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1 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

1. Release Note ver 1 rev 03 06 First edition veri rev 06 06 New paging Corrections ver 1 rev 09 06 DOW paragraph Insert mechanical curves Insert Index ver 1 rev 01 07 Insert Fast Back 100 technical data Insert chapter 5 Application about Reset Fault Function Emergen ver 1 rev 02 07 cy Function Positioner and Homing procedures Motor Brake Mana gement Stop Functions Corrections veri rev 03 07 ver 1 rev 04 07 Insert note about power supply transformer All rights reserved Reproduction in whole or in part is prohibited without prior written consent of the copyright owner All specifications are subject to chan ge without prior written consent of the copyright owner All specifications are subject to change without prior notification Print in Italy 06 04 2007 AXOR INDUSTRIES Via Stazione N 5 36054 Montebello Vi no VI Italy Tel 39 0444 440441 Fax 39 0444 440418 E mail info axorindustries com Internet http www axorindustries com 1 General Advices 1 1 Norms 2 Description 2 1 Product description 2 2 General view 2 3 Technical data General 2 4 Technical data Fast Back 75 2 5 Mechanical dimensions Fast Back 75 2 6 Mechanical Curves Fast Back 75 2 7 Technical data Fast Back 100 2 8 Mechanical dimensions Fast Back 100 2 9 Mechanical Curves Fast Back 100 3 Installation 3 1 Important notes 3 2 Ex of conn
2. M12 connector X4 Digital inputs and output DESCRIPTION Digital input DGT IN1 Programmable digital input DGT IN2 Digital output DGT OUT1 Digital inputs output ground return Earth Shield PE The Fast Back has 2 digital inputs DGT IN1 and DGT IN2 which are opto isolated The input circuit is pre disposed for 24VDC 7mA PLC compatible The range of enable is between T 14VDC Min and 30VDC Max Pin X4 1 ENABLE is used only as the drive s enable Pin X4 2 Programmable digital input can be used to activate pre programmed functions of the drive Connection to the Numerical Control CN FAST BACK 24VDC O DGT IN1 ENABLE I O GND AXOR Industries Service manual Fast Back ver 1 rev 04 07 23 3 4 IN OUT Digital connection The Fast Back has one opto isolated digital output DGT OUT1 24Vdc 50mA PLC compat ible It is possible to utilise the digital output to send messages from pre programmed functions of the drive In the figure below examples of some of the possible connections utilising this output are illustrated 9 24VDC IN DIGITAL I O GND 24VDC I O GND I O GND File Lisers Settings Drive T cu oom To set or enable the digital inputs by software or to visualise the hardware status of the digital Dives MN output select Digital I O in the main window of Speeder One OP MODE 0 Analog Speed Digital 1 0 24 AXO
3. TARGET OK i TM 72 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 5 Positioning procedure Note e If during a profile task the DGT IN2 Start Task I O digital input is disabled see B the motor decelerates using the Dec Time parameter associated to the selected profile and stops If the DGT IN2 Start Task I O is re enabled it will be possible to conclude the interruped task e At the end of a successful position task the drive will enable the DGT OUT2 Target OK digital output to indicate the position quote has been reached This indication is generated when the absolute quote of the motor is within the Window Pos parameter for a period A longer than the Window Time value The DGT OUT2 Target OK output will be high until the next profile starts or the DGT IN3 Start Homing input is high e After the conclusion of the position profile there are two different possibilities Disable the drive Disabling the DGT IN1 Enable digital input will release the motor quote can be lost Remember this in order to maintain safe working conditions for the system The axis position is kept as long as the drive is powered so it is possible to re enable the drive and make other positions without completing a new homing procedure Start another motion profile To start another position task keeping the home position already defined use the DGT INS DGT IN9 digital inputs to select the new profile task
4. Note The cable must be shielded and both sides of the shield must be connected to ground On the side of the M12 connector connect the shield to the pin 5 on the side of the Sub D connector connect the shield to the chassis of the connector 28 AXOR Industries Service manual Fast Back ver 1 rev 04 07 3 8 Analog Output The Fast Back provides one analog output on pin X5 4 which permits visualisation by oscil loscope of some of the drive s measurement values Pin X5 4 Monitor output AN OUT1 Pin X5 5 Mass reference of the monitor AGND Pins X5 4 AN OUT1 and X5 5 AGND furnish x 10Volt as the low scale setting refers to Connection to the Numerical Control Note The shield is to be connected to ground through connector s ring Utilizing the Speeder One you may set the AN OUT 1 output the different options are as follows drive s speed in RPM Speed RPM e Iu current I Phase U e I t drive Tt Drive Analog Qutl e I t Regen I t Regen e feed forward speed FF vel e position error Posit Err direct current Id e bus voltage V bus e motor angle Angle e quadrature current Iq e 10V voltage reference 10Volt AXOR Industries Service manual Fast Back ver 1 rev 04 07 29 30 3 9 Multidrop It is possible to comunicate more than one Axor drive simultaneously with the Multi Drop connec tion This connection must take place between PC
5. Speed RPM 5n o Dec Time ms po Final Position pulses hon Window Pos pulses o Window Time ms fico Delay Time ms Next Profile Position Task Nr 2 gt Cancel Final position It defines the absolute position reference for the selected position profile The admitted values are in the range 23 1 Setting the value 0 means return to zero position the position found during homing only if the Homing Offset was set to zero To define the value approximated at the nearest integer value that should be inserted the following formula will be used Final position n turns also not integer 65536 Example We want to start from the position 0 after a successful homing procedure with a Homing Offset value equal to zero Suppose that the set task makes a rotation of the motor s shaft of 20 turns and 60 mechanical First thing is to normalise 60 on 360 and add the obtained value to the number of integer turn n of turns 20 609 360 20 0 16 20 16 after this you must multiply by 65536 the obtained number like as follow 20 16 65536 1321642 6 and insert in the Final Position parameter the integer part of the number found in this case 1321642 Acc Time It sets the acceleration time value for the trapezoidal profile ramp This parameter admits values in the range 10 5000 ms The time value is referred to the max motor speed Speed Limit parameter set in the Speed window so the
6. Zero Encoder Case 1 f Reverse homing procedure with normally opened sensor and zero index pulses Homing Homing Method Sensor Max Search Angle 2 Homing Method 2 300 deg Acceleration Speed Zero Speed Homing Offset 1000 ms 100 rpm 10 rpm D pulses Case1 If the homing sensor is low at the start homing the drive pilots the motor in clockwise direc tion searching for the home sensor When the sensor output becomes high the motor decelerates and inverts its motion Case2 If the homing sensor output is already high at the homing start the motor simply turns coun ter clockwise with a speed like the Zero speed parameter The home position will be set on the first zero pulse after that the falling edge of the home sensor DGT INx Homing Sensor Zero Encoder Case 1 AXOR Industries Service manual Fast Back ver 1 rev 04 07 67 5 4 Homing procedure g Direct homing procedure with normally closed home sensor and zero index pulses Case1 If the homing sensor is high at the start homing the drive pilots the motor in counter clockwise direction searching for the home sensor When the sensor output becomes low the motor decelerates and inverts its motion Case2 If the homing sensor output is already low at the homing start the motor simply turns clockwise with a speed like the Zero speed parameter The home position will be set on the first zero pulse after that the rising edge of home sensor is re ceived
7. e If during a task the DGT IN2 Start Sequence digital input is disabled see A the motor decel erates using the Dec Time parameter associated to the selected profile and stops If the DGT IN2 Start Sequence is re enabled it will be possible to finish the interrupted task e When the first task of the sequence starts the output set with the Next Target is opened then at the end of each position task the Next Target digital output changes its status e After the conclusion of the sequence there are two different possibilities Disable the drive Disabling the DGT IN1 Enable digital input will let the motor free quote can be lost Remember this in order to maintain safe working conditions for the system The axis position is kept as long as the drive is powered so it is possible to re enable the drive and make other positions without completing a new homing procedure Start another sequence To start another sequence keeping the home position that is already defined use the DGT INS DGT INO digital inputs to select the new first motion profile task of the sequence Then disabling and re enabling the DGT IN2 digital input Start Sequence the new sequence will start During this time the DGT INS Start Homing input must remain active AXOR Industries Service manual Fast Back ver 1 rev 04 07 79 5 5 Positioning procedure Example Start_JOG positioning procedure Suppose we want to do the Start_JOG position
8. DGT INx Homing Sensor Zero Encoder Case 1 h Reverse homing procedure with normally closed home sensor and zero index pulses Case1 If the homing sensor is high at the start homing the drive pilots the motor in clockwise direc tion searching for the home sensor When the sensor output becomes low the motor decelerates and inverts its motion Case2 If the homing sensor output is already low at the homing start the motor simply turns counter clockwise with a speed like the Zero speed parameter The home position will be set on the first zero pulse after that the rising edge of home sensor is re ceived DGT INx Homing Sensor Zero Encoder Case 1 i Homing immediate Enabling the digital input active high with this homing method the motor doesn t move and the cur rent position is set as the home position 68 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 4 Homing procedure Homing utilizing sequence Suppose to do the homing procedure b Reverse homing procedure with normally opened home sensor The procedure is the following 1 Select the operative mode 4 Position Mode and enable the Hardware Control box 2 In the main window of the interface set the desired homing metod and its parameters then save all by using the Save to EEPROM icon For example Homing Homing Method Sensor Max Search Angle Y NOpen w Zero Encoder deg Acceleration Speed Zero Speed Homing Offse
9. Number of registers Hi 00 ae o jee i ERG aC Answer the answer is an echo of the identification the command the start address and the number of the written register States ooo E gar dj ei ee s AXOR Industries Service manual Fast Back ver 1 rev 04 07 97 6 2 Ordering code To order a digital drive serie Fast Back refer to this ordering code T 75 M 30 220T 000D00X 0 T15 FO FR 1 XX 000XX Drive s name 2 Series 75 100 Size XS S M L Nominal Speed Ex 30 3000RPM Power Supply 220T Three phase 230Vac 220M Single phase 230Vac 000 D 00X std Mounting Flange 000 standard 001 499 IEC metric dimension 501 999 Axor s internal code Mounting Holes D B5 flange with thru holes std C B14 flange with threaded holes opt Shaft Diameter 00 standard 01 49 IEC metric dimension 50 99 Axor s internal code Shaft Key x with key std w without key opt Holding Brake Additional features 000XX TL Not in use Not in use SEF Safety Enable Function 1 Present opt 0 Not Present std R485 RS485 Interface 1 Present opt 0 Not Present std CBMD CanBus Multidrop Interface 1 Present std 0 Not Present opt Axor internal use XX std R reducer presence opt Protection Class 1 IP54 std 2 IP65 opt 3 IP65S with saft oil seal opt Connections Orientation FR forward rear exits std for
10. Then disabling and re enabling the DGT IN2 digital input Start Task I O the new position task will start During this time the DGT IN3 Start Homing input must remain active AXOR Industries service manual Fast Back ver 1 rev 04 07 73 5 5 Positioning procedure Example Start Task n positioning procedure Suppose we want to do the Start Task n positioning procedure which executes the task selected by the auxiliary variable associated to the Start Task n function 1 Execute a successful homing procedure If no homing procedure is successful completed no posi tioning profile can be made At the end of the homing procedure keep active the DGT IN1 ENABLE and DGT IN3 Start Hom ing digital inputs 2 In the Axor Profile Tool window set all of the parameters reference the desired positioner profile then save to FLASH utilizing the Save Data to FLASH icon Each task is saved with a number from 1 to 32 Refer to that number to select the desired task using the auxiliary variable 3 Open the Digital I O window and set a programmable input with the Start Task n function for example DGT IN2 inserting in the auxiliary variable the number of the desired task an output with the Target OK function for example DGT OUT2 Save all utilizing the Save to EEPROM icon 4 Enabling the DGT IN2 Start Task n input the selected task will start and the motor will move following the defined motion pr
