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User Manual UM EN IB IL DC AR 48/10A - Configurators

1. 0 0000 0 8800 6949A006 Figure 1 1 Use of the IB IL DC AR 48 10A as an individual drive 1 2 PHCENIX 694900 CONTACT Fields of Application and Functions DOE Positioning CPU Axis 1 LES n Axis 2 Axis 3 En Axis 10 Engl 13821242 nun olo oo olo of okere n pio nlo olo nlo c o ndo alan 8 594840 010909109 11111111 Encoder DC motor iA 6949A037 Figure 1 2 Use of the IB IL DC AR 48 10A in a modular multi axis positioning control system 694900 PHCENIX IB IL DC AR 48 10A 4 quadrant mode DC motors IxR controller Safety equipment 1 3 Function The Inline servo amplifier is designed as an Inline terminal It can thus be easily operated in any control system and can be used to create a distributed positioning control system simply by mounting Inline positioning terminals side by side e g positioning CPUs position detection terminals and other digital and analog output terminals LED diagnostic and status indicators enable quick local error diagnostics The following functions are available Speed control without IXR compensation voltage con
2. 2 1 State 5 8 3 11 Status e eite e decr dns 3 3 Bit assignment 3 6 Supply voltage Calculatirig tt etd 2 10 694900 PHCENIX ES CONTACT IB IL DC AR 48 10A 4 PHCENIX 694900 CONTACT We Are Interested in Your Opinion We would like to hear your comments and suggestions concerning this docu ment We review and consider all comments for inclusion in future documentation Please fill out the form on the following page and fax it to us or send your com ments suggestions for improvement etc to the following address Phoenix Contact GmbH amp Co KG Marketing Services Dokumentation INTERBUS 32823 Blomberg GERMANY Phone 49 0 52 35 3 00 Telefax 49 0 52 35 3 4 18 08 E Mail tecdoc Q9 phoenixcontact com PHCENIX FAX Reply CONTACT Phoenix Contact GmbH amp Co KG Date Marketing Services Dokumentation INTERBUS Fax No 49 0 52 35 3 4 18 08 From Company Name Department Address Job function City ZIP Phone code Country Fax Document Designation UM EN IB IL DC AR 48 10A Revision 00 Order No 26 99 192 My Opinion on the Document Form Yes In part No Is the table of contents clearly arranged Are the figures diagrams easy to understand helpful Are the written explanations of the figures adequate Does the quality of t
3. 1 1 Interface eee BERE 3 2 IXR compensation 1 6 Speed controller sess 1 12 IxPicontrollet 2 ied 1 4 694900 PHCENIX E 1 CONTACT IB IL DC AR 48 10A L LED indicators iieri utet 2 2 M Monitoring the power supply SUCI 35555 RE ie dettes A 5 Motor current monitoring Structure E 5 Multi axis positioning control system 1 1 N Nominal voltage range 2 10 Object 3 14 Operating 5 1 4 OUT process data 3 12 Output level Method of 1 7 Operating modes 1 8 P Parameter CommunicationProfile A 12 ControlWord sss A 18 32 32 CurrentMinMaxValue 31 12 DeviceTemperature 16 27 ErrorCode 17 High Rutine nior A 28
4. 3 2 PCP channel tiec 3 4 3 12 PCP service ADOS c toc A 3 16 l itlatez oen edge 3 15 Bead stie 3 15 Writes cutie 3 16 PGP serviCes ee ee Sloe 3 2 Per thousand function 2 1 PMS initerface edens 3 14 PMS services 3 15 Positioning control 1 4 Power supply 3 1 5 Process data 3 2 Programming data eee 3 1 Pulse wide modulation 1 7 PWM see Pulse wide modulation S T Temperature derating 2 10 Temperature monitoring Structure acre ae tenet A 6 Terminal assignment esses 2 6 Torque control eene 1 6 Torque function 2 1 V Voltage control ete pe Ecce 1 5 W Warning function SIf ctule ile e A 6 Safety equipment esses 1 4 Setpoints Specifying etr 3 2 Speed control With IxR 1 6 Without IxR compensation 1 5 Speed controller 1 12 Speed function Structure sss cen test A 2 Structure in detail sess A 3 Speed function group
5. Outputs Number 1 Connection 1 permanently excited DC motor with brushgears Connection method 3 pos COMBICON connector with shield clamp Output voltage x supply voltage Us maximum Mean value 92 of Us maximum Motor cable 2 wire shielded Continuous current 10 A maximum see Selecting Compatible Motors on page 2 10 Starting current 10 A maximum Motor current limiting 0 A to 10 A can be set via bus Maximum motor voltage x65 V DC Function 4 quadrant servo controller Braking Energy fed back to the power supply unit brake chopper may be required Minimum motor inductance 200 pH at Us 48 V DC 100 pH at Ug 24 V DC Cycle Time of the Internal Digital Controllers Speed controller 1ms Torque current controller 250 Electrical Isolation Logic 1 motor 500 V AC test voltage Pulse Wide Modulation PWM Clock frequency 20 kHz Interfaces Local bus Inline potential jumper Communications power UL 7 5 V DC via potential jumper Current consumption at UL 45 mA typical Module supply 24 V DC via potential jumper Current consumption at Uy 65 mA typical Approvals CE Yes UL Applied for B 2 PHCEN IX 694900 CONTACT Appendix B Conformance With EMC Directive 89 336 EEC Noise Immunity Test According to EN 50082 2 1995 Electrostatic disch
6. SpeedQuickStop Index 604 The Inline servo amplifier calculates the quick stop ramp using the DeltaSpeed and DeltaTime subparameters Quick stop ramp Delta speed delta time The DeltaSpeed unit depends on the dimension factor and corresponds to the speed setpoint unit index 60425 A 26 PHCENIX 694900 CONTACT Parameters SetpointFactor Index 604 Subparameters The SetpointFactor parameter consists of a Numerator subparameter and a Denominator subparameter and is calculated as follows Setpoint factor Numerator denominator The setpoint factor is used to change the resolution and the setting range of the setpoint specification It is only included in the setpoint specification and the output variables of the speed function DimensionFactor Index 604C pex The dimension factor enables the use of units other than rpm revolutions per minute outside the Inline servo amplifier The Inline servo amplifier uses the dimension factor to convert All incoming values to rpm All outgoing values back to the original unit The dimension factor is used to Determine a gear factor Standardize values for frequencies or user specific units It affects the following variables Setpoint specification Speed limitation Ramp function Output variables for the speed function Subparameters The DimensionFactor parameter consists of a Numerator subparameter and a D
7. hex IxRCompensation 010B hex Device Per thousand function Hooda ae Temperature en 6015 SpeedActualValue hex 1 per thousand 6044 function Monitor Nominal speed motor current see Figure A 5 Detect NominalSpeedMotor 010C motor current Per thousand Detect function motor voltage MotorVoltageActualValue 0105 NominalVoltageMotor 0100 hex hex ca 6949A021 Figure A 3 Control function 4 PHCENIX 694900 CONTACT Parameters Structure for Monitoring the Supply Voltage of the Power Section Detect supply voltage SupplyVoltageWarning 0103 IntermediateCircuitVoltage 6079 hex Monitor supply voltage 1 Undervoltage Us lt undervoltage warning 2 warning U gt 0 75 nominal B Supply voltage Us voltage supply 4 US LED of the power supply 0 0 75 nominal NominalVoltageSupply 0101 hex hex H Error Undervoltage of the voltage supply power section supply U gt 60V Error Surge voltage of the power section supply 6949A023 Figure A 4 Monitoring the supply voltage of the power section Structure for Monitoring the Motor Current MotorCurrentWarning 0102 Monitor motor current Overcurrent Motor current gt gt motor current warning warning 150A 5 Error Short circuit 00 at the motor output 6949 024 Figure A 5 Monitoring the motor current A 5 694900 PHCEN IX CONTA
8. 006769 Table A 2 Additional parameters in Speed specification mode Continued Index Parameter Object Data type Access Sub Length Unit Value range Default value hex type 604B SetpointFactor Array 2 RW 00 4bytes Numerator INT16 RW 01 2bytes 10000 10000 1 Denominator INT16 RW 02 2 bytes 10000 10000 1 without 0 604C DimensionFactor Array 2 RW 00 8bytes Numerator INT32 RW 01 4 bytes 100000 100000 1 Denominator INT32 RW 02 4 bytes 100000 100000 1 without 0 604E SpeedReferenceValue Var USIGN32 RW 01 4 bytes rpm 0 30000 1000 604F HighRuntime Var USIGN32 RW 01 4 bytes ms 1 1000000 500 6050 LowRuntime Var USIGN32 RW 01 4 bytes ms 1 1000000 500 6051 QuickStopTime Var USIGN32 RW 01 4 bytes ms 1 1000000 200 6052 PercentageSetpoint Var INT16 RW 01 2bytes 32766 32766 0 16383 100 6053 PercentageReference Var INT16 R 01 2 bytes Variable 6054 PercentageActualValue Var INT16 R 01 2 bytes 16383 100 VOL 8t HV 1181 Parameters KPCurrentController Index 010746x This parameter contains the proportional factor of the filter of the current controller see Adjusting Control Parameters on page 1 12 KICurrentController Index 0108 This parameter c
9. FE ier dee duos Dee Ed RODA FER B 1 1 Technical ec EG ee B 1 B2 Ordering Dalai UE ea ates B 4 CX dod ccc NN C 1 LiSt Of Tables t te Pd de pe D 1 Es E e E ed etd ee eM E 1 ii PHCENIX 694900 CONTACT Fields of Application and Functions 1 Fields of Application and Functions 1 1 Short Description The IB IL DC AR 48 104 Inline servo amplifier is a universal speed or torque controller with a power output stage for permanently excited DC motors with brushgears with a power consumption of up to 450 W The Inline servo amplifier has a 4 quadrant function i e it supplies power back to the power supply unit when the brake function is used see page 1 11 1 2 Possible Fields of Application The Inline servo amplifier is used under the following conditions Torque controller or speed controller Permanently excited DC motors with brushgears Nominal voltages of 12 V DC to 48 V DC Power consumption of up to 450 W Motor current of up to 10 Typical Application The Inline servo amplifier can be used as an individual drive Figure 1 1 or in a modular multi axis positioning control system Figure 1 2 In the multi axis positioning control system the Inline servo amplifier is controlled via the IB IL POS 200 PAC positioning CPU 694900 PHCENIX 1 1 CONTACT IB IL DC AR 48 10A
10. The power level is disabled The drive is disabled When initialization is complete the Inline servo amplifier automatically switches to the Start inhibit state Start inhibit In this state The software and hardware initialization is complete The parameterization of the functions with stored values default values is complete All functions can be parameterized The drive is disabled The power level is disabled Activation of the power level and controller functions is disabled Ready to operate In this state functions can be parameterized The drive is disabled The power level is disabled ON In this state functions can be parameterized The drive is disabled The power level is disabled Operation enabled In this state Operation is enabled The power level and controller functions are activated The speed setpoint or torque setpoint is processed the motor can run functions can be parameterized 694900 PHCENIX 29 IB IL DC AR 48 10A Table 3 2 Device control states Continued State Status Description Quick stop active In this state The quick stop command was initiated in the Operation enabled state The drive is slowed down by the quick stop ramp according to the SpeedQuickStop parameter index 604Apex or the QuickStopTime
