Lexium 15 LP - Schneider Electric

Lexium 15 LP - Schneider Electric
Lexium 15 LP
Servo Drives
Programming manual
30072-452-56
2
Lexium 15 LP Servo Drives Programming manual
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
Introduction to the Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . 11
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Application Architectures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2
2.1
2.2
2.3
Chapter 3
Unilink Graphic User Interface . . . . . . . . . . . . . . . . . . . . . . . . . 19
Unilink Graphic User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unilink Connection and Screen Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unilink Connection and Screen Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selecting Online or Offline Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using Unilink Commissioning Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using Unilink Commissioning Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using ASCII Commands in the Terminal Screen Page. . . . . . . . . . . . . . . . . . . .
Device Parameters Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Data Base File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Setup Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Setup Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of "Drive Setup Wizard". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of "Quick Motor/Drive Setup". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of "Analog Application Setup" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of "Gearing Application Setup" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of "Motion Task Application Setup" . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of "Complete Setup Wizard" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Device Operation Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Device Operation Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Axis Commissioning Checklist Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Device State Handling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modes of Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4
19
20
20
21
24
29
29
30
33
34
35
35
36
37
40
46
51
56
57
58
72
75
Device Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Lexium 15 LP Servo Drives Programming manual
3
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
4.10
4.11
4.12
4.13
4.14
4.15
4.16
4
Device Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Screen page "Basic Setup" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Overview of "Basic Setup" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Screen page "Units/Mechanical" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Overview of "Units/Mechanical" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Screen page "Motor/Feedback" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Overview of the "Motor/Feedback" screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Screen page "Feedback" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Overview of the "Feedback" screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Screen page "Motor" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Screen page "Motor" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Overview of the "Motor" screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Overview of the "Set Up Motor" Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Screen page "Current Loop" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Overview of the "Current Loop" screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Screen page "Velocity Loop" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Introduction to the "Velocity Loop" screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Screen page "Position Loop" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Overview of the "Position Loop" screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Screen page "Position data" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Overview of the "Position Data" Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Registration (LATCH). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Screen page "Position Registers" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Overview of the "Position Registers" Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Screen page "Electronic Gearing" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Overview of the "Electronic Gearing" screen . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Screen page "Encoder Emulation". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Overview of the "Encoder Emulation" screen . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Screen page "Analog Inputs" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
General overview of the "Analog Inputs" screen . . . . . . . . . . . . . . . . . . . . . . . . 147
Overview of the Analog Inputs Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Screen page "Digital I/O" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Overview of "Digital I/O". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Digital I/O Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Digital Inputs LI1 / LI2 / LI3 / LI4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Digital Outputs LO1/LO2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Configure OPMODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Configure Command Buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Configure Velocity Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Configure Mask for TRJSTAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Configure Mask for DRVSTAT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Configure Mask for POSRSTAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Screen page "Motion Service" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Lexium 15 LP Servo Drives Programming manual
4.17
4.18
4.19
4.20
4.21
4.22
4.23
4.24
4.25
Chapter 5
Screen page "Motion Service". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jog mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction to the "Motion Service" screen . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "Status" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction to the "Status" Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "Monitor" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction to the "Monitor" Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "Homing" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General overview of the "Homing" screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the "Homing" screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "Motion task parameters". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General overview of the "Motion task parameters" screen . . . . . . . . . . . . . . . .
Overview of the "Motion Task" Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motion Task Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "Service parameters" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the "Service Parameters" Screen . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "Oscilloscope" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "Oscilloscope" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the "Oscilloscope" screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the Oscilloscope - Channels Tab . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the Oscilloscope - Triggers Tab . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the Oscilloscope - Recording Scope Files Tab . . . . . . . . . . . . . . .
Overview of the Oscilloscope - Motion Service Tab . . . . . . . . . . . . . . . . . . . . .
Overview of the Oscilloscope - Tuning Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . .
"BODEPLOT" screen page. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the "Bode plot" screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "Terminal" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the "Terminal" screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Screen page "I/O expansion" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview of the Screen Page "I/O Expansion" . . . . . . . . . . . . . . . . . . . . . . . . .
193
194
195
198
198
202
202
206
206
207
214
219
221
223
225
226
227
228
228
229
232
236
236
238
238
239
241
242
243
244
245
248
248
254
254
256
256
Field Buses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Field Buses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Overview of "CAN Fieldbus Settings" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Fieldbus Availability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Chapter 6
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
6.1
Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
Lexium 15 LP Servo Drives Programming manual
5
6.2
Index
6
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
Error and alert messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
General overview of the "Error and alert messages" . . . . . . . . . . . . . . . . . . . . . 267
Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Alert messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Lexium 15 LP Servo Drives Programming manual
Safety Information
§
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special
messages may appear throughout this documentation or on the equipment to warn
of potential hazards or to call attention to information that clarifies or simplifies a
procedure.
The addition of this symbol to a Danger or Warning safety label indicates
that an electrical hazard exists, which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal
injury hazards. Obey all safety messages that follow this symbol to avoid
possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided,
will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can
result in death, serious injury, or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can
result in injury or equipment damage.
Lexium 15 LP Servo Drives Programming manual
7
Safety Information
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by
qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
© 2008 Schneider Electric. All Rights Reserved.
WARNING
UNINTENDED EQUIPMENT OPERATION
- Test and verify the operation of applications before release.
- Perform safety analysis and tests appropriate to the application. This software
package provides a means to quickly design an application. System
programming and interlocks are required to ensure the safety of the resulting
applications.
- Any applicable regulatory requirements must be met before releasing an
application for general use.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
WARNING
LOSS OF CONTROL
- The designer of any control scheme must consider the potential failure modes of
control paths and, for certain critical control functions, provide a means to achieve
a safe state during and after a path failure. Examples of critical control functions
are emergency stop and overtravel stop.
- Separate or redundant control paths must be provided for critical control
functions.
- System control paths may include communication links. Consideration must be
given to the implications of unanticipated transmission delays or failures of the
link.1
- Each implementation of a Lexium 15 servo drive must be individually and
thoroughly tested for proper operation before being placed into srvice.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
1.For additional information refer to NEMA ICS 1.1 (lates edition), “Safety Guidelines for
the Application, Installation, and Maintenance of Solid State Control”
8
Lexium 15 LP Servo Drives Programming manual
About the Book
At a Glance
Document Scope
This booklet explains the installation and operation of the Unilink Commissioning
Software for digital servo amplifiers.
z product overview
z motion control overview
z dialog screen layout
z axis commissioning checklist procedures
z error and alert messages
z troubleshooting
User Comments
We welcome your comments about this document. You can reach us by e-mail at
[email protected]
Lexium 15 LP Servo Drives Programming manual
9
About the Book
10
Lexium 15 LP Servo Drives Programming manual
Introduction to the Servo Drive
1
At a Glance
Information
This chapter introduces the servo drive and gives an overview of the architecture for
each application type.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Product Overview
12
Application Architectures
15
Lexium 15 LP Servo Drives Programming manual
11
Introduction to the Servo Drive
Product Overview
What is Unillink?
Unilink Commissioning Software is an axis- commissioning tool for both single-axis
and multi-axis motion control applications. With its graphical user interface and
Windows dialogs, Unilink provides an easy point-and-click method for configuring
parameters in a single-axis standalone system or in a multi-axis, fiber-optic
SERCOS network.
To get the latest copy of Unilink software contact your local Schneider Electric
personal or visit www.us.telemecanique.com
What is a Servo
Drive?
Lexium 15 servo drives are devices designed to control an AC synchronous motor
for Motion Control applications. The device includes a power supply. For further
information, please see the Lexium 15 Installation Manuals.
12
Lexium 15 LP Servo Drives Programming manual
Introduction to the Servo Drive
Control
Functions
Lexium 15 control functions are:
z
z
z
z
z
z
z
z
Servo loops: position, velocity, and current (torque).
Motor interface including feedback.
Encoder interface for master set point for gearing, or encoder emulation for
Motion Controller.
Modes of operation: some modes are set by the Unilink software, some are set
by field buses.
Digital I/O handlers: registration, start motion, and others.
Analog I/O handlers: set points and thresholds.
Position registration function (LATCH).
Position register: axis’ software limit, and digital output setting.
The following diagram shows the servo drive control functions:
Drive
Status
Control
Encoder
Intreface
Sercos
Opmode
Position
Loop
Jog
STAT
CANopen
FIPIO
Modbus Plus
PF DP
Motor
Velocity
Loop
Analog
Velocity
Analog
Torque
Current
Loop
Motion
Task
Homing
Digital
Velocity
Position
Profile
DSP 402
Digital
Torque
Gear
Modes of Operation
AnIn
AnIn
Function
Inputs
Inputs
Function
Position
Registration
(LATCH)
Position
registre
Outputs
Function Outputs
WARNING
LOSS OF SERVO MOTOR CONTROL
Read the Installation Manual for the servo amplifier carefully before installation
and setup.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
Lexium 15 LP Servo Drives Programming manual
13
Introduction to the Servo Drive
WARNING
UNINTENTIONAL MACHINE MOVEMENT
The machine manufacturer must perform a hazard analysis for the machine and
must ensure that unintentional movement of the machine is never a hazard to
personnel or devices. Only if these measures are taken can the customization of
online parameters by qualified staff be permitted.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
CAUTION
UNQUALIFIED PERSONNEL
Only properly qualified personnel are permitted to perform activities such as
transport, installation, setup and maintenance. Properly qualified persons are
those who are familiar with the transport, assembly, installation, setup and
operation of the product, and who have the appropriate qualifications for their job.
The qualified personnel must know and observe:
IEC 364 and CENELEC HD 384 or DIN VDE 0100
IEC-Report 664 or DIN VDE 0110
National Accident Prevention Regulations or BGV A3.
Failure to follow these instructions can result in injury or equipment
damage.
CAUTION
CORRUPTED DATA
Data sets stored on digital media are not safe from undesirable alteration by third
parties. Check all the parameter before enabling the servo amplifier after loading
a data set.
Failure to follow these instructions can result in injury or equipment
damage.
14
Lexium 15 LP Servo Drives Programming manual
Introduction to the Servo Drive
Application Architectures
Single-Axis
Motion Control
In a single axis system, UniLink runs on a computer (PC) connected to one drive.
The communication is established via the RS232 interface.
The following diagrams show the architecture for single axis applications:
Master
Encoder
Extension I/O
Extension I/O
I/O
Machine
Single Axis Applications
For fast move sequences
with Motion Task
Lexium 15 LP Servo Drives Programming manual
I/O
Machine
Master/Slave Gearing
15
Introduction to the Servo Drive
Multi-Axis
Motion Control
In a multi-axis system, UniLink runs on a computer (PC) connected to one drive. The
communication with the first drive is established via the RS232 interface. The other
drives are connected to the first via a special cable (Y-shaped adapter) on the builtin CAN bus. This way, you can communicate with several drives without modifying
the connections.
The following diagram shows the field bus connections for multi-axis applications:
Master
Encoder
Field bus
Field bus
Extension I/O
Extension I/O
n axes
n axes
Fast I/O
Machine
Coordinate Multi-Axes Applications
For fast move sequences
with Motion Task
Fast I/O
Machine
Multi axes Master/Slave gearing
With hard wire master encoder
More efficient with CANopen and PLCopen Motion Function bloc
libraries in Unity
The following diagram shows the CANsync architecture for a stand-alone motion
controller:
ttiioonn
fuunncc
iioonn f
t
t
o
o
M
M
Telemecanique
01
Motion function
4/8 axes
16
Multi-axes synchronised
applications with CANsync
Schneider standalone Motion
Controller:
* Cam profile
* Multi-gearing
* Machine function blocks
Lexium 15 LP Servo Drives Programming manual
Introduction to the Servo Drive
The following diagram shows the SERCOS architecture for a PLC motion controller
motion bus:
Motion function
Up to 16 axes
Tuning Your Axis
with UniLink
Multi-axes synchronised
applications with Sercos
Motion bus in
TSX CSY 84/164/85 for
Premium PLC:
* Cam profile
* Multi-gearing
CSY 85
* Linear interpolation
* Circular interpolation
* Trajectory editor
During the configuration process, UniLink allows you to tune the servo motor for
each axis quickly and efficiently. From UniLink, while online with an axis and its
motor, you adjust servo parameter values (such as gains and limits) and execute
them immediately. While watching and listening to the motor spin, you may use the
UniLink oscilloscope to adjust and readjust these values until the motor reaches its
best performance - optimum speed without oscillation and noise or anything else
that would make the motor unstable. The changes made to the servo parameter
values may be saved to the drive and the file.