11. is positive or equal to the negative extreme NSTOP software of the axis if the speed is negative e deceleration time that is equal to the homing acceleration time It enables the task set by the digital inputs DGT IN5 DGT IN9 There is not Start Task 1 0 possibility of blending with this function It enables the task set by the auxiliary variable There is not possibility of blend ing with this function Start Task n It enables a sequence of tasks The first task is set by the digital inputs DGT IN5 DGT INS while the next tasks are set by using the Next Profile param eter associated to each task At the end of each task the following automatically starts It enables a sequence of tasks The first task is set by the digital inputs DGT IN5 DGT IN9 while the next tasks are set by using the Next Profile parameter associated to each task At the end of each task the motor stops the user has to click twice the task button disabling and enabling in order to start the next task of the sequence Start Sequence AXOR Industries service manual Fast Back ver 1 rev 04 07 71 5 5 Positioning procedure Example Start Task I O positioning procedure Suppose we want to do the Start Task I O positioning procedure which executes the task selected by the DGT IN5 DGT INO digital inputs 1 Execute a successful homing procedure If no homing procedure is successful completed no posi tioning profile can be made
12. 1 Stall torque M Rated torque at rated speed 2 ORQUE Nm SPEED rpm x 1000 o 3 2 CURRENT Arms 0 N FBK75 XS 30 220 U Drive s main supply N Rated speed FBK75 S 30 220 FBK75 M 30 220 Ss E s ee 3 L Es E E ow Low E E E r E E a E S 3 Fogl 8 pog x E el e a E P Ee E o o Fa E E Eo E Ca hrr e toe 0 1 2 3 4 5 6 7 8 3 4 5 6 7 8 SPEED rpm x 1000 SPEED rpm x 1000 FBK75 L 30 220 E r o E Lo PA pe Lo M E Eo uu E ow 3 eg 4 E tc P Eog E o Es Si E Eo A E Ea e T FT TTT TTT TTI E 2 0 1 2 3 4 5 6 7 8 SPEED rpm x 1000 AXOR Industries Service manual Fast Back ver 1 rev 04 07 13 14 2 7 Technical data Fast Back 100 C Stall Torque Mo A i 8 5 Mechanical Data ETEENI E Peak Stall Torgue Mpk R NI ul Nm Nm Rated speed Nn pm Nm Oo EN AXOR Industries Service manual Fast Back ver 1 rev 04 07 2 8 Mechanical dimensions Fast Back 100 SHAFT AND KEY x FBK 100 o Dan E L L1 L1 with brake Me
13. About A General set Hide Status amp OSA Profile Tool GB Oscilloscope Drives E 101 xj OP MODE ka TUE Digital fr Digital Speed pen v zl Digital 1 0 Position Speed Current Analog 1 0 Select Driver ox Select Driver i Analog Outi Ericoder Gut Speed rpm gt 00000 Insert ID 1 l Analog Out2 Homing Homing Method Sensor Off Line Ok E z oo Homing Zen Encoder ag Acceleration Zero Speed Homing Offset ms rpm pulses PS F1 CTRL F1 User Normal Port Comz Id Device 001 Status OnLine Dev File The window Select drive allows you to select the drive s address with which you wish to communicate this permits single drop communication with a single driver or multi drop communication with multiple drivers All drives have as default value 1 It is possible to change the drive s address in the General Set tings window If the communication between the PC and driver is OFF line it is possible to open a configuration file utilizing the dev extension it will visualise standard parameters AXOR Industries Service manual Fast Back ver 1 rev 04 07 35 4 2 Main menu The main window of the Speeder One software is displayed below File Operative Mode Digital Inputs Outputs Analog Inputs Outputs Settings User Axor Serve Drive D
14. At the end of the homing procedure keep active the DGT IN1 ENABLE and DGT IN3 Start Hom ing digital inputs 2 In the Axor Profile Tool window set all of the parameters reference the desired positioner profile then save to FLASH utilizing the Save Data to FLASH icon Each task is saved with a number from 1 to 32 Refer to that number to select the desired task us ing the digital inputs 3 Open the Digital I O window and set a programmable input with the Start Task I O function for example DGT IN2 the DGT IN5 DGT INO inputs in order to select the desired positioner profile If the DGT IN5 digital input is set with the Off function it is possible to make the direct addressing of all the 32 available tasks while if the DGT INS digital input is set with any functions other than Off it is possible to make the direct addressing of only 16 profiles from 1 to 16 an output with the Target OK function for example DGT OUT2 Save all utilizing the Save to EEPROM icon 4 Enabling the DGT IN2 Start Task I O input the selected task will start and the motor will move following the defined motion profile parameters DGT IN1 pi ENABLE E ui I I I I DGT IN3 START HOMING B START START CONTINUE i DGT IN2 PROFILE 1 PROFILE 2 PROFILE 2 3 I L I START TASK 1 0 1 I I I DGT INS 9 1 HOMING DGT OUT1 SUCCESSFUL 1 HOMING OK TARGET TARGET REACHED i REACHED DGT OUT2
15. Attention set the Next Profile parameter in order to execute correctly the desired sequence Each task is saved with a number from 1 to 32 Refer to that number to select the desired task us ing the digital inputs 3 Open the Digital I O window and set a programmable input with the Start Sequence function for example DGT IN2 the DGT IN5 DGT IN9 inputs in order to select the first profile of the sequence an output with the Target OK function for example DGT OUT2 Save all utilizing the Save to EEPROM icon 4 Enabling the DGT IN2 Start Sequence input the first task of the sequence selected by the digital inputs will start and the motor will move following the defined motion profile parameters If at the end of a task the DGT IN2 input is kept active and in the Next Profile variable there is a label other than None the task set in the Next Profile starts automatically This sequence con tinues until a label None is found in the Next Profile variable In this case the sequence is ended and must be re programmed by the user DGT IN1 ENABLE DGT IN3 START HOMING A I DGT IN2 i START CONTINUE i START NEXT SEQUENCE PROFILE 3 i I DGT INS 9 PROFILE 1 SPEED PROFILE 2 PROFILE 3 i HOMING DGT OUT1 SUCCESSFUL HOMING OK DGT OUT2 NEXT TARGET 78 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 5 Positioning procedure Note
16. Back with the preceding and the following using the X2 and X3 connectors 3 connect a RESISTOR 120 Ohm between the 2 and 4 pins of the X2 or X3 connector of the first Fast Back and another resistor between the 2 and 4 pins of the X3 or X2 connector of the last Fast Back See connection diagram on the next page AXOR Industries Service manual Fast Back ver 1 rev 04 07 Example 3 9 Multidrop FAST BACK 1 MASTER MODBUS AXOR Industries Service manual Fast Back ver 1 rev 04 07 31 3 10 Led the Fast Back there is a LED red or green fixed or blinking that visualises the systems sta us e Green Blinking There is only the 24Vdc auxiliary supply The Fast Back is ready e Y The rotor is not running or it is running and there Green are not active alarms Red There is an alarm During the start up of the system the led changes in this manner 1 at the beginning it is switched off 2 it becomes red because of the pre loading phase 3 it becomes green fixed 32 AXOR Industries Service manual Fast Back ver 1 rev 04 07 Chapter 4 Speeder One 4 1 Speeder One Interface 4 2 Main menu 4 3 Drive Status 4 4 Operative Mode 4 5 Speed Window 4 6 Current Window 4 7 Motor window 4 8 Digital 1 0 window 4 9 Position window 4 10 Homing window 4 11 Axor Profile Tool window 4 12 Oscilloscope 4 1 Speeder One Interface All Axor s servodrives are supplied
17. Level 2 norm EN60204 EN50178 Enclosure protection IP54 optional IP65 and IP65S Notes e The electrical box must have suitably filtered air vents An area of at least 15cm around the Fast Back is required e Periodically check drive case and fans for excess dust or dirt that could interfere with the correct dissipation of the drive Cables sections Power supply cables 1 5mm 15AWG Signals cables 0 5mm 20AWG 10 AXOR Industries Service manual Fast Back ver 1 rev 04 07 2 4 Technical data Fast Back 75 FAST BACK serie 75 Performance Data 10 3 Ww co Stall Torque Mo Peak Stall Torque Mpk Rated speed Nn 3000 3000 Rated torque at Nn Mn 3 I IN OI III OI Weight with brake Brake inertia N _ O MIL 10AT R Nm Nm pm Nm 5 0 5 6 AXOR Industries Service manual Fast Back ver 1 rev 04 07 11 2 5 Mechanical dimensions Fast Back 75 SHAFT AND KEY E 2 r n PBK IS gt DL i L L1 L1 with brake Mechanical Dimensions Fast Back 75 a Pe o v w Tu 7 e e mm mm 280 295 25 3 FBK 75 M 2 7 FBK 75 L 3 8 12 AXOR Industries Service manual Fast Back ver 1 rev 04 07 2 6 Mechanical Curves Fast Back 75 The Fast Back serie 75 has the following mechanical curves M Stall peak torque
18. Variable speed electric drives Part 3 Product norm regarding electromagnetic compatibility and scientific testing methods Recalls CEI EN 61000 4 CEI EN 60146 1 1 CEI 28 6 Co ordination of the insulation for apparatus in low voltage systems CEI 64 8 Electric systems using a nominal voltage of not above 1000V in alternate cur rent and 1500V in direct current The Fast Back series converters have been tested by a laboratory to check their adherence to the limit values requested by the directive regarding magnetic compatibility The reference standard used for electromagnetic compatibility is summarized in the CIE EN 61800 Norm all parts If the installation of the drive is carried out differently than described in this manual the user must carry out new measures to satisfy the requisites of law AXOR Industries Service manual Fast Back ver 1 rev 04 07 Chapter 2 Description 2 1 Product description 2 2 General view 2 3 Technical data General 2 4 Technical data Fast Back 75 2 5 Mechanical dimensions Fast Back 75 2 6 Mechanical Curves Fast Back 75 2 7 Technical data Fast Back 100 2 8 Mechanical dimensions Fast Back 100 2 9 Mechanical Curves Fast Back 100 2 1 Product description The Fast Back is an all in one fully digital DRIVE plus BRUSHLESS MOTOR There are two available sizes Y Fast Back 75 having a continuos stall torque from 1 1 Nm to 3 8Nm Y Fast Back 100 having a continuos stall torque f
19. is reached NSTOP Software If the Final Position parameter is greater then the NTSOP Software the task stops when the NSTOP target is reached First profile Not used Note Each profile is identified and saved with a number from 1 to 32 for example Position Task Nr 1 selectable in the dedicated menu on the Axor Profile Tool window The Axor Profile Tool window has 4 icons which helps you during the parameter configuration Axor Profile Tool First Profile Max Position Speed PSTOP 99 p 3000 RPM 1073741 Open Profile File Save Profile File Load Data from Flash Save Data to Flash Load Data from Flash It permits the visualisation of the data saved into Flash This values can be different from the prec edent visualised value if a saving process has not been performed yet Save Data to Flash It permits to save the parameter into Flash In this mode the parameter will be loaded automatically at the next power up Save Profile File It permits to save on a file the parameters set in the Axor Profile Tool window Open Profile File It permits the loading of the parameters saved on a file Note The functions Save Profile File and Open Profile File are very useful if you want to configure more than a drive with the same setup In this case you can configure all parameters on a drive save in flash and save the setup on a file For other drives it is not necessary to configure one by one the parameter of th
20. it is possible to re enable the drive and make other positions without completing a new homing procedure Start another motion profile To start another position task keeping the home position already defined 1 change the auxiliary variable of the digital input set with the Start Task n function save all then disable and enable the digital input Or 2 set another digital input with the Start Task n function save all then enable the digital input to start the new sequence During this time the DGT IN3 Start Homing input must remain active AXOR Industries Service manual Fast Back ver 1 rev 04 07 75 76 5 5 Positioning procedure Example Start Next positioning procedure Suppose we want to do the Start Next positioning procedure 1 Execute a successful homing procedure If no homing procedure is successful completed no posi tioning profile can be made At the end of the homing procedure keep active the DGT IN1 ENABLE and DGT IN3 Start Hom ing digital inputs 2 In the Axor Profile Tool window set all of the parameters of the positioner profiles of the se quence then save to FLASH utilizing the Save Data to FLASH icon Each task is saved with a number from 1 to 32 Refer to that number to select the first task of the sequence using the digital inputs 3 Open the Digital I O window and set a programmable input with the Start Next function for example DGT IN2 the DGT IN5 DGT IN9 i
21. s wire is interrupted This causes the disabling of the functioning Contact Axor This alarm goes on if one or more of the encoder channels are interrupted This causes the disabling of the functioning Contact Axor The internal I t function has reached the maximum per mitted because of the working cycle could be too heavy a possible mechanical block a motor phases inversion the electronic brake not unblocked the amplifier dynamic costants KP KI and KD could create useless current oscillation This does not cause the disabling of the functioning Heat sink temperature too high This causes the disabling of the functioning Disable the drive control the heat sink temperature decrease the dynamic constant if the motor is vibrating This situation causes the current oscillation and conse quently the overheating of the motor Wait the motor has cool off reset the alarm then enable the drive Resets itself Cannot be reset Can be reset Can be reset Can be reset Resets itself Can be reset AXOR Industries service manual Fast Back ver 1 rev 04 07 Regenerative Resistance Min Max Voltage Pre Alarm Recovery Following Error Limit Switch Can Bus Alarm 4 3 Drive Status The value Pt energy recovery has reached the maximum permitted This causes the disabling of the functioning Disable the drive check the AC power supply input check that th
22. the Emergency Stop function see chapter 5 Application AXOR Industries Service manual Fast Back ver 1 rev 04 07 37 38 4 2 Main menu Drive By clicking on Select Drive it is possible to select the address of the drive with which you want to communicate while Enable and Disable manage the state of the drive File Users Settings Drive Tuning About 5 tal EN pa Enable Ctrl F1 Disable Fi Tuning This menu is utilized for the phasing of the motor Motor Phasing File Users Settings Drive Tuning About sala OO ice Lc ac About This option shows the program version and additional information for example Axor Servo Drive Software 1 1 4 AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 2 Main menu The program functions may be chosen both from the main menu as well as from the icons shown below Axor Servo Drive File Users Settings Drive Tuning About kd General Set Open File Reset General Set Save as Load default data Oscilloscope Select drive Save data to EEPROM Load data from EEPROM Axor Profile Tool Open file It opens a file nomefile dev Save as It saves with name on EEPROM a file with the configuration visualized on the interface at the moment of the memorisation Select drive It opens the Select Driver window Save data to EEPROM It saves the configuration created on EEPROM of the drive and therefore it makes it op
