Keba ServoOne Device Help Download

Page: 279 / 493

Index Name / Setting

Unit

Description

ENCPOS_CH3 (7) = Encoder position
Channel 3

ENCPOS_CH3_INC (8) = Encoder position
Channel 3 in increments

ENCPOS_CH4 (9) = Encoder position
Channel 4

ENCPOS_CH4_INC (10) = Encoder
position Channel 4 in increments

ACTPOS2 (11) = Actual position of
redundant encoder in user units

Sercos (12) = Referred to Sercos profile
parameters S-x-0426, S-x-0427

UserRefPos(13)= Reference position in
user units

MasterPosST(14) = Master position
(ECAM, EGEAR) singleturn, always steps

CommonMasterPos(15) = Master position
(ECAM, EGEAR) singleturn, always steps

CommonMasterPosST(15) = Master
position (ECAM, EGEAR) singleturn,
always steps

1402

MPRO_TP_Channel

1402

MPRO_TP_Channel

1402

MPRO_TP_Channel

1404

MPRO_TP_Lines

Touch probe: Lines @ pulse counter on
channel x

1404

MPRO_TP_Lines

1404

MPRO_TP_Lines

Table 8.29: “Touch probe” parameters (continue)

NOTE

For more information refer to the bus system user manuals or the
description of the iPLC.

ID No.: 0842.26B.5-01 Date: 09.2020

ServoOne - Device Help

279

8 Motion profile

8.11 Synchronized motion

The Synchronized Movement function enables synchronous running of the drive in

relation to a real or virtual master axis.

Digital control signals are used to provide positionally precise disengagement from

the guide value (e.g. with standstill at cycle end) and positionally precise

engagement to the current guide value.

An encoder system, the virtual master or the parameter interface is selected as the

master encoder in the master configuration. By setting the parameter interface to a

bus system (Basic setting Control and Reference) control is programmed via a bus

system.

Image 8.71: “Synchronized motion” screen

There are various modes available in the “synchronization mode” drop-down menu

(P 242[0] - MPRO_ECAM_SyncModMode):

Off(0) = Synchronized motion off

ECAM_iPlc(1) = Electronic cam plate via iPlc

EGEAR_iPlc(2) = Electr. gear unit viaiPLC

ECAM_PARA(3) = Electronic camming via parameters

EGEAR_PARA(4) = Electronic gearing via parameters

Summary of Contents for ServoOne

Page 1: ...ServoOne and ServoOne junior Device Help Single Axis Systems and Multi Axis System Servo controller 2 A to 450 A ...

Page 2: ...V4 30 xx ServoOne junior l V4 30 xx ServoOne Single Axis System and Multi Axis System l V274 30 xx if you need to use hydraulic parameters see Section Hydraulic control on page 175 for details The structure of this help as well as the screenshots used were taken from KeStudio DriveManager 5 Version 5 6 The German version is the original version of this documentation ID No 0842 26B 5 01 Date 09 202...

Page 3: ... updated in line with ongoing technical developments in our products Information and specifications may be subject to change at any time For information on the latest version please visit www keba com Copyright The entire contents of this documentation especially the texts photos and graphics it contains are protected by copyright The copyright is owned by KEBA Industrial Automation Germany GmbH u...

Page 4: ...idging 28 4 2 1 Detection of a voltage failure 28 4 2 2 Monitoring for single phase failure 31 5 Motor 32 5 1 Motor configuration data 32 5 2 Synchronous motor 33 5 2 1 Synchronous motor electronic data 35 5 3 Linear synchronous motor 36 5 3 1 Linear synchronous motor electronic data 37 5 4 Asynchronous motor 38 5 4 1 Asynchronous motor electrical data 39 5 5 Motor protection 40 5 5 1 Temperature ...

Page 5: ... 0842 26B 5 01 Date 09 2020 ServoOne Device Help 5 Table of contents 7 Control 110 7 1 Overview of control structure 110 7 1 1 Setting 111 7 2 Basic settings 112 7 2 1 Motor control basic settings 112 7 2 2 Automatic inertia detection 114 7 3 Torque controller 115 7 3 1 Current controller optimization 115 7 3 2 Creating the transfer function 116 7 3 3 Decoupling 117 7 3 4 Current actual value filt...

Page 6: ... control 247 8 3 5 Jerk limitation and speed offset 247 8 3 6 Interpolation 249 8 4 Stop ramps 251 8 5 Homing 252 8 5 1 Homing screen 252 8 5 2 Method 13 Absolute encoder 254 8 5 3 Method 12 Set absolute position absolute measuring system 255 8 5 4 Method 10 and Method 11 Move to block with zero pulse 255 8 5 5 Method 8 and 9 Move to block 256 8 5 6 Method 7 to 0 257 8 5 7 Method 1 and Method 2 li...

Page 7: ...e Break Monitoring 319 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 7 Table of contents 9 5 Analogue outputs option only for ServoOne 320 9 5 1 Function selectors 320 9 6 Analog output Option MIO 321 9 7 Motor brake output 321 9 7 1 Motor brake details 322 10 Limitations Thresholds 324 10 1 Settings 324 10 2 Torque force limits 325 10 3 Speed velocity limits 326 10 4 Position limitation 3...

Page 8: ...43 Ethernet error 435 11 6 41 Error 44 Wire break common error 435 11 6 42 Error 45 Lock violation error 436 11 6 43 Error 46 Position limit error 438 11 6 44 Error 47 Functional safety common error 440 11 6 45 Error 49 Safety system error 442 11 6 46 Error 51 Encoder status common error 450 11 6 47 Error 52 Analog inputs error 450 11 6 48 Error 53 Motor failure error 450 11 6 49 Error 54 Power gr...

Page 9: ...477 17 1 1 Parameters used 477 17 1 2 Parameter list 478 17 1 3 Procedure 479 17 2 Upload and download of parameter data sets 481 17 2 1 Write parameter data set to the file system 481 17 2 2 Loading the parameter data set from the file system 482 18 Index 483 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 9 Table of contents ...

Page 10: ... handling the devices from KEBA Industrial Automation Germany GmbH l The device documentation must be kept readable always available and throughout the product s service life l Read and understand the documentation for your device l Qualification To avoid bodily injury and property damage only qualified personnel with electrical training may work with on the device l Required skills and knowledge ...

Page 11: ...eference to further applicable documents Step Action 1 Number HANDLING INSTRUCTIONS Operating step performed by either the user or the system For the pictograms for safety information and warnings used in this Device Help see the Section Safety information and warnings on page 15 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 11 1 General information ...

Page 12: ... l safe operation and l attaining the performance characteristics and product characteristics described KEBA Industrial Automation Germany GmbH accepts no liability for personal injury material damage or financial losses arising from disregard of the documentation ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 12 1 General information ...

Page 13: ...documentation All further applicable documents for this device can be found on our website www keba com under Service Support DOKU PORTAL ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 13 1 General information ...

Page 14: ...t development for your machine or the commissioning of your device The Helpline can be reached via email or telephone Opening hours Mon Fri 8 am 5 pm CET Email helpline keba de Phone 49 6441 966 180 Internet www keba com NOTE l For detailed information on our services please visit our website www keba com Service ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 14 1 General information ...

Page 15: ...ce Help 15 2 Safety NOTE l Pay attention to special safety and warning information which is provided here in the document directly before a specific action and warns the user of a specific danger Our devices are designed to be fast and easy to operate For your own safety and to ensure reliable operation of your machine take note of the following Step Action 1 Precautions to avoid injury and damage...

Page 16: ...any setting up and or operating a complete machine or system is responsible l For ensuring that the motor will be brought to a safe state if the device fails l For the safety of persons and machinery l For proper functional capability of the complete machine ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 16 2 Safety l For the risk assessment of the complete machine or system according to DI...

Page 17: ...20 ServoOne Device Help 17 3 Initial commissioning 3 1 Initial Commissioning wizard The wizard guides you through the subject areas that are relevant for the initial commissioning Correct setting of the parameters permits controlled movement of the drive via the manual mode window for details see Section Manual mode on page 467 Further settings must be made to exactly adapt the drive system to an ...

Page 18: ...rd manually by double clicking on the pictogram see Chapter overview in Section Initial commissioning on page 17 or via Project tree Device setup Initial commissioning ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 18 3 Initial commissioning 3 1 3 Initial commissioning Image 3 2 Commissioning wizard ...

Page 19: ...ear motor Selection of motor system 4 Identification l Measurement of electrical parameters resistance inductivity l Current controller tuning l Calculation of nominal flux Data set calculation l Complete Calculation of control settings screen and start the calculation Identification or calculation of motor data set 5 l Set the I2xt monitor l Select of temperature sensor l Characteristic setting M...

Page 20: ...st signal generator is set automatically l Optimizing the speed controller l Determine mass inertia J basic settings l Set speed filter P 0351 CON_SCALC_TF 0 6 ms Recommendation SinCos encoder 0 2 ms 0 6 ms Recommendation resolver 1 ms 2 ms Adjust control parameters to suit the mechanism set stiffness Controller setting l Current Controller l Speed controller l Position controller 10 Settings l Un...

Page 21: ...ginal conditions For more information refer to the user manuals for the individual bus systems 13 Saving the settings and creating a commissioning file Saving For more information on data handling refer to the KeStudio DriveManager 5 help Table 3 1 Instructions for the commissioning wizard continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 21 3 Initial commissioning ...

Page 22: ... has been implemented which permits monitoring of the motor wiring It also checks whether the parameter setting of the pulses per revolution of the encoder and the number of pole pairs of the resolver match the number of pole pairs of the motor When it has been successfully determined a green tick check mark is displayed Disable motor brake during the motor phase test Determining the encoder offse...

Page 23: ...0842 26B 5 01 Date 09 2020 ServoOne Device Help 23 3 Initial commissioning 3 3 Motor Image 3 5 Initial Commissioning Motor data and control settings screen l You can click on the Select motor data set to select a motor from the LSH LSN LSP and LST series from KEBA l If you want to use a different motor you can configure it by clicking on the Manual motor settings button For details see Section Mot...

Page 24: ...ls see Section Encoder selection on page 53 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 24 3 Initial commissioning 3 5 Control Image 3 7 Initial Commissioning Control screen l You can use this screen to select the control mode for the device l To determine the system s inertia and configure position and speed control settings click on the Basic settings button For details see Section Bas...

Page 25: ...Help 25 4 Power stage 4 1 Power stage settings Image 4 1 Power stage settings screen AC device The power stages of the Servo controller can be operated with different voltages and switching frequencies The list boxes in the screen are used to adapt the power stage to the application conditions NOTE l Any changes to parameters must be saved in the device l The setting is only applied on the device ...

Page 26: ...ly selected operating switching frequency from parameter P 302 CON_SwitchFreq The switching frequency can be reduced by a maximum of 2 steps In other words there are the following 3 levels for the switching frequency ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 26 4 Power stage Step0 No reduction of the switching frequency the operating switching frequency from P 302 is used Step1 1st red...

Page 27: ...V r m s Mains voltage 426 0 CON_ DCLinkVoltageNom V DC link voltage DC low voltage Table 4 3 Power stage DC drives parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 27 4 Power stage ID Index Name Unit Description 308 0 CON_VoltageNom V Nominal voltage DC low voltage Table 4 4 Power stage Low voltage DC supply parameters ID Index Name Unit Description 425 0 CON_GridVoltageNom V r m s...

Page 28: ...icular the power supply of the drive controller itself 24 V control voltage must be ensured Image 4 2 Power failure bridging settings screen ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 28 4 Power stage 4 2 1 1 Functional description The P 2940 CON_PowerFail_Sel selection parameter can be used to select the following operating modes 0 OFF switched off 1 Ret Power failure bridging with pow...

Page 29: ...power returns Moreover it should be considerably higher than the shutdown limit default setting 20 V ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 29 4 Power stage After a power failure is detected the controller will control the voltage so that it reaches the configured setpoint If a power return is detected within the time period set in P 2943 0 CON_POWF_RetTime the drive will return to ...

Page 30: ...r ensuring that the values entered make sense ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 30 4 Power stage 4 2 1 4 Parameters P No Index Name Setting Unit Function 2940 0 CON_PowerFail Power failure bridging selector Off 0 Function disabled RET 1 Function enabled Return of power allowed if it occurs within defined time otherwise trigger error upon return NORET 2 Function enabled Return o...

Page 31: ...ice continues to operate for the time being However the input rectifier can be damaged at a high output power The single phase power failure detection is set with P 737 0 MON_MNCTL bit 3 1 The quadratic ripple variance of the DC link voltage is calculated If it exceeds the threshold value P 760 2 MON_VDC_Guard MaxVar for the time P 760 3 MON_ VDC_Guard Max_time the monitoring is triggered The actu...

Page 32: ... filters when using PMSM motors 47 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 32 5 Motor 5 1 Motor configuration data Image 5 1 Motor data and control settings screen Each motor can only be operated if its field model and the control parameters are correctly set Using the standard motors and encoders from the KEBA motors catalogue a system can be commissioned and put into operation very...

Page 33: ...can only be operated if its field model and the control parameters are correctly set On transfer of a standard motor data set the motor name electrical data and motion mode are loaded Preset parameters are overwritten The motor data must then be saved in the device The motor parameters specified by the manufacturer ensure that a motor can be subjected to load according to its operational character...

Page 34: ...l settings for current controller the current controller is dimensioned based on the actual switching frequency set l Speed controller and position controller gain here a moderately stiff mechanism and mass inertia matching from load to motor with a ratio of 1 1 is to be assumed l V F characteristic NOTE l All existing control parameters are overwritten ID No 0842 26B 5 01 Date 09 2020 ServoOne De...

Page 35: ...72 3 Lsig_q I3 Inductance CurrentI3 472 4 CurrentI0 Current I0 relative to MOT_CNom 472 5 CurrentI1 Current I1 relative to MOT_CNom 472 6 CurrentI2 Current I2 relative to MOT_CNom 472 7 CurrentI3 Current I3 relative to MOT_CNom 479 MOT_TorqueSat Inductor saturation Motor torque as function of q axis current saturation 479 0 Torque I0 Nm Torque current I0 479 1 Torque I1 Nm Torque current I1 479 2 ...

Page 36: ..._FLUXNom l Calculation of current speed and position control parameters NOTE l P 490 MOT_ISLinRot LIN 1 The parameter automatically sets the number of pole pairs for the motor to P 463 Mot_PolePairs 1 As a result a North to North pole pitch corresponds to one virtual revolution P 492 Mot_MagnetPitch NOTE l All existing motor parameters are overwritten Calculated values l Translation of the linear ...

Page 37: ...0 MOT_SpeedMax m s Motor rated speed 494 0 MOT_ForceNom N Motor rated force 496 0 MOT_MassMotor kg Mass of motor slide 497 0 MOT_MassSum kg Total mass moved by the motor 498 0 MOT_EncoderPeriod um Period of line signals Table 5 3 Linear synchronous motor parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 37 5 Motor 5 3 1 Linear synchronous motor electronic data Image 5 5 Linear synch...

Page 38: ...orqueSat Inductor saturation Motor torque as function of q axis current saturation 479 0 Torque I0 Nm Torque current I0 479 1 Torque I1 Nm Torque current I1 479 2 Torque I2 Nm Torque current I2 479 3 Torque I3 Nm Torque current I3 479 4 Torque IMax Nm Torque current I4 479 5 CurrentI0 A Current I0 479 6 CurrentI1 A Current I1 479 7 CurrentI2 A Current I2 479 8 CurrentI3 A Current I3 479 9 CurrentI...

Page 39: ...controller is dimensioned dependent on the switching frequency setting l Speed controller and position controller gain In this a moderately rigid mechanism and a 1 1 moment of inertia adjustment from the load to the motor are to be assumed l V F characteristic ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 39 5 Motor ID Index Name Unit Description 451 0 MOT_Name Name of motor parameter set ...

Page 40: ...tance scaling factor 476 0 MOT_Rrot Ohm Motor rotor resistance 477 0 MOT_RrotScale Motor rotor resistance scaling factor 478 0 MOT_LmagNom mH Main inductance at nominal magnetizing current Table 5 6 Asynchronous motor electrical data parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 40 5 Motor 5 5 Motor protection 5 5 1 Temperature sensors The device can evaluate different temperatu...

Page 41: ...ring parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 41 5 Motor P No Index P Name Setting Unit Function PTC 2 PTC sensor three with short circuit monitoring below 50 ohms or hardware detection TSS 3 Switch Klixon PTC1 4 PTC sensor one without short circuit monitoring PT100 5 PTC100 in line with DIN EN 60751 1 NTC220 6 NTC Sensor 220 kOhm 1 1 NTC1000 7 NTC Sensor 1000 kOhm...

Page 42: ...to the ServoOne junior l 2 With ServoOne junior The following table provides an overview of the selection options for sensor types with P 732 0 as well as the connection options for the plug in connectors X5 X6 X7 and X8 Tech option for ServoOne and ServoOne junior ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 42 5 Motor ServoOne ServoOne junior Ser voOne Safety Sensor type Parameters Plug...

Page 43: ...THERM 1 Thermal time constant dependent all settings apart from the thermal time constant are disabled If the integrator exceeds its limit value the error E 09 01 is triggered The current value of the integrator is indicated in P 701 0 Mon_ActValues NOTE l The limits are specified in Servo controller as percentages of the rated quantities e g current torque speed of the motor The defaults relate t...

Page 44: ...2 26B 5 01 Date 09 2020 ServoOne Device Help 44 5 Motor If the I2t type is set to THERM 1 Thermal time constant dependent all settings apart from the thermal time constant are disabled If the integrator exceeds its limit value the error E 09 01 is triggered The current value of the integrator is indicated in P 701 0 Mon_ActValues NOTE l The limits are specified in Servo controller as percentages o...

Page 45: ...tification Image 5 11 Motor identification screen for a rotary synchronous motor ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 45 5 Motor Image 5 12 Motor identification screen for a linear synchronous motor ...

Page 46: ...otor identification l Current controller tuning l Measurement of P 470 0 MOT_Rstat Stator resistance P 476 0 MOT_ Rrot Rotor resistance P 471 0 MOT_Lsig Leakage inductance l Maximum effective current Idmax P 474 0 MOT_LmagIdNom l Operating point calculation P 462 0 MOT_FluxNom Nominal flux P 340 0 CON_FM_Imag Magnetizing current l Calculation of current speed and position control parameters l Clic...

Page 47: ...oltage consumption Accordingly it is not necessary to take motor chokes into account separately when calculating current setpoints Meanwhile as a result of the additional capacitor current ic resulting from their use sine wave filters result in a change to the current vector between the inverter output iinv and the motor is Accordingly these filters must be taken into account when calculating curr...

Page 48: ...e Among other things the use of a sine wave filter will result in resonances In order to avoid exciting oscillations the current control circuit s decoupling network is always deactivated when configuring the motor filter support In addition the current controller s gain may have to be significantly reduced in order to achieve stability Because of this the use of sine wave filters is not recommend...

Page 49: ... current setpoint components isdref isqref Moreover the current controller decoupling network will be deactivated The calculated values of the motor terminal voltage and capacitor current components can be viewed with scope signals usdmot_SinFilt usqmot_SinFilt and isdpre_SinFilt isqpre_SinFilt respectively ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 49 5 Motor x x x 4p 2πfs iSd ref Ls L...

Page 50: ...s known the corresponding capacitance value must first be divided by 3 and then entered into the parameter 5 7 4 Scope signals ID Index Name Unit Description 2500 0 isdpre_SinFilt A Calculated filter capacitor current d components isdCf in the formula above 2501 0 isqpre_SinFilt A Calculated filter capacitor current q components isqCf in the formula above 2502 0 usdmot_SinFilt V Calculated motor t...

Page 51: ... type selection Contents 6 1 Introduction 52 6 2 Encoder selection 53 6 3 Encoder offset 55 6 4 Connections and pin assignations 55 6 5 Channel 1 Interface X7 59 6 6 Channel 2 Interface X6 74 6 7 Channel 3 Interface X8 optional 78 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 51 6 Encoder Chapter overview 6 8 Channel 4 Virtual encoder 92 6 9 Redundant encoder 102 6 10 Axis correction 102 6...

Page 52: ...One l two EnDat encoders l or two SSI encoders ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 52 6 Encoder l or one EnDat encoder and one SSI encoder gleichzeitig betrieben werden As an alternative to cyclical EnDat l The ServoOne junior also supports HIPERFACE DSL encoders by means of special software option on X8 l The ServoOne also supports BISS encoders on X7 via special software 6 1 2 ...

Page 53: ... parameters for the actual values at the encoder channel outputs are used for indication purposes only and are l P 500 ENC_CH1_ActVal for Ch1 l P 501 ENC_CH2_ActVal for Ch2 l P 502 ENC_CH3_ActVal for Ch3 l P 503 ENC_CH4_ActVal for Ch4 The parameters are field parameters with l Index 0 single turn component and l Index 1 multi turn component ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 53 ...

Page 54: ...l abgelegt werden P No Index Name Unit Description 520 0 ENC_MCon Selection of encoder channel for commutation angle 521 0 ENC_SCon Selection of encoder channel for speed control 522 0 ENC_PCon Selection of encoder channel for position control 555 0 ENC_CH1_Info Encoder information Channel 1 564 0 ENC_CH2_Info Encoder information Channel 2 580 0 ENC_CH3_Info Encoder information Channel 3 Table 6 1...

Page 55: ...the help of a wizard For the definition the motor is run in Current control mode at rated current For a correct definition it is necessary for the motor to be able to align itself freely A connected brake is automatically vented provided it is connected to the brake output and the output has been configured for use of a brake NOTE l The current used to determine the encoder offset commutation offs...

Page 56: ...ential input Track B 4 5 12 V supply voltage internally connected to X7 3 5 ϑ PTC KTY Klixon 1 6 Ref analogue excitation Table 6 2 Pin assignment X6 ServoOne and ServoOne junior ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 56 6 Encoder Abb Pin Function 7 Ref analogue excitation ground for pin 6 and pin 4 8 REFCOS S3 analogue differential input Track B 9 ϑ PTC KTY Klixon 2 1 Internally con...