UniLink dialogs step you through the complete startup phase of your programming
projects. All the parameters of the drive can be saved in a separate file for each axis.
Each drive file is a unique custom configuration for that drive and can be accessed
offline (not connected to the drive) or online (connected to the drive).
Please see also the axis commissioning checklist procedures (See Axis
Commissioning Checklist Procedures, p. 58).
Lexium 15 LP Servo Drives Programming manual
17
Introduction to the Servo Drive
18
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
2
Unilink Graphic User Interface
At a Glance
This chapter describes the functions, use, and elements of the graphic user interface
of the Unilink commissioning software.
What's in this
Chapter?
This chapter contains the following sections:
Section
Topic
Page
2.1
Unilink Connection and Screen Layout
20
2.2
Using Unilink Commissioning Software
29
2.3
Drive Setup Wizard
35
Lexium 15 LP Servo Drives Programming manual
19
Unilink Graphic User Interface
2.1
Unilink Connection and Screen Layout
Unilink Connection and Screen Layout
At a Glance
Overview of connecting to Unilink (selecting online or offline mode) and of the
screen layout.
What's in this
Section?
This section contains the following topics:
20
Topic
Page
Selecting Online or Offline Mode
21
Screen Layout
24
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Selecting Online or Offline Mode
At a Glance
When you start Unilink, you can choose either to work online or offline.
Unilink L
??
Would you like to connect to a drive?
(Press “Yes” to connect or “No” to work
Yes
Online
No
If the software detects a connected servo drive, the Start screen is displayed. If this
is the first time you have worked online, you must first set configuration parameters.
Select the communication system the servo drive is connected to:
Available Comm Devices
Select Device
RS-232
OK
Cancel
Set the communication parameters:
z
Serial Port - COM1 to COM10
z
Baud rate
z
Timeout in ms
Lexium 15 LP Servo Drives Programming manual
21
Unilink Graphic User Interface
RS-232 Set . . .
Serial Port
COM1
Baud Rate
38400
Timeout [ms]
2000
OK
Cancel
The software communicates with the parameters you have set, and if the
parameters are correct, the software starts.
22
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Offline
Even when no servo drive is connected, you can still use UniLink. To do this, select
the amplifier servo drive type corresponding to your device and mains specification:
Choose Drive Type
Select Continous / Peak Current
and Mains Voltage
3A / 9A, 230V
6A / 15A, 230V
10A / 20A, 230V
1.5A / 4.5A, 400V
1.5A / 4.5A, 480V
4A / 7.5A, 400V
3A / 7.5A, 480V
6A / 12A, 400V
6A / 12A, 480V
OK
When you have selected the servo drive type, a default data set is loaded. This data
can be modified and stored in an external file.
Note: Software functions and Unilink dialog boxes that are only available in online
mode will not be selectable.
Lexium 15 LP Servo Drives Programming manual
23
Unilink Graphic User Interface
Screen Layout
At a Glance
Unk
L
File
General screen
Untitled - Unilink L
Edit
Communication
Drive
Tools
?? ??
V
DRIVE0
Setup Wizard
Basic Setup
Units / Mechanical
CAN / Field Bus Settings
Feedback
Motor
Current Loop
Velocity Loop
Position Loop
Position Data
Position Registers
Electronic Gearing
Encoder Emulation
Analog I/O
Digital I/O
Motion Service
i Status
Monitor
Homing
Motion Tasks
Oscilloscope
Bode Plot
Terminal
t
Ready
Navigation Frame
Title bar
24
Help
View
Drive I2t load
1 %
Motor I2t load
2 %
Effective Current
0.017 A
Current D Component 0.005 A
Current Q Component -0.006 A
Bus Voltage
0 V
Regen Power
0 W
Heat Sink Tempera26 °C
Internal Temperature
32 °C
User defined Variables to monitor
ASCII
ASCII
Value
P1
0
OPMODE 0: Digital Velocity
CLR
CLR
FLT
FLT
STOP EN DIS
Motor Thermistor Resistance
Angle of Rotation
Actual Velocity
Velocity Command
Position
2
117.0
537 0e
-0.029
0.000
3259
0 Count
Following Error
ASCII
Value
0
Oh
Omech
Counts
rpm
rpm
Count
Value
0
Analog Inputs
Input 1
705 mV
Input 2
62 mV
Digital Inputs / Outputs
IN1 IN2 IN3 IN4 Enable OUT1 OUT2
OnLine
Disabled
PWR
Warning
not normed
NU
Main Frame Status Bar
The name of the currently valid data set or servo drive and the program name are
displayed in the title bar. If you are working offline and the data set has not yet been
named, the text "Untitled" will be displayed.
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Menu bar
The following table describes menu bar commands, and the corresponding toolbar
buttons.
FILE
New
A new data set is created for editing. The current data set is closed,
and is not saved.
Open
A data set is read from the data medium (hard disk, floppy disk) and
becomes the configuration currently in use. The servo amplifier
must first be disabled.
Save
Saves the current data set in a file on your PC.
Save as
Saves the current data set in a file on your PC with a name you have
chosen.
Print
Prints the current data set on your Windows standard printer.
Print preview
Displays a preview of the data set currently in use in the software
prior to its printing.
Print setup
Changes the settings of your Windows standard printer.
Exit
Exits the program.
COMMUNICATION
Connect
Connect to the servo drive.
Disconnect
Disconnect from the servo drive, software switches to offline mode.
Reload
Reloads all parameters and motor task data from the servo drive.
Refresh page
settings
Refreshes the previous data of the current screen page with the
new data set.
Apply page settings
Save the parameters of the current page to the RAM of the servo
amplifier.
Select device
Select the Communication network.
Device parameters
Adjust the communication parameters.
DRIVE
Stop
Stop movement in OPMODES 0, 2 and 8.
Enable
Enable the software for power outage stage
Disable
Disable the software for power outage stage.
Save to EEPROM
Save the current parameter set to the EEPROM of the servo
amplifier.
Clear EEPROM
Restores the default parameter set to the EEPROM of the servo
amplifier.
Reset
Hardware reset (COLDSTART)
Lexium 15 LP Servo Drives Programming manual
25
Unilink Graphic User Interface
DRIVE
Clear Errors
Current error messages are cleared. The response to this
clearance depends on the error: some errors may require a reboot,
while others allow operation to continue.
Select OPMODE
Select the operation mode of the servo amplifier OPMODE (See
Modes of Operation, p. 75 for more information.
TOOLS
Options
Select language
Colour setup for the Bode Plot and Oscilloscope
Select the language version of the software
VIEW
Toolbar
Display or hide the Toolbar.
Status bar
Display or hide the Status Bar.
?
26
Online HTML Help
Display the Online Help for the setup software. or software version
information.
About
Display the version of the setup software.
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Toolbar
The tool bar is composed of typical Windows-like buttons for the direct launch of
simple function such as: New, Open, Save, Cut, Copy, Paste, Erase, Undo, Print,
About, Help.
? ?
But also of specific buttons designed to launch advanced servo drive functions:
Icon
Function name
Corresponding
ASCII Command
Description
Connect
-
Connect to the servo amplifier.
Disconnect
-
Disconnect from the servo amplifier.
In this case, the software switches to
offline mode. You can still work with the
setup software, even if there is no servo
amplifier connected. You can load a set of
data from the hard disk (or any other data
storage medium), work on it, and save it
again. You cannot select the software
functions and screen pages that are only
used in online mode.
Reload data
from the drive
-
Reloads all parameters and motor task
data from the servo drive.
Refresh page
settings
-
Refreshes the previous data of the actual
screen page with the new data set.
Apply page
settings
-
Save the parameters of the actual page to
the RAM of the servo drive.
Stop
STOP
Stops the currently active service function
in the OPMODES 0, 2 and 8. Movements
in other OPMODES can only be stopped
by using the "DISABLE" button.
Enable
EN
Sets the software enable for the output
stage. If the software enable and the
hardware enable are set and no fault is
present (i.e. the R1A/R1C contact is
closed), then the output stage is enabled.
STOP
EN
Lexium 15 LP Servo Drives Programming manual
27
Unilink Graphic User Interface
Icon
Function name
Corresponding
ASCII Command
Description
Disable
DIS
Sets the software disable.
Parameters cannot be downloaded to the
servo drive EEPROM while its output
stage is enabled.
Save
parameters to
EEPROM
SAVE
Non-volatile storage of the currently valid
parameter set in the EEPROM of the
servo amplifier. In this way you can
permanently save all the parameter
changes that you have made since the
last switch-on/reset of the servo amplifier.
Clear EEPROM
parameters
RSTVAR
Restores the default parameter set to the
EEPROM of the servo amplifier.
Clear Faults
CLRFAULT
Clears current error messages. The
response to the clearance depends on the
error: some errors may require a reboot.
Reset
COLDSTART
Software reset (warm boot) of the servo
amplifier. The servo amplifier must be disabled. The current faults are cleared, the
servo amplifier software is initialized and
communications are re-established. This
command has the same effect as turning
the drive power off and then back on.
DIS
CLR
CLR
FLT
FLT
Status bar
The communication status between the servo drive and the setup software is
indicated on the left side of this bar. On the right side of the status bar, the operation
status (online/offline), the error status (warning or error) and several other status
messages, such as homing status, are monitored.
Navigation frame
This tree manager structure links to all the screen pages that you need for setup,
optimizing and monitoring of the servo amplifier. The selected screen is shown in the
main frame.
The top level of the tree shows the name of the connected servo amplifier (DRIVE0
in the example).
Main frame
28
The main frame enables you to change parameters, monitor actual values of the
servo amplifier and select functions.
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
2.2
Using Unilink Commissioning Software
Using Unilink Commissioning Software
At a Glance
This section contains some important information about using Unilink
Commissioning Software.
What's in this
Section?
This section contains the following topics:
Topic
Page
Using ASCII Commands in the Terminal Screen Page
30
Device Parameters Management
33
Motor Data Base File
34
Lexium 15 LP Servo Drives Programming manual
29
Unilink Graphic User Interface
Using ASCII Commands in the Terminal Screen Page
At a Glance
Unilink Commissioning Software is a set of Windows screen pages for configuring
parameters for the servo drive. You can set all the parameters shown either directly
using the Unilink screen pages, or via fieldbus or by using ASCII commands on
Terminal screen page.
For each Unilink parameter field, this manual will describe its function and the
relevant ASCII command. An example is shown below for the parameter Ipeak
(pos.):
+
Cur. Command
(-)
Ipeak (pos.)
4.036
Proportional Gain (Kp_i)
A
Ipeak (neg.)
Integral Time (Tn_i)
A
4.036
45
ms
9.6
Homing Ipeak
1.5
I2T
80
A
Warning
%
< Previous
Next >
Ipeak (pos.)
ASPCII: IPEAKP
Default: IMAX
Unit: Amperes
Range: 0 - DIPEAK
valid for all OPMODES
Sets the positive servo motor peak current (r.m.s. value).
30
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Using TerminalOnly Commands
Not all parameters are accessible via the relevant Unilink screen pages. Some
ASCII commands are ONLY accessible via the Unilink Terminal screen page. For
example, the STOPMODE command is used to configure the way of disabling the
drive output stage. STOPMODE at 0 means output stage is immediately disabled.
STOPMODE at 1 means drives runs down to 0 following a deceleration ramp. The
Velocity loop screen page allows you to set the disable deceleration ramp
parameter.
