AX-V MAIN USER MANUAL - Phase Motion Control
Contents
1. Corrente di uscita Arms e potenza resa kW 1 Area operativa azionamento AX V 10284 in funzione della tensione di uscita per alimentazioni 230 380 460 Vac 1497 a Sif Corrente dell azionamento Area operativa azionamento AX V 23404 in funzione della tensione di uscita per alimentazioni 230 380 e 460 Vac 7 6 Area Operativa AX V 25554 Corrente dell azionamento 0 100 200 300 400 500 Area operativa azionamento AX V 23404 in funzione della tensione di uscita per alimentazioni 230 380 e 460 Vac lt 18 8 Electrical Connections Pin 10 11 12 13 14 15 16 17 18 19 20 COM MAND TERM INAL C1 FUNCTION AND SIGNAL DESCRIPTION Connector Terminal Phoenix 20 pin cod 1847301 Name ROP RON R1P RIN AO0 AO1 GND DIO DI DI DI3 DOO DO1 DO2 DO3 RLM RLO RLC 24V OV Type Analog Input Analog Input Analog Input Analog Input Analog Output Analog Output Analog Ground Digital Input Digital Input Digital Input Digital Input Digital Output Digital Output Digital Output Digital Output Relay Contact Relay Contact Relay Contact Aux Supply Aux Supply Function Positive signal of differential input Negative signal of differential input Positive signal of differential input Negative signal of differential input Programmable Output Programmable Output Programmable Inpu2. 11 4 Intradrive These parameters allow the serial synchronous connection INTRADRIVE a fast bidirectional data exchange through AX V drives 16 word 4 kHz This link uses RJ11connectors X3 and X4 For more information refer to manual ntradrive Parameter Value Default SYS_ID_ADDR 0 Disable Intradrive connection 0 1 Configure AXV drive as M aster Intradrive 2 15 Configure AXV drive as Slave Intradrive SYS_ID_ELEMENTS 0 15 Select the total number of AXV drive connected to Intradrive 0 bus This value is necessary for the master optional for slaves 11 5 Analogue outputs These parameters allow balance offset of user s analogue outputs Parameter Value Default SYS DACO_ OFFSET Offset analog output 0 Connector C1 5 0 SYS DACO_ OFFSET Offset analog output 1 Connector C1 6 0 SYS _DACO_OFFSET Offset analog output 2 Connector C2 3 0 SYS DACO_ OFFSET Offset analog output 3 Connector C2 4 0 11 6 Serial link RS485 These parameters set up the communication over RS485 Connector X1 Remember AXV drive can operate only as Slave that is answers only to a Master request Parameter Value Default SYS BAUD RATE Set serial port RS485 baud rate 38400 SYS_SER_DELAY Set min delay in ms before AXV drive answer 0 11 7 Motor thermal protection A peculiarity of brushless motor is overload In transient for example during an acceleration
3. AX V M AIN USER MANUAL Release 5 2 Date Feb 25 2002 Supported models AX V 06094 AX V 10144 AX V 10284 AX V 23404 AX V 25554 Phase Motion Control s r l Via Adamoli 461 16141 Genova Italy Tel 39 010 835161 Fax 39 010 8355355 e mail support phase it 9 poles PIN to PIN serial cable Terminal A Terminal B Terninal C Line R Line R Line Line Line T Line T JUMPER Connect to ground screws on drive front panel SINCOS BIGITAL CONNECTOR DIGITAL ENCODER CONNECTOR Si cont gurable Analog Input 2 A Analog Input 2 Analog Output 2 Analog Output 3 Ground Digital Input 4 Digital Input 5 Digital Input 6 Digital Input 7 Digital Output 4 Digital Output 5 Digital Output 6 Digital Output 7 Encoder Simulator Ch A Encoder Simulator Ch B Encoder Simulator Index Analog Input 0 Analog Input 0 ge Analog Input 1 A Analog Input 1 Analog Output 0 Analog Output 1 Ground Digital Input 0 Digital Input 1 Digital Input 2 Digital Input 3 Digital Output 0 Digital Output 1 Digital Output 2 Digital Output 3 Rele Common Rele Open Rele Closed 24 V Input 0 V Input
4. 24 V ov IC Supply I Oe GOLAVE AEA E 4 2 What isa motion control platform i 4 3 To get SLAMS li aaa 6 4 Miei al 9 5 Emergency and power fail condition handling 12 Bid Seleucia iaia si 12 5 2 Emergency stop with inertial loads safety brakes 12 5 3 Power fail with high energy ad 13 5 4 Thermal protection aci ninna 13 6 Technical SPECIAL iaaa aaar 14 6 1 Electrical specifications a cissotinasisiinsicieadincnieianaitepinioadteianteianndastariadineaenanicdustaushiientceaeiedys 14 6 2 Physical Dalai 15 T Eicma 16 7 1 Derating of output current with temperature increase eee 16 7 2 Area Operativa AX V 06094 16 7 3 Area Operativa AX V 10144 iaia 17 7 4 AQOPIANIARVIO I iii 17 7 5 Area Operativa AX V 23404 miao 18 7 6 Area Operativa AX V 25550 rai 18 8 Electrical CONAI 19 9 Mechanical Installatioun nnana 28 10 AX V EQUIEGOGES sla 28 11 SII 31 bocca 31 11 2 Braking resistor iii 31 T13 Encoderco nterS siii 32 ILA MIE ssaa 34 11 5 Analogue UPS ana rara aaa risa 34 TL6 SerfalIinieRS465 dro 34 11 7 Motor thermal PROTON itcticnondircinriindomsininedindnnicmndindoudaencinanen 34 11 8 Position Speed OO rr ai 35 11 9 Expansion OGG siria ara 35 11 10 Emergency DraKing sssrcnanprenia aerei ai 35 12 CE conformity of AXV platforms Ultract M inact Wave MOtors 36 12 1 Wiring recommendations and CE typical system for conformity to EM CD and LVD 36 12 2 EC D
5. Lungobisagno Istria 27r 16141 Genova The applied standards are the following IEC 34 1 34 5 34 6 34 11 34 14 e IEC 72 EN 60529 IEC 249 1 10 86 IEC 249 2 15 12 89 IEC 326 1 10 90 EN 60097 9 93 12 9 The EMCD Directive 89 336EWG The EMCD directive relating to electromagnetic compatibility is effective for equipment which may either cause electromagnetic disturbances or be affected by such disturbances The aim is the limitation of the generation of electromagnetic disturbances so that the operation of radio and telecommunication systems and other equipment is possible and that a suitable immunity of the equipment against electromagnetic disturbances is ensured so that the operation can be achieved Controllers cannot be driven in stand alone operation and therefore the controllers themselves cannot correspond to the EMC directive The controllers must be integrated into a drive system to check the compliance with the EC directive relating to EMC of the Regulation about the electromagnetic compatibility of devices Phase Motion Control has verified the conformity of controllers integrated into a typical drive system see below The user can use this example as a reference to design a system in according to EMCD 12 10 Installation as specified 1 The RFI filter needs a ground connection The typical application is not operable without ground connection 2 The drives are not domestic appliances and are not
6. be connected only on AX V side together with outer shield Encoder type is impressed on motor label Feedback Device Internally connected at factory 40
