Parker SLVD1N, User Manual

Page 1: ...1 SLVD N EtherCAT COE SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N User s manual rev 0 2 May 2010 ...

Page 2: ... be copied or used without express authorization Parker Hannifin S p A Divisione S B C is committed to a continuous product upgrade and reserves the right to modify products and user manuals at any time without prior notice No part of this user manual may be howsoever reproduced without previous consent by Parker Hannifin S p A Divisione S B C Abbreviations FBK Feedback Pr Decimal parameter b Bina...

Page 3: ... 2 10 Warranty 16 3 MAIN HARDWARE FEATURES 16 3 1 Ambient conditions 16 3 2 Vibrations and shocks 16 3 3 Power supply 17 3 4 Technical characteristics 18 3 5 Main software features 20 4 MOUNTING 21 4 1 Dimensions and weights 21 4 2 Fastening 24 4 3 Mounting instructions 25 5 ELECTRICAL CONNECTIONS 26 5 1 Signal connectors layout 26 5 2 Sections and cable specifications 30 5 3 Protections 31 5 4 PE...

Page 4: ...ting parameters of EtherCAT communication 53 9 3 Selection of motor type 53 9 4 Changing motor data 54 9 5 Setting feedback 54 9 5 1 Feedback configuration 55 9 6 Feedback from incremental encoder at square or sinusoidal wave 55 9 7 Encoder phasing 56 9 7 1 Type 1 phasing 56 9 7 2 Type 2 phasing 56 9 8 Feedback from SinCos encoder with Endat interface 58 9 8 1 Motor phases 59 9 9 First commissioni...

Page 5: ...object summary of dsp402 in SLVD N 135 13 1 2 1 Object 6040h Controlword 139 13 1 2 2 Object 6041h Statusword 141 13 1 2 3 Object 605Bh Shutdown option code 143 13 1 2 4 Object 605Ch Disable operation option code 144 13 1 2 5 Object 605Ah Quick stop option code 145 13 1 2 6 Object 605Eh Fault reaction option code 145 13 1 2 7 Object 6060h Modes of operation 146 13 1 2 8 Object 6061h Modes of opera...

Page 6: ... 2 Object dictionary entries 159 13 1 9 2 1 Objects defined in this chapter 159 13 1 9 2 2 Object 607Ah Target position 159 13 1 9 2 3 Object 6081h Profile velocity 160 13 1 9 2 4 Object 6083h Profile acceleration deceleration 160 13 1 9 2 5 Object 6085h Quick stop deceleration 161 13 1 9 2 6 Object 6086h Motion profile type 161 13 1 9 3 Functional description 162 13 1 9 4 Functional description 1...

Page 7: ...Parker Hannifin S p A S B C Division SLVDN User s Manual Page 7 of 181 ...

Page 8: ...or interface based on parameters makes it easy to configure the converter Configurations of different kinds make suitable it for many applications The drive by the EtherNet interface optional card can support the EtherCAT protocol to management the state machine in according to the standard CANopen DSP402 using the COE messages CANopen over CAT Through the management of the real time synchronous o...

Page 9: ...it 1 2 5 7 10 15 17 N New series D CAN Open protocol DS402 Resolver E EnDat incremental sinc encoder input from motor feedback H Incremental encoder hall sensors input from motor feedback F SinCos one sin wave per pole pitch Y1 Optional board E5 scheda EtherCAT E5 EtherCAT release software A label is attached on the right side of the converter that contains all the essential information to correct...

Page 10: ...xample of this label is given below The performance of converter is guaranteed only with synchronous motors with permanent magnets MB and SMB Series that have been manufactured by us Model Power supply Output voltage Serial number Input voltage Input frequency Output frequency ...

Page 11: ...t as well as an understanding of all warnings and precautionary measures noted in these instructions The user must also observe local safety regulations Before installing and commissioning the drive read carefully this documentation and strictly observe all technical safety and wiring information including identifying labels placed on the drive ratings In case of doubt contact the Parker Hannifin ...

Page 12: ...e closed in a protective cabinet in order to avoid direct contact with accessible live parts Only qualified and trained personnel is allowed to perform installation and commissioning using appropriate tools and following the safety precautions given in this instruction Make sure that supply voltage has been switched off before installing and wiring Drives are only allowed to be operated on TT TN g...

Page 13: ... Risk of electric shock Danger of life Earth leakage current during operation may exceed 3 5 mA AC or 10mA DC Earth connection must be permanent use copper wire having a minimum size of 10mm2 throughout all the length Before switching the equipment on make sure that all devices including the motor are permanently connected to earth even for brief test or measurements as shown in the wiring diagram...

Page 14: ...er to prevent people from accidentally entering the machine s range of motion Secure vertical axes against falling or dropping after switching off the motor power Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone 2 6 Safety instructions for maintenance It is extremely dangerous to remove covers or part of the external enclosure from the equipme...

Page 15: ...rive systems Part 3 EMC product standard including specific test method EtherCAT IEC 61800 7 Generic interface and use of profile for power drive systems IEC 61800 7 1 Interface definition type 1 IEC 61800 7 201 Profile specifications type 1 IEC 61800 7 301 Mapping of profile type 1 To EtherCAT standards referred to the web site EtherCAT Technology Group The drives are to be intended as components...

Page 16: ...mages that may be caused by inappropriate use of the converter 3 Main hardware features 3 1 Ambient conditions operation 3K3 Class 0 45 C 32 113 F storage 1K4 Class 25 55 C 4 131 F temperature transportation 2K3 Class 25 70 C 13 158 F operation 3K3 Class 5 85 without ice and condensation storage 1K3 Class 5 95 without ice and condensation humidity 3K3 class transportation 2K3 Class 95 a 40 C altit...

Page 17: ...o over the range Current rating of the external power supply A 1 Control electronics dissipation W 15 EMC Filter internal Power stage Mains frequency Hz 50 60 5 Variation rate of frequency Hz sec 1 2 Supply voltage 3 phase or 1 phase V 200 10 230 10 only for TT TN mains DC voltage range V 282 10 325 10 Maximum dissymmetry of voltage 3 EMC Filter internal ...

Page 18: ...current power derating 3ph Arms 2 4 4 2 5 9 7 6 13 3 17 2 17 2 Power stage dissipation W 9 3 19 2 52 0 75 1 100 3 158 3 180 Internal fan capacity m3 h 39 6 79 0 Switching frequency kHz 4 8 4 8 Output frequency Hz 0 450 dynamic braking and intermediate DC circuit Models SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N Internal DC capacitors 20 µF 680 820 1800 Braking resistor internal Ω 40 16 In...

Page 19: ...ange Type of driving required Reaction time kΩ V V μs 20 5 10 24 0 5 PNP 2 5 2 digital outputs open collector PNP Output High voltage range Output Low voltage range Max current for single output Overload Short circuit protection pull down interno V V mA kΩ Vsupply 1 1 100 si 20 1 differential analog reference voltage CMR resolution input impedance max frequency V dB bit kΩ Hz 10 50 15 sign 10 500 ...

Page 20: ...ing with a trapezoidal speed profile Provides the functions of an electrical shaft with variable ratio and phase correction Provides the functions of an electronic cam Simulates a stepper motor Controls the motor torque with the addition of speed control The internal PLC can be programmed to manage inputs and outputs Communication mode and real time synchronous controls via field bus based on Ethe...

Page 21: ... p A S B C Division SLVDN User s Manual Page 21 of 181 4 MOUNTING 4 1 Dimensions and weights SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N 1 1 kg 3 1 kg 2 43 lbs 6 84 lbs Measurements expressed in mm lateral front ...

Page 22: ...Parker Hannifin S p A S B C Division SLVDN User s Manual Page 22 of 181 ...

Page 23: ...Parker Hannifin S p A S B C Division SLVDN User s Manual Page 23 of 181 ...

Page 24: ...Division SLVDN User s Manual Page 24 of 181 4 2 Fastening Fit in a vertical position The SLVD1N SLVD2N SLVD5N SLVD7N converter must be mounted using an omega guide The SLVD10N SLVD15N and SLVD17N have a mounting plate Omega guide ...

Page 25: ... p A S B C Division SLVDN User s Manual Page 25 of 181 4 3 Mounting instructions A space of at least 100 mm must be left free above and beneath the converter The converter must be mounted vertically power block X6 above ...

