1. PANNEAU DE COMMANDE PARVEX
Contents
1. O Connector P o C Connector o C Software 0 Software 0 C1 C1 5 fe alle ag Connector Connector O C Software Of Software OF C1 C1 10 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card There are 3 modifiable parameters in the upper section e Indexing position e Position gain e Indexing window Displayed for your information e Actual position e Position error Defines the target position during the indexing phase Programmable value in the motor revolution from 0 to 360 see paragraph entitled Learning Defines the servo controlled gain to the position during indexing Value to be changed to suit each application see paragraph entitled Positioning gain Defines the window around the indexing position in which we consider that the position is reached Actual motor position Difference indicated between the actual position and the target position e Filtered displayed value position error Coupled with this value a logarithmic line chart that situates the motor position in relation to the indexing position Scaled in degrees between 100 and 100 If the position error is less than 0 01 the marker is positioned in the middle of the chart If the error is more than 100 the marker is positioned at the left or right end in accordance with the error sign The I O co2. on the order acknowledgement If equipment has been damaged during transport the addressee must file a complaint with the carrier by recorded delivery mail within 24 hours Caution The packaging may contain essential documents or accessories in particular e User Manual e Connectors Storage Until installed the servoamplifier must be stored in a dry place safe from sudden temperature changes so condensation cannot form Special instructions for setting up the equipment CAUTION For this equipment to work correctly and safely it must be transported stored installed and assembled in accordance with this manual and must receive thorough care and attention Failure to comply with these safety instructions may lead to serious injury or damage The cards contain components that are sensitive to electrostatic discharges Before touching a card you must get rid of the static electricity on your body The simplest way to do this is to touch a conductive object that is connected to earth e g bare metal parts of equipment cabinets or earth pins of plugs 4 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card 1 SC 6643 CARD 1 1 Operating specifications The SC6643 card is an optional extra for using with DIGIVEX Single Drive DIGIVEX Multi Drive and DIGIVEX Power Drive from the DIGIVEX product family It allows e SINCOS motor position emulation e Interface betwe
3. I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card CONTENTS SAFETY INSTRUCTIONS neris a aa aa a a aa 1 SC 6643 CARD 1 1 Operating specifications 1 2 Description 2 SINCOS EMULATION FUNCTION 2 1 Output signals 2 2 Connection 2 2 1 SUB D 9 pin male connector 2 2 2 INDEXING function 3 INDEXING FUNCTION 3 1 Operating specifications 3 2 Description 3 3 Operating principle 3 3 1 Description 3 3 2 Setting parameters with PME software 3 3 3 Using the terminal to set parameters 3 3 4 Learning 3 3 5 Adjustment 3 3 6 CAM input 3 4 Software 3 4 1 Indexing position 3 4 2 Positioning gain 3 4 3 Positioning window 3 5 Connection 3 5 1 SUB D 9 pin connector 4 ELECTRICAL SPECIFICATIONS 1 PVD 3513 GB 01 2003 ao woaoaon 10 10 10 12 12 13 13 14 14 14 14 15 15 16 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac B P 249 F 21007 Dijon Cedex T l 33 0 3 80 42 41 40 Fax 33 0 3 80 42 41 23 www sSsSDdrives com 2 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card SAFETY Servodrives present two main types of hazard Electrical hazard Servoamplifiers may c
4. OV EL 6 EL 6 OV 24V LOGIC INPUTS EL 7 TYPE 1 OPTOCOUPLED EL 7 OV EL 8 EL 8 OV SL 4 SL 4 OV SL 5 SL 5 OV 24V LOGIC OUTPUTS SL 6 50 mA maxi OPTOCOUPLED SL 6 OV 24V input E S power supply 5 2 5 3 5 4 5 6 5 7 5 8 5 g 5 OV input Ov common E S 15 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card 4 ELECTRICAL SPECIFICATIONS 1K 10V 24V DC optocoupled input Type 1 input standard IEC 1131 2 i L 1K MINI NORMAL MAXI 5V Level O inputvotage o w Level O input current oma osma T off response time 1 to 0 Logic outputs T on response time 0t01 ims ieee The outputs are fed by the external 24V terminal 9 The three OV outputs and terminal 5 are linked e Maximum output current level 1 50 mA e Residual current level 0 Negligible e Response time 1ms e Voltage drop for I 50mA 2V PNP opto isolated opto mos output the load being linked to the logic OV terminal 5 LOGIC OUTPUTS LIMITATION 22 Ohms DIGPL17 D 20W 16 PVD 3513 GB 01 2003