7. braking ramp can be programmed as needed Once more a safety brake can be safely released only at the end of the braking cycle The 24 V supply of the brake should be thus derived from the same switching power supply feeding the drive The drive relay can be used to release the brake once all the kinetic energy has been dissipated 5 4 Thermal protection delay When a load carries a high kinetic energy an untimely deenergization due to a protection tripping can be dangerous For this reason the thermal protection of drive and motor is delayed approx 2 s from the onset and the setting of the appropriate terminal signal so that the load can be braked safely before the drive trips Ff dai 6 Technical Specifications 6 1 Electrical specifications gua AX V AX V AX V AX V AX V Electrical Specifications 06094 10144 10284 23404 25554 Units Supply voltage 0 506 Vac 3 phase Supply current 1 9 14 28 40 59 Arms Supply Frequency 0 400 Hz Nominal power 2 2 8 5 5 11 11 5 KW Output current P n x lt 100 rpm speed S1 3 6 9 10 14 10 14 23 36 25 32 Arms gy Put curent maxspeed 5 6 5 faao faao 1803 18 4 2 Arms Peak current 9 14 28 40 55 Arms Output voltage Vin x 0 95 Vac PWM Frequency 16 KHz eo at nominal power 96 5 96 5 96 5 95 95 Form factor 9 i of peak Maximum braking current 100 current Aux Supp
8. close Control Panel to allow the correct view of red and green blinks Ft ci CODE 00001 00010 00011 00100 00101 00110 00111 01000 01001 01010 01011 01100 01101 01110 01111 10000 10001 10010 10011 Error n Error 1 Error 2 Error 3 Error 4 Error 5 Error 6 Error 7 Error 8 Error 9 Error 10 Error 11 Error 12 Error 13 Error 14 Error 15 Error 16 Error 17 Error 18 Error 19 Description Bridge Short Circuit Overcurrent Dc Link Overvoltage Heat Sink Overtemperature M odule Junction Overtemperature Brake Short Circuit Motor Overtemperature Aux Power Undervoltage DSP Program Error 16 KHz Interrupt Overtime Invalid Flash Parameters Bad Flash Device Brake Overpower Heatsink NTC Disconnected R Brake always on Lock Drive Digital Encoder Count Error SinCos Encoder Count Error Encoder Simulation Possible Reason A short circuit occurred on the motor windings or the power bridge Over current protection lt may occur if current loop parameters are not properly tuned for the motor Brake resistance is not properly connected or is broken Too heavy work cycle Too heavy work cycle A short circuit occurred on brake resistance Motor windings overtemperature or PTC sensor not connected to the drive Supply voltage 24 V too low Firmware error Firmware error Parameters v
9. phase it is possible to supply 3 or 4 times the nominal current However strong overloads if not monitored may be dangerous for motor especially if it is of small size ULII size 2 and 4 This may happen because local overheating of winding may be so fast to damage it before thermal sensor works AXV drive holds a motor thermal model that allows to temporary feed the the max current to the motor but limits it to avoid damaging the motor itself Parameter SYS MOTOR_TC allows this protection to take into account the motor thermal time constant The value of motor nominal current used for limitation must be written in GPLC application into Inom variable Ff ui l Parameter Value Default SYS MOTOR_TC Motor thermal constant 15 Note This variable is expressed in local units the value may be calculated as 5000 Ta where Ta is motor thermal constant period in seconds 11 8 Position Speed Loop Parameter Value Default SYS_POS_ERR_MAX Set max position recovery M easured as interpolated 8388610 encoder counts that is encoder counts 14 512 Enc pulse SYS _SPL_ZERO Set cutoff frequency for digital low pass filter inserted at 4096 speed loop output Useful to cancel high frequency vibrations gt 300Hz See graph 1 at page 31 SYS ACC_FFW If On uses acceleration gain only in feed forward that is Off requires a current proportional to reference acceleration Useful to minimise the
10. 6 SINN Ana digi Negative Sin Input ch C Sine 1v PK PK absolute 7 H1 Digital Input Hall Ch 1 Square wave 0 5V 8 H2 Digital Input Hall Ch 2 Square wave 0 5V 9 H3 Digital Input Hall Ch 3 Square wave 0 5V 10 GND PTC OV 11 PTC M otor sensor terminal 12 RESEXN Analog Output Positive resolver excitation Sinusoidal 2 V pk pk 8 kHz 13 GND PTC OV 14 ANNA Ana digi Negative Input ch A Sine 1V pk pk digital 15 BNANA Ana digi Negative Input ch B Sine 1V pk pk digital 16 INANA Ana digi Negative Input Index Sine 1V pk pk digital 17 COS Ana digi Direct Cos Input ch D Sine 1V pk pk absolute 18 SIN Ana digi Direct Sin Input ch C Sine 1V pk pk absolute 19 GND PTC OV 20 HIN Digital Input Negative Hall Ch 1 Square wave 0 5V 21 H2N Digital Input Negative Hall Ch 2 Square wave 0 5V 22 H3N Digital Input Negative Hall Ch 3 Square wave 0 5V Converts encoder input S1 in 23 ABREN Digital Input Enable encoder simulation encoder simulation output low active 24 RESEXP Analog Output Negative resolver excitation Sinusoidal 2 V pk pk 8 kHz 25 AUX Analog Output Encoder Alim Programmable 4 5 15V 250 mA In case of connection to Ultract motors for encoder codes refer to Appendix A in this manual 26 POWER CONNECTOR CARD TERMINAL PHOENIX PC4 10 ST 7 62 10 WAYS FEMALE er ULTRACT Pin ULTRACT motor wire Tema Desenption connector colour A M otor phase A A Blue B M otor phase B B Red C M otor phase C C Yellow R M ain
11. D PTC HIN H1 HALL 2 HALL 3 AUX 5V ENC A PTC ENC l ENC A ENC B ENC ENC B CARD CONNECTOR CANNON D 15 PIN MALE Type OV Digita input Digita Input Digita Input Digita Input Aux Alim Digita Input Digita Input Digita Input Digita Input Digita Input Digita Input Digita Input Digita Input Digita Input In case of connection to Ultract motors for encoder codes refer to Appendix A in this manual Function Negative Hall Sensor phase 1 Hall Sensor phase 1 Hall Sensor phase 2 Hall Sensor phase 3 Encoder Ch A Motor thermal protection Negative Encoder Index Negative Hall Sensor phase 1 Negative Hall Sensor phase 1 Negative Encoder Ch A Negative Encoder Ch B Encoder Index Encoder Ch B Signal Description Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V Square wave 0 5V 295 SENSOR CONNECTOR S2 FUNCTION AND SIGNAL DESCRIPTION CARD CONNECTOR CANNON D 25 PIN MALE Card Pin Name Type Function Signal Description 1 AANA Ana digi Direct Input ch A Sine 1V pk pk digital 2 BANA Ana digi Direct Input ch B Sine 1V pk pk digital 3 IANA Ana digi Direct Input Index Sine 1V pk pk digital 4 GND PTC OV 5 COSN Ana digi Negative Cos Input ch D Sine 1v PK PK absolute