Vel. Command
ACC
+
DEC
(-)
Speed Limit (pos.)
3000
rpm
Acc. Ramp
293750
PI-Plus
Proportional
Gain (Kp_v)
LP Freq.
1
0.042
160
rpm/s
0.042
Speed Limit (neg.)
3000
rpm
Hz
Integral Time (Tn_V) HP Freq.
ms 160
Hz
Dec. Ramp
293750
rpm/s
Emerg. Dec. Ramp
293750
Overspeed
3600
rpm/s
Disable Dec. Ramp
rpm
293750
rpm/s
< Previews
Lexium 15 LP Servo Drives Programming manual
Next >
31
Unilink Graphic User Interface
However, you have to enter the STOPMODE command via the Terminal screen
page.
--> STOPMODE1
-->
Command :
The ASCII command list is described in detail in the ASCII Command List Manual.
32
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Device Parameters Management
At a Glance
Unilink commissioning software works in two modes:
z
z
OFFLINE: the parameters are stored in a disk file. However, the parameters’
value settings are not verified for consistency limits.
This option is recommended for Motion Task programming.
ONLINE: the parameters are stored in the servo drive RAM and their value
settings are verified for consistency limits. During a DOWNLOAD operation, a
complete consistency check is performed and values above those allowed are
are cut off.
The servo drive is equipped with an EEPROM to enable parameters to be saved
between power on / power off operations. To move information between both
memories, the ASCII commands SAVE and LOAD may be used.
Lexium 15
Offline
Unilink
Online
DOWNLOAD
UPLOAD
RAM
LOAD
ASCII
Command
Personal Computer
Lexium 15 LP Servo Drives Programming manual
SAVE
ASCII
Command
EEPROM
33
Unilink Graphic User Interface
Motor Data Base File
At a Glance
Schneider Motor Range parameters are stored in Lexium 15 without an erasable
memory.
This means that motor settings for the Schneider motor should only be set ONLINE.
Lexium 15
Offline
Unilink
Online
DOWNLOAD
UPLOAD
RAM
LOAD
ASCII
Command
Personal Computer
SAVE
ASCII
Command
EEPROM
Motor
Data
Base
34
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
2.3
Drive Setup Wizard
Drive Setup Wizard
At a Glance
Overview of the Drive Setup Wizard and the different screen pages included.
What's in this
Section?
This section contains the following topics:
Topic
Overview of "Drive Setup Wizard"
Page
36
Overview of "Quick Motor/Drive Setup"
37
Overview of "Analog Application Setup"
40
Overview of "Gearing Application Setup"
46
Overview of "Motion Task Application Setup"
51
Overview of "Complete Setup Wizard"
56
Lexium 15 LP Servo Drives Programming manual
35
Unilink Graphic User Interface
Overview of "Drive Setup Wizard"
At a Glance
The Drive Setup Wizard leads you through the necessary steps for configuring the
servo drive:
Welcome to the Drive Setup Wizard
This Setup Wisard will help you configure your drive. Start by choosing the type of set up from the
list below: “Quick Motor/Drive Setup”, “Analog Application Setup”, “Gearing Application Setup”,
“Motion Task Application Setup” or “Complete Setup”.
Click “Next” and “Previous” to move between screens, or move directly to any screen by clicking in
the tree on the left. Click the “Refresh” toolbar button to bring back the original data for the screen
currently showing.
When a new wizard page is opened, the current parameter values related to that page are reloaded
from the drive.
Select Type of Setup Wizard
Quick Motor/Drive Setup
Analog Application Setup
Gearing Application Setup
Motion Task Application Setup
Complete Setup
Enter Setup Wizard
Type of Setup
Wizard
Select the setup type for your application:
z
z
z
z
z
Quick Motor/Drive Setup (See Overview of "Quick Motor/Drive Setup", p. 37)
Analog Application Setup (See Overview of "Analog Application Setup", p. 40)
Gearing Application Setup (See Overview of "Gearing Application Setup", p. 46)
Motion Task Application Setup (See Overview of "Motion Task Application
Setup", p. 51)
Complete Setup (See Overview of "Complete Setup Wizard", p. 56)
Depending on the setup type you select, only the screen pages relevant to that setup
type are displayed.
36
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Overview of "Quick Motor/Drive Setup"
At a Glance
The Quick Motor/Drive Setup wizard guides you through the configuration of the
servo drive, users’ units and servo motor parameters.
Basic Setup
The Basic Setup screen enables you to configure the mains power supply characteristics and the servo amplifier identification:
Power Supply
Amplifier
Hardware
Regen Resistor
Drive 3A
Firmware
Internal
Value
External
Ohms
0
max. Regen Power
50
W
0
0
xxxx:xx
Set Software-Enable on Bootup
Mains Voltage
230
V1.23 DRIVE Rev create.d Aug 09 16:56:39 2005
Name
Serial Number Run Time
V
Response to loss Input Phase
Three-Phase (Current Limit), Warning
Next >
This screen is described in detail in the Basic Setup section (See Overview of "Basic
Setup", p. 81). Click "Next" to move to the next screen in the Setup Wizard.
Lexium 15 LP Servo Drives Programming manual
37
Unilink Graphic User Interface
Units/Mechanical
The Units/Mechanical screen enables you to define your preferred units and the
mechanical conversion of your system. By defining these parameters you can easily
configure the real motion of your axis.
User Units
Position
Counts
Velocity
rpm (Velocity Loop), Counts/s (Position Loop)
Acceleration
rpm/s
Mechanical Conversion
10000
Counts
1
Motor Revs
Resolution =
< Previews
Next >
This screen is described in detail in the Units/Mechanical section (See Overview of
"Units/Mechanical", p. 86). Click "Next" to move to the next screen in the Setup
Wizard.
38
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Motor/Feedback
The Motor/Feedback screen enables you to define the feedback sensor used on
your axis and the parameters of the servo motor, as well as the calculation of some
predefined tuning coefficients.
Feedback
Type
0 Resolver - connector X2
Motor
No.
Select from Database
0
Name
Continous Current
NN
1.08 A
Peak Current
Brake
Type
1: PM Rotary Motor
5 A
Without
Maximum Speed
6000 rpm
Calculated Quick Tuning
Load-to-Motor Inertia Ratio
0
Calculated Quick Tuning
Glentle
Medium
Stiff
Do not tune
< Previews
Next >
This screen is described in detail in the Motor/Feedback section (See Overview of
the "Motor/Feedback" screen, p. 92). Click "Finish" to end the Quick Motor/Drive
Setup Wizard.
Lexium 15 LP Servo Drives Programming manual
39
Unilink Graphic User Interface
Overview of "Analog Application Setup"
At a Glance
The Analog Application Setup wizard guides you through the screens needed for the
quick commissioning of your analogically controlled axis.
Basic Setup
The Basic Setup screen enables you to configure the mains power supply characteristics and the servo amplifier identification:
Power Supply
Amplifier
Hardware
Regen Resistor
Drive 3A
Firmware
Internal
Value
External
Ohms
0
max. Regen Power
50
W
0
0
xxxx:xx
Set Software-Enable on Bootup
Mains Voltage
230
V1.23 DRIVE Rev create.d Aug 09 16:56:39 2005
Name
Serial Number Run Time
V
Response to loss Input Phase
Three-Phase (Current Limit), Warning
Next >
This screen is described in detail in the Basic Setup section (See Overview of "Basic
Setup", p. 81) . Click "Next" to move to the next screen in the Setup Wizard.
40
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Units/Mechanical
The Units/Mechanical screen enables you to define your preferred units and the
mechanical conversion of your system. By defining these parameters you can easily
configure the real motion of your axis.
User Units
Position
Counts
Velocity
rpm (Velocity Loop), Counts/s (Position Loop)
Acceleration
rpm/s
Mechanical Conversion
10000
Counts
1
Motor Revs
Resolution =
< Previews
Next >
This screen is described in detail in the Units/Mechanical section (See Overview of
"Units/Mechanical", p. 86) . Click "Next" to move to the next screen in the Setup
Wizard.
Lexium 15 LP Servo Drives Programming manual
41
Unilink Graphic User Interface
Motor/Feedback
The Motor/Feedback screen enables you to define the feedback sensor used on
your axis and the parameters of the servo motor, as well as the calculation of some
predefined tuning coefficients.
Feedback
Type
0 Resolver - connector X2
Motor
No.
Select from Database
0
Name
Continous Current
NN
1.08 A
Peak Current
Brake
Type
1: PM Rotary Motor
5 A
Without
Maximum Speed
6000 rpm
Calculated Quick Tuning
Load-to-Motor Inertia Ratio
0
Calculated Quick Tuning
Glentle
Medium
Stiff
Do not tune
< Previews
Next >
This screen is described in detail in the Motor/Feedback section (See Overview of
the "Motor/Feedback" screen, p. 92). Click "Next" to move to the next screen in the
Setup Wizard.
42
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Encoder
Emulation
The Encoder Emulation screen enables the configuration of the encoder emulation
connector (X5), as either an encoder emulation output (the actual servo drive will
then be the master axis) or an encoder emulation input (the actual servo drive will
be a slave axis).
Encoder Emulation
1 Output - ROD (A Quad B) Enc
Resolution
1024
Lines/Rev.
Zero Pulse Offset
1024
Incr.
< Previews
Next >
This screen is described in detail in the Encoder Emulation section (See Overview
of the "Encoder Emulation" screen, p. 141). Click "Next" to move to the next screen
in the Setup Wizard.
Lexium 15 LP Servo Drives Programming manual
43
Unilink Graphic User Interface
Analog Inputs
The Analog Input screen is dedicated to the configuration of the analog inputs of the
servo drive. You can configure these inputs to control:
z
z
z
z
Servo motor velocity
Servo motor current
Gearing ratio
Digital input trigger level
Analog Inputs
0: Analog In 1 = Velocity or Current Cmd (OPMODE dependent)
AI1
AI2
Offset
0
mV
Current scale
9
Velocity scale
3000
1
msec
Filter
0
mV
A/10V
9
A/10V
rpm/10V
3000
rpm/10V
Auto-offset
Velocity command deadband
0
Auto-offset
mV
< Previews
Next >
These functions are declined in fourteen variations, which are all described in detail
in the Analog Inputs section (See Overview of the Analog Inputs Screen, p. 148).
Click "Next" to move to the next screen in the Setup Wizard.
44
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Digital I/O
The Digital I/O screen enables you to configure the 4 logic inputs and the 2 logic
outputs of the servo drive.
Set INCMD...
LI1
30: Execute Contents of Command Buffer Set 1
LI2
15: Start “Next Motion Task” defined in Current Motion Task
0
LI3
0: Off
0
LI4
0: Off
0
LO1
0: Off
0
LO2
0: Off
0
< Previews
Next >
This screen is described in detail in the Digital I/O section (See Digital I/O Overview,
p. 158). Click "Finish" to end the Analog Application Setup Wizard.
Lexium 15 LP Servo Drives Programming manual
45
Unilink Graphic User Interface
Overview of "Gearing Application Setup"
At a Glance
The Gearing Application Setup wizard guides you through the screens needed for
quick commissioning of axis in a simple master/slave application.
Basic Setup
The Basic Setup screen enables you to configure the mains power supply characteristics and the servo amplifier identification:
Power Supply
Amplifier
Hardware
Regen Resistor
Drive 3A
Firmware
Internal
Value
External
Ohms
0
max. Regen Power
50
W
0
0
xxxx:xx
Set Software-Enable on Bootup
Mains Voltage
230
V1.23 DRIVE Rev create.d Aug 09 16:56:39 2005
Name
Serial Number Run Time
V
Response to loss Input Phase
Three-Phase (Current Limit), Warning
Next >
This screen is described in detail in the Basic Setup section (See Overview of "Basic
Setup", p. 81). Click "Next" to move to the next screen in the Setup Wizard.
46
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Units/Mechanical
The Units/Mechanical screen enables you to define your preferred units and the
mechanical conversion of your system. By defining these parameters you can easily
configure the real motion of your axis.