23. the type of sensor used for the homing procedure The available options are NOpen nor mally open or NClosed normally closed Zero Encoder Marking the Zero Encoder box the home position is set on the first zero pulse of the motor feed back after the interception of the homing sensor This allows you to execute the homing procedure with better precision Max Search Angle It is the maximum mechanical angle 0 359 degrees that can be made during the search for the zero encoder signal after the correct interception of the homing sensor Above this angle the motor stops no homing position is saved and alarm 26 the Homing Error alarm is displayed this alarm is cleared after the disabling of the digital input set with the Reset Fault function This parameter when used correctly allows the homing process to be repeated with excellent results and avoid errors due to sensor signal elasticity or mechanical tolerance Speed This parameter sets the speed reference used during the homing process and it is given in rpm The admitted values are in ranges between 10 and 1000 rpm AXOR Industries Service manual Fast Back ver 1 rev 04 07 53 4 10 Homing window Acceleration This is the acceleration and deceleration time for the homing procedure It is defined in milliseconds and allows values in ranges between 10 and 5000 ms This time references the maximum motor speed set by using the Speed Limit parameter in the Speed windo
24. using the Disable icon or the DGT IN1 input 2 reset the alarm using the Reset Fault function 3 enable the drive using the Enable icon or the DGT IN1 input Irreversible protection intervention It compares in presence of alarms which cannot be reset This causes the disabling of the drive To restore the correct functioning it is necessary to 1 Disconnect the power main power supply plus Back Up supply 2 eliminate the cause of the block 3 power again N B Before powering again wait a short while until the drive is securely switched off AXOR Industries Service manual Fast Back ver 1 rev 04 07 41 42 4 3 Drive Status The table below illustrates all the message errors ERROR MESSAGES Explanation Reset Temperature Temperature Error during the parameter memorising on the drive s eeprom This causes the disabling of the functioning This alarm resets itself memorising parameters on eep rom if the alarm persists contact Axor Short circuit between U V W or toward earth This causes the disabling of the functioning Disconnect the power verify the wiring then power again Heat sink temperature too high gt 75 C This causes the disabling of the functioning Disable the drive verify the forced ventilation functioning verify the ambient temperature wait that the radiator has cool off reset the alarm then enable the drive This alarm goes on if one or more of the hall cell
25. with the software Speeder One which permits you to setup modify and save all the parameters of the system by connecting a PC to the drive via RS232 Welcome to The interface communicate with the drive via serial RS232 For a more detailed description about the RS232 interface and the realisation of the communication cable see chapters 3 7 RS232 Interface PC minimum preconditions Operative system Windows 98 Windows 2000 Windows XT Graphic sheet Windows compatible coloured Drive Hard disk having at least 5 MB free Drive for CD ROM Work memory at least 8 MB Interface free serial interface Installation procedure A 34 1 connect the RS232 cable to the PC serial interface and to the J5 drive connector do this with the drive not supplied 2 insert the CD click on the installation file Setup EXE that you find on the CD directory then follow the instructions 3 at the end of the installation to start the interface click on the Axormb exe file that you find on the directory C Program Axor Attention The parameter variation via interface should be done only by technical qualified personnel AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 1 Speeder one Interface The program is started by clicking on Axormb exe The main window Axor Servo Drive and the Select Drive window open simultaneously Axor Servo Drive EI lol xl File Users Settings Drive Tuning
26. 11 12t Motor O v 27 Reserved Q v 12 Resolver OD v 13 Overvoltage Ov 14 Following Error Ov 15 Limit Switch Q v 16 Reserved O v 28 Reserved O vw 28 Reserved Q v 30 Reserved O v 31 Reserved O v 32 Reserved 40 AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 3 Drive Status Eventual functioning errors of the drive are visualized on the display on the front of the drive The drive is equipped with a series of protections which safeguard both the drive and the motor in case of malfunctions Some alarms cause the block of the drive so the user has to disable or power off the system while others reset themselves or can be reset via interface without power off the system There are three kinds of protection reversible resettable and irreversible Reversible protection intervention It compares in presence of alarms which reset itself when the cause that has determined interven tion is no longer present This causes the block of the drive To restore the correct functioning it is necessary to 1 disable the drive using the Disable icon or the DGT IN1 input 2 eliminate the cause that has determined intervention 3 enable the drive using the Enable icon or the DGT IN1 input Resettable protection intervention It compares in presence of alarms which can be reset using the Reset Fault function This causes the block of the drive To restore the correct functioning it is necessary to 1 disable the drive
27. 4 07 19 3 3 Power Supply connection The X1 connector contains e the alternate supply coming from the mains e the 24VDC external power supply Male connector X1 Front view Connector X1 Power supply DESCRIPTION Power supply L1 Power supply L2 Back up supply 24V Power supply L3 Back up ground reference OV Connectiot to Earth Connection diagram Fast Back L2 3 PH 230 Vac 50 60 Hz 20 AXOR Industries Service manual Fast Back veri rev 04 07 3 3 Power Supply connection The Fast Back has the following power supply three phase 230Vac 10 The single phase power supply 230Vac 10 DOES NOT ALLOW THE RATED PERFORMANCE contact Axor s technical department for details The product is opto isolated and this guarantees the galvanic isolation between the mains and control signals The figures below displays some example of connection Mains 380 400 Vac LI Mains 220 230 Vac L2 L3 N PE F2 L1 F2 L2 F2 L3 PE It depends by the available main supply T Mains 380 400 Vac Mains 220 230 Vac L2 L3 N PE 400 230 Vac Fuse F2 Notes e Insert protective fuses F e Alw tion all of th r ts wer ph tilisin wer rel r a thermal magnet In th f thr h th wer rel r thermal magnet i li to L1 L2 and L3 Power Cable Power cable must be shielded and the shield must be connected on both sides Drive side the shield is connected to ground by connector main supply side the s
28. 99 9ms AXOR Industries Service manual Fast Back ver 1 rev 04 07 47 4 7 Motor window Clicking this icon it is possible to Motor i Oe XI modify items relating to the motor s characteristics Feedback Type No of Poles Encoder CNN Resolution pulses rev Holding Brake 1024 Without Phase Anale 330 0 oed due em OK confirms the set Cancel closes the win Apply confirms the set value and closes the dow without change value but it does not window any parameter close the window No of Poles Number of motor poles It is possible to set 0 2 4 6 8 10 and 12 poles The value pre set as a default is 6 poles The value 0 is to be used when utilizing linear motors Feedback Type It permits to select the type of motor feedback Encoder or Resolver The Fast Back has only the Encoder feedback Feedback Type Encoder Resolution pulses rev Resolution pulses rev 1024 In this section there are the value of encoder pulses rev Phase Angle 330 0 Cancel Apply Phase angle In this section the phasing angle of the motor is visualized Holding Brake When the Without option is selected the electromechanical brake integrated on the motor is not manage while when the With option is selected the electromechanical brake can be manage ex ternally by the user or internally by the control for more information see chapter 5 6 Motor Brake Management 48 AXOR Industries Service manual Fas
29. E having the 0x14 identification sends the values of the registers having the fol lowing addresses 0x0005 0x0006 0x0007 number ore os Da m e ce CI II The 0x0005 register has the 0x12A2 value the 0x0006 register has the 0x021F value the 0x0007 register has the 0x0A10 value AXOR Industries Service manual Fast Back ver 1 rev 04 07 6 1 ModBus Protocol 0x06 COMMAND WRITE A REGISTER The 0x06 command allows you to write a value on a register of the drive Example Question the MASTER asks the SLAVE having the 0x14 identification to write the 0x0003 value into the 0x0002 register identification a Commana Start address o Start acaress to o Number of register fi 00 je lt di oe Wa Answer the answer is an echo of the question after that the register is written Comma as Start ceres ti oo 14 02 3 number of register fi 0 E CR EI e ES pue P_i 96 AXOR Industries Service manual Fast Back ver 1 rev 04 07 6 1 ModBus Protocol 0x10 COMMAND WRITE N REGISTERS The 0x10 command allows you to write n consecutive registers using only one question The number of registers that can be written using this command are 16 Example Question the MASTER asks the SLAVE having the 0x14 identification to write into two registers the 0x000A and 0x0102 values starting from the 0x0001 address start adares J 00
30. FBK 75 TT top top exits std for FBK 100 O without brake std 1 with brake opt Electrical connections FO flying connectors fixed part only std Feedback 1x 5p PE bayonet power connector T15 encoder OIH35 6 2048PPR std for FBK 75 2x M12 4p signals screw connector TO5 encoder OIH48 8 2048PPR std for FBK 100 2x M12 5p signals screw connector Special Flanges amp Shafts optional 100D14X II EDEA CEZ CICER CIEL EEE EEE Ea E aci epe 130D14X FBK 75 all sizes em 100C19X 115D24X 98 AXOR Industries Service manual Fast Back ver 1 rev 04 07 6 3 Transport Storage Maintenance Disposal During the transport of the drive respect the following indications e the transport must be made by qualified personnel e avoid shocks e the temperature range must be between 25 C and 55 C e the max humidity must be 95 without condensation e The converters contains elements which are sensitive to electrostatic discharges These elements can be damaged by careless manipulation Discharge static electricity from your body before touching the converter Avoid contact with material that insulates well synthetic fibres films of plastic material and so forth e we suggest to check the motor condition at its arrival to survey eventual damages The unused drives must be storage in an environment having the following characteristics e temperature from 25 C to 55 C e max relative humidity 95 witho
31. Fast Back is supplied with the Axor Speeder One software interface that allows you to set and manage all of the drive s parameters The software works on the following operating systems Windows 98 Windows 2000 Windows XP The communication between the driver and PC is done through the utilisation of a RS232 cable using ModBUS protocol Security The Fast Back is equipped with a series of protections which safeguard the servo system Led A led allows you to see the drive s status EMI Filter The Fast Back converter is equipped with an integrated EMI anti disturbance filter at the 3 phase 230V power supply input AXOR Industries Service manual Fast Back ver 1 rev 04 07 2 0 General view X4 connector X5 connector X2 connector X1 connector X3 connector AXOR Industries service manual Fast Back ver 1 rev 04 07 9 2 3 Technical data General Power Supply 230Vac 10 3 phase 50 60Hz 230Vac 10 single phase 50 60Hz IT DOES NOT AL LOW THE RATED PERFORMANCE contact Axor s technical department for details Eogic supply Tor back up 24Vdc 10 200mA Power supply only Logic supply back up brake 24Vdc 45 500mA for Fast Back 75 24Vdc 45 800mA for il Fast Back 100 Environmental Conditions Storage temperature 20 55 C Humidity From 10 to 80 max without condensation Up to 1000m without restrictions From 1000 to 2500m power derating 1 5 100m Pollution Level
32. Fast Back ver 1 rev 04 07 4 2 Main manu General Settings By clicking on General Settings it is possible to visualize some of the drive s properties and to impose some generic functions General Settings Drive PC Software Ver Drive Ver Fast Back 1 1 8 Size A 06 0 Regen Resistance Firmware Ver 2 102 Boot Ver 23 Relay OK Emergency Stop Open with I2t Drive ju Device ID Baudrate CAN bus 6 Default 500 Kbps Ok Cancel Apply Drive It visualizes the main properties of the drive such as e Drive Ver Type of digital servodrive connected e Size Nominal size in Amperage e Firmware Ver Firmware version e Boot Ver Boot Software version PC Software Ver It visualizes the software version of Speeder One Regen resistance It visualises the type of regen resistance Internal or External In the Fast Back this function is not active Relay OK Not active with the Fast Back Baudrate CAN bus This option allows you to set the baudrate of the drive during the Can Bus communications The selectable values are those specified by the CAN DS301 ver 4 0 2 instructions therefore 50 100 125 250 500 800 1000 Kbps Device ID This option allows you to set or to change the address of the drive All drives have as default value 1 If you change the address of the drive you have to save it onto the EEPROM and then disable and enable the drive Emergency Stop It allows to enable disable
