PVD 3568 GB - BTT Automatyka

SSD Parvex SAS
8, avenue du Lac - B.P. 249
F-21007 Dijon Cedex
www.SSDdrives.com
DIGIVEX Motion
Posivex®
MULTI-TURN ABSOLUTE ENCODER
User Manual
PVD 3568 GB – 01/2005
RANGE OF PRODUCTS
1-
"BRUSHLESS" SERVODRIVES
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2-
TORQUE OR POWER
RANGES
BRUSHLESS SERVOMOTORS, LOW INERTIA, WITH RESOLVER:
Very high torque/inertia ratio (high dynamic performance machinery):
⇒ NX -HX - HXA
⇒ NX - LX
High rotor inertia for better inertia load matching:
⇒ HS - LS
Varied geometrical choice:
⇒ short motors range: HS - LS
⇒ or small diameter motors: HD, LD
Voltages to suit different mains supplies:
⇒ 230V
three-phase for the
"L - NX" series
⇒ 400V, 460V three-phase for the
"H - NX" series
"DIGIVEX Drive" DIGITAL SERVOAMPLIFIERS
⇒ SINGLE-AXIS
DSD
⇒ COMPACT SINGLE-AXIS
DµD, DLD
⇒ POWER SINGLE-AXIS
DPD
⇒ MULTIPLE-AXIS (RACK)
DMD
"PARVEX Motion Explorer" ADJUSTMENT SOFTWARE
1 to 320
0.45 to 64
N.m
N.m
3.3 to 31
N.m
3.3 to 31
9 to 100
N.m
N.m
SPINDLE DRIVES
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3-
SPINDLE SYNCHRONOUS MOTORS
⇒ "HV" COMPACT SERIES
⇒ "HW" ELECTROSPINDLE frameless, water-cooled motor
delivered in kit form
"DIGIVEX" DIGITAL SERVOAMPLIFIERS with a wide constant power output
range
5 to 110 kW
up to 60,000 rpm
DC SERVODRIVES
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•
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4-
"AXEM", "RS" SERIES SERVOMOTORS
"RTS" SERVOAMPLIFIERS
"RTE" SERVOAMPLIFIERS for DC motors + resolver giving position and
speed measurement
0.08 to 13 N.m
SPECIAL ADAPTATION SERVODRIVES
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5-
"EX" SERVOMOTORS for potentially explosive atmospheres
"AXL" COMPACT SERIES SERVOREDUCERS
POSITIONING SYSTEMS
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"CYBER 2000" NUMERICAL CONTROLS 1 to 2 axes
"CYBER 4000" NUMERICAL CONTROLS 1 to 4 axes
DIGIVEX Motion DRIVE POSITIONER
⇒ SINGLE-AXIS
DSM
⇒ POWER SINGLE-AXIS
DPM
⇒ MULTIPLE-AXIS (RACK)
DMM
"PARVEX Motion Explorer" ADJUSTMENT AND PROGRAMMING SOFTWARE
5 to 700 N.m
DIGIVEX Motion - Posivex multi-turn absolute encoder
CONTENTS
1. GENERAL POINTS
1.1
1.2
List of published DIGIVEX Motion manuals
Description of the multi-turn absolute encoder
1.2.1
1.2.2
1.2.3
Operating principle
Characteristics
Key points
Equipment used
Setting the drive parameters
2.2.1
2.2.2
2.3
2.4
2.5
3
3
4
Drive parameters settings window
Absolute encoder settings window
Initializing the absolute position of the drive
2.3.1
2.3.2
2
2
2
3
3
2. SETTING THE PARAMETERS
2.1
2.2
2
Loading the user program in the drive
Running the user program
System variables dedicated to the absolute encoder
Absolute encoder faults
Characteristics and dimensions may change without prior notification
YOUR LOCAL REPRESENTATIVE
SSD Parvex SAS
8 Avenue du Lac / B.P 249 / F-21007 Dijon Cedex
Tel: +33 (0)3 80 42 41 40 / Fax: +33 (0)3 80 42 41 23
www.SSDdrives.com
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DIGIVEX Motion - Posivex multi-turn absolute encoder
1. GENERAL POINTS
1.1 List of published DIGIVEX Motion manuals
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DIGIVEX Single Motion (DSM) User Manual
DIGIVEX Power Motion (DPM) User Manual
DIGIVEX Multi Motion (DMM) User Manual
DIGIVEX Motion - CANopen
DIGIVEX Motion - Profibus
PME-DIGIVEX Motion Adjustment Manual
DIGIVEX Motion Directory of Variables
DIGIVEX Motion Programming
DIGIVEX Motion - Cam Function
PME Tool kit User and Commissioning Manual
CANopen - CAN Bus Access via CIM03
CANopen - Remote control using PDO messages
"BLOCK POSITIONING" application software
"Fly Shear Linear Cutting" application software
"Rotary Blade Cutting" application software
PVD3515
PVD3522
PVD3523
PVD3518
PVD3554
PVD3516
PVD3527
PVD3517
PVD3538
PVD3528
PVD3533
PVD3543
PVD3519
PVD3531
PVD3532
1.2 Description of the multi-turn absolute encoder
The Posivex® encoder is an economical and robust absolute encoder for NX servomotors.