User Units
Position
Counts
Velocity
rpm (Velocity Loop), Counts/s (Position Loop)
Acceleration
rpm/s
Mechanical Conversion
10000
Counts
1
Motor Revs
Resolution =
< Previews
Next >
This screen is described in detail in the Units/Mechanical section (See Overview of
"Units/Mechanical", p. 86). Click "Next" to move to the next screen in the Setup
Wizard.
Lexium 15 LP Servo Drives Programming manual
47
Unilink Graphic User Interface
Motor/Feedback
The Motor/Feedback screen enables you to define the feedback sensor used on
your axis and the parameters of the servo motor, as well as the calculation of some
predefined tuning coefficients.
Feedback
Type
0 Resolver - connector X2
Motor
No.
Select from Database
0
Name
Continous Current
NN
1.08 A
Peak Current
Brake
Type
1: PM Rotary Motor
5 A
Without
Maximum Speed
6000 rpm
Calculated Quick Tuning
Load-to-Motor Inertia Ratio
0
Calculated Quick Tuning
Glentle
Medium
Stiff
Do not tune
< Previews
Next >
This screen is described in detail in the Motor/Feedback section (See Overview of
the "Motor/Feedback" screen, p. 92). Click "Next" to move to the next screen in the
Setup Wizard.
48
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Electronic
Gearing
The Electronic Gearing screen enables the configuration of the encoder emulation
connector (X5), in this case this connector is configured only as an encoder
emulation input (the actual servo drive is a slave axis).
Ext. Gearing Source
Position
0 No Feedback
Count Direction
Revolution(s)
1
Line(s)
1024
Positive
Input Filter
4: 40 Hz
< Previous
Next >
This screen is described in detail in the Electronic Gearing section (See Overview of
the "Electronic Gearing" screen, p. 136). Click "Next" to move to the next screen in
the Setup Wizard.
Lexium 15 LP Servo Drives Programming manual
49
Unilink Graphic User Interface
Digital I/O
The Digital I/O screen enables you to configure the 4 logic inputs and 2 logic outputs
of the servo drive.
Set INCMD...
LI1
30: Execute Contents of Command Buffer Set 1
LI2
15: Start “Next Motion Task” defined in Current Motion Task
0
LI3
0: Off
0
LI4
0: Off
0
LO1
0: Off
0
LO2
0: Off
0
< Previews
Next >
This screen is described in detail in the Digital I/O section (See Digital I/O Overview,
p. 158). Click "Finish" to end the Gearing Application Setup Wizard.
50
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Overview of "Motion Task Application Setup"
At a Glance
The Motion Task Application Setup wizard guides you through the screens needed
for quick commissioning of a motion task controlled application.
Basic Setup
The Basic Setup screen enables you to configure the mains power supply characteristics and the servo amplifier identification:
Power Supply
Amplifier
Hardware
Regen Resistor
Drive 3A
Firmware
Internal
Value
External
Ohms
0
max. Regen Power
50
W
0
0
xxxx:xx
Set Software-Enable on Bootup
Mains Voltage
230
V1.23 DRIVE Rev create.d Aug 09 16:56:39 2005
Name
Serial Number Run Time
V
Response to loss Input Phase
Three-Phase (Current Limit), Warning
Next >
This screen is described in detail in the Basic Setup section (See Overview of "Basic
Setup", p. 81). Click "Next" to move to the next screen in the Setup Wizard.
Lexium 15 LP Servo Drives Programming manual
51
Unilink Graphic User Interface
Units/Mechanical
The Units/Mechanical screen enables you to define your preferred units and the
mechanical conversion of your system. By defining these parameters you can easily
configure the real motion of your axis.
User Units
Position
Counts
Velocity
rpm (Velocity Loop), Counts/s (Position Loop)
Acceleration
rpm/s
Mechanical Conversion
10000
Counts
1
Motor Revs
Resolution =
< Previews
Next >
This screen is described in detail in the Units/Mechanical section (See Overview of
"Units/Mechanical", p. 86). Click "Next" to move to the next screen in the Setup
Wizard.
52
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Motor/Feedback
The Motor/Feedback screen enables you to define the feedback sensor used on
your axis and the parameters of the servo motor, as well as the calculation of some
predefined tuning coefficients.
Feedback
Type
0 Resolver - connector X2
Motor
No.
Select from Database
0
Name
Continous Current
NN
1.08 A
Peak Current
Brake
Type
1: PM Rotary Motor
5 A
Without
Maximum Speed
6000 rpm
Calculated Quick Tuning
Load-to-Motor Inertia Ratio
0
Calculated Quick Tuning
Glentle
Medium
Stiff
Do not tune
< Previews
Next >
This screen is described in detail in the Motor/Feedback section (See Overview of
the "Motor/Feedback" screen, p. 92). Click "Next" to move to the next screen in the
Setup Wizard.
Lexium 15 LP Servo Drives Programming manual
53
Unilink Graphic User Interface
Position Data
The Position Data screen enables the configuration of the parameters needed to
configure the movement of your axis.
Axis Type
a max
Linear
293750
max. Following Error
v max (pos.)
262144
Counts
In Position Window
4000
Counts/s
v max (neg.)
Counts
Modulo Start Pos.
-5000
10000
rpm/s
10000
Counts/s
Modulo End Pos.
Counts
5000
Counts
Sofware Limit-Switches
No.
1 (neg. SW Limit Switch)
2 (pos. SW Limit Switch)
at Position
0
Counts
0
Counts
< Previews
Next >
This screen is described in detail in the Position Data section (See Overview of the
"Position Data" Screen, p. 126). Click "Next" to move to the next screen in the Setup
Wizard.
54
Lexium 15 LP Servo Drives Programming manual
Unilink Graphic User Interface
Digital I/O
The Digital I/O screen enables you to configure the 4 logic inputs and 2 logic outputs
of the servo drive.
Set INCMD...
LI1
30: Execute Contents of Command Buffer Set 1
LI2
15: Start “Next Motion Task” defined in Current Motion Task
0
LI3
0: Off
0
LI4
0: Off
0
LO1
0: Off
0
LO2
0: Off
0
< Previews
Next >
This screen is described in detail in the Digital I/O section (See Digital I/O Overview,
p. 158). Click "Finish" to end the Gearing Application Setup Wizard.
Lexium 15 LP Servo Drives Programming manual
55
Unilink Graphic User Interface
Overview of "Complete Setup Wizard"
At a Glance
If you select Complete Setup, you can configure parameters for all the setup screen
pages.
The table below lists each of the screen pages in Complete Setup and directs you
to the section which describes that screen.
56
Screen page
Section
Basic Setup
Overview of "Basic Setup", p. 81
Units / Mechanical
Overview of "Units/Mechanical", p. 86
CAN / Field Bus Settings
Overview of "CAN Fieldbus Settings", p. 260
Feedback
Overview of the "Feedback" screen, p. 95
Motor
Overview of the "Motor" screen, p. 103
Current Loop
Overview of the "Current Loop" screen, p. 115
Velocity Loop
Introduction to the "Velocity Loop" screen, p. 117
Position Loop
Overview of the "Position Loop" screen , p. 123
Position Data
Overview of the "Position Data" Screen, p. 126
Position Registers
Overview of the "Position Registers" Screen, p. 132
Electronic Gearing
Overview of the "Electronic Gearing" screen, p. 136
Encoder Emulation
Overview of the "Encoder Emulation" screen, p. 141
Analog Inputs
Overview of the Analog Inputs Screen, p. 148
Digital I/O
Digital I/O Overview, p. 158
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
3
Device Operation Handling
At a Glance
This chapter describes the commissioning method, device state, and modes of
operation of the Lexium 15 servo drive.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Axis Commissioning Checklist Procedures
58
Device State Handling
72
Modes of Operation
75
Lexium 15 LP Servo Drives Programming manual
57
Device Operation Handling
Axis Commissioning Checklist Procedures
General
This document provides you with strategies for the commissioning of the digital
servo amplifier and the optimization of its control loops.
These strategies cannot be universally valid. You may have to develop your own
strategy, depending the specification of your machine.
However, the sequences that are presented here will help you to understand the
basic methodology.
Parameterization
DANGER
UNINTENDED EQUIPMENT OPERATION
The manufacturer of the machine must create a hazard analysis for the machine,
and is responsible for the machine with regard to functional, mechanical and
personnel safety. This applies particularly to the initiation of movements with the
aid of commissioning-software functions. The commissioning of the servo drive
with the aid of Setup software functions is only permitted in combination with an
interlock device according to EN292-1 or NFPA 79, that operates directly on the
drive circuitry.
Failure to follow these instructions will result in death or serious injury.
z
z
z
z
z
58
the servo amplifier is installed, and all the necessary electrical connections have
been made. See manual "Installation Guide for the Lexium 15x Series Amplifier"
the 24V auxiliary supply and the 230...480V main power supply are switched off
a personal computer, with the commissioning software installed, is connected
an interlock device according to EN292-1 is connected
the controls provide an LOW signal for the ENABLE input of the servo amplifier
(Terminal X3/12), i.e. the servo amplifier is disabled.
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Switch on
auxiliary supply
Step
Action
1
Switch on the 24V auxiliary supply for the servo amplifier.
LED display: X. XX (firmware version)
R1A/R1C contact: open
After about 5 seconds:
LED display: YY. (amount of current, blinking point for CPU o.k.)
R1A/R1C contact: closed
2
Switch on personal computer.
3
Start commissioning software.
4
Click on the interface (COM1...COM10) that is used for communication with
the servo amplifier.
The parameters are transmitted to the PC.
5
Click on the radio button "SW-disable" at bottom right.
NO ENABLE now stands in the AXIS status field.
Lexium 15 LP Servo Drives Programming manual
59
Device Operation Handling
Basic settings
The servo amplifier remains disabled and the main power supply is switched off.
Step
1
Action
Set up basic parameters (address, ballast details, line/mains supply voltage
etc.):
z click on the BASIC SETUP screen page (See Overview of "Basic Setup", p. 81)
z alter the fields, if necessary
z click on APPLY.
2
Select motor:
z click on the MOTOR screen page.
z open the motor selection table, by clicking on the arrow in the field NUMBER-
Name or "Select Motor from Database" button. See Screen page "Motor",
p. 102 for more information.
z click on the motor that is connected
z click on APPLY
z answer the query about the brake
z answer the query "Save to EEPROM/Reset" with NO
(the data are in the RAM and will be permanently saved later).
3
Select feedback (resolver, encoder):
z click on the FEEDBACK screen page.
z the values that are displayed correspond to the default data that you have
loaded for the motor
z alter the fields, if necessary
z click on APPLY.
60
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Step
4
Action
Set up the encoder emulation (ROD, SSI):
z click on the ENCODER EMULATION screen page
z select the desired encoder emulation
z set up the corresponding parameters in the right half of the window
z click on APPLY.
5
Configure the analog inputs:
z click on the ANALOG INPUT screen page
z select the desired ANALOG-FUNCTION
z Set the scaling relative to 10V for the analog input that is used
z click on APPLY.
6
Configure the digital inputs/outputs:
z click on the DIGITAL I/O screen page.
z assign the required functions to the digital inputs (left half of window) and enter
the auxiliary variable INxTRIG if it is necessary
z assign the required functions to the digital inputs (right half of window) and enter
the auxiliary variable INxTRIG if it is necessary
z click on APPLY.
7
Save parameters:
z click on the button
8
Click on the radio button SW-disable at bottom right.
"NO ENABLE" now stands in the AXIS status field.
z answer the query "RESET AMPLIFIER" with "YES".
Lexium 15 LP Servo Drives Programming manual
61
Device Operation Handling
Procedure to be
followed
If you want to use the position control of the servo amplifier, then you must enter the
specific parameters for your drive:
Step
1
Action
Resolution:
z click on the UNITS/MECHANICAL screen page.
z select units for position velocity and acceleration. Make sure that you select the
appropriate unit for the axis type (see step 2)
z enter the denominator and numerator for the resolution. Here you adjust the
path traversed by the load in positioning units (length unit for linear axes, or
°mech. for rotary axes) to match the number of turns of the motor
z only integer entries are permitted.