Page 26: ... S p A S B C Division SLVDN User s Manual Page 26 of 181 5 ELECTRICAL CONNECTIONS 5 1 Signal connectors layout Terminal block 7 poles 5 08 step X6 Power 1 U 2 V 3 W 4 L1 5 L2 6 L3 7 PE MSTB2 5 7 ST 5 08 Phoenix model ...

Page 27: ...Parker Hannifin S p A S B C Division SLVDN User s Manual Page 27 of 181 Terminal block 8 poles 7 62 step X6 Power 1 PE 2 U 3 V 4 W 5 L1 6 L2 7 L3 8 PE PC4HV 8 ST 7 62 Phoenix model ...

Page 28: ... D Sub 15 female poles HD X3 Feedback Terminal block 15 poles 3 5mm step X4 Phoenix MCVW1 5 15 ST 3 5 1 0VA 1 24VIN 2 N C 2 0VQ 3 Reserved 3 0VA 4 ECC 4 AX 5 PTC 5 AX 6 CLK 6 REF 7 SIN 7 REF 8 SIN 8 MON 9 CLK 9 0VA 10 PTC 10 IN3 11 COS 11 IN2 12 COS 12 IN1 13 DATA 13 IN0 14 DATA 14 OUT1 15 ECC 15 OUT0 Terminal block 4 poles X7 D Sub 9 female poles standard X5 1 DC EtherCAT board connector 2 DC 3 B...

Page 29: ...1 Error Status On PDI watchdog timeout A PDI watchdog timeout has occurred Off Init The device is in state INIT Blinking Pre operational The device is in state PRE OPERATIONAL Single Flash Safe operational The device is in state SAFE OPERATIONAL On Operational The device is in state OPERATIONAL LED D2 Run Status Flickering Initialization or bootstrap The device is booting and has not yet entered t...

Page 30: ...ghtening torques Models SLVD1N SLVD2N SLVD5N SLVD7N SLVD10N SLVD15N SLVD17N 1 5 mm2 AWG14 2 mm2 AWG14 2 5 mm2 AWG12 4 mm2 AWG10 Terminal block X6 and X7 Tightening torque 0 5 0 6 Nm M3 Terminal block X4 Tightening torque 0 22 1 mm2 AWG16 0 22 0 25 Nm M2 Resolver cable The cable must consist of three individually shielded and insulated twisted pairs protected by a shield The conductor conductor cap...

Page 31: ... used can be used instead of fuses not use in installations with UL standard Use a 3 15A fast fuse for the 24V power supply protection 5 4 PE Protective Earth connections It is necessary to minimize the length of the individual cables to be grounded For this reason we recommend that a grounding bar be placed as close as possible to the frequency converters The grounding bar must be a copper bar an...

Page 32: ...nsformer without electrostatic shield or a direct connection to the power network is used EMC filters must be used The converter can be used only in grounded TT and TN industrial networks with a max short circuit symmetrical current of 5kA maximum at 230V 10 Do not use in ungrounded networks or in networks with asymmetrical grounding IT Use of a transformer connected the secondary in a star config...

Page 33: ...rmer Paz is the sum of the rated powers of the motors in W and n is the number of powered drive units Direct connection to 230V power 10 15 and 17 versions have two PE pins Note 3 The cable connecting the filter and the SLVD N must be as short as possible and in no case can it exceed 30 cm If the unit is connected directly to the mains currents on the order of 100A may be required when it is power...

Page 34: ...Parker Hannifin S p A S B C Division SLVDN User s Manual Page 34 of 181 5 6 Motor connection diagrams ...

Page 35: ...Parker Hannifin S p A S B C Division SLVDN User s Manual Page 35 of 181 5 7 Resolver connection diagrams ...

Page 36: ...Parker Hannifin S p A S B C Division SLVDN User s Manual Page 36 of 181 5 8 Encoder connection ...

Page 37: ...p A S B C Division SLVDN User s Manual Page 37 of 181 5 9 Encoder EnDat connection As far as the cable is concerned you may use a Heidenhain cable or one with the same features The cable must not be longer than 20 metres ...

Page 38: ...Parker Hannifin S p A S B C Division SLVDN User s Manual Page 38 of 181 5 10 Incremental encoder with Hall sensor ...

Page 39: ...an receive signals in quadrature and frequency sign b42 5 from an incremental encoder as from standard LineDrive RS422 Follow the outline of connection for the reference of frequency whether from an encoder or from an external module The second input in frequency is on the X4 connector digital inputs The input can receive signals in quadrature and frequency sign b42 4 from IN2 and IN3 digital inpu...

Page 40: ...iven above the connection of two SLVD N to the Digital Lock with a master is shown but the diagram could be extended to several converters respecting the series connection The line charge resistors must be connected to the last converter The master can be an encoder powered externally or an encoder simulator of another converter The signal of the master encoder must in any case be of differential ...

Page 41: ...ck Positioner about the programming 5 12 Serial line connection The serial line of the SLVD N can be configured as either RS 422 or as RS 485 depending on how the connection is made Realize the ending only on the last node like shown in the following For the pin see Signal connectors layout ...

Page 42: ... must be supplied with an external 24Vdc power supply 1A minimum per drive pins 1 and 2 of terminal block X4 The 24Vdc power supply must be exclusively dedicated to the drive Sharing the power supply with other devices e g brakes electro valves etc could cause malfunctions 5 14 Second third axes connection Order code SSC SLVDN Cable lenght 18 cm ...

Page 43: ...axis X23 III axis 1 TX 2 CK 3 CLOCKOUT 4 5V 5 0V 6 RX The connection of the additional axes must respect the following specifications the second axis must be connected to the X22 connector the third axis must be connected to the X23 connector Below it s showed an example of connections ...

Page 44: ...mum cross section of the conductors between motor and drive see paragraph Sections and cable specifications It is necessary to minimize the connection cable length In any case the cable length must be less than 3 m Internal resistance External resistance All models SLVD1N SLVD7N SLVD10N SLVD15N SLVD17N When the values of external braking are different higher to the default value ohm value and powe...

Page 45: ...fin S p A S B C Division SLVDN User s Manual Page 45 of 181 5 16 Cable connections The following pictures show how to realize the cable connections in particular how to connect the cable shields to the ground bars ...

Page 46: ...gs and grounding systems conducted interference Besides also high frequency interferes in the form of radiation especially through the motor cable in free space are generated radiated interference The reduction suppression of both conducted and radiated interference can be obtained through 9 grounding 9 shielding 9 filtering In particular filters reduce the interference conducted in the cables and...

Page 47: ...ered Adopt the following general approach if the screen is solely for shielding connect at both ends If current flowing in the shield interferes with the shielded signals connect at one end only The incoming cable must be connected to an earth terminal by means of a screw to ensure proper contact between screen and earth As far as possible keep the power side drive and control side PLC or NC physi...

Page 48: ...r earth terminal must be connected to the earth bar along the shortest possible route With SLVD N series the utilization of the external filters depend of the model and the sistem supply the following char shows the different courses supply model three phase by transformer with electrostatic shield mono phase with transformer three phase direct connection or auto transformer mono phase direct conn...

Page 49: ...gram the functional data control the status of the converter and send commands It consists of only three keys located directly beneath the display The keys are marked M The M key is use to modify the display and consequently the function of the e keys There are two types of display parameter mode and parameter value mode When the converter is powered on if there is no alarm the user sees IDLE or R...

Page 50: ... that hardware and software enabling commands are available In the same way an under voltage alarm is generated when the voltage level falls below 40VDC Caution the switch between low voltage and high voltage modes is potentially dangerous to the drive Always switch between modes with the drive disabled and follow these instructions step by step o Low voltage to nominal operating voltage sequence ...

Page 51: ... The converter can automatically detect the power supply voltage rating and adapts internal operating parameters accordingly Continuous 14 325 10 Set b39 0 1 and set the nominal value of continuous voltage in Pr206 Save switch off and on again the converter The automatic reset of under voltage undervoltage alarm can be forced by b99 8 1 with any kind of power supply it s necessary save the paramet...