Page 57: ... Sense US Switch 2 13 Sense Sense Sense 14 CLK CLK 15 CLK CLK 1 The total of the currents drawn at X7 3 and X6 4 must not exceed the specified value 2 After connecting pin 7 to pin 12 a voltage of 11 8 V will appear at X7 pin 3 Table 6 3 Pin assignment X7 ServoOne ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 57 6 Encoder CAUTION Damage to the device as a result of incorrect motor winding ...

Page 58: ...ed to X6 9 3 10 ϑ PTC KTY Klixon internally connected to X6 5 3 11 B B SIN 12 Sense Sense Sense US Switch 2 Table 6 4 Pin assignment X7 ServoOne junior ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 58 6 Encoder Abb Pin SinCos and TTL SinCos Absolute value sender SSI EnDat Absolute encoder EnDat digital Absolute encoder HIPERFACE 13 Sense Sense Sense 14 CLK CLK 15 CLK CLK 1 The total of the...

Page 59: ...ts for KEBA encoders will already be available there by default Encoder name You can use this field to enter your own information for describing the encoder max 31 characters P 555 0 ENC_CH1_Info Cyclic position via This drop down menu is used to select the main interface P 505 0 ENC_CH1_ Sel Pulses per revolution Once SINCOS 1 TTL 3 or HALL 5 is selected as the main interface this field will appe...

Page 60: ... If Mode 0 it will be enabled instead default l In the case of linear encoders PeriodLen and DigitalResolution will be needed instead of MultiT and SingleT P No Index Name Setting Unit Description 505 0 ENC_CH1_Sel Main selection on encoder channel Ch1 540 0 ENC_CH1_Abs Absolute value interface for one time reading 542 0 ENC_CH1_lines Number of analogue Sin Cos lines per revolution TTL lines as we...

Page 61: ...lected encoder demands ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 61 6 Encoder A special software version of the ServoOne is required for operation of the BiSS encoder interface EnDat and SSI encoders are not supported in it For known encoder types a few rotary encoder types from the manufacturer Hengstler the values for the parameters P 543 0 ENC_CH1_MultiT and P 544 0 ENC_CH1_SingleT ...

Page 62: ...iSS encoders ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 62 6 Encoder The slave address range is defined in only a very limited manner for BiSS across all BiSS it merely includes a so called slave device ID also called type ID which is defined in a range of 8 bytes as of address 78 hex 6 bytes for the assembly and 2 bytes for the manufacturer Other address ranges are only specified in a ...

Page 63: ...stics for evaluation In this case the valuation numbers from the encoder are read cyclically via additional information Only the valuation numbers that the encoder supports will be read During the initialization process the system will read the encoder to determine which valuation numbers it supports When P 640 0 ENDAT_Select 1 the function will be enabled in the controller and the internal diagno...

Page 64: ... vn no bits 7 0 vn overwrite value Table 6 8 Channel 1 encoder configuration X7 EnDat parameters continue 6 5 4 Hall sensor X7 Ch1 HALL 5 Digital hall signals Ch1 HALL_TTL 7 Digital hall signals ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 64 6 Encoder NOTE l The operation and configuration of Hall effect sensors is reserved for special applications Consult with KEBA if needed 6 5 5 SinCo...

Page 65: ...without homing Scope signals 1014 and 1016 can be used to view a received zero pulse within this context This test mode must be disabled during normal operation P 541 0 0 Commutation Motor operation with pure incremental encoders needs for the auto commutation function to be enabled without fail For details see Section Synchronous motor auto commutation on page 158 ID No 0842 26B 5 01 Date 09 2020...

Page 66: ...voOne Device Help 66 6 Encoder pole pair subdivision North North for commutation 1 x North North corresponds to one revolution from Lines In this case the motor pole pair number must be set to 1 Moreover P 553 0 ENC_CH1_PeriodLen is not used in this case 6 5 5 2 3 Signal correction GPOC The GPOC gain phase offset correction routine used for track signal correction purposes for sine cosine signals ...

Page 67: ...s it possible to use multi turn encoders as ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 67 6 Encoder single turn encoders for test purposes Negative logic Default MTEnable 0 means MultiTurn Enable ON l P 549 0 ENC_CH1_Corr Signal correction type The GPOC routine used for track signal correction purposes for sine cosine signals is used to compensate for systematic errors The routine is co...

Page 68: ...ing a mix of the digital and analogue components this is the default mode ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 68 6 Encoder o DIG 1 Digital Only the digital component will be used for the absolute value initialization o SEK_SEL37 2 Automatic Digital if ST bits LineBits 8 otherwise standard criterion applies with HIPERFACE SEKL 37 encoders o SSI_180 3 Same as Standard except In the...

Page 69: ...controller firmware In the case of linear encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 69 6 Encoder types the corresponding parameters will be PeriodLen and DigitalResolution HIPERFACE encoders unknown at the time of writing new no entry in the firmware characteristic table are generally not supported In the case of known encoders the Lines MultiT SingleT PeriodLen and DigitalReso...

Page 70: ...formation 5 552 15 Bytes_of_last_protocol highbyte to encoder lowbyte from encoder 552 16 Bytes_of_last_protocol 552 17 Table 6 12 Parameters for Channel 1 X7 HIPERFACE status Starting from index 15 the byte sequences for the last command that was transmitted request to encoder left response from encoder right will be shown completely ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 70 6 Enco...

Page 71: ...ers and CycleCount parameters P 546 0 ENC_CH1_Mode can be used to run a parity evaluation after the data In addition ENC_CH1_Mode makes it possible to run special SSI encoders that deliver one or more special bits after the data In this case the ServoOne will not evaluate these bits this mode is meant to make it possible to work with SSI encoders that require for these bits to be sampled P 616 0 E...

Page 72: ...are reserved ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 72 6 Encoder ID Value Name 000Dh Data_Free_PEven_EncObs 000Eh Data_PEven 000Fh Data_Free_PEven 001Fh Data_Free Extra data reading 0020h Data_Free_Free 0021h Data_Free_Free_Free 0022h Data_Free_Free_Free_Free Table 6 14 SSI mode parameters all other values are reserved continue P 616 0 ENC_CH1_CycleCount Sampling cycle in n x 125 µs...

Page 73: ...5 01 Date 09 2020 ServoOne Device Help 73 6 Encoder Parameters l P 500 0 ENC_CH1_ActVal 0 SingleTurn and l P 500 1 ENC_CH1_ActVal 1 MultiTurn are used for example to indicate the current position value at the output for encoder channel Ch1 These parameters can also be used for checking purposes during commissioning NOTE l This value at the encoder channel output o Already contains the encoder gear...

Page 74: ...pprox 0 5 GPOC is a special KEBA online process for improving the quality of SinCos signals before they are used to calculate a position If Sel RES 1 or Sel SINCOS 2 this process may come in handy For details see Section Signal correction GPOC Gain Phase Offset Correction on page 75 P No Index Name Settings Unit Description 506 0 ENC_CH2_Sel Interface configuration OFF 0 No evaluation RES 1 Resolv...

Page 75: ...roller s A B track input signals B S1 S3 cos and A S2 S4 sin This phase difference can be compensated for with P 565 0 ResExc ResExc is the time in µs microseconds by which the resolver excitation will lead Moreover P 565 1 Delay can be used to compensate for a commutation dead ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 75 6 Encoder time which can become important in the case of higher ...

Page 76: ... ENC_CH1_CorrVal 5 Set P 549 0 ENC_CH1_Corr to CORR 1 Correction with saved values 6 Save in the device Table 6 17 Configuring and activating GPOC NOTE l The routine can also be kept enabled permanently However this approach is less robust and requires careful testing to determine whether the improved encoder evaluation quality will actually be maintained during continuous operation l The GPOC rou...

Page 77: ...OTE l In the case of encoder channel Ch2 it is assumed that the resolver will always be used as a commutation encoder on the motor shaft Because of this the numerator adjustment range is limited to a value of 1 or 1 while the denominator is set at a fixed value of 1 for the Ch2 encoder gearing ratio This means that the only option available is to invert the encoder signal direction reversal l Enco...

Page 78: ...xxx2 xxxx x HW version 2 or higher SW version All HW version 1 or higher SW version 1 10 or higher Specification ID No 1306 21B x 4 SSI encoder simulation SO8x xxx xxx4 xxxx x X not available Specification ID No 1106 22B x 5 TTL encoder with commutation signals SOxx xxx xxx5 xxxx x X X Specification ID No 1306 24B x 6 Second safe SinCos encoder SO8x xxx x1xA xxxx x X not available Specification ID...

Page 79: ...w the X8 options that can be used for encoder evaluation can be identified and selected l No column As per the table above l Hardware ID column The texts in this column can be viewed in the KeStudio DriveManager 5 using P 53 0 DV_HwOptionX12ID by going to Drive description Hardware version if the corresponding technology option is present l Selection column In certain cases several different encod...

Page 80: ...M 11 TTL Hall option TTL 3 TTL_COM 5 9 HDSL interface with special FW Only on ServoOne junior single cable solution HDSL 15 HIPERFACE DSL option HDSL 7 Table 6 20 Options for X8 interface that can be used to evaluate encoders via encoder channel Ch3 SINCOS 1 is set via the P 507 0 ENC_CH3_Sel main interface The auxiliary interface P 570 0 ENC_CH3_Abs can be optionally used to set the one time read...

Page 81: ...is button will open a menu that can be used to select encoders The data sets for KEBA encoders will already be available there by default Encoder name You can use this field to enter your own information for describing the encoder maximum of 31 characters P 580 0 ENC_CH3_Info Cyclic position via This drop down menu is used to select the main interface P 507 0 ENC_CH3_ Sel Pulses per revolution Onc...

Page 82: ...21 Main parameters for encoder channel Ch3 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 82 6 Encoder l P 577 0 ENC_CH3_EncObsMin If you set EncObsMin to 0 SinCos wire break monitoring will be disabled The default value is 0 2 20 and stands for a calculated amplitude value calculated using the two SinCos signals of x sqrt a b If the SinCos signals are equal to approx 1 Vss when compared ap...

Page 83: ...and status codes absolute encoder 582 0 ENC_CH3_PeriodLen nm Length of signal period Sin Cos linear encoder Table 6 22 Encoder configuration channel 3 X8 parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 83 6 Encoder ID Index Name Unit Description 583 0 ENC_CH3_ DigitalResolution nm Length of one increment linear absolute encoder 584 0 ENC_CH3_MTBase Definition of point of discontin...

Page 84: ... of the parameters for encoder channel Ch1 it is recommended to read the description for the Ch1 encoder channel parameters see Section EnDat cyclical X7 on page 62 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 84 6 Encoder The software versions required to run the EnDat interface are the standard software versions for the ServoOne and ServoOne junior NOTE l Please note the limitations tha...

Page 85: ... tracks reverse counting X4 encoding AB_inv ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 85 6 Encoder l 2 ABDFN A Clock falling edge B Direction 1 positive PulseDir l 3 ABDRP A Clock rising edge B Direction 1 negative PulseDir_inv l 4 reserved A maximum interpolation period in ms milliseconds can be configured for the TTL interface using P 602 0 ENC_CH3_Period Within this context Period i...

Page 86: ...me parameters apply However there are the following differences ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 86 6 Encoder a There are no different signal types for the SinCos signal always 1 Vss for cosine and sine b The zero pulse is the analogue zero pulse typical of SinCos encoders see the Connection for high resolution encoders section in the ServoOne Operation Manual Single Axis Syst...

Page 87: ...solute value initialization that is the multi turn basis Assuming a bipolar encoder measuring range all position values that fall below MTBase will be shifted up the whole MT range will be added to them once This method makes it possible to place the point of discontinuity at any point within the encoder s entire measuring range By default MTBase will be set to the lowest possible value for the pa...

Page 88: ...s tracks per revolution and 36 distance coded reference marks you would need to set NominalIncrementA to 1000 signal periods and NominalIncrementB to 1001 signal periods This functionality is enabled if NominalIncrementA 0 see Section Increment coded reference marks on page 107 l P 637 0 ENC_CH3_AbsInitMode Mode absolute value formation AbsInitMode can be used to select various possible settings f...

Page 89: ... encoder basics and requirements The SSI interface on the ServoOne has been designed as an actual motor feedback interface Accordingly the connected SSI encoder must meet the following criteria l Clock and data inactive level HIGH l The current position must be internally stored at the first falling clock edge l No lengthened calculation time in first cycle l With the first rising clock edge the e...

Page 90: ...re described elsewhere see Section Channel 3 Interface X8 optional on page 78 and Section SinCos TTL X8 on page 85 NOTE l Linear SSI encoders will be treated as rotary SSI encoders In this case it is impossible to determine that the system is a linear encoder system based on the encoder head ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 90 6 Encoder l P 573 0 ENC_CH3_MultiT Number of multi...

Page 91: ...9 2020 ServoOne Device Help 91 6 Encoder Encoder channels Ch1 to Ch3 each feature their own encoder gearing while encoder channel Ch4 virtual encoders does not feature any encoder gearing In the case of encoder channel Ch2 it is assumed that the resolver will always be used as a commutation encoder on the motor shaft Because of this the numerator adjustment range is limited to a value of 1 or 1 wh...

Page 92: ... be drawn between an encoder s motor mode and field mode l Motor mode The encoder is the motor commutation encoder l Field encoder The encoder is not the motor commutation encoder instead it is an additional encoder in the field e g used for position control purposes In motor mode the encoder gearing is used exclusively to synchronize the motor shaft with the encoder shaft default 1 1 if the shaft...

Page 93: ...matrices and without configuring the test signal generator 5 STOP _KAL Stop encoder module CH4 6 CALC_RQ Calculates noise covariance matrices R and Q based on the configured motor parameters Table 6 29 Control word ENC_CH4_Ctrl P783 continue P No Index Name Unit Description 339 CON_SCON_Kalman Kalman Setting 0 Tf_Kalman ms Kalman Integration time 1 KpScale_Kalman Kalman Gain 350 CON_SCALC_SEL Used...

Page 94: ...lection Table 6 30 Sensorless synchronous motor control parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 94 6 Encoder 6 8 1 1 Auto commutation When using sensorless control auto commutation is required in order to ensure that the motor will not align itself towards a direction in an uncontrolled manner There are two options for commutating the motor when using sensorless o...

Page 95: ...t signal amplitudes has been implemented This ensures that the signal can be applied gradually over a specified speed range The speed ranges in which the test signal will be applied fully P 792 7 Full signal range and in which it will increase P 792 8 Increasing signal range can be defined as necessary ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 95 6 Encoder Image 6 7 Test signal generat...

Page 96: ...gular derivative is used for normal speed control The angular change describes the difference between two predicted angular positions from consecutive sampling steps Dividing eps_diff by the observer s sampling time yields speed n_eps which although admittedly noisier than the calculated Kalman filter speed is accurate in a steady state However the heavy noise means that relatively long filter tim...

Page 97: ... circuit motors with a marked saliency can be operated in a sensorless manner even without a test signal 6 8 1 4 Commissioning The first step in commissioning sensorless control is correctly determining the motor data and control parameters and configuring them accordingly At this point it is especially important to ensure that the inductance difference between the motor s d and q axes is set corr...

Page 98: ...One Device Help 98 6 Encoder Step Action 1 Configure noise covariance matrices Q and R This should be done automatically by setting the control parameter for encoder channel 4 P 783 0 ENC CH4 Ctrl to a value of 6 2 Manually configure the test signal generator Recommendation Sinusoidal test signal in d axis P 792 09 1 P 792 19 500 Hz P 792 2 P 792 9 10 of rated motor current P 792 79 15 of rated mo...

Page 99: ...nges will take effect in real time Table 6 31 Configuring the Kalman filter for sensorless control continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 99 6 Encoder In order to make the encoderless control commissioning process easier a function used to calculate the position difference between encoderless control and a real encoder can be activated To use this function the encoder chann...

Page 100: ...tiffness set P 1515 0 SCD_ConDesign Stiffness to 10 Table 6 32 Commissioning a sensorless controlled asynchronous motor ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 100 6 Encoder Additional setting parameters P No Index Name Unit Description 351 CON_SCALC_Tf Speed filter 0 CON_SCALC_Tf ms Filter time const speed control motor 1 CON_SCALC_Tf ms Filter time const velocity hydraulic cyl 2 CO...

Page 101: ...ith the error voltage model P 1973 1 U_err generally a setting of 50 of the original setting yields good results It is possible that a flux boost may improve the results at low speeds when a large load is set in motion from a standstill Set P 792 0 Signal 1 P 792 1 to 50 200 rpm P 792 2 to 200 500 rpm and P 792 7 to the d current required for starting If the motor tends to tip then attempt to limi...

Page 102: ...sition value delivered by the encoder system and the actual position value on the axis may vary for a number of reasons Such non linear inaccuracies can be compensated by axis error correction using position and direction dependent correction values For this a correction value table is filled with values for each of the two directions The respective correction value is produced from the current ax...

Page 103: ...ints used and the interpolation point pitch 592 0 ENC_ACOR_PosEnd Table 6 36 Axis correction parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 103 6 Encoder P No Index Name Setting Unit Description 593 0 ENC_ACOR_PosDelta Interpolation point pitch The positions at which the correction interpolation points are plotted are defined via parameters P 0593 ENC_ACOR_ PosDelta Interpolation...

Page 104: ... 8 Restart the device 9 P 592 ENC_ACOR_PosEnd now shows the position end value of the correction range 10 Start control in position control execute homing and then move to any position 11 The momentary correction value is written to P 594 ENC_ACOR_Val This value is subtracted from the approached position value This applies to all positions End position interpolation point pitch multiplied by numbe...

Page 105: ...ion interpolation points for the positive and negative directions The first and last correction values in the table must be zero in order to avoid instability step changes of the actual position value Differing correction values for the positive and negative directions at the same interpolation point will lead to instability in the associated actual position value when the direction is reversed an...

Page 106: ...ck_a 1957 1 Track_b Table 6 38 Oversampling parameters NOTE l When oversampling is enabled instead of the normal A D signals the oversampled signals for the encoder specified in parameter P 1956 3 sourceselect are used In the case of high track SinCos encoders in particular the low limit frequency of the oversampling filters may result in quadrant errors If the oversampling units are used it must ...

Page 107: ...lectronics determines the absolute reference when two adjacent reference marks are passed over after just a few degrees of rotation Number of pulses P 542 Number of ref erence marks Basic increment G Nom inal Increment A P 610 Basic increment G Nominal increment B P 611 18 x 1000 lines 18 basic marks 18 coded marks Σ 36 Reference measure A 1000 lines corresponding to 20 Reference measure B 1001 li...

Page 108: ...rotation ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 108 6 Encoder 6 14 Overflow in multi turn range With this function the multi turn range can be shifted in order to avoid a possible overflow The function is available for encoder channels 1 and 3 Example If a portion of the travel distance is to the left of the threshold MT Base it is appended to the end of the travel range to the righ...

Page 109: ...3_Np To make the zero pulse clearly visible the measurement variable remains high until the next zero pulse appears Conversely the measurement variable remains low until another zero pulse appears Bear in mind that the pulse width of the scope signal does not match the pulse width of the actual zero pulse Image 6 16 Zero pulse recording via measurement variable CH1 3_Np NOTE l When in zero pulse t...

Page 110: ...ion controller settings 142 7 6 Asynchronous motor field weakening 145 7 7 Field weakening and LookUpTable LUT synchronous motor 148 7 8 Synchronous motor auto commutation 158 7 9 V Hz mode 167 7 10 Process controller 168 7 11 Hydraulic control 175 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 110 7 Control 7 1 Overview of control structure Position control Speed control Digital filter Cur...

Page 111: ...d in sequence The sequence of controller setup must always be observed in controller optimization 1 Current controller setup 2 Speed controller setup ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 111 7 Control 3 Setting for position controller Pre control 7 1 1 Setting When using a standard KEBA motor data set the control parameters are preset for the specific motor model external mass ine...

Page 112: ... can cause an extreme jerk a very high speed or an overcurrent which may cause damage to the system CAUTION Your system motor may be damaged if put into operation in an uncontrolled or inappropriate manner Improper conduct can cause damage to your system machine l Before the Start step make absolutely sure that a valid setpoint has been entered as the configured setpoint will be immediately transm...

Page 113: ...ered as the configured setpoint will be immediately transmitted to the motor after the motor control function starts which may result in the motor accelerating unexpectedly 7 2 1 2 Adaptation to the rigidity of the drive train The settings for the speed and position control with feed forward control are determined automatically by setting the rigidity The rigidity is stated in percent in the wizar...

Page 114: ...ed setpoint P 404 0 CON_ SCON_AddSRamp can be used for this NOTE l While the mass inertia is being determined the motor executes movements There is a risk that the system and the motor may be destroyed CAUTION Your system motor may be damaged if put into operation in an uncontrolled or inappropriate manner Improper conduct can cause damage to your system machine l Before the Start step make absolu...

Page 115: ...the setpoint the more dynamically the controller is set The overshoot of the actual value should not be more than 5 10 of the setpoint general figure during the settling process l The first step stage 1 time 1 moves the rotor to a defined position l The second step stage 2 time 2 is used to optimize the torque control step response The magnitude of the 2nd step should not be too large so as to ens...

Page 116: ... settings This produces an initial estimate of the control quality To determine the transfer function the noise amplitude motor rated current and the sampling time default 0 125 ms must be specified Click the Start Test Signal button ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 116 7 Control Image 7 7 Noise amplitude sampling time screen Image 7 8 Current controller transfer function ...

Page 117: ...ire a high control dynamic performance The current actual value filter is configured with P 1960 0 CON_ACT_ISDQ_TF with the filter time constant being defined in milliseconds Filtered actual currents isd and isq can be visualized with scope signals 25 and 26 The unfiltered values can be visualized using scope signals isd_unfil 129 and isq_unfil 130 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device ...