12. Internet Explorer It is possible also run the file setup exe in the folder d setup axvsetup disk1 Install AXV Cockpit in the PC After the end of setup restart the PC To complete installation is needed run the file Run Me First in the men Start gt Programs gt AXV Cockpit to do only one time after installation Minimum wiring requirements For PC connection only e Connect 24 V supply between 24 V and 0 V on C1 interface e Connect RS 485 line to PC e In this state the drive can be queried and programmed No high voltage power is necessary Power wiring e Wire motor phases to A B and C terminals of power connector respecting scheme enclosed with the motor For this wiring is needed a shielded cable with a section appropriate for the nominal current of the motor The shield must be connected to ground both on motor side and on AXV panel In case of doubt it is possible to check the phase sequence and the encoder phasing by means of Test Routine application e Wire external power supply to R S and T terminals of power connector NOTE AXV drives are designed to work only with three phase supply at any voltage up to 460V 10 e WARNING A braking resistor is needed for proper use of AXV To use internal one connect an insulated jumper with section appropriate to the drive current between power terminals BR and DC To use an external braking resistor with higher rated power connect it to DC and BR terminals wit
13. al Input Digital Input Digital Input Digital Input Digital Input Digital Input Digital Input Insulated Gnd digital inputs Insulated Gnd digital inputs Function Insulated reference for Digital Outputs Programmable output Programmable output Programmable output Programmable output Programmable input Programmable input Programmable input Programmable input Programmable input Programmable input Programmable input Programmable input Programmable input Programmable input Programmable input Programmable input Description Supply Voltage 10 30 V to Pin 15 OV PNP open collector 100mA max PNP open collector 100mA max PNP open collector 100mA max PNP open collector 100mA max 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V 6 6 kOhm to gnd Pin 1 20 30 V Po hes CAN BUS CONNECTOR J1 Option C Board connector type Cannon Sub D 9 pin male plug Pin N Name Type Signal Description 1 n c 2 CAN L Digital 5V Signal CAN LOW 3 SHIELD Ground 4 n c 5 n C 6 GND Ground 7 CAN H Digital 5V Signal CAN HIGH 8 n c 9 n c PROFIBUS CONNECTOR Option P Phoenix Termina
14. alues are not recognized Try to click the SAVE button in AXV Cockpit and than reset the drive Firmware error Brake resistance too hot due to excessive regenerative energy If repeated switch to an appropriate external braking resistor The Heatsink thermal sensor could be broken or disconnected Power supply voltage is too high or clamp voltage is too low Check parameter SYS_OV_CLM_LIM Drive stopped by software Wrong number of encoder pulses between two indexes Check parameter Tn_CY_REV and verify all ground and shields connections Wrong number of encoder pulses between two indexes Check parameter Tn_CY_REV and verify all ground and shields connections Maximum output bandwidth of encoder simulation exceeded Check parameter Tn_SE_MAX_BW 29 CODE 10100 10101 10110 10111 11000 11001 11010 11011 11100 11110 11111 Error n Error 20 Error 21 Error 22 Error 23 Error 24 Error 25 Error 26 Error 27 Error 28 Error 30 Error 31 Description Level fault in AD Encoder Level fault in AN Encoder Incremental to absolute sensor error Hardware not compatible with Software Cooling fan locked Invalid system parameters Expansion board Error Intradrive not synchronised Slow Task overtime Relay Off User Alarm Possible Reason The check of the level in analogic digital encoder has reported an error The check of the level in analog
15. ave separate and independent power supplies for emergency shutdown and debugging e Real time temperature observer for each power chip with adaptive current limit High speed sensor interface two independent inputs configurable a main 4 channel analogue digital encoder input 200 kHz BW which can be programmed to receive the following signals 1 SINCOS 5 channel encoder 2 absolute analogue tracks 2 incremental analogue tracks index default encoder Digital 6 track encoder 3 Hall commutation 2 incremental index Analogue 6 track encoder 3 Hall commutation 2 analogue incremental index Incremental digital encoder without commutation tracks requires autophasing Analogue SINCOS 2 tracks encoder or Resolver Hall sensors Incremental 2 track analogue encoder SINCOS 5 track encoder with digital incremental track Se oe ee A secondary encoder I O 500 kHz which can be programmed as follows 2 Digital 6 track encoder 3 Hall commutation 2 incremental index 4 Incremental digital encoder without commutation tracks requires autophasing 6 Hall sensors Resolver output signals must be connected to sine and cocine inputs of terminal S2 a Ff i l REM ARK to provide for long supply cables the encoder power supply can be programmed in the 5 15 Vdc range Tuo high speed outputs Encoder emulation any ratio with the main encoder including index on the S1 connector alternative to secondary enc
16. ctive system PDS to satisfy the requirements of the IEC EN 55011 norm Class A and EN 50022 Class B As Components the AXV drives comply with the IEC 1000 4 2 IEC 801 2 and IEC 1000 4 4 IEC 801 4 without any accessory or protection A to S2 or S1 Encoder connecting terminal AARUN SINCOS ENCODER 5 DIGITAL RESOLVER TRACKS ENCODER Type R Type S P SJ Type E F G GJ Pin motor terminal board Pin AX V 25 poles Pin AX V 25 poles Pin AX V 25 poles motor side connector S2 connector S2 connector S2 1 3 Pair 1 25 Pair 1 12 Pair 1 2 16 Pair 1 10 Pair 1 24 Pair 1 3 1 Pair 2 21 Pair 2 18 Pair 2 4 14 Pair 2 8 Pair 2 6 Pair 2 5 2 Pair 3 7 Pair 3 17 Pair 3 6 15 Pair 3 20 Pair 3 5 Pair 3 7 10 Pair 4 1 Pair 4 n c n c 8 25 Pair 4 14 Pair 4 n c n c 9 17 Pair 5 16 Pair 5 n c n c 10 5 Pair 5 3 Pair 5 n c n c 11 18 Pair 6 9 Pair 6 n c n c 12 6 Pair 6 22 Pair 6 n c n c 13 n c n c 15 Pair 7 n c n c 14 n c n c 2 Pair 7 n c n c 15 11 Pair 7 11 Pair 8 11 Pair 4 16 19 Pair 7 19 Pair 8 19 Pair 4 17 Reserved PTC Reserved PTC Reserved PTC 18 Reserved PTC Reserved PTC Reserved PTC NOTE Always use shielded cables with twisted pairs Connect the shield to ground on motor side and to pin 4 of connector S2 on AX V side In case of use of cables with double shield the inner shield should
17. de the drive Within the limits of the available I Os and of the program memory all standard automation functions of the IEC 1131 3 PLC language are available on top of the real time motion control ability of the AXV platforms including the acquisition of two separate encoders The PLC software runs three independent tasks a fast one used for motion control purposes which runs at 4 kHz and two slow tasks for all other uses running at 125 Hz The GPLC language is so powerful that very fast functions such as position control electronic camshaft trajectory control electric gear can be implemented together with dedicated sensor and I O interface This way the AX V equipped with application specific and private software can become the very control centre of an automation application For detailed information on programming refer to AXV Programming Manual in the CD bundled with the platform A set of basic Applications with related GPLC source code is provided with AXV platform These applications can be loaded into the drive by means of AXV Cockpit see manual PII D controller 4 compensation terms are available proportional speed derivative acceleration integral position integral of position with this term zero steady state position error can be obtained ae l In every platform at the end of factory tests the standard application Speed V is loaded standard software designed for classical app