5. ave 4 logic inputs and 3 logic outputs e 2 inputs are used Indexing request Cam e 1 output Indexing executed Connection to the external control unit via SUBD 9 pin male plug 9 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card 3 3 Operating principle 3 3 1 Description The user gives an external indexing request instruction via logic input e The motor speed is adjusted to 600 rpm e Wait for the coincidence of the top0 and external cam signal 1 active state e Servo control to the indexing position When the system is in the indexing window e Output of indexing executed logic data The system remains indexed as long as the indexing request input is active value 1 The indexing position is determined by the user during a learning phase Servo control parameters for the indexing position can be set by selecting a gain suited to the application The output of indexing executed data is defined by setting the width of the indexing window around the target position 3 3 2 Setting parameters with PME software The Windows indexing function window is shown below Indexing Eg Actual a E ce Position error degrees 100 10 1 0 1 0 1 1 10 100 180 eae Indexing position degrees O Positional gain Limit position error degrees tpm degrees OUTS r E1 indexing request E6 CAM
6. en DIGIVEX and the external instructions which support the SINCOS signals for executing the positioning e An INDEXING function identical to that of the SH 6601 indexing function card The position sensor is the motor resolver 1 2 Description This card should be inserted in the upper section of DIGIVEX Compatibility This card is only compatible with DIGIVEX motion controllers fitted with a SR6628B microprocessor card and 27C040 memory containing AP513Vxx software It is necessary to have PME driver software version 3 15 or above for this card to be recognized SINCOS emulation allows a SINCOS encoder output to be emulated The indexing allows absolute positioning to a specific position on the motor revolution 5 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card 2 SINCOS EMULATION FUNCTION 2 1 Output signals The A and B sinusoidal signals are out of phase by 90 and have voltage levels of 1Vpp The R reference signal has a voltage level of 0 5 1Vpp A B and R Signals in a clockwise direction at the end of the motor spindle side A Uo B Uo R Uo Incremental signals 2 sinusoidal signals A and B and their inverse A and B Referenced in relation to Up 1 5 V Approx differential amplitude 1Vpp Under an impedance load Zo 120Q Reference signal 1 rectangular signal R per motor revolution and its inverse R Referenced in relation to Up 1 5 V For a resolve
7. external cam with coincidence of the active value value 1 with one and only one of the top0 obtained on the motor revolution The default value SOFTWARE value 1 13 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card 3 4 Software 3 4 1 Indexing position The default value 180 if resolver_polarity 1 3 4 2 Positioning gain The default value 0 212 rom degree The positioning gain adjustment is linked to the application speed frequency range The loaded motor speed frequency range is given by Ke x _ Hz J x19562 f SPEEDFR Gs If the inertia is variable we take the maximum inertia value for the frequency range calculation The position frequency range will approximately be fposrrronrr deene The positioning gain G in rpm degree will be G Coke R J 379880 Tsai speed frequency range Ge speed loop gain mA rpm Ke FEM between phases at 1000rpm in Volts a Total inertia motor load kgm yee position frequency range 3 4 3 Positioning window The default value 9 if resolver_polarity 1 Minimum programmable value 0 05 number of pairs of resolver poles 14 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card 3 5 Connection 3 5 1 SUB D 9 pin connector CONTACT ROLE SPECIFICATIONS EL 5 Indexing request EL 5
8. nfiguration is to be found in the lower section e E5 indexing request e E6 CAM The E7 and El8 inputs are not used Indexing function instruction logic signal 0 normal running mode 1 Indexing see paragraph entitled Cam input Cam logic signal Linked to multi polar resolver use possible Resolver with a single pair of poles signal to be set to 1 Multi polar resolver line the external cam up with 1 and a single encoder top0 1 active state The S5 and S6 outputs are not used 11 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card 3 3 3 Using the terminal to set parameters 10 SPINDLE POSITIONING ACTUAL POSITION SPINDLE STOP POSITION LOGICAL CONTROL HOME SWITCH POSITION GAIN IN POSITION 3 3 4 Learning The indexing position is described as follows Outside of the indexing phase by directly entering the value desired in degrees in the motor revolution During indexing by pressing the and cursors in connection with the indexing position parameter The motor remains servo controlled to this position and follows the variation instruction given by the user The value can also be entered directly into the relevant field with validation by and cursors the motor will suddenly be servo controlled to the new position The adjustment parameters indexing position gain are put into the motion co