The encoder is a combination of a resolver used by the drive to control the motor and an
innovative electronic device continuously measuring the absolute position of the motor shaft.
This solution eliminates the long and laborious home settings every time the machine is started
up.
The Posivex® encoder option is available when the NX motor is controlled by a DIGIVEX Motion
drive.
1.2.1 Operating principle
The DIGIVEX Motion drive is off:
The encoder measures the absolute position of the motor shaft.
The DIGIVEX Motion drive is on:
When the power to the DIGIVEX Motion is turned on, the position memorized by the encoder is
transmitted via an RS485 interface to the drive.
The position is, then, defined by the drive whilst the machine is operating using the initial position
transmitted at power-on.
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1.2.2 Characteristics
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Absolute position on +/-15,000 revolutions
Position accuracy: +/- 10' max
Maximum speed: 8,000 rpm
Absolute position resolution: 14 bits per revolution
Operating temperature range: -20°C to +110°C
Lithium battery supply : typical life 10 years for drive turned on half the time
Same inertia as a resolver
Compatible with NX2 to NX8 servomotors and DIGIVEX Motion
1.2.3 Key points
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Robust and economical solution
Encoder used to control the motor
No need for home settings when the machine is started up
Continuous encoder state monitoring
2. SETTING THE PARAMETERS
There are three sections to this document:
• Setting the drive parameters.
• Initializing the absolute position.
• Absolute encoder faults.
2.1 Equipment used
Driving with Posivex® encoder requires:
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DIGIVEX Motion drive with a product code ended by DSM------M (example: DSM13004CM)
NX2 to NX8 servo motor with Posivex® encoder with a product code: NX----M- (example:
NX310EMP)
Parvex Motion Explorer (PME) software above or equal to PME4.08
Specific cable for encoder, part number 220198R00-- .
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DIGIVEX Motion - Posivex multi-turn absolute encoder
2.2 Setting the drive parameters
All parameters are set using Parvex Motion Explorer (PME) software via the Drive Parameters
Settings window.
2.2.1 Drive parameters settings window
Attention : These settings are performed in factory. Please don’t modify them except special
case.
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Global transfer the parameters from a *.pdm file if it has been created.
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DIGIVEX Motion - Posivex multi-turn absolute encoder
If this is not the case
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Upgrade the set of EEPROM parameters so that the absolute encoder option
appears in the Motor/Resolver window (minimum level of EEPROM parameters
required = level 8).
The parameter setting procedure consists of the following 2 stages:
Stage 1: Selecting the motor
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Clicking on the Motor / Resolver button opens the following window:
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DIGIVEX Motion - Posivex multi-turn absolute encoder
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Select the Motor/Drive association from the motor database.
NB: A motor fitted with an absolute encoder is designated in the motor database by
its letter M (example NX310EMG).
Apply.
It will automatically appear in the Motor/Resolver window under the Posivex
Absolute Encoder setting tab
And the Motor with absolute encoder Posivex® option is automatically validated
under the Sensor tab
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Stage 2: Saving the parameters
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Click on the RAM ---> EEPROM button to save the drive configuration.
RAM Æ EEPROM
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Save the parameters in a *.pdm parameter file in order to set the parameters for the
other drives more quickly in the future.
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Shutdown and restart the drive to operate in absolute encoder mode.
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2.2.2 Absolute encoder settings window
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This window is used to initialize the absolute encoder and to check that the
temperature and the battery voltage for the absolute encoder are correct.
