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SMT-BD1/p CD1-p PROFIBUS POSITIONER User manual

1. 14 3 8 Thermal sensor configuration on the CD 1 p positioner aan uen nunne 14 4 SERVO CONTROL ADJUSTMENT o rssisiiiesnurisiindiiiiai iaiia iadi aiai aiaia 14 41 Ee Eege 14 4 2 Regulator adjustment with vertical l0ad ssissssrsrisrsanrissrrnriiineraarsnisiianniasnnaniiiniiannin anniari 15 BiB EM 8 e E 15 4 4 Brake COMON eege ester ar Eee so sean pervade es ag helet ere kreeres era ere ye ege 15 4 5 Limit switches acdhusiment ERE ERE REE REESE ERR REESE ER KE annan anana anaana EEN 15 5a CONFIGURATION LEE sates ssbeddevsgaccdevssuudevvsactesvvusiedevevgasscavvvaiecevtsiscdvesdesetvviai easxdadicexsiene 16 5 1 General parameterg ccccccccecccnsccececeeceeeeecaaaeeececeeesaaaeaeeeceeeseccaaeaeseseeeeseseesisaeeeeeeesesssineneees 16 5 2 Manual Motion parameters 22 ccccccccccceeeesenaeeececeteceeaeeaeeeeeeesecseaaeaeceseeeseeseaesaeeeseeesetsenesaness 16 5 3 Scale parameters 2 emnerne eeceteseanenaececeeetaeaaenaececeesteadcaanaeneeeeensaeeanaeeeseersesesaneseees 17 5 4 Encoder output parameters SMT BD1 p on 18 6 PROFIBUS ADDRESS eieiei naana ean EAA AEAN AREN AA NAERAA KENA RESA KEDANAN AA NERAN AISA KERANNA 18 7 PARAMETERS SAVING 5 jeccccivaresccvianzes dhaneecesdvards ccuvneccisuvainn cchanekcccaaniecsuvaaeddds neds sdvand AE SNARERE NERE 18 8 PROFIBUS COMMUNICATION ttnn nt tnnt tn nnen nn nentet 19 G 1 F FO MOSSAG EE 19 Qe CONNAN EE 21 8 3 Parameter setting PKW rscrisrsarieriirareiiactiierirrani niiair
2. 2 3 Stored faults If a fault occurs on the positioner it can generate the detection of several other faults which are only a consequence of the initial one In order to make diagnostic and maintenance easier the faults are displayed and processed with the priority described below For safety reasons the power must be turned off for the cancelling of some faults that requires the handling of the positioner in this case the RESET is automatic when power is turned on again If power is not turned off do not forget to make a RESET immediately after the fault is cancelled 2 3 1 Busy fault If the BUSY fault is continuously displayed after applying power to the positioner the AUTOTEST procedure has failed and the positioner is not ready for operation If the BUSY fault is continuously displayed after the execution of the AUTOPHASING function the procedure has failed because of an external cause and the calculated parameters are wrong Check that the ENABLE input is actually activated Then check that the motor is unloaded and the shaft movement is free during the procedure If the BUSY fault is continuously displayed after the execution of the AUTOTUNING function the procedure has failed because of an external cause and the calculated parameters are wrong Check that the ENABLE input is actually open Then check that the motor is unloaded and the shaft movement is free during the procedure This fault may also occur during a h
3. BL 73 B2 B1 B1 BL 74 B2 B1 B1 BL 111 B1 B1 BL 112 B2 B2 B1 B2 BL 113 B3 B3 B2 B2 B2 B3 B3 B2 B2 B3 B3 B2 B2 B2 B2 B2 B1 B3 B3 B2 B2 B3 B2 B2 B1 B2 B2 B2 B1 The adjustment of the current loop P I regulators according to the power board current rating and to the motor phase phase inductance is made as follows Calculation of G 1 4xC x1 with C current rating A phase phase inductance mH 4A 8A 12 A AND 17 A POSITIONERS If G lt 60 current loop jumpers x3 on B3 position If 60 lt G lt 100 current loop jumpers x3 on B2 position If G gt 100 current loop jumpers x3 on B1 position 30 A 45 A AND 60 A POSITIONERS If G lt 100 current loop jumpers x3 on B3 position If 100 lt G lt 250 current loop jumpers x3 on B2 position If G gt 250 current loop jumpers x3 on B1 position Appendix 57
4. Negative software limit switch PNU 747 Defines the value of the negative software limit switch which release is defined by PNU 742 Parameter double word Positive software limit switch PNU 748 Defines the value of the positive software limit switch which release is defined by PNU 742 Parameter double word 2 6 Encoder output Encoder output resolutions PNU 750 Defines the encoder output resolution Parameter 1 word encoder resolution Limitation The encoder resolution is limited by the maximum application speed Max speed Max encoder resolution 100 900 8192 900 3600 4096 3600 14000 1024 Execution With disabled positioner Note The encoder output is only effective after the end of the encoder output programmation procedure Encoder output marker pulse PNU 751 752 753 Parameter Number of encoder pulses 1 16 Phase shift with regard to the resolver marker pulse 0 65535 Marker pulse width 16 32767 Conversion Marker pulse phase shift 65536 is equivalent to 360 Marker pulse width 65536 is equivalent to 360 Limitation Number of encoder pulses 1 16 Phase shift with regard to the resolver marker pulse 0 65535 Marker pulse width 16 32767 Note The positioner takes into account the phase shift value with regard to the resolver marker pulse and the number of marker pulses during the homing procedure The encoder output only takes into account these values after the end of the procedure encoder
5. Defines the deadband for the position controller When this parameter is set at 0 the deadband is disabled CLR input enable When activated box ticked off this function allows the use of the INDEX input for resetting the position counter the active inactive transition uploads the value of the Clear position parameter in the position counter Reset counter Modulo This function resets the position counter as soon as it has reached the predefined position If the value is set at 0 this function is disabled Forward When the Reset counter Modulo function is activated and if the Forward function is selected the motor only runs in the positive direction for an absolute motion lower than the value defined by the Reset Counter parameter When the Reset counter Modulo function is activated and if the Forward function is not selected for an absolute motion lower than the value defined by the Reset Counter parameter the motor follows the shortest way whichever the motor rotation direction Chapter 2 Commissioning 17 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Software limit switches and CD1p and from firmware version 507 18 on BD1p This function is only active if a Home sequence has been executed before When the motor shaft passes the limit position programmed it is stopped with a controlled braking The deceleration value is provided by the parameter Jog deceleration time Configuration
6. When the amplifier RMS current Pt reaches 85 of the Rated current the Idyn signal output is activated and the Pt error display is blinking on the amplifier front panel When the RMS current It drops below 85 of the Rated current the Idyn signal and the blinking Pt error display are both cancelled When the amplifier RMS current Pt reaches the Rated current value the Ft protection limits the positionner current at this value The amplifier current limitation diagram in an extreme case motor overload or locked shaft is shown below Amplifier current t1 Idyn signal Maximum current t2 Current limitation Rated current time to Ia t2 The maximum current duration before the release of the Idyn signal output t1 t0 and before limitation at the rated current t2 t0 is calculated the same way as for the Fusing mode The Pt signal threshold values and the amplifier RMS current value on the digitizing oscilloscope are also calculated the same way as for the Fusing mode In Limiting mode the amplifier Rated current value must be adjusted lower or equal to the Maximum authorized continuous current of the amplifier 12 Chapter 2 Commissioning SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 5 Pt protection CD1p Current limitation in Fusing mode If the RMS current as not dropped below 85 of the Rated current after 1 second the Ft fault is released and the amplifier disa
7. or in relative mode bit 13 of the Control Word Parameter 32 bits Note This parameter has been created in order to define the position input command if the PPO message used does not contain itself this position input command Consequently if a PPO message containing the position input command is used this input command will replace the value of the input command contained in the PNU 767 Homing offset PNU 768 This parameter defines the value that must be taken by the position counter at the end of a manual homing procedure bit 11 of the Control Word Parameter double word Reading of the logic inputs PNU 769 This parameter allows the reading of the logic inputs 0 Software limit switch 1 Software limit switch Hardware limit switch Hardware limit switch 6 Undeel 8 ENABLE Positioner software version PNU 770 Reading of the positioner software version Parameter 32 bits in hexadecimal Example Version 506 78 is coded as 0x00050678 Profibus software version PNU 771 Software version reading of the positioner Profibus interface Parameter 16 bits in hexadecimal Example Version 3 01 is coded as 0x0301 Positioner error code PNU 773 Reading of the positioner error code Parameter 3 bytes Byte 1 low weight Bits Meaning Descriptions 1 Pt 2 Resolver converter error 3 Position following error 4 Memory error 5 Profibus DP mode error 6 BUSY Procedure error Chapter 5 Parameter setting
8. 3 2 1 0 Rating Arms in 230 V Rating Arms in 400 V 1 2 25 1 8 2 4 5 2 7 3 7 5 5 1 4 10 5 7 2 5 16 5 14 6 27 30 7 45 8 45 60 9 60 90 10 90 11 120 Limitation CD1 p only 38 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL The CD1 p positioner has 2 digital PI regulators for the D Q current loops The gains are the following Proportional gain for D current loop PNU 716 Integral gain for D current loop PNU 717 Proportional gain for Q current loop PNU 718 Integral gain for Q current loop PNU 719 2 3 Application parameters Positioner mode PNU 720 Defines the positioner operation mode position speed or torque Parameter 1 word 1 torque mode 2 speed mode with PI regulator 4 positioner mode 8 speed mode with P regulator 16 speed mode with PI regulator Execution This instruction must be executed with disabled positioner In standard the positioner is always configurated in position mode at power on Max speed PNU 721 Defines the maximum application speed and the speed scale as well Parameter 1 word Limitation This parameter varies between 100 rpm and 10000 rpm Execution With disabled positioner Motor rotation direction PNU 722 This instruction allows to reverse the motor rotation direction with regard to the input command It also reverses the position feedback Parameter 1 word 0 normal 1 reversed Exec
9. 6 Fault finding 55 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 3 8 Pt fault Check the rated current value required with regard to the table of currents authorized in pulse mode cycle Check the rated current of the positioner defined in the Rated current parameter with regard to the current required for the operation cycle 3 OPERATING PROBLEMS 3 1 Motor does not move Check that the positioner is on Check that the power supply is on Check the positioner fuses F1 and F2 and the motor connection Check the logic wiring of the signals FC FC and ENABLE Check that the positioner is enabled 3 2 Motor supplied but no torque Check that the Maximum current and Rated current parameters have no zero value 3 3 Shaft locked eratic oscillations or rotation at maximum speed Check the resolver wiring on the X1 connector and the mechanical mounting of the resolver on the motor Check the value of the motor parameters number of pole pairs resolver wiring motor phase 3 4 Discontinuous motor rotation with zero torque positions Check the connection of the three phases cables between motor and positioner 3 5 Loud crackling noise in the motor at standstill Check that the Motor Positioner Controller ground connections comply with the recommendations 3 6 Loud noise in the motor at standstill and when running Check the rigidity of the me
10. Anei aAA AEAEE AAAI ANEAN ARA PAARE AAAA 21 6 4 Global eet EE 23 CHAPTER 3 PROGRAMMATION c sceccccceseeeceseseeeeeseseeeseseseeeseseseeeseseneaeseeseneeeseseneaeseseseaesensneaeens 24 1 GENERAL DESCRIPTION weuiissteccdussiccaiestd encuessibe dues bendveredev cast onda NAAR ENANA AEAEE NRA 24 2 EDITION OF A SEQUENCE set ED iiuna eeh KAE NENE AANA KAA ENEN AAA AES ERRE 24 21 Motion Sequence TEE 25 2 2 HOMING E EE 25 2 3 Speed seguence seeren urent kk EL ELLER SEERE RE LE ERR E RE EEK LE RENE REEL KEE ERE ERE REELLE NERE EL ERE ERE RE RESEN ER ERR 26 2 4 Torque sequence on CD1p and from EPROM version 507 18 on BD1p see 27 2 5 Sequence contre 27 2 6 Logic Outputs virtuell 29 CHAPTER 4 OPERATION MG ss seeeeeerre rr et EENEAE REES ER ESCHER NEES RER FEEL DEERE EEEEEEEELEE 30 1 COMMUNICATION fc Eee E EE E 30 1 1 Control WOM EE 30 422 INDUE COMMANG EE 30 1 3 EE 31 1 4 Feedback EE 31 2 OPERATION DIAGRAM eege ER NEEN AAA RR SK AN NEEDED 32 Contents 5 SMT BD1 p CD1 p User manual CINFRANOR MOTION CONTR 2 1 Positioner control process 2 1 cccccccceeeceeeeeceeeeeeetecncaeceeeeeeeesecsaaaeceeesetesecseaaeeeseenseeteenesineeeestess 32 2 2 POSINOMING MOTO iiron E E Eder 33 3 DRIVING OF THE POSITIONER eniro neinna eeen AEEA EAEEREN NEELA EET EDEA REETAN EAEE 34 S TENAN USANO GE 34 lee a SET EE 34 Kee TEE 34 3 4 Speed CORT Ox LEE eve Seg Aisles ere oe EAA E dads ee de east 34 CHAPTER 5 PARAMETER SETT