Example 1:
Ratio = 3.333 mm / turn
=>resolution =10000/3 μ m/turn (all other path entries in μ m)
or
=>resolution =10/3 mm/turn (all other path entries in mm)
Example 2: Ratio = 180 °mech. /turn =>resolution =180/1 °mech. /turn (all other
path entries in °mech)
z click on APPLY.
2
Axis type:
z click on the POSITION DATA screen page
z select the axis type (linear or rotary).
3
v_max:
z enter the maximum traversing speed for the load that results from the resolution
at the rated speed of the motor. The dimensional unit is derived from the resolution
(°mech. /sec or length units/sec). You can define a positive and negative speed.
Example 1:
resolution =10000/3 μ m/turn, number of motor turns = 3000 turns/
min =>vmax =resolution * number of motor turns =10000/3 *3000 μ m/min =
10 000 000 μ m/min
or
=>vmax =resolution * number of motor turns = 10/3 * 3000 mm/min = 10 000 mm/min.
Example 2:
resolution = 180 °mech. /turn, number of motor turns = 3000 turns/
min =>vmax =resolution * number of motor turns = 180 * 3000 °mech. /min =
9000 °mech. /s
62
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Step
Action
4
a_max or t_acc/dec_min:
z enter the time or acceleration that the drive requires, with the mechanically
permissible maximum acceleration, to accelerate from zero speed to vmax.
5
In position:
z enter the window for "InPosition". This value is used for the InPosition
message
z the dimensional unit is derived from the resolution (°mech. or length unit).
Typical value: e.g. approx. resolution * 1/100 turn.
6
max. following error:
z enter the window for the following error. This value is used for the message
FOLLOWING ERROR. The dimensional unit is derived from the resolution
(°mech. or length unit)
Typical value: e.g. approx. resolution * 1/10 turn.
z click on APPLY.
7
Save parameters:
z click on the button shown below
z answer the query "RESET AMPLIFIER" with "YES".
Lexium 15 LP Servo Drives Programming manual
63
Device Operation Handling
Optimization of
the control loops
The basic setup must be finished.
Step
Action
1
OPMODE:
Set the OPMODE "1: Analog Velocity".
2
Setp. function:
On screen page ANALOG INPUTS, set the analog input function to "0: Analog In
1 = Velocity or Current Cmd (OPMODE dependent)" (See Overview of the Analog
Inputs Screen, p. 148for more information.)
3
Save the parameters:
z click on the button shown below
4
AI1:
Short-circuit the setpoint input 1 or apply 0V to it.
5
OSCILLOSCOPE:
Channel1: v_act Channel2: I_act (screen page OSCILLOSCOPE)
6
Reversing mode
Go to the screen page OSCILLOSCOPE/MOTION SERVICE/PARAMETER and
set the parameters for reversing mode to values that are safe for your machine. In
OSCILLOSCOPE mode, the positioning control loop is switched off.
z answer the query "RESET AMPLIFIER" with "YES".
WARNING
EQUIPMENT MOTION OUTSIDE INTENDED LIMITS
During operation of the service function "Reversing mode" the analog setpoint
input is switched off and the internal positioning control is disabled.
Make sure that the individual motion of the selected axis is possible without any
hazard. Only operate the ENABLE signal of the amplifier with an interlock switch,
and check the EMERGENCY STOP function for this axis.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
64
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Optimizing the
current
controller
Screen page "Current Loop"
Step
1
2
Action
If a suitable amplifier-motor combination is used, the current controller will
already have a stable setting for almost all applications.
lpeak:
z reduce lpeak to the lrated value of the motor (protection of the motor)
3
Power up
4
Provide the analog setpoint:
z AI1 = 0V
5
Enable the amplifier
z high signal at Enable input X3/12. In the AXIS status field: NO SW-EN
z click on the SW-Enable check box. ENABLE now stands in the AXIS status
field.
The motor now stands under speed control, with n=0 rpm. If the current
controller is not stable in operation (motor oscillates with a frequency clearly
above 500Hz), please contact our applications department.
Lexium 15 LP Servo Drives Programming manual
65
Device Operation Handling
Optimizing the
speed controller
Step
1
2
Action
If the axis is drifting when amplifier is enabled:
SETP. -OFFSET :
z Select OPMODE "1: Analog Velocity".
z Click on ANALOG INPUT screen page and select function "0: Analog In 1 =
Velocity or Current Command (OPMODE dependent)".
z Apply 0V on AI1.
z Leave amplifier enabled.
z Alter the parameter Setp. -Offset until it stands still (or use the function AUTOOFFSET).
SETP. RAMP +/-:
z Click on "Velocity loop" screen page
The setpoint ramps are used to smooth the setpoint input (filter effect).
z Set the mechanical time constant for the complete system, i.e the rise time for
the speed from 0 to ncmd. As long as the ramps that are set are shorter than the
mechanical response time for the complete system, the response speed will not
be affected.
66
3
LIMIT SPEED (negative or positive):
Set the desired final limit speed. It corresponds to the nominal speed.
4
KP_v / Tn_v:
Increase KP_v until the motor starts to oscillate (audible, and visible on the
oscilloscope) and then reduce KP_v again until the oscillations have definitely
stopped and stability is assured.
Use the motor-specific default value for Tn_v.
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Step
5
Action
Start reversing mode:
Reversing mode will create a square signal without acceleration. This is useful to
optimize Kp_v, Tn_v and set some additional filters.
z Click on OSCILLOSCOPE screen page.
z Click on the "Motion Service" tab and select Reversing mode.
z Start the reversing mode (v1/v2 approx. +/-10% of nnom for the motor).
z Observe the speed response on the oscilloscope. If the settings are correct,
there must be a stable step response in both directions.
Diagram: Step response
Diagram: Step response
n
2
1
n
= speed
SW = setpoint
t
= time
1
= optimum
2
= KP too high
SW
t
6
KP_v:
On the Oscilloscope "Tuning" tab, you can produce a fine tuning of the speed
response by cautiously increasing KP_v.
Aim: the smallest overshoot, but still retaining good damping. A larger total moment
of inertia make it possible to use a larger value for KP.
7
VELOCITY FILTERS
You can dampen out disturbances, such as a small amount of play in the gearing,
by increasing the Velocity Filters to about 1/3 the value of Tn by using a low pass
filter and a high pass filter. You can also set these filters on the VELOCITY LOOP
screen page (See Screen page "Velocity Loop", p. 117) or or find more details on
filters on the BODEPLOT screen page (See "BODEPLOT" screen page., p. 248)
8
FEEDBACK:
You can further improve the smooth running by using FEEDBACK filters and
modifying velocity observer, especially for small drives with a low torque.
9
End reversing mode:
Finish the reversing using STOP mode.
Lexium 15 LP Servo Drives Programming manual
67
Device Operation Handling
Settings
Step
Action
1
z set up the correct, motor-specific value for Ipeak (current controller) again
z start up reversing mode again, and observe the step response. If there is
any tendency to oscillation, reduce KP slightly
z save the present parameter set in the EEPROM
z click on the button shown below:
Optimizing the
position
controller:
Preparation
Preparation
Step
Action
1
OPMODE:
Select OPMODE 8 (screen page AMPLIFIER)
2
Set up Units:
Click on the UNITS/MECHANICAL screen page and specify units for the velocity,
position and acceleration.
3
Position the load in a middle position:
The aim is, to use the Jog Mode function to move the load to approximately the
middle of the motion path.
z click on the MOTION SERVICE screen page
z check that the parameter s v (Jog Position motion task mode) is set to 1/10 of
the preset speed limit vmax.
z click on APPLY.
z start the function Jog Mode by clicking the buttons "+" or "-". and move the load
to approximately the middle of the motion path.
68
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Step
4
Action
Set reference point:
z click on the HOMING screen page
z set the homing type
Start the homing run. When the reference point is set, the current position is set to
the offset value.
z stop the homing run
z click on the check box "SW-disable" in the amplifier window.
5
Define test motion blocks:
z click on the MOTION TASK screen page
z select task 1 with a double click.
Enter the values from the table below, then select task 2 and enter the
corresponding values.
Task 1
Units
type
s_cmd
v_cmd_source
v_cmd
t_acc_tot
t_dec_tot
ramp
next motion
task
next number
motion blending
start condition
APPLY/OK
6
Task 2
SI
REL setpoint
+10% of total path
digital
10% of vmax
10 * t_acc/dec_min
10 * t_acc/dec_min
trapeze
SI
REL setpoint
- 10% of total path
digital
10% of vmax
10 * t_acc/dec_min
10 * t_acc/dec_min
trapeze
with
2
to target position a
immediately
click
with
1
to target position a
immediately
click
Save parameters:
z click on the button shown below:
z answer the query "RESET AMPLIFIER" with "YES".
Lexium 15 LP Servo Drives Programming manual
69
Device Operation Handling
Optimizing the
position
controller:
Optimization
Optimization
WARNING
EQUIPMENT MOTION OUTSIDE INTENDED LIMITS
The starting of motion tasks with the aid of commissioning-software functions is
only permitted in combination with an interlock device according to to EN292-1 or
NFPA 79, that operates directly on the drive circuitry.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
Step
1
Action
Start motion task:
z click on the MOTION TASK screen page
z select motion task 1, click on "START", motion task 1 is started and, because
of the definition of the motion task sequence, the drive moves in positioncontrolled reversing operation.
70
2
Optimize parameters (Click on the OSCILLOSCOPE / Tuning Tab screen page).
3
VELOCITY FILTERS, FEEDBACK:
The speed controller is not used in OPMODES 4, 5 and 8. The position controller
includes an integral speed controller, that takes on the preset parameters for
VELOCITY FILTERS and FEEDBACK from the screen page VELOCITY LOOP
(See Screen page "Velocity Loop", p. 117).
4
Kp_v, Tn:
If KP_v is set too high, the position controller tends to oscillate. Use the value for
the optimized speed controller for Kp_v. Tn should be 2...3 times as large as the
Tn_v value for the optimized speed controller.
5
Kp_p:
The acceleration behavior of the motor should be well damped (no tendency to
oscillation) with a minimum following error. If Kp_p is larger, the tendency to
oscillation increases. If it is smaller the following error increases and the drive
becomes too soft. Vary KP_p until the desired response is achieved.
6
Velocity:
The integral component of the control loop is in the position controller, not the
speed controller, so no following error results at Jog Mode (pure proportional
control). The following error that arises during acceleration is affected by the
Velocity parameter. This error is smaller if the Velocity parameter is increased. If
increasing FF does not produce any improvement, then you can increase Kp_v a
little, to make the speed control loop somewhat stiffer.
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Incorrect
operation
If the drive does not run satisfactorily under position control, first look for external
causes such as:
z mechanical play in the transmission chain (limits the Kp_v)
z jamming or slip-stick effects
z self-resonant frequency of the mechanical system is too low
z poor damping, drive is too weakly dimensioned before trying to optimize the
control loop again.
Lexium 15 LP Servo Drives Programming manual
71
Device Operation Handling
Device State Handling
At a Glance
Device state handling is illustrated in the diagram below:
Power
Disabled
Fault
COLDSTART
Fault occurs
Fault
Reaction Active
See STOPMODE
START
COLDSTART
Not ready to
Switch on
BOOT=0
Fault
Check
parameters
BOOT=1
CLRFAULT
Copy param. from
EEPROM to RAM
Ready to
Switch on
Mains Power On
Power
Enabled
Mains Power Off
Switched On
DIS and
Enable Input On
DIS or
Enable Input Off
Operation
Enable
Alert
System Alert
CLRFAULT
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Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Device States
Device State
Description
Ready to Switch On
Ready to accept Main Power On.
No energy for motor.
Brake is set (ON) if motor is equipped.
Motion is not allowed.
