first time the power stage is switched on the Homing completed status is set This method is suitable for absolute encoders as long as no zero balancing is required For zero balanc ing please select type 5 Type 1 Actual position 0 The actual position corresponds to the zero It is set to 0 i e the controller performs an actual position reset The zero offset is added Type 0 Not defined Type 1 Negative limit switch and zero pulse The initial movement is as shown in Figure 5 17 towards the negative left hardware limit switch which is inactive and the direction of movement is reversed when the edge is active The first zero pulse after the falling edge corresponds to the zero AAH LL _ Zero pulse l l Negative limit a DE Figure 5 17 Type 1 Negative limit switch and zero pulse ServoOne Application Manual 88 Type 2 Positive limit switch and zero pulse The initial movement is as shown in figure 5 20 towards the positive right hardware imit switch which is inactive and the direction of movement is reversed when the edge is active
187. to IP 1 mode an analog input can be used as a fast input The switching frequency set in parameter P 0305 for the interpo lation takes effect Note The two analog inputs ISA00 and ISA01 can also be used as digital inputs function 1 26 The switching thresholds for reliable High Level and Low Level are high gt 2 4 V Low lt 0 4 V Du 3 a a LTi ServoOne Application Manual 111 LUST LI Analog Output V Output max 10V Analog Gain P 0428 0 1 Offset Output min 10V OUT V OUTmin V INmax WI IN min V P 0429 0 1 Output OUTmin V ER Nmin x Il OUTmax V INmad x E ER OUT nin LV IN min VI x E max 10 V Input V Figure 6 12 Weighting of analog inputs ServoOne Application Manual 112 Note The output voltage of the weighting is not exactly limited to 10 V Example Analog torque weighting Default setting standard controller function An input voltage range of the torque scaling from O V to 10 V corresponds to 0 100 10 V to 0 V corresponds to 0 Correction of input and offset gain The entire 10 V input voltage range is to be used 10 V corresponds to 0 10 V corresponds to 100 of the torque scaling The following settings are required for this 10 V input voltage IN a 10 V corresponds to 0 V output voltage Out c
188. ttin Designation in DM5 Function Suungs 1 Flux settings including for torque constant P 0463 MOT_PolePairs Motor number of pole pairs Number of pole pairs KE l s s 2 Control settings for PI current controller The current controller is dimensioned P 0470 MOT_Rstat 2 Motor stator resistance Stator resistance l 2 dependent on the switching frequency setting P 0471 MOT_Lsig Motor stray stator inductance Stator inductance ie i l D Ge SCD_SetMotor Determination of default mo lt of calcula 3 Pl speed controller and position controller gain In this a moderately rigid mecha Control tor control settings SE nism and a 1 1 moment of inertia adjustment from the load to the motor are as T The parameters are intended for information only but should be set for a complete motor sumed if total moment of inertia 0 If the total mass moment is not equal to 0 data set the calculation wizard is used to calculate the speed controller with the total mass 2 The parameters are used for calculation of controller settings and have a direct influence inertia P 1515 100 on the behaviour of the servocontroller On each change of parameter P 1515 the speed and position controller is recalcu lated If the mass moment of inertia of the motor P 0461 is not known a moment of inertia cor 4 V F characteristic responding to a standard motor with the same power output and number of pole pairs is assumed Click the Start calculation button to s
189. ue 12 STOP Drive in Quickstop The drive is in the quick stop state Indicates system is in HALT state activated via DS 402 profile input or PROFIBUS 13 HALT Drive in halt IntermediateStop SERCOS from V 2 0 Reaction according to HALT option code P 2221 MPRO_402_HaltOC The output function LIMIT 14 detects when a 14 LIMIT Reference limitation reference reaches its limitation In this case the output is set Nact greater than Nx where Nx value in 15 N_GT_Nx Speed greater than Nx P 0740 MON_SpeedThresh Nact less than Nx where Nx value in 16 N_LT_Nx Speed less than Nx P 0740 MON SpeedThresh 3 a GEAR Position reference limited e g with parameter 17 P_LIM_activ Position setpoint limited ized software limit switchesfrontV 2 0 18 N_LIM_activ Speed setpoint limited Speed reference limitation active 19 _LIM_activ Current setpoint limited Current reference active Warnings warning thresholds are set via P 0730 MON_WarningLevel Warnings warning thresholds are set via P 0730 MON_WarningLevel Parameter name Settings Designation in DM5 Description P 0122 MPRO_OUTPUT_ Function of digital Funcionelection P 0127 FS_OSDOx output 20 COM oe ue communication Set output via COM option from V 2 0 profile 21 ENMO Motor contactor output Activate motor contactor wiring of motor via contactor 22 PEC