11. Bit 0 of PNU 742 for the positive direction and bit 1 of PNU 742 for the negative direction 5 4 Encoder output parameters SMT BD1 p only The parameter Encoder resolution defines the encoder resolution on channels A and B X2 connector of the encoder position output for one motor shaft revolution Binary and decimal values are both accepted The maximum encoder resolution per revolution is limited by the motor rotation speed as shown in the table below Max possible speed rpm 900 3600 10000 Max encoder resolution 8192 4096 1024 The parameter Number of zero pulse defines the number of marker pulses on channel Z for one motor shaft revolution The adjustment range is between 1 and 16 The parameter Zero pulse origin shift defines the shift between the first marker pulse on channel Z and the resolver reference position The adjustment range is between 0 and 32 767 The value 32 767 corresponds to one motor shaft revolution The parameter Zero pulse width defines the marker pulses width on channel Z in ppr The adjustment range is between 8 and 32 767 The value 32 767 corresponds to one motor shaft revolution Caution The encoder output is not available on the CD1 p series positioners eventhough these parameters are existing 6 PROFIBUS ADDRESS Each positioner of the network is identified by one single address 1 to 125 The positioner is delivered with the default address 126 which is not an operational address This addres
12. CLEAR double R W 0 input 747 Negative software limit switch double R W E Ox7FFFFFFF 748 Positive software limit switch double R W E 0x80000000 750 Encoder output resolution 16 8192 word R W E 0x400 751 Number of marker pulses 1 16 word R W E 1 752 Marker pulse shift 0 32767 word R W E 0 753 Marker pulse width 0 32767 word R W E 0x10 754 Encoder output programmation W 756 Minimum duration SEQ output ms 0 16383 word R W E 0 Chapter 5 Parameter setting by Profibus 35 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 757 INPOS window double R W E 0 758 CAM Position 1 double R W E 759 CAM Position 2 double R W E 760 Manual move speed rpm 1 10000 word R W E 0x64 761 Manual mode acceleration ms 1 16000 word R W E 0x320 762 Manual mode deceleration ms 1 16000 word R W E 0x320 763 Speed in jog rpm 1 10000 word R W E 0x1F4 764 Acceleration in jog ms 1 16000 word R W E 0x320 765 Deceleration in jog ms 1 16000 word R W E 0x320 766 Homing configuration 16 bits R W 0x0F0 767 Position input command pulse A B double R W 0 768 Offset Homing pulse A B double R W 0 769 Reading of the logic inputs 16 bits R 770 Positioner software version double R 771 Profibus software version word R 773 Positioner error double R 774 Motor position pulse double R 775 Resolver value pulse 0 65535 word R 776 Motor speed 32767 32767 integer R 777 M
13. R 716 Kp gain of D current loop 1 65535 word R W E 0x100 717 Ki gain of D current loop 0 65535 word R W E 0 718 Kp gain of Q current loop 1 65535 word R W E 0x100 719 Ki gain of Q current loop 0 65535 word R W E 0 720 Positioner mode word R W 721 Max motor speed rpm 100 10000 word R W E 3000 722 Motor rotation direction Boolean R W E 0 723 Acceleration ramp ms O 16000 word R W E 1 725 Motor thermal sensor configuration Boolean R W E 726 Brake control active delay ms 0 16000 word R W E 0 727 Brake control inactive delay ms O 16000 word R W E 0 728 Manual brake control Boolean W 729 Saving in an EEPROM W 730 Proportional speed loop gain 0 65535 word R W E 0x64 731 Integral speed loop gain 0 65535 word R W E 0 732 Proportional position loop gain 0 65535 word R W E 0 733 Feedforward Speed 1 Gain 0 65535 word R W E 0 734 Current control filter 2832 61545 word R W E 0x3000 735 Anti resonance filter 0 1 Boolean R W E 0 736 Auto tuning procedure 0 5 word W 737 Feedforward Acceleration gain 0 65535 word R W E 0 738 Feedforward Speed 2 Gain 0 65535 word R W E 0 739 Damping Speed Gain 0 65535 word R W E 0 740 Position resolution ppr 16 65534 word R W E 0x1388 741 Following error threshold pulse 1 32767 word R W E Ox7FFF 742 Positioner configuration word R W E 0 743 User Output word R W 0 744 Dead band word R W 0 745 Position modulo double R W E 0 746 Counter position reset
14. by Profibus 45 SMT BD1 p CD1 p User manual Byte 2 CINFRANOR SERVO DRIVES amp MOTION CONTROL Meaning 0 Descrptons o O 1 POWER Power stage error 2 RES Resolver cable interruption error 3 AP Power undervoltage error 4 ST Positioner temperature error 24 V CD1 p 24 V error 5 TMOT Motor temperature error 6 CDG Watchdog error 7 Byte 3 high weight Bits Meaning Descriptions 0 HOME Homing procedure timeout error 1 E2PPAR Parameters EEPROM checksum error 2 E2PSEQ Sequences EEPROM checksum error 3 4 SEQWR Sequence writing error 5 6 7 Motor position Reading of the motor position Parameter Resolver value Parameter Speed monitor Motor speed monitor Parameter PNU 774 32 bits PNU 775 Reading of the value provided by the resolver This value is an absolute position over one revolution 16 bits PNU 776 integer Ox7FFF corresponds to the maximum motor speed PNU 777 Current monitor Motor current monitor integer Parameter Ox7FFF corresponds to the maximum current rating in the motor Fault code only on CD1 p Extra Error code for CD1 p Parameter 46 word Bit 0 2 Bit Bit Bit Bit Bit Bit PNU 778 Power voltage error Out of 24 Vdc range 18 V to 29 V Motor phases earth short circuit Braking system error Fan error Motor holding brake error IGBT module error Power undervoltage
15. from the EEPROM to the buffer This allows the parameter values to be read in the buffer see PNU 781 Writing of a sequence PNU 781 Parameter 0 127 sequence number 128 checksum Note This instruction transfers the sequence parameters from the buffer to the EEPROM The sequence parameters must of course be previously written in the buffer see PNU 780 When all sequences are written a sequence must be written with a value of 128 this allows to update the checksum in the EEPROM otherwise the positioner will indicate an EEPROM fault at its next powering The writing in the EEPROM is not instantaneous wait at first for the positioner reply before writing other parameters All instructions below allow the access to the parameters of the sequence contained in the buffer Chapter 5 Parameter setting by Profibus 47 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Sequence control PNU 782 Parameter bit description 0 1 valid sequence 0 non valid sequence 1 0 positioning 1 homing 2 0 absolute positioning 1 relative positioning 3 1 speed sequence If the sequence is a homing bit 1 1 bits 3 to 7 have following meanings 3 0 positive direction 1 negative direction 4 0 without switch 1 with switch 5 0 without marker pulse 1 with marker pulse 6 0 stops the motor after the home position found 1 positions the motor on the home position 7 0 does not reset the pos
16. gt INFRANOR SERVO DRIVES amp MOTION CONTROL SMT BD1 p CD1 p gb PROFIBUS POSITIONER User manual INFRANOR SMT BD1 p CD1 p User manual SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 SMT BD1 p CD1 p User manual SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL WARNING A This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors This manual may be used in conjunction with appropriate and referenced drawings pertaining to the various specific models Instructions for storage use after storage commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed EN 60204 1 standard and using proper test equipment The conformity with the standards and the CE approval is only valid if the items are installed according to the recommendations of the amplifier manuals Connections are the user s responsibility if recommendations and drawings requirements are not met Wait for at least 5 minutes after power down before handling the amplifiers a residual voltage of several Any contact with electrical parts even after power down may involve p
17. normal the FC input must be wired in the positive motor counting direction For checking the limit switches move the motor in one direction activate the limit switch which is located in the movement direction artificially if necessary check that the motor is stopping if the motor does not stop the limit switches are reversed wired Check also in the opposite direction Notes The motor is stopped with maximum deceleration by a limit switch Reminder The limit switches are wired as normally closed Chapter 2 Commissioning 15 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 5 CONFIGURATION 5 1 General parameters Speed profile trapezoidal or S curve Brake on delay defines the time between the brake enabling and the positioner disabling brake activation relay open delay time positioner disabling Brake off delay defines the time between the positioner enabling and the brake disabling positioner enabling delay time brake disabling relay closed Minimum SEQ pulse on CD1 p and from firmware version 507 18 on BD1 p When activated this function defines the minimum duration of the SEQ output Configuration bit 12 of PNU 742 positioner configuration InPos window on CD1 p and from firmware version 507 18 on BD1 p When activated this function defines the position window in which the InPos output is activated only for a positioning Thi
18. running continuous display operating error O Led is unlit e Led is lit Resolver converter failure Ls ck ae All these faults are stored in the positioner except for the Undervolt and Profibus faults 1 2 CD1 p fault LEDs Only 2 red fault LEDs are available on the CD1 p front panel green ON O sys yellow red ERROR AP red green BUS O Busy yellow Chapter 6 Fault finding 53 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 1 3 Fault reset The reset of a stored fault can be made via the fault RESET input of X4 pin 13 only on SMT BD1 p via the serial link by the control issued from Profibus by switching off the positioner power supply 2 FAULT FINDING 2 1 System fault If the SYS LED is lit at power on the logic board is defective Check that the EPROM firmware memory is correctly plugged on the positioner Check that the EPROM version is actually 50x x8 on the SMT BD1 p series and 51x x8 on the CD1 p series Check for no conducting dust that may involve short circuits on the positioner logic board 2 2 Non stored faults 2 2 1 Bus fault Profibus This fault is only displayed when the Profibus communication is interrupted The fault is cancelled as soon as the communication is restored 2 2 2 UNDERVOLT fault If the fault occurs at the positioner commissioning Check that the power supply is on
19. types are automatically provided by the GSD file Otherwise they can be manually defined with values indicated in the table below PPO type Type 1 ReadPPO1 WritePPO1 Configuration Type 2 ReadPPO2 WritePPO2 Configuration Type 3 ReadPPO3 WritePPO3 Configuration Type 4 ReadPPO4 Write PPO4 Configuration Example PKW 4 words Inputs outputs module 4 words Consistency OxF3 PKW 4 words Inputs outputs module 4 words Consistency OxF3 PZD Inputs outputs module 2 words Consistency OxF 1 PZD Inputs outputs module 6 words Consistency OxF5 PZD Inputs outputs module 2 words Consistency OxF1 PZD Inputs outputs module 6 words Consistency OxF5 When PPO2 is used the identifiers are OxF3 and OxF5 4 words for PKW and 6 words for PZD 8 3 Parameter setting PKW The parameter area PKW allows to read or modify a parameter 8 3 1 Parameter identification PKE The parameter code PKE is always on 16 bits Parameter identifier PKE Bit 15 12 11 10 SPM Bits 0 to 10 PNU contain the parameter number 1 to 1999 Bit 11 SPM indicates an event message the parameter is modified and sent by the positioner Bits 12 to 15 AK contain the instruction or reply code Instruction Reply detail AK Instruction code master gt slave Instruction Positive Negative code reply code reply code No instruction i Read a parameter i 718 2 Modify a par
20. via the serial link and the PC parameter setting software or by the PKW of the PROFIBUS DP CAUTION Do not make the drive parameter setting by means of both PC software and Profibus at the same time INSTALLATION AND USE OF THE PC SOFTWARE The Visual Drive Setup software is PC compliant under Windows and allows an easy parameter setting of the BD1 p and CD1 p amplifiers Please see our website www infranor fr for downloading the Visual Amplifier Setup software 1 Windows is a registered trade mark of MICROSOFT CORPORATION Chapter 2 Commissioning 9 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 1 CHECKING THE POSITIONER HARDWARE CONFIGURATION The positioner standard configuration for MAVILOR motors equipped with a TAMAGAWA resolver is the following SMT BD1 p positioner e Resolver adjustment card P RES 4 x 12 7 KQ 1 e Current loops adjustment e Motor thermal probe PTC Jumper MN e Positive control logic Jumpers E F G closed e No auxiliary supply Jumper JK closed and jumper KL open e SW1 OFF on all switches CD1 p positioner e Resolver P RES adjustment board 4 x 12 7 KQ 1 For the positioner adjustment to other resolver types or to another control logic see Installation manual 2 PUTTING INTO OPERATION For the first positioner powering see installation manuals SMT BD1 p Installation and CD1 p Installation The logic voltage auxiliary sup
21. 00 and 10000 rpm and the resolution is 5 rpm Check that its value is complying with motor and application Otherwise modify it according to the motor and application specifications 3 2 Current loops CD1 p When the motor used is not contained in the motor list the current loops gain values must be defined according to the supply voltage 230 V or 400 V to the positioner current rating and to the motor inductance 10 Chapter 2 Commissioning SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 3 Adjustment to a new motor Uncouple the motor from the mechanical load and check that the motor shaft is free and for free rotation 1 revolution that is not dangerous for the operator Execute the auto phasing procedure the positioner must be disabled and the ENABLE signal must be activated in order to define the parameters Number of pole pairs Motor phase and Resolver adjustment Please note that during the auto phasing procedure the motor is automatically enabled and then disabled when the procedure is over If the motor is equipped with a brake unlock the brake manually before starting the procedure The auto phasing procedure calculates the following parameters The parameter Number of pole pairs defines the number of motor pole pairs The parameter Phases order defines the motor phases order The parameter Resolver offset defines the mechanical shift between both motor and resolver refere