Led display is "xx" where xx is the device number for field bus.
Switched On
Main Power is On.
No energy for motor.
Brake is on if motor is equipped.
Motion is not allowed.
Led display is "Pxx" where xx is the device number for field bus.
Operation Enable
Main Power is On.
Energy for motor.
Brake is off if motor is equipped.
Motion is not allowed.
Led display is "Exx" where xx is the device number for field bus.
Fault Reaction Active
If a fault is detected the motor will be stopped.
The motor is stopped depending on STOPMODE.
Detected Fault
No energy for motor.
Brake is on if motor is equipped.
Led display is "fxx" where xx is the device number for field bus
Alert
Motor still controlled.
Led display is "nxx" where xx is the device number for field bus.
Lexium 15 LP Servo Drives Programming manual
73
Device Operation Handling
ASCII Command
List
You can use the ASCII commands below to
z
z
z
z
To manage drive states behavior
Clear detected faults, system alerts
Stop
Save restore parameters
ASCII Command
74
Default Value Description
ACTFAULT
1
Active Fault Mode
BOOT
0
Type of Boot Initialisation
CLRFAULT
-
Clear Drive Detected Fault
CLRHR
-
Bit 5 of status register STAT is cleared
CLRWARN
0
System Alert Mode
COLDSTART
-
Drive Reset
DECDIS
10
Deceleration used on Disable Output Stage
DECSTOP
10
Quick Stop - braking ramp for emergency situations
DIS
-
Software - Disable
EMRGTO
5000
Emergency time-out and stop mode
EN
-
Software - Enable
INPOS
-
Status of In-Position Signal
INPT
10
In-Position Delay
K
-
Kill (=Disable)
KEYLOCK
0
Locks the push buttons
LOAD
-
Load parameters from Serial EEPROM
MSG
0
Enable/Disable All Messages via RS232
PASSCNFG
0
Password Function
PASSX
0
Activate Password Function
PMODE
1
Line Phase Error Mode
REMOTE
-
Status of the Hardware Enable
RSTFW
0
Parameter of RSTVAR
RSTVAR
-
Restore variables (default values)
S
-
Stop Motor and Disable Drive
SAVE
-
Save Data in EEPROM
UVLTMODE
1
Undervoltage Mode
Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Modes of Operation
At a Glance
The Lexium 15 servo drive may be used in several servo control modes; which are
called Modes Of Operation.
The Mode of Operation is selected automatically when the power is switched on, in
accordance with the setting saved in the EEPROM as well as the AUTOHOME AND
NREFMT objects.
Power Enabled Opmode 8 Motion Task
Power Enabled Opmode 1,3,4
Switched On
(AENA or EN) and
Enable Input On
Switched On
DIS or
Enable Input Off
EN(1) and
Enable Input On
DIS or
Enable Input Off
Operation Enable
0
Operation
Enable
AUTOHOME
1
Alert
CLRFAULT
System
Alert
(1)
EN is ON after a COLDSTART
Homing
NREFMT
OPMODE 8
0
1
Alert
CLRFAULT
System
Alert
Start Motion Task
OPMODE
active
Lexium 15 LP Servo Drives Programming manual
75
Device Operation Handling
Handling of
Modes of
Operation
Some modes of operation are handled by I/O and others by field buses:
Lexium 15 LP/MP/HP
DSP 402 Number Available Unilink Number
CANopen DS 402 Modes of Operation
No mode changed/no mode assigned
0
yes
N/A
Profile position mode (PP)
1
yes
N/A
Velocity mode
2
Profile velocity mode (PV)
3
yes
N/A
yes
N/A
F7h
yes
4
Jogging
F8h
yes
Homing propietary
F9h
yes
Trajectory (positioning specific mode)
FAh
yes
Analog torque
FBh
yes
3
Analog speed
FCh
yes
1
Digital torque
FDh
yes
2
Torque position mode (TQ)
4
reserved
5
Homing mode (HM)
6
Interpolated position mode (IP)
7
Cyclic sync position mode
8
Cyclic sync velocity mode
9
Cyclic sync torque mode
10
reserved
+11 to +127
Constructor
Electrical gearing
Digital speed
FEh
yes
0
Position
FFh
yes
8
yes
6
Sercos
The CANopen DSP 402 Modes of Operation will be described in Lexium 15
CANopen Manual.
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Lexium 15 LP Servo Drives Programming manual
Device Operation Handling
Constructor
Modes of
Operation
The diagram below illustrates the Constructor Mode of Operation
OPMODE 0:
Field bus
OPMODE 2:
DIGITAL VELOCITY
CANOpen
SERCOS
MODBUS +
FIPIO
PROFIBUS
...
KV
Field bus
KT
ANALOG VELOCITY
OPMODE 1:
DIGITAL TORQUE
CANOpen
SERCOS
MODBUS +
FIPIO
PROFIBUS
...
OPMODE 3:
+10V
KT
ANALOG TORQUE
+10V
KV
KT
KT
-10V
-10V
OPMODE 4:
DIGITAL VELOCITY
The Setpoint of master in given
by the drive or the fieldbus
KP
The Setpoint of slave in given
by the master
KP
OPMODE F8h:
KV
KT
MASTER
KV
KT
SLAVE
Jog
V
VJOG
MJOG
OPMODE F9h:
Homing
OPMODE FFh:
V
V
Speed for
Switch
Motion Task
Motion task
Speed for
Zero
Switch
Pos
Zero
Lexium 15 LP Servo Drives Programming manual
MOVE
77
Device Operation Handling
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Lexium 15 LP Servo Drives Programming manual
Device Functions
4
Device Functions
At a Glance
This chapter describes all the parameters that can be accessed via the setup
software.
What's in this
Chapter?
This chapter contains the following sections:
Section
Topic
Page
4.1
Screen page "Basic Setup"
81
4.2
Screen page "Units/Mechanical"
86
4.3
Screen page "Motor/Feedback"
92
4.4
Screen page "Feedback"
95
4.5
Screen page "Motor"
102
4.6
Screen page "Current Loop"
115
4.7
Screen page "Velocity Loop"
117
4.8
Screen page "Position Loop"
123
Screen page "Position data"
126
4.10
4.9
Registration
130
4.11
Screen page "Position Registers"
132
4.12
Screen page "Electronic Gearing"
136
4.13
Screen page "Encoder Emulation"
141
4.14
Screen page "Analog Inputs"
147
4.15
Screen page "Digital I/O"
157
4.16
Screen page "Motion Service"
193
4.17
Screen page "Status"
198
4.18
Screen page "Monitor"
202
4.19
Screen page "Homing"
206
4.20
Screen page "Motion task parameters"
228
Lexium 15 LP Servo Drives Programming manual
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Device Functions
80
Section
Topic
4.21
Screen page "Service parameters"
Page
236
4.22
Screen page "Oscilloscope"
238
4.23
"BODEPLOT" screen page.
248
4.24
Screen page "Terminal"
254
4.25
Screen page "I/O expansion"
256
Lexium 15 LP Servo Drives Programming manual
Device Functions
4.1
Screen page "Basic Setup"
Overview of "Basic Setup"
At a Glance
The Basic Setup page enables you to set power supply information and master data
for the servo amplifier:
Power Supply
Amplifier
Hardware
Regen Resistor
Internal
Value
External
Ohms
0
max. Regen Power
W
50
Drive 3A
Firmware
V1.23 DRIVE Rev create.d Aug 09 16:56:39 2005
Name
Serial Number Run Time
0
Set Software-Enable on Bootup
Mains Voltage
230
0
xxxx:xx
V
Response to loss Input Phase
Three-Phase (Current Limit), Warning
Next >
Regen resistor
ASCII: PBALRES
Default: 0 (internal)
Unit: Range: 0-200
Valid for all OPMODES
Preselection of the braking resistor. If you use an external braking resistor, select
"External" here and enter the value of the resistor in the Value field in Ohms.
Lexium 15 LP Servo Drives Programming manual
81
Device Functions
Regen power
ASCII: PBALMAX
Default: 20 W / 50 W
Unit: W
Range: -
Valid for all OPMODES
This parameter can be used to limit the continuous power dissipated in the braking
resistor. If the actual value of the braking power exceeds the preset maximum value,
then the braking resistor is switched off. This may trigger the fault message
"Overvoltage" as a result. Change this value only when the amplifier is disabled.
CAUTION
RISK OF RESISTOR DAMAGE
Select the PBALMAX value no greater than the dissipation rating of the selected
braking resistor. Excessive power dissipation in the resistor may cause
overheating and resistor failure
Failure to follow these instructions can result in injury or equipment
damage.
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Lexium 15 LP Servo Drives Programming manual
Device Functions
Mains Voltage
ASCII: VBUSBAL
Default: 1
Unit: -/Volt
Range: 0 - 870
Valid for all OPMODES
This parameter is used to adjust the regen and switch-off levels of the servo
amplifiers to suit the mains power supply voltage or the system conditions for multiaxis systems with parallel-connected DC-link circuits.
ID
Max. Mains Voltage
DC-link voltage
(rated motor voltage / max. motor voltage)
1
230 V
310 V / 430 V
2
400 V
560 V / 750 V
3
480 V
675 V / 870 V
Single amplifier:
usually the setting taken is the mains supply voltage that is actually available. If the
motor has a higher voltage rating than the DC-link voltage that occurs as a result of
the available mains supply voltage, then you can raise the regen and switch-off
levels by selecting the max. mains voltage that is permissible for the motor (see
previous table).
Multi-axis systems with parallel-connected DC-link circuits:
in a system, the DC-link circuits of the servo amplifiers are usually connected in
parallel (DC-bus). If motors with differing voltage ratings (which must be as high or
higher than the actual DC-link voltage) are used, then each amplifier on the DC-bus
must be set up for the motor with the lowest rated voltage. If the settings are not all
the same, then the desired distribution of the regen power will not be achieved.
Lexium 15 LP Servo Drives Programming manual
83
Device Functions
Response to
Loss of Input
Phase
ASCII: PMODE
Default: Three-phase (Current Valid for all OPMODES
Limit), Warning n05
Unit: Range: 0, 1, 2
Handles the "Phase missing" message. Change this only while the amplifier is
disabled, then reset amplifier.
ID
Function
Note
Single-phase (Current
Limit)
No message
A missing mains supply phase is not evaluated.
Operation is only possible on two phases. See
the following table for voltage currents.
Three-phase (Current
Limit)
Warning
A missing mains supply phase is reported as a
warning (display), and can be output on a digital
output. The servo amplifier will not be disabled.
See the following table for voltage currents.
Three-phase
Error
A missing mains supply phase is reported as a
fault (display), and can be output on a digital
output. The servo amplifier is disabled and the
R1A/R1C contact opened.
The following table shows the limited peak current for each of the three different
voltages.
Servodrive
LXM15L
D13M3
D21M3
D28M3
U60N4
D10N4
D17N4
Line Voltage
Peak Current
[A]
Peak Current
[A]
Peak Current
[A]
Peak Current
[A]
Peak Current
[A]
Peak Current
[A]
230 V
9
9
9
-
-
-
400 V
-
-
-
1.5
3
3
480 V
-
-
-
1.5
3
3
Hardware
ASCII: HVER
Default: Unit: Range: max 50 ASCII chars.
Valid for all OPMODES
Display the version and revision level of the servo amplifier hardware.
84
Lexium 15 LP Servo Drives Programming manual
Device Functions
Firmware
ASCII: VER
Default: Unit: Range: max 50 ASCII chars.
Valid for all OPMODES
Displays the version and revision level of the servo amplifier firmware.
Serial number
ASCII: SERIALNO
Default: Unit: Range: 10 ASCII chars.
Valid for all OPMODES
Displays the servo amplifier serial number.
Run time
ASCII: TRUN
Default: Valid for all OPMODES
Unit: hhhhh:mm
Range: 00000:00 to 99999:45
Displays servo amplifier operational time, saved at 8 minute intervals. If the 24V
supply is switched off, a maximum of 8 min. operational time will be unregistered.