18. dynamic error when using internal positioner of AXV drive If Off the acceleration gain needs a current proportional to acceleration error derivative standard contribution SYS HIGH GAINS Multiplies by 4 the scale of position and speed gain Off 11 9 Expansion board Parameter Value Default SYS EXP_BOARD Select if an optional expansion board is installed EXP I O EXP Null CanOpen ecc 11 10 Emergency braking Parameter Value Default SYS UV_V_MIN Voltage at which emergency braking is started 0 SYS UV_P FAK Voltage regulation loop gain 10 a l 12 CE conformity of AXV platforms Ultract Minact Wave motors Declaration of conformity Manufacturer s declaration Installation instructions EC1 8 1 96 12 1 Wiring recommendations and CE typical system for conformity to EMCD and LVD 12 2 EC Declaration of Conformity for the purposes of EM CD e LVD 12 3 Introduction EC directives The EC Directives are manufacturing prescriptions intended to guarantee a standard level of quality reliability and safety for all industrial goods produced and marketed across the European Union The EC Directives are general documents that establish base specifications for the certifications which are subsequently converted into national laws by all member states A certification issued by a member state is valid automatically in all other member states Technical details are
19. eclaration of Conformity for the purposes of EM CD e LVD 36 12 3 Introduction EC de Vesna 36 124 IVD Directive ma 36 12 5 Product WE gt en a 37 12 6 Application as directed Scope of application i 37 a Ff T27 Installa 37 12 8 EC Declaration of CONTO 37 12 9 The EM CD Directive 89 336EWG iraniana 38 12 10 Installation as spediamo 38 12 11 EC DEcarationo role 39 13 Appendix A ULTRACT MOTORS to DRIVE AXV Connections 40 1 Quick Overview The AXV programmable motion control platform is characterised by an innovative power control hardware which is fully personalised by software and configured via a PC link For hardware installation information read on in this hardware manual For information on the PC resident control and configuration tool AXV Cockpit refer to the AXV Cockpit M anual For information on specific functions of all applications refer to HTM L help pages in configuration tool AXV Cockpit For information on programming refer to the software manual Programming AXV in the CD bundled with the platform 2 What is a motion control platform AX V is the first realisation of a novel concept in motion control technology AX V is a configurable motion control platform based on a very fast DSP dedicated to real time servo control application VECON integrated into a versatile and innovative power control hardware The result is a fully confi
20. er frequency cause a certain amount of leakage current to flow in the ground wires This current may cause tripping of sensitive differential device and need to be taken into account while sizing differential protection devices For the same reason high frequency noise is normally conducted through the ground wire all sensitive devices or cables should be wired at a distance from the ground wire and cross the same wire at a right angle 13 All devices drives filters motors must be grounded on a single ground bar with ground wires as straight and short as possible NOTE As specified in the EMC IEC 22G 21 CDV norm AXV drives are not domestic appliances and can cause interference to radio and tv reception 12 11 EC Declaration of conformity Ref to EC Directive Electromagnetic Compatibility 89 336 EWG NOTE ULTRACT and MINACT series motors and AXV brushless drives series are not stand alone systems and are specified to application fields 2 and 3 in accordance with IEC 22G 21 CDV The conformity with EMC directive cannot be verified on such components To assist its own customers Phase Motion Control declares that AXV drives running Ultract or Minact motors assembled in accordance with the instructions above and completed with the filter SHAFFNER FN251 16 07 or something equivalent with up to 100 meters of shielded conductor cable between the drive and the motor following the cabling normative explained in the user manual allows the a
21. essential that in the event of an emergency the load is braked as quickly as possible To resolve this problem the use of a servo motor with a safety brake is sometimes considered The simple use of a safety brake however is wrong and dangerous for the following reasons e Safety brakes designed for servo motors are stationary brakes They are designed exclusively to hold a motor still when deenergized typically for vertical translations They are not designed to absorb any significant energy also because their torque to size ratio is extreme If used to stop a motor instead of keeping it at standstill they would wear quickly and eventually seize e The braking torque of an electrically driven brushless motor is always higher than that of the brake and the corresponding braking time is shorter Consequently the function emergency stop must be realized as follows the emergency condition because of safety regulation must turn off the mains power to the drive however the auxiliary 24 V must be mantained so that the drive is alive and can brake at the same time the emergency condition must generate a 0 speed reference that brakes the motor at maximum torque using the kinetic energy of the motor The drives regenerates energy from the motor to the DC bus until the motor speed is so low that the motor back EMF is less than approximately 10 V At this speed the DC Bus voltage falls the drives locks in undervoltage and the mo
22. gurable IGBT drive particularly suited for high bandwidth brushless PM motor servo control which can be configured just by loading an application from a software library as a digital drive an intelligent axis controller an electric gear an electronic cam or more generally a fast motion control PLC or GPLC The AXV drive is fully controlled by software no hardware adjustments are needed or possible The control software which personalises the unit as well as all the application and tuning parameters are stored in the unit non volatile memory and are accessed and edited by linking the drive with a PC Such a start up connection is usually performed via the RS 485 serial port The set of application data and tuning parameters which are application specific is the application database To create inspect edit and copy this database the AXV Cockpit configuration tool is supplied along with the platform This tool is installed in the PC which is used to perform the installation of the AX V drive AXV Cockpit works as the control centre of the drive during installation it accesses all drive functions and parameters identifies the unit and its operational life and allows copying to and from 1 The AX V platform is equipped with a multi drop industry standard RS 485 serial link If only a RS 232 connection is available a RS 232 RS 485 converter is necessary da stored data and to duplicate installations It also works as a po