Page 52: ...s on The motor shaft may be rotating Er Xx Corresponding to Pr0 this message indicates that the converter has registered an alarm xx indicates the alarm code and has shut off When it registers an alarm the converter is brought to Pr0 displaying the alarm code Pr Xx Indicates the parameter xx whose value can be displayed by pressing the M key Pb Xx Indicates the parameter at bit xx bxx yy Indicates...

Page 53: ...g parameters of EtherCAT communication Additional axes Drive Bit 0 Bit 1 Bit 2 SLVD N b232 13 b232 14 b232 15 1 axis additional 1 0 0 2 axes additional 0 1 0 The setting of the additional axes must be executed only on the drive with the EtherCAT board Note the maximum number of the additional axes 2 Setting the following parameters Enable the remoto mode b272 9 1 Conversion units of speed in count...

Page 54: ... correct values of Pr2 Pr3 Pr16 Pr17 Pr18 and Pr19 The automatic calculus is done only if the drive is in default condition alarm15 Attention when the opm are selected from the master EtherCAT the parameters of the position loop must be set to correct management of the motor Pr57 proportional gain of the position loop Pr50 maximum speed and if is used the feed forward parameters Pr106 b70 6 and b7...

Page 55: ...feedback of the speed control and of current and in the configuration of default it is used also in the position control After to have saved the configuration the activation of the selected feedback happens to the successive start up of the drive 9 6 Feedback from incremental encoder at square or sinusoidal wave About the connection draw see the paragraph Encoder connection See paragraph setting f...

Page 56: ...nd the last is about 90 degree electric with control sign of the encoder feedback Introduce the correct number of the motor poles Pr29 0 Pr89 Status 0 if positive result 2 if wrong enabling 3 if positive feedback 4 if wrong motor poles and or number of encoder pulses 5 se drive non pronto Pr23 0 o inrush aperto R b41 6 Phasing result 1 if positive result of the procedure and necessary condition fo...

Page 57: ...d necessary condition for drive OK Pb41 4 R 0 The calculated value of Pr201 at the end of the procedure if it is save it permits at the new start up that the procedure starts from this value and if the mechanical conditions don t change is maked only one vibration of standing fixed by Pr201 N B during the phasing procedure the motor must be motionless so if the motor is on vertical axe this system...

Page 58: ...f the above mentioned command b94 14 and b99 9 with drive disabled the flag b41 6 encoder ok set to 0 the drive needs to restart for to permit new enable of the axe The procedure of encoder phasing is not necessary with Parker Hannifin Divisione S B C s motor but when the system requires the phasing the procedure of the phasing is the same for incremental encoder see paragraph encoder phasing and ...

Page 59: ... the current at the rated value with 24V voltage applied Necessary requisites motor free without load and inertia applied Procedure connect the positive pin of the 24Vdc supply voltage at one motor phase assign name A at this phase Connect the negative pin at one of the other phases at random Feeding the circuit the rotor will turn and to assume a new position Observing the motor shaft move the ne...

Page 60: ...o 0 V pin 6 7 of the X4 connector and power the converter on 24 V at pin 13 of the X4 connector 6 At this point the motor shaft should be stopped Any change in the voltage of the analogue reference should produce a proportional change in the speed of the motor If this does not happen control the cabling The converter comes with default values pre defined that satisfy most applications In the defau...

Page 61: ...tor based on the adjustment parameters TORQUE The current that circulates in the windings of the motor is transformed in torque thereby allowing the motor to accelerate or decelerate GAIN Given the typical applications of the SLVD N converter when we speak of gain in this document we refer to the rigidity of the axis better known as the STIFFNESS To better illustrate what stiffness means we can im...

Page 62: ...k current of the drive Before using the formula Pr33 must be set with the correct value of the rated current of the motor To evaluate the correct value of α let s consider that if the mechanical part to be moved is rigid non elastic and if there is no transmission play the optimal stiffness would be about 4 degrees If the mechanical part is not rigid enough it could be necessary to reduce the gain...

Page 63: ...nge For decreasing values of Pr17 the response of the system will be as shown in figure 2 below Fig 2 For increasing values of Pr17 the response of the system will be similar to what is shown in figure 3 below Fig 3 The optimal value of Pr17 will be attained with a response of the system as shown in figure 4 below ...

Page 64: ...es without vibrations and acoustic noise the adjustment of the system is complete Otherwise we must repeat the preceding procedures with lower values of Pr16 In some applications it is possible to reduce acoustic noise by using a higher value of Pr18 Figure 5 shows that once the optimal adjustment has been achieved there is also an oscillation of the current that can produce acoustic noise and mec...

Page 65: ...l parts are used which very easily tend to enter into oscillation we recommend you use very low values of Pr16 In this configuration the SLVD N typically dampens the torque request of the motor in order to avoid triggering mechanical oscillations This configuration is shown in figure 7 Fig 7 ...

Page 66: ...Nm tot picco where Jtot is the total inertia motor load expressed in kgm2 Nmpicco is the available torque with the peak current of the converter C Turn on the converter and use the external control to move the axis Move Pr17 to find the value where the axis seems to move best D Estimate the value of Pr18 by using the following formula Pr Pr Pr 18 0 68 17 16 If the result is less than 1 Pr18 must b...

Page 67: ... provide the functional block diagram and the description of advanced functions The system is easy to use and flexible In the diagram below the general block diagram of the part of the converter that is controlled by parameters is presented REFERENCE MANAGEMENT LIMIT SWITCH STOP SPEED REGULATOR OPERATING MODE MANAGEMENT LIMIT TORQUE TORQUE analogue digital internal SPEED WINDOW TORQUE CONTROL DIGI...

Page 68: ... read write parameters The rhomboid blocks represent read only parameters You can find other functional blocks in the diagram such as GREATER THAN EQUAL TO LESS THAN logical AND OR For all these functional blocks standard symbols are used Binary parameters are represented as switches and the position in the diagram corresponds to the default value From Pr0 to Pr49 and from Pr188 to Pr231 Main para...

Page 69: ...of the binary parameter bx y positions the switch If A is less than B C 1 true Otherwise C 0 false The value of G is the lowest value of A B C D E F Only if A 1 B 1 and C 1 Otherwise C 0 If A or B is equal to 1 C 1 Otherwise C 0 C A B values coming from the hardware values sent to the hardware the value of A is converted to B For example if in the triangle symbol you see A D this means that the an...

Page 70: ...alogue reference this is the rpm value that corresponds to a reference voltage of 10 V Pr8 Value of the acceleration deceleration ramps in seconds per 1000 rpm with a resolution of 1 millisecond If the acceleration deceleration ramps must be set differently you must go to the extended menu in order to access the Pr9 Pr10 e Pr11 parameters Pr16 Integral gain of the speed regulator Pr17 Speed regula...

Page 71: ...ue of Pr7 will be equal to Vin Pr2 9 76 where Vin is the voltage at the analogue input If b42 0 1 b42 1 0 and b42 5 1 Pr3 is the speed of the virtual axis W 10000 rpm 3000 1 rpm Pr4 Full scale of frequency reference connector X2 If b40 12 1 and b40 13 1 the value of Pr7 will be the following If b42 5 0 Pr7 Fin Pr4 2 2000000 frequency sign signals If b42 5 1 Pr7 Fin Pr4 2 500000 quadrature signals ...

Page 72: ...equired by the motor for limit switch and stop functions is internally limited so that to achieve an acceleration of 1000 rpm Pr12 seconds are necessary R W M 0 002 65 535 s krpm 0 002 0 001 s Pr13 Overspeed limit If the absolute value of the motor speed exceeds the value set in Pr13 b41 0 will be 1 Otherwise it will be 0 R W M 0 13000 rpm 3500 1 rpm Pr14 High speed limit If b40 7 0 and if the dif...

Page 73: ...version of the software that has been installed R 0 255 Pr26 Serial line speed code This is the code for programming the transmission speed For more information consult the section on the serial interface R W M 0 8 5 1 Pr27 Serial line address code For more information consult the relevant section R W M 0 31 0 1 1 Pr28 Motor shaft position read only Indicates the absolute position of the resolver ...

Page 74: ...es 120 0 the converter issues an alarm R 0 100 0 Temp 0 1 Pr43 Zero encoder offset This parameter is used to modify the position of the output zero trace for the zero resolver Pr28 R W M 0 4095 count 0 1 Pr44 Number of pulses per revolution Range 4 65000 default 1024 This is the number of pulses per revolution that is used by the simulation encoder The maximum frequency is 160 kHz kHz rpm speed Fi...