9. ntroller memory by using the OK key 12 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card 3 3 5 Adjustment The position gain parameter must be changed to suit the application The indexing timing as well as the stiffness of the position motor spindle will be directly linked to the value of this parameter A value that is too high can lead to motor instability A value that is too low will give a slack positioning as well as slow indexing The indexing window parameter defines the zone around the indexing point where we consider that the indexing is executed When the motor enters this zone the OK indexing output is activated The zone width around the point is variable hysteresis is created window width factor 2 lt 1 1 Direction of motor displacement lt gt Indexing zone 3 3 6 CAM input The cam input allows a multi polar resolver to be acknowledged When the motor speed has been adjusted to 600 rpm the indexing waits for a coincidence between an encoder emulation top0 and the presence of the cam signal The motor will continue to be driven at 600 rpm until this coincidence is obtained The position servo control is triggered as soon as this coincidence is found Single pole resolver e Externally controlled input set at 1 e Or internal control with the value 1 Multi polar resolver e Compulsory use of an
10. ontain non insulated live AC or DC components Users are advised to guard against access to live parts before installing the equipment Even after the electrical panel is de energized voltages may be present for more than a minute until the power capacitors have had time to discharge Specific features of the installation need to be studied to prevent any accidental contact with live components Connector lug protection Correctly fitted protection and earthing features Workplace insulation enclosure insulation humidity etc General recommendations Check the bonding circuit e Lock the electrical cabinets e Use standardised equipment Mechanical hazard Servomotors can accelerate in milliseconds Moving parts must be screened off to prevent operators coming into contact with them The working procedure must allow the operator to keep well clear of the danger area All assembly and commissioning work must be done by qualified personnel who are familiar with the safety regulations e g VDE 0105 or accreditation C18510 3 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card Upon delivery All servoamplifiers are thoroughly inspected during manufacture and tested at length before shipment e Unpack the servoamplifier carefully and check it is in good condition e Also check that data on the manufacturer s plate comries with data
11. r with a single pair of poles Approx differential amplitude 0 5 1 V Under an impedance load Zo 120Q 6 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Resolution Variable resolution using PME 512 256 1024 sinusoids motor revolution for a resolver with a single pair of poles The resolution can be changed by logging on to PME Click on the ENCODER EMULATION picture in the PME window You can select one of three resolutions from the SinCos EMULATION window SinCos emulation x CAUTION After you have changed the resolution you ll have to completely switch off and on the drive and set the Top 0 Resolution 256 p rpm TOP O setting TOP 0 Maximum frequency 205 kHz Maximum motor 50 000 rpm for a resolution of 256 sinusoids revolution rotation speed 24 000 rpm for a resolution of 512 sinusoids revolution 12 000 rpm for a resolution of 1024 sinusoids revolution 7 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card 2 2 Connection 2 2 1 SUB D 9 pin male connector Connector X4 x Type Function Characteristics 6 Output PortR Reference signal 2 Output Port R 0 5V to 1 Vpp under 120Q 7 Output Port B Sinusoidal signals 3 Output Port B 1 Vpp under 120Q 8 Output Port A Sinusoidal signals 4 Output Port A 1 Vpp under 120Q 5 Output Port 1 5V Reference voltage Up 1 5V 9 Ou
12. tput EarthOV OV 1 N C The sub D cover must be linked to the cable shielding PARVEX FELX306337AP3 SC6643 INDEXING FUNCTION SUB D X5 9 pin female plug SINCOS EMULATION SUB D X4 9 pin male plug 2 2 2 INDEXING function Please refer to section 3 8 PVD 3513 GB 01 2003 I O option card SINCOS emulation and indexing function SC 6643 card Indexing function SH 6601 card 3 INDEXING FUNCTION 3 1 Operating specifications The indexing function is an optional extra for using with products from the DIGIVEX family It allows e Absolute positioning to a specific position on the motor revolution controlled by a logic input The output of clearing logic data when the positioning is obtained The function configuration is obtained e Either via PME software e Or via the programming terminal The position sensor is the motor resolver Cards which allow indexing are e SC 6643 card previously described e SH 6601 card 3 2 Description These cards should be inserted in the upper section of DIGIVEX 24V DC external power supply I O Compatibility These cards are only compatible with motion controllers fitted with a SR6628B microprocessor card and 27C040 memory e The SH 6601 card requires AP506Vxx software e The SC 6643 card requires AP513Vxx software and PME software version 3 15 and above The encoder emulator option can be fitted at the same time as the indexing card The cards h
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