11. 6100 Firmware checksum Disconnect the Inline servo amplifier If necessary replace the Inline servo amplifier 7500 SUPI chip initialization Disconnect the Inline servo amplifier If necessary replace the Inline servo amplifier 8100 Communication Bus communication was interrupted Execute the Reset error command 694900 PHCENIX DU CONTACT IB IL DC AR 48 10A ControlWord Index 60404 This parameter represents the 16 bit DRIVECOM control word This parameter is written by default via OUT process data word O In this case the control word cannot be written via the PCP channel Bit assignment Bit Assignment 0 Switch on 1 Disable voltage 2 Quick stop 3 Enable operation 4 5 gt 6 7 Reset error 8 9 10 11 Activate LowRuntime2 12 13 14 15 n As long as bit 11 is set the LowRuntime2 parameter index 0120 is used instead of the LowRuntime parameter index 6050 This means that you can switch very quickly between two different braking ramps A 18 PHCEN IX 694900 CONTACT Parameters StatusWord Index 6041 This parameter represents the 16 bit DRIVECOM status word This parameter is read by default via OUT process data word O Bit assignment Bit Assignment to operate ON Operation enabled Error Voltage disabled Quick stop Start inh
12. 65535 800 010A KlSpeedController Var USIGN16 RW 01 2 bytes 0 65535 100 010B IxRCompensation Var USIGN16 RW 01 2 bytes 0 65535 0 0120 LowRuntime2 Var USIGN32 RW 01 4bytes ms 0 4294967294 1 6042 SpeedSetpoint Var INT16 RW 01 2 bytes rpm 30000 30000 0 6043 SpeedReferenceVariable Var INT16 R 01 2 bytes rpm 6044 SpeedActualValue Var INT16 R 01 2 bytes rpm 6046 SpeedMinMaxValue Array 2 RW 00 8bytes SpeedMinValue USIGN32 RW 01 4 bytes rpm 0 30000 0 SpeedMaxValue USIGN32 RW 02 4 bytes rpm 0 30000 30000 6047 SpeedMinMax Array 4 00 16 bytes 5 USIGN32 RW 01 4 bytes rpm 0 30000 0 SpeedMaxPos USIGN32 RW 02 4 bytes rpm 0 30000 30000 SpeedMinNeg USIGN32 RW 03 4 bytes rpm 0 30000 0 5 USIGN32 RW 04 4 bytes rpm 0 30000 30000 6048 SpeedAcceleration Record RW 00 6bytes DeltaSpeed USIGN32 RW 01 4 bytes rpm 1 1000000 2000 DeltaTime USIGN16 RW 02 2bytes s 0 1000 1 6049 SpeedDelay Record RW 00 6bytes DeltaSpeed USIGN32 RW 01 4 bytes rpm 1 1000000 2000 DeltaTime USIGN16 RW 02 2bytes s 0 1000 1 604A SpeedQuickStop Record RW 00 6bytes DeltaSpeed USIGN32 RW 01 4 bytes rpm 1 1000000 5000 DeltaTime USIGN16 RW 02 2bytes s 0 1000 1 ccv 1 1
13. B e nsert the 2 pos COMBICON connector in the upper slot US on the Inline servo amplifier Figure 2 5 C and secure 694900 PHCENIX 2 7 CONTACT IB IL DC AR 48 10A 2 4 3 Connecting the Motor A 31 mm 11mm 1 22 in 10 mm 0 39 in 2 6949A041 Figure 2 6 Connecting the motor e Strip the outer cable sheath off the cable Figure 2 6 e Shorten the braided shield and place it around the outer cable sheath e Remove the protective foil Fit the stripped wire ends with ferrules e Fasten the shield clamp to the cable The shield clamp must be inserted in terminal point 3 on the connector It simultaneously provides strain relief e Insert the wires for the motor connection in the corresponding terminal points on the 3 pos COMBICON connector Figure 2 6 B e Insert the 3 pos COMBICON connector in the lower slot MOTOR on the Inline servo amplifier Figure 2 6 C and secure 2 8 PHCENIX 694900 CONTACT Installing the Inline Servo Amplifier MEE ccc e First connect only the Inline servo amplifier to the power supply Do not connect the motor yet Set the desired parameters and operating modes Check whether the LEDs indicate normal operation see Local LED Diagnostic and Status Indicators on page 2 2 If so you can connect the motor 694900 PHCENIX 2 9 CONTACT IB IL DC AR 48 10A IS Nominal voltage range Temperature derating of the mo
14. and snap the module vertically onto the DIN rail B A ies e mmus Removing the Inline Servo Amplifier Figure 2 2 B Before removing the Inline servo amplifier remove the adjacent connectors of the neighboring Inline terminals left and right Use a screwdriver to press the latches of the upper and lower snap on mechanisms outward B1 Remove the Inline servo amplifier from the DIN rail B2 694900 PHCENIX iz CONTACT IB IL DC AR 48 10A 2 4 Connecting the Inline Servo Amplifier 2 4 1 Terminal Assignment 6455A003 Figure 2 3 Terminal assignment for the power supply US 1 2 5 64554004 Figure 2 4 Terminal assignment for the motor MOTOR Power Supply Terminal Point Assignment 1 Us 2 Us Motor Connection Terminal Point Assignment 1 Motor 2 Motor 3 Functional earth ground FE 2 6 PHCENIX 694900 CONTACT Installing the Inline Servo Amplifier 2 4 2 Connecting the Power Supply 20 0 79 10 mm 0 39 in QV 6949A040 Figure 2 5 Connecting the power supply e the cable and the wires Figure 2 5 A Fit the stripped wire ends with ferrules e Insert the wires for the power supply in the corresponding terminal points on the 2 pos COMBICON connector Figure 2 5
15. be supplied with other units e g m s or m min the dimension factor is used for adjustments Multiplying the speed setpoint by the dimension factor converts the speed setpoint into rpm if the dimension factor equals 1 694900 PHCENIX IB IL DC AR 48 10A SpeedReferenceVariable Index 6043 The speed reference variable is the speed from the ramp function standardized to the speed setpoint unit SpeedActualValue Index 60444 The speed actual value is the speed at the motor axis or load standardized to the speed setpoint unit It is calculated from the measured motor voltage MotorVoltageActualValue parameter index 010546x using the NominalVoltageMotor parameter index 010054 and the NominalSpeedMotor parameter index 010 SpeedMinMaxValue Index 6046 This parameter is used to limit the speed between the minimum and maximum speed see SpeedMinMax Index 6047 on page A 25 As it is given as a value the speed limits apply to both the positive and negative direction Subparameters The SpeedMinMaxValue parameter consists of the SpeedMinValue and SpeedMaxValue subparameters When writing the 5peedMaxValue subparameter is internally mapped to the SpeedMaxPos and SpeedMaxNeg values When writing the SpeedMinValue subparameter is internally mapped to the SpeedMinPos and SpeedMinNeg values The unit of speed depends on the dimension factor and corr
16. 1 parameter USIGN8 RW 03 1 byte 00 09 00 Index 274 parameter USIGN16 RW 04 2bytes 0000 6079hex 0000p6x control word uses 2 bytes Sub Index 2 d parameter USIGN8 RW 05 1 byte 00 09 00 Index 3 parameter USIGN16 RW 06 2bytes 0000g 607955 60424 speed setpoint Sub Index 379 parameter USIGN8 RW 07 1 byte 00 09 00 Index 4 parameter USIGN16 RW 08 2bytes 0000 6079hex 0000 speed setpoint uses 2 bytes Sub Index 4 parameter USIGN8 RW 09 1 byte 00 09 00 VOL 8t HV 1181 DYLNO gt P7 m XIN3DHd LL V Table A 1 General device parameters Continued Index Parameter Object Datatype 55 Sub Length Unit Value range Default value hex type 6002 OUTProcessDataEnable 1 byte OctetString RW 01 1 byte OOhex FFhex FFhex 6015 DeviceTemperature Array 1 INT16 R 01 2 bytes C zx x 603F ErrorCode 2 bytes OctetString R 01 2 bytes 0000pe 8100hex 6040 ControlWord 2 bytes OctetString RW 01 2bytes 0000 FFFFng 6041 StatusWord 2 bytes OctetString R 01 2 bytes 0000he FFFFrex 6060 ModeSelectionCode Var INT16 RW 01 2bytes 0 Off 2 2 Speed specification 4 Torque specification 6061 ModeDisplay Var INT16 R 01 20 5 0 Off 2 2 Speed specification 4 Torque specification 6079 Interm
17. 35 IB IL POS 200 Positioning CPU User Manual IB IL POS 200 UM E 26 98 08 3 Configuring and Installing the INTERBUS Inline Product Range User Manual IB IL SYS PRO UME 27 43 04 8 PHCENIX CONTACT 694900 List of Figures C List of Figures Section 1 Figure 1 1 Use of the IB IL DC AR 48 10A as an individual drive 1 2 Figure 1 2 Use of the IB IL DC AR 48 10A in a modular multi axis positioning control system 1 3 Figure 1 3 Pulse wide modulation PWM 1 7 Figure 1 4 AT mode 4 transistor mode sese 1 8 Figure 1 5 2T mode 2 transistor mode 1 8 Figure 1 6 Speed torque coordinate system 1 9 Figure 1 7 Clockwise rotation 1 9 Figure 1 8 Braked clockwise rotation 1 10 Figure 1 9 Counter clockwise rotation sse 1 10 Figure 1 10 Braked counter clockwise rotation 1 10 Figure 1 11 Connection diagram 1 11 Section 2 Figure 2 1 Local LED diagnostic and status indicators on the 48 10 ien eet 2 2 Figure 2 2 Mounting and removing the Inline servo amplifier 2 4 Figure 2 3 Terminal assignment for the power supply US 2 6 Figure 2 4 Termi
18. 4 ParameterGroup1 index Index Parameter Object Data type Access Sub Length Unit Value range Default value hex type E000 ParameterGroup1 Record RW 00 38 bytes NominalVoltageMotor INT32 RW 01 4 bytes mV 12000 48000 48000 see index 0100hex NominalVoltageSupply INT32 RW 02 4 bytes mV 12000 48000 12000 see index 0101554 KPCurrentController USIGN16 RW 03 2bytes 0 65535 200 see index 010755 KICurrentController USIGN16 RW 04 2bytes 0 65535 30 see index 0108544 KPSpeedController USIGN16 RW 05 2bytes 0 65535 800 see index 0109 KISpeedController USIGN16 RW 06 2 bytes 0 65535 100 see index 010Abex IxRCompensation USIGN16 RW 07 2bytes 0 65535 0 see index 010Bhex LowRuntime2 USIGN32 RW 08 4 bytes ms 4294967294 1 see index 0120544 SpeedReferenceValue USIGN32 RW 09 4 bytes rpm 0 30000 1000 see index 604 HighRuntime USIGN32 RW 10 4 bytes ms 0 1000000 500 see index 604Fhex LowRuntime USIGN32 RW 11 4 bytes ms 0 1000000 500 see index 6050544 QuickStopTime USIGN32 RW 12 4 bytes ms 0 1000000 200 see index 6051 IB IL DC AR 48 10A A 2 5 Representation of Parameters by Their Indices Index Paramet
19. The OUTProcessDataDescription parameter index 600116x specifies which parameter is transmitted The control word is transmitted by default ControlWord parameter index 6040 OUT process data word 1 can be used to transmit various parameters The OUTProcessDataDescription parameter index 6001 specifies which parameter is transmitted The speed setpoint is transmitted by default SpeedSetpoint parameter index 6042 3 3 3 Parameterizing the Inline Servo Amplifier and Reading Information With PCP PCP channel All the parameters for the individual functions are written to or read from the PCP channel via specific indices Parameters which have been specified using OUT process data words can no longer be written via the PCP channel As a lot of parameter data seldom changes or the information is often only required once data is sent via the PCP channel which only transmits messages when required Data is transmitted via PCP communication whereby a parameter is addressed by an index and is then transmitted via the PCP channel For every parameter an access attribute specifies whether the parameter can be read or written 3 12 PHCENIX 694900 CONTACT Parameterization To minimize the number of PCP messages which must be sent by the higher level control system to initialize the Inline servo amplifier the most important parameters are grouped together ParameterGroup1 index see Section A 2 4
20. Value range Default value hex type 0001 ManufacturerName Var VisibleString R 01 x Phoenix Contact GmbH amp Co KG 0002 ManufacturerlD Var VisibleString R 01 m 00A045 0003 ManufacturerText Array VisibleString R 01 Connection technology interface technology 3 automation 0004 DeviceRange Var VisibleString R 01 DRIVECOM drive 0006 ProductRange Var VisibleString R 01 Inline 0007 ProductName Var VisibleString R 01 D IB IL DC AR 48 10A 0008 ProductID Var VisibleString R 01 5 2819286 0009 ProductText Var VisibleString R 01 S DC drive controller 000A OrderNumber Var VisibleString R 01 2819286 000 Version Array 2 00 Hardware VisibleString R 01 1 20 Firmware VisibleString R 02 2 00 000C ManufactureDate Var VisibleString R 01 YYYY MM DD __ 2002 08 09 000D CommunicationProfile Var UINT16 R 01 2bytes 6 000 DeviceProfile Var UINT16 R 01 2bytes 0022 0100 NominalVoltageMotor Var INT32 RW 01 4 bytes mV 12000 48000 148000 0101 NominalVoltageSupply Var INT32 RW 01 4 bytes mV 12000 48000 12000 0102 MotorCurrentWarning Var USIGN32 RW 01 4 bytes mA 0 10000 10000 0103 SupplyVoltageWarning Var USIGN32 RW 01 4 bytes mV 9000 48000 9000 0105 MotorVoltageActualValue Var INT32 R 01 4 bytes mV 60000 60000 010C NominalSpeedMotor Var USIGN16 RW 01 2 bytes rpm 100 30000 3000 010D WarningCode Var US