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Activate the encoder by selecting Encoder ON when the absolute encoder is to be
used.
Attention : this operation must be carried out with the torque off and the motor shutdown.
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DIGIVEX Motion - Posivex multi-turn absolute encoder
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Home setting is possible via New Position. The value to be entered is recorded in
the drive Resolver unit (See operating modes window).
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The Current Position Refresh button is used to check that the initialisation has been
carried out correctly.
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The encoder operating temperature range is –20°C to 110°C. An absolute encoder
fault appears (fault 2 flashes) in the event that the temperature is excessive.
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The encoder supply is provided by a long life battery. The voltage of this battery
should not drop below 2.4V. An absolute encoder fault will appear (fault 2 flashes)
in the event that the battery voltage is less than 2.4V.
NB: The absolute position of the encoder cannot be guaranteed in the event that the battery
voltage is less than 2.4V. However, it is still possible to operate in incidental operating mode
without absolute position measurement. The drive, therefore, controls the motor using only
resolver signals.
2.3 Initializing the absolute position of the drive
When the power to the drive is turned on, the drive system variable pos1 (variable giving access
to the actual position of the slave axis) must be reinitialized with the position contained in the
absolute encoder.
Said initialization is carried out via a user program.
2.3.1 Loading the user program in the drive
Pos1 can be initialized using the user program Initialization_absolute_position.bdm which is to be
found under PARVEX\ PME \App_Parvex\Samples\Misc.
NB: This program is only given as an example and can be modified by the user of the absolute
encoder.
• Start the Program editor tool:
• Click on Connection.
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• Load the user program Parvex\PME\App_parvex\Samples\Misc\Initialization_
absolute_position.bdm by clicking on File\Open.
• Compile + Export + Apply:
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Exit the window.
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2.3.2 Running the user program
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The program is now in the drive.
Set the instruction exec_en to 1 in order to activate this program.
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If the initialization of the drive system variable pos1 (variable giving access to the
actual position of the slave axis) with the position contained in the absolute encoder
did not take place correctly, the drive starts off in fault P (Program running fault).
Recommendation: So as not to manually activate the user program every time the drive is turned
on, save the parameters in EEPROM (see section 2.2.1 Stage 2) having already set the
instruction exec_en to 1. Thereafter, the drive will start-up with its user program activated every
time it is turned on.
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2.4 System variables dedicated to the absolute encoder
3 system variables have been created for communicating with the absolute encoder:
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absolute_command
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absolute_data
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absolute_status
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absolute_command is used for managing the different types of instruction. The instruction
transfers to 0 when it has been transmitted to the absolute encoder.
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absolute_data is the data register.
absolute_command
absolute_data
READ POSITION
1
(Units*)
WRITE OFFSET POSITION
2
(Units*)
MEASURE BATTERY VOLTAGE
3
(V)
MEASURE CARD TEMPERATURE
4
(°C)
READ STATUS
5
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RESET ENCODER
6
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TURN ENCODER ON
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TURN ENCODER OFF
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* : Following choice performed from the heading Drives parameter setting / Operating modes /
Configuration (example : rad, degree, mm…).
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absolute_status is used for finding out the state of the absolute encoder.
o
When an absolute_command instruction is requested, the absolute_status variable
is set to 0.
o
When the absolute encoder has replied, the absolute_status variable transfers to a
value other than 0. The absolute_status variable is equal to 1 during normal
encoder operating conditions.
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Operating mechanism
Send read position
request
End of read
position request?
Absolute_command = 1
Absolute_command = 0 ?
no
yes
Encoder reply?
Absolute_status = 0 ?
yes
no
Encoder in fault?
Absolute_status = 1 ?
no
yes
Read position
Absolute_data = xxxx
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2.5 Absolute encoder faults
If the drive detects an operating defect with the absolute encoder, fault 2 flashes:
There can be several reasons for this:
Fault
Major fault
Status_number value
Absolute encoder in off mode
NO
status_number = 43
Communication between
drive and absolute encoder
YES
status_number = 44
Absolute encoder Time_out or
Hardware
YES
status_number = 45
Battery voltage low
YES
status_number = 46
Excessive temperature
YES
status_number = 47
Multi-turn absolute encoder
counter overflow
YES
status_number = 48
Other fault
YES
status_number = 49
NB: A major fault opens the OK relay.
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