Name
ASCII: ALIAS
DRIVE 0
Unit: Range: max 8 ASCII chars.
Valid for all OPMODES
Here you can assign a name (8 chars max.) to the servo amplifier (e.g. X-AXIS). This
makes it easier for you to associate the servo amplifier with a function within the system.
The name is displayed in the setup software in the title bar of every screen page. In
offline mode the name is an indication of the origin of the currently active data set.
Set SoftwareEnable on
Bootup
ASCII: AENA
Default: blanks
Unit: Range: 0,1
Valid for all OPMODES
Select this option to enable the setup software when the servo amplifier is started.
When using a digital setpoint (OPMODE=0, 2, 4 to 8), the software enable is set to
the same state as AENA at power-on.
Lexium 15 LP Servo Drives Programming manual
85
Device Functions
4.2
Screen page "Units/Mechanical"
Overview of "Units/Mechanical"
At a Glance
The Units/Mechanical page enables you to preselect the user units for all input fields
in the setup software:
User Units
Position
Counts
Velocity
rpm (Velocity Loop), Counts/s (Position Loop)
Acceleration
rpm/s
Mechanical Conversion
10000
Counts
1
Motor Revs
Resolution =
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Lexium 15 LP Servo Drives Programming manual
Device Functions
Position
ASCII: PUNIT
Default: 0
Unit: Range: 0 - 13
Valid for all OPMODES
Definition of the global unit for all parameters dependent on position. The possible
settings are as follows:
ID
Units
Note
0
Counts
Internal unit (specific application)
1
dm
unit=1 dm
2
cm
unit=1 cm
3
mm
unit=1 mm
4
100 μ m
unit=0.1 mm
5
10 μ m
unit=0.01 mm
6
μm
unit=1 μm
7
100 nm
unit=0.1 μm
8
10 nm
unit=0.01 μm
9
nm
unit=1 nm
10
100 nm
unit=0.1 nm
11
inch
unit=1"
12
mils
unit=1mils
13
degree
unit=1°
With the pulse counts setting, no path or distance unit can be displayed. In this case,
it is possible to implement units specific to the application. These then depend solely
on the resolution (See Resolution, p. 90) used.
Lexium 15 LP Servo Drives Programming manual
87
Device Functions
Velocity
ASCII: VUNIT
Default: 0
Unit: Range: 0 - 8
Valid for all OPMODES
Definition of the global unit for velocity and speed. This unit applies to all
parameters, depending on the velocity/speed of the speed/position controller.
ID
Units
Note
0
Compatibility mode
Definition of speed in min-1, definition of velocity
in m/s
1
1/min
unit=min-1
2
rad/s
unit=radians/s
3
°/s
unit=degrees/s
4
Pulses/250 μ s
unit=Pulses/250 μs
5
PUNIT/s
unit=PUNIT/s
6
PUNIT/min
unit=PUNIT/Min
9
1000*PUNIT/s
unit=1000*PUNIT/s
8
1000*PUNIT/min
unit=1000*PUNIt/Min
Note: 1. All parameters that are dependent on speed are normally defined in the
form of fixed point numbers over 32 bits (with 3 decimal places). This is why many
parameters (in particular 1000*PUNIT/s), cannot cover the entire speed range,
according to the selected resolution. It is therefore necessary to make sure a
suitable unit is selected, according to the application.
2. All parameters that are dependent on velocity are normally defined in the form
of integers over 32 bits. This is why it is impossible to define a speed using a
decimal number, particularly for Pulses/250 μs. settings. It is therefore necessary
to make sure a suitable unit is selected, according to the application.
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Lexium 15 LP Servo Drives Programming manual
Device Functions
Acceleration
ASCII: ACCUNIT
Default: 0
Unit: Range: 0 - 5
Valid for all OPMODES
Definition of the dimension unit for acceleration. This unit is used for the ramps of
the path generator (internal motion blocks, OPMODE 8) and for the braking and
acceleration ramps in velocity mode.
ID
Function
Note
0
ms->VLIM
Acceleration expressed in rise time (ms) to reach the desired
speed
1
rad/s2
Acceleration expressed in rad/s2
2
rpm/s
Acceleration expressed in min-1 /s (rpm per sec)
3
PUNIT/s2
Acceleration expressed in PUNIT/s2
4
1000*PUNIT/s2
Acceleration expressed in 1000*PUNIT/s2
5
10^6*PUNIT/s2
Acceleration expressed in 10^6*PUNIT/s2
With the setting ms -> VLIM, it remains possible to select acceleration for the motion
block in mm/s2. If the setting is changed, all related braking and acceleration settings
are converted internally in the unit currently selected.
The automatic adjustment of the parameters does not apply to internal motion
blocks. The unit used for acceleration must therefore be defined before the first
motion block is created. In the event of later modification, the acceleration and
braking values for all motion blocks must be verified, and any necessary corrections
made.
Note: If the unit for RAMP (ACCUNIT) needs to be changed from the default setting,
then it is best to do so at the beginning of the drive configuration. The motion task
table data for RAMP parameters do not change automatically upon changing
ACCUNIT and require the data to be entered manually for it to correctly correspond
to the new unit selected for the RAMP.
Lexium 15 LP Servo Drives Programming manual
89
Device Functions
Resolution
ASCII: PGEARI
Default: 10000
Valid for all OPMODES
Unit: μ m
Range: Long integer
ASCII: PGEARO
Default: 1
Valid for all OPMODES
Unit: μ m
Range: Long integer
The PGEARI pararameter is used in conjunction with the PGEARO parameter to
convert the internal position and speed from increments into user-defined units. The
PGEARI parameter contains the number of user-defined units that are counted at
PGEARO turns. The user decides which unit is used by the formula PGEARI/
PGEARO.
Example 1: If a band-conveyer moves 3cm by one turn of the rotor shaft and the
operator wants to use the unit mm, the value of PGEARI/PGEARO must be 30000.
It is advisable to set PGEARI=30000 and PGEARO=1. The position can now be
adjusted in mm.If a gearing is connected previous to the band-conveyer with a ratio
of 3:1, the user needs to set PGEARO=3. Odd-numbered values of the ratio are
also possible (for example, 2.5:1). To do this, PGEARI must be multiplicated by 2
and PGEARO by 5.
Example 2: A motion task should be driven by a certain speed. Therefore Bit 13 of
the motion task controllword o_c has to be set on 1. For that purpose the parameter
o_v describes the target speed in the user-defined unit/sec. To get the target speed
in SI-units use the following formula: o_v=10000; PGEARI=1000, PGEARO=1 n
[rev*sec^-1] = o_v / (PGEARI/PGEARO).
PRBASE
ASCII: PRBASE
Default: 20
Unit: Range: 1 - 32
Valid for all OPMODES
The parameter PGEARO is used in conjunction with the PGEARI parameter to
convert the control loop position and speed from user-defined units into internal
increments.
The PGEARO parameter contains in combination with PRBASE the number of
increments that are moved if the path to be moved has a length of PGEARI.
The conversion is made according to the following formula:
Position[increments] = Position[user-defined unit] * PGEARO *2^PRBASE /
PGEARI
90
Lexium 15 LP Servo Drives Programming manual
Device Functions
Velocity[increments/250 μ s] = Velocity[user-defined unit] * PGEARO *2^PRBASE /
(PGEARI * 4000)
If PGEARI = PGEARO * 2^PRBASE, then there will be no conversion from userdefined units into increments. In this case, the position and velocity must be given
in increments.
Position: 1 turn = 2^PRBASE increments
Velocity: speed [rpm] * 2^PRBASE / (4000 *60)
The Lexium 15 LP works with an internal 64Bit variable for counting the number of
turns of the rotor shaft and for the internal position resolution. The upper 32Bit are
disposed for counting the number of turns, the lower 32 Bit are acting for the internal
position resolution. External controller are working mostly with 32Bit variables.
Therefore 32Bit of the 64Bit variable must be copied in an internal 32Bit variable.
PRBASE defines how many Bits of this 32 Bit variable are acting for the position
resolution. The remaining Bits are used for counting the number of turns.
PRBASE=20:
20Bits are available for the internal position resolution. With the remaining 12 Bits,
the Servostar can count 2^12=4096 =+/-2047 turns.
PRBASE=16:
16Bits are available for the internal position resolution. With the remaining 16 Bits,
the Servostar can count 2^12=65536=+/-32767 turns.
Example:
Internal 64Bit variable: : 0x00000012 15E3A455
Number of turns Position
Internal 32Bit variable at PRBASE=20 : 0x01215E3A
Internal 32Bit variable at PRBASE=16 : 0x001215E3
The function is only activated when the amplifier is switched off and then on again.
(COLDSTART)PRBASE can be set only via the Terminal Screen.
Lexium 15 LP Servo Drives Programming manual
91
Device Functions
4.3
Screen page "Motor/Feedback"
Overview of the "Motor/Feedback" screen
At a Glance
This screen page enables a simplified setting of the servo motor-related parameters.
The quick setup of these parameters make the tuning of the servo motor/servo drive
combination much easier:
Feedback
Type
0 Resolver - connector X2
Motor
No.
Select from Database
0
Name
Continuous Current
NN
1.08 A
Peak Current
Brake
Type
1: PM Rotary Motor
5 A
Without
Maximum Speed
6000 rpm
Calculated Quick Tuning
Load-to-Motor Inertia Ratio
0
Calculated Quick Tuning
Gentle
Medium
Stiff
Do not tune
< Previews
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Note: This screen page is only available if you choose one of the Quick Setup
options from the Drive Setup Wizard.
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Lexium 15 LP Servo Drives Programming manual
Device Functions
Feedback type
ASCII: FBTYPE
Default: 0
Unit: Range: 0 - 19
valid for all OPMODES
Change this only while the amplifier is disabled, then reset amplifier. See Feedback
type, p. 96 for more information.
Select from
Database
Click Select from Database to select a Motorbase Data File (MDB or CSV format)
with pre-defined motor-related parameters.
Select Motor from Data Base
Motor Family
BDH
Mains Voltage
230
Number
Name
BDH0401B
BDH0402C
BDH0403C
BDH0582C
BDH0582E
BDH0583C
BDH0583D
BDH0583F
BDH0584C
BDH0584D
BDH0584F)
BDH0701C
BDH0701E
BDH0702H
Show Record
Cont. Curr.
1.16
1.51
1.48
1.39
2.73
1.41
2.19
4.31
1.42
2.21
3.89
1.37
2.99
1.44
Peak. Curr.
4.65
6.06
5.93
5.56
10.9
5.64
8.76
17.2
5.68
8.84
15.6
5.48
12
5.75
Cancel
Top Speed
8000 rpm
8000 rpm
7600 rpm
3500 rpm
8000 rpm
2500 rpm
5000 rpm
8000 rpm
2000 rpm
4000 rpm
8000 rpm
2500 rpm
6000 rpm
1500 rpm
Mains Volt.
230
230
230
230
230
230
230
230
230
230
230
230
230
230
Select and return
Open the database to show the relevant records.
Lexium 15 LP Servo Drives Programming manual
93
Device Functions
You can filter the record by Motor Family or by Mains Voltage. You can also view
record parameters by clicking Show Record.
Display Record
Motor Name BDH0401B)
Motor Number
Motor inertia
Cont. current
1.16 A
Thermal time constant
Peak current
4.65 A
Resolver Poles
Motor Poles
20.2 Ohms
Stator Winding Resistance
Motor Family BDH
Maximum speed
12.5 mH
L, line-to-line
2
0.017 kg cm
Feedback Phase
8000 rpm
Mains voltage
6
4 s
2
0 °
230 VAC
Motor Type 1: PM Rotary Motor
Motor torque constant
0.158 Nm/Amp
Done
Select a record and click Select and Return. Record data is then sent to the
corresponding parameters in the setup software.
Brake
ASCII: MBRAKE
Default: 0
Unit: Range: 0,1
valid for all OPMODES
See Motor screen page (See Overview of the "Motor" screen, p. 103).