21. a speed setpoint using the speed reference value Once the speed setpoint has executed two factor functions the speed and the acceleration delay are limited see Figure A 1 on page A 2 The limited setpoint is then sent to the speed controller As the controller operates with per thousand values all input and output values for the speed controller execute a per thousand function In order to use per thousand functions the Inline servo amplifier requires the following motor reference values in the form of parameters Nominal speed Nominal voltage Nominal current The Inline servo amplifier uses a particular feature of DC motors for the speed control function whereby the speed responds in proportion to the motor voltage The speed controller indirectly controls the speed via the motor voltage 694900 PHCENIX e CONTACT IB IL DC AR 48 10A 2 2 Local LED Diagnostic and Status Indicators 6455A002 Figure 2 1 Local LED diagnostic and status indicators on the IB IL DC AR 48 10A 2 2 PHCENIX 694900 CONTACT Installing the Inline Servo Amplifier Table 2 1 Meanings of the LED diagnostic and status indicators Des Color Meaning IB Green LED Diagnostics ON Bus active Flashing 0 5 Hz Communications power present bus not active 2 Hz Communications power present bus
22. active I O error 4Hz Communications power present terminal before the flashing module failed terminal behind the flashing module not part of the configuration frame OFF Communications power not present bus not active TR Green LED PCP active ON PCP messages being transmitted to the Inline servo amplifier OFF No transmission of PCP messages US Green LED Supply voltage of the power section see Figure A 4 on page A 5 ON Supply voltage for the output stage is more than 75 of the nominal voltage of the power supply OFF Supply voltage for the output stage is less than 75 of the nominal voltage of the power supply ERR Red LED Error see Figure A 8 on page A 7 ON An error has occurred corresponds to bit 3 in the status word The cause of the error can be read in the ErrorCode parameter index 603Fhex OFF No error 694900 PHGNIX 2 3 CONTACT IB IL DC AR 48 10A 2 3 Mounting and Removing the Inline Servo Amplifier 2 2 gt gt 6949 039 Figure 2 2 Mounting and removing the Inline servo amplifier 2 4 PHCENIX 694900 CONTACT Installing the Inline Servo Amplifier Mounting the Inline Servo Amplifier Figure 2 2 A Before snapping on the Inline servo amplifier remove the adjacent connectors of the next Inline terminal on the left Press the upper and lower snap on mechanisms towards the center of the module A
23. level than the maximum supplied by the power supply unit For the IB IL DC AR 48 10A this is 60 V The Inline servo amplifier has a voltage monitoring function which switches off the motor if the fixed voltage threshold is exceeded Brake chopper If voltage overshoots caused by energy feedback have to be taken into consideration a module must be installed at the power supply to reduce the surge voltage brake chopper Brake choppers 1 in Figure 1 11 load the voltage supply with a resistance when an adjustable voltage value is exceeded and convert the excess energy into heat 12V 48V 0A 10A T 6949A038 Figure 1 11 Connection diagram 694900 PHCENIX 1 11 CONTACT IB IL DC AR 48 10A Speed specification IS Torque specification 1 3 7 Function of the Controller in the Device In Speed specification mode two controllers are cascaded in the device Speed controller Current controller compensation affects the speed controller In Torque specification mode only the current controller is active If a control parameter needs to be adjusted only the current controller must be parameterized in this mode The controllers are set using standard parameters so that various applications can be carried out without having to modify the parameterization The behavior of motors in machines greatly depends on the dynamic behavior of the
24. mechanics If you observe irregular motor operation adjust the control parameters Instructions on how to proceed are provided below Adjusting Control Parameters Both controllers in the Inline servo amplifier current controller and speed controller are PI controllers i e proportional controllers with additional integral action They have no derivative action The default values of the control parameters are preselected in such a way that they already provide good results in most applications In special cases it may be necessary to adjust the control parameters to the motor and drive used To optimize the control parameters proceed as follows see Section A Parameters e Enable operation speed setpoint 0 e Increase the KI value of the current controller as far as the stability limit e Decrease the KI value of the current controller by 20 e Increase the KP value of the current controller as far as the stability limit e Decrease the KP value of the current controller by 20 e Increase IxR compensation as far as the stability limit e Decrease IxR compensation by 20 e ncrease the KI value of the speed controller as far as the stability limit e Decrease the KI value of the speed controller by 20 e Increase the KP value of the speed controller as far as the stability limit Decrease the KP value of the speed controller by 20 1 12 694900 CONTACT Fields of Application and Functions Opti
25. on page A 33 694900 PHCENIX di CONTACT IB IL DC AR 48 10A Table 3 4 3 3 4 Channel PMS Interface Parameterizing the Inline Servo Amplifier via the PCP The Inline servo amplifier has a standard PMS interface Peripherals Message Specification according to DIN 19245 T2 This communication channel provides full access to all the drive parameters of the Inline servo amplifier The communication relationship list CRL is based on PCP communication Following power up it specifies the communication reference CR under which a PCP device e g the IB IL DC AR 48 104 was found by the master and which PMS services this PCP device supports Each line in the CRL contains comprehensive information about the connection parameters as well as the CR Connection parameters of the Inline servo amplifier using the example of INTERBUS Communication Reference CR Connection Parameters of the Inline Servo Amplifier Size of the Low Priority Transmit Buffer Size of the Low Priority Receive Buffer Supported PMS Services Automatically determined by the INTERBUS controller board e g 2 3 4 etc 40hex Maximum length of a PDU in the transmit direction 64 bytes 40 Maximum length of PDU in the receive direction 64 bytes 0000 0000 3000 As Server Read and Write As client no service Supported services Object Dictionary OD In order
26. parameter index 6051 The device automatically switches to the Start inhibit state at the end of the quick stop ramp Error response active An error occurred and the error response was initiated the power level is disabled At the same time the ERR LED lights up and the Error bit is set in the control word Error The power level is disabled The cause of the error can be determined and the error removed in the Error state ErrorCode parameter index 603Fpex The device exits the state with the Reset error command see State Transitions on page 3 11 3 10 PHGNIX 694900 CONTACT Parameterization State Transitions Table 3 3 State transitions State Transition Trigger Description 2 6 8 Command Stop Command for the transition from various states to the Control word xxxx xxxx xxxx x110 Ready I operate site 3 Command Switch on Command for the transition from the Ready to Control word xxxx x111 operate state to the ON state 4 Command Enable operation Command forthe transition to the Operation enabled Control word xxxx xxxx xxxx 1111 5 Command Disable operation Command for the transition to the ON state Control word Xxxx xxxx 0111 7 9 10 Command Disable voltage Command for the transition to the Start inhibit state Control word XXXx 7 10 Command Qui
27. parameter writes the relative setpoint for Torque specification mode as a per thousand value of the NominalTorqueMotor parameter index 6076 TorqueMaxValue Index 60725 This parameter specifies the maximum value of the motor torque as a per thousand value of the nominal torque and is used to limit the motor torque This parameter has the same effect as the CurrentMaxValue parameter index 6073 CurrentMaxValue Index 60731 This parameter specifies the maximum value of the motor current as a per thousand value of the nominal current and is used to limit the motor current TorqueReferenceVariable Index 6074 This parameter writes the current value of the torque reference variable as a per thousand value of the NominalTorqueMotor parameter index 6076 NominalTorqueMotor Index 6076 This parameter writes the nominal torque of the motor that is being used TorqueActualValue Index 6077 This parameter writes the current motor torque as a per thousand value of the NominalTorqueMotor parameter index 6076 CurrentActualValue Index 6078 This parameter writes the current motor current as a per thousand value of the NominalCurrentMotor parameter index 010416x A 32 PHCENIX 694900 CONTACT 006769 DVLNOD V A 2 4 ParameterGroup1 Index Table A
28. the motor shaft n M 6455 011 Figure 1 7 Clockwise rotation 694900 PHCENIX 1 9 CONTACT IB IL DC AR 48 10A Quadrant 1 Braked clockwise rotation The torque operates in the opposite direction of rotation the motor brakes are applied 6455A012 Figure 1 8 Braked clockwise rotation Quadrant III Counter clockwise rotation The torque operates in the direction of rotation this is the opposite of the direction of rotation in quadrant I n M 6455 013 Figure 1 9 Counter clockwise rotation Quadrant IV Braked counter clockwise rotation The torque operates in the opposite direction to the counter clockwise rotating shaft M 6455A014 Figure 1 10 Braked counter clockwise rotation 1 10 PHCENIX 694900 CONTACT Fields of Application and Functions Regenerative Sequences When the motor brakes are applied the motor releases kinetic energy In 4 quadrant mode the generated kinetic energy is fed back into the intermediate circuit of the power supply as electrical energy i e at the power supply unit If no other devices e g other Inline servo amplifiers draw from this energy the power in the intermediate circuit can increase to a value which can damage electrical circuits or trigger a surge voltage shutdown in electronic power supply units As minor fluctuations are normal the Inline servo amplifier and the power supply unit must be able to withstand a higher power
29. to distinguish between the individual parameters during communication each parameter has a unique number index The index is listed together with the description of the parameter features in a standardized list the object dictionary OD Each PCP device which exchanges information via the parameter data channel has its own object dictionary The object dictionary is not implemented in the Inline servo amplifier Please refer to the information in the Parameters on page A 1 3 14 PHCENIX CONTACT 694900 Parameterization PMS Services The Inline servo amplifier supports several PMS services However only the following services are of importance for the parameterization of the Inline servo amplifier Initiate connect Read Write Abort disconnect No further explanations of other services are given in this user manual Initiate PCP Service The Initiate PMS service can be used to establish a communication connection between a bus master and the Inline servo amplifier The bus master always initiates the connection Various conditions with regard to the communication connection are checked when establishing a connection e g supported PMS services user data length etc If the connection is established successfully the Inline servo amplifier responds with a positive initiate response If the connection cannot be established the conditions for the communication connectio