Page 118: ...lation is complete the parameter P 385 0 automatically jumps back to P 385 0 CON_ TCoggTeachCon READY 0 The teaching and calculation are thus finished The position source used by the teaching has been stored internally Now the control system can should be stopped The compensation table still needs to be saved e g using the DM5 button Save setting non volatile inside device persistently The positio...

Page 119: ...he ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 119 7 Control table àrecurring infinite Table index inpos inc 2 32 inc tabsize with tabsize 250 or 4000 Input reference variable via delta absolute linear continuous position the 32 bit input position has variable mapping to the table via delta Delta in number of input increments per table section one index spacing distance à absolute Table ...

Page 120: ... P 441 0 CON_TAB_TabVal Saving takes place in conjunction with the saving of the parameter record in the device s mass memory limitation of the max number of storage cycles ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 120 7 Control 7 3 5 2 Settings for teaching calculating and com pensation 385 CON_TCoggTeachCon __ 3 CALC1 Calc rotary SmallTab Calc absolute BigTab F1 rotary small TeachTab...

Page 121: ... calculating and compensation continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 121 7 Control 385 CON_TCoggTeachCon __ 10 TeachPosEncRed Teach posact from redundant encoder Actual position from so called redundant encoder in ref value normalization Scope Signal 153 F2 Big teach table 4000 F2 Absolute mapping via 443 CON_TAB_PosDelta F2 With teaching direction F2 Without offset and del...

Page 122: ...dure for detent torque compensation ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 122 7 Control No Action 1 Open manual mode window 2 Speed control mode control setting set high rigidity for smooth running 3 Set the teaching direction if necessary P 445 0 CON_TAB_TeachDir Default POS 1 teaching routine in positive direction 4 Set the offset and delta if necessary using P 442 0 CON_TAB_PosS...

Page 123: ...ensation once again in exactly the same manner Table 7 5 Overall procedure for detent torque compensation 7 3 5 3 1 Scope recording speed before and after A significant improvement in the speed progression is noticeable in the yellow scope signal 13 nact rpm cur speed from filter Image 7 11 Before detent torque compensation without ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 123 7 Contro...

Page 124: ...into the compensation table P 380 CON_ TCoggAddTab small table with 250 elements 8 Stop control 9 Start the compensation P 382 0 CON_TCoggComp 1 EPSRS After this the q current feed forward control becomes active when the control is restarted 10 Save device data The position source used by the teaching is also saved here It will later be used for the compensation once again in exactly the same mann...

Page 125: ...10 Wait until at least 1 motor revolution is completed in the teaching routine internal filter time Check P 440 0 CON_TAB_TabIndex and P 446 0 CON_TAB_OutVal 11 With the control still operating the teaching is then stopped by calling the calculation function once P 385 0 CON_TCoggTeachCon 3 CALC1 This imports all values into the internal compensation table big table with 4000 elements ID No 0842 2...

Page 126: ...ical angle EPSRS big table Teaching routine and compensation à big CompTab 4000 Incremental rotary recurring position Without offset and delta with tuning with fader ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 126 7 Control 12 Teach epsrs commutation angle electrical No Action 1 Open manual mode window 2 Set the speed control mode set high stiffness for radial true running Set speed cont...

Page 127: ...ation of torque control Saturation characteristic see Section Adaptation of torque control on page 127 l Observer system see Section Current observer on page 129 l Overmodulation see Section Overmodulation on page 130 Image 7 15 Structure of expanded torque control 7 3 6 1 Adaptation of torque control 7 3 6 1 1 Saturation characteristic In the overload range saturation effects reduce the inductanc...

Page 128: ...Image 7 17 Diagram Scaling of q inductance L in P 472 0 3 Lsig_q Ix Scaling of q stator inductance in interpolation points 0 to 3 P 472 4 7 MOT_CurrentIx Scaling of rated current in interpolation points 4 to 7 Legend for Diagram Scaling of q inductance L in NOTE l Between the interpolation points the scaling factor is interpolated in linear mode The current scaling of the inductance is displayed i...

Page 129: ... observer suppresses these harmonic components so that they cannot ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 129 7 Control be passed on to the current controller The disadvantage of the current observer is a possible deviation between actual current and observed current This can lead to an overcurrent shutdown if the maximum current of the device or motor is controlled stepwise The cur...

Page 130: ...period of 60 of the output frequency This method has only two thirds of the switching losses of modulation with all three phases Disadvantages are higher harmonics of the motor currents and thus less smooth running at high motor speeds Representation of the eight vectors of the three phase voltage system 3 half bridges each with 2 states 23 The vectors correspond to the DC link voltage UZK and for...

Page 131: ...ns are calculated accordingly 1531 0 SCD_Action_Sel Start conditions to determine the torque controller settings FAULT 1 Selected function stopped with fault READY 0 Ready to start function last call successfully ended Table 7 10 Torque control with defined bandwidth parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 131 7 Control P no Index Name Setting Unit Function ENC_OFFSET 1 St...

Page 132: ...up d dt isqref isdref isd isq Pi Regler Kp Tn LsigDiff isq ω Lsig LsigDiff isq Lsig LsigDiff isq Error Voltage Model ω Lsig LsigDiff isq ω Ψ Pi Regler Kp Tn LsigDiff isq P 434 3 decoup P 434 4 StatFF P 434 5 DynFF d q abc Transformation PWM Motor Image 7 19 Extended pre control structure Image 7 19 Extended pre control structure shows the extended pre control structure This is activated with P 197...

Page 133: ...l 7 4 Speed controller Image 7 20 Speed controller screen Gain KP Integral action time I Scaling factor for gain With these filters it is possible to filter noise in the actual speed value and increase the attenuation of resonance frequencies Advanced speed control observer see Section Advanced speed control on page 135 Analysis of speed control see Section Analysis of Speed control on page 139 Ac...

Page 134: ...al mass inertia For this either the known moment of inertia from the motor data can be used directly or the automatic mass inertia definition function in the Motor Identification subject area can be used 2 If the system s moment of inertia is defined manually it must be reduced to the motor ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 134 7 Control Image 7 21 Relevant variables JM Moment ...

Page 135: ...chLambda Hz min 2 Adaptive Notch filter Coefficient 1552 2 SCD_NotchMinFreq Hz Adaptive notch filter Minimum frequency 1552 3 SCD_NotchMaxFreq Hz Adaptive notch filter Maximum frequency 1552 4 SCD_NotchDeltaFreq Hz Adaptive Notch filter Maximum frequency change in each iteration Analysis of speed control Advanced analysis of the speed controller 401 0 CON_SCON_AddTRef Nm N Additive torque referenc...

Page 136: ...undesirable oscillation of the speed controller may occur at low speeds or at zero speed An appropriate setting of P 336 CON_SCON_KpScaleSpeedZero reduces this tendency to oscillate Image 7 23 Reduction of gain at low speeds ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 136 7 Control 7 4 1 3 Quick stop without sensor In the event of a wire break on the encoder system the drive is shut down...

Page 137: ...bsPara 352 4 CON_SCALC_ObsPara 352 5 CON_SCALC_ObsPara 352 6 CON_SCALC_ObsPara 352 7 CON_SCALC_ObsPara 352 8 CON_SCALC_ObsPara Table 7 13 Speed controller Advanced speed control parameter ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 137 7 Control ID Index Name Unit Description 352 9 CON_SCALC_ObsPara 352 10 CON_SCALC_ObsPara 352 11 CON_SCALC_ObsPara 352 12 CON_SCALC_ObsPara 352 13 CON_SCA...

Page 138: ...elp 138 7 Control Bode diagrams PT1 to PT4 Bode plots for band stop filters notch filters Table 7 14 Filter Bode plots No Action 1 Scope setting isq unfiltered torque forming current Set shortest sampling time Create scope plot without notch filtering 2 On the oscilloscope click the Mathematical functions FFT Fourier analysis icon From the following pop up menu choose isq Disturbance frequency is ...

Page 139: ...f digital filter 327 0 FilterPara b0 b0 x k 327 1 FilterPara b1 b1 x k 1 327 2 FilterPara b2 b2 x k 2 327 3 FilterPara b3 b3 x k 3 327 4 FilterPara b4 b4 x k 4 327 5 FilterPara a1 a1 y k 1 327 6 FilterPara a2 a2 y k 2 327 7 FilterPara a3 a3 y k 3 327 8 FilterPara a4 a4 y k 4 1550 0 SCD_NotchType Adaptive Notch filter Method 1551 0 SCD_NotchCntl Adaptive Notch filter Control word 1552 SCD_NotchFreq...

Page 140: ...vershoot of the actual value should not be more than 5 10 of the setpoint general figure during the settling process Table 7 18 Instructions for optimization of the speed controller ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 140 7 Control Image 7 27 Step response to rated speed Creating the transfer function The oscilloscope automatically records the amount and phase response of the con...

Page 141: ...nd for Speed controller transfer function ID Index Name Unit Description 401 0 CON_SCON_AddTRef Nm N Additive torque reference 402 0 CON_SCON_AddSRef 1 min Additive speed reference value without ramp Table 7 19 Speed controller Analysis of Speed control parameter NOTE l The speed control loop should be evaluated in the linear range Check to be sure that the torque in the recording does not reach t...

Page 142: ... mDegree Setpoint position in user units 279 0 MPRO_FG_UsrPosDiff mDegree Position tracking error in user units 305 0 CON_PConTS ms Position control sampling time 360 0 CON_PCON_Kp 1 min Position control gain Table 7 20 Position controller parameters 7 5 1 Pre control l The pre control of the acceleration torque relieves the strain on the speed controller and optimizes the control response of the ...

Page 143: ...d rpm Friction torque compensation Speed limit 2 387 3 CON_SCON_TFricSpeed rpm Friction torque compensation Speed limit 3 387 4 CON_SCON_TFricSpeed rpm 388 0 CON_SCON_TConst Friction torque compensation Constant independent of direction 1516 0 SCD_Jsum kg m m Total inertia of motor and plant Table 7 21 Position controller Pre control parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help...

Page 144: ...n Speed limits 387 3 CON_SCON_TFricSpeed rpm Friction torque compensation Speed limits 387 4 CON_SCON_TFricSpeed rpm Friction torque compensation Speed limits 388 0 CON_SCON_TConst Friction torque compensation Constant independent of direction Table 7 22 Position controller Feed forward control parameters friction torque compensation extract ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 14...

Page 145: ...For field weakening when using an asynchronous motor a characteristic curve is always internally calculated independently of P 435 0 CON_FM_FWMode and a voltage controller is superimposed Configuring the characteristic curve with P 341 0 ImagSLim l Variant 1 P 341 0 0 signifies selection of the 1 n characteristic default l Variant 2 P 341 0 0 signifies selection of the modified 1 n characteristic ...

Page 146: ...46 09 CON_FM_VConTn In addition the measured DC link voltage can be smoothed with a P 344 0 CON_FM_VConTF PT1 filter After a motor identification the voltage controller is always active as the rule parameters are preset With P 345 0 CON_FNVConKp 0 the voltage controller is deactivated The voltage setpoint that needs to be achieved is specified using P 347 0 CON_FM_VRef ID No 0842 26B 5 01 Date 09 ...

Page 147: ...eakening reluctance torque utilization 421 0 CON_FM_FWTabIdx Speed index 421 1 CON_FM_FWTabIdx Torque index 422 0 CON_FM_FWTabId A d current table entry 423 0 CON_FM_FWTabIq A q current table entry Table 7 25 Field weakening Interior permanent magnet synchronous motor IPMSM parameters 7 6 4 Field weakening of asynchronous motor voltage controller The voltage controller is superimposed onto the sel...

Page 148: ...different inductances on the d and q axis a reluctance torque can contribute to obtaining better utilization of the overall torque The d and q current have feed forward control in dependence on the target torque and the actual speed by means of tables LUT As this approach also subjects the d component of the current to feed forward control in exactly the same manner as the field weakening designed...

Page 149: ...age exceeds the overvoltage threshold of the device for 400 V devices approximately 800 V for 230 V devices approximately 400 V this will result in destruction of the Servo controller if no additional external safety measures are applied ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 149 7 Control First of all there are two variants for field weakening with synchronous motors variants 1 and...

Page 150: ...internally Features l Very fast adaptations with high dynamism are possible open loop control method l Motor parameters must be known quite precisely l If continuous oscillation occurs voltage limit the preset negative d current value is then not sufficient Scaling parameter P 436 0 CON_FW_SpeedScale 100 is used to evaluate the map at higher speeds The voltage controller overlaid over the map sett...

Page 151: ... 5 01 Date 09 2020 ServoOne Device Help 151 7 Control Activate table P 435 0 CON_FM_FWMode TABLE_MOT_GEN 4 Parameter P 343 CON_FM_ImagTab can be used to configure 16 elements Index 0 7 Motor or classic table Index 8 15 Regenerative the speeds are the same in both cases The selection concerning as of what power the operation mode is motor oriented or regenerative is defined by P 459 MOT_PNom P 348 ...

Page 152: ...ical for non salient pole PMSM is no longer adequate to make use of the machine s full potential Consequently special control structures are implemented in the ServoOne to ensure optimal control for motors of this nature The control works in almost the same way as for the standard control circuit of a PMSM except that the direct axis ref current is no longer zero but instead both currents are depe...

Page 153: ...the d and q axis The values for the two inductances must be taken from the motor data sheet or can be determined by means of the motor identification see also section Motor identification on page 45 Large table ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 153 7 Control The large table has a variable size for the performance map which can be set for a minimum of 3x3 to a maximum of 128x128...

Page 154: ...p values with a negative torque are not supported The range of negative torques is mapped on the range of the positive torques by means of sign manipulation 7 7 5 1 Internal calculation of the small table Select Internal calculation of the small table Activate small LUT P 435 0 CON_FM_FWMode REL 3 ID Index Name Setting Description Unit P 435 0 CON_FM_FWMode 3 Internal calculation of the small tabl...

Page 155: ...9 2020 ServoOne Device Help 155 7 Control ID Index Name Setting Description Unit P 421 CON_FM_FWTabIdx P 421 0 Speed index select Selects index for speed P 421 1 Torque index select Selects index for torque P 421 2 Table select 0 Selects small table 1 Selects large table P421 3 Command 0 None 1 ClearTable 2 WriteToRom P 422 CON_FM_FWTabId d current table entry A P423 CON_FM_FWTabIq q current table...

Page 156: ...One Device Help 156 7 Control 7 7 5 4 Deleting a table RAM The table to be deleted must first be selected and can subsequently be deleted in your RAM cells 1 Select the table Parameter P 421 2 CON_FM_FW_TabIdx 2 Table select 0 1 2 Delete the table Parameter P 421 3 CON_FM_FW_TabIdx 3 Command ClearTable 1 7 7 5 5 Loading the large table via the controller s file system This procedure is only concei...

Page 157: ...itialization e g when the servo controller is started up If the checksum comparison returns a negative response error 30 7 appears see also section Error list on page 342 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 157 7 Control For information on the checksum calculation see also section CRC algorithm and C functionality on page 157 ID Index Name Setting Description Unit P 1965 CON_FM_L...

Page 158: ... If the response with voltage controller is unproblematic and no particular demands are made in terms of dynamism the available torque can be optimized by setting P 347 0 CON_FM_VRef to values up to 98 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 158 7 Control 7 8 Synchronous motor auto commutation For field oriented regulation of permanently excited synchronous motors with a purely incre...

Page 159: ...elected event 366 0 CON_ICOM_RefSpeed rpm commutation detection scaling of control gain 390 0 CON_ICOM Auto commutation Control word for selection Off 0 Function disabled IENCC 1 Current injection LHMES 2 Saturation of inductance evaluated IECSC 3 Not yet implemented IECON 4 Current injection minimized movement HALLS 5 Not yet implemented HALLSDIGITAL 6 Digital Hall sensor Table 7 36 Auto commutat...

Page 160: ... use the rated current Irated The time should be set so that the rotor is at rest during the measurement For control purposes the commutation process can be recorded with the Scope function NOTE l Inexperienced users should always choose the rated motor current amplitude as the current and a time of at least 2000 ms l If the axis is blocked meaning the rotor is unable to align itself the method wi...

Page 161: ... value is 0 the amplitude is derived from the motor rated current If an amplitude greater than the switching frequency dependent power stage current is specified the amplitude is limited to half the power stage current l The test signal s DC component current I1 is defined with P 393 1 CON_ ICOM_Current If this value is 0 the equal portion is determined from the motor rated current NOTE l A simple...

Page 162: ... 3 1 Table 7 37 LHMES configuration example NOTE l It is advisable to connect speed tracking error monitoring with the Power stage off error reaction see Section Error reactions on page 339 This monitoring feature prevents the motor from racing ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 162 7 Control 7 8 3 IECON 4 method Image 7 40 Auto commutation IECON 4 screen ...

Page 163: ...sdref is injected as a test signal 7 8 4 Test signal generator It is possible to form various signal types and transfer them to the control This function is independent of the control mode and has a direct effect on the control Signal types can also be combined The delta signal form is additionally available though at present it is only accessible via the parameter editor The parameters are record...

Page 164: ... generator deactivated Stop 1 Stop test signal Start 2 Start test signal STOP Cycle 3 TG stops at end of current square cycle Stop Zero 4 TG stops next time reference value passes through zero 1501 SCD_TSIG_ OutSel Test signal generator output selector OFF 0 Not used isdref 1 Flux forming current mref 2 Torque sref 3 Speed epsref 4 Position sramp 5 Speed ramp ISQREF 6 q current reference ISDQREF 7...

Page 165: ... t2 Table 7 38 Parameters of test signal generator for square and sine signal con tinue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 165 7 Control ID Parameter Setting Function Info 1505 SCD_TSIG_ Amp Amplitude of sine signal a 1506 SCD_TSIG_ Freq Frequency of the sine signal f Lower frequency of the sweep signal 1507 SCD_TSIG_ SetPhase Signal phase Starting phase of current space phasor ...

Page 166: ...SymVal Symmetry value for delta signal 1513 SCD_TSIG_ Freq2 Upper frequency of the sweep signal f Table 7 38 Parameters of test signal generator for square and sine signal con tinue 7 8 4 2 PRBS signal The PRBS signal is suitable for system excitation with high bandwidth using a test signal A feedback shift register is used to generate a binary output sequence with an amplitude that can be set in ...

Page 167: ...t in V Hz mode This test will show users whether a motor is connected correctly and whether the right direction of movement will be followed If l The direction of movement is the wrong one l The motor is at a standstill l Uncontrollable motion occurs then the connection and the motor data need to be checked For testing purposes a V Hz control system is implemented in such a way that the closed loo...

Page 168: ...ocess variable to be controlled via a PI controller to a reference setpoint value 7 10 1 Features l Process controller calculation in speed controller cycle l Process controller as PI controller with Kp adaptation l Process controller actual value selectable via selector l Filtering and offset correct of reference and actual values l Process controller output can be connected to different points i...

Page 169: ...n Digital inputs on page 303 START_PRC 48 Start process controller setting Bit Name Description 0 On Enabling the process controller 1 Reset Resets the integral term with a ramp P 2680 1 Table 7 41 Control word P 2681 0 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 169 7 Control The status word P 2682 0 CON_PRC_StatWord indicates the process controller s current state Bit Name Description ...

Page 170: ...rdware required Table 7 43 Selector for reference value source P 2683 0 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 170 7 Control Setting Name Description 6 P_REF Reference pressure Any analogue input function selector for analogue inputs set to a value of 14 7 P2981 Mappable parameter P 2981 8 P2982 Mappable parameter P 2982 9 P2983 Mappable parameter P 2983 10 P2984 Mappable parameter ...

Page 171: ...put IEA05 from Multi I O module TOPT_MIO_AIN_Val_Scaled 1 11 SPEED Actual speed normalized Speed in user units 12 POS Actual position normalized Position in user units 13 P2981 Mappable parameter P 2981 14 P2982 Mappable parameter P 2982 15 P2983 Mappable parameter P 2983 16 P2984 Mappable parameter P 2984 See Section Mapping parameters and scope values on page 172 Table 7 44 Selector for actual v...

Page 172: ...ature P 704 to P 2981 Bit 0 0 Bit 1 7 0000 000 Bits 8 15 Sub ID 0 0000 0000 Bits 16 31 P704 0000 0010 1100 0000 Result 0000 0010 1100 0000 0000 0000 0000 0000 2980 1 MAP_REAL_1 Mapping of REAL_1 parameter 2980 2 MAP_REAL_2 Mapping of REAL_2 parameter 2980 3 MAP_REAL_3 Mapping of REAL_3 parameter 2980 4 MAP_REAL_4 Mapping of REAL_4 parameter Table 7 45 Parameter MPRO_DATA_Map ID No 0842 26B 5 01 Da...

Page 173: ...or the limiting used for standard process controller operation and subindex 1 is for reducing the process controller s integral term For more details on how to set the rate limiting see Section Rate Limiter on page 174 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 173 7 Control 7 10 2 5 Manipulated variable The process controller s manipulated variable downstream of the rate limiter P 2676...

Page 174: ..._PosNorm in Inc rev Internal position resolution 1048576 inc rev default ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 174 7 Control To reduce the I component the same method is applicable P 2680 1 CON_PRC_ Rate Limiter Inc ms P 2680 0 CON_PRC_Rate Limiter n change 1048576 1 60000 P 2680 0 Inc ms 100 rpm P 270 0 Inc rev 1 60 min s 1 1000 s ms 7 10 4 Parameters ID Index Name Unit Descriptio...

Page 175: ...erence value 2673 0 CON_PRC_Raw_ActVal Istwert des Eingangssignals Actual value of input signal 2674 0 CON_PRC_ACTVAL Eingangssignal nach Skalierung und Filterung Input signal after scaling and filtering 2676 0 CCON_PRC_Outval Technological controller output value Process control output value Table 7 49 Parameters relevant for visualizing the process control circuit in the scope ID No 0842 26B 5 0...