Page 75: ...ing of sine cosine signals traces A and B 32767 32767 Pr196 If b231 1 1 the value of parameter is the exponent 2Pr196 only for incremental encoder in quadrature and the max value is 18 The sign reverse the count R W M exponent 0 18 1024 1 Pr197 Feedback break threshold Amplitude sinusoidal signals threshold resolver and SinCos R W M 1 500 count 250 1 Pr200 N of turn for Multiturn encoder read only...

Page 76: ... SLVDN User s Manual Page 76 of 181 Par Description Field Range Def Ris Pr219 SLIP_ASYNC Asynchronous motor slip R W M 0 32767 rpm 0 1 Pr220 MAGN_CURR_ASYNC Asynchronous motor magnetizing current ϕ 2 cos 1 Pr33 220 Pr R W M 0 32767 A 0 1 ...

Page 77: ... reference If 0 the reference will follow the variation of the input reference R W M 0 b40 4 Left limit switch If 1 and the reference selected requires negative speed the reference is set to 0 following the ramp set in Pr12 If 0 no control is made R W M 0 b40 5 Right limit switch If 1 and the reference selected requires negative speed the reference is set to 0 following the ramp set in Pr12 If 0 n...

Page 78: ...bus watchdog This bit is set to 1 at every block sync reception via SBCCAN R b41 10 Saturation of the speed regulator b41 10 1 when the speed regulator is supplying the maximum current R b41 11 I2T active Indicates that Pr36 has reached the 100 0 value and therefore the converter is limiting the current to the nominal value R b41 12 Converter enabled R b41 13 Bus warning Indicates a momentary comm...

Page 79: ... phasing vector orientation See specific section R W 0 b94 3 Basic parameters keylock If set to 1 it is possible to modify the basic parameters see the section Power on the SLVD N for the first time b94 4 Type 2 encoder phasing vibration See specific section R W 0 b94 8 Value comparator See the section Other useful functions b94 9 Value comparator See the section Other useful functions b94 10 Valu...

Page 80: ...is case it is necessary to set the default parameters reset the alarm and then store the new parameters R W 0 b99 15 Storing of parameters This command stores all parameters It cannot be used if a check sum alarm has been indicated In this case it is necessary to set the default parameters reset the alarm and then store the new parameters R W 0 b231 1 Set encoder pulses as exponent on base 2 This ...

Page 81: ...1 2 41 3 41 0 41 1 Pr13 Pr14 Pr15 Motor speed Zero speed forward Overspeed limit High speed limit Loww speed limit Over speed In speed b40 7 Pr23 41 4 41 5 41 7 41 8 40 9 41 12 0 Drive enable Software enable Hardware enable Drive ok overvoltage undervoltage External alarm Auxiliary alarm PTC alarm active 40 4 40 5 40 6 Left limit Right limit Stop Current limit Stop control Speed window Alarm manag...

Page 82: ...ence Pr7 or Pr6 depending on the value of b40 2 Before changing Pr31 b40 2 must be set to 0 in order to avoid unwanted movements of the motor Therefore it is possible to set Pr31 to the value that corresponds to the selected operating mode The parameter b99 11 is used to load the default parameters for the selected operating mode By setting b40 2 to 1 the operating mode will be turned on All opera...

Page 83: ... Quota caugth Motor position Caugth position Pr59 58 b70 14 b70 0 b180 14 Zero encoder X4 13 Digital input 0 Quota caugth Master quota caugth Master speed Master reference operative mode Feedback Motor feedback encoder d dt Pr159 Pr157 156 Pr67 66 Pr154 Pr155 Pr53 Pr52 X2 X1 Reference multiplier encoder IN Counter encoder IN Counter CAN input Master speed Reference divider encoder IN Reference CAN...

Page 84: ...bsolute value exceeds the value set in Pr56 b70 5 is set to 1 Otherwise b 70 5 0 R W M count 1000 1 Pr57 Proportional gain for the position regulator R W M 0 32000 100 1 Pr58 59 Encoder in captured The value encoder master is captured on the positive edge of the selected input see b70 0 R count 0 1 Pr60 61 Regulator position reference R count 0 1 Pr62 63 Motor position fbk If incremented by 4096 s...

Page 85: ...nd Pr213 the user can set the ratio desired for the input reference frequency R W M 32000 32000 1 1 Pr213 F Dir reference divider Using this parameter and Pr212 the user can set the ratio desired for the input reference frequency R W M 32000 32000 1 1 Pr215 214 F Dir counter R M steps 1 Pr216 F Dir rotation speed read only Unit rpm Indicates the input reference frequency translated into rpm based ...

Page 86: ...the feed forward on the position regulator is enabled R W M 0 b70 7 Feed forward scale enable If b70 6 1 is possible enable the feed forward scale R W M 0 b70 8 Enable encoder CAN b70 9 Master frequency reference Encoder in 0 Encoder CAN 1 b70 10 Enable encoder CAN pointer Pr158 b70 13 Frequency reference master 0 Encoder CAN 1 frequency direction IN2 IN3 the status of the bit defines the referenc...

Page 87: ... first adjust the speed control in order to establish a stable system and then set Pr31 1 in order to program the operating mode by setting the default values with the command b99 11 Set Pr2 1000 10 V 100 0 of the torque b40 0 0 b40 12 0 b40 2 1 to enable the reserved reference and Pr100 to limit the maximum speed of the motor OPERATING MODE 1 PARAMETERS Par Description Field Range Def Res Pr100 M...

Page 88: ...time The current position of the positioner is given by the parameter Pr116 117 You can add a speed by using Pr104 10 5 1 TAB0 profiles in memory In OPM13 is possible use the TAB0 to memory up to 51 trapezoidal profiles and for everyone is possible memorize the speed the acceleration deceleration ramp and the final position in double word The Pr193 parameter contains the number of the profile to e...

Page 89: ...l Ramp b231 13 1 253 Pr118 50 254 Pr119 Final position OPERATING MODE 13 PARAMETERS Par Description Field Range Def Res Pr103 Acceleration and deceleration ramp el Axis The acceleration and deceleration required for the motor can be limited in order to achieve a jump of 1000 rpm that takes Pr103 thousandths of a second This can be useful when the axis is suddenly attached R W 0 30000 s Krpm 0 500 ...

Page 90: ...ing phase when the ramp Pr103 is not 0 this bit indicates the end of the transitory phase R W M 0 b150 3 Encoder in selection If 0 the encoder input conditioned by Pr52 and Pr53 is used as the master for the electrical axis function If 1 it updates directly Pr118 119 to execute the step like function or pulses train R W M 0 b150 4 Profile direction Read only flag Indicates the direction of the mot...

Page 91: ...4 Pr103 Pr104 Pr115 114 Pr61 60 Pr108 Pr109 b150 0 Profile position Actual position Profile direction Target position Posizione attuale Velocità in somma Encoder IN rotation speed Acceleration and deceleration ramp Acceleration Speed In progress b150 10 Reset 1 Ref Position Motor ref 0 b150 11 Reset 2 Ref Position Motor ref Additional speed OPM13 ...

Page 92: ...alized to module Pr60 61 Pr62 63 and the value of the module is set on the parameter Pr114 115 10 6 1 Positioning This is a trapezoidal profile generator with the following user definable parameters speed profile acceleration and deceleration ramp final value in motor step The parameter referred to the final position is absolute The difference between the final position Pr119 118 and the reference...

Page 93: ...point will have to be rated to 10000 because this is the maximum value that can be written in the table elements The 257th element of each table defines the cam as closed if it is 0 or as open if it is 10 000 The block diagram highlights that the OPM14 has only one cam generator and is possible select one of four tables Tab0 Tab1 Tab2 e Tab3 As a default OPM14 TAB0 is active Some functions in whic...

Page 94: ...able or defining one phase of the master and determining the activation point It is to cure of the customer the synchronization of the functions during the passages between the tables As a OPM14 default configuration the CAM1 is scanned through the master module using Adaptation module command Pr102 14 the function is scanned in one sector of master module The selected cam can be scaled in a secto...