22. 16000 Note The real minimum value depends on the motor and the inertia The value 0 allows to link up to another sequence parameter Link without stopping 48 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Delay running time PNU 787 This parameter defines either a delay time at the end of the positioning for a positioning sequence or a movement time at constant speed for a speed sequence or the time out for a homing sequence Parameter word Unit ms for the positioning and speed sequences s for the homing sequences Variation 0 to 16000 Link next sequence PNU 788 Parameter 0 127 number of the link sequence 1 no link Counter PNU 789 Parameter word Variation 1 32767 0 no counter 1 conditional link Counter link conditional jump PNU 790 Parameter 0 127 number of the link sequence 1 no link Note For a conditional jump the counter value must be 0 Start condition PNU 791 This parameter defines the condition inputs for the start of this sequence Parameter word bit description 0 7 The inputs 0 to 7 must be set at 0 8 15 The inputs 0 to 7 must be set at 1 Example Conditions bits 1 and 3 1 bit 6 0 The value will be 0x0A40 Programmable logic outputs PNU 792 This parameter defines the effect on the logic outputs in this sequence Parameter word bit description 0 7 mask s for the outputs 0 to 7 8 15 mask r for the outpu
23. 6 Triggering position modification pulse A B 807 Torque setpoint modification 0 32767 word R W Notes PNU not available for BD1 p version 506 78 and CD1 p version 508 18 PNU available for CD1 p only R W Reading Writing A Lower value limit in position 32768 x position resolution B Upper value limit in position 32768 x position resolution 1 These limit values are theoretic values of the positioner 36 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Saving E These parameters are saved in the EEPROM by instruction 729 S These parameters are saved in the EEPROM by the instruction Sequence writing 781 The words in brackets in the parameter description correspond to the field pertaining to this parameter in the parameter setting software CAUTION The EEPROM life time is about 10000 writing cycles If you need to frequently write in the EEPROM we recommend to use the NovRAM option battery saved RAM instead of the standard EEPROM 2 PARAMETERS DESCRIPTION 2 1 Motor parameters Synchronous motor parameters PNU 700 701 702 Defines the parameters required for driving synchronous motors These parameters can be calculated by the auto phasing procedure Parameter Number of motor pole pairs 1 to 12 Motor phase order corresponds to the phase order U V W of the motor connection Sensor adjustment phase shift between resolve
24. ET ARE NERAN ENA 56 3 1 Motor does not move 56 3 2 Motor supplied but no orgue 56 3 3 Shaft locked eratic oscillations or rotation at maximum speed 56 3 4 Discontinuous motor rotation with zero torque pOSsitionS seen enenrrrrnrnnrnnns 56 3 5 Loud crackling noise in the motor at stade 56 3 6 Loud noise in the motor at standstill and WHEN rung 56 3 7 Sequence Not executed 1 css ennen anret ktr kr ELLERS ERE ELLLER RE ERE EET E RE ERE REELLE ERE ER EL KELLER ERE ELERS 56 4 SERVICE AND MAINTENANCE 22226 ELSE SEERE ENKER REE ERNE KEE KEE ENKE ERE ERE PERKER REE ERE AEK ERE ER EER 56 APPENDIX eege gees Eege Eege eege Eer 57 1 CURRENT LOOPS ADJUSTMENT SMT BD1 P 0 c cceceeecceeceeeeeeeeeceeeaeeeeeeeeeesecennaeeeeeeeseeeees 57 6 Contents SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 1 General description 1 INTRODUCTION INFRANOR Profibus positioners are digital PWM servo amplifiers that provide motion servo control for AC sinusoidal motors brushless with transmitter resolver 2 series are available the plug in SMT BD1 p series is available as a single axis block version or as a multi axis version that can receive up to six axes in a standard 19 rack Both versions are including a power supply unit the CD1 p series is a small sized and low current single axis version Both SMT BD1 p and CD1 p are operating with a PROFIBUS DP interface so driving and parame
25. ING BY PROFIBUG cccsssseceeessseeeessseeeenseseeeeenseseeeenessneeens 35 T PARAMETER LIS tecsvatiicvessneidesivansetebavlessctaneudeacakecenit shceednieidsuesdeakecesai sh elds AE a NA 35 2 PARAMETERS DESCRIPTION erson eege SEENEN dE Eau 37 2 1 Motor para E 37 2 2 Current parameters oreore resni Erin ranei ED EET AAA eler E S ER Et eee Bl een ek 38 2 2 Current Garameierg cera nanan kt ket E REEL KE LER ERE REESE e ERE REE REE LE ERE REELLE SENE REEL RR NERE ER 38 2 3 Application parameters 22 eau uununrnrennnntrtr tt tet RE NERE ELLE LENE NERE EL LERNER NERE ELLE LENE NERE ETTER ERE 39 2 4 Regulator parameters 222222 eee erne tk eee aeeeceea EEK REE ER KEE E ARAARA NEREA ERREKA A REEERE AAE 40 2 5 Positioner parameters ce u annen retn k kr kt te LENE NERE ELLE LENE NERE ELLE NERE NERE EET ERE REE eneen 42 EE ele ger 43 Edi 44 2 8 Manual motion parameters current k LEE LEE E NERE ELLER ERE REE REEL ERE En nenen 44 2 9 Sequence Reading Writing een une en reen kr te ket ERE EE EEK LERNER REE E REE EER ERE ELIE ERE REEL E EEN n 47 CHAPTER 6 FAULT FINDING site eit ici teenie a 53 T DIAGNOSTICS noire as nS RAAN AENEA AEE A SEENEN 53 1 1 SMI BD1 p fault RE 53 1 2 CD1 p fault EE 53 123 FAUILTOSEL rnr E e E ae E e 54 2 FAULT FINDING xD Eee E SEREEN KEEK 54 ER 54 2 2 Non stored faute cen eneret tret t Ek E ELLER NERE EEK LE ERE REEL KEE ER RE REEL ELLE NERE ELLER REE ELLER nnne 54 2 3 S f re RE 54 3 OPERATING PROBLEMS 2222 E
26. PO types defined for the various device profiles under Profibus PKW PZD PKE IND PWE PZD1 PZD2 PZD PZD PZD PZD PZD PZD PZD PZD STW HSW 3 4 5 6 7 8 9 10 ZSW HIW 1st 2nd 3rd 4th 1st 2nd 3rd 4th 5th 6th 7th 8th 9th 10th Word Word Word Word Word Word Word Word Word Word Word Word Word Word PPO1 PPO2 PPO3 PPO4 PPO5 PKW Parameter setting data PKE Parameter code bytes 1 to 2 IND Index byte 3 PWE Parameter value bytes 5 to 8 PZD Process data cyclically transferred STW Control ZSW Status HSW Input command HIW Information feedback Chapter 2 Commissioning 19 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL A PPO message can contain 1 or 2 modules called PKW and PZD Each module PKW or PZD is defined as input output and is consistant over the whole module length The communication is made by the reading or writing of PPO messages the PKW and PZD modules are input and output at the same time The master sends a message by a PPO write and receives a message by PPO read The PPO write and PPO read messages are cyclically transferred by the PROFIBUS DP Data Exchange function The modules are consistant This means that the different words of a same message must be transmitted or received in one single transfer So it is not possible to directly read or write in the PLC
27. Sequence 2 Sequence 3 Start of sequence 1 then connection to sequence 2 parameter Next sequence Execution of sequence 2 then connection to sequence 3 valid start condition and parameter Next sequence Execution of sequence 3 then end of the program If the execution is starting with sequence 1 and if input 8 is disabled the program will be the following Sequence 1 28 Start of sequence 1 then connection to sequence 2 parameter Next sequence No execution of sequence 2 connection to sequence 4 non valid Start condition and Jump parameter Execution of sequence 4 then end of the program Chapter 3 Programmation SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 6 Logic outputs virtual The action on the 8 logic outputs can be defined as described below do not modify the output status set the output at 1 set the output at 0 reverse the output toggle The outputs triggering moment Triggering parameter can be defined during a motion according to the 5 different ways described below HOLD logic BEGIN logic SPEED logic POS logic output when END logic output at output when output when the reaching the output at sequence speed is motor passes a position end of Sequence end beginning reached position trajectory In a homing sequence the outputs trigger only at the end of the sequence In a s
28. This error has no influence on the AOK signal 400 V power stage initialization error Power configuration error Current measurement offset error Current error Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 9 Sequence Reading Writing A sequence is defined by a list of parameters PNU 782 to PNU 793 Sequence control Position Speed Acceleration Deceleration Delay time Link Counter Counter link Condition Logic outputs Output position CAUTION When the parameter position resolution is modified all position values in the sequences are also modified When the parameter Max motor speed is modified all speed parameters in the sequences are modified as well Consequently when the sequences parameters are sent to the positioner it must be previously programmed with the correct parameters position resolution and max motor speed All sequences are saved in the EEPROM The direct access to a sequence in the EEPROM is not possible The transfer requires a buffer the command PNU 780 allows to transfer the EEPROM parameters to the buffer and the command PNU 781 allows to transfer the buffer parameters to the EEPROM The writing or reading of the buffer parameters are made by the commands PNU 782 to PNU 793 Reading of a sequence PNU 780 Parameter 0 127 sequence number Note This instruction transfers the sequence parameters
29. al modules and several slaves There are 4 global controls SYNC UNSYNC FREEZE and UNFREEZE When the master sends a global SYNC control the outputs of the addressed slave are frozen at their present values When the master sends the next data those are stored in the slave and the outputs status remains unchanged When the next SYNC control is sent the stored outputs values are switched through to the outputs An UNSYNC control can be used for ending the synchronous mode The FREEZE control also allows the slave to froze the inputs at their present values and to send them with the next data transfers The inputs are not updated until the next FREEZE control The FREEZE mode output can be left by means of an UNFREEZE control The SMT BD1 p and CD1 p positioners accept the global controls SYNC UNSYNC FREEZE and UNFREEZE Chapter 2 Commissioning 23 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 3 Programmation 1 GENERAL DESCRIPTION Both SMT BD1 p and CD1 p positioners can have up to 128 pre programmed sequences Each sequence can be either an absolute motion or a relative motion or a homing or a speed profile or a torque sequence speed profile with current limitation The sequences can also be linked up when a sequence is over it can switch on to another sequence The SMT BD1 p and CD1 p positioners have got 8 virtual programmable logic outputs triggering at the
30. ameter word 1 718 3 Modify a parameter double word 2 718 The reply code mentioned in the table above contains the normal replies associated with the instructions Chapter 2 Commissioning 21 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Reply codes slave gt master Reply code Function 0 No function 1 Value of the transferred parameter word 2 Value of the transferred parameter double word 7 Instruction cannot be executed see error code in section 8 3 2 8 PKW interface inhibited 8 3 2 Value of the PWE parameter Master gt Slave PWE includes the data for the parameter to be transferred word bytes 7 MSB and 8 LSB double word bytes 5 MSB to 8 LSB Slave gt Master There are three possible cases regarding the slave s answer 1st case If the Master requests concerns a reading writing on a variable parameter and when this action is correctly running the slave answers with the variable value in the PWE area 2nd case If the instruction requested by the master cannot be executed the slave answers with the value 7 in the AK area and gives the error code in the PWE area Error code Description PNU illegal Parameter cannot be modified Lower or upper limit exceeded Index error Incorrect data type Instruction cannot be executed during the operation Other error ON GA MA OH oN 3rd case If the instruct
31. amp of the first sequence is 0 Sequence 1 with Delay time Tdec 0 et Next 2 a Sequence 2 POS SEQ SPEED l l 2 2 Homing sequence A homing sequence is defined by the motion speed the acceleration ramp the deceleration ramp a time out a position reset value the control 5 bits Dir Searching direction 0 for the positive direction and 1 for the negative direction Switch Homing with switch detection Zero Homing with marker pulse detection Origin In a case with switch this parameter allows to come back to the home position motion reversal otherwise the motor will be stopped after the braking Reset Load the position reset value in the position counter at the home position Chapter 3 Programmation 25 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Homing procedure diagram Switch search programmed speed poe Switch detection First marker pulse out of the switch Withdrawal from the switch speed 4 Es N Positioning on the origin marker pulse Start Note When the motor enters the switch rising edge the amplifier stores the position If the output falling edge is not detected it uses the entering position for calculating the index position If Switch 1 and Zero 1 or Origin 1 the speed can be reversed by the switch detection or by a limit switch Procedure diagram with switch Switch se