Page 176: ... Description 165 0 MPRO_REF_SEL Motion profile Selection 12 HYDRAULIC HYD Hydraulic profile software specific 300 0 CON_CgfCon Select control mode 1 TCON Torque control Hydraulic control 520 0 ENC_MCon Channel selection for motor commutation 521 0 ENC_SCon Channel selection for speed control 522 0 ENC_PCon Channel selection for position control Table 7 50 Parameters for basic setting ID No 0842 26...

Page 177: ...5 n_N 1500 rev min v_G 10 cm rev Q_N 14 2 l min ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 177 7 Control If you specify eta_ Vol N the drive controller will internally calculate k_L automatically as follows l k_L V_g n_N 1 eta_ Vol N p_N Image 7 52 Pump characteristic curves For the torque at the pump motor torque l M V_g 2π p M_friction make sure to use SI units The friction torque is ...

Page 178: ... also be adjusted online via a pump scaling using P 2879 2 Pump1_DisplScalePDO and P 2879 3 Pump2_DisplScalePDO This allows the displacement volume to be changed variably during the process 7 11 2 1 Speed limits The pump s minimum and maximum speeds can be set in P 2851 4 5 HYD_ Pump The control system will not exceed or fall below the values set there ID No 0842 26B 5 01 Date 09 2020 ServoOne Dev...

Page 179: ...for this purpose l i_G 1 τ_crit p p_N n n_crit dt This takes into account the power loss that has an approximately quadratic relationship to the pressure as well as the heat removal that is proportional to the speed If the nominal pressure were requested in a stopped state n 0 for example i_G would increase to a value of 1 0 before t_crit would elapse At half the critical speed twice that time wou...

Page 180: ...rom mechanical destruction P 2840 14 PumpSpdProt 1 It is nonetheless still possible to quickly relieve a high pressure through a negative pump speed Using P 2851 14 15 HYD_Pump it is possible to configure a minimum and maximum pressure for negative speeds The minimum and maximum ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 180 7 Control speed P 2851 5 nMin and P 2851 6 nMax from the pump ...

Page 181: ...lve switching etc 2851 13 tSwValve ms Valve switching time 2851 14 pMin bar Minimum pressure depending on pump protection function 2851 15 pMax bar Maximum pressure depending on pump protection function Table 7 51 Hydraulic Pump parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 181 7 Control 7 11 3 Signal setting 7 11 3 1 Selection of signal sources The signal sources of the actual ...

Page 182: ...Cfg Configure Hydraulic System Control 2840 0 Reserved Reserved 2840 1 pRefSrc Hydraulics Selection of pressure reference source 0 ANA Setpoint of analogue input 1 PROFILE Setpoint from profile 2840 2 QRefSrc Flow rate selection of reference source 0 ANA Setpoint of analogue input 1 PROFILE Setpoint from profile 2840 3 pActCalc Hydraulic Pressure actual value calculation method 0 PACT pAct will be...

Page 183: ...ctor 0 ANA Setpoint from profile 1 PROFILE Reference value from profile 2840 11 CylValveSwSel Function selector for the valve switchover of the cylinder 0 Para Manual valve control 1 Spd Automatic valve switchover via speed setpoint 2 Tab Valve switchover via motion block table 3 Pos Automatic valve switching via Pos Diff 2840 12 AltPosCon Alternative position controller 2840 13 AltSpdCon Alternat...

Page 184: ...One Device Help 184 7 Control A scaling path is available for the actual volumetric flow rate QAct A selection between an analogue input or the hydraulic motion profile as the signal source can be made for the reference volumetric flow rate Qref The result after the scaling will be shown in P 2847 HYD_Val These values are transferred to the controller 7 11 3 2 3 Signal scaling pump speed Image 7 5...

Page 185: ...t 2846 10 pRef_Min bar Min 2846 11 pRef_Max bar Max 2846 12 QRef_Scale l min Scaling 2846 13 QRef_Offset l min Offset 2846 14 QRef_Min l min Min 2846 15 QRef_Max l min Max 2846 16 QAct_Scale l min Scaling 2846 17 QAct_Offset l min Offset 2846 18 QAct_Min l min Min 2846 19 QAct_Max l min Max 2846 20 nRef_Scale 1 min Scaling Table 7 53 Signal scaling parameters ID No 0842 26B 5 01 Date 09 2020 Servo...

Page 186: ...ntroller parameters P 2850 0 Kp and P 2850 2 Tn as the standard pressure control However the control structure differs from the standard pressure controller The pressure limiting controller tends to oscillate when the control is set very dynamically Consequently we recommend choosing a setting with low gain factors and then increasing it according to the requirements In addition the setting of the...

Page 187: ...s which limitations can be configured for which control mode l Section 7 11 6 Hydraulic Motion profile describes for which control modes the scaling factor can be used Control mode Pressure limit Volumetric flow rate limit NPumpCon 4 PressCon 0 x x VolCon 5 x VolConPlim 1 x x SpdCon 2 x SpdCon SpdCon_plimit x SpdCon_PI PosCon 3 PosCon_QFF x PosCon PosCon_plimit x x PosCon_TrackingError x Table 7 5...

Page 188: ...QRef can be used to specify the limit via the volumetric flow rate value which for example can be set variably using an analogue input ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 188 7 Control For the purpose of volumetric flow rate limitation during the process or in individual motion blocks a scaling factor P 2872 HYD_Tab_Limit can be used in some control modes see Table to influence t...

Page 189: ...ce source selector 2840 11 CylValveSwSel Function selector for the valve switchover of the cylinder 2840 12 AltPosCon Alternative position controller 2840 13 AltSpdCon Alternative cylinder speed controllers 2840 14 PumpSpdProt Pump speed protection 2840 15 PumpP2tProt p2t protection for pump 2840 16 AltPressCon Alternative pressure controller 2840 17 AltPressConLimit Alternative pressure limit con...

Page 190: ...lculated using a linear encoder and the cylinder geometry P 2840 8 QActCalc To do so various different cylinder dimensions must be passed to the drive controller The different surface areas of the piston and ring side must be kept in mind because either more or less medium is required for the same path depending on the power direction ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 190 7 Con...

Page 191: ...68 µm rev for a 16 bit linear encoder with a resolution of 0 5 µm per increment If the current position of the cylinder is transferred via the bus interface P 2298 ComAngle32 the single and multiturn range is set to 16 bits each This corresponds to 65536 µm rev ID Index Name Unit Description 2852 HYD_SpdCon Speed control parameters 2852 0 cylArea1 cm 2 Cylinder area 2852 1 Ife_K_scale Leakage Flow...

Page 192: ...f the switchover it is run down to 0 rpm using the ramp specified in P 2851 12 stopRamp Selection of operation mode l 0 PARA Setpoint setting from table table index P 2860 set using parameter access BUS iPLC etc ramp changes are applied when the index changes l 1 TERM Setting from table table index P 2860 will be updated via digital inputs ramp changes will be applied when the index changes l 2 CT...

Page 193: ...f the cylinder Table 7 59 Hydraulic Operation mode parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 193 7 Control For communication with a higher level controller in the CTRL1 and CTRL2 operating modes some scaling factors of process variables and control parameters are summarized in P 2879 HYD_AddProcData These parameters are PDO capable and are created in the int16 format in orde...

Page 194: ...ID Index Name Unit Description 2841 0 HYD_Ctrl Hydraulic system control Table 7 62 Hydraulic Control word parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 194 7 Control 7 11 6 1 2 Hydraulic status word Bit Meaning 0 Hydraulic control mode 1 2 3 4 SetPointAcknowledge Set if there is a rising edge at NewSetPoint and the setpoint is adopted cleared if newSetPoint 0 5 SwitchLeakBypass ...

Page 195: ...sition of the motion block via the motion block table the operating mode Tab 2 must be selected in the motion profile P 2862 0 HYD_OpMode This allows switching between the motion blocks to be control by either timing or an event This function is enabled in the Tab 2 operation mode As an option it is also possible to use operation mode CTRL2 to switch the motion blocks via a higher order control sy...

Page 196: ... 2nd setpoint derivative parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 196 7 Control Hydraulic control parameters table For the control of the valve position switching of the position controller settings and of the pump data set as well as for enabling the active decompression the respective bits can be enabled in this parameter for every motion block The active decompression pr...

Page 197: ...f the waiting time there is a branch to the motion block specified in the subsequent motion block Time Ctrl 2865 HYD_TabNextIdx The respective motion block is only active for the duration of the waiting time regardless of whether or not the target has been reached ID Index Name Unit Description 2864 HYD_TabWaitTime 2864 0 15 HYD_TabWaitTime Hydraulic table delay time Table 7 75 Parameter Hydraulic...

Page 198: ...peration of the pressure control one of the specified limit values P 2850 7 Qmin or P 2850 8 Qmax is reached due to the pump speed the actuating variable motor speed is limited accordingly Moreover the configured speed limits P 2851 5 nMin P2851 6 nMax for the pump always take priority In addition it is possible to set the minimum and maximum system pressure via a pressure limitation To take into ...

Page 199: ...an be written cyclically via the PDO channel It should be noted here that both factors act one after the other and influence each other ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 199 7 Control Image 7 67 Mask of pressure control with pump speed output Image 7 68 Mask of pressure control with volumetric flow rate output ...

Page 200: ...2850 5 pMin bar Minimum permissible pressure 2850 6 pMax bar Maximum permissible pressure 2850 7 QMin l min Minimum flow rate 2850 8 QMax l min Maximum flow rate 2850 9 PressWindow bar Pressure control parameters 2850 10 decmpLvl bar Level for active decompression 2850 11 decmpRate bar s Rate for active decompression 2850 12 pActScale Scaling for pAct 2850 13 pAct2Scale Scaling for pAct2 2850 14 p...

Page 201: ... To do so the pressure regulator must also be parametrized and set In addition to the pressure limitation the minimum and maximum volumetric flow rate can be set via a volumetric flow rate limitation see Section Hydraulic Limitations on page 186 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 201 7 Control Image 7 69 Volumetric flow rate control screen Designation Description Parameters Inde...

Page 202: ... without pressure limitation can be selected in P 2860 HYD_TabConMode This provides the same functions but is not linked to the pressure control Moreover the pressure regulator does not need to be parametrized for this control mode ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 202 7 Control 7 11 8 3 Leakage compensation If there is a volumetric flow rate sensor available this can also be d...

Page 203: ...caling for pAct2 2850 14 pRange_k Pressure range threshold 2850 15 pRange_midpoint bar Pressure range midpoint Table 7 82 Hydraulic Volumetric flow rate parameters continue 7 11 9 Speed control The speed of a hydraulic cylinder can be influenced directly with the controlled volumetric flow rate that is flowing in The cylinder speed can be determined by means of a linear position sensor which is co...

Page 204: ...ial mode with a downstream pressure regulator has been implemented In this case the pressure limitation as well as the scaling of the pressure limitation are in effect for the individual motion blocks P 2840 13 AltSpdCon 1 The prerequisite for cylinder speed control with active pressure limitation is that the pressure control be properly adjusted Image 7 72 Control structure cylinder speed control...

Page 205: ...ion time 2850 5 pMin bar Minimum permissible pressure 2850 6 pMax bar Maximum permissible pressure 2850 7 QMin l min Minimum flow rate 2850 8 QMax l min Maximum flow rate 2850 9 PressWindow bar Pressure control parameters 2850 10 decmpLvl bar Level for active decompression 2850 11 decmpRate bar s Rate for active decompression 2850 12 pActScale Scaling for pAct 2850 13 pAct2Scale Scaling for pAct2 ...

Page 206: ...l be generated by the position controller due to the unchanged control deviation The actuating valves can be controlled in different modes see Section Hydraulic Motion profile on page 192 Moreover the volumetric flow rate control must be parametrized and the cylinder geometries must be configured NOTE l To simplify the control circuit the I component P 2848 1 Tn of the controller must be set to 10...

Page 207: ...adapted The control can be designed to suit the different cylinder surface sizes using parameters P 2870 3 KpScale and P 2870 5 KpScaleNeg ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 207 7 Control Image 7 76 Hydraulic position control screen PosCon 1 Position control with tracking error switchover For special applications the control parameters can be changed as a function of a tracking ...

Page 208: ...vide feedback concerning the completion of the positioning operation It is important to bear in mind that the position window is turned in dependence on the direction of the positioning operation see Image 7 79 Position window and position hysteresis If no readjustment of the position is desired it is also possible to define a hysteresis in addition to the position window P 2870 6 ID No 0842 26B 5...

Page 209: ...o the position controller ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 209 7 Control Image 7 80 Digital Filter Hydraulics Screen Via P 2876 HYD_AdvFilSel the filter can be activated and the input and output sizes can be selected The actual pressure value P 2843 1 pressAct in bar or the cylinder speed P 2843 23 ActSpd in rpm Cyl_nAct 2 or in mm s Cyl_ActSpd 3 are available as input variabl...

Page 210: ...n control nFF 1 Additive speed setpoint in rpm VolFF 2 Additive volumentric flow rate setpoint in rpm Table 7 86 Parameter P 2876 HYD_AdvFilSel ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 210 7 Control ID Index Name Unit Description 2877 HYD_AdvFilCoeff Advanced Filter Coefficients electronic damping 2877 0 BiQuad filter 1 a1 Hydraulic advanced filter coefficient filter 1 a1 2877 1 BiQua...

Page 211: ...ol mode uint16 x 159 0 MPRO_CTRL_SEL DS402 5 Motion profile selection uint16 x 165 0 MPRO_REF_SEL HYDRAULIC 12 Motion profile selection uint16 x Table 7 88 Settings for control mode and motion profile ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 211 7 Control Now the pump specifications as found on the rating plate or data sheet need to be entered into P 2851 HYD_Pump This is also where t...

Page 212: ...Minimum pressure depending on pump protection function float32 2851 15 pMax bar Maximum pressure depending on pump protection function float32 Table 7 89 Pump data settings continue In this example the actual pressure values will be evaluated using analogue inputs ISA00 and ISA01 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 212 7 Control Image 7 84 Standard analogue inputs screen ID Index...

Page 213: ...mum flow rate source selector uint16 7 QMaxSrc PressCon 0 Maximum flow rate source selector uint16 Table 7 91 Selectors settings ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 213 7 Control ID Index Name Value Unit Description Type PDO 8 QActCalc NONE 0 Flow rate calculation method uint16 9 QLeakEst MEAS 0 Flow rate leakage estimation method 10 nRefSrc PROFILE 1 Pump speed reference source ...

Page 214: ...nd limit the input variables for the hydraulic system from P 2845 HYD_Input_Val again by using P 2846 HYD_Input_ Adapt The results can be seen in P 2847 HYD_Val ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 214 7 Control Image 7 87 Signal settings screen ID Index Name Value Unit Description Type PDO 2846 HYD_Input_Adapt Adaption of input values 0 pAct_Scale 1000 bar Scaling float32 1 pAct_...

Page 215: ...tion block table In this example table index 0 is used for pressure control and table index 1 for pump speed control The index is changed with the control word To do this the table operating mode must be set to CTRL2 Tab 2 valve control via motion block table was selected for the valve control This means that the valve position must be specified in advance for the respective table motion block ID ...

Page 216: ...float32 x 2858 0 HYD_dRef 15 HYD_ UNIT s Hydraulic 1st setpoint derivative float32 x 2859 0 HYD_d2Ref 0 HYD_ UNIT s s Hydraulic 2nd setpoint derivative float32 x 2860 0 HYD_ConMode PRESS Hydraulic Control Mode uint8 x Table 7 96 Table index 0 settings ID Index Name Value Unit Description Type PDO 2854 1 HYD_PumpRef 0 rpm Hydraulic pump speed reference float32 x 2855 1 HYD_PumpAcc 0 rpm s Hydraulic...

Page 217: ...t to be entered in P 2851 HYD_Pump This is also where the minimum and maximum speed limits for the pump the pump displacement volume and the gear ratio between the motor and the pump are set ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 217 7 Control Image 7 91 Pump settings screen ID Index Name Value Unit Description 2851 HYD_Pump Pump parameters 2851 0 displ 5 4 ccm rev Offset 2851 1 cTo...

Page 218: ...inear encoder is used which must be set to CH1 1 X7 e g SinCos channel 1 via the function selector in the encoder screen NOTE l The encoder for commutation and torque control as well as speed control are used for the motor l The encoder for position control is used for cylinder position and cylinder speed control ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 218 7 Control Image 7 92 Encode...

Page 219: ...6B 5 01 Date 09 2020 ServoOne Device Help 219 7 Control ID Index Name Value Unit Description 598 0 ENC_CH1_Position 4909 inc Channel 1 Position 616 0 ENC_CH1_CycleCount 8 Channel 1 Position encoder sampling cycle n x 125 µs 617 0 ENC_CH1_ AbsInitMode DIG Channel 1 Mode of absolute value initialization Table 7 100 SSI encoder settings continue The scaling of the units is performed in the motion pro...

Page 220: ...SFF Speed feedforward scaling 2848 3 PosDiffMax um Position tracking error monitoring Table 7 101 Hydraulic position control parameters The reference values are generated using the hydraulic motion profile This configuration is set up using the motion block table In this example table index 0 is used for position control and table index 1 for speed control The index is switched by means of the mot...

Page 221: ...ble ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 221 7 Control Image 7 98 Hydraulic motion block table screen Selecting the hydraulic control mode PressCon 0 Pressure control VolConPlim 1 Volume flow rate control pressure limited SpeedCon 2 Speed control PosCon 3 Position control NPumpCon 4 Pump speed control VolCon 5 Volume flow rate control without pressure control ID Index Name Unit De...

Page 222: ... ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 222 7 Control Hydraulic Wait time in Auto mode ID Index Name Unit Description 2864 HYD_TabWaitTime 2864 0 15 HYD_TabWaitTime Hydraulic table delay time Table 7 108 Parameter Hydraulic table delay time Hydraulic Subsequent motion block ID Index Name Unit Description 2865 HYD_TabNextIdx 2865 0 15 HYD_TabNextIdx Hydraulic table next default index...

Page 223: ...ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 223 7 Control ...

Page 224: ...ng Units 226 8 3 Basic settings 244 8 4 Stop ramps 251 8 5 Homing 252 8 6 Jog mode 267 8 7 Reference table 268 8 8 Analogue channel ISA00 und ISA01 273 8 9 State machine 276 8 10 Touch probe 278 8 11 Synchronized motion 279 8 12 Virtual Master 289 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 224 8 Motion profile Chapter overview 8 13 Common master 290 8 14 Cam group CAM switch 291 8 15 Da...

Page 225: ...r defined Setting of control and reference value channel l Control Reference l Profile l Interpolation l Limitation l Reference filter l Smoothing Stop ramps Reaction l to Shutdown l to Disable l to Halt l to Quick stop l For error Note For control via an external PLC BIT 4 must be set by P 155 MPRO_DRVCOM_CFG if the drive is to adopt the error reaction such as quick stop If this bit is not set th...

Page 226: ...s soon as you select Standardization units the Standardization Wizard used to select a standardization profile will appear Image 8 2 Standardization profile selection screen The wizard helps ensure that the application s physical data will match the Servo controller s data If you are using the Standard CiA 402 or Sercos profile the wizard will fully support the scaling definition process If you us...

Page 227: ...peration modes CSV CSP CST via fieldbus scaling must be performed using the CiA402 scaling assistant ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 227 8 Motion profile Image 8 4 Standardization profile Standard CiA 402 Direction of rotation screen Referred to the motor the positive direction is clockwise as seen when looking at the motor shaft A side bearing plate ...

Page 228: ...he output side revolution Gear ratio if available Ratio of one motor revolution before the gearing to the number of revolutions on the gear output side The values for the gear ratio are entered in the screen as integer fractions Position controller single turn resolution The single turn resolution of the position controller can be adapted variably to the application A total of 32 bits are availabl...

Page 229: ...ncRes 608FH DS402 position encoder resolution 2252 0 MPRO_402_ PosEncRes incr Encoder increments 2252 1 MPRO_402_ PosEncRes rev Motor revolution 2253 MPRO_402_VelEncRes 6090H DS402 velocity encoder resolution 2253 0 MPRO_402_VelEncRes incr s Encoder increments s 2253 1 MPRO_402_VelEncRes rev s Motor revolution s 2254 MPRO_402_GearRatio 6091H DS402 gear ratio 2254 0 MPRO_402_GearRatio rev 2254 1 MP...

Page 230: ...otation Example of a revolution with a circumferential length of 360 setting Direction of rotation left right The circumferential length is set to 360 In positive direction after reaching 360 the actual position is set to 0 The same applies to the negative direction On reaching 0 the actual position is set to 360 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 230 8 Motion profile Image 8 8 ...

Page 231: ... 360 The drive moves to the target position within 360 Target position circumference 120 120 The drive remains in position Target position circumference 600 360 240 The drive moves to the position within the circumference target position n x circumferential length Table 8 3 Path optimized movement ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 231 8 Motion profile Not path optimized Optimiz...

Page 232: ...0 800 720 8 2 2 Sercos When using the Sercos profile scaling of the units is termed weighting The weighting describes the physical unit and the exponent with which the numerical values of the parameters exchanged between the master control system and the drives are to be interpreted The method of weighting is defined by the parameters for position speed force torque and acceleration weighting ID N...

Page 233: ...ons of load gear 10122 0 COM_SER_ GearRatioDenom Output revolutions of load gear 10123 0 COM_SER_FeedConst um rev Feed constant 10160 0 COM_SER_ ScaleTypAcc Acceleration data scaling type 10161 0 COM_SER_ ScaleFactorAcc Acceleration data scaling factor 10162 0 COM_SER_ ScaleExpAcc Acceleration data scaling exponent Table 8 5 Standardization units Sercos parameter continue ID No 0842 26B 5 01 Date ...