33. MASTER and the first drive in RS232 using the MODBUS communication protocol while between the first drive and the other drives the com munication will be copied utilizing CAN BUS In this way it is possible to set simultaneously the parameters of more drives The Axor drives use the MODBUS communication protocol specified in the Modicon instructions see http www modicon com techpubs See the chapter 5 1 ModBus Protocol Multidrop SETTINGS In the General Settings window of each converter set 1 500 kbps into the Baudrate CAN bus parameter 2 the Device ID parameter Each converter General Settings must have its Device ID parameter it is con venient to set for the first drive connected to Drive PC Software Ver the PC in RS232 the 1 identification while for pozei eri Fast Back UA the other drives it is convenient to set identi fications in an incremental order Size A 06 0 Regen Resistance Firmware Ver 2 102 Boot Ver eS Relay DK Open with I2t Drive r Device ID Baudrate CAN bus A 6 Default X 3 After these settings save all to EEP su anas ROM using the Save Data to EEPROM icon then turn on and off the Fast Ok Cancel Apply Back Axor Servo Drive gs Drive Tuning About V T Profile Tool General Set Multidrop CONNECTIONS 1 connect the first Fast Back to the Master PC using the RS232 cable X5 connector File Users Se 2 connect each Fast
34. R Industries Service manual Fast Back ver 1 rev 04 07 3 5 Can Bus Interface The X2 and X3 connectors of the Fast Back manage the IN OUT signals for Can Bus communication M12 male connector X2 and X3 Front view M12 connectors X2 and X3 CanBus DESCRIPTION Earth Shield PE LO CanBus chanel CAN L Ground return 0V CAN HI CanBus chanel CAN H On the X2 X3 connectors an interface for CANBus communication is available defined velocity 500kbit sec max 1Mbit sec The integrated software is based upon CAN open DS301 communication protocol and on the DSP402 profile The CANOpen interface is isolated by opto isolators and there is a dc dc power converter that powers all of the circuitry of this interface For this reason it is not necessary to connect any external supply See the Axor CanOpen Reference Manual Can Bus SETTINGS To do a CanOpen Network you have to e set the baud rate parameter in the General Settings window of the Speeder One inter face in order to define the communication speed and the performance of the system All drives must have the same baudrate e set the DEVICE ID the Device ID parameter in the General Settings window to each drive All drives must have a different DEVICE ID AXOR Industries Service manual Fast Back ver 1 rev 04 07 25 26 3 5 Can Bus Interface Can Bus CONNECTIONS 1 Connect the first Fast Back to the MASTER using t
35. al output changes its status e After the conclusion of the sequence there are two different possibilities Disable the drive Disabling the DGT IN1 Enable digital input will release the motor quote can be lost Remember this in order to maintain safe working conditions for the system The axis position is maintained as long as the drive is powered so it is possible to re enable the drive and make other positions without completing a new homing procedure Start another motion profile To start another position task keeping the home position that is already defined use the DGT INS DGT INO digital inputs to select the new first task of the sequence Then disabling and re enabling the DGT IN2 digital input Start Next the new sequence will start During this time the DGT IN3 Start Homing input must remain active AXOR Industries service manual Fast Back ver 1 rev 04 07 77 5 5 Positioning procedure Example Start Sequence positioning procedure Suppose we want to do the Start Sequence positioning procedure 1 Execute a successful homing procedure If no homing procedure is successful completed no posi tioning profile can be made At the end of the homing procedure keep active the DGT IN1 ENABLE and DGT IN3 Start Hom ing digital inputs 2 In the Axor Profile Tool window set all of the parameters of the positioner profiles of the se quence then save to FLASH utilizing the Save Data to FLASH icon
36. alues of KP and KI B and C Good proportional and integral gains Speed 46 AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 6 Current Window This window allows you to modify the dynamic costants of the drive s current loop In the Fast Back it is not possible to change any parameter of this window Current i mfe o x pee Y KP FE 204 20 peak Ti 100 96 6 04 2 0 ms IZT Message 2 00 S OK confirms the set Cancel closes the win Apply confirms the set value and closes the dow without change value but it does not window any parameter close the window I rms In this section it is possible to insert the percentage value of the nominal current furnished by the drive The numerical range is between 1 and 50 and it is referred to the peak current value I peak In this section it is possible to insert the percentage value of the peak current furnished by the drive The numerical range is between 1 and 100 The value of nominal and peak current is RMS I2T Message Time of the peak current The drive automatically calculates the thermal image I2T KP It is the proportional gain of the current loop This adjustment allows for optimizing the dynamic be haviour of the motor s current loop The numerical range of this parameter varies from 0 up to 999 TI It is the integral time in ms of the current loop The numerical range of this parameter varies from 0 up to
37. another Modbus or via hardware The oth ers digital programmable inputs and the digital output which you find in the Digital I O window are menaged only via Modbus AXOR Industries Service manual Fast Back ver 1 rev 04 07 49 4 8 Digital 1 0 window Near the name of each digital input there are two fields e There is a menu that allows you to select a function e There is a field where you can insert the auxiliary variable if necessary Not all functions need an auxiliary variable FUNCTION DESCRIPTION With this settings there is not a particular function assigned to the input It enables the motor rotation Positive limit switch A low logical signal on this input disables the CW rotation of the motor Negative limit switch A low logical signal on this input disables the CCW rota tion of the motor Brake This function is not available for the Fast Back P N Sto Positive and negative limit switch A low logical signal on this input disables the P rotation of the motor CCW and CW Homing Sensor Homing sensor It enables a movement having the following parameters e acceleration time that is equal to the homing acceleration time e speed in rpm equal to the value set in the auxiliary variable e target equal to the positive extreme PSTOP software of the axis if the speed is positive or equal to the negative extreme NSTOP software of the axis if the speed is negative e deceleration time that is equal
38. back It is a filter on the feedback speed Note Setting the PID Filter and Feedback parameters make the system less noisy therefore non appropriate tuning may cause a less dynamic or instable system AXOR Industries Service manual Fast Back ver 1 rev 04 07 45 4 5 Speed Window KP It is the proportional gain of the speed loop This setting optimises the dynamic behaviour of the motor The range is between zero and 4000 KI It is the integral gain of the speed loop This setting optimises the dynamic behaviour of the motor The range is between zero and 4000 Tunin To optimize KP and KI utilize the following procedure 1 set the 10 Square wave operating mode 2 Set the Speed RPM parameter on the Analog OUT1 menu 3 Connect the probe of the oscilloscope on pins X5 4 speed signal and X5 6 zero signal 4 Adjust the KP and KI gains in a way that you obtain a stable step response in both directions Increasing KP decreases the system s response time however the system gets closer to becoming unstable therefore during adjustment increase the KP to the oscillation limit and then reduce until secure oscillation stoppage Increasing KI the steady state diminishes however increasing the overshoot therefore after adjust ing KP increase KI keeping the overshoot within authorized limits 410 The figure below illustrates some typical oscilloscope tracks A Proportional and integral gains too low Increase the numerical v
39. by clicking on this it is possible to select which internal parameter will be put into the analog output Default settings on Analog Out1 is motor speed 10 Volt Enable Disable By clicking on this button you can enable or disable the drive s torque Alarms Hide Status Motor Speed Bus Voltage Drive Temp Drive Status Motor Position Motor Current 00000 RPM 030 0 deg 100000 00327 V 100037 C Position 16376 Pulses Analog Qui Speed rpm gt 00000 m Analog Out Iq buf Disable c Drive F1 CTRL F1 Selecting this window allows you to visualize the history of the drive s alarms and the status of them A red dot and the red symbol v near the alarm name indicate that the alarm is currently on while a red checkmark signifies that the alarm has been resolved It is possible to reset the history of the alarms by disabling and enabling the drive or clicking on Reset All Alarms lol Q v 1 EEPROM Q v 17 Overcurrent Brake w 2 Overcurrent Q v 18 Mechanical Brake Q v 3 Drive Temperature Qv 18Inrush Bus O v 4 Hall O v 20 Auxiliary Voltage v 5 Encoder O 21 Auto Phasing Error Ov B I2tDrive O v 22 Reserved Q v 7 Motor Temperature v 23 Flash Alarm 8 Regenerative Resistance O v 24 CAN Bus Alarm v 3 Min Max Voltage O v 25 Reserved v 10 Pre Alarm Recovery Q v 26 Homing Error v
40. chanical Dimensions Fast Back 100 ou v mm m NET BETE E AXOR Industries Service manual Fast Back ver 1 rev 04 07 15 16 2 9 Mechanical Curves Fast Back 100 The Fast Back serie 100 has the following mechanical curves AXOR Industries Service manual Fast Back ver 1 rev 04 07 FBK100 S 30 220 FBK100 M 30 220 s e E 2 le E a a FB Mi L4 E g x E c z E S P EB E oO k o Es EY E ta Ea r 03 late 2 3 4 6 0 1 2 3 4 5 6 SPEED rpm x 1000 SPEED rpm x 1000 FBK100 L 22 220 ET lt E co E Eo B E Eo e e E 5 x uo LE Eo Po E 2 e E m o E EN ro 1 2 3 4 5 6 SPEED rpm x 1000 Chapter 3 Installation 1 Important notes 2 E 3 Power Supply connection 4 IN OUT Digital connection 5 Can Bus Interface 6 RS485 Interface 7 RS232 Interface 8 Analog Output 9 Multidrop 1 x of connection for single axis system 18 3 1 Important notes The Fast Back must be installed on a machine or electrical system as integrated components The following indications should help the user to install and wire the Fast Back ments Technician with knowledge on movimentation of elements sensitive to electrostatic discharges
41. chanical accepted error is 45 1 8 mechanical turn then the value to insert in the Max Position Error box is 8192 in fact Max Position Error 459 65536 8192 360 We suggest to insert the value 8192 52 AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 10 Homing window In the main window of the interface there is an area where you can set the parameters of the Hom ing procedure Homing Homing Method Sensor Max Search Angle NoHoming gt g Zero Encode EE deg Acceleration Speed Zero Speed Homing Offset ms rpm rpm pulses The homing procedure uses the signal of the homing sensor and eventually the zero signal of the encoder Before start a positioning it is necessary execute a successful homing procedure Homing Method It defines the method of homing The supported options are No homing disables the homing procedure For safety reasons it is not possible to use this option in the 4 Position Mode operational mode If this method is set it will not be possible to make the positioning procedure e Homing method 1 direct the drive makes the motor turn in a counter clockwise direction to search for the homing sensor e Homing method 2 reverse the drive makes the motor turn in a clockwise direction to search for the homing sensor Immediate the current position becomes the home position without moving the motor to search the homing sensor Sensor It selects
42. depend from the brake t5 into this time the functioning of the system is controlled only by the drive all external commands are ignored After the hardware disabling the speed reference becomes zero by using the emergency ramp When 3 of the max speed is reached or after a time equal to 1 5xEmer Ramp the brake output is disabled so the brake is blocked During the dis insertion phase of the brake the internal speed reference can be supplied after about 20ms from the disabling of the brake output AXOR Industries service manual Fast Back ver 1 rev 04 07 85 5 6 Motor brake management Important note about the automatic brake management The internal control of the Fast Back during some alarms stops the system by using the emer gency ramp before activating the brake as illustrated in the insertion and dis insertion diagram of the preceading page while for more dangerous alarms the brake is immediately activated so when the alarm is active OV is applied to the INTERNAL ENABLE and to the BRAKE COMMAND OUTPUT The more dangerous alarms which cause the immediately insertion of the brake are the following e AI2 Over Current e AI4 Hall e AI5 Encoder e AI9 Max Min Voltage e Al14 Following Error e Al17 Over Current Brake All others alarms stop the system by using the emergency ramp before the brake s insertion 86 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 7 Stop Functions In the
43. dware applying the appropriate voltage on the pins of the X4 connector It is necessary to connect the pin X4 4 DGT IN RTN to the CN too Stop of the system and insertion of the brake with the manual brake manage ment during an alarm During an alarm the internal control of the Fast Back stops the system functioning disabling the INTERNAL ENABLE so the motor remains free and it continues to move by inertia ON and frictions At this point the user can INTERNAL activate the brake by applying OV on ENABLE OFF the digital input set with the Brake function and then it is possible to dis able the drive by applying OV to the DGT IN1 ENABLE HW input MOTOR SPEED ORPM BRAKE 24V COMMAND INPUT OV 24V ENABLE HW OV AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 6 Motor brake management c Automatic brake management e It works with these operative modes 1 Digital Speed 4 Position Mode 7 Can Open 10 Square Wave e Select With on the Holding Brake box of the Motor window e Do not select the Brake function in a programmable digital input Insertion and dis insertion diagram 24V ENABLE HW Emergency 1 Ramp SOFTWARE SPEED REFERENCE OR INTERNAL ENABLE COMMAND OUTPUT BRAKE TORQUE max deceleration time 1 5x Emergency Ramp internal software delay after the brake block 100ms t3 t4 opening and closing times of the brake they