32. arch programmed speed Ge a See j Load the position counter Pa FF x with the Pos value Return to home Start position speed 4 When sequence 0 contains a homing procedure no other sequence can be executed at power on before sequence 0 2 3 Speed sequence A speed sequence is defined by The motion speed The motion time The acceleration time The deceleration time When the motion time exceeds 16000 ms the stop condition can be used for stopping the sequence Note If the Stop box is ticked off the sequence start condition becomes a stop condition The sequences linkage allows to create speed profiles Sequence 1 Speed 1500 Tacc 2000 Sequence 3 Time 0 Sequence 2 Speed 2000 Tdec 0 Speed 3000 Tacc 3000 Next 2 Tacc 3000 i Time 0 Time 0 Tdec 1500 Tdec 0 i Next 1 Next 3 i The acceleration and deceleration parameters are real acceleration and deceleration times and not acceleration and deceleration ramps as they are in a positioning sequence or a homing sequence Note Next sequence 1 corresponds to an empty box in the sequence edition of the PC software 26 Chapter 3 Programmation SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 4 Torque sequence on CD1p and from EPROM version 507 18 on BD1p A torque sequence is defined by the motion speed the acceleration time the deceleration time the tor
33. be modified Unit Variation Notes This torque setpoint is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the torque setpoint at the value stored before by means of the PNU 781 command But the torque setpoint must not be modified during the sequence running The words in brackets in the parameter description correspond to the field pertaining to this parameter in the parameter setting software 52 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 6 Fault finding 1 DIAGNOSTICS A fault diagnostic can be made by display front panel LED display by serial link clear fault display by the PC parameter setting software by Profibus link by error code At an error triggering the positioner is disabled 1 1 SMT BD1 p fault LEDs 5 red LEDs are available on the SMT BD1 p front panel They are indicating the fault type ONO sys coded faults PROTECTION DISPLAY CODE Positioner rated current overload blinking display Idyn signal t threshold i Je reached continuous display post oner disabled I t fault Position following error Resolver cable interruption Power stage failure power supply overvoltage Power stage internal switch protection short circuit between phases Positioner automatic procedure Busy blinking display procedure
34. be valid This modification takes effect immediately Parameter Word Index PKW Number of the sequence to be modified Unit ms Variation 1 to 16000 Notes This acceleration value is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the acceleration at the value stored before by means of the PNU 781 command But a sequence acceleration must not be modified during the sequence running CD1p only PNU 799 Modification of a sequence deceleration This parameter directly modifies the deceleration for a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter Word Index PKW Number of the sequence to be modified Unit ms Variation 1 to 16000 Notes This deceleration value is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the deceleration at the value stored before by means of the PNU 781 command But a sequence deceleration must not be modified during the sequence running 50 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL CD1p only PNU 800 Modification of the delay running time in a sequence This parameter directly modifies the delay time for a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter Word Index PKW Number of the sequence to be modif
35. bled When the amplifier RMS current Pt reaches the Rated current value the Pt protection limits the amplifier current at this value The amplifier current limitation diagram in an extreme case motor overloaded or shaft locked is shown below Amplifier current Maximum current D current limitation 13 Pt fault Rated current Time to t2 t3 The maximum current duration before limitation at the rated current is depending on the value of the Rated current and Maximum current parameters Tmax second t2 to 4 x Rated current AT Maximum current A The current limitation duration before the release of the protection is depending on the value of the Rated current and Maximum current parameters Tim second ts t2 1 0 7 x Rated current AUT Maximum current A NOTE These formula are correct fora Maximum current Rated current ratio gt 1 5 When the Maximum current Rated current ratio 1 there is no interruption and the current is maintained at the rated current value The Pt signal can be displayed by means of the digitizing oscilloscope available in the Visual Drive Setup software Rated current 100 x Rated current A Amplifier current rating A Current limitation threshold Rated current GT 50 Amplifier RMS current Arms l t signal value x SOU x Amplifier current rating A 100 Current limitation in Limi
36. cates bit n of the status word see section 1 3 This diagram describes the positioner behaviour The enabling process includes 5 stages ENABLE inhibited ENABLE not ready Ready for ENABLE Ready and Operation enabled The 3 OFF1 OFF2 and OFF3 functions correspond to the various ways to disable the motor The functions Error and OFF are effective at each level of the diagram OFF3 is a stop with maximum deceleration OFF2 has a priority over OFF1 which has a priority over OFF3 Contrarily to the parameter setting there is no direct acknowledgment for each control word bit The positioner status must be checked in order to make sure that the command could be executed 32 Chapter 4 Operation SMT BD1 p CD1 p User manual gt INFRANOR SERVO DRIVES amp MOTION CONTROL 2 2 Positioning mode Operation Homing Manual enabled move Drive task over Positioner activation C 4 1 Brake with max Execution Positioner Execution of a sequence deceleration of a new function Acknowledgment of the command by S 12 sequence When position is reached S 10 1 Intermediate stop Continue drive task C 5 0 C 5 1 Brake with ramp End JOG Motor C 8 0 stopped C 9 0 Intermediate Homing stop Homing C 11 1 When the positioner is in Operation enabled status the following actions are possible starting a sequence execution bit 6 jog or jog bit 8 or 9 homing bit 11 ab
37. cerns only the positioning sequences 5 3 Scale parameters Position resolution defines the position resolution for one motor revolution according to the number of decimals and the unit required The adjustment range is between 16 and 65536 ppr Decimal number Factor of 10 for the position resolution 1 2 or 3 Unit Defines the position unit maximum 4 characters Example For a resolution of 4 mm motor rev if the number of decimals is 3 the parameters will be Resolution 4000 Decimal number 3 Unit mm Following error threshold defines the following error triggering threshold It is important to correctly adjust this value in order to get a good protection It can be adjusted like follows 1 Make the motor rotate with the required operation cycles and measure the maximum following error threshold either by means of the oscilloscope of the parameter setting software or by reducing the following error threshold value until the fault is triggered 2 Then set the following error threshold at this value plus a margin of 30 to 50 Example Adjustment of the following error threshold on an axis with Position resolution 5000 Maximum following error measured by oscilloscope 0 05 V The following error value is 0 05 10 x 32767 164 The threshold is set at 246 margin 50 Note In the PC parameter setting software if the number of decimals is set at 3 the value that must be entered is 0 246 Deadband
38. chanical transmission chain between motor and load backlash and elasticity in the gearboxes and couplings Execute the AUTOTUNING command again by choosing a lower bandwidth Medium or Low 3 7 Sequence not executed In operation enabled status the motor does not move at a sequence start in following cases e H after power on the operator wants to start a positioning sequence whereas sequence 0 is a homing sequence that is not yet executed e A start condition has been defined for this sequence and is not fulfilled e One or two limit switches activated 4 SERVICE AND MAINTENANCE When exchanging an positioner on a machine proceed as follows Check that the new positioner has the same hardware configuration as the old positioner including its address Plug the parameters EEPROM of the old positioner on the new one The new positioner is configurated like the old one 56 Chapter 6 Fault finding SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Appendix 1 CURRENT LOOPS ADJUSTMENT SMT BD1 p For the BL and MA MAVILOR motor series the current loop adjustments are made by means of the B1 B2 B3 jumpers according to the table below MOTOR 1 1 B1 MA 3 B MA 6 B MA 10 B2 B1 B1 B1 MA 20 B2 B1 B1 B1 B1 B1 MA 30 B2 B2 B2 B1 MA 45 B2 B2 B1 MA 55 B2 B2 BL 55 3 B1 BL 55 5 B1 BL 71 B2 BL 72 B2 B1 B1
39. equently defines the format of both position input command and position feedback Position error threshold PNU 741 Defines the position error triggering threshold Parameter 1 word Conversion See position resolution Positioner configuration PNU 742 Parameter bit description 0 Positive limit switch software FC 1 Negative limit switch software FC 4 CLEAR input active 5 Forward only Position Modulo 8 Activation of the speed modulation 12 Minimum Sequence Pulse 13 Inpos windows 14 CAM function 15 0 trapezoidal profile 1 S curve profile Note not available on SMT BD1 p version 506 78 User output PNU 743 Defines the outputs of bits 8 to 15 of HIW Parameter byte 42 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Deadband PNU 744 Defines the deadband for the position controller When this parameter is set at 0 the deadband is disabled Parameter word Position modulo PNU 745 Defines the position after which the position counter is reset at 0 This function allows to get a motor position modulo only useful for rotating axes Parameter double word Counter position reset CLEAR input PNU 746 This function is released by PNU 742 and allows to reset the position counter at this value when the CLEAR input is activated this value is generally 0 This function is useful for rotating axes Parameter double word
40. generator Position loop Current loop Current monitor Position monitor Speed monitor Resolver Electric device that transforms electrical energy into a mechanical movement This transformation is often made by means of current commutation Generally the movement is a rotation but there are also linear motors Electric motor which current commutation is made by mechanical brushes Electric brushless motor The current commutation is electronically made and requires a position sensor resolver encoder Hall sensor Absolute position sensor over one revolution Resolvers are often used on brushless motors Electric device for the control of electric motors It also includes a current regulator a speed servo control and sometimes a position servo control Used for the motor current control The motor torque is generally proportional to the current amplitude Allows the motor speed control with a speed input command Allows the motor position control Positioner with position loop and trajectory generator that allows positioning Generates a speed profile acceleration step speed deceleration that allows positioning start position gt arrival position Digital link that allows real time data exchange between various electric devices The characteristic of field busses is their high protection and fault correction level as well as a predictable communication time Fieldbus initially defined by Siemens Thi
41. hysical damage E hundreds of volts may remain during a few minutes ESD INFORMATION ElectroStatic Discharge INFRANOR amplifiers are conceived to be best protected against electrostatic discharges However some components are particularly sensitive and may be damaged if the amplifiers are not properly stored and handled STORAGE The amplifiers must be stored in their original package When taken out of their package they must be stored positioned on one of their flat metal surfaces and on a dissipating or electrostatically neutral support Avoid any contact between the amplifier connectors and material with electrostatic potential plastic film polyester carpet HANDLING If no protection equipment is available dissipating shoes or bracelets the amplifiers must be handled via their metal housing Never aet in contact with the connectors ELIMINATION In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown in Appendix IV of the 2002 96 EC Directive This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items Any inte
42. ication takes effect immediately Parameter double word Index PKW number of the sequence to be modified Unit depends on the position resolution Variation 32768 x resolution to 32768 x resolution 1 Note This position value is not stored in the EEPROM consequently it will be lost at power off At the next power on look for the position at the value saved before by means of command PNU 781 But a sequence position must not be modified during a sequence execution Speed modification in the sequence PNU 797 This parameter directly modifies the speed parameter of a sequence in the RAM the sequence must be valid This modification takes effect immediately Parameter word Index PKW number of the sequence to be modified Unit rpm Variation 1 to max speed for a positioning can be negative if the sequence is a speed sequence Notes Eventhough the speed may be given in rpm this parameter is saved in with regard to the application maximum speed parameter If this parameter is modified all speed parameters of all sequences must be sent again This speed value is not stored in the EEPROM Consequently it will be lost at power off At the next power up find the former saved speed value by command PNU 781 But a sequence speed must not be modified during the execution CD1p only PNU 798 Modification of a sequence acceleration This parameter directly modifies the acceleration for a sequence in the RAM The sequence must