Page 234: ...ighting within this context ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 234 8 Motion profile Image 8 13 Position data weighting method Position polarity The polarity of the position data can be inverted according to the application An increasing actual position value indicates clockwise rotation looking at the motor shaft Linear weighting Unit Weighting factor Preferential weighting LSB ...

Page 235: ...ntial weighting LSB Degrees 3 600 000 0 0001 µm Table 8 7 Weighting for rotary motion default setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 235 8 Motion profile 8 2 2 2 Speed Image 8 14 Standardization profile Sercos Speed 1 screen ...

Page 236: ...ighting here Speed polarity The polarity of the speed data can be inverted according to the application A positive speed reference indicates clockwise rotation looking at the motor shaft ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 236 8 Motion profile Image 8 16 Speed data weighting method Linear weighting Unit Weighting factor Preferential weighting LSB m min 1 0 001 m min Table 8 8 Wei...

Page 237: ...ing LSB Degrees 3 600 000 0 001 m min Table 8 9 Weighting for rotary motion default setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 237 8 Motion profile 8 2 2 3 Unit of torque power Image 8 17 Standardization profile Sercos torque power 1 screen ...

Page 238: ...e of the motor is used as the reference value All torque force data is given in with one decimal place Torque polarity The polarity of the torque can be inverted according to the application A positive torque reference indicates clockwise rotation looking at the motor shaft ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 238 8 Motion profile Image 8 19 Force torque weighting method Linear we...

Page 239: ...eter weighting LSB Nm 1 0 01 Nm LSB Unit Exponent Table 8 11 Weighting for rotary motion default setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 239 8 Motion profile 8 2 2 4 Unit of acceleration Image 8 20 Standardization profile Sercos Acceleration 1 screen ...

Page 240: ...e acceleration is scaled using the Sercos wizard A distinction must be made between linear and rotary weighting here ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 240 8 Motion profile Image 8 22 Acceleration weighting Linear weighting Unit Weighting factor Factory setting LSB m s2 1 E 6 Table 8 12 Weighting for linear motion default setting ...

Page 241: ...io ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 241 8 Motion profile Image 8 23 Schematic of user defined scaling ID Index Name Unit Description 163 0 MPRO_FG_Config Factor group configuration 270 0 MPRO_FG_PosNorm incr rev internal position resolution 271 0 MPRO_FG_Num rev Factor group Numerator profile independent 272 0 MPRO_FG_Den mDegree Factor group denominator profile independent 27...

Page 242: ...sponds to 360 or 1048576 increments l Speed in rpm l Acceleration in rpm s l Positioning in degrees Given l Position unit P 0284 MPRO_FG_PosUnit µm l Speed unit P 0287 MPRO_FG_SpeedUnit m s ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 242 8 Motion profile l Acceleration unit P 0290 MPRO_FG_AccUnit m s2 l Feed constant 0 1 mm 1 rev l Gearing 1 drive revolution 3 motor revs Parametrisation ...

Page 243: ...andard rotary system 270 MPRO_FG_PosNom Increments per revolution 1048576 incr rev 271 MPRO_FG_Nom Numerator 1 rev 272 MPRO_FG_Den Denominator 32000 µm Table 8 16 Parameters for user defined scaling linear system ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 243 8 Motion profile ID Name Function Standard rotary system 273 MPRO_FG_Reverse Reverse direction False clockwise 274 MPRO_FG_ Speed...

Page 244: ... of specific profiling behaviour 301 0 CON_REF_Mode Mode selection of setpoint profiling 306 0 CON_IpRefTS ms Sampling time for interpolation 335 0 CON_SCON_DirLock Direction lock for speed reference value 370 0 CON_IP Interpolation type 755 0 MPRO_FG_ RefPosFilType Position reference filter type 756 MPRO_FG_ RefPosFilData Reference position filter data 756 0 RefFil_TimeConst ms Position reference...

Page 245: ...mode smoothing 8 3 2 PG mode with position control Travel commands are transmitted to the internal profile generator see Section Basic settings on page 244 It is composed of the following items l Target position l Maximum travel speed l Maximum acceleration l Maximum deceleration l The profile generator uses the P 166 0 MPRO_REF_JTIME jerk values and a P 167 0 MPRO_REF_OVR override factor for the ...

Page 246: ... 8 Motion profile Interpolation IP mode l Reference values are interpolated in linear mode before being switched to the control loops l The profile generator is inactive l Ramps and smoothing are inactive l The reference values are switched directly to the closed loop control CAUTION Your system motor may be damaged if put into operation in an uncontrolled or inappropriate manner Improper conduct ...

Page 247: ...s for speed and acceleration are switched to the control loops l For more information on the cycle time see the field bus documentation ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 247 8 Motion profile Image 8 29 Position control in IP mode Motion Profile subject area NOTE l In linear interpolation the pre control is ignored 8 3 5 Jerk limitation and speed offset 8 3 5 1 Jerk limitation P...

Page 248: ... and braking ramp 0 so the jerk is maximum red curve ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 248 8 Motion profile Image 8 31 Maximum jerk Red actual speed grey actual position The acceleration and braking ramp with preset smoothing time smoothing time 2000 ms red curve ...

Page 249: ...g on the functions chosen a different interpolant is obtained Interpolation is a kind of approximation the function under analysis is precisely reproduced by the interpolation function at the interpolation points and at the remaining points is at least approximated The quality of approximation depends on the method chosen In order to estimate it additional information above the function f is requi...

Page 250: ...order polynomials the usual term used is spline interpolation In the case of sectionally defined interpolants the question of consistency and differentiation at the interpolation points is of major importance 8 3 6 3 ServoOne interpolation types P No Index Name Setting Unit Description 370 0 CON_IP Interpolation type in IP mode NoIp 0 No interpolation The values are transferred 1 1 to reference pr...

Page 251: ... to the corresponding reserved parameters in the relevant bus system All decelerations should be disabled in the controller P 375 0 CON_IP_SFFScale and P 376 CON_IP_TFFScale must be used to perform the scaling required for the internal units The result can be viewed in the scope by using scope variables 101 nref_EXT and 102 mref_EXT If the scaling appears to be OK use P 379 CON_IP_FFMode to switch...

Page 252: ...on code 2219 0 MPRO_402_ShutdownOC 605BH DS402 reaction to control shutdown 2220 0 MPRO_402_DisableOpOC 605CH DS402 disable operation option code 2221 0 MPRO_402_HaltOC 605DH DS402 halt option code 2222 0 MPRO_402_FaultReactionOC 605EH DS402 fault reaction option code 2242 0 MPRO_402_QuickStopDec rev min s 6085H DS402 quickstop deceleration Table 8 19 Motion profile Stop ramps parameters ID No 084...

Page 253: ... 0842 26B 5 01 Date 09 2020 ServoOne Device Help 253 8 Motion profile NOTE l The reference mark signal can be optionally linked to one of the ISD05 and ISD06 fast digital inputs 8 5 1 1 Homing to a limit switch The digital input must be set to the available selection parameter LCW 5 for a positive limit switch or to LCCW 6 for a negative limit switch 8 5 1 2 Homing to a cam Set digital input to HO...

Page 254: ...od 5 Absolute encoder on page 257 However in this method the home offset is used to define the machine zero point while in method 5 it is used to define the offset relative to the encoder s absolute position The following is the difference between the machine zero points for each method l Method 13 Actual value Home offset l Method 5 Actual value Absolute encoder position first needs to be determi...

Page 255: ... can be reduced specifically during the homing operation To do so parameter P 0225 MPRO_REF_HOMING_TMaxScale must be set in the range of 0 100 Note that this parameter replaces parameter P 0332 CON_SCON_TMaxScale during the homing run 8 5 4 1 Method 10 Rightward direction of travel With P 0169 MPRO_REF_HOMING_MaxDistance the positioning range in which to search for the block is specified After app...

Page 256: ...ring the homing operation To do so parameter P 0225 MPRO_REF_HOMING_TMaxScale must be set in the range of 0 100 Note that this parameter replaces parameter P 0332 CON_SCON_TMaxScale during the homing run 8 5 5 1 Method 8 Rightward direction of travel With P 0169 MPRO_REF_HOMING_MaxDistance the tracking error is specified in the positioning range in which the block is detected When the block is det...

Page 257: ...ferencing is performed immediately after a mains power up The reference position is calculated on the basis of the encoder absolute position plus zero offset In the case of a SSI multi turn encoder homing with zero point offset 0 gives the absolute position of the SSI encoder Referencing again without changing the setting for the zero point offset does not cause a change of the position To set the...

Page 258: ...h edge corresponds to zero reference point Image 8 45 Negative limit switch and zero pulse 8 5 7 2 Method 2 Positive limit switch and zero pulse l Start movement right at this time the hardware limit switch is inactive l The direction of movement reverses on an active hardware limit switch edge l First zero pulse after falling limit switch edge corresponds to zero reference point ID No 0842 26B 5 ...

Page 259: ...rence mark is the zero point homing point Image 8 47 Start condition for positive limit switch 8 5 8 2 Method 4 Start movement in direction of negative left hardware limit switch l Start movement in direction of negative left hardware limit switch at this time the reference mark is inactive l The direction of movement reverses on an active edge from the reference mark l The first zero pulse after ...

Page 260: ...rence mark l Start movement in direction of the negative limit switch if the reference mark is inactive Image 8 49 Positive right hardware limit switch and zero pulse 8 5 9 2 Method 5 Start movement in direction of negative left hardware limit switch with zero pulse l Start movement in direction of negative left hardware limit switch l The direction of movement reverses on an inactive edge from th...

Page 261: ...e if the reference mark is active l The direction of movement reverses after a falling edge from the reference mark The zero point corresponds to the first zero pulse after a rising edge from the reference mark l The direction of movement reverses when the reference mark has been passed The zero point corresponds to the first zero pulse after a rising edge ID No 0842 26B 5 01 Date 09 2020 ServoOne...

Page 262: ...nds to the first zero pulse after the falling edge l Zero point at the first zero pulse after falling edge from the reference mark l Movement must have gone beyond the reference mark then the first zero pulse corresponds to the zero point Image 8 55 Reversal of direction of movement after active reference mark 8 5 11 2 Method 12 l Zero point corresponds to the first zero pulse if the reference mar...

Page 263: ...orresponds to the first zero pulse if the reference mark is active Image 8 57 Reversal of direction of movement 8 5 11 4 Method 14 l The zero point corresponds to the first zero pulse after crossing the reference mark ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 263 8 Motion profile l The zero point corresponds to the first zero pulse after the reference mark s falling edge l Reversal of ...

Page 264: ...n profile 8 5 13 Method 17 to 30 Reference mark 8 5 13 1 Method 17 to 30 Homing methods 17 to 30 are equivalent to methods 1 to 14 The determination of the homing point is independent of the zero pulse It only depends on the reference mark or on the limit switches Image 8 59 Homing methods 17 to 30 are equivalent to methods 1 to 14 ...

Page 265: ...limit switches Method 20 corresponds to method 4 Method 8 corresponds to method 24 Method 12 corresponds to method 28 Method 14 corresponds to method 30 Table 8 21 Method comparison of the individual homing methods ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 265 8 Motion profile 8 5 14 Methods 31 and 32 These two homing methods are not defined ...

Page 266: ...ith zero pulse 8 5 15 2 Method 34 Rightward travel direction The zero pulse corresponds to the first zero pulse to the right Image 8 61 Homing with zero pulse ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 266 8 Motion profile 8 5 16 Method 35 The actual position corresponds to the reference point Image 8 62 The actual position corresponds to the homing point ...

Page 267: ...t is the first activated of the two Fast jog mode right is used ID Index Name Unit Description 168 MPRO_REF_ JogSpeeds Jog mode speeds 168 0 FastJogSpeed rev min Fast jog speed 168 1 SlowJogSpeed rev min Slow jog speed Table 8 22 Jog mode parameters 8 6 1 Configuration l Jog in positive and negative direction Configure two digital inputs ISD0x INCH_P 7 jog ISD0x INCH_N 8 jog ID No 0842 26B 5 01 Da...

Page 268: ...ference table up to 16 reference values can be defined In the process the drive moves to its targets in conformance to the respective driving sets Depending on the selected control mode each reference in the table assigned a speed acceleration and deceleration value The table reference values can be used in any control mode Image 8 66 Reference table screen The setpoints need to be provided in the...

Page 269: ...e This operation is repeated until the drive is stopped or the table is disabled There will be a wait time of P 204 MPRO_TAB_WaitTime between the individual driving jobs l BUS 3 via fieldbus Selection of a table value via PROFIBUS No other field bus systems are implemented For details on PROFIBUS see Section PROFIBUS PROFINET on page 457 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 269 8 ...

Page 270: ... task is transmitted If a table value with the setting ABS or REL is additionally selected the infinite job is quit and the newly selected table value is approached from the current position Speed If the Servo controller is run with motor control mode PCON 3 Position control mode for information on the setting see Section Basic settings on page 112 the Mode and Speed lines will be added to the Set...

Page 271: ...ion via digital inputs Input ISDxx TBEN Enable a selected driving set The selection of a new motion task always interrupts an ongoing positioning and the follow up job logic Actuation via digital inputs Input ISDxx TAB0 to TAB3 The binary significance 20 21 22 23 results from the TABx assignment The setting TAB0 has the lowest significance 20 and TAB3 the highest 23 A high level on the digital inp...

Page 272: ...1 MPRO_TAB_PSpd TAB Position control mode speed 201 0 MPRO_TAB_PSpd rev min 201 1 15 MPRO_TAB_PSpd rev min 202 MPRO_TAB_PPos TAB Position control mode reference value 202 0 MPRO_TAB_PPos mDegree 202 1 15 MPRO_TAB_PPos mDegree 203 MPRO_TAB_PMode Position control table Mode 203 0 MPRO_TAB_PMode 203 1 15 MPRO_TAB_PMode 204 MPRO_TAB_WaitTime TAB Wait time 204 0 MPRO_TAB_WaitTime ms 204 1 15 MPRO_TAB_W...

Page 273: ...ol mode being used see Section Basic settings on page 112 the value will be stored in parameter index 0 torque control 1 speed control or 2 position control Backlash B This parameter P 175 MPRO_ANA0_SThreshold for ISA00 P 185 MPRO_ ANA1_SThreshold for ISA01 can suppress axis motion close to the standstill stop position Depending on the control mode being used see Section Basic settings on page 112...

Page 274: ... inputs on page 303 The position setpoint being received will only be applied if the corresponding digital input is active The acceleration is entered using P 173 0 MPRO_ANA0_TScale or P 183 0 MPRO_ANA1_TScale 8 8 2 Wire Break Monitoring P 399 CON_ANAWireBrk_Th can be used to configure wire break monitoring for the analogue inputs For details see Section Wire Break Monitoring on page 319 ID No 084...

Page 275: ...ets Table 8 26 Analogue channel ISA00 parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 275 8 Motion profile ID Index Name Unit Description 174 0 MPRO_ANA0_TOffset Nm ANA0 offsets for torque reference 174 1 MPRO_ANA0_SOffset rev min ANA0 offsets for speed reference 174 2 MPRO_ANA0_POffset mDegree ANA0 offsets for position reference 175 MPRO_ANA0_Threshold ANA0 thresholds 175 0 MPRO_...

Page 276: ... 2020 ServoOne Device Help 276 8 Motion profile 8 9 State machine The system state of the drive is basically managed by the central state machine according to CiA 402 However the transitions and states which the state machine passes through are dependent on the drive profile setting and the bus system used During operation a distinction is made between drive standstill operation and the error stat...

Page 277: ... states indicated on the display may differ from the states in the table depending on the drive profile setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 277 8 Motion profile Start not ready to switch on 0 switch on disabled ready to switch on 1 2 7 switched on operation enable fault reaction active fault quick stop active 3 6 4 5 power disabled power enabled 13 14 9 8 15 10 12 11 16 1...

Page 278: ...ositive edge 2 NEG 2 Negative edge 3 BOTH 3 Both edges 240 0 MPRO_TP_Ctrl 240 1 MPRO_TP_Ctrl 240 2 MPRO_TP_Ctrl 241 MPRO_TP_Position Probe Pos high low edge of TP0 1 encoder zero pulse Table 8 29 Touch probe parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 278 8 Motion profile ID Index Name Setting Unit Description 241 0 MPRO_TP_Position mDegree 241 1 MPRO_TP_Position mDegree 241 2...

Page 279: ...refer to the bus system user manuals or the description of the iPLC ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 279 8 Motion profile 8 11 Synchronized motion The Synchronized Movement function enables synchronous running of the drive in relation to a real or virtual master axis Digital control signals are used to provide positionally precise disengagement from the guide value e g with st...

Page 280: ...B 5 01 Date 09 2020 ServoOne Device Help 280 8 Motion profile 8 11 1 Electronic cam plate 8 11 1 1 Table selection ID Index Name Unit Description 1300 0 MPRO_ECAM_CTS_ MasterRef ECAM CamTableSelect Master reference 1301 0 MPRO_ECAM_CTS_ SlaveRef ECAM CamTableSelect Slave reference 1305 0 MPRO_ECAM_CTS_ ChangeMethod ECAM CamTableSelect Method for changing the camtable 1306 0 MPRO_ECAM_CTS_ ChangeMo...

Page 281: ...ent segment 1336 0 to 63 MPRO_ECAM_SegData_ ControlWord ECAM Control word of the current segment Table 8 33 Electronic camming Table segments parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 281 8 Motion profile ID Index Name Unit Description 1337 0 to 63 MPRO_ECAM_SegData_ SegmentMode ECAM Segment mode of the current segment 1338 0 to 63 MPRO_ECAM_SegData_ ConstPool ECAM Indicator...

Page 282: ...ut 30 Start Egear MCB_GearIn 31 Stop Egear MCB_GearOut Table 8 35 Control word ECAM P 1318 0 MPRO_ECAM_ControlWord ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 282 8 Motion profile 8 11 3 Status word for synchronized motion Bit number Description 0 7 Actual segment 8 bit value 8 11 Actual ECAM EGEAR state machine state 4 Bit value l 0 ECAM EGEAR asynchronous l 1 ECAM EGEAR synchronous l 2...

Page 283: ...use a higher level controller is being used as ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 283 8 Motion profile the master encoder you will need to set the resolution relative to a single motor revolution in P 250 MPRO_ECAM_PARAMaster_Amplitude see below l ENC CH1 3 Encoder channel 1 X7 SinCos l ENC CH2 4 Encoder channel 2 X6 Resolver l ENC CH3 5 Encoder channel 3 X8 optional This functi...

Page 284: ...r rotates in the unblocked direction ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 284 8 Motion profile l Slave only starts moving along with it again as soon as the master reaches the zero position Example If the master which has moved two motor revolutions in the direction blocked for the slave then moves in the unblocked direction again the slave only moves off when the master has trave...

Page 285: ...aMaster_ActAcc rpm s ECAM EGEAR Parameter interface master acceleration 250 0 MPRO_ECAM_ ParaMaster_Amplitude ECAM EGEAR Parameter interface master amplitude Table 8 37 Synchronized motion Master configuration parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 285 8 Motion profile ID Index Name Unit Description 1319 0 MPRO_ECAM_ CamMaster_AxisType ECAM EGEAR Channel selection of inte...

Page 286: ... speed pre control Defined with P 265 0 MPRO_ECAM_CamSlave_SpeedFactor definiert Scaling of torque pre control Defined with P 266 0 MPRO_ECAM_CamSlave_TorqueFactor Engagement See Section Engagement on page 287 Disengagement See Section Disengagement on page 288 ID Index Name Unit Description 251 0 MPRO_ECAM_Egear_ GearDen EGEAR Gear denominator 252 0 MPRO_ECAM_Egear_ GearNum EGEAR Numerator of gea...

Page 287: ...d The position is ignored There always remains a variation between reference and actual position P 257 0 see below is ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 287 8 Motion profile used to define the engagement distance between the dashed lines l CROSSFADE 3 Crossfading Engagement with crossfading function 5th degree polynomial Angular synchronous jerk limited speed will overshoot duri...

Page 288: ... With jerking no ramps l RAMP 1 Linear speed ramp Disengagement with linear deceleration With jerking P 256 0 see below ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 288 8 Motion profile can be used to define the deceleration l FADE 2 Engagement fade out Disengagement with fade out function 5th order polynomial jerk limited The position is ignored There always remains a variation between r...

Page 289: ...arOutJerk rpm s 2 EGEAR GearOut acceleration ramp jerk for disengagement Table 8 40 Synchronized motion Electronic gearing Disengagement para meters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 289 8 Motion profile 8 12 Virtual Master Image 8 74 Virtual master screen Click Start to start the engagement and click Stop and Halt correspondingly to stop it NOTE l The virtual master must be ac...

Page 290: ...ter Control word 1408 0 MPRO_CMST_ StatusWord Common master Status word 1409 MPRO_CMST_Para Data of common master 1409 0 Source Source of value processing 1409 1 Destination Destination of value processing 1409 2 RevLoclMode Reverse lock mode 1409 3 Amplitude incr Amplitude 1409 4 GearNum Gear numerator 1409 5 GearDen Gear denominator 1409 6 SpeedFilType Speed filter Filter type 1409 7 SpeedFilTs ...

Page 291: ...en the cam is reached an output of the controller can be switched The reference position for evaluating the electronic cam group can be selected using parameter P 1427 MPRO_CAM_CamInPosFS ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 291 8 Motion profile The activation of a digital output via the cam group is done via the function selector of the digital outputs The function selectors of t...

Page 292: ...he first time the cam passes through the cam limit it is switched at the original position C As long as the position then remains in the range A E any further switching off and switching on takes place at the defined hysteresis positions B and D i e switching off at position B switching on at position D Only when the current position exceeds limit E or is moved to before A again will the output on...