44. e manual Fast Back ver 1 rev 04 07 51 Speed x Irms o gt x 4 9 Position window This window allows you to set the static and dynamic parameters about 4 Position Mode Feed Forward Position 151 This improves the sys Feed F d tem s dynamics Bae ees Suggested value 100 TN s 3 00 amp v gt 1 Kp Dynamic Speed Reference This is the position loop gain Admited values 12999 100 Kp Dynamic 00 Kp Static Kp Static Max Position Error Insert the same value inserted in the Kp Dy 4036 Pulses namic parameter Ok Cancel Apply Position Polarity Positive or Negative This parameter enables a complete inversion of axis control Selecting the Negative choice you have effects on homing and positioning procedures like as fol low 1 The rotation wise of supported homing procedures is inverted referred to the procedures in the chapter relative to homing procedures 2 The Homing Offset value is multiplied by 1 3 All target positions Final Position are multiplied by 1 Max Position Error This is the position error after which the drive goes into alarm 14 Following Error To calculate the value to insert in this field use the following formula Max Position Error Ko 65536 360 where K is the value in mechanical degrees of the maximum accepted error The maximum selectable position error is 180 32767 pulses Example If the maximum me
45. e motor is turning AXOR Industries service manual Fast Back ver 1 rev 04 07 81 5 6 Motor brake management a Not managing the brake During alarms the functioning of the system is interrupted the motor remains free and will eventually stop due to the friction and inertia of the axis at this point there are two pos Motor 1 Select Without in the Holding Brake box of the Motor window No of Poles olding Brake Without m 2 Click on the Save Data To Eeprom icon in the main window of the interface in order to save all settings and make Feedback Type Encoder Resolution pulses rev 1024 Phase Angle 330 0 them operative at the next start up Ok pm Apply Axor Servo Drive File Users Settings Drive Tuning About sio Profile Tool G3 Osciloscope General set sibilities 82 e if the motor has not the brake the axis remains not blocked e if the motor has the electromechanical brake the user can manage the axis block for example using an external rele AXOR Industries service manual Fast Back ver 1 rev 04 07 5 6 Motor brake management b Manual brake management the brake can be manually controlled via software or via hardware 1 Select With in the Holding Brake box of the Motor window Feedback Type No of Poles zl Resolution pulses rev 2048 Phase Angle 330 0 Ok Cancel Apply Digita
46. e single task but you can use the file saved before and load the parameter saved on the file After this save the parameter into flash AXOR Industries Service manual Fast Back ver 1 rev 04 07 57 58 4 12 Oscilloscope The Oscilloscope window menages a two channel oscilloscope Axor Servo Drive Oscilloscope Oscilo About Ae C Continuos Acquisition d smi i Trigger c md il Auto al Time Base 50 mS div vi Delay 0 ms Channel 1 Enabled View Speed rpm gt 1 V div Enabled View Current 4 EJ 1 V div Level Scale a Channel 2 400 ms 600 900 1 000 Scale a User Normal Port Comi IdDevice 001 Status OnLine Dev File Single Acquisition It allows to set a single acquisition of data when the first trigger event is reached Continuous Acquisition It allows to set a continuous acquisition of data for each trigger event Trigger Edge It allows to set the trigger on the rising edge or the falling one Trigger Level It allows to set the trigger level Auto It set automatically the trigger level Use this function for the first acquisition in level of the visualized signals Time Base It allows to set the time base of the window Delay DDR gt Hide Status Drive Status Motor Speed 00000 RPM Motor Position 000 0 deg Motor Current 100000 Bus Voltage 04095 Position 6815849 Pulses Analog Outl Y Speed rpm Analo
47. e stop the motor remains in torque until a hardware disable Emergency function sequence 24V EMERGENCY 0v Emergency 1 Ramp ENABLE 24V DGT IN1 ov INTERNAL ENABLE AXOR Industries service manual Fast Back ver 1 rev 04 07 63 5 3 Positioner The Fast Back can be controlled as POSITIONER An ABSOLUTE POSITIONER was implement ed which implies transactions to absolute quotas reference to the reference point Example Suppose we want to blend the following profiles having the origin 0 pulses as refer ence point POSITION TASK FINAL POSITION pulses Position Task N 1 2000 pulses Position Task N 2 7000 pulses Position Task N 3 3000 pulses a During the first profile there will be a transaction from 0 pulses to 2000 pulses b During the second profile there will be a transaction from 2000 pulses to 7000 pulses so there will be a turning equivalent to 5000 pulses c During the third profile there will be a transaction from 7000 pulses to 3000 pulses to ex ecute this movement the sense of rotation will change Example Absolute Positioner RPM Position Position Task N 2 Task N 1 Ney ASS PULSES J It is possible to set up to 32 trapezoidal positioner profiles by the Speeder One interface in the Axor Profile Tool window It is possible to execute a single profile or a sequence of blending profiles Before starting an absolute positioning it is necessary to execute a correct ho
48. e working cycles are not exces sive verify if the motor going at half speed shows the same problem Reset the alarm then enable the drive Minimum or maximum converter voltage This causes the disabling of the functioning Disable the drive wait the DC power supply volt age reaches the correct threshold check the AC power supply input then enable the drive It has been reached the 80 of the Pt energy recovery value This does not cause the disabling of the function ing Check the AC power supply input and the working cycles This is a visual alarm it anticipates the eventual intervention of the Maximum recovery alarm The error between the position reference and the position feedback exceeds the Max Position Er ror parameter because of the Max Position Er ror parameter is too small or the dynamic gains of the velocity positioning loop are wrong This causes the disabling of the functioning Disable the drive check the Max Position Error parameter check the dynamic gains reset the alarm then enable the drive The fixed extra run position is interrupted This causes the disabling of the functioning Disable the drive check the end run contact and external connections then enable the drive Errors in reading writing parameters on Flash or Flash is empty This causes the opening of the Rel Ok contact and the disabling of the functioning Disconnect the drive save new values then pow er agai
49. ection for single axis system 3 3 Power Supply connection 3 4 IN OUT Digital connection 3 5 Can Bus Interface 3 6 RS485 Interface 3 7 RS232 Interface 3 8 Analog Output 3 9 Multidrop 3 10 Led 4 Speeder One 4 1 Speeder One Interface 4 2 Main menu 4 3 Drive Status 4 4 Operative Mode 4 5 Speed Window 4 6 Current Window 4 7 Motor window 4 8 Digital 1 0 window 4 9 Position window 4 10 Homing window 4 11 Axor Profile Tool window 4 12 Oscilloscope 5 Applications 5 1 Reset Fault Function 5 2 Emergency Function 5 3 Positioner 5 4 Homing procedure 5 5 Positioning procedure 5 6 Motor brake management 5 7 Stop Functions AXOR Industries Service manual Fast Back ver 1 rev 04 07 Index 62 63 65 71 81 87 Index 6 Appendix 6 1 ModBus Protocol 94 6 2 Ordering code 98 6 3 Transport Storage Maintenance Disposal 99 Index 100 AXOR Industries Service manual Fast Back ver 1 rev 04 07 Chapter 1 General Advices 1 1 Norms The Fast Back is in accordance with the following safety standards e Machines Directive e Electromagnetic compatibility Directive and the following technical norms have been applied CEI EN 60204 1 Machine safety Machine electric equipment CEI EN 60439 1 Combined protective and manoeuvring apparatus for low voltages BT panels Part 1 Standard apparatus subject to AS type testing and non standard apparatus subject to ANS type testing CEI EN 61800 3
50. erative The program asks for confirmation Note Every time you desire to make modifications and render them operative at the re start of the drive the information must be saved on the EEPROM Load data from EEPROM It loads all the values which are present on EEPROM to the drive The program asks for confirmation Load default data It uploads a list of standard parameters Note These parameters could be different from those actually required by the motor utilized The program requests confirmation Reset It re sets the basic functions of the drive Axor Profile Tool It opens the Axor Profile Tool window with which you can setup all the parameters about the positioner Oscilloscope It opens the Oscilloscope window General Set It opens the General Setting window AXOR Industries Service manual Fast Back ver 1 rev 04 07 39 4 3 Drive Status Drive Status Status bar on the right of the main window Motor Speed displays the velocity of the motor in RPM Motor Position displays the rotor position in mechanical degrees Motor Current displays the motor current in percentages with respect to twice the rated current of the drive 50 rated current 100 2 rated current Bus Voltage displays the bus voltage Drive Temp it visualised drive s temperature in degrees Position displays the rotor position in pulses only in the following operative mode 4 Position Mode Analog Out1
51. essage has the following structure START IDENTIFICATION COMMAND DATA CRC END Start period of silence 4 character length T1 T2 T3 T4 Identification it has 8 bits and can change between 1 and 127 It represents the drive with which you want to communicate w Command it has 8 bits and contains the to do function A Data it can have a variable length and contains the necessary information to do the set com mand 5 CRC Cyclical Redundancy Check it has 16 bits and is utilised to verify the correction of the mes sage 6 End period of silence 4 character length It is necessary that the bytes of the message are sent compact and continuative not separate from one another for this could generate an CRC alarm in reception CHARACTER STRUCTURE When a message is sent each character of the message is sent from left to right less significant bit LSB more significant bit MSB In particular in RTU mode the sequence of bits of every character is the following Te parit stop AXOR Industries Service manual Fast Back ver 1 rev 04 07 6 1 ModBus Protocol 0x03 COMMAND READ REGISTER The 0x03 command allows you to read the registers of the drive Example Question the MASTER asks the SLAVE having the Ox14 identification to read the registers having the following addresses 0x0005 0x0006 0x0007 Character Name Example hex 14 3 3 Start address Hi Answer the SLAV
52. following pages we illustrate the behaviour of the Fast Back reference of the these set tings v automatic or manual management of the stationary brake v emergency stop We remember that e For the manual management of the brake it is necessary to set the With option on the Hold ing Brake box in the Motor window then it is necessary to select the Brake function on one digital programmable input e For the automatic management of the brake it is only necessary to set the With option on the Holding Brake box in the Motor window Attention Not select the Brake function on one digital programmable input e For the emergency stop it is necessary to set the dedicated flag in the General Set window The Fast Back has the following stop functions 1 If there are these settings e there is not the manual or automatic management of the brake e the emergency function is not set gt if there is a disable DGT IN1 input or DISABLE button or if there is an alarm the motor remains free and will eventually stop due to the friction and inertia of the axis INTERNAL ENABLE AXOR Industries Service manual Fast Back ver 1 rev 04 07 87 5 7 Stop Functions 2 If there are these settings e there is not the manual or automatic management of the brake e the emergency function is set gt we can distinguished these cases a if there is a disable DGT IN1 input or DISABLE button or if there is a no danger ala
53. for the transport Technician with an appropriate technical training and with vast knowledge on electro technics drive technical field for the installation and for operate the servodrive Using the drive incorrectly can injure people or manage things Fully respect the technical data and indications on connection conditions e As well as the points described in this manual current regulations regarding safety and accident prevention must be followed in order to prevent accidents and residual risks The installer must be familiar with and observe the following norms and directives IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC Report 664 or DIN VDE 0110 national accident prevention dispositions or BGV A2 e The user must analyse possible machine risks and take the necessary measures to avoid injuries to people and damage to things because of unpredictable movements e The converters contains elements which are sensitive to electrostatic discharges These elements can be damaged by careless manipulation Discharge static electricity from your body before touching the converter Avoid contact with material that insulates well synthetic fibres films of plastic material and so forth e During operation the converter surface can become hot Protect the user from accidental contact and keep the indicated distances from every object e Never loosen electrical connections while the servoamplifiers are being powered The appr