30. 6 13 PercentageActualValue A 29 PercentageReferenceVariable A 29 1 29 QuickStopTime sess A 28 27 SpeedAcceleration 26 24 26 SpeedMinMax 25 SpeedMinMaxValue 24 SpeedQuickStop 26 SpeedReferenceValue 28 SpeedReferenceVariable 24 23 Status Words scutes A 19 SupplyVoltageWarning A 12 32 32 TorqueReferenceVariable 32 TorqueSetpointExternal A 32 Version eise QUE A 12 WarningCode 13 2 PHCENIX 694900 CONTACT Index Parameter
31. 694900 CONTACT Parameters PercentageSetpoint Index 605216x This parameter writes the speed setpoint as a percentage of the speed reference value index 604E16x A value of 16383 is equal to 100 i e the value range is between 200 and 200 of the speed reference value PercentageReferenceVariable Index 60535 This parameter writes the current value of the reference variable for the internal speed controller as a percentage of the speed reference value index 604Ep A value of 16383 is equal to 100 i e the value range is between 200 and 200 of the speed reference value PercentageActualValue Index 6054 This parameter writes the current speed actual value as a percentage of the speed reference value index 604Epex A value of 16383 is equal to 100 i e the value range is between 200 and 200 of the speed reference value 694900 PHCENIX AS CONTACT 0 V DVLNOD 006769 A 2 3 Additional Parameters in Torque Specification Mode Table A 3 Additional parameters in Torque specification mode Index Parameter Object Data type Access Sub Length Unit Value range Default value hex type 0104 NominalCurrentMotor Var USIGN32 RW 01 4 bytes mA 10000 10000 0106 CurrentMinMaxValue Array 2 RW 00 4 bytes CurrentMinValue USIGN16 RW 01 2 bytes 0 65535 0 CurrentMaxValue USIGN16
32. ACT Table of Contents 1 Fields of Application and Functions 1 1 1 1 Short Description eli eie tede iere 1 1 1 2 Possible Fields of 1 1 1 3 1 4 1 3 1 Speed Control Without IxR Compensation Voltage Control 1 5 1 3 2 Speed Control With IxR Compensation 1 6 1 3 3 Torque Control Current Control 1 6 1 3 4 Method of Operation of the Output Level 1 7 1 3 5 Operating Modes of the Output Level 1 8 1 3 6 4 Quadrant Mode 1 9 1 3 7 Function of the Controller in the Device 1 12 2 Installing the Inline Servo Amplifier 2 1 2 1 DRIVECOM Compatibility cessere 2 1 2 2 Local LED Diagnostic and Status Indicators 2 2 2 8 Mounting and Removing the Inline Servo Amplifier 2 4 24 Connecting the Inline Servo Amplifier 2 6 2 4 1 Terminal Assignment 2 6 2 4 2 Connecting the Power Supply 2 7 2 4 3 Connecting the 2 8 2 5 Calculating the Supply Voltage seen 2 10 2 6 Selecting Compatible Motors ee
33. CT IB IL DC AR 48 10A Structure for Monitoring the Device Temperature DeviceTemperature 6015 hex Measure temperature Error Output level 5 5 overtemperature Heatsink Temperature gt 85 C 185 F st qr i temperature Temperature gt 75 C 167 F i internal fan 3 Temperature lt 65 C 149 F I eG Deactivate 6949A025 Figure A 6 Monitoring the device temperature Structure of the Warning Function WarningCode 010D nm Warning bit bit 7 rite 0 to gt in the status word WarningCode 010D Reset Undervoltage warning 0002 re Overcurrent v 0001 6949 022 Figure A 7 Warnings As PHOENIX 694900 CONTACT Parameters Structure of the Error Function ErrorCode 603F Activate the Error response active state ERR LED Error bit bit 3 in the status word Reset error bit bit 7 in the control word i General device error Short circuit at the motor output 2340 1 Surge voltage of the power section supply hex Undervoltage of the power section supply Output level overtemperature Software reset watchdog 6949A032 Figure A 8 Errors 694900 PHCENIX A 7 CONTACT IB IL DC AR 48 10A Representation of parameters in logical groups Representation of parameters by their indices A2 Parameter Lists The following tables list th
34. DOO CO OCDE INNOVATION IN INTERFACE User Manual Inline Servo Amplifier for DC Motors With Brushgears Designation UM EN IB IL DC AR 48 10A Order No 26 99 192 Inline Servo Amplifier for DC Motors With Brushgears Designation UM EN IB IL DC AR 48 10A Revision 00 Order No 26 99 192 This user manual is valid for IB IL DC AR 48 10A 28 19286 Phoenix Contact 10 2003 694900 PHGNIX CONTACT Please Observe the Following Notes In order to ensure the safe use of your device we recommend that you read this manual carefully The following notes provide information on how to use this manual User Group of This Manual The use of products described in this manual is oriented exclusively to qualified electricians or persons instructed by them who are familiar with applicable national standards Phoenix Contact accepts no liability for erroneous handling or damage to products from Phoenix Contact or third party products resulting from disregard of information contained in this manual Explanation of Symbols Used The attention symbol refers to an operating procedure which if not carefully followed could result in damage to hardware and software or personal injury The note symbol informs you of conditions that must strictly be observed to achieve error free operation It also gives you tips and advice on the efficient use of hardware and on software optimization to save you extra work 4 The t
35. ED diagnostic and status indicators 2 3 Section 3 Table 3 1 Device States eem ee inte o p ede 3 7 Table 3 2 Device control states 3 9 Table 3 3 State transitions 3 11 Table 3 4 Connection parameters of the Inline servo amplifier using the example of INTERBUS 3 14 Appendix A Table A 1 General device parameters A 9 Table A 2 Additional parameters in Speed specification mode A 21 Table A 3 Additional parameters in Torque specification mode A 30 Table A 4 ParameterGroup1 index 4444444 4 4 A 33 694900 PHCENIX IB IL DC AR 48 10A D 2 PHCENIX 694900 CONTACT E Index Numerics PT 1 8 4 quadrant mode 1 4 1 9 AT mode reete e envers Doi e een 1 8 A Actual values Reading 3 2 B Brake chopper 1 11 C Communication ccce 3 2 Configuration data see 3 1 Control function SIFUCIETG iere ttes ete odas 4 Control parameters AdjUstirig cet genet ets 1 12 Optimizing oet 1 13 Control wordia hnn i 3 3 Bit assignment 3 5 Gi m E 3 14 CRE draaie 3 14 Current control 2 see
36. IGN16 RW 01 2bytes 0 2 0 0121 OutputLevelMode Var INT16 RW 01 2bytes 0 4T mode 0 1 2T mode SJ9 ouleJed 0L V 1 1 XINSSHaL 006769 Table A 1 General device parameters Continued Index Parameter Object Datatype 55 Sub Length Unit Value range Default value hex type 6000 INProcessData Record RW 00 13 bytes Description ProcessDataLength USIGN8 RW 01 1 byte Byte 4 Index 19 parameter USIGN16 RW 02 2 bytes 0000 607954 60415 status word Sub Index 1 parameter USIGN8 RW 03 1 byte 00 09 00 Index 279 parameter USIGN16 RW 04 26 0000 607954 00005 status word uses 2 bytes Sub Index 2 d parameter USIGN8 RW 05 1 byte 00 09 00 Index 3 parameter USIGN16 RW 06 2bytes 0000 6079 6044hex speed actual value Sub Index 3 d parameter USIGN8 RW 07 1 byte 00 09 00 Index 4 parameter USIGN16 RW 08 2bytes 0000p 607955 0000hex speed actual value uses 2 bytes Sub Index 4 parameter USIGN8 RW 09 1 byte 00 09 00 6001 OUTProcessData Record RW 00 13 bytes Description ProcessDataLength USIGN8 RW 01 1 byte Byte 4 Index 1 parameter USIGN16 RW 02 2bytes 0000 6079hex 6040hex control word Sub Index
37. INProcessDataDescription A 14 IntermediateCircuitVoltage A 20 IxRCompensation 23 23 KISpeedController 23 23 KPSpeedController A 23 LowRuntime eeeeeene A 28 LowRuntime2 23 12 12 20 20 12 MotorVoltageActualValue A 13 31 5 13 32 12 12 OUTProcessDataDescription 15 OUTProcessDataEnable A 1
38. RW 02 2 bytes o 0 65535 1000 6071 TorqueSetpointExternal Var INT16 RW 01 2 bytes 32768 32767 10 6072 TorqueMaxValue Var USIGN16 RW 01 2bytes 0 65535 1000 6073 CurrentMaxValue Var USIGN16 RW 01 2 bytes o 0 65535 1000 6074 TorqueReferenceVariable Var INT16 R 01 2 bytes 32768 32767 6076 NominalTorqueMotor Var USIGN16 RW 01 2 bytes 0 1 1 1000 100 0 1 2 10 Nm 6077 TorqueActualValue Var INT16 R 01 2 bytes 6078 CurrentActualValue Var INT16 R 01 2 bytes VOL 8t 1181 Parameters NominalCurrentMotor Index 01044 This parameter is the reference value for calculating the current actual value CurrentActualValue parameter index 6078hex and the torque actual value TorqueActualValue parameter index 6077hex on the basis that the torque is proportional to the motor current CurrentMinMaxValue Index 01065 Subparameters The CurrentMinValue and CurrentMaxValue subparameters are used to limit the motor current between these values as long as the setpoint is not equal to zero see Figure A 10 The universal limit of 10 A can never be exceeded IS setpoint 6949A036 Figure A 10 Method of operation of the current limiter Input variable lsetpoint reference variable lout 694900 PHCENIX A 31 CONTACT IB IL DC AR 48 10A TorqueSetpointExternal Index 6071 This
39. a INTERBUS ID code C3hex 195 ge Length code O2nex 02 Process data channel 32 bits Input address area 2 words Output address area 2 words Parameter channel 11 word Register length bus 3 words Other Bus Systems 694900 PHCENIX 3 1 CONTACT IB IL DC AR 48 10A 3 2 Inline Servo Amplifier From the Point of View of the Fieldbus The Inline servo amplifier provides digital access to all the drive parameters and functions via the local bus interface i e the Inline servo amplifier is only parameterized and controlled via the bus There are no option for setting the resistance or other settings on the Inline servo amplifier The amplifier is controlled via fast cyclic process data In addition to specifying setpoints e g desired speed value this process data channel can also be used to execute various drive functions including Enable Enable operation Disable operation Quick stop etc At the same time you can also read back actual values from the Inline servo amplifier via this channel including Actual speed Actual current Actual device state Communication The Inline servo amplifier communicates with the higher level control system via the local bus as well as via the fast cyclic process data channel and the acyclic parameter channel PCP Peripherals Communication Protocol While process data is generally exchanged cyclic
40. ally the drive parameters can be read and written acyclically via the Read and Write PCP services These services do not permanently store the parameters in the Inline servo amplifier Process data Process data is time critical status information that changes continually and must be continuously updated This information must be transmitted at short regular intervals It is transmitted via the process data channel Parameter data Parameter data is data that seldom changes and must therefore only be transmitted when required It is transmitted via PCP communication In the bus ring the Inline servo amplifier occupies one word for the PCP channel and two process data words not variable for each data direction 3 2 PHCENIX 694900 CONTACT Parameterization Process data word 0 Process data word 1 PCP channel Status word Actual value 6949A016 Figure 3 1 IN process data words The contents of the IN process data words depend on the INProcessDataDescription parameter index 0 Process data word 0 Process data word 1 PCP channel Byte 0 Byte 1 Byte 2 Byte 3 16 bits Control word Setpoint 6949A017 Figure 3 2 OUT process data words The contents of the OUT process data words depend on the OUTProcessDataDescription parameter index 6001 The contents of the process data words can be freely defined Any parameter can be selected for transmission in the process data word This is done via the INProcessDataDescrip