43. ied Unit ms Variation 1 to 16000 Notes This delay time value is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the delay time at the value stored before by means of the PNU 781 command But a sequence delay time must not be modified during the sequence running CD1p only PNU 801 Modification of the link in a sequence Next sequence This parameter directly modifies the link in a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter Word Index PKW Number of the sequence to be modified Unit Variation 1 to 127 Notes This value is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the link parameter at the value stored before by means of the PNU 781 command But the link parameter must not be modified during the sequence running CD1p only PNU 802 Modification of the counter in a sequence This parameter directly modifies the counter value in a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter Word Index PKW Number of the sequence to be modified Unit Variation 0 to 16000 Notes This counter value is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the counter parameter at the value stored before by means of the PNU 781 command But the counter parameter m
44. inputs outputs area special functions must be used for the data reading or writing Example In the STEP7 software the SFC14 and SFC15 functions are used for the reading and writing of the consistant modules EN SFC14 ENO W 16 108 LADDR RET_VAL MW100 RECORD P M 40 0 BYTE 12 EN SFC15 ENO W 16 108 LADDR RET_VAL P M 20 0 BYTE 12 RECORD In the above example the SFC14 and SFC15 functions are used for reading or writing the PZD module PPO2 case The W 16 108 address is the physical module address on the network that is obtained when connecting the slave to the network This address is the same for the reading SFC14 and writing SFC15 because the module is an input output module The result of the reading will be transferred in the memory area at the address 40 by SFC14 12 bytes The SFC15 function will transfer the data at the address 20 12 bytes on the bus The PKW will require a SFC14 reading and a SFC15 writing and the PZD will require a SFC14 and a SFC15 PKW is by definition used for the positioner parameter setting and PZD is used for its operational control The INFRANOR positioner uses the PPO messages mechanism for communicating by Profibus DP The SMT BD1 p and CD1 p positioners accept the PPO1 PPO2 PPO3 or PPO4 types 20 Chapter 2 Commissioning SMT BD1 p CD1 p User manual 8 2 Configuration CINFRANOR SERVO DRIVES amp MOTION CONTROL Normally the identifiers of the various PPO
45. ion requested by the master concerns a procedure auto tuning auto phasing reading or writing in the EEPROM the slaves answers with 0 in the PWE as long as the procedure is running If the procedure has been successfully performed the value of PWE switches to 1 If the procedure has ended with an error PWE takes the value 2 Note During a procedure the command must be maintained on the bus and not re started as long as the PWE value is at 0 IMPORTANT Entering twice one after the other a same command corresponding to a procedure requires to insert a zero instruction PKE 0 between both instructions 8 3 3 Rule of the instruction reply communication The master sends an instruction to the slave with the message PPO write It repeats this instruction until it gets a reply from the slave by PPO read This procedure guarantees the operator the instruction reply communication Just one single instruction can be executed at once A slave provides the reply until the master sends a new instruction An instruction 8 bytes must be completely transferred in a message and a reply as well If no parameter setting information is required the master must send 0 in AK no instruction 22 Chapter 2 Commissioning SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 8 4 Global control The PROFIBUS DP global control mechanism allows the synchronizing of the outputs and inputs of sever
46. ioning by bit 12 or bit 13 the 32 bit position input command is contained in words 5 and 6 of the PZD 1 2 Input command The input command is contained in HSW 2nd word of PZD PPO write It has different meanings according to the positioning or speed control In positioning mode Bits 0 to 7 number of the sequence to be executed Bits 8 to 15 logic inputs bits 0 to 7 These inputs are used for the sequence start or stop conditions In speed mode Speed input command on 16 bits Ox7FFF corresponds to maximum speed 30 Chapter 4 Operation SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 1 3 Status Value Notes o y 1 Ready for enabling Ready for enabling ENABLE Not ready Error Positioner fault after error reset is in disabled status No OFF2 OFF2 Instruction OFF2 available No OFF3 OFF3 Instruction OFF3 available Enabling inhibited Enabling Warning signal the positioner goes on operating No following error Following error Operation via Profibus Operation in local mode CH 1 O o 4 5 7 Position is reached Home position found tl Input command Acknowledgment of a sequence triggering acknowledgment 2 3 Sequence running EJ 15 Speed is reached Oa Notes When the motor reaches a limit switch the following error is activated bit 8 and the positioner fault is not activated bit 3 The motor re
47. ition counter 1 resets the position counter 8 11 define the triggering for the logic inputs 0 End 1 Begin 2 Stop 3 Speed 4 Pos 12 14 reserved 15 0 conditional start 1 conditional stop Note To invalidate a sequence just send this instruction with the value 0 the other parameters will be ignored Position in the sequence PNU 783 This parameter defines the position for a positioning absolute or relative or the Reset value for a homing Parameter double word Unit depends on the position resolution Variation 32768 x resolution to 32768 x resolution 1 Speed in the sequence PNU 784 Defines the motion speed Parameter word Unit rpm Variation 1 at max speed for a positioning can be negative if the sequence is a speed sequence Note This parameter is saved in with regard to the max application speed parameter even if the speed is indicated in rpm If this parameter is modified all soeed parameters of all sequences must be sent again Acceleration in the sequence PNU 785 This parameter defines the positioning acceleration ramp For speed sequences it defines the real acceleration time Parameter word Unit ms Variation 1 to 16000 Note The real minimum value depends on the motor and the inertia Deceleration in the sequence PNU 786 This parameter defines the positioning deceleration ramp For speed sequences it defines the actual deceleration time Parameter word Unit ms Variation 0 to
48. lculated as follows T max second t2 t0 4 x Rated current Maximum current S NOTE 1 The above formulas are valid as long as the Maximum current Rated current ratio is higher than 3 2 When the Maximum current Rated current ratio is close to 1 the calculated values of Tdyn and Tmax are quite below the real values For example when Maximum current Rated current 1 2 the measured Tdyn 3 4 seconds and the measured Tmax 4 4 seconds When the Maximum current Rated current ratio is equal to 1 the Pt protection is no more disabling the amplifier but the current is limited at the Rated current value Chapter 2 Commissioning 11 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL NOTE 2 The amplifier Pt signal can be displayed on the digitizing oscilloscope by selecting the It signal in the Channel menu The Pt signal threshold values according to the Pt protection mode described above are calculated in the following way Idyn signal activation threshold Rated current DN 2 170 Current limitation threshold Rated current 50 The corresponding amplifier RMS current value can be calculated according to following formula Amplifier RMS current It signal value x SOU In Fusing mode the amplifier Rated current value must be adjusted lower or equal to the Maximum authorized rated current of the amplifier Current limitation in Limiting mode
49. mains enabled When switching from the Profibus mode to local mode or vice versa the positioner is disabled 1 4 Feedback The feedback is included in HIW 2nd word of PZD PPO read It has got different meanings according to positioning or speed control In positioning mode Bits 0 to 7 of the HIW number of the running sequence otherwise OxFF Bits 8 to 15 of the HIW programmable logic outputs 0 to 7 If PPO2 or PPO4 are used PZD3 contains the current monitor in the motor PZD4 contains the motor speed PZD5 MSB and PZD6 LSB contain the motor position In speed mode Motor speed Ox7FFF corresponds to the maximum motor speed Chapter 4 Operation 34 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 Operation diagram 2 1 Positioner control process Power ENABLE S 6 1 ON inhibited OFF1 control xxxx X1XX XXXX Xxx0 ENABLE S 6 1 not ready 9 1 C 3 0 control Error XXXX X1XX XXXX X110 2 0 Operation Ready for 0 1 3 1 Error inhibition ENABLE Operation inhibited ON Error reset C 0 1 C 7 1 Enabling OFF1 PS OFF3 OFF2 C 0 0 C 2 0 C 1 0 Deceleration OFF1 active Fast brake OFF3 Active OFF2 active 4 0 phase 1 5 0 phase 1 Motor Motor stop stop 1 0 OFF 1 active OFF3 active phase 2 phase 2 Disabled disabled disabled Operation 2 1 enabled CH Notes ENABLE Enabling C n Indicates bit n of the control word see section 1 1 S n Indi
50. maller when the loop bandwidth is high and the accelerations low 3 8 Thermal sensor configuration on the CD1 p positioner There are 2 possible sensor types that can be software configurated PTC sensor the triggering will occur at a value of about 3 3 kKOhms of the thermal sensor resistor that is 140 C NTC sensor the triggering will occur at a value of about 3 3 kKOhms of the thermal sensor resistor that is 140 C 4 SERVO CONTROL ADJUSTMENT 4 1 Regulator parameters WARNING The auto tuning procedure should be executed by the PC in control mode and at standstill If the A auto tuning procedure must be executed with the drive controlled by the analog command input CV the value of the input command MUST be 0 Volt It is the user s responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis movements during the auto tuning procedure The auto tuning procedure identifies the motor and load specifications and calculates the regulator gain parameters During the procedure the operator can select 1 bandwidth Low Medium and High and 1 filter standard antiresonance and high stiffness the last filter is only available on the CD1 p positioner These values correspond to the cut off frequency for a 45 speed loop phase shift The auto tuning can be executed with disabled or enabled motor i e vertical load but the ENABLE signal must always be activated If the motor is equipped with a b
51. nces Calculate the Phase lead parameter from the specific motor parameters the effects of this parameter are particularly useful on low inductance motors running at high speeds 3 4 Pt protection BD1p Current limitation in Fusing mode When the amplifier RMS current Pt reaches 85 of the Rated current the Idyn signal output is activated and the Pt error display is blinking on the amplifier front panel If the RMS current Pt has not dropped below 85 of the Rated current within 1 second the Ift fault is released and the amplifier is disabled otherwise the Idyn signal and the blinking Pt error display are both cancelled When the amplifier RMS current Pt reaches the Rated current value the Pt protection limits the amplifier current at this value The amplifier current limitation diagram in an extreme case motor overload or locked shaft is shown below Amplifier current t1 Idyn signal activation Maximum current t2 Current limitation t3 Pt fault Rated current time to t1 t2 t3 The maximum current duration before the release of the Idyn signal depends on the value of the Rated current and Maximum current parameters This value is calculated as follows T dyn second t1 t0 3 3 x Rated current Maximum current g The maximum current duration before the limitation at the rated current also depends on the value of the Rated current and Maximum current parameters This value is ca
52. nual motion PNU 762 Parameter This parameter defined in ms corresponds to the deceleration time between max speed and standstill Limitation 1 16000 Note The minimum value depends on the motor and on the system inertia Speed in jog PNU 763 Parameter Speed in rpm Limitation 1 10000 according to the value of the Max speed parameter Note This value depends on the value of the Max speed parameter Acceleration ramp in jog PNU 764 Parameter This parameter defined in ms corresponds to the acceleration time from standstill up to max speed Limitation 1 16000 Note The minimum value depends on the motor and on the system inertia Deceleration ramp in jog PNU 765 Parameter This parameter defined in ms corresponds to the deceleration time from max speed down to standstill Limitation 1 16000 Note This parameter is also used for emergency stops with programmed braking 44 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual Homing configuration PNU This parameter defines the configuration of a manual homing Parameter bit description 3 Dir 4 Switch 5 Zero 6 Origin 7 Reset Note T Position input command PNU CINFRANOR SERVO DRIVES amp MOTION CONTROL 766 he motion speed and the acceleration and deceleration ramps are those of the manual motion 767 This parameter defines the position input command for a manual motion in absolute mode bit 12 of the Control Word