54. g Out2 la Y Alarms Drive Enable F1 CTRL F1 order to know the It allows to apply a delay on the visualisation of the acquired data on the trigger event AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 12 Oscilloscope Channel 1 o 2 View It allows to select the signal to visualise with the oscilloscope There are two options 1 rotor speed Speed rpm 2 phase current I Phase U A 3 position error Posit_Err Pulses To disable a channel click the corresponding Enabled buttom Channel 1 o 2 Scale It allows to set the vertical scale of the window in volt or millivolt for division For the channel 1 the scale will be visualized red on the left while for the channel 2 the scale will be visualized blue on the right For enabling disabling data acquisition use the following icons pa Start data acquisition Reset the window Stop data acquisition AXOR Industries Service manual Fast Back ver 1 rev 04 07 59 60 AXOR Industries Service manual Fast Back ver 1 rev 04 07 Chapter 5 Applications 5 1 Reset Fault Function 5 2 Emergency Function 5 3 Positioner 5 4 Homing procedure 5 5 Positioning procedure 5 6 Motor brake management 5 7 Stop Functions 62 5 1 Reset Fault Function In the Fast Back it is possible to reset all resettable alarms by using the Reset Fault function that can be set on one digital programmable input in the Digital I O wind
55. gital output FUNCTION DESCRIPTION OF Selecting this function the output will always be open If the absolute value of the actual speed is greater than the value inserted in the auxiliary variable the output will be closed On the contrary if the absolute value of the actual speed is less than the value inserted in the auxiliary variable the output will be opened Speed gt x If the absolute value of the actual speed is less than the value inserted in the auxiliary variable the output will be closed On the contrary if the absolute value of the actual speed is greater than the value inserted in the auxiliary variable the output will be opened The output will be closed after a complete and successful homing procedure At the start of every new homing procedure the output will be opened The output will be closed if the I2t condition is reached When this condition comes down the output will be opened If the absolute value of the actual current is greater than the value inserted in the auxiliary variable the output will be closed On the contrary if the absolute value of the actual current is less than the value inserted in the auxiliary variable the output will be opened If the absolute value of the actual current is less than the value inserted Irms lt x in the auxiliary variable the output will be closed On the contrary if the 2 absolute value of the actual current is greater than the value inserted in the auxiliary var
56. he CanBus cable from the X2 or X3 connec tors of the drive to the Master 2 Connect each Fast Back to the preceding and the following drive using the CanBus cables X2 and X3 connectors 3 Connect a resistor 120 Ohm between pins 2 and 4 of the X2 or X3 connector of the the last Fast Back Example FAST BACK 1 Master AXOR Industries Service manual Fast Back ver 1 rev 04 07 3 6 RS485 Interface The X2 and X3 connectors of the Fast Back manage also the RS485 interface AVAILABLE SOON M12 male connector X2 and X3 Front view M12 connectors X2 e X3 RS485 Interface DESCRIPTION Earth Shield PE Chanel B 485 Ground return OV 485 Chanel A 485 AXOR Industries Service manual Fast Back ver 1 rev 04 07 27 3 7 RS232 Interface The X5 connector of the Fast Back manages e the RS232 interface e one analog output M12 male connector X5 Front view M12 connector X5 RS232 Interface DESCRIPTION Chanel TXD RS232 interface Chanel RXD RS232 interface PGND Coo a Analog output AN OUTI AGND The RS232 interface allows you to connect the Fast Back to the Speeder One software interface and to insert all parameters of the drive regulation positioning etc using the PC This allows for com munication via RS232 by Mod BUS protocol M12 connector X5 Sub D 9 pole SUB D 9 pole Pin 2 RxD Pin 1 TxD Pin 3 TxD gt Pin 2 RxD Pin 5 GND gt Pin 3 GND
57. he minimum value between 6000 rpm and the motor speed limit Speed Limit parameter on the Speed window Next Profile It is the number of the following profile to execute after the quote reached of last task This parameter is defined for concatenated profiles mode Window Pos It is the window of admitted position quotes around the sensor position to declare position reached It is defined in feedback pulses and can be calculated with the following formula Window Pos n turns also not integer 65536 Window Time It is the time limit used when the motor is within the position window to set target reached indica tion It is declared in ms and admits values in the range 0 65536 Window Delay It is the waiting time after the quote reached and after the Window Time to declare position reached Note The Window Pos Window Time and Window Delay parameters are utilised to guarantee a good positioning in fact there are some situations very high inertia joint elasticity or belt etc where after a positioning there is an oscillation Setting correctly these parameters it is possible to be sure that these oscillation is contained in a range Window Pos for a time over the time set in Window Time parameter AXOR Industries service manual Fast Back ver 1 rev 04 07 4 11 Axor Profile Tool window PSTOP Software If the Final Position parameter is greater then the PTSOP Software the task stops when the PSTOP target
58. hield must be connected on the zinced panel of the electrical box by clamp after taking out a piece of the exter nal sheat see figure near here 20 50cm Max 25m Ww CN ore AXOR Industries Service manual Fast Back ver 1 rev 04 07 21 3 3 Power Supply connection Note The nominal power of each motor is calculated in this way Pn n x Cn 9 55 Pn nominal motor power VA n motor speed rpm Cn motor rated torque Nm The nominal power of the transformer is calculated by adding the various wattege of each mo tor Pt Pn Pn Pn Pt nominal power of the transformer VA Pn nominal power of each motor VA Pin 3 on the X1 connector is utilised for an external power supply input Pin 3 External power supply 24VDC 10 input BACK UP Pin 5 Ground reference return Back up OVDC This external power supply is utilised to power the logic board when the drive is turned off Connection diagram External Supply 24VDC Male connector X1 Front view The technical characteristics of the Back Up input are the follows e The current s absorption on this terminal is 200mA without brake and 1000mA with brake e Input protected against polarity inversion 22 AXOR Industries Service manual Fast Back ver 1 rev 04 07 3 4 IN OUT Digital connection The X4 connector of the Fast Back manages two digital inputs and one digital output M12 male connector X4 Front view
59. iable the output will be opened Target OK This function closes the output when a positioning task successfully termi 9 nates at the start of a new profile the output is opened With this function the output is closed if one or more alarms are present When all alarms are cleared the output will be opened When the control circuitry is powered up with a minimum delay the out Ready put will be closed When 80 of the maximum recovery is reached the output is closed and it will be re opened if the value becomes less than 80 of the maximum recovery value If the absolute value of the actual Position Error is greater than the value Error Pos gt x inserted in the auxiliary variable the output will be closed On the contrary if the absolute value of the actual current is less than the value inserted in the auxiliary variable the output will be opened If the absolute value of the actual Position Error is less than the value in Error Pos x serted in the auxiliary variable the output will be closed On the contrary if the absolute value of the actual current is greater than the value inserted in the auxiliary variable the output will be opened This function is to be utilized exclusively with either the Start Sequence Next Target function or the Start Next function on a programmable input At the start of the first profile the output is opened and it will change status toggled at the start of every new profile AXOR Industries Servic
60. ing procedure 1 Execute a homing procedure In this case a homing procedure is not necessary At the end of the homing procedure keep active the DGT IN1 ENABLE and DGT IN3 Start Hom ing digital inputs 2 In the Axor Profile Tool window set the parameters PSTOP Software NSTOP Software Window Pos Window Time then save to FLASH utilizing the Save Data to FLASH icon 3 Open the Digital I O window and set a programmable input with the Start Jog function for example DGT IN2 an output with the Target OK function for example DGT OUT2 Save all utilizing the Save to EEPROM icon 4 By clicking the DGT IN2 Start JOG digital input it enables a moviment having the following parameters e acceleration time that is equal to the homing acceleration time e speed in rpm equal to the value set in the auxiliary variable e target equal to the positive extreme PSTOP software of the axis if the speed is positive or equal to the negative extreme NSTOP software of the axis if the speed is negative e deceleration time that is equal to the homing acceleration time DGT IN1 ENABLE DGT IN3 START HOMING SPEED HOMING DGT OUT1 SUCCESSFUL HOMING OK TARGET PSTOP or NSTOP REACHED B DGT OUT2 TARGET OK Note If during a profile task the DGT IN2 Start JOG digital input is disabled see A the motor de celerates using the Acceleration parameter associated to
61. ive for the Fast Back OP MODE 0 Analog Speed 0 Analog Speed 1 Digital Speed 2 Analog Torque 3 Digital Torque 4 Position Mode 5 Gearing 6 Pulse Dir Mode CAN Open GNA 9 NLA 10 Square Wave AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 5 Speed Window This window allows modification of the dynamic costants of the drive s speed loop Speed 1 mfe m x 8 LI A P d P RES Ed Speed Limit Acc Ram KP PID Filter EN rpm fo ms 150 fo ms Dec Ramp KI 0 ms 70 Feedback Rotary Direction Emer Ramp positive fo ms 0 Ok ms Pas O e e i Cancel OK confirms the set Cancel closes the win Apply confirms the set value and closes the dow without change value but it does not window any parameter close the window Speed limit It is the maximum speed limit Actual limit is 8000rpm Rotary Direction It allows you to set the rotor s sense of rotation Positive CW or Negative CCW Acc Ramp It is possible to insert the value of the acceleration ramp in ms The range is between zero and 5000 ms 0 5sec Dec Ramp It is possible to insert the value of the deceleration ramp in ms The range is between zero and 5000 ms 0 5sec Emer Ramp It is possible to insert the value of the deceleration ramp in ms during the emergency stop PID Filter It is a filter on the speed reference Feed
62. l 1 0 2 Select Brake in digital program mable input DGT IN2 TN 9 JJ DGT N3 9 Q 1 DaT Q DGT N5 Q DGT N6 9 j n GTN 9 j DGT Ins j nu DGT N3 1 OGT In AUx1 ot l 9 Q juu OGT In AUx2 oot l Outputs Hw amp DGT OUT 1 0 Off d DGT OUT 2 0 Off 3 Click on the Save Data To Eep rom icon in the main window of the interface in order to save all settings and make them operative at the next startup Axor Servo Drive File Users Settings Drive Tuning About 2 Hib 0 B V al ap Profile Tool General Set AXOR Industries Service manual Fast Back M ver 1 rev 04 07 83 5 6 Motor brake management Insertion and dis insertion diagram 1 Stop the motor by applying a zero MOTOR speed reference SPEED 2 Then block the motor brake by applying OV on the digital input set with the Brake function 3 After 100ms it is possible to disable the drive applying OV on the ENABLE DGT IN1 ENABLE input DGT IN1 At this point the motor will remain mechanically blocked To UNBLOCK the electromechanical brake it is necessary to apply 24V to the DGT IN1 ENABLE input then 24V to the digital input set with the Brake function and then after 20ms it will be possible to setup the desired speed reference Attention it is possible to drive the DGT IN1 and Brake digital inputs v via software in the Digital I O window by using the dedicated buttons Y via har
63. ming procedure which is the research of the reference position The homing procedure uses the signal of the homing sensor and eventually the zero signal of the encoder In the Fast Back the positioner and homing procedures can be managed via RS232 by using the Speeder One interface or another master ModBus The following chapters illustrate examples of homing and positioner procedures 64 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 4 Homing procedure The Fast Back supports the following homing procedures a Direct homing procedure with normally opened home sensor Homing Homing Method Sensor Max Search Angle 1 Homing Method1 gt NOpen v r er ey Acceleration Speed Zero Speed Horning Offset 1000 ms 100 rpm 10 rpm 0 pulses Case 1 If the homing sensor is low at the start homing the drive pilots the motor in counter clockwise direction searching for the home sensor When the sensor output becomes high the motor decelerates and inverts its motion Case2 If the homing sensor output is already high at the homing start the motor simply turns clock wise with a speed like the Zero speed parameter The home position will be set when the falling edge of the home sensor is received DGT INx Homing Sensor ET i b Reverse homing procedure with normally opened home sensor Homing Homing Method Sensor Max Search Angle 2 Homing Method 2 M4 NOpen Zero Encoder deg Acceleration Speed Zer
64. n If the problem persists contact Axor Error during communication on CANBus This causes the opening of the Rel Ok contact and the disabling of the functioning Disable the drive check the cabling and re en able If the problem persists contact Axor Position error too high during the homing proce dure The motor stops but it is not disabled Check the homing setup then reset the alarm us ing the Start Homing function Resets itself Resets itself Resets itself Resets itself Can be reset by CAN Can be reset by Start Homing AXOR Industries Service manual Fast Back ver 1 rev 04 07 43 44 4 4 Operative Mode The OP MODE menu allows you to select the operation mode of the drive With every selection all associated information is pre disposed automatically The Fast Back offers the following operation modes Digital Speed The motor is controlled in velocity mode through a digital reference Digital Torque The motor is controlled in torque mode through a digital reference Position Mode The motor is controlled in position mode Can Open This mode allows you to configure and control the drive using CanBus It supports the following Can Open protocols e part of the DS301 V4 02 e part of the DSP402 V2 0 Square Wave The motor is piloted with a square wave signal This is useful for dynamic adjustments of the mo tor The others operative modes visualized on the menu are not act