23. hm AXV06094 80 AXV10144 40 AXV10284 25 AXV25554 12 23i 11 3 Encoder counters Following parameters allow to configure the behaviour of encoder counters DI encoder Auxiliary encoder connector S1 Ch A Ch B and Index Parameter Value Default SYS_DI_ENC_FILT Digital filter for noise suppression 3 see table 1 below SYS_DI ENC_MODE Select the count mode 0 0 Multiply x 4 standard encoder 1 Ch A count up Ch B direction 2 Ch A count up Ch B count down SYS_INDEX_ALARM Set a function to verify index position If count error is greater than On number in parameter SYS_IND_DI TOL alarm 17 is set SYS_IND_DI TOL See SYS_INDEX_ALARM 2 AD Encoder Fast encoder connector S2 Ch A Ch B and Index The fast AD encoder input can handle both analogue and digital encoders Some parameters act on both encoders types others are referred to a specific one SYS_AD_RIPPLE Acceptable range of analogue levels The drive can execute a control of analogue levels sin cos to verify encoder or cable failures If limit is exceeded alarm 20 is set Lower the value lower the permitted fluctuation Value 128 disables the control SYS AD _GAIN2 Set the max input range of analog input of AD encoder Expressed in differenzial Vp a SYS COMP_ENC_AD Enables an automatic routine to compensate offset and gain of AD Off analog input SYS_INDEX_ALARM Set a function t
24. hout the jumper between BR and DC Resistance values for external braking resistor must comply with the following table a Ff ua M odel Min Max AX V 06094 600 800 AX V 10144 380 50 Q AX V 10284 20 Q 250 AX V 25554 100 130 If an external resistor is used two system parameters must be configured SYS_R_BRAKE R value in ohm and SYS_PBRAKE MAX nominal power in watt Firmware uses these values to activate thermal protection of braking resistor Additional details in System Parameters paragraph 4 Hardware Description The drive platform is characterized by Power stage e Innovative Ac Ac converter without DC bus electrolytic capacitor which provides instant availability at power on and correct input current waveform in line with the future IEC 555 norm e Auto tuning of current limit vs supply voltage and ambient temperature single drive for 198 465 Vac supply e 16 kHz carrier power IGBT stage 16 kHz ripple frequency built in full power limited duty cycle brake resistor full power braking chopper e Forced ventilation controlled by the drive temperature the fan is turned on only above 70 C to limit dust accumulation the drive temperature is monitored and available for programmable cycle self limiting e Full power stage intrinsic protection overtemperature short circuit to ground and between motor wires with fault condition non volatile storage e Control and power stages h
25. ic encoder has reported an error Sensor check error The firmware is not compatible with the loaded application The cooling fan didn t start at system command This alarm only commutate the relay but don t stop the drive automatically System parameters values are not valid Rewrite into the drive parameters of table System_eng par An error was found on selected expansion board If no expansion board is installed verify parameter SYS_EXP_BOARD in table System_eng par Only for Slave axes of Intradrive link Indicate that the axis is not receiving the synchronisation signals from Master axis If you have no Intradrive link verify parameter SYS_ID_ADDRESS in table System_eng par Slow task didn t return within 8 ms Reduce execution time of slowtsk Verify that there are no infinite loops in the code Drive Relay commutated This alarm can be forced by the user in a GPLC program Auxiliary 24 V supply with excessive ripple voltage or high impedance In this case the internal processor cycles between UV lockout and reset generating an apparent error code no communication is possible RED AM BER GREEN In this case increase the filtering or stiffen the auxiliary power supply 30 11 System Parameters Many of firmware functions may be configurated via System Parameters To enter these parameters run AXV Cockpit and open the file SysXX_en par XX refers to numeric release of firmware referred by parameter
26. intended for domestic use 3 For installations different from the typical application e g use of unscreened cables use of multiple drives etc the conformity to the CE EMC directive requires a check of the machine or system regarding EMC limit values 4 The user of the machine is responsible for the compliance with the EMC directive 5 Screen all power cables from filters to drive and from drive to motor with a shield coverage greater than 85 Signal cables must always be shielded as above In order to reduce the interference caused by the motor cable and the induced noise in the encoder connection cable such wiring must be shorter than 15 meters This limitation is necessary also for the protection of the drive itself For longer cables use appropriate snubber inductors 8 For shield and ground connections refer to fig 1 aS a Ff ie l 9 It is important that the power wires are inserted in wire ways different from the signal and supply one and that any cross between the power and signal cables is carried out at right angle 10 A ground cable between the motor and the drive is always necessary with a layout similar to that of the power cables 11 If sensitive instruments are used for example analogue non preamplified transducers load cells thermocouples etc keep a safe distance between the instrumentation ground and the power ground 12 The RFI filter which is built into the drives as well as the high chopp
27. ive signal differential input Negative signal differential input Programmable Output Programmable Output Programmable Input Programmable Input Programmable Input Programmable Input Programmable Output Programmable Output Programmable Output Programmable Output Digital encoder repetition Ch A Digital encoder repetition Ch B Digital encoder repetition Ch C of of Signal Description 10V Zin 10Kohm if not used connect to GND 10V Zin 10Kohm if not used connect to GND 10V f s 5 mA 10V f s 5 mA 6 6 kOhm rel to ground 20 30 V 6 6 kOhm rel to ground 20 30 V 6 6 kOhm rel to ground 20 30 V 6 6 kOhm rel to ground 20 30 V PNP open collector 24 V 100mA max PNP open collector 24 V 100mA max PNP open collector 24 V 100mA max PNP open collector 24 V 100mA max NPN open collector 30 V 100 mA NPN open collector 30 V 100 mA NPN open collector 30 V 100 mA 20 N Pin 10 11 12 13 14 15 16 17 18 19 20 Name V_DO DO8 DOS DO10 DO11 GND_DO DI8 DI9 DI10 DI11 DI12 DI13 DII4 DI15 DI16 D17 DI18 DI19 GND_IN GND_IN I O EXPANSION BOARD Option Connector Terminal Phoenix 20 pin cod 1847301 Type Supply Voltage Digital Output Digital Output Digital Output Digital Output Digital outputs Insulated gnd Digital Input Digital Input Digital Input Digital Input Digital Input Digit