41. alues which can be used to directly operate DC motors with brushgears The level of the current and voltage values depends on the various functions which the Inline servo amplifier carries out in the individual operating modes The power supply of 12 V DC to 48 V DC and 0 A to 10 A is supplied to the Inline servo amplifier via connection Us 1 3 1 Speed Control Without IXR Compensation Voltage Control In this function the IB IL DC AR 48 104 Inline servo amplifier acts as a speed controller 4 quadrant mode without external feedback e g tachometer signal see also 4 Quadrant Mode on page 1 9 This method relies on a particular feature of DC motors whereby the speed increases in direct proportion to the motor voltage The Inline servo amplifier only controls the motor voltage positive and negative If IXR compensation is not activated IxRCompensation parameter 0 index 010Bpex the Inline servo amplifier compares the actual motor voltage measured at the output terminals of the Inline servo amplifier with the voltage that is required for the desired speed and corrects it accordingly The motor voltage and speed are therefore not affected by fluctuations in the supply voltage 694900 PHCENIX IB IL DC AR 48 10A 1 3 2 Speed Control With IxR Compensation When the speed is controlled via the motor voltage the speed changes in the event of load fluctuations The speed decreases at a const
42. ant motor voltage with increasing load as the ohmic resistors in the motors do not allow the current to increase too high in proportion with the increasing load The Inline servo amplifier reduces these speed variations through the use of IxR compensation This function increases the motor voltage in proportion to the current increase which is caused by the increasing load Total accuracy is limited due to the indirect speed control process The extent to which speed variations caused by load fluctuations can be limited depends on the dynamic response of the load fluctuations and on the structure of the motor In general load fluctuations can be reduced by up to 90 by activating IxR compensation 1 3 3 Torque Control Current Control The IB IL DC AR 48 10 Inline servo amplifier uses this function to autonomously set the torque of the connected motor to the desired torque value which it receives via Inline in the form of process data 4 quadrant mode see page 1 9 This is carried out using a current control for which the Inline servo amplifier provides feedback by measuring the motor current The torque control is used if the motor must produce a constant force e g to wind a spring or to supply a liquid at constant pressure With this function the drive behaves as follows As long as the torque of the mechanics is less than the torque with which the Inline servo amplifier operates the drive the drive speeds up limited by t
43. arge ESD EN 61000 4 2 1995 Criterion B IEC 61000 4 2 6 kV contact discharge 8 kV air discharge Electromagnetic fields EN 61000 4 3 1993 Criterion A IEC 61000 4 3 Field strength 10 V m Fast transients burst EN 61000 4 4 1995 Criterion B IEC 61000 4 4 Supply lines 2 kV Signal data lines 2 kV Criterion A Interfaces 1kV Conducted interference EN 61000 4 6 1993 IEC 61000 4 6 Criterion A test voltage 10 V Noise Emission Test According to EN 50081 2 1993 Noise emission of housing EN 55011 1991 Class A 694900 PHCENIX Sd CONTACT IB IL DC AR 48 10A B2 Ordering Data Description Order Designation Order No Inline servo amplifier for DC motors with IB IL DC AR 48 10A 28 19 286 COMBICON connectors Positioning CPU as the positioning control system IL POS 200 28 61 823 for multi axis point to point control systems with connectors and labeling fields Positioning CPU as the positioning control system IL POS 200 28 19 338 for multi axis point to point control systems without connectors and labeling fields entem meiner rs Connector with eight terminals spring cage connection green w o color print pack of 10 IB IL SCN 8 27 26 337 Connector with six terminals spring cage connection and shield connection green w o color print for RS 232 connecting cable pack of 10 IB IL SCN 6 SHIELD 27 26
44. ck stop Command for the transition to the Start inhibit state Control word xxxx x01x 11 Command Quick stop Command for the transition to the Quick stop active Control word xxxx x01x St le 12 End of the Quick stop active state The transition is automatic 13 Event Error An error was detected by the drive controller The event results in the transition to the Error response active state 14 Command Reset error Command to acknowledge an error Control word xxxx xxxx Oxxx xxxx If no error is detected the Inline servo amplifier gt XXXX 1XXX XXXX switches to the Start inhibit state The ERR LED is Switched off and the Error bit in the status word is deleted 694900 3 11 PHCENIX CONTACT IB IL DC AR 48 10A 3 3 Meaning of the Process Data Words 3 3 1 IN Process Data Words IN process data word 0 can be used to display various parameters The INProcessDataDescription parameter index 600054 specifies which parameter is displayed The status word is displayed by default StatusWord parameter index 60411 IN process data word 1 can be used to display various parameters The INProcessDataDescription parameter index 6000pex specifies which parameter is displayed The speed actual value is displayed by default SpeedActualValue parameter index 6044 3 3 2 OUT Process Data Words OUT process data word 0 can be used to transmit various parameters
45. ctualValue page A 24 6046 SpeedMinMaxValue page A 24 6047 SpeedMinMax page A 25 6048 SpeedAcceleration 2 page A 26 6049 SpeedDelay 2 page A 26 604A SpeedQuickStop 2 page A 26 604B SetpointFactor page A 27 604C DimensionFactor page A 27 604E SpeedReferenceValue 1 page A 28 604F HighRuntime 2 page A 28 6050 LowRuntime 2 page A 28 6051 QuickStopTime 2 page A 28 6052 PercentageSetpoint page A 29 6053 PercentageReferenceVariable page A 29 6054 PercentageActualValue page A 29 6060 ModeSelectionCode 1 page A 20 6061 ModeDisplay page A 20 6071 TorqueSetpointExternal page A 32 6072 TorqueMaxValue page A 32 6073 CurrentMaxValue page A 32 6074 TorqueReferenceVariable page A 32 6076 NominalTorqueMotor page A 32 6077 TorqueActualValue page A 32 6078 CurrentActualValue page A 32 6079 IntermediateCircuitVoltage page A 20 E000 ParameterGroup1 page A 33 Priority 1 These parameters must be set for the device to operate correctly Priority 2 These parameters can be set to optimize drive function No priority These parameters are only set for special functions not for normal operation 694900 PHCENIX CONTACT A 35 IB IL DC AR 48 10A A 36 PHGNIX 694900 CONTACT Appendix B B Technical Appendix B 1 Technical Data General Data Order Designation IB IL DC AR 48 10A Order No 2819286 Housing dimensions width x height x depth 48 mm x 85 mm x 166 mm 1 890 x 3 346 x 6 535 in Housing
46. current requirement this mode can lead to an undesirably high temperature rise on the motor at low speeds In this case the motor should be switched to 2T mode whereby the output level operates with a unipolar signal see Figure 1 5 Only positive or negative pulses are sent to the motor depending on the direction of rotation Untotor Motor runs clockwise Motor runs counter clockwise p t 6455A009 Figure 1 5 2T mode 2 transistor mode 1 8 PHCEN IX 694900 CONTACT Fields of Application and Functions 1 3 6 4 Quadrant Mode The Inline servo amplifier supports 4 quadrant mode The name 4 quadrant mode is derived from the representation of the possible motor operating states in a speed torque coordinate system The possible motor torque and motor speed operating states are displayed in the four quadrants see Figure 1 6 Speed 1 ll n positive n positive M negative M positive gt Torque M n negative n negative M negative M positive III IV 6455A010 Figure 1 6 Speed torque coordinate system In counter clockwise and clockwise rotation the torque operates in the direction of speed i e the motor is driven quadrant I and III In braked counter clockwise and clockwise rotation the torque operates in the opposite direction to speed i e the motor brakes are applied Quadrant I Clockwise rotation Motor torque M operates in the direction of rotation of
47. e parameters of the Inline servo amplifier in their logical groups see Object Dictionary OD on page 3 14 The general device parameters contain information about the Inline servo amplifier such as manufacturer information and version number nominal values of the drive and the operating mode The additional parameters in Speed specification mode contain all other information which is required in addition to the general device parameters for the speed controller function Theadditional parameters in Torque specification mode contain all other information which is required in addition to the general device parameters for the torque and current controller function Parameter group 1 ParameterGroup1 index E00046x groups together twelve indices from the general device parameters and the additional parameters in Speed specification mode as subindices The Access column describes how the parameters can be accessed Read Write W Read and write RW The parameters are also listed according to their indices in Section A 2 5 on page A 34 and their priority is indicated A 8 PHGNIX 694900 CONTACT 006769 1 1 6 V A 2 1 General Device Parameters Table A 1 General device parameters Index Parameter Object Datatype Access Sub Length Unit
48. ediateCircuit Var USIGN16 R 01 2 5 V 0 65 Voltage SJ9 ouleJed IB IL DC AR 48 10A Manufacturer Specific Parameters Index 000144 to 000A4 These parameters contain information about the manufacturer and product in the form of strings Version Index 000Bnex The Version parameter contains the hardware and firmware version Hardware e g 1 20 Firmware e g 2 00 ManufactureDate Index 000 This parameter contains the release date of the current firmware CommunicationProfile Index 000Dhex This parameter contains conditions for communication with the module and definitions for communication services and parameters DeviceProfile Index 000E pex The device profile specifies the device functions that are visible via the communication DRIVECOM profile 22 NominalVoltageMotor Index 0100 This parameter defines the output voltage of the Inline servo amplifier for the nominal speed of the motor This motor characteristic value can be found in the data sheet for the motor see NominalSpeedMotor Index 010Chex on page 13 NominalVoltageSupply Index 01014 The limit value for the error Ugmin is derived from the NominalVoltageSupply parameter Us Usmin 0 75 Usp If the power supply falls below this voltage limit value an error is indicated MotorCurrentWarning Index 01021 If the measured motor current exce