65. nputs in order to select the first profile of the sequence an output with the Target OK function for example DGT OUT2 Save all utilizing the Save to EEPROM icon 4 Enabling the DGT IN2 Start Next input the first task of the sequence selected by the digital inputs will start and the motor will move following the defined motion profile parameters At the end of each task the motor stops then disabling see A and enabling see B the DGT IN2 Start Next input the task set in the Next Profile parameter will start If in the Next Profile parameter there is None the sequence will start from the first task DGT IN1 ENABLE DGT IN3 START HOMING A B C START START CONTINUE DGT IN2 PROFILE 1 PROFILE 2 PROFILE 2 START NEXT 1 i i 1 I 1 1 1 I 1 1 a DGT INS 9 EE I I I I I I I I I I I I I I SPEED KER DGT OUT1 SUCCESSFUL HOMING OK DGT OUT2 NEXT TARGET AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 5 Positioning procedure Note e If during a task the DGT IN2 Start Next digital input is disabled see C the motor decelerates using the Dec Time parameter associated to the current task and stops If the DGT IN2 Start Next is re enabled it will be possible to finish the interrupted task e When the first task of the sequence starts the output set with the Next Target is opened then at the end of each position task the Next Target digit
66. nual management of the brake gt we can distinguished these cases a if the emergency stop is not set if there is an alarm the internal enable disables the motor remains free and will eventually stop due to the friction and inertia of the axis after the stop it is possible to block the axis enabling the brake command and disabling the hardware enable b if the emergency stops is set if there is a no danger alarm or if there is a disable the more stop following the emergency ramp after the stop it is possible to block the axis enabling the brake command and disabling the hardware enable ON INTERNAL ENABLE OFF MOTOR SPEED BRAKE COMMAND Emergency Ramp COMMAND INTERNAL ENABLE OFF AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 7 Stop Functions 5 If the drive has notthe electromechanical brake but one digital input is set with the Brake function it is an anomalous condition because the Brake function should not be set in any input However it is possible to distinguish these cases a if the emergency function is not set and there is an alarm or a disable the internal enable disables the motor remains free and will eventually stop due to the friction and inertia of the axis b if the emergency function is set and there is a not grave alarm or a disable the motor stops following the emergency ramp set on the Emer Ramp parameter If there is a grave alarm the drive disables and
67. o Speed Homing Offset 1000 ms 100 rpm 10 rpm D pulses Case 1 If the homing sensor is low at the start homing the drive pilots the motor in clockwise direction searching for the home sensor When the sensor output becomes high the motor decelerates and inverts its motion Case2 If the homing sensor output is already high at the homing start the motor simply turns coun ter clockwise with a speed like the Zero speed parameter The home position will be set when the falling edge of home sensor is received DGT INx Homing Sensor AXOR Industries Service manual Fast Back ver 1 rev 04 07 65 5 4 Homing procedure c Direct homing procedure with normally closed home sensor Homing Homing Method Sensor Max Search Angle 1 Homing Method x Acceleration Speed Zero Speed Homing Offset 1000 ms 100 rpm 10 rpm D pulses Case1 If the homing sensor is high at the start homing the drive pilots the motor in counter clockwise direction searching for the home sensor When the sensor output becomes low the motor decelerates and inverts its motion Case2 If the homing sensor output is already low at the homing start the motor simply turns clockwise with a speed like the Zero speed parameter The home position will be set when the rising edge of home sensor is received DGT INx Homing Sensor d Reverse homing procedure with normally closed home sensor Homing Homing Method Sensor Max Search Angle deg Accele
68. ofile parameters DGT IN1 ENABLE DGT IN3 I START HOMING I B TC START START CONTINUE 1 DGT IN2 PROFILE 1 PROFILE 2 PROFILE 2 A START TASK n I I I SPEED HOMING DGT OUT1 SUCCESSFUL HOMING OK TARGET TARGET DGT OUT2 REACHED 1 REACHED TARGET OK i TM 74 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 5 Positioning procedure Note e If during a profile task the DGT IN2 Start Task n9 digital input is disabled see B the motor decelerates using the Dec Time parameter associated to the selected profile and stops If the DGT IN2 Start Task n9 is re enabled it will be possible to conclude the interruped task e At the end of a successful position task the drive will enable the DGT OUT2 Target OK digital output to indicate the position quote has been reached This indication is generated when the absolute quote of the motor is within the Window Pos parameter for a period A longer than the Window Time value The DGT OUT2 Target OK output will be high until the next profile starts or the DGT IN3 Start Homing input is high e After the conclusion of the position profile there are two different possibilities Disable the drive Disabling the DGT IN1 Enable digital input will release the motor quote can be lost Remember this in order to maintain safe working conditions for the system The axis position is kept as long as the drive is powered so
69. opriate terminals of the drive must always be connected to earth as instructed in this manual After having disconnected the converters from the supply current always wait at least 5 minutes before touching the powered components e g contacts or loosening connections e The command and power connections can still hold current even when the motor has stopped e The Fast Back is equipped with electronic protections that deactivate it in case of irregulari ties e Protect the converter from excessive mechanical vibrations in the electric box e Always section all of the products power phases utilising a power relay or a thermal magnet In the case of three phase interrupt L1 L2 and L3 e Make sure that the Fast Back is earth connected in accordance with the current norms See the connection diagram on the next page AXOR Industries Service manual Fast Back ver 1 rev 04 07 3 2 EX of connection for single axis system Connection diagram Fast Back X1 X4 Chapter 3 4 le L1 DGT INT 1 le gt L2 DGT IN2 I L3 jj i L3 DGT OUT1 sadce 24Vdc PSTRIN OVdc ovac LPE Chapter 3 8 Chapter 3 6 CANBUS connector AN OUT1 Chapter AGND Q CNC GND 3 9 RS 485 connector Now 9 66 6 0 Gh GROUND BAR In the following chapters there is a detailed description about interfaces in the Fast Back and many connection examples AXOR Industries Service manual Fast Back ver 1 rev 0
70. ow The resettable alarms are the following AI3 Drive s temperature Al4 Hall AI5 Encoder AI7 Motor s temperature AI8 Regenerative Resistance Al14 Following Error When a resettable alarm occurs the motor is blocked to restore the correct functioning it is necessary to 1 disable the drive using the Disable icon and or DGT IN1 input 2 eliminate the cause that has determined intervention 3 reset the alarm by setting the Reset Fault function in one available programmable digital input and applying a high logic signal to this input see note below 4 enable the drive using the Enable icon and or DGT IN1 input Note It is possible to apply a high logic signal to the input in two modes utilising the Speeder One interface clicking on the button near the name of the digital input which will then show red on the St led hardware by applying the corresponding voltage on the connector pins This will cause leds St and Hw to show red Reset Fault function sequence ON resettable ALARM OFF ENABLE INT 24V ENABLE DGT IN1 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 2 Emergency Function The Fats Back has the EMERGENCY function settable on one digital programmable input in the Digital I O window gt a falling edge on the input set with this function cause the stop of the motor by using the Emer Ramp parameter set in the Speed window Attention After th
71. ration Speed Zero Speed Homing Offset 1000 ms 100 rpm 10 rpm 0 pulses Case1 If the homing sensor is high at the start homing the drive pilots the motor in clockwise direc tion searching for the home sensor When the sensor output becomes low the motor decelerates and inverts its motion Case2 If the homing sensor output was already low at the homing start the motor axis simply turns counter clockwise with a speed like the Zero speed parameter The home position will be set when the rising edge of home sensor is received DGT INx Homing Sensor casei Ue k 66 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 4 Homing procedure e Direct homing procedure with normally opened home sensor and zero index pulses Homing Homing Method Sensor Max Search Angle 1 Homing Method 1 NOpen v Zero Encoder 300 deg Acceleration Speed Zero Speed Homing Offset 1000 ms 100 rpm 10 rpm D pulses Case1 If the homing sensor is low at the start homing the drive pilots the motor axis in counter clockwise direction searching for the home sensor When the sensor output becomes high the motor decelerates and inverts its motion Case2 If the homing sensor output is already high at the homing start the motor simply tursn clockwise with a speed like the Zero speed parameter The home position will be set on the first zero pulse after the falling edge of the home sensor DGT INx Homing Sensor
72. real acceleration time related to the profile speed can be found using the following expression T acc ms Speed rpm T acc set ms Speed motor rpm where T acc real acceleration time for the profile ramp Speed speed set for the profile Speed parameter Speed motor motor speed limit set on interface Speed Limit parameter on the Speed window T acc set value inserted in the Acc Time parameter AXOR Industries Service manual Fast Back ver 1 rev 04 07 55 56 4 11 Axor Profile Tool window Dec Time It sets the deceleration time value of the trapezoidal profile ramp This parameter admits values in the range 10 5000 ms The time value is refered to the max motor speed Speed Limit parameter set in the Speed window so the real deceleration time related to the profile speed can be found using the following expression T_dec ms Speed rpm T dec set ms Speed motor rpm where T dec real deceleration time for the profile ramp Speed speed set for the profile Speed parameter Speed motor motor speed limit set on interface Speed Limit parameter on the Speed window T dec set value inserted in the Dec Time parameter Speed It sets the speed reference of the trapezoidal profile This parameter is limited by Max Position Speed Max Position Speed It sets the maximum speed allowed for all motion position profiles It is defined in rpm and rappre sents t
73. rive Tuning About Profile Tool Oscilliscope General Set 10 x Hide Status Encoder Gut Position Digital Speed oming Homing Method oo Homing Sensor Zero Encoder Max Search Angle deg Acceleration ms Speed Zero Speed rpm Homing Offset pulses m Drive Status Motor Speed 00000 RPM Motor Position 030 0 deg Motor Current 100000 Bus Voltage 00327 V Drive Temp 00037 C Postion e 16376 Pulses Analog Outi Analog Out Drive State Analog output Alarms User Normal Port Com2 Id Device 001 Status Online Dev File Disable drive Enable drive File Users Settings Homing settings State bar File By clicking on File it is possible to open save or save as a file x dev or to exit the program User Axor reserved information Settings By clicking on Settings the General Settings and Com Port menu are displayed Com Port By clicking on Com Port it is possible to modify the serial communication data between the PC and driver By clicking on Baud you can set the velocity communication baud rate between PC and driver Port IComi PA Baud so g Parity Even Mi By clicking on Parity you can display the parity bit settings Load Defaut Ok PON per 9 36 AXOR Industries Service manual
74. rm the motor stops following an emergency ramp equal to the Emer Ramp parameter set in the Speed window b if there is a danger alarm the internal enable immediately disables the motor remains free and will eventually stop due to the friction and inertia of the axis The dangerous alarms which cause the immediately insertion of the brake are the followings AI2 Over Current AI4 Hall AI5 Encoder AI9 Max Min Voltage Al14 Following Error Al17 Over Current Brake All others alarms stop the system by using the emergency ramp before the brake s insertion Emergency Ramp INTERNAL ENABLE OFF ON INTERNAL ENABLE OFF 88 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 7 Stop Functions 3 If there are the following settings e there is the automatic management of the brake e there is not the emergency stop gt we can distinguished these cases a if there is a no danger alarm the motor stops following an emergency ramp equal to the Emer Ramp parameter when 3 of the max speed is reached the brake output is disabled then after the stop the internal enable disables b if there is a danger alarm the brake is immediately activated Emergency Ramp 3 Max Speed ON INTERNAL ENABLE BRAKE COMMAND ov INTERNAL ENABLE OFF 24 BRAKE COMMAND 0 AXOR Industries Service manual Fast Back ver 1 rev 04 07 89 90 5 7 Stop Functions 4 If there is the ma