53. o an empty field in the sequence editor Chapter 3 Programmation 27 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL If the execution starts at sequence 1 the programme will be the following Sequence 1 Sequence 2 Sequence 1 Sequence 2 Sequence 3 2 5 2 Conditional jump Start of sequence nr 1 then connection parameter Next sequence to sequence nr 2 First execution of sequence nr 2 then connection to sequence nr 1 parameter Jump Execution of sequence nr 1 then connection to sequence nr 2 parameter Next sequence Second execution of sequence nr 2 then connection to sequence nr 3 parameter Next sequence Execution of sequence nr 3 then end of the program The conditional jump is controlled by the parameters Start condition Next sequence Counter and Jump Application example Sequence 1 Next sequence 2 Counter 0 Jump 1 Sequence 2 Next sequence 3 Counter 0 Jump 4 Start condition Logic input 8 activated Sequence 3 Next sequence 1 Counter 0 Jump 1 Sequence 4 Next sequence 1 Counter 0 Jump 1 Note Next sequence 1 or Jump 1 correspond to an empty field of the parameter in the parameter setting software If the execution starts with sequence 1 and if logic output 8 is active the program will be the following Sequence 1 I
54. of the first order filter that acts upon the current control The value of this parameter is depending on the selected bandwidth Parameter 1 word Conversion Frequence Hz 1000 pi Ln 65536 parameter Limitation This parameter can take a value between 2832 1000 Hz and 61545 20 Hz Antiresonance filter PNU 735 Releases or inhibits the antiresonance filter Parameter 1 word 0 inhibits the filter 1 releases the filter Auto tuning PNU 736 This procedure identifies the specific motor and load parameters and calculates the regulator gain parameters Parameter 1 word 0 low bandwidth 1 medium bandwidth 2 high bandwidth 3 low bandwidth with antiresonance filter 4 medium bandwidth with antiresonance filter 5 high bandwidth with antiresonance filter 6 low bandwidth with high stiffness filter 7 medium bandwidth with high stiffness filter 8 high bandwidth with high stiffness filter Limitation Writing only Execution With disabled positioner and ENABLE signal activated or enabled positioner and motor at standstill zero speed Note When executing this procedure the speed loop bandwidth can be selected low medium or high These values correspond to the cut off frequency for a 45 speed loop phase shift The reading indicates the previously selected bandwidth 0 1 2 3 4 or 5 Before executing this instruction check for free motor shaft rotation over one revolution that is not dangerous for the ope
55. of the programmable logic outputs in a sequence This parameter directly modifies the logic outputs in a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter 16 bits Index PKW Number of the sequence to be modified Unit Variation Notes This value is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the logic outputs configuration at the value stored before by means of the PNU 781 command But the logic outputs configuration must not be modified during the sequence running CD1p only PNU 806 Modification of the triggering position in a sequence This parameter directly modifies the triggering position in a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter Index PKW Number of the sequence to be modified Unit pt Variation Notes This triggering position is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the triggering position at the value stored before by means of the PNU 781 command But the triggering position must not be modified during the sequence running Modification of the torque setpoint in a sequence PNU 807 This parameter directly modifies the torque setpoint in a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter Word Index PKW Number of the sequence to
56. oming procedure which time out is too low 54 Chapter 6 Fault finding SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 3 2 EEPROM fault Check for the presence of the EEPROM and check its correct orientation If the fault remains the EEPROM is not correctly initialized CHECKSUM or is not compatible with the positioner software This fault may occur if the motor is enabled during a parameter saving or during a sequences transfer between PC and positioner To cancel this fault if it is due to the parameters renew the positioner parameter setting and the parameter saving due to the sequences send the sequences to the positioner again 2 3 3 C MOTOR fault Ifthe fault occurs when commissioning the positioner Check the configuration of the MN and OP jumpers with regard to the type of thermal switch used in the motor Check the connection between the thermal switch and the positioner on the X1 front panel connector or the X6 rack rear connector If the fault occurs during the operation Check the motor temperature and look for the reason of this overheating mechanical shaft overload duty cycle too high 2 3 4 C AMP FAULT Check for the correct fan type with regard to the rated current required 2 3 5 POWER STAGE fault If the fault occurs at the positioner commissioning Check the DC bus voltage and the terminal voltage of the power transforme
57. on where one motor revolution is not dangerous for operator and machine far enough from the mechanical limit stops Run the auto tuning function with motor at standstill If the motor shaft is moving the auto tuning has not been accepted by the positioner 4 3 Enabling The enabling can be made by Profibus see operation diagram for the enabling procedure in chapter 4 section 2 1 or by the PC parameter setting software 4 4 Brake control e The SMT BD1 p positioner is equipped with a brake control signal This brake control signal is low powered and cannot directly control the brake The BMM 05 AF single axis rack is therefore equipped with a power relay that allows the brake control the multiaxes rack is not equipped with this relay e The CD1 p positioner is equipped with a brake control made by transistor e The brake control is activated relay open or disabled relay closed according to the positioner status disabled or enabled 4 5 Limit switches adjustment The limit switch inputs are inputs for a proximity sensor that stops the motor with maximum deceleration When both limit switches are correctly placed on the motor stroke they are a protection for the machine in case of incorrect movement The limit switches are only defined according to the physical motor rotation They are not depending on the selected rotation counting direction On Mavilor motors if the option rotation counting direction is
58. or Parameter 1 word Conversion in percentage of the positioner current rating x 3 051850948e 3 Limitation 6554 20 to 32767 100 Execution Note This parameter is defined according to the positioner and motor specifications Rated current PNU 711 Defines the rated current limitation in the motor Parameter 1 word Conversion in percentage of the current rating x 3 051850948e 3 Limitation 6554 20 to 16384 50 Execution Note This parameter is defined according to the positioner and motor specifications Pt mode PNU 712 Parameter 1 word 0 limiting mode 1 fusing mode Note See manual of the SMT BD1 standard positioner for the Tt protection mode Current limitation PNU 713 Defines the current limitation in the motor with regard to the value defined by the maximum current Parameter 1 word Limitation 0 to 32767 100 of Imax Speed modulation PNU 714 This parameter allows a speed modulation The value corresponds to a percentage of the programmed speed In homing sequences this parameter corresponds to a speed limitation The percentage of the programmed speed will actually be applied when starting the sequence and any modification of this percentage will have no effect until the motion is over Parameter 1 word Unit Limitation 0 to 32767 100 Current Voltage rating identification PNU 715 Gives the positioner current rating and voltage Parameter bit4 0 230 V positioner 1 400 V positioner Bits
59. otor current 32767 32767 Integer R 778 Fault code word R 780 Sequence reading word W 781 Sequence writing word W 782 Sequence control 16 bits R W S 783 Position in the sequence pulse A B double R W S 784 Speed in the sequence rpm 0 10000 word R W S 785 Acceleration in the sequence ms 1 16000 word R W S 786 Deceleration in the sequence ms 0 16000 word R W S 787 Delay running time ms O 16767 word R W S 788 Link next sequence 1 127 word R W S 789 Counter 0 32767 word R W S 790 Counter link conditional jump 1 127 word R W S 791 Start condition 16 bits R W S 792 Programmable logic outputs 16 bits R W S 793 Triggering position pulse A B double R W S 794 Torque setpoint 0 32767 word R W S 795 Sequence control modification 16 bits R W 796 Position modification pulse A B double R W 797 Speed modification rpm 0 10000 word R W 798 Modification of a sequence ms 1 16000 word R W acceleration 799 Modification of a sequence ms 1 16000 word R W deceleration 800 Modification of the delay running ms 1 16000 word R W time in a sequence 801 Modification of the link in a 1 127 word R W sequence next sequence 802 Modification of the counter in a 0 16000 word R W sequence 803 Counter link conditional jump 1 127 word R W modification 804 Modification of the conditional 16 bits R W inputs Start condition 805 Modification of the conditional 16 bits R W outputs 80
60. output programmation Encoder output programmation PNU 754 This procedure programs the encoder output with the parameters defined above Limitation Writing only Execution With disabled positioner Note The execution of this procedure takes approximately 5 s Chapter 5 Parameter setting by Profibus 43 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 7 Options Minimum duration SEQ output PNU 756 Allows to define the minimum duration of the SEQ output This function is released by PNU 742 Parameter word Limitation 0 16000 ms 0 means no minimum duration for the SEQ output Inpos window PNU 757 Defines a position window in which the INPOS signal is released This possibility is released by PNU 742 Parameter double word CAM position 1 and 2 PNU 758 759 Defines the positions between which bit O of the outputs bit 8 of HIW is activated This possibility is released by PNU 742 Parameter double word 2 8 Manual motion parameters Manual motion speed PNU 760 Parameter Speed in rpm Limitation 1 10000 according to the value of the Max speed parameter Note This value depends on the value of the Max speed parameter Acceleration ramp in manual motion PNU 761 Parameter This parameter defined in ms corresponds to the acceleration time at max speed Limitation 1 16000 Note The minimum value depends on the motor and on the system inertia Deceleration ramp in ma
61. peed sequence the HOLD and POS triggering is not possible Triggering position Defines the position where the logic output must be triggered when it is programmed in POS triggering see above Chapter 3 Programmation 29 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 4 Operation 1 COMMUNICATION The positioner is driven by Profibus with the PZD data area Master gt slave PLC gt positioner Control STW Input command HSW Slave gt master positioner gt PLC Status ZSW Feedback HIW 1 1 Control word Bit Value Meaning 0 OFF1 Stop braking and disabling 1 1 Operational condition Positioner ready La SE E OOO 0 OFF3 3 1 Operation enabled 4 1 Operational condition for the A sequence can be executed on an edge of bit 6 positioner 0 Stop Maximum braking 5 1 Operational condition for the Must be set at 1 for a sequence execution positioner 0 Intermediate stop Braking with programmed deceleration TU E GT sequence Fault acknowledgment Positioner fault reset eee Continuous motor movement in the positive counting direction Continuous motor movement in the negative counting direction Command Control by profibus Local Local mode control by RS 232 Absolute positioning 7 1 0 1 0 10 1 0 11 Release a homing procedure on the rising edge of this bit E 13 TEE Relative positioning O WEE E CHE During a posit
62. ply on the SMT BD1 p and 24 V on the CD1 p must be applied to the positioner before the power voltage CAUTION When turning off the positioner wait for at least 5 seconds before turning power on again 3 MOTOR ADJUSTMENT 3 1 Motor parameter setting Select the positioner and fan types required for the motor used Select the positioner current limitation mode The Fusing mode is recommended for the commissioning phases In Fusing mode the positioner is disabled when the current limitation threshold is reached In Limiting mode the current is only limited at the value defined by the Rated current parameter when the limitation threshold is reached The parameter Max current defines the maximum current value supplied by the positioner It can vary between 20 and 100 of the positioner current rating This parameter is defined according to the positioner and motor specifications The Rated current parameter defines the limitation threshold of the RMS current Pt supplied by the positioner It can vary between 20 and 50 of the positioner current rating This threshold is set according to the positioner and motor specifications Check that the values of the Maximum current and Rated current parameters are complying with motor and positioner Otherwise modify them according to the appropriate motor and positioner specifications The Max speed parameter defines the maximum motor rotation speed The speed range is between 1