28. l 9 pins Pin N Name Type Signal Description 1 Shield Ground Cable shield connection 2 n C 3 RX TX B Digitale 5 V Positive Receive transmit Channel 4 n C 5 OV Ground Ground reference for data signals 6 5V Alimentazione Supply voltage for terminating resistance 7 n c 8 RX TX A Negative Receive transmit Channel 9 n c 22 Pin N 10 11 12 13 14 15 Name 0 V PTC n c CLK CLK n c Vcc n c PTC DATA n c n c n c n c DATA n c ENDAT ENCODER CONNECTOR J2 Option C Board connector type Cannon Sub D 15 pin male plug Type Ground Digital 5 V Digital 5 V Power supply Digital 5 V Digital 5 V Digital 5 V Signal Description Connect 0 V PTC and shield Positive Clock Signal Negative Clock Signal Encoder Supply Voltage M otor PTC thermal sensor input Negative Data Signal Positive Data Signal 223 ASYNCHRONOUS SERIAL PORT X1 CARD CONNECTOR CANNON D 9 PIN MALE PLUG RS 485 multidrop half duplex insulated 2500 Vdc standard speed 18 2 kB max hardware 1 MB Terminate line with 120 Ohm by means of panel switch E E E eo ft 9 ENABLE485 Digital input Enable R5485 Mode Input NPN 5 V Active High Jumper with pin 6 to connect to RS 485 Devices hai Card Pin Conn 10 11 12 13 14 15 SENSOR CONNECTOR S1 FUNCTIONS AND SIGNAL DESCRIPTION Name GN
29. lications SpeedV turns the AXV in a versatile digital platform for brushless servo motors Main features are e Two different control mode current or speed control e Standard analogue interface 10V differential or frequency input e Internal ramp generator e Capability to maintain in memory 8 different complete sets of tasks with possibility to switch from one to another on the fly by digital inputs e Electrical gear capability For detailed information on SpeedV functions and I O refer to related HTML pages available by opening the SpeedV3_4eng par file with AXV Cockpit 3 To get started The AX V platform is a fully digital fully configurable drive To interface with the drive and to input the application parameters for the first time a link with a PC is necessary After programming the drive can be either controlled via the terminals the serial line or a field bus option For the drive initialisation a PC running Win 9x Me 2000 or Window NT 4 0 or higher is required with a RS 485 serial line and at least 15 M bytes free disk space is required If no RS 485 serial line is available on the selected PC a RS232 485 interface converter is required Supplied components e AX V hardware platform e Pre loaded VPLC firmware all drives are supplied unless otherwise specified with the SPEED V application set for Ultract Il and SINCOS encoder e Application Parameter table a default parameter set as stated above is
30. ly Voltage 20 30 Vdc 5 For 230 Vac input supply 1 Peak Value 2 Input bridge losses included 3 Vin 380Vac Tamb 40C Freq Comm 16 kHz Vout Vin 95 4 Excluded auxiliary supply losses 5 Not stabilized max ripple 1 Vpk pk gt 0 6 A nom 14 AX V AX V AX V AX V AX V Unit 06094 10144 10284 23404 25554 100 200 W 120 160 180 300 300 Ww 1400 2800 J C Forced cooling 85x225x341 182x225x341 Mm 2 4 5 3 Kg IP20 0 5 g in every direction 0 10 Hz 0 59 0 50 C 20 70 C 0 95 non condensing 0 1000 mt derate current by 3 each 100 m above 1000 m lt 15 7 Electrical Ratings 7 1 Derating of output current with temperature increase 120 100 80 Output current of nominal 60 0 10 20 30 40 50 Percentage variation of output current vs room temperature C 7 2 Area Operativa AX V 06094 10 Corrente dell azionamento Arms e potenza resa kW gt bi ic mem ci ll pi i i o 0 300 500 Li Vo 497 Volt Area operativa azionamento AX V 06094 in funzione della tensione di uscita per alimentazioni 230 380 e 460 Vac PS Si Ss 16 Corrente dell azionamento Arms kW Area operativa azionamento AX V 10444 in funzione della tensione di uscita per alimentazioni 230 380 e 460 Vac 7 4 Area Operativa AX V 10284
31. not included in the directives They are determined by the relevant European harmonized standards EN After verification affixing a CE mark certifies the conformity to the CE directives Within the EU there are no commercial barriers for a product with the CE mark A conformity certificate however is generally not required for most directives Consequently it is not always evident which of the so far 21 EC directives is considered in the CE mark of a product and which standards are considered in the conformity verification In the field of Brushless motor drives the CE mark is referred exclusively to the Low Voltage Directive As for the EMCD directive a drive is only a component and not a system and the conformity of the system to the EMCD remains the sole responsibility of the system designer or user In order to assist their Customers Phase M otion Control have already proved and certified the conformity of a CE typical system to the EMC directive see following chapter with the AXV digital platforms and the ULTRACT II brushless motors 12 4 LVD Directive The LVD directive deals with all electrical machines operating in usual environments between 50 and 1000 V AC and between 75 and 1500 V DC This directive does not apply to applications in particular atmospheres and or anti explosion machines also it does not refer to lifting equipment The directive s general purpose is to guarantee a uniform electrical safety level from the p
32. o verify index position If count error is greater than number in parameter SYS_INDEX_ ALARM alarm 18 is set SYS IND AD TOL See SYS INDEX_ALARM SYS GATED ENC Set to On this parameter if using digital encoder with masked index off with high channels A and B Set to Off if using analog encoder Ft La Table 1 Digital filter on AD and DI encoder input SYS_DI ENC_FILT Suppress fronts closer than SYS AD_ENC FILT 0 ns 50 ns 100 ns 200 ns 400 ns 800 ns 1 6 us NI BD OT BY WIN ej 3 2 us AN Encoder Slow analogue encoder input connector S2 Ch Sin and Ch Cos Parameter Value Default SYS _AN_FILT Digital filter for noise suppression see graph 1 4096 SYS_AN_RIPPLE Acceptable range of analogue levels The drive can execute a 100 control of analogue levels sin cos to verify encoder or cable failures If limit is exceeded alarm 20 is set Lower the value lower the permitted fluctuation Value 128 disables the control SYS AD GAIN1 Set the max input range of analogue input of AN encoder 1 Expressed in differential V p SYS_COMP_ENC_AN Set an automatic routine to compensate offset and gain of AN off analogue input Graph1 Cutoff frequency for digital filter ae A 100 i i