Page 95: ...e have the value decided in Pr105 After the execution of the commands the bits are automatically set to zero All parameters that are not declared are reserved and must not be used OPM14 parameters Parametri opm14 Par Description Field Range Def Res Pr100 Speed in speed mode W 6000 rpm 0 1 Pr101 Ramp time for Pr100 This is the acceleration ramp that will be used by the speed mode W 0 002 30 000 s k...

Page 96: ...dicate that engaging has been achieved W 0 223 0 1 Pr128 129 Master axis phase for release If b150 13 1 when the position of the master Pr112 113 exceeds Pr128 129 Pr102 is brought to position 1 and b150 13 returns to 0 to indicate that the positioner has been enabled and will control the release phase W 0 223 0 1 Pr132 133 Engage cam with ramp This is the position on which the engage ramp related...

Page 97: ... 113 to the first front of the rise of input 0 or the zero encoder is enabled W 0 b150 10 Type 1 reset Command to set all the motor positions and references to 0 W b150 11 Cam engaging in phase with ramp Command to engage the cam movement when the master reaches the level of Pr126 127 with a ramp defined by the parameters Pr132 133 and Pr136 137 W 0 b150 12 Electronic cam engaging in phase Command...

Page 98: ...table to the specified phase master in Pr174 175 The values of the parameters for the activation on specific phase must be comprised between 0 and the written module master in Pr110 111 W 0 b180 4 Start Tab 0 Immediate activation of Tab0 Show table activate in CAM1 generator W 0 b180 5 Start Tab 1 Immediate activation of Tab1 Show table activate in CAM1 generator W 0 b180 6 Start Tab 2 Immediate a...

Page 99: ...a TAB1 TAB2 TAB3 Pr171 170 Pr173 172 Pr175 174 b180 0 b180 4 b180 1 b180 5 b180 2 b180 6 b180 3 b180 7 b181 0 b181 1 b181 2 b181 3 Positioning Select CAM1 table Pr115 114 Pr135 134 Slave axis module Position slave Pr100 Pr101 Speed Ramp time for Pr100 Speed mode Engage disengage cam phase Pr115 114 Slave axis module Pr61 60 Regulator position reference Pr102 Pr127 126 Pr129 128 b150 14 Release mas...

Page 100: ...ten in the Pr128 129 parameter in step module master Activating bit 150 13 reserves the start of disengage of the slave in the point programmed the bit Pb150 13 is automatically set to zero after the disengage Activated the disengage phase on the programmed point it is necessary to define the point of stop in which stopping the slave in step module slave this point of stop is written in the Pr118 ...

Page 101: ...0 Step Motor Slave Module Pr114 115 10000 Step Motor Cam table engage automatic b150 12 1 autoset after engage and autoreset after engage to the drive s TAB Reservation engage slave axis on master module Pr128 12 b150 13 1 autoreset Depends on dynamics of the machine Pr132 133 24000 step master module Pr126 127 30000 step master module Slave axis position in step slave module after dec ramp Pr118 ...

Page 102: ...tion reference is incremental and is generated by algebraic sum of the references see the following picture Positionator Cam 1 Cam 2 Resulting position reference This diagram allows to identify a general flow in operating mode 11 If you carefully analyze this mode you will see that the programmer can use several enabling commands programmable bits at different levels in order to address the flow o...

Page 103: ... counter position Pr131 130 10 7 2 CAM1 and CAM2 The two CAM generators are specifically designed to meet the requirements of automatic machines using electronic cams Four tables are available namely TAB0 TAB1 TAB2 and TAB3 that have been implemented to perform a series of cam functions A vector made of 257 elements describes each table that indicate the position to be taken by the controlled axis...

Page 104: ...s active in CAM2 In order to change the default setting there are some immediate commands active for both CAM generators or for CAM1 only of the enable commands on programmable master phase see the OPM11 block diagram The qualifications given from the parameters b181 9 b181 10 and b181 11 determine the algebraic sum of the references generated into the counter reference Pr131 130 This counter beyo...

Page 105: ...ve to check the synchronization of the new cam A module with negative sign can be set in CAM2 Pr185 184 With b180 8 0 command the CAM2 variation table and module is calculated immediately without the engage disengage commands of the cam If the b180 8 1 command the table and the module set up in CAM2 are updated through an engage command b180 10 or b180 13 single shot The user will have to check th...

Page 106: ...lock that Pr182 and Pr183 before being transmitted to the loop of position CAM1 CAM2 Profilo risultante Master module Speed profile axis slave without cam scale Speed rpm Speed profile axis slave with cam scale CAM1 CAM2 Speed rpm Master module count Scale CAM1 Pr115 114 10000 module Pr177 176 6500 start point Pr179 178 9500 execution space Pr102 14 calculation scale command Scale CAM2 Pr185 184 1...

Page 107: ...al axis by means of linear linking ramps By linear links we mean the tables describing the two engage and disengage ramps Let s suppose that Tab0 has been programmed with a y x function gearing and that Tab3 has been programmed as a fixed axis that is y constant K We will need to calculate both linking tables in Tab1 and Tab2 to be able to engage and disengage the axis If we consider for instance ...

Page 108: ...er to accomplish this and more generally to ensure user access to cam tables as it happened previously for Tab0 these can be either read and written using the keypad or pico PLC by pointer Pr103 and value in Pr104 or through SBC Can or serial port RS422 using address 4096 adjacent areas of 257 words per table Keypad SBC CAN o serial Tab 0 0 Pr103 256 4096 address 4096 513 Tab 1 500 Pr103 756 4096 ...

Page 109: ...00 rpm 1000 1 Pr109 Speed up time positioner Acceleration ramp used during the generation of the position profile W 0 002 30000 s krpm 0 500 1 ms Pr111 110 Master axis module Module axis master W 0 218 10000 1 Pr113 112 Master axis position Master axis position R 1 Pr115 114 Slave axis module Module axis slave W 0 218 10000 1 Pr117 116 Master axis position offset W 0 223 0 1 Pr119 118 Target posit...

Page 110: ... Pr155 Divisor factor of reference ENCODER CAN W 1 1 Pr157 156 Encoder CAN counter R 1 Pr158 Encoder CAN pointer b70 10 W 1 Pr169 168 Master phase for engaging of the Tab 0 b180 0 When the master phase matches the programmed value then the slave engages to the master TAB0 is enabled W 1 Pr171 170 Master phase for engaging of the Tab 1 b180 1 When the master phase matches the programmed value then ...

Page 111: ... the command the bit reset automatically W 0 b150 15 Immediate electronic cam disengage Disengage command for cam mode terminated the command the bit reset automatically W 0 b180 0 Start Tab 0 on master phase of Pr168 169 1 enables Tab0 at the master phase declared in Pr169 168 The parameter values to start on master phase must be between 0 and Pr111 110 master module W 0 b180 1 Start Tab 1 on mas...

Page 112: ... state of this bit together with bit b181 7 identifies the selected table see table below W 0 b181 7 Selection Table in the CAM 2 The state of this bit together with bit b181 6 identifies the selected table see table below Table selection b181 6 b181 7 Tab0 1 1 Tab1 1 0 Tab2 0 1 Tab3 0 0 W 0 b181 8 Enable virtual table Tab 3 W 0 b181 9 Enable counter position from CAM1 to global counter Pr131 130 ...

Page 113: ...value Cam data Master axe position Master axe module Master position Master axe position offset b150 3 b150 6 b150 12 b150 13 b180 9 b180 0 b180 4 b180 1 b180 5 b180 2 b180 6 b180 3 b180 7 b181 0 b181 1 b181 2 b181 3 b181 15 b181 14 b181 13 b181 11 b181 9 b181 10 Multiplicative factor of reference Reference module position Slave axis module Regulation reference position Auxiliary incremental count...

Page 114: ... 1 DESCRIPTION When the procedure is activated b94 12 1 the axis is brought to the speed programmed in Pr4 Pr5 Pr4 the axis is then brought to zero speed Pr5 0 on the positive front of the homing sensor signal after 150ms with the motor stopped parameters Pr61 60 and Pr63 62 are reset the position loop is enabled by setting b40 2 1 and command b94 12 is reset The homing sensor signal must be maint...

Page 115: ...umerical parameters Pr 10 8 3 Current or torque adjustment typical To set the converter to Current mode torque adjustment the speed ring is excluded by setting b42 2 1 The main analogue reference is assumed as torque reference current If the nominal current value is exceeded the thermal image trips as in the speed operation 10 8 4 Virtual encoder The virtual encoder function is enabled by setting ...