49. eds this limit value a warning is generated see WarningCode Index 0100 on page 13 SupplyVoltageWarning Index 01034 If the measured supply voltage falls below this limit value a warning is generated see WarningCode Index 010Dhex on page 13 A 12 PHCEN IX 694900 CONTACT Parameters MotorVoltageActualValue Index 0105 This parameter contains the current value of the measured motor voltage in millivolts mV NominalSpeedMotor Index 010 This parameter defines the speed at which the motor runs when the nominal motor voltage is applied This motor characteristic value can be found in the data sheet for the motor see NominalVoltageMotor Index 0100544 on page A 12 WarningCode Index 010Dhex Any warnings that are generated are stored in this parameter until they are deleted by writing O to the warning code Unlike errors warnings have no effect on the operation of the Inline servo amplifier Read Value Meaning 0 No warning 1 Motor current has exceeded the value of the MotorCurrentWarning parameter index 0102 2 Power supply voltage has fallen below the value of the SupplyVoltageWarning parameter index 0103p6x Write Value Meaning 0 Deletes the warning code OutputLevelMode Index 0121 Value Meaning 0 4T mode of the output level High level of efficiency for motors with a high current requirement 1 2T mode
50. en 1 6 Current controller ccce 1 12 D DC motors a ene 1 4 Selecting dct Ene Reged 2 10 Index Device control il P 3 7 Error response active 3 7 ready to 3 7 oN EE EE 3 7 Operation 3 7 Quick stop 3 7 Ready to 3 7 nesses 3 7 DRIVECOM 2 1 DRIVECOM 1 4 Error function Str ct te e cde eie eet A 7 IB IL POS 200 PAC positioning CPU 1 1 IN process data words 3 12 Individual drive eene 1 1 Inline servo amplifier esses 1 1 Fields of 1 1 FUNCUON EIE 1 4 Installing che 2 1 Mo nitlng 55544225 58 roe ae eese 2 4 Operating 1 4 Parameterizing 3 12 Parameterizing via the channel 3 14 Working 2 11 Inline system
51. enominator subparameter and is calculated as follows Dimension factor Numerator denominator The dimension factor describes the relationship between the NominalSpeedMotor parameter index 010 and the SpeedReferenceValue parameter index 604 The dimension factor for a drive with a speed reference value of v 800 mm s and a motor with a nominal speed of n 3000 rpm is as follows D 3000 800 mm s numerator 3000 denominator 800 setpoint factor 1 694900 PHCENIX A CONTACT IB IL DC AR 48 10A SpeedReferenceValue Index 604 This parameter is the speed reference value and is used to calculate percentage values and ramps The unit of speed depends on the dimension factor and corresponds to the speed setpoint unit index 6042 HighRuntime Index 604F This parameter writes the acceleration ramp using the high runtime from zero to the speed reference value index 604 Acceleration ramp Speed reference value high runtime LowRuntime Index 6050 This parameter writes the braking ramp using the low runtime from the speed reference value index 604 to zero Braking ramp Speed reference value low runtime QuickStopTime Index 6051 This parameter writes the quick stop ramp using the quick stop time from the speed reference value index 604E16x to zero Quick stop ramp Speed reference value quick stop time A 28 PHCENIX
52. er Priority See hex 0001 ManufacturerName page A 12 0002 ManufacturerlD page A 12 0003 ManufacturerText page A 12 0004 DeviceRange page A 12 0006 ProductRange page A 12 0007 ProductName page A 12 0008 ProductlD page A 12 0009 ProductText page A 12 000A OrderNumber page A 12 000B Version page A 12 000C ManufactureDate page 12 000D CommunicationProfile page A 12 000E DeviceProfile page A 12 0100 NominalVoltageMotor 1 page A 12 0101 NominalVoltageSupply 1 page A 12 0102 MotorCurrentWarning page A 12 0103 SupplyVoltageWarning page A 12 0104 NominalCurrentMotor 1 page A 31 0105 MotorVoltageActualValue page A 13 0106 CurrentMinMaxValue page A 31 0107 KPCurrentController 2 page A 23 0108 KICurrentController 2 page A 23 0109 KPSpeedController 2 page A 23 010A KISpeedController 2 page A 23 010B IxRCompensation 2 page A 23 010C NominalSpeedMotor 1 page A 13 010D WarningCode page A 13 0120 LowRuntime2 2 page A 23 0121 OutputLevelMode 2 page A 13 6000 INProcessDataDescription page A 14 6001 OUTProcessDataDescription page A 16 6002 OUTProcessDataEnable page A 16 6015 DeviceTemperature page A 16 603F ErrorCode page A 17 6040 ControlWord page A 18 A 34 PHGNIX 694900 CONTACT Parameters Index Parameter Priority See hex 6041 StatusWord page A 19 6042 SpeedSetpoint page A 23 6043 SpeedReferenceVariable page A 24 6044 SpeedA
53. esponds to the speed setpoint unit index 6042 A 24 PHCEN IX 694900 CONTACT Parameters SpeedMinMax Index 604716x This parameter is used to limit the motor speed between the minimum and maximum speed positive and negative working area Subparameters The SpeedMinMax parameter consists of the SpeedMinPos SpeedMinNeg and SpeedMaxNeg subparameters see Figure A 9 When writing this parameter the SpeedMinPos subparameter is mapped to the SpeedMinValue subparameter index 60465 and the SpeedMaxPos subparameter is mapped to the SpeedMaxValue subparameter index 6046p6x V setpoint 6949A035 Figure A 9 Speed limitation using SpeedMinMax index 6047 694900 PHCENIX A 25 CONTACT IB IL DC AR 48 10A Subparameters IS Subparameters IS Subparameters IS SpeedAcceleration Index 6048 The Inline servo amplifier calculates the acceleration ramp using the DeltaSpeed and DeltaTime subparameters Acceleration ramp Delta speed delta time The DeltaSpeed unit depends on the dimension factor and corresponds to the speed setpoint unit index 6042 SpeedDelay Index 6049 The Inline servo amplifier calculates the braking ramp using the DeltaSpeed and DeltaTime subparameters Braking ramp Delta speed delta time The DeltaSpeed unit depends on the dimension factor and corresponds to the speed setpoint unit index 6042
54. ext symbol refers to detailed sources of information manuals data sheets literature etc on the subject matter product etc This text also provides helpful information for the orientation in the manual We Are Interested in Your Opinion We are constantly attempting to improve the quality of our manuals Should you have any suggestions or recommendations for improvement of the contents and layout of our manuals we would appreciate it if you would send us your comments Please use the universal fax form at the end of the manual for this 694900 PHCENIX CONTACT IB IL DC AR 48 10A Statement of Legal Authority This manual including all illustrations contained herein is copyright protected Use of this manual by any third party deviating from the copyright provision is forbidden Reproduction translation or electronic and photographic archiving or alteration requires the express written consent of Phoenix Contact Violators are liable for damages Phoenix Contact reserves the right to make any technical changes that serve the purpose of technical progress Phoenix Contact reserves all rights in the case of patent award or listing of a registered design Third party products are always named without reference to patent rights The existence of such rights shall not be excluded Internet Up to date information on Phoenix Contact products can be found on the Internet at www phoenixcontact com PHCEN IX 694900 CONT
55. he figures meet your expectations needs Does the layout of the document allow you to find information easily Contents Yes In part No Is the phraseology terminology easy to understand Are the index entries easy to understand helpful H H H Are the examples practice oriented Is the document easy to handle Is any important information missing If yes what Other Comments 5050df17
56. he supply voltage If the torque of the mechanics is greater the drive slows down The desired torque is specified as a per thousand value of the nominal torque So that the Inline servo amplifier can operate in this way the nominal torque of the motor not residual is loaded as an additional parameter 1 6 PHCEN IX 694900 CONTACT Fields of Application and Functions 1 3 4 Method of Operation of the Output Level Pulse wide modulation Inline servo amplifier generates the desired motor voltage or the desired motor current for torque control using Pulse Wide Modulation PWM The power supplied to the motor is switched The mean motor voltage value is controlled by the duration of the pulses 1 50 150 1200 250 300 350 400 t us 6949A007 Figure 1 3 Pulse wide modulation PWM 694900 PHCENIX hr CONTACT IB IL DC AR 48 10A 1 3 5 Operating Modes of the Output Level The output level of the Inline servo amplifier operates with a bipolar PWM signal see Figure 1 4 A high level of efficiency can thus be achieved for motors with a higher current requirement U Motor runs clockwise Motor runs counter clockwise Motor p q 6455 008 Figure 1 4 4T mode 4 transistor mode When operating motors with low inductance and a small
57. ibit Warning NI o a AJ O N oO Message Value 0 9 Remote Value 1 10 Setpoint reached 11 Limit value 12 13 m 14 l 15 694900 PHCENIX CONTACT A 19 IB IL DC AR 48 10A ModeSelectionCode Index 6060 This parameter is used to select the operating mode of the Inline servo amplifier Value Meaning 0 Off 2 Speed specification 4 Torque specification ModeDisplay Index 6061 This parameter is used to read the current mode of the Inline servo amplifier Value Meaning 0 Off 2 Speed specification 4 Torque specification IntermediateCircuitVoltage Index 60794 This parameter describes the current voltage measured value of the power supply Us A 20 PHCEN IX 694900 CONTACT 006769 1 1 Lev A 2 2 Additional Parameters in Speed Specification Mode Table A 2 Additional parameters in Speed specification mode Index Parameter Object Data type Access Sub Length Unit Value range Default value hex type 0107 KPCurrentController Var USIGN16 RW 01 2 bytes 0 65535 200 0108 USIGN16 RW 01 2 bytes 0 65535 30 0109 KPSpeedController Var USIGN16 RW 01 2 bytes 0
58. material PA 6 6 black anodized aluminum Heatsink material Aluminum Weight typical 460 g Permissible temperature operation 25 C to 55 C 13 F to 131 F Permissible temperature storage transport 25 C to 85 C 13 F to 185 F Permissible humidity operation 75 permanent 85 occasionally Permissible humidity storage transport with unused interfaces standard packaging 7596 permanent 8596 occasionally Permissible air pressure operation 80 kPa to 106 kPa up to 2000 m 6562 ft above sea level Permissible air pressure storage transport 70 kPa to 106 kPa up to 3000 m 9843 ft above sea level Degree of protection 20 according to DIN 40050 Class of protection Class 3 according to VDE 0106 IEC 60536 Mechanical Requirements Vibration test sinusoidal vibrations according to IEC 60068 2 6 EN 60068 2 6 2g load 2 hours in each space direction Shock test according to IEC 60068 2 27 EN 60068 2 27 25g for 1 ms three shocks in each space direction Free fall according to IEC 60068 2 32 1 m 3 281 ft Power Supply Status indicators US LED Connection method 2 pos COMBICON connector Supply voltage Us 12 V DC to 48 V DC 15 Supply current OAto 10A Surge voltage shutdown Us 60 V DC 694900 PHCENIX B 1 CONTACT IB IL DC AR 48 10A
59. mization of the control parameters The dynamic properties of the drive for stable control behavior should already have been further improved In order to further optimize the control parameters a jump function for the desired speed may be useful It is advisable to record the speed behavior e g using a tachometer generator and an oscilloscope Continue to vary the parameters for the speed controller until the time curve of the speed actual value corresponds as closely as possible to the time curve of the speed setpoint whereby the control circuit must remain stable on each load 694900 PHCENIX IB IL DC AR 48 10A 1 14 PHCENIX 694900 CONTACT Installing the Inline Servo Amplifier 2 Installing the Inline Servo Amplifier Per thousand function 2 1 DRIVECOM Compatibility The IB IL DC AR 48 104 Inline servo amplifier has the same functions as INTERBUS DRIVECOM profile 22 It therefore has two function groups Speed function group Torque function group The ModeSelectionCode parameter index 6060 specifies which function group should be active In addition each parameter is assigned a special index see Parameters on page A 1 The Inline servo amplifier is set to Speed specification mode by default In this operating mode the speed setpoint is specified in revolutions per minute via process data word 1 or alternatively as a percentage which can be converted into