33. oard Only one option board can be installed on each drive 11 5 Emergency and power fail condition handling 5 1 General The AX V platform has been purpose designed with two completely separate power supplies The power circuit is fed from the mains voltage without preload timing while the control part needs to be fed from a separate unregulated 24 V supply which is converted by the internal switching regulator for all internal services and for the supply of motor encoders at the appropriate voltages This design solution overcomes all uncertainties of timing and synchronisation between drive and control cabinet by unifying the same power supply for all services such as sensors PLCs switches and latches In this way all data are memorised and reset at the same time and a simple back up is possible for all machine information without backing up the main power too The power stage without preload and without storage capacitors ensures that the main power is available to the drive without delay whenever the mains power switch is operated 5 2 Emergency stop with inertial loads safety brakes Many applications involving brushless servo drives move high inertia loads in short fast cycles typical example are Cartesian robots or pick and place machines When the load is moving at top speed a significant amount of energy is stored in the load so that a sudden deenergization of the brake could be dangerous It is therefore
34. oder input line driver 5V differential e Secondary encoder replica 24 V single ended open collector hard wire connection with the S1 encoder input it is a replica of encoder emulation or of the secondary encoder depending on option chosen General purpose interface 3 programmable differential analogue inputs 4 programmable analogue outputs 8 8 programmable digital I Os Programmable mechanical relay contacts 1A 250V Communication Opto isolated multi drop RS 485 asynchronous serial interface Field bus option 1 synchronous high speed serial line INTRADRIVE ultra high speed 1 Mbaud serial loop interface to link up to 4 AX V drives into a multi axis multi I O coordinated environment Hardware IP 20 insulated enclosure with internal RFI shielding book type Power and control interfaces with removable terminal connector Encoder and serial interfaces via standard D connectors Built in ground bar 4 x M 4 for cable shield termination Architecture Nonvolatile program memory area 256 kByte Processors 40 M IPS Task timing Current and drive monitor loops 16 kHz Servo and position loop calculations 8 kHz Fast task user programmable 4 kHz Slow task user programmable 125 Hz Position and position targets registers 64 bit words 2 turns with 1 2 resolution per turn a a Opzioni A Digital I O expansion board 12 inpit 4 output A CanOpen expansion board A Profibus expansion b
35. oint of view of user s risk and of possible damage to objects the directive dictates the product to be supported from the point of view of safety and of application prescriptions 9 cc 12 5 Product safety 1 2 3 Transport installation and use of the drives is reserved to qualified staff IEC 364 The opening of the drive s enclosure or motors protections or a defective installation can lead to personal or material damage Drives and motors can have hot rotating and live internal parts this can be the case even with power supply turned off 12 6 Application as directed Scope of application 1 2 3 4 AXV AX4 drives are intended for variable speed motion control application inside the entire machine control cabinets When integrating the drives into machines they may only be commissioned i e operation as directed if the correspondence to the EC EMC directive 89 336 EWG is proved EN 60204 must be observed The technical data on the units nameplates must be observed The drives correspond to the LVD 73 23 EWG 12 7 Installation 1 2 3 The units must be installed and cooled according to the regulations stated in the corresponding documentation Ensure that no components are bent or insulation distances changed during transport The electronic components and contacts must not be touched When working on an energized controller the valid national requirements for the prevention of accident
36. s Supply R DE S M ains Supply S la T Mains Supply T i BR External braking resistance connection _ _ connect this terminal to DC DC Positive DC bus saz PA DC Negative DC bus me oa BR Connect to DC to enable mm i internal braking system 237 l i paai I AX V Dimensions i O AX V 06094 85 50 AX V 10144 85 50 al AX V 10284 85 50 at AX V 25544 182 100 hing d 5 mm td ui l e Install inside control cabinet do not obstruct air flow from low side to upper side e Avoid proximity lt 40 mm of walls and other devices on upper and lower side e Check distance between drive and motor if wiring exceeds 15m insert appropriate snubber inductors e Check cabinet inside temperature and cooling conditions 10 AX V Fault codes Remark fault conditions are identified either with the Flight Recorder function in AX V Cockpit or when the PC is not connected by a digital code on the signal LED The code meaning is as follows e Continuous green normal operation e Continuous yellow data transfer e flashing fault green 0 red 1 Example green green red red red 00111 motor Overtemperature All fault conditions are latched and are reset either by Control Panel or by cycling the 24 V off and on Note If Control Panel is enabled the error code cannot be read because of the fast communication speed with the drive
37. s must be observed The electrical installation must comply with applicable regulations cable cross sections fuses protective conductor connections All control inputs and outputs of the drives are insulated with a basic insulation functional Another level of protection must be implemented for personal safety against electrical contact When using current operated protective devices please note that The controller have internal DC rectification A DC fault current is therefore possible Some differential current protection systems are made inoperative by DC current leakage Use only universal or pulse operated protection devices The RFI filter which is built into the drives cause a certain amount of leakage current to flow in the ground wires This current may cause tripping of too sensitive differential device and need to be taken into account while sizing differential devices Irrespective of the CE mark on both drives and motors it is reminded that the compliance of the required limit values with the legal EMC regulations remain the responsibility of the manufacturer of the system or machine 12 8 EC Declaration of Conformity Ref to EC Low Voltage Directive 72 23 EWG ULTRACT and MINACT series motors and AXV series brushless amplifier are designed manufactured and tested in conformity with the EC Low Voltage Directive 72 23 EWG and under the responsibility of ae Phase Motion Control s r l