Page 116: ...rs With b94 10 0 then b94 8 1 if Pr96 95 Pr63 62 or Pr66 67 if feedback encoder With b94 10 1 then b94 8 1 if Pr96 95 Pr61 60 With b94 11 0 then b94 9 1 if Pr98 97 Pr63 62 or Pr66 67 if feedback encoder With b94 11 1 then b94 9 1 if Pr98 97 Pr61 60 This function is run every 6 144 ms If the value comparators functions are not used the Pr95 Pr96 Pr97 Pr98 b94 10 and b94 11 parameters by the PLC pro...

Page 117: ...s to initialise the value of the motor position at Pr142 143 and the output status at b91 1 the function is enabled by b70 3 1 and in this case Pr142 143 shows the motor position inside the module An offset for this position may be set at Pr140 The refresh time of the digital output is 512 μs The limits for the parameter values are Pr140 range 215 215 Pr142 143 range 0 231 Pr144 145 range 0 231 Pr...

Page 118: ...ut connection Each reference has a input counter that encoder signal is calculated on every edge of A and B signal The counter of the motor position increases 4096 imp revolution It s possible to set the relation between master and slave with multiplicative and divisor factors The encoder ref from IN2 IN3 can be set as frequency direction input type or as input in quadrature b42 4 and b42 5 b70 9 ...

Page 119: ...the encoder CAN virtual through the parameter pointed from Pr158 Pr154 reduction ratio numerator of the input encoder counting by CAN Pr155 reduction ratio denominator of the input encoder counting by CAN Pr156 157 counting encoder CAN Pr158 pointer to the parameter to send as virtual encoder on the CAN The encoder CAN is active in input and accepts the CAN signal with address setting into Pr202 T...

Page 120: ...der out via CAN W 0 255 0 1 Pr159 Encoder CAN speed W 32000 0 1 Not compatible function with operating OPM15 Pr3 Pr3 Pr158 Pr44 Pr48 Pr27 Pr154 Pr155 X1 CAN Motor position Motor position Pr202 Pr157 156 Virtual speed encoder Pointer encoder CAN Input encoder CAN counter Address encoder CAN read CAN setpoint multiplicative factor CAN setpoint divisor Pulse numebr per turn motor Address encoder CAN ...

Page 121: ... value 1 Double word R W 32768 32767 1 1 Pr72 Constant value 0 Double word R W 32768 32767 0 1 Pr73 Constant value 1 Double word R W 32768 32767 1 1 Pr74 Constant value 2 Double word R W 32768 32767 2 1 Pr75 Constant value 10 Double word R W 32768 32767 10 1 Pr76 Constant value 100 Double word R W 32768 32767 100 1 Pr77 Constant value 1000 Double word R W 32768 32767 1000 1 Pr78 Constant value 102...

Page 122: ...time of the PLC Every 6 144 ms if Pr93 is not 0 it is decremented If it is equal to 0 b99 1 is set to 1 W 0 b94 0 Force a double word formatted operation When the unit is powered on this is 0 If it is set to 1 the first mathematical operation executed by the pico PLC is done by using three double word type operands After the execution of the operation b94 0 is automatically set to 0 If Pr60 Pr68 P...

Page 123: ...he y bit of the Pa parameter ANDN Pa y the bit of the stack contains the result of the logical AND operation between itself and the y bit of the negated Pa parameter OR Pa y the bit loaded on the stack contains the result of the logical OR operation between itself and the y bit of the Pa parameter ORN Pa y the bit on the stack contains the result of the logical OR operation between itself and the ...

Page 124: ...reserved on the PLC and can be stored 14 additional bits from b91 2 to b91 15 are available on the PLC but cannot be stored They are always set to 0 when the converter is powered on 10 word parameters are also reserved These are from Pr80 to Pr88 They can be stored and used as 5 double word parameters just as the 13 parameters from Pr151 to Pr163 The pico PLC includes 9 constants for arithmetic op...

Page 125: ...bled disabled using a bit for each FIN the first FIN is enabled if b94 5 0 the second FIN is enabled if b94 6 0 The FIN instruction inserted in the PLC program after the first two instructions and in any case if it follows any instruction that is not a FIN instruction is ignored The user can make use of two timers Pr92 and Pr93 To use the first timer load the time as a number of sampling 6 144 ms ...

Page 126: ...es of MotionWiz are serial connection of up to 32 drives reading and setting of basic parameters and drive commands reading and setting of commands and parameters of operating modes functional block diagrams pico PLC program displayed as ladder diagrams display of pico PLC program status during operation I O status file storage of parameterisation including pico PLC program uploading of parameteri...

Page 127: ... on your monitor continued It is possible to select the desired language Italian or English How to generate a new file to set the data for motor and drive use the databases provided by the software that can be accessed through the icons below the figures when the drive and the motor pictures are out of focus it means that the relevant data have not been set yet Press ENTER to access the configurat...

Page 128: ...f each message STX If a message is interrupted after this time the converter ignores what has been received and waits for the beginning of a new message The message consists of several consecutive bits The format of the bits is the following 1 start bit 8 bit of data defined by a following byte enclosed within brackets 1 parity bit even 1 stop bit The structure of the message is the following STX ...

Page 129: ... 256 module sum of all the fields excluding the STX checksum Message types CMD1 is the response message of the converter to a data request The response message has the following format STX 001 ADDR BK LUN PAR D0 Dn CHK or it can be the confirmation message to a data write or data modify In this case the format is the following STX 001 ADDR where ADDR always identifies which converter is answering ...

Page 130: ...treated as complete values For example a value of 978 5 is read and written as 9785 All values that are receded by the symbol are to be understood as hex numbers The value included inside the brackets identifies the base unit byte of the message All messages must be terminated with a time out which is a function of the speed well defined to be considered valid and must have the exact parity and ch...

Page 131: ...he program and cannot be more than 2 They occupy the addressed from 0h to 3h If a FIN instruction is inserted beginning at the 4h address or after any other instruction the FIN instruction does not function and is ignored NOP The instructions must follow each other beginning at address 0h and no byte can be left empty There is only one program and it is terminated with the END instruction Examples...

Page 132: ... Pr33 Suppose also that the converter has the serial address 3 The message to be sent is the following 7E A3 02 42 19 00 00 The converter responds with the message 7E 23 Fifth example setting a bit to 1 Suppose we want to send the command to save the PLC program b99 14 1 Suppose also that the converter has the serial address 0 The message to be sent is the following 7E C0 02 C7 BF 40 88 The conver...

Page 133: ...different from 0 Three PDO channels PDO 1 2 4 from the predefined standard connection set are available PDO 1 and 2 are serviced by a cyclic routine executed every 2 048 msec and they are remappable elements of 2 or 4 bytes can be mapped the RTR is allowed event time and inhibit time are active they can handle synchronous requests serviced every 2 048 msec or they can be handled as event driven PD...

Page 134: ...p Note NMT commands are handled every 1 024 msec so subsequent commands should be sent to the drive not closer than 1 204 msec including broadcast NMT commands 13 1 1 Dictionary object summary of ds301 in SLVD N 0x1000 device type 0x1001 error register 0x1005 sync cob id 0x1006 communication cycle period 0x100c guard time 0x100d life time factor 0x1014 Cob Id Emergency object 0x1017 Producer heart...

Page 135: ...ite access in double word The parameters in double word can be read and written in blocks of two parameters the block number is half of parameter even Pr101 100 is 50th block and Pr103 102 is 51st block 0x2060 digital and analog input 13 1 2 Dictionary object summary of dsp402 in SLVD N 0x6007 Abort connection option code with the following available values 0 No action 1 Alarm alarm MISSING_SYNC_T...

Page 136: ... counts sec o RPM depending on unit selection standard or not with b272 1 0x6083 profile acceleration acceleration of profile in profile position mode in counts sec 2 or ms kRPM depending on unit selection standard or not with b272 1 0x6084 profile deceleration deceleration of profile in profile position mode in counts sec 2 or ms kRPM depending on unit selection standard or not with b272 1 0x6085...