63. que input command the torque application time The Acceleration and Deceleration parameters are acceleration and deceleration times In a torque sequence the motor runs at constant speed until it is locked The current then raises up to the value defined in percentage of the max current value defined by the Max current parameter When the motor has got a zero speed and the current is reached the positioner is holding at this current during the time defined by the Delay time parameter If the Delay time exceeds 16000 the torque holding is infinite The torque sequence can be left either by the START signal that starts another sequence or by the signals of a stop condition if the Stop box is ticked off The triggering of the HOLD outputs allows the outputs activation when the motor speed is zero and the current is reached Execution of a torque sequence Current limitation Speed VA shaft locked e i Torque holding input command value Current Displacement with programmed speed fo gt p T holdi Acceleration orque holding application time 2 5 Sequence control 2 5 1 Counting loop The sequences linkage is controlled by the parameters Next sequence Counter and Jump Example Sequence 1 Next sequence 2 Counter 0 Jump 1 Sequence 2 Next sequence 3 Counter 2 Jump 1 Sequence 3 Next sequence 1 Counter 0 Jump 1 Note Next sequence 1 or Jump 1 correspond t
64. r and motor rotor Conversion Motor phase 2 possible values 0x5555 or OxAAAA Sensor adjustment 5 4931640625e 3 number of pole pairs The value obtained is the shift in electrical degrees Execution With disabled positioner Phase lead coefficient PNU 703 Parameter 16 bits 55 7446 Conversion 4 57771654e 5 electrical degree 1000 rpm Phase shift 0 6 107 Kt Np Max MotorSpeed Sige D peed L lated Kt motor torque constant NM Arms Np number of motor pole pairs Max MotorSpeed maximum motor speed rpm lrated motor current Ams with 0 lt p lt 45 Phase lead coefficient electrical degree 1000 rpm 1000 Coef Max MotorSpeed Auto phasing PNU 704 Parameter None Limitation Writing only Note This procedure allows the automatic calculation of the motor parameters number of motor pole pairs motor phase order resolver offset The motor must first be disabled and uncoupled from the mechanical load The ENABLE A signal X4 connector must also be active Before executing the procedure check for free motor shaft rotation over one revolution that is not dangerous for the operator When the motor parameters are known it is not necessary to execute the auto phasing Chapter 5 Parameter setting by Profibus 37 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 2 Current parameters Maximum current PNU 710 Defines the max current limitation in the mot
65. r secondary DC bus lt 370 VDC and V secondary lt 260 VAC If the fault occurs during the operation Check the braking system operation during the motor braking phases Check the sizing of the braking resistor with regard to the motor braking phases Check for the correct current cycle required with regard to the current table see manuals SMT BD1 p Installation and CD1 p Installation Chapter 2 section 1 Check for no short circuit in the motor wiring and at the motor terminals 2 3 6 RESOLVER fault Check the resolver connection on the positioner connector X1 Check for the presence of the P RES components Check that the resolver type is correct with regard to the P RES components see chapter 2 section 1 Check the connections between the resolver and the positioner and at the resolver terminals 2 3 7 R D C fault If the fault occurs at the positioner commissioning Check that the values of the P RES components with regard to the resolver transformation ratio are correct Ifthe fault occurs during the operation Check that the motor speed does not exceed the speed limit defined below If Maximum speed lt 900 rpm then the speed limit 900 rpm If 900 rom lt Maximum speed lt 3600 rpm then the speed limit 3600 rpm If 3600 rom lt Maximum speed lt 14000 rpm then the speed limit 14000 rpm Be careful about the torque mode operation where the motor speed is determined by the load Chapter
66. rake unlock the brake manually before starting the procedure a Check for free motor shaft rotation over one revolution that is not dangerous for operator and machine before starting the auto tuning with filter standard After the auto tuning procedure check that the motor correctly runs in both directions Check the response for a small movement without IDC saturation In case of loud noise in the motor at standstill and when running check the rigidity of the transmission between motor and load backlashes and elasticities in gears and couplings If necessary renew the auto tuning procedure by selecting a lower bandwidth If the problem remains renew the auto tuning procedure by activating the antiresonance filter Adjust more accurately the loop response stability by adjusting the stability gain 14 Chapter 2 Commissioning SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 4 2 Regulator adjustment with vertical load In the case of an axis with unbalanced load constant torque due to a vertical load proceed as follows Select the current Limiting mode Initialize the speed loop gains corresponding to the unloaded motor run the auto tuning procedure with the motor uncoupled from its mechanical load Couple the motor with the load If possible make a speed control otherwise close the position loop with a stable gain Move the shaft by means of the speed input command until a maintaining positi
67. rator The auto tuning procedure is not required when the regulator parameters are known Chapter 5 Parameter setting by Profibus 41 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Feedforward acceleration gain PNU 737 Defines the feedforward acceleration corresponding to the acceleration input command second derivation of the position input command This feedforward term allows to reduce the following error during the motor acceleration and deceleration phases Parameter word Conversion 1 Limitation 0 to 65535 Feedforward Speed 2 gain PNU 738 This gain value is equal to the damping speed gain value Feedforward friction gain value The feedforward friction gain allows to cancel the load viscous friction effect load viscous friction torque is proportional to axis speed This feedforward term allows to reduce the following error during the motor acceleration and deceleration phases Parameter word Conversion 1 16 Limitation 0 to 65535 Speed loop damping gain PNU 739 This gain is used for getting the maximum servo loop stiffness Parameter word Conversion 1 16 Limitation 0 to 65535 2 5 Positioner parameters Position resolution PNU 740 Defines the position resolution ppr Parameter 1 word Limitation 0 corresponding to a resolution of 65536 full scale or from 512 to 65534 always an even number Execution With disabled positioner Note This position resolution cons
68. re jog or Jog bit 8 or 9 homing bit 11 absolute positioning bit 12 relative positioning bit 13 The movements are mutually exclusive including a sequence execution when a movement is running no other movement is possible For absolute or relative positionings the 32 bit position input command is contained in PZD5 and PZD6 3 4 Speed control It is also possible to control the positioner in speed mode switch to speed mode by means of parameter PNU 720 with disabled motor At power on the amplifier is always in positioning mode the PLC must send the speed input command in PZD2 16 bits full scale of the PPO write the PLC can read the motor speed monitor in PZD2 16 bits full scale of the PPO read 34 Chapter 4 Operation SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 5 Parameter setting by Profibus 1 PARAMETER LIST PNU Parameter Unit Min Max Size R W Saving Fault value 700 Number of motor pole pairs 1 12 word R W E 4 701 Motor phases order word R W E OxAAAA 702 Resolver shift 0 65535 word R W E 0 703 Phase lead word R W E 0 704 Auto phasing procedure WwW 710 Max current 6553 32767 word R W E 0x7FFF 711 Rated current 6553 16384 word R W E 0x4000 712 l t protection mode Boolean R W E 1 713 Current limitation 0 32767 word R W Ox7FFF 714 Speed modulation 0 32767 word R W 715 Current Voltage rating word
69. rvention on the items which is not specified in the manual will immediately cancel the warranty Infranor reserves the right to change any information contained in this manual without notice INFRANOR October 2005 All rights reserved Edition 2 4 SMT BD1 p CD1 p User manual 3 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Windows is a registered trade mark of MICROSOFT CORPORATION STEP is a registered trade mark of SIEMENS 4 SMT BD1 p CD1 p User manual SMT BD1 p CD1 p User manual gt INFRANOR Contents PAGE CONTENTS sigs ces cisite cet cc AAR AAAA KARAER RAEE 5 CHAPTER 1 GENERAL DESCRIPTION ccssssececeesseceeeenseeeenssseeeenssseeeeenssseeeeessseeeenseseeeensseeeaees 7 T INTRODUCTION petecstivcetisniencevacnditewsd seated dcnliaces AENEAN AAAA E 7 2 ARCHITECTURE OF A POSITIONER za Eee ai ede RANE RER i TaS 8 CHAPTER 2 COMMISSIONIN GERE Eee reg 9 1 CHECKING THE POSITIONER HARDWARE CONFIGURATION GMGuG su sccseeeeereree renerne kernerne renee 10 2 PUTTING INTO OPERATION cecina asean E AAE KERRE NEREA ERREA AAKRE RAKE SA AARAA KREKAR 10 3 MOTOR ADJUSTMENT 2225 rare aaiae aiei a eaaa ia iaaii ia 10 3 1 Motor parameter EE 10 3 2 Gurrent TE 1p E 10 3 3 Adjustment to NOW MOOS aenar sannana AAE ARRE EESTI KKR 11 3 4 Pt protection Gin 11 3 5 Pt protection CD 1 EE 13 3 6 Rotation counting dire US EE 14 3 7 Maximum application speed
70. s an error if it does not find the home position When this value is 0 the time out protection is not activated Defines the sequence to be executed after the current one Defines how many times the sequence must be executed This counter is decremented each time a sequence is over Defines the number of the sequence to be executed when the counter see above is not at 0 Defines the possible effect on the outputs Defines the outputs triggering moment Defines the outputs triggering position Chapter 3 Programmation SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Start condition The inputs which are not defined as sequence selection inputs can be programmed here for defining a start condition for the programmed sequence Example As inputs 1 to 5 are defined for the sequence selection inputs 6 to 8 can be used for the start condition Conditions inputs 6 to 1 Inputs 8 to 0 input 7 not used The Start Condition is the following 0 1 input 7 and inputs 1 to 5 are not concerned by the Start Condition Consequently this sequence can only be executed if input 6 is at 1 and input 8 at 0 2 1 Motion sequence A motion sequence is defined by the position to be reached absolute or relative the motion speed the acceleration ramp the deceleration ramp a delay time at the end of the motion Linkage example of 2 motion sequences without stopping the deceleration r
71. s bus is widely used in automation When a motor is enabled it is controlled by the positioner and the servo loops are operating When it is disabled its rotation is free and there is no current in the motor Chapter 1 General description SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 2 Commissioning WARNING During the machine adjustments some drive connection or parameter setting errors may involve dangerous axis movements It is the user s responsibility to take all necessary steps in order to reduce the risk due to uncontrolled axis movements during the operator s presence in the concerned area The various stages of a first positioner commissioning are described below i Current regulator adjustment Motor adjustment Definition of the current limitations and of the Pt protection section 3 Adjustment of the motor control parameters Speed limitation definition Rotation direction Servo control adjustment Adjustment of the servo control parameters according to the section 4 load CONFIGURATION Definition of the resolution section 5 Limit switches Following error Profibus address cena e ae a Communication start between PLC and positioner Both operation stages are PROGRAMMATION chapter 3 Sequences programmation OPERATION i 2 chapter 4 Operational phase sequences execution by Profibus The positioner parameters are accessible
72. s must be modified before putting the bus into operation The SMT BD1 p or CD1 p address can be modified by the serial RS 232 link PC parameter setting software The new address must be saved in the EEPROM and the positioner must be switched on again in order to get the new address operational or by a Profibus class 2 master device The address modification is only possible when the bus is not running In this case the address will be automatically saved in the positioner EEPROM and will be operational at the bus starting The identity number of the SMT BD1 p and CD1 p positioners under Profibus is Ox00C7 7 PARAMETERS SAVING When all adjustments are made the parameters must be saved in the EEPROM with disabled positioner 18 Chapter 2 Commissioning SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 8 PROFIBUS COMMUNICATION The Profibus communication is a master slave communication The INFRANOR positioner is a slave positioner and the only important parameter to be defined for the communication is the amplifier address on the bus All other parameters communication speed configuration parameters are defined in the PLC master and will be automatically sent to the positioner the available communication speeds are 9 6 KB 19 2 KB 93 72 KB 187 5 KB 500 KB 1 5 MB 3 MB 6 MB 12 MB and will be automatically detected by the positioner the configuration used will be sent to