Page 293: ...n both directions default 1424 0 dir fs 1 Directional function selector for cam track 1 1424 1 dir fs 2 Directional function selector for cam track 2 1424 2 dir fs 3 Directional function selector for cam track 3 1424 3 dir fs 4 Directional function selector for cam track 4 Table 8 48 P 1424 MPRO_CAM_CamDirFS ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 293 8 Motion profile 8 14 1 6 Assign...

Page 294: ...tus of cam track 2 1426 3 Status track 3 Status of cam track 3 1426 4 Status track 4 Status of cam track 4 Table 8 50 P 1426 MPRO_CAM_CamStatus ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 294 8 Motion profile 8 14 1 8 Target position valid for the cam group P 1427 MPRO_CAM_CamInPosFS is used to select the target position to be applied for the cam group and which is thus used to determine...

Page 295: ...Hysteresis setting for track 1 1422 1 hysteresis track 2 Hysteresis setting for track 2 1422 2 hysteresis track 3 Hysteresis setting for track 3 1422 3 hysteresis track 4 Hysteresis setting for track 4 1423 MPRO_CAM_CamMaskConf Cam bitmask 1423 0 cam mask 1 Bitmask for cam track 1 1423 1 cam mask 2 Bitmask for cam track 2 1423 2 cam mask 3 Bitmask for cam track 3 1423 3 cam mask 4 Bitmask for cam ...

Page 296: ...34 start cam 18 Start cam 18 Table 8 52 CAM switch parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 296 8 Motion profile ID Index Name Unit Description 1430 35 end cam 18 End cam 18 1430 36 start cam 19 Start cam 19 1430 37 end cam 19 End cam 19 1430 38 start cam 20 Start cam 20 1430 39 end cam 20 End cam 20 1430 40 start cam 21 Start cam 21 1430 41 end cam 21 End cam 21 1...

Page 297: ...34 start cam 18 Start cam 18 Table 8 52 CAM switch parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 297 8 Motion profile ID Index Name Unit Description 1431 35 end cam 18 End cam 18 1431 36 start cam 19 Start cam 19 1431 37 end cam 19 End cam 19 1431 38 start cam 20 Start cam 20 1431 39 end cam 20 End cam 20 1431 40 start cam 21 Start cam 21 1431 41 end cam 21 End cam 21 1...

Page 298: ...34 start cam 18 Start cam 18 Table 8 52 CAM switch parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 298 8 Motion profile ID Index Name Unit Description 1432 35 end cam 18 End cam 18 1432 36 start cam 19 Start cam 19 1432 37 end cam 19 End cam 19 1432 38 start cam 20 Start cam 20 1432 39 end cam 20 End cam 20 1432 40 start cam 21 Start cam 21 1432 41 end cam 21 End cam 21 1...

Page 299: ...17 1433 34 start cam 18 Start cam 18 Table 8 52 CAM switch parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 299 8 Motion profile ID Index Name Unit Description 1433 35 end cam 18 End cam 18 1433 36 start cam 19 Start cam 19 1433 37 end cam 19 End cam 19 1433 38 start cam 20 Start cam 20 1433 39 end cam 20 End cam 20 1433 40 start cam 21 Start cam 21 1433 41 end cam 21 End ...

Page 300: ...ackConf configuration All configured cam edges have to be in ascending order Cam positions are not specified in ascending order in one of the parameters P 1430 MPRO_CAM_ CamTrack1Conf P 1433 MPRO_CAM_CamTrack4Conf The track and cam position that caused the error are coded in the number given in the error message The track is coded in the hundreds position of the number 0 track 1 1 track 2 2 track ...

Page 301: ...EA05_POffset mDegree IEA05 offset for position reference 2729 TOPT_MIO_REFV_ Threshold Extended analogue inputs Reference value threshold 2729 0 IEA04_TThreshold Nm IEA04 threshold for torque reference 2729 1 IEA04_SThreshold rev min IEA04 threshold for speed reference 2729 2 IEA04_PThreshold mDegree IEA04 threshold for position reference 2729 3 IEA05_TThreshold Nm IEA05 threshold for torque refer...

Page 302: ...ServoOne Device Help 302 9 Inputs Outputs settings 9 1 Inputs Outputs settings Image 9 1 Inputs Outputs settings screen The buttons on this screen can be used to access and configure the individual input and output types Inputs l Before using the digital inputs they are normally associated with a special device functionality for digital inputs with the use of function selectors l Likewise before u...

Page 303: ...oes not overlap with the digital outputs functionality Moreover analogue outputs are only available when using X8 option modules l The motor brake output is a digital output with special hardware for driving a motor brake which is normally found inside the motor casing ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 303 9 Inputs Outputs settings 9 2 Digital inputs Image 9 2 Function selector...

Page 304: ... Help 304 9 Inputs Outputs settings l The touch probe function is only available at ISD05 P 106 0 MPRO_ INPUT_FS_ISD05 and ISD06 P 107 0 MPRO_INPUT_FS_ISD06 l All inputs can be switched from active high to active low individual bits in P 120 MPRO_INPUT_INV l All inputs can be smoothed with a freely configurable filter time P 118 MPRO_INPUT_FILTER ID Index Name Unit Description 101 0 MPRO_INPUT_FS_...

Page 305: ...art homing according to the homing method parameterized in P 02261 MPRO_402_ Homing Method HOMSW 10 Homing switch to determine the zero for positioning E_EXT 11 External error Error messages from external devices cause an error message with the reaction determined in parameter P 30 11 Reac_External WARN 12 External collective warning RSERR 13 Reset alarm Error messages are reset with a rising edge...

Page 306: ...nput SPINDLECLAMP_P 45 Clamping Pressurized input Table 9 2 Function selectors Digital inputs continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 306 9 Inputs Outputs settings ID Index Name Setting Unit Description SlaveBC 46 Brake chopper synchronization only on ISD05 and ISD06 USER2 47 Test case 47 START_PRC 48 Start process controller Table 9 2 Function selectors Digital inputs conti...

Page 307: ...7 ISD06 16 Table 9 4 Digital virtual inputs parameters 9 2 5 Status of the digital inputs Clicking on the Status of digital inputs field on the input screen for the digital inputs will open a visualization showing the digital inputs states ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 307 9 Inputs Outputs settings Image 9 3 Status of digital inputs screen ID Index Name Unit Description 121...

Page 308: ... 3 Reference from table PLC_BASIC 4 Profile via PLC definition PLC 5 Reference from PLC PARA 6 Reference via parameter DS402 7 Reference via CiA 402 IEC1131 Sercos 8 Reference via SERCOS PROFI 9 Reference via PROFIBUS VARAN 10 Reference via VARAN TWIN 11 Reference via external option TWINsync HYD 12 Hydraulic profile software specific Table 9 6 Control selector switching parameters ID No 0842 26B ...

Page 309: ...ig to PD_UP 2 TP0 TP1 as encoder pulse TP0 direction TP1 count up on direction high means both the speed and the direction can be changed To find out which setting is possible see the description of the parameter Parameter P 1404 MPRO_TP_Lines is used to set the resolution pulses revolution Setting the digital standard inputs ISD05 and ISD06 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 30...

Page 310: ...7 Pulse counter on probe channel 1 TP1 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 310 9 Inputs Outputs settings Image 9 7 Pulse direction master configuration In the screen select Electric gearing Set the gear ratio Image 9 8 Selecting the electric gearing pulse direction Enable the function with Start E Gear NOTE l The signals ISD06 and ISD05 are HTL signals which is why the voltage le...

Page 311: ...output OSD01 124 0 MPRO_OUTPUT_FS_OSD02 Function of digital output OSD02 142 0 MPRO_OUTPUT_INV Output inv OSD0 2 0 2 MBRK 6 REL1 2 7 15 OED0 7 16 23 Table 9 7 Digital standard outputs parameters 9 3 2 Function selectors ID Index Name Setting Unit Description 122 124 0 MPRO_OUTPUT_FS_ OSDxx Function selectors for digital outputs Off 0 No function ERR 1 Collective error message BRAKE 2 Motor brake O...

Page 312: ...orce threshold reached TBACT 34 Table positioning in AUTO and activated state TAB0 35 Actual table index 2 0 TAB1 36 Actual table index 2 1 TAB2 37 Actual table index 2 2 TAB3 38 Actual table index 2 2 COM_1MS 39 Set output via field bus in 1 ms cycle Table 9 8 Digital outputs function selectors continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 312 9 Inputs Outputs settings ID Index N...

Page 313: ...ecific function packages ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 313 9 Inputs Outputs settings l Depending on the configured function the Options button may become enabled If it is this button can be used to switch to a different screen directly and define the function s exact behaviour there l The relay output can be switched from active high to active low bit 8 in P 142 0 MPRO_OUTP...

Page 314: ...rence input are thus taken into account ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 314 9 Inputs Outputs settings Image 9 11 Threshold definition 9 3 6 Reference limitation LIMIT 14 The LIMIT 14 function for a digital output signals when a setpoint has reached its limit In this case the output is set The limit values for maximum torque and maximum speed depend on the preset control syste...

Page 315: ...nabling the power stage In the opposite case the contacts must remain closed until the power stage has been switched off Corresponding safety time periods for the motor contactor switching must be implemented in the control sequence of the machine or else the special ENMO software function of the drive controller must be employed A power contactor in the motor supply line can be directly controlle...

Page 316: ... For more details on how to use gain factors see Section Analogue input scaling on page 318 l P 429 2 ISA00_limMin and P 429 3 ISA01_limMin can be used to assign a lower limit to each analogue input separately l P 429 4 ISA00_limMax and P 429 5 ISA01_limMax can be used to assign an upper limit to each analogue input separately l The analogue inputs compensated filtered and normalized values will b...

Page 317: ...specific HYD_P_ACT 7 Hydraulic actual pressure software specific HYD_P_REF 6 Hydraulic reference pressure software specific VFC_REF_SCALE 5 VFC reference scaling 0 100 software specific TLIM 4 Analogue torque limit 0 100 OVR 3 Speed override 0 100 at positioning Table 9 12 Analogue inputs function selectors ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 317 9 Inputs Outputs settings ID Inde...

Page 318: ...desired voltage ranges will yield the values for the offset P 428 CON_ANA_Offset and gain P 429 CON_ANA_Gain Depending on the function selected for the ISAxx analogue input with the function selector it will be possible to use the Options button to configure additional process variables such as the backlash in rev min when using an analogue setpoint REFV Usage examples ID No 0842 26B 5 01 Date 09 ...

Page 319: ...the analogue inputs are used as feedback for control circuits they will be sampled every 125 µs l If functions are assigned to the analogue inputs using P 109 0 P 110 0 the inputs will be sampled every 1 ms l By switching parameter P 301 0 CON_REF_Mode from PG 0 to IP 1 mode an analogue input can be used as a fast input e g Touch probe The sampling time set in P 306 0 CON_ IpRefTS for the interpol...

Page 320: ...T_FS_ OEAxx Function selectors for analogue outputs OFF 0 No function NACT 1 Actual speed TACT 2 Actual torque force IRMS 3 Effective current PARA 4 Value of parameter 134 0 ACTPOS 5 Position actual value VDC 6 DC link voltage ACTPOS_MODULO 7 Actual modulo position ACT_POWER 8 Power APP_POWER 9 Apparent power Table 9 14 Analogue outputs function selectors NOTE l For a full description of the analo...

Page 321: ...ake output for frame sizes 2 to 5 will be found on connector X13 l On the ServoOne Single Axis System and Multi Axis System the motor brake output o For frame sizes 1 to 4 will be found on connector X13 o For frame sizes 5 to 6a will be found on connector X20 o For frame size 7 will be found on connector X44 An optional holding brake built in to motor provides protection against unwanted motion wh...

Page 322: ... X13 748 0 MON_MotorBrkGuard Motor brake guarding Table 9 15 Motor brake output parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 322 9 Inputs Outputs settings 9 7 1 Motor brake details Image 9 17 Motor brake details screen The brake response can be adapted to the requirements of the application This function can be used in both speed as well as position controlled operation ID Inde...

Page 323: ...tant 219 0 MPRO_BRK_LastTorq Nm Motor brake torque sampled at last closing time 220 0 MPRO_BRK_Lock lock brake Table 9 16 Motor brake details parameters continue NOTE l Please check the settings of the stop ramps if use of a holding brake is specified see Section Stop ramps on page 251 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 323 9 Inputs Outputs settings ...

Page 324: ...hresholds 10 1 Settings Image 10 1 Limitations and thresholds screen To protect the device the motor and the complete plant it is necessary to limit the variables torque speed and position These limits act independently of other limitations within the motion profile The limits are specified as percentages of the rated quantities current torque speed so that following calculation logical default se...

Page 325: ...ed control standstill 746 0 MON_UsrPosWindow mDegree Setpoint reached pos window Table 10 1 Limits thresholds parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 325 10 Limitations Thresholds 10 2 Torque force limits l The torque is limited to a maximum by P 329 0 CON_SCON_TMax In the default setting the torque limit corresponds to the rated torque of the motor The possible setting ra...

Page 326: ... 0 CON_SCON_SMaxScale Scaling of motor speed limit 740 0 MON_SpeedThresh rpm Monitoring speed threshold 744 0 MON_SDiffMax rpm Speed tracking error Table 10 3 Limits thresholds Speed limits parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 326 10 Limitations Thresholds 10 4 Position limitation l Position limiting is only applicable in positioning mode and will be enabled only once h...

Page 327: ... 10 Limitations Thresholds 10 5 Power stage l If the value for the DC link voltage exceeds the value set in parameter P 747 0 MON_PF_OnLimit error ERR 34 Power failure detected is reported and the parameterized error reaction is triggered see Section Error reactions on page 339 l By setting a quickstop as the error reaction in the parameters using an adequately steep deceleration ramp the DC link ...

Page 328: ...l The status for the most important warnings can be checked with l The Warnings pictogram on the quick launch toolbar or via l Project tree Device setup Alarms warnings Warning status A visual representation of the most important bits in status word P 34 0 ERR_WRN_State will appear l As soon as there is a warning the corresponding bit will be set in status word P 34 0 and the visual representation...

Page 329: ... Meaning 0 I2xt integrator motor warning threshold exceeded 1 Heat sink temperature 2 Motor temperature 3 Interior temperature 4 Reserved for Sercos 5 Excessive speed 6 Reserved for Sercos 7 Reserved for Sercos 8 Reserved for Sercos 9 Undervoltage 10 Reserved for Sercos 11 Reserved for Sercos 12 Reserved for Sercos 13 Reserved for Sercos 14 Reserved for Sercos 15 Reserved for Sercos 16 I2xt integr...

Page 330: ...020 ServoOne Device Help 330 11 Alarms warnings 11 2 Alarms and warnings Details Image 11 3 Alarms and warnings Details screen To open an overview of the current error and a history containing the most recent 20 errors go to Project tree Device setup Alarms warnings Alarms warnings Details The screen will also show a counter for the most common errors l P 33 ActualError will describe the current e...

Page 331: ... 23 CommentId Additional comment id 31 24 CommentText Additional comment text 31 25 Line Line of error occurrence Table 11 3 Alarms warnings Details parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 331 11 Alarms warnings ID Index Name Unit Description 31 26 File Source File 31 27 Cause Error cause 31 28 Remedy Error remedy 31 29 ID Error id 31 30 Location Error location 31 31 Time ...

Page 332: ... 91 Remedy Error remedy Table 11 3 Alarms warnings Details parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 332 11 Alarms warnings ID Index Name Unit Description 31 92 ID Error id 31 93 Location Error location 31 94 Time Time stamp 31 95 CommentId Additional comment id 31 96 CommentText Additional comment text 31 97 Line Line of error occurrence 31 98 File Source File 31 9...

Page 333: ...ls parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 333 11 Alarms warnings ID Index Name Unit Description 31 158 CommentId Additional comment id 31 159 CommentText Additional comment text 31 160 Line Line of error occurrence 31 161 File Source File 31 162 Cause Error cause 31 163 Remedy Error remedy 31 164 ID Error id 31 165 Location Error location 31 166 Time Time stamp 3...

Page 334: ...e Table 11 3 Alarms warnings Details parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 334 11 Alarms warnings ID Index Name Unit Description 70 26 TimePowerStage Power stage time stamp of error event 70 27 Current A Actual current 70 28 Voltage V Actual DC voltage 70 29 ActSpeed 1 min Actual speed 70 30 Temp_KK deg C Absolute temperature of cooling block 70 31 Temp_Int deg ...

Page 335: ... 11 3 Alarms warnings Details parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 335 11 Alarms warnings ID Index Name Unit Description 70 82 TimePowerStage Power stage time stamp of error event 70 83 Current A Actual current 70 84 Voltage V Actual DC voltage 70 85 ActSpeed 1 min Actual speed 70 86 Temp_KK deg C Absolute temperature of cooling block 70 87 Temp_Int deg C Absol...

Page 336: ...Table 11 3 Alarms warnings Details parameters continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 336 11 Alarms warnings ID Index Name Unit Description 70 138 TimePowerStage Power stage time stamp of error event 70 139 Current A Actual current 70 140 Voltage V Actual DC voltage 70 141 ActSpeed 1 min Actual speed 70 142 Temp_KK deg C Absolute temperature of cooling block 70 143 Temp_Int ...

Page 337: ...voltage 730 1 UnderVoltage_OFF V DC link undervoltage 730 2 OverVoltage_ON V DC link Overvoltage 730 3 OverVoltage_OFF V DC link Overvoltage 730 4 I_ON A Motor current 730 5 I_OFF A Motor current 730 6 DeviceI2t_ON I xt device protection 730 7 DeviceI2t_OFF I xt device protection 730 8 MotorI2t_ON I xt motor protection 730 9 MotorI2t_OFF I xt motor protection 730 10 Torque_ON Nm Torque limit reach...

Page 338: ...lay an error number and an error ER for Error flashes then the error number and then the number of the error location Example ER 16 01 Display readout Function Attention error message Errors marked with a dot on the display D1 D2 can only be reset when the cause of the fault has been eliminated Maximum speed exceeded Table 11 5 Servo controller error display ID No 0842 26B 5 01 Date 09 2020 ServoO...

Page 339: ...Specific2OptCode can be used to define an additional error response if the Servo controller features an optional function package Error reaction Function Ignore 0 Ignore error Exception For the HW limit switch in which case a warning will be generated P 34 bit 29 or bit 30 Specific1 1 The error will be reported the response will be carried out by the integrated PLC V2 0 and higher Exception For th...

Page 340: ... overvoltage in DC link 30 5 Reac_OverCurrent Error reaction on overcurrent 30 6 Reac_OvertempMotor Error reaction on over temperature motor 30 7 Reac_OvertempInverter Error response Power stage overtemperature 30 8 Reac_OvertempDevice Error response Internal overtemperature 30 9 Reac_I2tMotor Error reaction I2T error motor 30 10 Reac_I2tPowerAmplifier Error response Power stage I2T error 30 11 Re...

Page 341: ... response Software limit switch 30 47 Reac_FSAFE_ NonSafetySystem Reaction on FSAFE error in non safety system 30 48 Reac_NmtStateChanged Error response NMT state change 30 49 Reac_FSAFE_ SafetySystem Reaction on FSAFE alarm or error in safety system 30 50 Reac_TimeOut Reaction on TimeOut Allowed duration of negative speed in pressure control exceeded 30 51 Reac_EncStatus Reaction on EncStatus War...

Page 342: ...09 2020 ServoOne Device Help 342 11 Alarms warnings 11 6 2 2 Error 1 1 emergency code 6010h Cause Error while installing a dynamic module Suggested steps This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature 11 6 2 ...

Page 343: ...am This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 343 11 Alarms warnings 11 6 2 6 Error 1 5 emergency code 6010h Cause Unknown EXCEPTION in TC safety Sugg...

Page 344: ...g See if the error persists or if it comes with activating a certain feature ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 344 11 Alarms warnings 11 6 3 2 Error 2 2 emergency code 6320h Cause Parameter virgin initalisation failed Suggested steps Switch off on device Please contact your service provider if this error occurs again This issue is probably caused by an unsuitable parameter sett...

Page 345: ...fferent version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 345 11 Alarms warnings 11 6 3 4 Error 2 4 emergency code 6320h Cause Error in paralist while adding a new parameter Suggested steps Switch off on device Please contact you...

Page 346: ...tching frequency is not supported Suggested steps Choose different voltage level and or switching frequency This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest changes l Please check your parameter set for implausible settings l Please set device to factory setting restart and see if t...

Page 347: ...tting This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 347 11 Alarms warnings 11 6 3 9 Error 2 9 emergency code 6320h Cause Overvoltage in DC link Suggested...

Page 348: ...ossibly switched off l Please check if the actual grid voltage matches the supply setting parameter PST_ VoltageSupply l Verify that the grid is stable under load condition ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 348 11 Alarms warnings 11 6 5 Error 4 Overvoltage error 11 6 5 1 Error 4 1 emergency code 3110h Cause Overvoltage detected Suggested steps An over voltage occurred l Please ...

Page 349: ...d cabinet connection to earth l Check motor grounding and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 349 11 Alarms warnings 11 6 6 2 Error 5 2 emergency code 2350h Cause Overcurrent shut off fast by software Suggested steps Please check power wiring and control settings An overcurrent was detected l Please check current control settings and step response l Check the m...

Page 350: ...onnection to earth l Check motor grounding and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 350 11 Alarms warnings 11 6 6 4 Error 5 4 emergency code 2250h Cause Short circuit test on initialization Suggested steps Please check power wiring for short circuit An overcurrent was detected l Please check current control settings and step response l Check the motor s saturati...

Page 351: ...to earth l Check motor grounding and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 351 11 Alarms warnings 11 6 6 6 Error 5 6 emergency code 2350h Cause Total current monitoring Suggested steps Please check ground connection or power wiring of motor and device check current values An overcurrent was detected l Please check current control settings and step response l Chec...

Page 352: ...rounding and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 352 11 Alarms warnings 11 6 6 8 Error 5 8 emergency code 2350h Cause Maximum fault current absolut sum current in power off detected Suggested steps Please check ground connection or power wiring of motor and device check current values An overcurrent was detected l Please check current control settings and step ...