60. n C Attemperatures above 85 C 185 F the Inline servo amplifier switches to the Error Output level overtemperature state Attemperatures above 75 C 167 F the internal fan is activated Attemperatures below 65 C 149 F the internal fan is deactivated A 16 PHCEN IX 694900 CONTACT Parameters ErrorCode Index 603Fhex If an error is detected the device control enters the Error response active state see Figure 3 3 on page 3 8 Any errors that occur are stored in this parameter until they are deleted with the Reset error command Error Code Cause of the Error Remedy hex 0000 No error 1000 General device error Disconnect the Inline servo amplifier If necessary replace the Inline servo amplifier 2340 Short circuit at the motor output Check the motor cable for short circuits 3211 Surge voltage of the power section Check the supply voltage of the power section supply especially in the event of feedback when braking 3221 Undervoltage of the power section Check the supply voltage of the power section supply especially in the event of higher current loads 4210 Output level overtemperature Let the Inline servo amplifier cool down Observe the current load of the Inline servo amplifier in relation to the current derating curve 6010 Software reset watchdog Disconnect the Inline servo amplifier If necessary replace the Inline servo amplifier
61. n between the bus master and the Inline servo amplifier have not been met If this is the case compare the configured communication reference list of the bus master with that of the Inline servo amplifier The Inline servo amplifier responds with an initiate error response Attempting to re establish an existing communication connection usually results in an Abort The communication connection is then aborted and can only be re established by implementing the Initiate PMS service for a third time Read PCP Service The Read PMS service provides the bus master with read access to all the drive parameters of the Inline servo amplifier All drive parameters and their meanings are listed in detail in the parameter directory in this manual see Parameters on page A 1 694900 PHCENIX 3 15 CONTACT IB IL DC AR 48 10A Write PCP Service The Write PMS service provides the bus master with write access to all the drive parameters of the Inline servo amplifier that can be written In the event of unauthorized access to a drive parameter the Inline servo amplifier generates a write error response with detailed information about the error cause For many parameters a limited value range is used rather than the value range which is available in theory e g 32768 to 32767 for INT16 for the data type used Example Value range for speed setpoint SpeedSetpoint parameter index 6042 30000 to 30000 rpm Ab
62. n page 3 8 illustrates this remote control sequence The different operating states can only be reached in a specific sequence Once switched on the device must first pass through the Not ready to operate Start inhibit Ready to operate and states to enter the Operation enabled state The next operating state is reached by setting resetting the relevant bits in the control word The Inline servo amplifier continuously indicates its operating state in the control word 3 4 PHCEN IX 694900 CONTACT Parameterization Control Word Bit Assignment Remark 0 Switch on Switch on the power section 1 Disable voltage Voltage is switched off active low 2 Quick stop Execute the quick stop function active low 3 Enable operation Enable drive function 4 0 5 0 6 0 7 Reset error Reset errors whose causes have been removed see status word bit 3 8 0 9 0 10 0 11 Activate LowRuntime2 Activate LowRuntime2 instead of LowRuntime 12 0 18 0 14 0 15 0 694900 PHCENIX IB IL DC AR 48 10A Status Word Bit Assignment Remark O Ready to operate 1 ON 2 Operation enabled 3 Error See Device Control States on page 3 7 4 Voltage disabled 5 Quick stop 6 Start inhibit 7 Warning Warning pre
63. nal assignment for the motor MOTOR 2 6 Figure 2 5 Connecting the power supply 2 7 Figure 2 6 Connecting the motor 2 8 Figure 2 7 Working area of the Inline servo amplifier in open space 2 11 Section 3 Figure 3 1 IN process data wordS 3 3 Figure 3 2 OUT process data words 3 3 Figure 3 3 Diagram showing the device control states 3 8 694900 PHCENIX IB IL DC AR 48 10A Appendix A Figure A 1 Speed function inca ci ect ewes A 2 Figure A 2 Speed function in detail 3 Figure 3 Gonttol TU tion 252222 4522 55 A 4 Figure A 4 Monitoring the supply voltage of the power section A 5 Figure A 5 Monitoring the motor current A 5 Figure A 6 Monitoring the device temperature A 6 Figure A 7 Warnings iA A 6 Figure A 8 EITOIS 1 EUCH IIR A 7 Figure A 9 Speed limitation using SpeedMinMax index 6047 A 25 Figure A 10 Method of operation of the current limiter Input variable lsetpoint reference variable lout A 31 2 PHCEN IX 694900 CONTACT List of Tables D List of Tables Section 2 Table 2 1 Meanings of the L
64. ne 2 10 3 Parameterization ERR EX SEXYRR NERA NER VERI Fe PRI E E MAX TREE EXE 3 1 3 1 Programming Data Configuration Data 3 1 3 2 Inline Servo Amplifier From the Point of View of the Fieldbus 3 2 3 3 Meaning of the Process Data 3 12 3 3 1 IN Process Data Words 3 12 3 3 2 OUT Process Data Words 3 12 3 3 3 Parameterizing the Inline Servo Amplifier and Reading Information With 3 12 3 3 4 Parameterizing the Inline Servo Amplifier via the PCP Channel 3 14 694900 PHCENIX i CONTACT IB IL DC AR 48 10A Au EE E EEEE cate vag duca a deg ue rex A 1 A 1 Structures of A 1 A2 Parameter Lists 5 4 D E ae et pdt eiectus A 8 A 2 1 General Device Parameters A 9 A2 2 Additional Parameters in Speed Specification Mode A 21 A2 3 Additional Parameters in Torque Specification Mode A 30 24 ParameterGroup1 Index 33 2 5 Representation of Parameters by Their Indices A 34 B Technical Appendix eii perde
65. nt reached bit in the status word bit 10 hex LowRuntime2 0120 hex QuickStopTime 6051 hex Control function see Figure A 3 PercentageActualValue 6054 hex The Activate LowRuntime2 bit in the control word bit 11 switches between a and ay 6949A019 A 2 PHCENIX 694900 CONTACT Parameters Structure of the Speed Function in Detail SpeedSetpoint 6042 PercentageSetpoint 6052 SpeedReferenceValue 604E DimensionFactor 604C percentage setpoint 16383 a VReference X v numerator D factor denominator D factor hex Y X numerator S factor denominator S factor SetpointFactor 604 Vmin N D factor D D factor Speed limit Nmax Vmax N D factor D D factor max Active 1 Limit value bit in the status word bit 11 SpeedAcceleration 6048 a a N D factor D D factor Acceleration a ay N D factor D D factor limits a a N D factor D D factor ramps S factor SpeedMinMaxValue 6046 SpeedMinMax 6047 hex hex SpeedQuickStop 604A SpeedDelay 6049 hex V XI N D factoryD D factor 1 N S factor D S factor SpeedReference Variable 6043 LowRuntime 6050 Percentage reference variable v 16383 Vpererence D factor S factor V X N D factor D D factor 1 N S factor D S factor SpeedAct
66. of the output level Lower temperature rise on the motor at a speed of 0 rpm for small motors with low inductance and a low current requirement 694900 PHCENIX A 13 CONTACT IB IL DC AR 48 10A INProcessDataDescription Index 6000 This parameter defines the parameters that should be accessed via IN process data Subindex Assignment 01 IN process data length always 4 bytes for the Inline servo amplifier 02 Index of the parameter which should be mapped to the IN process data word starting from byte 0 03 Subindex of the parameter which should be mapped to the IN process data word starting from byte 0 04 Index of the parameter which should be mapped to the IN process data word starting from byte 1 If a 16 bit parameter should be mapped to IN process data word 0 its high byte appears in byte 0 of the IN process data word and its low byte appears in byte 1 In this case subindex 4 of the IN process data description has the value 0000 05 Subindex of the parameter which should be mapped to the IN process data word starting from byte 1 06 Index of the parameter which should be mapped to the IN process data word starting from byte 2 07 Subindex of the parameter which should be mapped to the IN process data word starting from byte 2 08 Index of the parameter which should be mapped to the IN process data word s
67. off automatically and indicates the error Output level overtemperature see Figure A 6 on page A 6 The actual temperature of the output level can be read from the DeviceTemperature parameter index 601 5p 2 10 PHCEN IX 694900 CONTACT Installing the Inline Servo Amplifier 11 10 30 20 10 0 10 20 30 40 50 60 70 6949A034 Figure 2 7 Working area of the Inline servo amplifier in open space The connected motors should have a minimum inductance see Technical Data on page B 1 Motors with a lower inductance motors with transformerless winding cannot smooth the switched motor voltage to a direct current The AC component then causes a temperature rise at the motor coils Minimum nominal Motors operating on the Inline servo amplifier must have a minimum nominal current current If this value is not reached the effectiveness of current detection is limited and therefore also the effectiveness of the current controller In particular in Torque specification mode the motor should have a nominal current of more than 100 mA Smaller motors with a lower nominal current can also be operated in Speed specification mode but speed accuracy is limited 694900 PHCENIX 2 11 CONTACT IB IL DC AR 48 10A 2 12 PHCENIX 694900 CONTACT Parameterization 3 Parameterization 3 1 Programming Data Configuration Dat
68. ontains the integral factor of the PI filter of the current controller see Adjusting Control Parameters on page 1 12 KPSpeedController Index 0109 This parameter contains the proportional factor of the PI filter of the speed controller see Adjusting Control Parameters on page 1 12 KISpeedController Index 010A16x This parameter contains the integral factor of the PI filter of the speed controller see Adjusting Control Parameters on page 1 12 IxRCompensation Index 010 This parameter contains the IxR compensation factor of the speed controller see Adjusting Control Parameters on page 1 12 LowRuntime2 Index 0120 Together with the SpeedReferenceValue parameter index 604 this parameter is used to define the steepness of braking ramp 2 LowRuntime2 braking ramp 2 index 0120544 replaces LowRuntime braking ramp index 6050 as long as the Activate LowRuntime2 bit is set bit 11 of the control word This means that you can switch very quickly between two different braking ramps For the LowRuntime2 parameter Braking ramp 2 Speed reference value LowRuntime2 SpeedSetpoint Index 6042 The SpeedSetpoint parameter is the default value for the speed at the motor axis or at the load It is multiplied by the dimension factor DimensionFactor parameter index 604Chex and the setpoint factor SetpointFactor parameter index 604 If the servo amplifier is