38. supplied with the original control firmware and can be modified as necessary and saved e AXV Cockpit configuration tool CD containing e Hardware manual the present one e AXV Cockpit configuration program manual e AXV Programming manual e AXV Cockpit software to program interface install and monitor the application in the AXV GPLC software to develop dedicated applications copy of latest release of firmware directory BONUS with samples of GPLC programming Mechanical drawings of ULTRACT Il motors AXV drive in DXF format and DWF format e Utilities to view and print manuals and drawings Necessary components for first initialization Ff sa e AXV and selected motor e 198 465 Vac three phase power supply not necessary for programming and uploading but necessary for testing the drive e 24 30 Vdc gt 0 6 A control power supply unregulated up to 1 Vpk pk ripple e PC running Windows 9x ME 2000 or NT 4 0 or higher is required with a RS 485 serial line e If no RS 485 serial line is available on the selected PC a RS232 485 interface converter is required available on demand e The browser Internet Explorer 4 0 or higher must be installed available on CD e 15Mbyte free space on hard disk Software installation e Insert the supplied CD Rom into the PC drive e f autorun is enabled the main application starts automatically else open page index htm in root directory of CD with any browser internet e g
39. t Programmable Input Programmable Input Programmable Input Programmable Output Programmable Output Programmable Output Programmable Output Common relay ouput N A relay contact N C relay contact Regulation circuit Aux Alim Neg Aux Alim Signal Description 10V Zin 10Kohm if not used connect to GND 10V Zin 10Kohm if not used connect to GND 10V Zin 10Kohm if not used connect to GND 10V Zin 10Kohm if not used connect to GND 10V f s 5 mA 10V f s 5 mA 6 6 kOhm rel to ground 20 30 V 6 6 kOhm rel to ground 20 30 V 6 6 kOhm rel to ground 20 30 V 6 6 kOhm rel to ground 20 30 V PNP open collector 24 V 100mA max PNP open collector 24 V 100mA max PNP open collector 24 V 100mA max PNP open collector 24 V 100mA max 1A 250 Vac resistive 1A 250 Vac resistive 1A 250 Vac resistive Voltage 20 30 V referred to Pin 20 Absorbed current 600mA 19 Pin 10 11 12 13 14 15 16 COM MAND TERM INAL C2 FUNCTION AND SIGNAL DESCRIPTION Connector Terminal Phoenix 16 pin cod 1847262 Name R2P R2N A02 A03 GND D14 DI5 DIG DI7 DO4 DO5 DO6 DO7 REA REB REC Type Analog Input Analog Input Analog Output Analog Output Analog Ground Digital Input Digital Input Digital Input Digital Input Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Digital Output Function Posit
40. table 11 1 Current loop Control current loop is PID type It is possible set three gains indipendent Proportional Integral and Derivative To obtain a good loop calibration bandwidth 1 kHz overshoot lt 10 many parameters may be setted as in the following table Special motors may require a particular calibration to closed loop step response Parameter Value Default SYS_IC_P_FAK 255 L 2000 SYS _IC_I FAK SYS IC_P FAK 2 2000 SYS IC_D_FAK SYS _IC_P_FAK 4 1000 SYS _HIGH_RES PHASE Enables the commutation of magnetic field orientation on high On resolution encoder after the first reference mark latch These function requires that the encoder is phased according to Phase Motion Control standard If a third party motor or non standard motor is used verify encoder phasing before enabling the function SYS ABS START If On uses absolute encoder if installed to determine magnetic Off field guidance If Off uses absolute encoder only at reset Where L is the inductance measured between two phases in mH 11 2 Braking resistor Following parameters allow to calibrate braking resistor related functions Parameter Value Default SYS OV_CLM_LIM DC Link voltage to activate braking resistor in Volt 850 SYS P_BRAKE_MAX Nominal power of braking resistor in Watt AXV06094 100 AXV10144 100 AXV10284 100 AXV25554 200 SYS R BRAKE Value of braking resistor in O
41. tor is abandoned a tai l If the translation is vertical and the motor is equipped with safety brake only in this moment the safety brake can be released To time the release the relay contacts in the drive can be used The relay is switched by the DC Bus undervoltage that corresponds to motor almost at standstill When the emergency stop logic is realised as described the machine encoders are kept alive and no index search or initialisation is required when normal operation is resumed 5 3 Power fail with high energy load Mains power failure with a high kinetic energy load requires special control provisions In this case the auxiliary 24 V supply may not be available for a time long enough to stop the load Two solutions are possible To back up the 24 V supply with a small battery system This is the highest quality solution all encoders and sensors ride through the power failure and no reinitialization is required when the power supply is again available When the back up solution is not possible the auxiliary 24 V should be generated with a switching power supply fed from the drive DC Bus The drive is equipped with a special power fail routine that irrespective of reference when the DC bus falls regenerates energy from the motor to keep the DC bus at just above the undervoltage level In this way the auxiliary power is made available to the system as long as there is kinetic energy in the load A 0 speed reference or a
42. werful diagnostic tool by interfacing with the drive flight recorder function Cockpit also implements application security by allowing a multilevel password access restriction For more information about AXV Cockpit refer to the AXV Cockpit Application M anual Software enclosed in AXV platforms consists of Firmware and Application Firmware manages operating system and basic resources of the platform current loop speed and position loop protections and diagnostics Parameters to configure these functions are detailed in chapter System parameters Some firmware characteristics are e Fully digital dual direct and quadrature current control loop updated at 16 kHz with 4 kHz control bandwidth e Digital speed loop with true zero speed PID controller with generalised feedforward standard servo e Interpolation of analogic encoder to increase resolution e Autophasing routine for incremental encoders which can be activated from GPLC application e Configurable encoder simulation output Firmware is developed in Phase Motion Control and cannot be modified by the final user Periodically new firmware releases are available at http www phase it New firmware is always compatible with older applications Application contains the motion control program and logic management To develope applications use the Global PLC a programming environment which empowers the user with the ability to create his own automation project insi
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