Page 353: ...lease check PTC cable and sensor The motor temperature is too high l Please let the motor cool down l Please check motor temperature and motor temperature resistance PTC sensors do not report the motor temperature If the values are not plausible check cables and sensor type l If you are not using a system motor please check with the motor manufacturer if the motor can stand a higher temperature 11...

Page 354: ...anufacturer if the motor can stand a higher temperature ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 354 11 Alarms warnings 11 6 7 5 Error 6 5 emergency code 4310h Cause Motor protection method not supported Suggested steps Try to use different sensor connection or contact your service provider This issue is probably caused by an unsuitable parameter setting l Save your parameter set for ...

Page 355: ...her measures fail to solve the problem please replace the servo controller ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 355 11 Alarms warnings 11 6 9 Error 8 Device inside temperature error 11 6 9 1 Error 8 1 emergency code 4210h Cause Interior temperature monitor Suggested steps check the conditions of the drive An overcurrent was detected l Please check current control settings and step...

Page 356: ...sider using an axis module with higher current rating ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 356 11 Alarms warnings 11 6 11 Error 10 I2t power amplifier error 11 6 11 1 Error 10 1 emergency code 2350h Cause I t power stage protection limit value exceeded Suggested steps Reduce load on motor or check load cycle An overcurrent was detected l Please check current control settings and s...

Page 357: ... lower the switching frequency or enable automatic frequency selection l Check if the encoder offset is set properly l Consider using an axis module with higher current rating ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 357 11 Alarms warnings 11 6 12 Error 11 External digital input error 11 6 12 1 Error 11 1 emergency code FF00h Cause External error at digital input detected Suggested st...

Page 358: ... metal backplane and cabinet connection to earth l Check motor grounding and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 358 11 Alarms warnings 11 6 13 2 Error 12 2 emergency code 8130h Cause CAN option Guarding error Suggested steps The device was probably disconnected from the master controller or the master is overloaded l Please check the bus system connection Try ...

Page 359: ...connection to earth l Check motor grounding and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 359 11 Alarms warnings 11 6 13 4 Error 12 4 emergency code 8130h Cause CAN option Heartbeat error Suggested steps The device was probably disconnected from the master controller or the master is overloaded l Please check the bus system connection Try to replace the cables l Plea...

Page 360: ...e include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 360 11 Alarms warnings 11 6 13 6 Error 12 6 emergency code 8200h Cause CAN option mapping error Suggested steps This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest changes l Please check you...

Page 361: ...ng and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 361 11 Alarms warnings 11 6 13 8 Error 12 8 emergency code FF00h Cause CAN option Error while parameter initialisation Suggested steps This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest changes l Please ch...

Page 362: ...eceive data due to distortion Lightwave power does not match to the cable length Please check the cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 362 11 Alarms warnings 11 6 14 5 Error 13 5 emergency code FF00h Cause Sercos option MST failure Suggested steps Missing master sync telegram Please check the wiring This is possibly an EMC issue This is very likely if the problem occu...

Page 363: ...and see if the error occurs again l When reporting this error to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 363 11 Alarms warnings 11 6 14 8 Error 13 8 emergency code FF00h Cause Sercos option Phase upshift failure Suggested steps Error during phase switching up shift by master Please check the settings in the master Th...

Page 364: ...our device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 364 11 Alarms warnings 11 6 14 11 Error 13 11 emergency code FF00h Cause Sercos option Error while parameter initialisation Suggested steps This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest changes l...

Page 365: ...ndo the latest changes l Please check your parameter set for implausible settings l Please set device to factory setting restart and see if the error occurs again l When reporting this error to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 365 11 Alarms warnings 11 6 14 15 Error 13 15 emergency code FF00h Cause Sercos opti...

Page 366: ...sconnected from the master controller or the master is overloaded l Please check the bus system connection Try to replace the cables l Please try to reduce computational load on the master l Try to increase the master cycle time 11 6 15 2 Error 14 2 emergency code 8130h Cause EtherCAT Parameter error parameter data implausible Suggested steps This is possibly a hardware issue If other measures fai...

Page 367: ...20 ServoOne Device Help 367 11 Alarms warnings 11 6 15 5 Error 14 5 emergency code 8130h Cause Missing Ethercat receive process data on Sync Manager 2 Suggested steps This is possibly an EMC issue This is very likely if the problem occurs when switching on motor control and or when connecting DC link power supply l Please check the device cabling for proper connection l Please check device groundi...

Page 368: ...reporting this error to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 368 11 Alarms warnings 11 6 16 2 Error 15 2 emergency code 2350h Cause Error while init I2t monitoring Suggested steps Please check the parameter of the motor protection This issue is probably caused by an unsuitable parameter setting l Save your paramet...

Page 369: ...ervice partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 369 11 Alarms warnings 11 6 16 4 Error 15 4 emergency code FF00h Cause Error in motor model initilization Suggested steps Please check motor parameters and motor type This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See ...

Page 370: ...ce partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 370 11 Alarms warnings 11 6 16 6 Error 15 6 emergency code 6320h Cause Error while inializing the standardization parameters Suggested steps Please check the standardization parameter settings This issue is probably caused by an unsuitable parameter setting l Save your parameter set for ...

Page 371: ...rtner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 371 11 Alarms warnings 11 6 16 8 Error 15 8 emergency code 8400h Cause Unknown speed calculation method selected Suggested steps Please check the parameters of the speed observer P350 This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restor...

Page 372: ...his issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest changes l Please check your parameter set for implausible settings l Please set device to factory setting restart and see if the error occurs again l When reporting this error to your service partner please include your device s parame...

Page 373: ... via service tool access Suggested steps Check your network connection ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 373 11 Alarms warnings 11 6 16 13 Error 15 14 emergency code FF00h Cause Drive initialization Unexpected error during drive initialization Suggested steps Check the drives parameter settings This issue is probably caused by an unsuitable parameter setting l Save your paramet...

Page 374: ...steps Check power fail parameters or disable function ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 374 11 Alarms warnings 11 6 16 18 Error 15 19 emergency code FF00h Cause Error in camming or electronic gearing initialization Suggested steps Check parameter or IEC configuration 11 6 16 19 Error 15 20 emergency code FF00h Cause Error in configuration of CAM module Suggested steps Check for...

Page 375: ... Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature This is possibly a hardware issue If other measures fail to solve the problem please replace the servo controller ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 375 11 Alarms warnings 11 6 ...

Page 376: ...binet connection to earth l Check motor grounding and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 376 11 Alarms warnings 11 6 17 2 Error 16 2 emergency code 8400h Cause Current speed above maximum speed of motor 120 Suggested steps Check your parameter data set The control system failed to track the reference value l Please check if the axis is blocked l Try to reduce ...

Page 377: ...blem occurs when switching on motor control and or when connecting DC link power supply l Please check the device cabling for proper connection l Please check device grounding i e the connection to a metal backplane and cabinet connection to earth l Check motor grounding and motor cable length ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 377 11 Alarms warnings 11 6 19 Error 18 Motion cont...

Page 378: ...2h Cause Homing Limit switch error Suggested steps Please check the limit switches There is a problem with the digital analog inputs l Please check the 24V I O wiring function assignment and inversion parameters l Please check connected switches for chattering Consider using the input filter This is possibly an EMC issue This is very likely if the problem occurs when switching on motor control and...

Page 379: ...n position control mode ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 379 11 Alarms warnings 11 6 19 9 Error 18 9 emergency code FF00h Cause Homing Encoder initialization error Suggested steps The homing during device start up was not performed due to an internal error Please restart the application 24V reset An error occured at the homing methode l Please acknowledge the error l Please st...

Page 380: ...ed steps Call your service provider This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature This is possibly a hardware issue If other measures fail to solve the problem please replace the servo controller 11 6 20 2 E...

Page 381: ...he problem please replace the servo controller ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 381 11 Alarms warnings 11 6 20 5 Error 19 5 emergency code 5400h Cause PST Error reading power stage data Suggested steps Call your service provider This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to fa...

Page 382: ...B 5 01 Date 09 2020 ServoOne Device Help 382 11 Alarms warnings 11 6 20 9 Error 19 9 emergency code 5300h Cause Flash memory failure Suggested steps Switch off on device Please contact your service provider if this error occurs again This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting Se...

Page 383: ...ts or if it comes with activating a certain feature This is possibly a hardware issue If other measures fail to solve the problem please replace the servo controller ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 383 11 Alarms warnings 11 6 20 13 Error 19 13 emergency code 5300h Cause Error while FPGA programming Suggested steps Switch off on device Please contact your service provider if t...

Page 384: ...g a certain feature ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 384 11 Alarms warnings 11 6 20 17 Error 19 17 emergency code 5300h Cause Safety system run up with illegal firmware Suggested steps Process firmware update and process power on 24V reset This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis m...

Page 385: ... 19 22 emergency code 5300h Cause Functionality or hardware not supported in this software version Suggested steps Please contact your service provider This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature This is p...

Page 386: ...external speed limitation or increase speed control gain for stronger limitation ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 386 11 Alarms warnings 11 6 21 2 Error 20 2 emergency code 8612h Cause Positive hardware limit switch LSW_P detected Suggested steps Check your hardware Position was limited internally l Please check factor group setting and position command l Take a scope record t...

Page 387: ...rror initialization l This is a common error number used for several initialization errors which have no own error number ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 387 11 Alarms warnings 11 6 22 1 Error 21 2 emergency code 7305h Cause Electronic nameplate interface group error no further information available Suggested steps Function Electronic nameplate not available Please contact yo...

Page 388: ...the commutation angle ECOFF between motor phases and encoder mounting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 388 11 Alarms warnings 11 6 22 5 Error 21 6 emergency code 7305h Cause Electronic nameplate OEM data no ENP defined in the OEM memory of the encoder Suggested steps Function Electronic nameplate not available Please contact your service provider ENP l The Electronic Nameplate...

Page 389: ...s and encoder mounting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 389 11 Alarms warnings 11 6 22 9 Error 21 12 emergency code 7305h Cause Electronic nameplate process block error group error from schort frame check of the block being read Suggested steps Function Electronic nameplate not available Please contact your service provider ENP l The Electronic Nameplate ENP is located in the ...

Page 390: ...ion angle ECOFF between motor phases and encoder mounting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 390 11 Alarms warnings 11 6 22 13 Error 21 23 emergency code 7305h Cause Electronic nameplate process block error block 3 MotIdent no further information available Suggested steps Function Electronic nameplate not available Please contact your service provider ENP l The Electronic Namepl...

Page 391: ... commutation angle ECOFF between motor phases and encoder mounting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 391 11 Alarms warnings 11 6 22 17 Error 21 27 emergency code 7305h Cause Electronic nameplate process block error block 7 MotBreak no further information available Suggested steps Function Electronic nameplate not available Please contact your service provider ENP l The Electron...

Page 392: ...ion angle ECOFF between motor phases and encoder mounting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 392 11 Alarms warnings 11 6 22 21 Error 21 31 emergency code 7305h Cause Electronic nameplate process block error block 11 MotDatLin no further information available Suggested steps Function Electronic nameplate not available Please contact your service provider ENP l The Electronic Name...

Page 393: ...In any case look at init outputs in the message window of the DriveManager l The most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 393 11 Alarms warnings 11 6 23 2 Error 22 2 emergency code 7305h Cause Channel 1 Initialization SinCos timeout error getting AB SquareSum Suggested steps No further information available Please contact your se...

Page 394: ...ager l The most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 394 11 Alarms warnings 11 6 23 6 Error 22 6 emergency code 7305h Cause Channel 1 Initialization EndDat 2 1 error MultiTurn read from encoder Suggested steps Please note additional Information in the message window of the DriveManager Initialization encoder channel 1 l Error duri...

Page 395: ...ny case look at init outputs in the message window of the DriveManager l The most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 395 11 Alarms warnings 11 6 23 10 Error 22 10 emergency code 7305h Cause Channel 1 Initialization EndDat 2 1 not allowed write operation to write protected cells or protection cells of the encoder Suggested steps ...

Page 396: ...the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 396 11 Alarms warnings 11 6 23 14 Error 22 20 emergency code 7305h Cause Channel 1 Initialization SSI encoder monitoring Suggested steps Check whether the encoder is correctly connected Initialization encoder channel 1 l Error during the initialization routines of encoder channel 1 l In any case look at init outputs in...

Page 397: ...ror is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 397 11 Alarms warnings 11 6 23 18 Error 22 25 emergency code 7305h Cause Channel 1 Initialization HIPERFACE CRC error in error status response from encoder communication error Suggested steps Please check the wiring of the encoder Initialization encoder channel 1 l Error during the initialization routines of enc...

Page 398: ...puts in the message window of the DriveManager ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 398 11 Alarms warnings 11 6 23 22 Error 22 29 emergency code 7305h Cause Channel 1 Initialization HIPERFACE CRC error in response from encoder communication error Suggested steps Please check the wiring of the encoder Initialization encoder channel 1 l Error during the initialization routines of en...

Page 399: ...he message window of the DriveManager ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 399 11 Alarms warnings 11 6 23 26 Error 22 33 emergency code 7305h Cause Channel 1 Initialization HIPERFACE encoder status error encoder signals communication error Suggested steps Please look at parameter 552 ENC_CH1_AbsEncStatus Initialization encoder channel 1 l Error during the initialization routines o...

Page 400: ...ge window of the DriveManager ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 400 11 Alarms warnings 11 6 23 30 Error 22 37 emergency code 7305h Cause Channel 1 Initialization TTL the processor board inside the servo controller is incompatible with this function Suggested steps No further information available Please contact your service provider Initialization encoder channel l This is prob...

Page 401: ...or is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 401 11 Alarms warnings 11 6 23 34 Error 22 42 emergency code 7305h Cause Channel 1 Initialization SSI common error Suggested steps Please note the extended information of the error message Initialization encoder channel 1 l Error during the initialization routines of encoder channel 1 l In any case look at init o...

Page 402: ...l In any case look at init outputs in the message window of the DriveManager ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 402 11 Alarms warnings 11 6 23 38 Error 22 46 emergency code 7305h Cause Channel 1 Initialization BISS common error Suggested steps Please note the extended information of the error message Initialization encoder channel 1 l Error during the initialization routines of ...

Page 403: ...ase look at init outputs in the message window of the DriveManager l The most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 403 11 Alarms warnings 11 6 24 3 Error 23 3 emergency code 7304h Cause Channel 2 Initialization Resolver error encoder monitoring Suggested steps Please connect the encoder correctly Initialization encoder channel 2 l...

Page 404: ...e look at init outputs in the message window of the DriveManager l The most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 404 11 Alarms warnings 11 6 25 3 Error 24 3 emergency code 7307h Cause Channel 3 Initialization SSI error encoder monitoring Suggested steps Please connect the encoder correctly Initialization encoder channel 3 l Error ...

Page 405: ...e most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 405 11 Alarms warnings 11 6 25 7 Error 24 7 emergency code 7307h Cause Channel 3 Initialization EndDat 2 1 error SingleTurn read from encoder Suggested steps Please note additional Information in the message window of the DriveManager Initialization encoder channel 3 l Error during the i...

Page 406: ...n encoder channel l This is probably a software problem l In any case look at init outputs in the message window of the DriveManager ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 406 11 Alarms warnings 11 6 25 11 Error 24 15 emergency code 7307h Cause Channel 3 Initialization SSI MultiTurn from parameter 573 ENC_CH1_ MultiT Suggested steps Change the input of the multiturn bits of the para...

Page 407: ... The most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 407 11 Alarms warnings 11 6 25 15 Error 24 38 emergency code 7307h Cause Channel 3 Initialization EndDat 2 1 error PositionBits read from encoder Suggested steps Number of clocks to transmit the position from the encoder No further information available Please contact your service pro...

Page 408: ...The most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 408 11 Alarms warnings 11 6 25 19 Error 24 43 emergency code 7307h Cause Channel 3 Initialization SinCos common error Suggested steps Please note the extended information of the error message Initialization encoder channel 3 l Error during the initialization routines of encoder channel...

Page 409: ... ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 409 11 Alarms warnings 11 6 25 23 Error 24 47 emergency code 7307h Cause Channel 3 Initialization EndDat22 common error Suggested steps Please note the extended information of the error message Initialization encoder channel 3 l Error during the initialization routines of encoder channel 3 l In any case look at init outputs in the message wind...

Page 410: ...ure that the encoder has been mounted correctly l The problem could also have been caused by mechanical vibration during initialization ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 410 11 Alarms warnings 11 6 26 Error 25 Encoder cyclic process common error 11 6 26 1 Error 25 1 emergency code FF00h Cause Encoder cyclic Getting commutation position difference too high Suggested steps Check ...

Page 411: ...most common cause of error is the wiring to the encoder ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 411 11 Alarms warnings 11 6 26 5 Error 25 5 emergency code FF00h Cause Encoder cyclic ENC_PCon missing encoder configuration for PCON mode Suggested steps Please configure encoder channel for position control P522 Initialization encoder channel l This is probably a problem of the parameter...

Page 412: ... is the wiring to the encoder 11 6 28 Error 28 Encoder channel 3 cyclic process error ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 412 11 Alarms warnings 11 6 28 1 Error 28 1 emergency code 7307h Cause Channel 3 cyclic Np distance coded error measured counter distance is out of range Suggested steps Please check the wiring of the encoder Encoder channel cyclic evaluation l Error during th...

Page 413: ...020 ServoOne Device Help 413 11 Alarms warnings 11 6 29 Error 30 Control initialization error 11 6 29 1 Error 30 1 emergency code 5300h Cause Initialization error analogue input Suggested steps Check calibration of analog inputs This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest chang...

Page 414: ...lease include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 414 11 Alarms warnings 11 6 29 3 Error 30 3 emergency code 5300h Cause Error while calculating flux model of asynchr motor Suggested steps Check motor parameters Rrot Lsig Lmag and magn current Imag This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a late...

Page 415: ...ror to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 415 11 Alarms warnings 11 6 29 5 Error 30 5 emergency code 5300h Cause Error in U f control initialization Suggested steps Check VFC parameters This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of...

Page 416: ...vice Help 416 11 Alarms warnings 11 6 29 7 Error 30 7 emergency code 5300h Cause Error at lookup table bigtab calculation Suggested steps Check settings of table configuration This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest changes l Please check your parameter set for implausible ...

Page 417: ...ware on Profinet option available Suggested steps This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature This is possibly a hardware issue If other measures fail to solve the problem please replace the servo controll...

Page 418: ... setting See if the error persists or if it comes with activating a certain feature ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 418 11 Alarms warnings 11 6 32 2 Error 33 1 emergency code 5300h Cause Control task exceeded scan time Suggested steps Please restart device Computational load in time critical task of axis module is too high l Please reduce computational load by removing parame...

Page 419: ...Error 33 3 emergency code 5300h Cause Unknown EXCEPTION in TC safety Suggested steps Reset device ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 419 11 Alarms warnings 11 6 32 5 Error 33 4 emergency code 5300h Cause Internal timing error Suggested steps Run time error not enough CPU performance check PLC program Computational load in time critical task of axis module is too high l Please re...

Page 420: ...ed on l Power supply was possibly switched off l Please check if the actual grid voltage matches the supply setting parameter PST_ VoltageSupply l Verify that the grid is stable under load condition ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 420 11 Alarms warnings 11 6 33 3 Error 34 2 emergency code 3220h Cause Power fail initialization failed Suggested steps Check power fail parameter ...

Page 421: ...is error to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 421 11 Alarms warnings 11 6 34 2 Error 35 1 emergency code 7305h Cause ENC CH1 SinCos error encoder monitoring Suggested steps Check encoder cables voltage supply and selection Make sure unused channels are switched off The encoder is not connected or not working pr...

Page 422: ... service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 422 11 Alarms warnings 11 6 34 4 Error 35 3 emergency code 7307h Cause ENC CH3 SinCos error encoder monitoring Suggested steps Check encoder cables voltage supply and selection Make sure unused channels are switched off The encoder is not connected or not working properly l If this...

Page 423: ...ur service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 423 11 Alarms warnings 11 6 34 6 Error 35 5 emergency code 7305h Cause ENC CH1 SSI error parity error Suggested steps Check encoder cables voltage supply and selection Make sure unused channels are switched off The encoder is not connected or not working properly l If this is enc...

Page 424: ...ur service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 424 11 Alarms warnings 11 6 34 8 Error 35 7 emergency code 7307h Cause ENC CH3 SSI error parity error Suggested steps Check encoder cables voltage supply and selection Make sure unused channels are switched off The encoder is not connected or not working properly l If this is enc...

Page 425: ...ervice partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 425 11 Alarms warnings 11 6 34 10 Error 35 9 emergency code 7307h Cause ENC CH3 wire break on digital encoder Suggested steps Check encoder cables voltage supply and selection Make sure unused channels are switched off The encoder is not connected or not working properly l If this is...

Page 426: ...g If available please try another encoder and cable l See detailed error information for a more detailed description ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 426 11 Alarms warnings 11 6 34 13 Error 35 12 emergency code 7307h Cause Channel 3 cyclic HDSL status error position invalid Suggested steps Please check the encoder and wiring Encoder channel cyclic evaluation l Error during the...

Page 427: ...or value exceeds maximum Suggested steps Check reduce the load of the chopper ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 427 11 Alarms warnings 11 6 37 Error 39 TWIN monitoring error 11 6 37 1 Error 39 0 emergency code 7300h Cause TWIN Monitoring speed difference between master and slave is too large Suggested steps The control system failed to track the reference value l Please check i...

Page 428: ...or to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 428 11 Alarms warnings 11 6 37 3 Error 39 2 emergency code 7300h Cause Tech Option remote error Suggested steps TwinSync Error on slave The control system failed to track the reference value l Please check if the axis is blocked l Try to reduce acceleration or deceleratio...