75. rom 3 2 Nm to 7 5Nm Control It can be configured and controlled using CanBus It supports the following Can Open protocols e part of the DS301 V4 02 e part of the DSP402 V2 0 It can work in Multidrop where the first drive connected via RS232 to the Master PC is piloted with ModBus communication while the other drives are piloted with the duplication of commands using the CanBus communication In speed control it utilises a digital reference from an external controller In torque control it utilises a digital torque reference This function allows you to control the current from the drive It can be controlled as POSITIONERS An ABSOLUTE POSITIONER was implemented which implies transactions to absolute quotas reference to the reference point It supports 32 programmable position profiles a single task or a sequence of tasks are permitted The Homing Procedure is implemented It uses the signal coming from the homing sensor and even tually the zero of the encoder The positioner and homing procedures can be managed via software by using the Axor s Speeder One interface or another ModBus Master Digital In Out There are 2 digital inputs and 1 is programmable There is 1 digital programmable output to send messages from pre programmed functions of the drive Analog Out There is one programmable analog output that permits visualisation by oscilloscope of some of the drive s measurement values Software Interface The
76. ss It is measured in pulses and the allowed values are in ranges 232 1 This value is assigned to the home position found at the end of a successful homing process The Homing Offset value is obtained by the execution of the following calculation Homing Offset n turns also not integer 65536 Example suppose we have an application where the distance between the home position and the zero position of the axis is equal to the distance that the axis can go with a rotation of 4 turns plus an ad dition 90 mechanical turn The first thing to do is to find the number of turns to insert into the formula In this example n turns 4 909 360 4 25 to refer to the fraction of turn above 360 Now it is possible to calculate uti lizing the following operation 4 25 65536 278528 This bold number is the value that must be inserted in the Homing Offset window After the setting of the desired homing parameters save the changes using the Save To EEPROM function on the software interface doing this the drive s setup will become perme nent 54 AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 11 Axor Profile Tool window This window allows you to setup all the parameters about the 32 positioner trapezoidal profiles Axor Profile Tool BAR First Profile Max Position Speed PSTOP Software NSTOP Software 0 3000 RPM 1073741824 pulses 1073741824 pulses Position Task Nr 1 po Acc Time ms 3000
77. st Back ver 1 rev 04 07 69 5 4 Procedure di Homing Warnings 1 Disabling the DIG IN3 Start Homing digital input before that the home position reached in dication is generated makes the homing process to abort No home position is saved and the motor decelerates using the Acceleration parameter DGT IN1 i i ENABLE i DGT IN3 d om START HOMING DGT IN4 HOMING SENSOR SPEED DGT OUT1 HOMING OK 2 Disabling the DGT IN1 ENABLE digital input before the ending of the homing procedure causes the interruption of homing process In this case no homing position is saved and the motor is left free deceleration is depending of inertia and friction A new homing process can be start disabling the DGT ING input and then enabling the DGT IN1 and DGT ING digital inputs a in figure DGT IN1 __ Lo di ENABLE DGT IN3 START HOMING DGT IN4 DGT OUT1 HOMING OK 70 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 5 Positioning procedure The following table illustrates the Positioning Procedures available by the Fast Back while in the following pages there are examples FUNCTION DESCRIPTION It enables a movement having the following parameters e acceleration time that is equal to the homing acceleration time e speed in rpm equal to the value set in the auxiliary variable e target equal to the positive extreme PSTOP software of the axis if the speed
78. t 1000 ms 100 rpm 10 rpm D pulses 3 Open the Digital I O window and set a digital programmable input with the Start Homing function for example DGT IN3 a digital programmable input with the Homing Sensor function for example DGT IN2 a digital output with the Homing OK function for example DGT OUT1 Save all using the Save to EEPROM icon 4 Execute the procedure a Enable the DGT IN1 Enable digital input gt the motor will be on torque b Enable the DGT IN3 Start Homing digital input gt the motor moves to search the home position using the homing parameters saved on the interface Every time this input is disabled the homing position is resetted c When the home sensor output connected to the DGT IN2 Homing Sensor digital input is sensed active in this example we considered a normally opened sensor the motor decelerates and inverts its motion d The home position is set when the falling edge of home sensor is received When this happens the drive enables the DGT OUT1 Homing OK digital output This value is kept high as soon as the DGT IN3 Start Homing digital input is kept high independently of the DGT IN1 digital input see b in the figure b DGT IN1 __ EN ENABLE DGT IN3 START HOMING DGT IN4 HOMING SENSOR HOMING OK i Attention If the procedure is not successful it is not possible to execute a positioning pro file AXOR Industries Service manual Fa
79. t Back ver 1 rev 04 07 4 8 Digital I 0 window This window allows you to modify via software the status of the programmable digital inputs and to control the hardware status of the digital inputs and outputs Digital 1 0 M x ET Inputs e OO sisi DGT IN1 ENABLE state DGT N2 xor e ve DGT IN3 o ott HABEN DGT IN4 ot 9 suss DGT IN5 oo zj 9 aal DGT INS e DGTIN7 d DGT INB d juss DGT IN9 Gu DGTAN AUxI oor o Botton for e Dorna for JI software enablement Outputs Hw EI parouri eot oo 3 pGrour2 eor JEN Hardware Selectable Auxiliary state function variable The St led visualises the status of the digital inputs if it is red a high logic signal is present on the input The Hw led visualises the hardware status of the digital input if it is red a high logic signal is present on the input Note If the Hw led is red the St led is red too It is possible to apply a high logic signal to the input in two modes e utilising the Speeder One interface clicking on the button near the name of the digital input which will then show red on the St led hardware by applying the corresponding voltage 24V on the connector pins This will cause leds St and Hw to show red Attention In the Fast Back there are only two digital inputs one program mable and one digital output which can be menaged or via software by the Speeder One interface or
80. the homing procedure and stops If the DGT IN2 Start JOG is re enabled it is possible to finish the interrupted task At the end of a successful position task the drive will enable the DGT OUT2 Target OK digital output to indicate the position quote has been reached see B 80 AXOR Industries Service manual Fast Back ver 1 rev 04 07 5 6 Motor brake management The Fast Back has a circuitry which allows the control of the electromechanical brake integrat ed in the motor It is a Stationary Brake so it can be used e with motor not running for blocking the motor s axis e for occasionally emergency stops It cannot be used for dynamic braking except on emergency The user has the following possibilities a Not manage the brake b Manual brake management e The current necessary to unblock the brake is given by the drive s electronics but it is controlled by a logic external to the drive e The user has to manage the blocking time and the unblocking time of the brake the ena bling the emergency ramp the blocking time of the brake during alarms or when the motor is turning c Automatic brake management e The current necessary to unblock the brake is given by the drive s electronics and it is controlled by a logic internal to the drive e The drive has to manage the blocking time and the unblocking time of the brake the ena bling the emergency ramp the opening time of the brake during alarms or when th
81. the motor is free AXOR Industries service manual Fast Back ver 1 rev 04 07 91 92 AXOR Industries Service manual Fast Back ver 1 rev 04 07 Chapter 6 Appendix 6 1 ModBus Protocol 6 2 Ordering code 6 3 Transport Storage Maintenance Disposal 94 98 99 94 6 1 ModBus Protocol It is possible to connect the Axor drives to a PC or a Master server in RS232 using the MODBUS communication protocol specified in the Modicon instructions see http www modicon com tech pubs In particular the instructions supported by the drive are the following e Read more registers command 0x03 e Write one register command 0x06 e Write more registers command 0x10 We remind that registers have 16 bits and each register is characterised by its address in particular the first register has the 0 address each register has 16 bits The registers addressed from 0 to 254 are used for the drive s control parameters the register having the 255 address contains the CRC of the control parameters while the registers addressed from 256 to 831 are reserved for the integrated positioner If you try to read a register having an address above 831 the drive s timeout exception is generated The interogations must be sent to the drive using the following parameters e RTU modality Remote Terminal Unit e Baud rate 19200 e 1 start bit e 8 data bit e 1 parity bit EVEN e 1 stop bit MESSAGGE STRUCTURE Using the RTU mode a m
82. to the homing acceleration time Start Task n It enables the task set by the auxiliary variable There is not possibility of blend ing with this function It enables the task set by the digital inputs DGT IN5 DGT IN9 There is not pos Start Task 170 sibility of blending with this function It enables a sequence of tasks The first task is set by the digital inputs DGT IN5 DGT IN9 while the next tasks are set by using the Next Profile param eter associated to each task At the end of each task the following automatically starts It enables a sequence of tasks The first task is set by the digital inputs DGT IN5 DGT IN9 while the next tasks are set by using the Next Profile parameter associated to each task At the end of each task the motor stops the user has to click the task button clicking twice disabling and enabling in order to start the next task of the sequence Emergent Lowering the logic input along with this function stops the motor rotation utilis g y ing the Emer Ramp set in the Speed window It is used to start stop the homing procedure Reset Fault It allows the reset the resettable alarms Start Sequence 50 AXOR Industries Service manual Fast Back ver 1 rev 04 07 4 8 Digital 1 0 window The Hw led visualises the hardware status of the digital output if it is red a high logic signal is present on the output In the following table there are the setting functions for the di
83. ut condensation Drives having a power supply 2 220VAC have a max time with the drive powered off without supply connections equal to 1 YEAR After this time before enable the drive it is necessary activate the capacitors following this procedure remove all electrical connections then supply the input terminals of the supply with the main voltage for 30 minutes In details for drives having a power supply equal to 220VAC power it by using a supply equal to 110 130VAC In order to avoid this procedure we suggest to power on the drive with its rated voltage for 30 minutes before the max time is reached The drives does not need maintenance Otherwise e if the casing is dirty clean it with isopropanol or similar e if the drive is dirty the cleaning is reserved to the producer e if the fans are dirty clean them by using a dry brush The disposal should be carried out by a certified company AXOR Industries Service manual Fast Back ver 1 rev 04 07 99 100 A Alarms 40 Analog Output 29 B Back Up supply connections 22 connector 20 C CanBus interface connections 26 connector 25 D Device ID 37 Digital inputs connection 23 connector 23 settings by Speeder One 49 Digital output connections 24 connector 23 settings by Speeder One 51 Disposal 99 E EMI Filter 8 F File di taratura 58 59 Fuses 11 14 H Holding brake settings from Speeder One 81 Homing procedure 65 settings b
84. w so the actual acceleration time can be found utilizing the following formula T_acc_homing ms Speed homing rpm T acc sett ms Speed motor rpm Where T acc homing real acceleration time during the homing search process Speed homing speed set for the homing process Speed parameter Speed motor motor speed limit set on the interface Speed Limit parameter T acc set value inserted in the Acceleration parameter For example if you have a motor with the following parameters Speed Limit on the Speed window 3000 rpm Acceleration on the Homing window 500 ms Speed on the Homing window 1000 rpm The acceleration time set in the homing window is the time that the motor should employ to accelerate from 0 rpm to the maximum speed in this case 3000rpm The real acceleration time from 0 rpm to 1000 rpm is 167ms in fact T acc homing ms 100 rpm 500 ms 167 ms 3000 rpm Zero Speed This defines the motor s speed during the realignment with the homing sensor and or during the search for the encoder s zero pulse from the motor feedback after the home sensor is reached It is defined in rpm and allows values in ranges between 1 and 50 rpms We suggested utilising low values for this parameter in order to obtain good precision Homing Offset This defines the difference between the zero position for the application and the machine s home posi tion which is found during homing proce
85. y Speeder One 53 L Led 32 Maintenance 99 Mechanical curves 13 16 ModBus Protocol 94 Multidrop connections 30 settings 30 AXOR Industries Service manual Fast Back Index ver 1 rev 04 07 Index O Operative Mode 44 Ordering code 98 P Positioner positioning procedure 71 Start Jog 80 Start Task n 74 Start Next 76 Start Sequence 78 Start Task I O 72 settings by Speeder One 55 Power Supply connections 20 connector 20 R RS232 Interface 28 RS485 Interface 27 S Speeder One 34 Storage 99 T Transport 99 AXOR Industries Service manual Fast Back ver 1 rev 04 07 101 UND EN ISO 2001 KK CERTIFIED N 9135 y ste AXOR os 5 MOTORS SERVO priv AXOR INDUSTRIES viale Stazione 5 36054 Montebello Vic Vicenza Italy phone 39 0444 440441 fax 39 0444 440418 info axorindustries com www axorindustries com v CERTIFICAZIONE DEI SISTEMI DI QUALITA DELLE AZIENDE UNIENISO 9001 CERTIFIED N 9135

1 AXOR Industries Service manual Fast BackTM ver.1 rev.04/'07

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