73. s window is equal to the arrival position the programmed value Digital CAM on CD1 p and from firmware version 507 18 on BD1 p When activated this function activates the logic output OUT1 bit 0 of the virtual outputs when the motor passes an area defined by positions P1 and P2 OUT1 output SS ET GE Motor position Position P1 Position P2 Configuration bit 14 of PNU 742 positioner configuration Position value 32 bits PNU 758 and PNU 759 5 2 Manual motion parameters There are 2 types of manual motion basic positioning moving of the motor until a given position directly by the operator jog continuous movement when the jog signal is activated JOG for a movement in the positive direction and JOG for a movement in the negative direction The motion profile parameters are motion speed acceleration time deceleration time These three parameters can be independently adjusted for a Jog or a Positioning 16 Chapter 2 Commissioning SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL The parameters acceleration time and deceleration time define the time with regard to the max speed defined by the parameter Speed limitation When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally smaller Max speed Motion speed parameter gt gt Acceleration ramp Deceleration ramp NOTE Con
74. sequences execution and 8 virtual logic inputs allowing to control a sequence start or stopping the virtual logic inputs and outputs are only visible on the bus and have no physical existence The programmation consists in initializing the sequences with the desired values 2 EDITION OF A SEQUENCE Parameters of a sequence Move Position Speed Acceleration Deceleration Delay Time orTimeOut Next sequence Counter Counter link or conditional jump Logic outputs Triggering Triggering position 24 Defines the motion type ABS absolute positioning REL relative positioning HOME axis homing SPEED speed profile TORQUE torque profile Position to be reached in absolute or relative mode according to above parameter If the motion type is a homing procedure Position then indicates the value to be loaded in the position counter at the home position found Defines the motion speed in rpm Defines the acceleration ramp in ms Defines the deceleration ramp in ms This parameter can be equal to 0 if a sequences linkage can be made without stopping the motor See also chapter 5 section 2 8 Manual motion parameters for the definition of the parameters motion speed acceleration time and deceleration time Defines in ms the delay time at the end of the positioning If the motion is a homing procedure this parameter defines in seconds the time out that is the time after which the positioner release
75. solute positioning bit 12 relative positioning bit 13 stopping the motor with a programmed deceleration the one defined by JOG bit 5 stopping the motor with maximum deceleration bit 4 Chapter 4 Operation 33 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 DRIVING OF THE POSITIONER 3 1 Enabling disabling The enabling procedure is defined in the diagram of section 2 1 Example of a simplified enabling Stages Communication Value 1 PLC gt Positioner Send control word 0400h 2 PLC gt Positioner Send control word 0406h 3 PLC gt Positioner Send control word 0407h 4 PLC gt Positioner Send control word 043Fh 5 Positioner gt PLC Check status word xxxx xx11 xx11 0111b Notes The positioner bus cycle time is 1 ms check for at least 1 ms between 2 commands In the above procedure the positioner status is not checked at each stage but only at the end The disabling can be simply made by disabling one of the OFF1 or OFF2 or OFF3 bits 3 2 Starting a sequence When the positioner is in Operation enabled status a sequence is started by entering the sequence number in PZD 2 reversing bit 6 of the control word If a new sequence is started whereas the positioner is executing a sequence the positioner immediately executes the new sequence without stopping the motor 3 3 Other movements The other possible non programmed movements a
76. ter setting can both be entirely made by the bus The specific software of the INFRANOR Profibus positioners that can be installed on a laptop makes the positioner parameter setting easy thanks to the serial RS 232 link These drives have got the positioner function 128 positioning movements homing and speed profile can be programmed or combined The control simply consists in selecting one of these movements This manual is composed of 6 chapters 1 General description 2 Commissioning First commissioning of the positioner 3 Programmation Movement programmation also called sequence 4 Operation Enabling disabling and control by Profibus 5 Parameter setting by Profibus Parameters list accessible via Profibus 6 Fault finding Diagnostics and fault elimination For the hardware drive installation dimensions wiring see the various manuals pertaining to each positioner SMT BD1 p Installation and CD1 p Installation Chapter 1 General description 7 SMT BD1 p CD1 p User manual Sequence switch Profibus DP interface Electric motor Motor Brushless or synchronous motor Resolver Positioner Current loop Current regulator Speed loop Speed regulator Position loop Position regulator Positioner Trajectory generator Field bus Profibus Enabled disabled Servo On Off CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 ARCHITECTURE OF A POSITIONER Trajectory
77. ters The structure of the regulator used for the SMT BD1 p is shown below Position input command Pos monitor Speed monitor The structure of the regulator used for the CD1 p is shown below Idc s 2 7 Fev Filter Measured speed All gain parameters KF1 KF2 KP1 KP2 Kl KA KC and Fev are automatically calculated during the auto tuning procedure 40 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Proportional speed loop gain PNU 730 Defines the proportional regulator gain KP2 that acts upon the speed error Parameter 1 word Conversion 1 16 Limitation 0 to 65535 Integral speed loop gain PNU 731 Defines the integral regulator gain KI that acts upon the speed error Parameter 1 word Conversion 1 256 Limitation 0 to 65535 Proportional position loop gain PNU 732 Defines the proportional gain that acts upon the position error KP1 Parameter 1 word Conversion 1 65536 Limitation 0 to 65535 Feedforward speed 1 PNU 733 Defines the feedforward speed amplitude KF corresponding to the speed input command derivation of the position input command This feedforward term allows to reduce the following error during the motor acceleration and deceleration phases Parameter 1 word Conversion 1 65536 Limitation 0 to 65535 Current control low pass filter PNU 734 Defines the cut off frequency at 3 dB Fev
78. the slave at the bus starting The available configurations are PPO1 PPO2 PPO3 or PPO4 default parameter setting not used by the positioner These various possibilities are pre defined in a GSD file proper to each product range running with Profibus The file for the INFRANOR positioner is INFROOC7 GSD and is is available for download from the website www infranor fr When defining the network on the master please import the slave GSD file if this has not yet been done create a network with the master connect a slave on the network with the same address as defined in the slave Note When the communication is established the green RUN LED lights up 8 1 PPO message In the PROFIBUS DP communication model a slave module consists of a certain number of inputs outputs or inputs outputs modules Each module is defined by an identifier This identifier contains information on the module direction input output or input output on the number of bytes or words and on the module consistancy The configuration is defined in the DP master and is sent to the slave by means of the Chk_Cfg function at the bus starting The slave checks if this configuration is compatible and configures itself before switching on to data exchange mode Data_Exchange There is also a communication mechanism more complicated than a basic inputs outputs identifier the PPO messages These messages are often used in the device profiles There are 5 P
79. ting mode When the amplifier RMS current Pt reaches the Rated current value the Pt protection limits the amplifier current at this value The amplifier current limitation diagram is shown below Amplifier current Maximum current t2 current limitation Rated current gt Time to t2 The maximum current duration before limitation at the rated current t2 t0 is calculated the same way as for the Fusing mode Chapter 2 Commissioning 13 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 6 Rotation counting direction This possibility defines the position counting direction with regard to the motor rotation direction For the encoder position output the counting direction remains unchanged with regard to the motor rotation direction On Mavilor motors in normal rotation the position is incrementing in the motor CW rotation direction In reverse rotation the position is incrementing in the motor CCW rotation direction 3 7 Maximum application speed The parameter Max speed defines the maximum speed with which the positioner can control the motor This parameter must be lower or equal to the max motor speed approximately 20 higher than the maximum motor rotation speed in the application This margin allows a speed overshooting and avoids a position loop saturation which would involve a position following error This margin can be s
80. ts 0 to 7 The combination of the s and r masks gives rs 01 gt sets at 1 the corresponding output 00 gt sets at 0 the corresponding output 10 gt keeps the output unchanged 11 gt reverses the output Example If no output is modified the value is OxFFOO Triggering position PNU 793 Defines the position that triggers the inputs when the motor passes this position Parameter double Note This parameter is only effective when the inputs triggering type is a position Torque setpoint PNU 794 This parameter defines the torque value as a percentage of the maximum current value Parameter word Unit Variation 0 to 32767 Chapter 5 Parameter setting by Profibus 49 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Sequence control modification PNU 795 This parameter directly modifies the sequence control in the RAM The sequence must be valid This modification takes effect immediately Parameter 16 bits Index PKW Number of the sequence to be modified Note This value is not stored in the EEPROM and will consequently be lost at power off At the next power on look for the sequence control at the value stored before by means of the PNU 781 command But a sequence control must not be modified during the sequence running Position modification in the sequence PNU 796 This parameter directly modifies the position parameter of a sequence in the RAM the sequence must be valid This modif
81. ust not be modified during the sequence running CD1p only PNU 803 Modification of the counter link conditional jump in a sequence This parameter directly modifies the counter link in a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter Word Index PKW Number of the sequence to be modified Unit Variation 1 to 127 Notes This value is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the counter link parameter at the value stored before by means of the PNU 781 command But the counter link parameter must not be modified during the sequence running Chapter 5 Parameter setting by Profibus 51 SMT BD1 p CD1 p User manual CINFRANOR SERVO DRIVES amp MOTION CONTROL CD1p only PNU 804 Modification of the conditional input configuration in a sequence start condition This parameter directly modifies the start condition in a sequence in the RAM The sequence must be valid This modification takes effect immediately Parameter 16 bits Index PKW Number of the sequence to be modified Unit Variation Notes This value is not stored in the EEPROM Consequently it will be lost at power off At the next power on look for the start condition at the value stored before by means of the PNU 781 command But the start condition parameter must not be modified during the sequence running CD1p only PNU 805 Modification
82. ution With disabled positioner Acceleration ramp PNU 723 Defines the motor acceleration or deceleration time that corresponds to the maximum speed Parameter 1 word Conversion in second x 0 0005 Limitation 1 without acceleration ramp at 65535 30 s Note This parameter can only be used in speed mode Motor thermal sensor PNU 725 Defines the motor thermal sensor type used Parameter Boolean 0 NTC sensor 1 PTC sensor Brake delay active PNU 726 Defines the time between the brake release and the positioner disabling Parameter 1 word Unit ms Limitation 0 16000 Brake delay inactive PNU 727 Defines the time between the positioner enabling and the brake inhibition Parameter 1 word Unit ms Limitation 0 16000 Chapter 5 Parameter setting by Profibus 39 SMT BD1 p CD1 p User manual Manual brake control PNU This instruction enables or inhibits the brake Parameter 1 word 0 inhibits the brake relay output relay closed 1 releases the brake relay output relay open Limitation Writing only Saving in the EEPROM PNU Saves all positioner parameters in the EEPROM Parameter none Limitation Writing only Execution With positioner disabled CINFRANOR SERVO DRIVES amp MOTION CONTROL 728 729 Note All parameters modified by the other instructions except for the sequence parameters are not saved This instruction must be used to store them definitively in the positioner 2 4 Regulator parame

SMT-BD1/p CD1-p PROFIBUS POSITIONER User manual

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