Page 429: ...26B 5 01 Date 09 2020 ServoOne Device Help 429 11 Alarms warnings 11 6 37 5 Error 39 4 emergency code 2350h Cause TWIN Monitoring position difference between master and slave is too large Suggested steps The control system failed to track the reference value l Please check if the axis is blocked l Try to reduce acceleration or deceleration l If reference speed is higher than the motor rated speed ...

Page 430: ... reporting this error to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 430 11 Alarms warnings 11 6 38 2 Error 40 1 emergency code 7300h Cause Tech Option communication error Suggested steps Tech Option switching frequency discrepancy This issue is probably caused by an unsuitable parameter setting l Save your parameter set...

Page 431: ...ur service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 431 11 Alarms warnings 11 6 38 4 Error 40 3 emergency code 7300h Cause Tech Option remote error Suggested steps Error pending on remote servo This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter ...

Page 432: ...service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 432 11 Alarms warnings 11 6 38 6 Error 40 5 emergency code 7300h Cause Tech Option communication error Suggested steps dSPACE control mode discrepancy This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of para...

Page 433: ...to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 433 11 Alarms warnings 11 6 38 8 Error 40 7 emergency code 7300h Cause Multi I O communication error Suggested steps Error in option communication This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of ...

Page 434: ...please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 434 11 Alarms warnings 11 6 39 Error 41 Fast discharge monitoring error dc link 11 6 39 1 Error 41 0 emergency code 7300h Cause Maximum period for fast discharge exceeded 35 s Suggested steps This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later rest...

Page 435: ...43 1 emergency code 6100h Cause Plausibility error between IP adress and subnetmask subnetmask was corrected Suggested steps Check the settings of the IP address and the subnetmask of the Ethernet interface X3 X9 in the parameters 671 and 688 This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo th...

Page 436: ... your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 436 11 Alarms warnings 11 6 42 2 Error 45 1 emergency code 8612h Cause Movement requested which was limited by reversing lock limit switch or reference v alue limitation Suggested steps Quit error and change reference value The reference value violates a lock or limit switch l...

Page 437: ...again l When reporting this error to your service partner please include your device s parameter setting ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 437 11 Alarms warnings 11 6 42 4 Error 45 3 emergency code 8612h Cause Software limit switch overtravel detected traversing task rejected Suggested steps Quit error and change reference value The reference value violates a lock or limit swit...

Page 438: ...sure external speed limitation or increase speed control gain for stronger limitation ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 438 11 Alarms warnings 11 6 43 2 Error 46 1 emergency code 8612h Cause Negative software limit switch is exceeded negative position limit Suggested steps Quit error and change reference value Position was limited internally l Please check factor group setting ...

Page 439: ...al speed limitation or increase speed control gain for stronger limitation ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 439 11 Alarms warnings 11 6 43 4 Error 46 3 emergency code 8612h Cause Software limit switch overtravel detected Suggested steps Quit error and change reference value Position was limited internally l Please check factor group setting and position command l Take a scope ...

Page 440: ...own error in functional safety interface detected Suggested steps Acknowledge error if the error occurs again reset device This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature This is possibly a hardware issue If o...

Page 441: ...nload of the safety programm l Please check the security program l Please check the connection settings of your safety system in SafePLC S l Please reload or download the safety program again ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 441 11 Alarms warnings 11 6 44 5 Error 47 4 emergency code 6100h Cause Upload of safe PLC application file failed Suggested steps Acknowledge error and tr...

Page 442: ... the problem please replace the servo controller ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 442 11 Alarms warnings 11 6 45 2 Error 49 1 emergency code 6100h Cause Alarm on safety controller SR1 of master or local device detected Suggested steps Read additional information check safety system or wiring and acknowledge alarm error Extended diagnosis of safety errors alarms l Further infor...

Page 443: ...er acknowledges all slave alarms and resets the network status to RUN ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 443 11 Alarms warnings 11 6 45 4 Error 49 3 emergency code 6100h Cause Alarm on safety controller SR1 of Slave 1 detected Suggested steps Read additional information check safety system or wiring and acknowledge alarm error Extended diagnosis of safety errors alarms l Further...

Page 444: ...owledges all slave alarms and resets the network status to RUN ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 444 11 Alarms warnings 11 6 45 6 Error 49 5 emergency code 6100h Cause Alarm on safety controller SR1 of Slave 2 detected Suggested steps Read additional information check safety system or wiring and acknowledge alarm error Extended diagnosis of safety errors alarms l Further inform...

Page 445: ...owledges all slave alarms and resets the network status to RUN ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 445 11 Alarms warnings 11 6 45 8 Error 49 7 emergency code 6100h Cause Alarm on safety controller SR1 of Slave 3 detected Suggested steps Read additional information check safety system or wiring and acknowledge alarm error Extended diagnosis of safety errors alarms l Further inform...

Page 446: ...wledges all slave alarms and resets the network status to RUN ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 446 11 Alarms warnings 11 6 45 10 Error 49 9 emergency code 6100h Cause Alarm on safety controller SR1 of Slave 4 detected Suggested steps Read additional information check safety system or wiring and acknowledge alarm error Extended diagnosis of safety errors alarms l Further inform...

Page 447: ...owledges all slave alarms and resets the network status to RUN ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 447 11 Alarms warnings 11 6 45 12 Error 49 11 emergency code 6100h Cause Alarm on safety controller SR1 of Slave 5 detected Suggested steps Read additional information check safety system or wiring and acknowledge alarm error Extended diagnosis of safety errors alarms l Further info...

Page 448: ...and resets the network status to RUN ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 448 11 Alarms warnings 11 6 45 14 Error 49 13 emergency code 6100h Cause Error on safety controller SR1 detected Suggested steps Read additional information check safety system or wiring and acknowledge alarm error Extended diagnosis of safety errors alarms l Further information on the error alarm code can b...

Page 449: ...k status to RUN l Please restart the application 24V reset ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 449 11 Alarms warnings 11 6 45 16 Error 49 15 emergency code 6100h Cause Safety network alarm initiated by safety master Suggested steps Read additional information check safety system or wiring and acknowledge alarm error Extended diagnosis of safety errors alarms l Further information...

Page 450: ...mation or error status information reported by the encoder l In any case look at init outputs in the message window of the DriveManager ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 450 11 Alarms warnings 11 6 47 Error 52 Analog inputs error 11 6 47 1 Error 52 1 emergency code FF00h Cause Analogue input Wire break detected Suggested steps Check analogue input configuration There is a probl...

Page 451: ... Suggested steps Check digital inputs This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest changes l Please check your parameter set for implausible settings l Please set device to factory setting restart and see if the error occurs again l When reporting this error to your service part...

Page 452: ...aster l Try to increase the master cycle time 11 6 51 2 Error 57 2 emergency code FF00h Cause Powerlink fieldbus module defective or not available Suggested steps This is possibly a hardware issue If other measures fail to solve the problem please replace the servo controller ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 452 11 Alarms warnings 11 6 51 3 Error 57 3 emergency code FF00h Caus...

Page 453: ...hile in operation Suggested steps Do not switch on drive while tool is not clamped correctly 11 6 53 2 Error 60 2 emergency code 6100h Cause Unknown combination of input signals Suggested steps Check input wiring and settings ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 453 11 Alarms warnings 11 6 53 3 Error 60 3 emergency code 6100h Cause Clamping pressure was not applied properly Sugges...

Page 454: ...62 3 emergency code 7307h Cause Encoder channel 3 Endat22 Error M ALL Power Down BAT Suggested steps Multiturn position is lost Please perform a new homing of the drive Please reset the encoder internal warnings and errors with parameters 642 and 644 M ALL Power Down BAT l A sensor with implementation of the multi turn part via battery buffer is connected l The error occurs when both voltages on t...

Page 455: ...NET 457 12 5 Synchronization Configuration 457 12 6 EDS file generator 458 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 455 12 Fieldbus 12 1 POWERLINK NOTE l For a full description of the POWERLINK fieldbus option for the ServoOne operation system requirements connection operating modes configuration commissioning see the POWERLINK User manual ID No 1108 29B x l POWERLINK is defined as an...

Page 456: ...1784 l For general information on EtherCAT please visit www ethercat org l EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 456 12 Fieldbus 12 3 Sercos NOTE l For a full description of the Sercos fieldbus option for the ServoOne and ServoOne junior operation system requirements connection o...

Page 457: ...inate it to the greatest extent possible NOTE l If you are under the impression that your application requires the use of this special function please contact your project engineer or Helpline see Section Support on page 14 ID Index Name Unit Description 2008 COM_SYNC_CTRL Set up of fieldbus synchronization control 2008 0 COM_SYNC_CTRL_Ref 15ns Reference time for incoming sync telegrams relative t...

Page 458: ...the help of the EDS file generator for the current firmware on the device b Be downloaded from our website www keba com NOTE l The CANopen fieldbus system is one of the options available for the ServoOne junior ServoOne Single Axis System and Multi Axis System series It is only available if installed at the factory and cannot be retrofitted ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 458...

Page 459: ... 0842 26B 5 01 Date 09 2020 ServoOne Device Help 459 13 Technology options X8 13 1 Selection of modules Image 13 1 Technology options X8 settings screen Option X8 available only from the factory cannot be retrofitted supports the following options l SinCosmodule see Section Channel 3 Interface X8 optional on page 78 l TTL encoder simulation see Section TTL with encoder simulation on page 461 l TTL...

Page 460: ...cification Option 2 Technology second SinCos encoder ID No 1308 21B x ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 460 13 Technology options X8 13 3 SinCos encoder NOTE l For a full description of the SinCos encoder technology option technical data connections configuration see the Specification Option 2 Technology SinCos encoder ID No 1108 21B x ...

Page 461: ...the Option 2 Technology SSI encoder simulation Specification ID No 1106 22B x 13 5 1 Parameters SSI encoder simulation is enabled by setting P 2800 0 TOPT_SSI_Mode to 1 ID Index Name Unit Description 2800 0 TOPT_SSI_Mode Operation mode of SSI option 2801 0 TOPT_SSI_MultiT bit Number of multiturn bits 2802 0 TOPT_SSI_SingleT bit Number of singleturn bits 2803 0 TOPT_SSI_Polarity SSI polarity 2804 0...

Page 462: ...output expansion DIO Specification ID No 1106 04B x ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 462 13 Technology options X8 13 7 MIO option NOTE l For a full description of the MIO multifunctional input output expansion technology option technical data connections configuration see the Option 2 Technology multifunctional input output expansion MIO Specification ID No 1106 25B x ...

Page 463: ...iption of the TWINsync technology option technical data connections configuration see the Option 2 Technology TWINsync option Specification ID No 1106 23B x ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 463 13 Technology options X8 ...

Page 464: ...s Brief description This chapter describes the options available for viewing the device status Contents 14 1 Device status 464 14 2 Status bits 465 14 3 Load factor 466 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 464 14 Device status 14 1 Device status Image 14 1 Device status window ...

Page 465: ...al device status 152 0 Textual status Current device status 153 0 Fault reset Fault reset command Table 14 1 Device status parameters NOTE l On the device the device statuses are shown on the 7 segment display See Operation Manuals ServoOne and ServoOne junior ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 465 14 Device status 14 2 Status bits Image 14 2 Status bits window To select the Dri...

Page 466: ...s Asynchronous 1ms Task 1652 2 LU_Timing ms Initialization Task 1652 3 LU_Timing ms Control COM Handler 1652 4 LU_Timing ms Service COM Handler 1652 5 LU_Timing ms CoDeSys RTS Task 1652 6 LU_Timing ms Motion 1ms Task 1653 0 LU_Timing_Reset Reset maximal and average timing values 1654 0 LU_Timing_Total Total computer load 1661 LU_MemoryLoad SW Memory Memory Load 1661 0 LU_Memory Context Save Area 1...

Page 467: ...ate 09 2020 ServoOne Device Help 467 15 Manual mode 15 1 Manual mode window NOTE l Read comply with and confirm the safety prompt l As soon as the Manual mode window opens all unrelated device settings will be disabled These device settings will be re enabled after the Manual mode window is closed The manual mode window will appear but be disabled at first Once you click on the Activate manual mod...

Page 468: ...ontrol mode but that will only apply when using manual mode e g acceleration deceleration setpoint speed etc l Homing see Section Homing on page 252 l Jog mode which can be used to move the motor step by step in a positive or negative direction with two different speeds l Reversing operation in which the motor can be moved back and forth with adjustable accelerations and speeds ID No 0842 26B 5 01...

Page 469: ...Image 15 3 Manual mode window enabled Homing tab ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 469 15 Manual mode Image 15 4 Manual mode window enabled Jog mode tab ...

Page 470: ...Image 15 5 Manual mode window enabled Reversing PG 0 tab ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 470 15 Manual mode Image 15 6 Manual mode window enabled Reversing IP 1 tab ...

Page 471: ...MPRO_PARA_ SignalType Drive commissioning Type of test signal in IP mode 237 0 MPRO_PARA_ WatchDog ms Drive commissioning Watchdog tick 238 0 MPRO_PARA_Time ms Drive commissioning Reverse control timer 297 0 MPRO_FG_ ActualSpeedFac Factor group actual speed factor 1 min to user speed Table 15 1 Manual mode parameters ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 471 15 Manual mode 15 2 Man...

Page 472: ...ate 472 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 472 16 Drive description 16 1 Electronic rating plate Image 16 1 Drive controller electronic rating plate screen The electronic rating plate provides a variety of information concerning the ServoOne including the device model serial number communication and technology options hardware and software versions and operating time This inform...

Page 473: ...e description ID Index Name Unit Description 9 0 DV_SwVersionVar Software version variant of device plain text 24 USB_IO_Statistic Statistic data of USB IO Infineon driver 24 0 uReset Reset statistics data 24 1 uIntEp0 24 2 uIntEp1 Aufrufzähler des Endpunkt 1 ACK Interrupts Calling count of handler for end point 1 ACK interrupts 24 3 uIntEp2 Aufrufzähler des Endpunkt 2 Interrupts Calling count of ...

Page 474: ...PrintID ID hardware print 51 0 DV_HwPrintSubID Hardwareprint Sub ID 52 0 DV_HwOptionX11ID ID hardware option on X11 Table 16 3 Parameter Drive description Hardware version ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 474 16 Drive description ID Index Name Unit Description 53 0 DV_HwOptionX12ID ID hardware option on X12 54 0 DV_HwCpldID Hardware CPLD ASIC ID 55 0 DV_ChipID Chip and redesig...

Page 475: ... 4 Parameter Drive description Interface continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 475 16 Drive description ID Index Name Unit Description 20 5 ReadLevel Essential level for parameter read access 20 6 WriteLevel Essential level for parameter write access 20 7 Attributes Manufacturer dependent attributes 20 8 DisplayAttributes Harmonized attributes for parameter representation ...

Page 476: ...DSC_ SaveGroups2 List of names of parameter save groups 48 0 PARA_DSC_SaveGroup 48 PARA_DSC_SaveGroup 48 12 PARA_DSC_SaveGroup Table 16 4 Parameter Drive description Interface continue ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 476 16 Drive description ...

Page 477: ...set ID Determination of the data set ID can be accomplished by means of digital inputs or a parameter for example One possible application would be storing two motor data sets in one device which can be switched over in dependence on a certain event 17 1 1 Parameters used P 97 PARA_DataSetLdCfg The parameter P 97 PARA_DataSetLdCfg is used to activate the function and to make the general settings f...

Page 478: ...LdCfg 0 Opt 1 Determining the data set ID ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 478 17 Enhanced additional functions The parameter P 97 PARA_DataSetLdCfg 1 FS is the function selector and specifies which source is used for determining the data set ID The parameter P 97 PARA_DataSetLdCfg 2 PARA_DataSetLd_Mask functions in this case as the bitmask for selecting e g the desired digita...

Page 479: ...s must have the syntax INDEX SUBINDEX VALUE INDEX SUBINDEX VALUE ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 479 17 Enhanced additional functions 17 1 3 Procedure Activate the function using P 97 PARA_DataSetLdCfg 0 1 Generate the data set ID using P 97 PARA_DataSetLdCfg 1 2 Set Para_ID and Para_SubID using 97 PARA_DataSetLdCfg 4 and P 97 PARA_ DataSetLdCfg 5 Set Para_Scale and Para_Offs...

Page 480: ...ions If for example a data set ID with the ID 123 is determined the parameters 456 0 300 and 451 0 Testmotor are written sequentially For an ID 456 456 0 350 451 0 Supermotor 320 0 0 01 321 0 20 and 360 0 1000 All aforementioned data sets are valid i e leaving entries blank is permissible as is the insertion of any number of spaces or separators The string can be closed with but this is not requir...

Page 481: ...stem Assign additional parameter data set ID With byte 0 Specification of the parameter data set number Bit 0 of 2010 0 to bit 7 of 2010 0 With byte 1 Specification of the options Bit 0 1 Remove fieldbus specific parameters from the data set Bit 1 1 Remove scope parameters from the data set Table 16 7 Upload and download of parameter data sets 17 2 1 Write parameter data set to the file system ID ...

Page 482: ...FG_ID Specifies the name of the data set to be read 0 99 means PDS00 PDS99 3 Specify options With byte 1 of P 2010 0 COM_CFG_ID Specification of the options Bit 0 1 Save the data set permanently to the non volatile axis controller 4 Read the parameter data from the file system and write to the device parameters P 2009 0 COM_CFG_File 19 5 If everything has worked properly P 2009 0 COM_CFG_File is a...

Page 483: ...61 84 Signal correction 60 C CAM 291 Control word 282 Function selectors 312 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 483 18 Index Parameters 281 CANopen 21 456 EDS file 458 State machine 277 Technology option 320 Touch probe 305 Channel 1 59 Channel 2 74 Channel 3 78 Channel 4 92 Characteristic K T 129 Saturation 127 Commissioning 17 Automatic test 22 Wizard 17 Common master 290 Comp...

Page 484: ... motion 280 282 Test signal generator 164 Touch probe 278 Copyright 3 Current Controller Sampling time 111 Current observer 129 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 484 18 Index D Deceleration 271 Device status 464 Digital filter 138 Drahtbruch See Wire break monitoring E Einheiten See Scaling Electronic cam plate 280 Electronic gearing Disengagement 288 Engagement 287 Electronic ...

Page 485: ...45 147 Synchronous motor 148 158 Fieldbus 455 See also POWERLINK CANopen EtherCAT SERCOS PROFIBUS PROFINET ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 485 18 Index H Hall sensor 64 84 Hardware requirements 17 HIPERFACE DSL 91 Homing 252 Method 10 255 Method 11 255 Method 12 255 Method 13 254 Method 7 to 0 257 Method 8 256 Method 9 256 Method 1 258 Method 11 262 Method 12 262 Method 13 26...

Page 486: ...alogue 316 See also Analogue channel Profile mode 319 Scaling 318 Digital 303 Interpolation types 249 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 486 18 Index J Jog mode 267 L LHMES 2 method 161 Limit switch 258 negative 262 Limitations 324 Jerk 247 Position 326 Setting 324 Speed 326 Load factor 466 M Manual mode 467 471 Mass inertia Adaptation 113 Determining 114 Master configuration 28...

Page 487: ... 36 Electronic data 37 Third party 33 Multi turn encoder 108 as single turn encoder 106 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 487 18 Index Multi turn overflow 108 O Operating time 472 Outputs 302 Analogue 320 Digital 311 337 Motor brake 321 Overmodulation 130 Oversampling 106 P Position control IP mode 247 PG mode 245 Reference table 269 271 Reference value limitation 315 Setting 1...

Page 488: ...252 Table 268 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 488 18 Index Reference mark 67 68 88 259 262 264 Increment coded 107 Negative 260 Resolver cables 75 Responsibility 16 Restart 104 Rigidity of the drive train 113 Round table function Infinite motion task 232 Process option 230 231 Relative motion task 232 S Safe Torque Off See STO Safe Torque Off Safety 15 Scaling 226 See also We...

Page 489: ...ire break monitoring 61 67 75 87 Speed 270 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 489 18 Index Speed control 111 133 Analysis 139 Auto commutation IECON 163 Axis correction 104 Detent torque compensation 124 125 Digital filter 138 Encoder for 53 54 Expanded 135 For hydraulic systems 203 IP mode 246 Limitation 325 326 Mass inertia 114 PG mode 244 Reference table 269 271 Reference val...

Page 490: ...g See Torque control Synchronized motion 279 See also Electronic cam plate Electronic gearing Synchronmotor See Motor Synchronous ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 490 18 Index T Target Group 10 Technology options X8 78 81 459 CANopen 2AO 320 Connections 55 DIO 462 HIPERFACE DSL 91 MIO 462 Pin assignment 55 Second Sin Cos encoder 460 Selection of modules 459 SSI encoder simulat...

Page 491: ...ncoder for 53 55 100 Expanded 127 For hydraulic systems 175 211 Optimization 115 Reference table 269 271 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 491 18 Index Reference value limitation 314 Reference value reached 314 Setting 23 115 Stop ramps 251 With setpoint via analogue channel 273 Touch probe 278 Transfer function 116 140 TTL 52 64 65 85 89 Connection 57 58 Encoder simulation 78 ...

Page 492: ...us 328 Warning thresholds 337 Warnings 15 Weighting See also Scaling linear 234 rotary 235 Wire break monitoring 274 319 Activation 54 Z Zero pulse 109 258 260 262 266 ID No 0842 26B 5 01 Date 09 2020 ServoOne Device Help 492 18 Index ...

Page 493: ...1 966 0 Fax 49 6441 966 137 info keba de KEBA AG Headquarters Gewerbepark Urfahr 4041 Linz Austria Phone 43 732 7090 0 Fax 43 732 730910 keba keba com KEBA Group worldwide China Germany India Italy Japan The Netherlands Austria Romania Switzerland South Korea Taiwan Czech Republic Turkey USA Copyright 2020 KEBA All rights reserved The entire contents of this documentation especially the texts phot...

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