190. ulation To increase the current control dynamics and reduce the tendency to oscillation there is a so called observer It predicts the current Parameter name Settings CON_CCON_ObsMod Designation in DM 5 Select current observer mode Function Switching the observer on and off for current control OFF 0 Observer not used Time Const 1 Use observer design acc time contant The currents determined from the observer are used for the motor control The configuration is based on setting of a filter time constant in P 0434 Index 0 Direct 2 Use observer preset of Kp and Tn Direct parameterization of the observer feedback via P 0434 index 1 KP and 2 Tn 4 3 Speed control If the motion range is not limited it is advisable to optimize the speed controller by means of step responses In this the motor model must be adapted precisely to the individual motor In the standard motor data set the speed controller is preset for a mod erately stiff mechanism The speed controller may need to be adapted to the moment of inertia and the rigidity of the mechanism see Control section Adaptation to the mechanism LUST LI Note Low value for the actual speed value filter High control dynamics High value for the actual speed value filter Control dynamics decreases smooth running quality increases The dialogue box figure 4 10 can be used to
191. ve limit switch and pulse zero pulse 2 Lcw Pos gud switch zero p lse Homing positive limit switch and zero pulse 3 HOMSW Pos reference cams zero Homing o cam negative edge posi pulse at RefCam Low tive direction zero pulse 4 HOMSW Pos reference cams zero Homing 0 cam positive edge positive pulse at RefCam High direction zero pulse Neg reference cams zero Homing to cam negative edge nega 5 HOMSW Ba pk ee pulse at RefCam Low tive direction zero pulse Neg reference cams zero Homing to cam positive edge nega 6 HOMSW pulse at RefCam High tive direction zero pulse 7 to 14 HOMSW Left reference cam polarity Various homing runs to cam zero pulse at RefCam Low g 15 16 not defined Reserved 17 LCCW Neg end switch Homing negative limit switch 18 LCW Pos end switch Homing positive limit switch 19 HOMSW Pos reference cams Stop Homing o cam negative edge posi at RefCam Low tive direction Pos reference cams Stop Homing to cam positive edge positive 20 HOMSW at RefCam High direction 21 HOMSW Neg reference cams Stop Homing o cam negative edge nega at RefCam Low tive direction Neg reference cams Stop Homing to cam positive edge nega 22 HOMSW at RefCam High tive direction 23 bis Left reference cam polarity g e 30 HOMSW Stop at RefCam Low Various homing runs to cam Parameter name j Designation in DM 5 Function Setting P0101 to P 0107 MPRO_402_Ho
192. voltage control filter time Time constant of the voltage regulator de CON FM VConTF constant actual value filter P 0345 CON_FM_VConKp voltage control gain Voltage regulator gain factor Kp voltage control integration time Voltage regulator lag time Tn P 0346 CON_FM_VConTn constant voltage control reference scaling of max voltage Voltage regulator reference as of the current DC link voltage If the value 0 is set the regulator is not active P 0347 CON_FM_VRef P 0348 MOT_SNom Motor rated speed Rated speed of the motor Default values P 0344 CON_M_VConTf 10 ms P0345 CON_FM_VConKp 0 1 A V P0346 CON_FM_VCon_Tn 100 ms P 0347 CON_FN_VRef 90 LUST LI Synchronous motor field weakening Synchronous motors can also be operated above their rated speed at rated voltage by reducing their voltage consumption based on on injection of a current component ServoOne Application Manual 55 i hg ServoOne Application Manual 2 I 3D look up table isd f n Characteristic isd x iq D isq o We gt tir i ay P 0341 e We CON_FM_ImagSLim Uzk gt E 5 P 0435 2 or isd f n Charcteristic OFF A d P 0343 0 P 0435 CON_FM_FWMode P 0347 CON_FM_VRef sdref_tab i Voltage control Available Uzk zey P0345 P0346 vmot Kp Tn 0 i vreg_max isdref_tab i soll d l CQ e NI isdrefmod S vreg_min isdref_
193. ynamics at current limit for switch The speed reference is set equal to 0 1 SpeedZero 1 Speed during search Speed during travel to zero point Free 4 for zero Braking ramp for Quickstop Homing acceleration Settings MP_QuickStopDec The homing acceleration is preset via P 2263 MPRO_402_HomingAcc in the DriveManacer 0 3000 Setting of quick stop ramp Zeroing offset Absolute encoders e g SSI Multiturn encoders are a special feature in homing because they establish the absolute position reference directly Homing with these encoders S therefore requires no movement and under certain conditions no current to the drive 5 4 Homing Homing type 5 is recommended for the zero balancing A zero offset can be set via parameter P 0525 ENC_HomingOff The drive controlled homing runs are executed according to the CANopen drive profile DSP 402 as from V 2 0 LUST a LTi ServoOne Application Manual 85 LI LUST Zero pulse evaluation If a homing run is selected which requires evaluation of a zero pulse the evaluation is automatically started in the background and automatically stopped when homing is complete It is possible to plot the zero pulse on the scope for diagnostic purposes Scope channel Encoder Position Channel 1 3 Np Reference cam limit switch The reference cam signal can be optionally linked to one of the digital inputs Inputs ISDOO to ISDO6 are available In homing to a limit switch the digital i

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