69. ort PCP Service The Abort PMS service can be used to abort an existing communication connection between the bus master and the Inline servo amplifier Abort is an unconfirmed PMS service and can be initiated by both the bus master and the Inline servo amplifier 3 16 694900 CONTACT Parameters A Parameters A 1 Structures of Functions The following diagrams show the structure of the speed and control function as well as the various monitoring warning and error functions They describe how the individual parameters are used within the functions 694900 PHCENIX ax CONTACT IB IL DC AR 48 10A Structure of the Speed Function SpeedSetpoint 6042 PercentageSetpoint 6052 SpeedReferenceValue 604E 1 percentage function Factor function DimensionFactor 604C hex Factor function SetpointFactor 6048 hex SpeedMinMaxValue 6046 SpeedMinMax 6047 227 Factor function Speed limit Active 1 Limit value bit in the status word bit 11 SpeedQuickStop 604A SpeedDelay 6049 a Acceleration limits ramps Active 0 SpeedAcceleration SpeedReference Variable 6043 Percentage function SpeedActualValue 6044 1 factor function SpeedActualValue 6044 Percentage function Figure A 1 Speed function HighRuntime 604F hex Percentage ReferenceVariable LowRuntime 6050 6053 hex hex Setpoi
70. sent See WarningCode parameter index 0100 page 13 8 Message 0 9 Remote 1 parameters can be modified 10 Setpoint reached Defined setpoint at the ramp generator output has been reached ramp has ended 11 Limit value Speed specification mode speed limit active or current limit active Torque specification mode current limit is active 12 0 18 0 14 0 15 0 3 6 694900 PHCENIX CONTACT Parameterization Device Control States The device control states are displayed in the status word by the following bit combinations Table 3 1 Device states State Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Start Quick Stop Error Operation ON Ready to Inhibit Enabled Operate Not ready to operate 0 X 0 0 0 0 Start inhibit 1 X 0 0 0 0 to operate 0 1 0 0 0 1 ON 0 1 0 0 1 1 Operation enabled 0 1 0 1 1 1 Error 0 X 1 0 0 0 Error response active 0 X 1 1 1 1 Quick stop active 0 0 0 1 1 1 694900 PHGNIX 3 7 CONTACT IB IL DC AR 48 10A Automatic when initialization is complete 9 Disable voltage Stop control word control word XXXX XXXX XXOx XXXX XXXX xxxx 110 8 Stop Switch on control word control word XXXX XXXX 110 xxxx x11 1 Enable operation control word XXXX Xxxx xxxx 1111 Connect U U Uy Not ready to operate Status word xxxx xxxx 0000 0000 Start inhibi
71. t Status word xxxx xxxx x1xx 0000 2 7 Ready to operate Status word xxxx xxxx x010 0001 3 6 ON Status word xxxx x010 0011 4 5 Operation enabled Status word xxxx x010 0111 11 13 Event error Error response active Status word xxxx 1xxx Error Status word xxxx xxxx xxxx 1000 14 Reset error control word 12 Quick stop control word XXXX XXXX XXxx x01x or Disable voltage control word XXXX 2000 XXX XXOX 10 Disable voltage control word XXXX or Quick stop control word XXXX XXXX XXxx x01x Stop control word XXXX XXXX Xxxx x 110 Disable operation control word XXXX XXXX xxxx 0111 Quick stop control word XXXX XXXX XXxx x01x Figure 3 3 Diagram showing the device control states XXXX XXXX XXXX 1XXX XXXX Automatically changes at the end of the quick stop ramp Quick stop active Status word xxxx xxxx x00x 0111 6949A018 3 8 PHCENIX CONTACT 694900 Parameterization Table 3 2 Device control states State Status Description Not ready to operate In this state the Inline servo amplifier has just been connected to the supply voltages Us UL and Uy The Inline servo amplifier is not able to accept control commands from the bus yet The self test is running Initialization is still running
72. tarting from byte 2 07 Subindex of the parameter which should be mapped to the OUT process data word starting from byte 2 08 Index of the parameter which should be mapped to the OUT process data word starting from byte 3 If a 16 bit parameter should be mapped to OUT process data word 1 its high byte appears in byte 2 of the OUT process data word and its low byte appears in byte 3 In this case subindex 8 of the OUT process data description has the value 0000hex 09 Subindex of the parameter which should be mapped to the OUT process data word starting from byte 3 694900 PHCENIX ds CONTACT IB IL DC AR 48 10A OUTProcessDataEnable Index 60024 In order to ensure data consistency when switching to the parameters specified in the OUT process data description these parameters are temporarily separated from the process data before switching over The value is written to the OUTProcessDataEnable parameter Once the OUTProcessDataDescription parameter index 6001 has been written the OUT process data is reenabled by writing the value FFhex to the OUTProcessDataEnable parameter index 600255 As long as the parameters specified in the OUT process data description are separated from the process data their values do not change even if the OUT process data changes DeviceTemperature Index 6015 This parameter displays the current temperature of the output level i
73. tarting from byte 3 If a 16 bit parameter should be mapped to IN process data word 1 its high byte appears in byte 2 of the IN process data word and its low byte appears in byte 3 In this case subindex 8 of the IN process data description has the value 0000 09 Subindex of the parameter which should be mapped to the IN process data word starting from byte 3 A 14 PHCEN IX 694900 CONTACT Parameters OUTProcessDataDescription Index 6001 This parameter defines the parameters that should be accessed via OUT process data Subindex Assignment 01 OUT process data length always 4 bytes for the Inline servo amplifier 02 Index of the parameter which should be mapped to the OUT process data word starting from byte 0 03 Subindex of the parameter which should be mapped to the OUT process data word starting from byte O 04 Index of the parameter which should be mapped to the OUT process data word starting from byte 1 If a 16 bit parameter should be mapped to OUT process data word 0 its high byte appears in byte 0 of the OUT process data word and its low byte appears in byte 1 In this case subindex 4 of the OUT process data description has the value 0000hex 05 Subindex of the parameter which should be mapped to the OUT process data word starting from byte 1 06 Index of the parameter which should be mapped to the OUT process data word s
74. tion parameter index 6000 and the OUTProcessDataDescription parameter index 6001 The control word and status word are transmitted in process data word 0 by default Control word The control word is used to remotely control the Inline servo amplifier between the individual operating states via the bus Status word The current operating state can be read in the status word In addition bits in the status word indicate Whether there is a warning or an error Whether the speed or current limiting device is active Whether a setpoint has been reached following a ramp function Depending on the operating mode the speed setpoint or the torque setpoint is written to OUT process data word 1 An actual value is usually read from IN process data word 1 694900 PHCENIX 3 3 CONTACT IB IL DC AR 48 10A PCP channel All the parameters for the individual functions are written to or read from the PCP channel via specific indices As parameter data seldom changes it is sent via the PCP channel on which messages are only transmitted when required Data is transmitted via PCP communication whereby a message is sent and its index determines which parameter is addressed For every parameter an access attribute specifies whether the parameter can be read or written Control via the Control Word Status Word The control word is used to change the operating state of the Inline servo amplifier via the bus Figure 3 3 o
75. tor current 2 5 Calculating the Supply Voltage 2 6 Selecting Compatible Motors The Inline servo amplifier is designed for operating DC motors with brushgears with permanent magnets The nominal voltage range can be between 12 V DC and 48 V DC The Inline servo amplifier supplies a maximum of 10 A to the motor i e a motor with a nominal current of 3 A can start with a starting current of 10 A If you operate a motor with a nominal current of 10 A it too only has a maximum starting current of 10 A The starting torque of the Inline servo amplifier is lower for motors with a starting current of more than 10 A than for operation with a battery When operating larger machines at higher ambient temperatures the temperature derating of the motor current must be observed Figure 2 7 on page 2 11 provides information about the maximum available continuous motor current according to the ambient temperature of the Inline servo amplifier The specified values are provided for reference only and vary according to the installation space the mounting position and cooling air flow The Inline servo amplifier can temporarily supply motor currents of up to 10 A at any ambient temperature For larger motors in continuous operation at higher ambient temperatures the internal fan is activated in order to cool the Inline servo amplifier In the event of overtemperature e g due to an overload the power section of the Inline servo amplifier switches
76. trol Speed control with IXR compensation Torque control current control The IB IL DC AR 48 10A Inline servo amplifier autonomously sets the speed or the torque of the connected motor to the desired speed value torque value which it receives via Inline in the form of process data 4 quadrant mode see page 1 11 A special feature of the Inline servo amplifier is that it can be used to create simple speed controlled drives using cost effective DC motors with brushgears without the need for a rotary encoder system e g on the motor shaft This method relies on a particular aspect of the behavior of DC motors their speed changes in proportion to the supply voltage In this way the speed can be indirectly controlled via the motor voltage In addition the Inline servo amplifier uses an IxR controller which compensates for speed variations caused by the changing load Operation setting the operating mode and parameterization should be compatible with the DRIVECOM profile 22 protocol The IB IL DC AR 48 10A uses safety equipment to prevent Overcurrent Surge voltage and undervoltage Overtemperature Short circuit between motor cables Shortcircuit against the voltage supply PHCEN IX 694900 CONTACT Fields of Application and Functions Voltage and current supply The IB IL DC AR 48 10 Inline servo amplifier is based on digital controllers Its task is to provide current and voltage v
77. ualValue 6044 Percentage actual value 16383 Vpererencd Figure 2 Speed function in detail HighRuntime 604 hex Percentage Reference LowRuntime2 0120 Variable 6053 hex Setpoint reached bit in the status word bit 10 QuickStopTime 6051 hex hex SpeedActualValue Control function see Figure A 3 PercentageActualValue 6054 The Activate LowRuntime2 bit in the control word bit 11 switches between a and 6455A020 694900 PHCENIX A 3 CONTACT IB IL DC AR 48 10A Structure of the Control Function SpeedReferenceVariable 6043 hex TorqueSetpointExternal 6071 Per thousand Nominal ModeSelectionCode function speed 6060 TorqueMaxValue 6072 OutputLevelMode 0121 CurrentMaxValue 6073 KPSpeedController 0109 CurrentMinMax KpCurrentController 4T mode NE 0106 0107 KISpeed operating mode Controller Torque KICurrentController 010A Reference 0108 hex Variable 6074 hex Torque Output stage current l i Da controller 4 Active 1 Display current mode Monitor supply voltage ModeDisplay 6061 of the power section see Figure A 4 Speed Current controller Limit value bit inthe status word bit11 IxR CurrentActualValue 6078 compensation TorqueActual Monitor Value 6077 device temperature IntermediateCircuitVoltage see Figure A 6 6079

User Manual UM EN IB IL DC AR 48/10A - Configurators

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