Page 137: ...n the different drive alarm Er01 over voltage 0x3210 Er02 under voltage 0x3220 Er03 over current 0x2340 Er04 encoder break 0x7310 Er05 over temperature motor 0xff07 Er06 over temperature drive 0x4310 Er07 aux trip 1 0xff00 Er08 aux trip 2 0xff01 Er10 checksum PLC 0x6310 Er11 checksum Parameter 0x6310 Er14 braking resistance alarm 0x7113 Er15 default Parameter 0x6320 Er17 calibration alarm 0x5210 E...

Page 138: ...ommunication profile DS 301 Device Profile 402 Device Control state machine Motor Homing mode Profile Position mode Interpolated Position mode Modes of operation Here by the schematic of device control with controlword e statusword State machine Internal events Control word 6040h Status word 6041h Actions ...

Page 139: ...rd The controlword consist of bits for the controlling of the state the controlling of operating modes and manufacturer specific options OBJECT DESCRIPTION start Not ready to switch On Switch On disabled Ready to Switch On Switched On Operation enable Fault reaction active Fault Quick stop active 0 1 2 7 3 6 4 5 11 16 8 9 10 12 15 14 13 Power disable Fault Power enable ...

Page 140: ... MSB LSB 0 Optional M Mandatory BITS 0 3 AND 7 Device control commands are triggered by the following bit patterns in the controlword Bit of the controlword Command Fault reset Enable operation Quick stop Enable voltage Switch on Transitions Shutdown 0 X 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 Switch on 0 1 1 1 1 3 Disable voltage 0 X X 0 X 7 9 10 12 Quick stop 0 X 0 1 X 7 10 11 Disable operation 0 0 1 ...

Page 141: ... controlword BITS 9 10 These bits are reserved for further use They are inactive by setting to zero If they have no special function they must be set to zero BITS 11 12 13 14 AND 15 These bits are manufacturer specific 13 1 2 2 Object 6041h Statusword The statusword indicates the current state of the drive No bits are latched The statusword consist of bits for the current state of the drive the op...

Page 142: ...xxxx x0xx 1111 Fault reaction active xxxx xxxx x0xx 1000 Fault Table 7 Device state bits x irrelevant for this state BIT 4 VOLTAGE ENABLED High voltage is applied to the drive when this bit is set to 1 BIT 5 QUICK STOP When reset this bit indicates that the drive is reacting on a quick stop request Bits 0 1 and 2 of the statusword must be set to 1 to indicate that the drive is capable to regenerat...

Page 143: ...tware alters this bit If quick stop option code is 5 6 7 or 8 this bit must be set when the quick stop operation is finished and the drive is halted If halt occurred and the drive has halted then this bit is set too BIT 11 INTERNAL LIMIT ACTIVE This bit set by the drive indicates that an internal limitation is active I2 t current clamping is active BIT 12 AND 13 These bits are operation mode speci...

Page 144: ... drive function 2 32767 reserved 13 1 2 4 Object 605Ch Disable operation option code The parameter disable operation option code determines what action should be taken if there is a transition OPERATION ENABLE SWITCHED ON OBJECT DESCRIPTION INDEX 605Ch Name Disable operation option code Object Code VAR Data Type INTEGER16 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping No Value Range INT...

Page 145: ...e INTEGER16 Default Value 2 DATA DESCRIPTION Value Description 0 disable drive function 1 slow down on slow down ramp 2 slow down on quick stop ramp 5 slow down on slow down ramp and stay in QUICK STOP 6 slow down on quick stop ramp and stay in QUICK STOP 13 1 2 6 Object 605Eh Fault reaction option code The parameter Fault reaction option code determines what action should be taken if a fault occu...

Page 146: ...EGER8 Category Mandatory ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER8 Default Value No DATA DESCRIPTION Value Description 1 Profile Position Mode 6 Homing Mode 7 Interpolated Position Mode NOTE A read of modes of operation shows only the value of modes of operation The actual mode of the drive is reflected in the object modes of operation display It may be changed by writi...

Page 147: ...s of operation It is possible to implement different device modes Since it is not possible to operate the modes in parallel the user is able to activate the required function by selecting a mode of operation An example of exclusive functions are those for position and torque control which can only control one variable at any one time The variables can perform at most a limited function Such hybrid...

Page 148: ... index 0x2021 as U16 where bit 2 3 4 are processed by a XOR operation with the logical status of b91 2 91 3 and 91 4 ex by pico PLC Note in this mode the firmware manages b40 2 b40 6 Pr8 Pr9 Pr10 Pr11 Pr12 and Pr55 13 1 5 General information This chapter describes the method by which a drive seeks the home position also called the datum reference point or zero point There are various methods of ac...

Page 149: ...d of homing mode 15 9 8 7 6 5 4 3 0 Halt reserve d Homing operation start MSB LSB Name Value Description 0 Homing mode inactive 0 1 Start homing mode 1 Homing mode active Homing operation start 1 0 Interrupt homing mode 0 Execute the instruction of bit 4 Halt 1 Stop axle with homing acceleration Table 11 Homing mode bits of the controlword 13 1 5 3 2 Statusword of homing mode 15 14 13 12 11 10 9 0...

Page 150: ... Object 607Ch Home offset The home offset object is the difference between the zero position for the application and the machine home position found during homing it is measured in position units During homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position All subsequent absolute ...

Page 151: ...R8 Category Conditional Mandatory if hm supported ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range INTEGER8 Default Value 0 DATA DESCRIPTION Value Description 128 1 manufacturer specific 0 No homing operation required 1 35 Methods 1 to 35 see the functional description 36 127 reserved 13 1 7 3 Object 6099h Homing speeds This entry in the object dictionary defines the speeds used during...

Page 152: ... 0 Sub Index 2 Description Speed during search for zero Entry Category Mandatory Access rw PDO Mapping Possible Value Range UNSIGNED32 Default Value 0 13 1 7 4 Object 609Ah Homing acceleration The homing acceleration establishes the acceleration to be used for all accelerations and decelerations with the standard homing modes and is given in acceleration units OBJECT DESCRIPTION INDEX 609Ah Name H...

Page 153: ...sition moves to the right in other words the left is the minimum position and the right is the maximum position For the operation of positioning drives an exact knowledge of the absolute position is normally required Since for cost reasons drives often do not have an absolute encoder a homing operation is necessary There are several application specific methods The homing method is used for select...

Page 154: ...ex pulse Figure 23 Homing on the positive limit switch and index pulse 13 1 8 1 3 Methods 3 and 4 Homing on the positive home switch and index pul Using methods 3 or 4 the initial direction of movement is dependent on the state of the home switch The home position is at the index pulse to either to the left or the right of the point where the home switch changes state If the initial position is si...

Page 155: ...e switch and index pulse 13 1 8 1 5 Methods 7 to 14 Homing on the home switch and index pulse These methods use a home switch which is active over only portion of the travel in effect the switch has a momentary action as the axle s position sweeps past the switch Using methods 7 to 10 the initial direction of movement is to the right and using methods 11 to 14 the initial direction of movement is ...

Page 156: ...switch Figure 26 Homing on the home switch and index pulse positive initial move 14 Index pulse Home switch 12 12 12 13 14 13 11 11 11 14 13 Negative limit switch Figure 27 Homing on the home switch and index pulse negative initial move 13 1 8 1 6 Methods 15 and 16 Reserved These methods are reserved for future expansion of the homing mode ...

Page 157: ...in the following diagram 19 20 20 19 Home switch Figure 28 Homing on the positive home switch 13 1 8 1 8 Methods 31 and 32 Reserved These methods are reserved for future expansion of the homing mode 13 1 8 1 9 Methods 33 to 34 Homing on the index pulse Using methods 33 or 34 the direction of homing is negative or positive respectively The home position is at the index pulse found in the selected d...

Page 158: ...op deceleration UNSIGNED32 rw O 6086h VAR Motion profile type INTEGER16 rw M 13 1 9 1 1 Controlword of profile position mode 15 9 8 7 6 5 4 3 0 Halt abs rel Change set immediately New set point MSB LSB Name Value Description 0 Does not assume target position New set point 1 Assume target position 0 Finish the actual positioning and then start the next positioning Change set immediately 1 Interrupt...

Page 159: ...file acceleration deceleration UNSIGNED32 rw M 6085 VAR Quick stop deceleration UNSIGNED32 rw O 6086 VAR Motion profile type INTEGER16 rw M Index Object Name Type Chapter 6040 VAR Controlword UNSIGNED16 dc 6041 VAR Statusword UNSIGNED16 dc 605A VAR Quick stop option code INTEGER16 dc 6093 1 2 ARRA Y Position factor UNSIGNED32 fg 6094 1 2 ARRA Y Velocity encoder factor UNSIGNED32 fg 6097 1 2 ARRA Y...

Page 160: ...filed move and is valid for both directions of motion The profile velocity is given in user defined speed units It is converted to position increments per second using the velocity encoder factor OBJECT DESCRIPTION ENTRY DESCRIPTION INDEX 6081h Name Profile velocity Object Code VAR Data Type UNSIGNED32 Category Conditional Mandatory if pp or pv supported Access rw PDO Mapping Possible Value Range ...

Page 161: ...deceleration used to stop the motor if the Quick Stop command is given and the quick stop option code see 605Ah is set to 2 The quick stop deceleration is given in the same units as the profile acceleration OBJECT DESCRIPTION INDEX 6085h Name Quick stop deceleration Object Code VAR Data Type UNSIGNED32 Category Optional ENTRY DESCRIPTION Access rw PDO Mapping Possible Value Range UNSIGNED32 Defaul...

Page 162: ...t reduced to zero after achieving a set point Single set point After reaching the target position the drive unit signals this status to a host computer and then receives a new set point After reaching a target position the velocity normally is reduced to zero before starting a move to the next set point The two modes are controlled by the timing of the bits new set point and change set immediately...

Page 163: ...wledge equal 0 its ability to accept new data again 5 In Figure 18 this mechanism results in a velocity of zero after ramping down in order to reach a target position x1 at t1 After signaling to the host that the set point is reached like described above the next target position x2 is processed at t2 and reached at t3 Figure 18 Single set point If the bit change set immediately is 1 dashed line in...

Page 164: ...or time out time the bit following error bit 13 in the statusword is set Accepted following Position Error tollerance Following error window Following error window No following error Following error Following error reference position Figure 34 Following error The following error window is used to signal by mean of status word the servo error condition on user defined BIT14 when Interpolated positi...

Page 165: ...et accordingly with the cycle time Otherwise feedforward of velocity may be sent with PDO4 rx mapping in RPM units the object 0x60c1 3 Depending on the different algorithms of interpolation there is a different delay between the moment the target position is received on the PDO and validated by the sync and the moment when the target position is active in the trajectory setpoint of the motor In ca...

Page 166: ...ation data record are the data words which are necessary to perform the interpolation algorithm The number N of data words in the record is defined by interpolation data configuration The interpretation of the data words in interpolation data record may vary with the different possible interpolation modes as set by the interpolation sub mode select For the linear interpolation mode each interpolat...

Page 167: ...function fip x1 xN Entry Category Mandatory Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Sub Index 2 Description Velocity setpoint in counts sec the second parameter of ip function fip x1 xN Entry Category Optional Access rw PDO Mapping Possible Value Range INTEGER32 Default Value No Sub Index 3 Description Velocity setpoint in rpm the 3 rd parameter of ip function fip x1 ...

Page 168: ...ge 168 of 181 Operation enbled Interpolation inactive Interpolation active Enable interpolation Disable interpolation Interpolated position mode selected Changoing the mode of operation or deselect interpolated position mode Quick stop Disable voltage shutdown ...

Page 169: ... additive velocity and torque values can be provided by the control system in order to allow for velocity and or torque feedforward Measured by sensors the drive device may provide actual values for position velocity and torque to the control device The behaviour of the control function is influenced by control parameters like limit functions which are externally applicable The drive internal cont...

Page 170: ...tput to the control device Further outputs may be the velocity actual value torque actual value and the velocity sensor actual value The following error actual value may be used as an additional parameter Limit function Following error window 6065h Torque actual value Position actual value 6077h 606Ch 6064h Position offset 60B0h Target position 607Ah Multiplier Position range limit 607Bh Software ...

Page 171: ...rror Bit 12 1 Following error Definition of bit 10 bit 12 and bit 13 13 1 11 3 Detailed object definitions 13 1 11 3 1 Object 60B0h Position offset This object shall provide the offset of the target position The offset shall be given in user defined position units NOTE The value itself is absolute and thus independent of how often it is transmitted over the communication system for example transmi...

Page 172: ... target velocity Object description INDEX 60B1h Name Velocity offset Object code VAR Data type Integer 32 Category Optional Entry description Sub index 00h Access rw PDO mapping See CiA402 3 Range value Integer 32 Default value 0 13 1 11 3 3 Object 60B2h Torque offset This object shall provide the offset for the torque value The offset shall be given in per thousand rated torque In cyclic synchron...

Page 173: ...ition reference R W 0 b247 15 Watchdog sync received R W 0 b271 8 Enable sync check 1 enables missing sync check dsp 402 CANopen R W 1 b272 1 Conversion of velocity 1 conversion of velocity and acceleration in standard units counts sec e counts sec2 0 conversion of velocity and acceleration in rpm and msec krpm R W 1 b272 4 1 set to every end ramp CANopen at the delay start of the disable status R...

Page 174: ...shaft movement motor shaft view Torque Positive Resolver counter Increments Encoder output A B Tachometer signal Positive Iu ϑ sin couple Iv 3 2 sin π ϑ couple Positive auxiliary input Pr22 positive Pr38 positive Positive auxiliary analogue output Encoder In A Increment counter B frequency A Increment counter direction B low ...

Page 175: ...modes management 6 144 ms Thermal motor image 6 144 ms Digital inputs 6 144 ms Program scanning pico PLC 6 144 ms Digital outputs 49 152 ms Speed window management 16 Appendix C Default program for the pico PLC 90 0 40 6 END 41 5 90 1 91 0 41 4 91 1 41 11 LD 90 0 OUT 41 5 LD 90 1 OUT 40 6 LD 41 4 OUT 91 0 LD 41 11 OUT 91 1 END digital input 0 used to power the drive digital input 1 used for the st...

Page 176: ...E IS CHANGED YOU MUST USE b99 11 TO LOAD THE DEFAULT PARAMETERS b40 2 MUST BE 0 BEOFRE CHANGING Pr31 BE SURE THAT b40 2 0 THE SPEED REFERENCE WILL BE LIMITED TO THE VALUE OF Pr32 USING THE TORQUE CONTROL Pr2 AND Pr3 MUST BE SET TO 1000 TO USE THE ACTIVE OPERATING MODE b40 2 MUST BE 1 IF YOU CANNOT MODIFY THE READ WRITE PARAMETERS USING THE KEYPAD BE SURE THAT E b99 7 IS 0 IF IT WAS 0 PROBABLY THE ...

Page 177: ...r the drive is in fault state or the PTC on the motor is in fault state at the end of the test remove the PTC short circuiting connection 6 Drive Over Temperature Check the cooling fans and for any restrictions to air flow Check the breaking cycle Check the environmental temperature of the electrical control panel where the drive is installed as well as the external room temperature 7 External ala...

Page 178: ...D10N 1850W No derating SLVD15N 1850W 4700W SLVD17N 1850W 4700W Maximum continuous power with inductance of network Supply network model 1 phase 3 phase SLVD1N No derating No derating SLVD2N No derating No derating SLVD5N 1000W No derating SLVD7N 1000W 1700W SLVD10N No derating No derating SLVD15N 3000W No derating SLVD17N 3000W 4850W Data of network inductance Supply network model 1 phase 3 phase ...

Page 179: ... instead of to use the braking resistor Additional external capacitor supply model 1 phase 3 phase SLVD1N No permitted SLVD2N No permitted SLVD5N No permitted SLVD7N No permitted SLVD10N No permitted 2200µF 450V SLVD15N No permitted 2200µF 450V SLVD17N No permitted 2200µF 450V Type of capacitor Itelcond AYX HR222X450DC1 or similar Connections use only stranded copper wire rated for 60 75 C minimum...

Page 180: ... First edition Rev 0 1 December 2009 Object 0x6060 Object 0x2030 OPM203 USBTODRIVE For other informations log into website www sbcelettronica com Arranges to the manual data can be made by the manufacturer without advance notice The data shown in the manual correspond to the specifications relating to the revision date ...

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