Load-to-Motor
Inertia Ratio
This value is the basis for calculating the velocity loop gain parameter.
Desired Servo
Performance
This category is used for calculating some parameters of the current loop. These
preferences are used for the tuning of the current loop parameters as close as
possible to the needs of your application.
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Lexium 15 LP Servo Drives Programming manual
Device Functions
4.4
Screen page "Feedback"
Overview of the "Feedback" screen
At a Glance
This screen enables you to fine-tune the configuration of the feedback sensor on the
servo motor:
Feedback Type
0 Resolver - connector X2
Offset
0
o
No. of Poles
Calculate Offset
Count Direction
6
Bandwidth
positive
600
Angle of Rotation
o
352.0
Observer Feedforward
90
0
0.5
180
270
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95
Device Functions
Feedback type
ASCII: FBTYPE
Default: 0
Unit: Range: 0 - 19
valid for all OPMODES
Change this only while the amplifier is disabled, then reset amplifier.
96
ID
Function
Comments
0
Resolver
Data is loaded from the servo drive EEPROM via connector X2.
1
SinCos 5V
The value of the MPHASE (See Offset, p. 97) parameter is
loaded from the servo drive EEPROM.
2
HIPERFACE®
(Stegmann)
In the initialization phase, all the data that is loaded from the
servo drive is stored in the encoder EEPROM via connector
X1. This is:
Offset compensation Sine (HISOFFS (See HISOFFS, p. 98))
Offset compensation Cosine (HICOFFS (See HICOFFS,
p. 98))
Amplitude scaling (HIFACT1 (See HIFACT1, p. 99))
Motor number (MNUMBER (See MNUMBER, p. 99))
3
SinCos 12V
The value of the MPHASE parameter is loaded from the servo
drive EEPROM via connector X1.
4
EnDat (Heidenhain) In the initialization phase, all the data that is loaded from the
servo drive is stored in the encoder EEPROM via connector
X1. This is:
Offset compensation Sine (HISOFFS (See HISOFFS, p. 98)))
Offset compensation Cosine (HICOFFS (See HICOFFS,
p. 98))
Amplitude scaling (HIFACT1 (See HIFACT1, p. 99))
Motor number (MNUMBER (See MNUMBER, p. 99))
5
SinCos with Hall
via connector X1
6
SinCos with Hall
via connector X1
7
SinCos 5V W & S
via connector X1
8
SinCos 12V W & S
via connector X1
9
SSI
via connector X5
10
sensorless
-
11
Hall only
-
12
RS422 & Hall
RS422 feedback device (A quad B) with Hall effect sensor.
The parameter MPHASE (See Offset, p. 97) can compensate
for misalignment of Hall sensors.
To compensate for inverted Hall effect sensors, set
MPHASE=180.
Lexium 15 LP Servo Drives Programming manual
Device Functions
ID
Function
Comments
13
Digital encoder 5V
The value of the MPHASE (See Offset, p. 97) parameter is
loaded from the servo drive EEPROM via connector X5.
14
Digital encoder 24V
& Hall
via connector X3
15
Digital encoder 5V
& Hall
via connector X1
16
Digital encoder 24V
& W&S
via connector X3
17
Digital encoder 5V & via connector X1
W&S
18
Digital encoder 5V& via connector X5
Hall
19
Digital encoder 5V & via connector X5
W&S
Offset
ASCII: MPHASE
Default: 0°
Unit: Electrical
degrees
Range: 0 - 360
valid for all OPMODES
Compensates for a mechanical position error of the resolver/encoder in the motor.
Change this only while the amplifier is disabled. If an encoder with EnDat or
Hiperface® is used as a feedback unit, the offset is automatically transmitted to the
servo amplifier while the system is booting.
DANGER
LOSS OF MOTOR CONTROL
- Do not change the MPHASE parameter while the amplifier is enabled.
- An incorrect setting may cause the motor to operate outside of control, (even with
an 0V setpoint).
Failure to follow these instructions will result in death or serious injury.
Lexium 15 LP Servo Drives Programming manual
97
Device Functions
HICOFFS
ASCII: HICOFFS
Default: 0
Unit: mV
Range: -1000 - 1000
valid for all OPMODES
The HICOFFS command sets the offset correction (in mV) for the cosine signal of
the incremental track.
The command is only available when a sin/cos encoder has been selected as the
feedback device (FBTYPE=2,4,7). Depending on the type of encoder used, the
HICOFFS setting is stored in the EEPROM of the encoder (FBTYPE=2,4, command
HSAVE).
When using an encoder without a parameter channel (FBTYPE=7), and thus without
an internal EEPROM, this setting will be saved in the EEPROM of the amplifier
(command SAVE).
HISOFFS
ASCII: HISOFFS
Default: 0
Unit: mV
Range: -1000 - 1000
valid for all OPMODES
The HISOFFS command sets the offset correction (in mV) for the sine signal of the
incremental track.
The command is only available when a sin/cos encoder has been selected as the
feedback device (FBTYPE=2,4,7). Depending on the type of encoder used, the
HISOFFS setting is stored in the EEPROM of the encoder (FBTYPE=2,4, command
HSAVE).
When using an encoder without a parameter channel (FBTYPE=7), and thus without
an internal EEPROM, this setting will be saved in the EEPROM of the amplifier
(command SAVE).
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Lexium 15 LP Servo Drives Programming manual
Device Functions
HIFACT1
ASCII: HIFACT1
Default: 16384
valid for all OPMODES
Unit: Range: 12000 - 19000
The HIFACT1 command sets the amplitude scaling for the sine signal of the
absolute track (SinCoder). The amplitude scaling is for the value 16384 = 1.
The command is only available when a sin/cos encoder has been selected as the
feedback device (FBTYPE=2,4,7). Depending on the type of encoder used, the
HIFACT1 setting is stored in the EEPROM of the encoder (FBTYPE=2,4, command
HSAVE).
When using an encoder without a parameter channel (FBTYPE=7), and thus without
an internal EEPROM, this setting will be saved in the EEPROM of the amplifier
(command SAVE).
MNUMBER
ASCII: MNUMBER
Default: 0
Unit: Range: Integer
valid for all OPMODES
The command "MNUMBER nr" is used to load a motor data set with the number "nr"
from the motor database.
If MNUMBER 0 is entered, then no data set will be loaded, but the variable
MNUMBER will simply be set to 0.
This setting indicates a customer-specific motor data set.
Number of poles
ASCII: MPOLES
Default: 6
Unit: Poles
Range: 0, 2, 4, 6,...256
Valid for all OPMODES
Select the number of motor poles. The current setpoint can be set for the operation
of 2-pole to 32-pole motors. Change this only while the drive is disabled.
Lexium 15 LP Servo Drives Programming manual
99
Device Functions
Count Direction
ASCII: DIR
Default: 21
Unit: Range: 0 - 128
valid for OPMODES
This fixes the count direction of the motor shaft in reference to the polarity of the
setpoint. Changing this value will affect Bit 0 of ASCII command DIR.
Positive = count direction CW = DIR Bit 0 set
Negative = count direction CCW = DIR Bit 0 reset
The DIR variable defines the count direction for feedback information.
The DIR variable can be considered as a 16-bit variable, whereby each single bit
defines the count direction for different feedback units.
Setting a bit means a positive direction (cw), resetting a bit a negative direction
(ccw).
z
z
z
z
z
z
z
Bit 0 (0x01) count direction for FBTYPE unit (=1 positive direction)
Bit 1 (0x02)
Bit 2 (0x04) count direction for EXTPOS unit (=1 positive direction)
Bit 3 (0x08)
Bit 4 (0x10) count direction for GEARMODE unit (=1 positive direction)
Bit 5 (0x20)
Bit 6 (0x40) =1 inverse commutation
Make changes only while the amplifier is disabled and reset it (COLDSTART). This
parameter is not available if a SERCOS interface is built-in.
After changing the count direction the hardware limit switches have to be
exchanged.
Bandwidth
ASCII: MRESBW
Default: 300
Unit: mH
Range: 50 - 2000
valid for all OPMODES
With a wide bandwidth, the drive will respond more rapidly to control-loop deviations
=> smaller following error. A very wide bandwidth only makes sense with low
moments of inertia, low KP, and very high values of acceleration. A narrower
bandwidth produces a filter effect. The speed and positional control are smoother
(the encoder emulation is quieter as well).
100
Lexium 15 LP Servo Drives Programming manual
Device Functions
Angle of Rotation
ASCII: PRD
Default: Unit: Counts
Range: 0 - 1048575
valid for all OPMODES
Displays the actual angle of rotation of the motor (only for speeds n < 20rpm) in
°mech, with the counts referred to the mechanical zero point of the measuring
system.
Observer
Feedforward
ASCII: VLO
Default: 0.5
Unit: Range: 0 - 30
valid for all OPMODES
This parameter generates a dynamic pre-control for the detection of current values
(Luenberger observer), in particular for resolver feedback. It reduces phase slippage
in the detection of the current value, so improving the stability of the speed control.
For VLO = 1, the pre-control is optimal; for VLO = 0, the action is suppressed.
Lexium 15 LP Servo Drives Programming manual
101
Device Functions
4.5
Screen page "Motor"
Screen page "Motor"
At a Glance
Overview of the different field values included in the "Motor" screen pages.
What's in this
Section?
This section contains the following topics:
102
Topic
Page
Overview of the "Motor" screen
103
Overview of the "Set Up Motor" Screen
109
Lexium 15 LP Servo Drives Programming manual
Device Functions
Overview of the "Motor" screen
At a Glance
All parameters that appear on this screen page are defined by the default values of
the servo motor (internal database of drive). Most of the time, it is not necessary to
modify them:
Motor Type
1: PM Rotary Motor
M
Io
1.08
A
actual No. of Poles
Current
6
Io max
5
L
A
E.I. Thermal Time Constant
16
sec
Max. Speed
5
mH
31
Stator Winding Resistance
30.3
Ohms
Brake
rpm
Without
Number - Name
0 - NN
Select Motor from Database
Custom Motor Parameters
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Motor type
ASCII: MTYPE
Default: 1
Unit: Range: 1-4
Valid for all OPMODES
This parameter enables us to distinguish between synchronous rotary servo motors
(MTYPE = 1) and synchronous linear (MTYPE = 2) servo motors.
Lexium 15 LP Servo Drives Programming manual
103
Device Functions
Io
ASCII: MICONT
Default: servo drive
Valid for all OPMODES
continuous current
Unit: Amperes
Range: 10%...2* of continuous
current
The standstill current is the RMS current value that the servo motor requires at
standstill to produce the standstill torque (defines the maximum value for the entry
of Irms in the current controller).
Number of poles
ASCII: MPOLES
Default: 6
Unit: Poles
Range: 0, 2, 4, 6,...256
Valid for all OPMODES
Select the number of motor poles. The current setpoint can be set for the operation
of 2-pole to 32-pole motors. Change this only while the drive is disabled.
Io max
ASCII: MIPEAK
Default: servo drive peak
current
Unit: Ampere
Range: 10%...2* of peak
current
Valid for all OPMODES
In this field, set the maximum (peak) current. The peak current (RMS value) should
not exceed four times the rated current of the servo motor. The actual value is also
determined by the servo drive’s peak current that is used (defines the maximum
value for the entry of Ipeak in the current loop).
L
ASCII: M
Default: 1 mH
Unit: mH
Range: -
Valid for all OPMODES
In this field, set the inductance of the servo motor (phase-phase) You can take this
value from the motor manual.
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Lexium 15 LP Servo Drives Programming manual
Device Functions
EL Thermal Time
Constant
ASCII: MTIME
Default: 16
Unit: s
Range: 1 - 600
Valid for all OPMODES
Motor-dependent time constant. This value is used to calculate the MIT2 value of the
servo motor.
Stator Winding
Resistance
ASCII: MRS
Default: 1
Unit: Ohm
Range: 1 - 100
Valid for all OPMODES
The parameter describes the stator winding resistance phase-phase in Ohm.
Max. speed (n
max)
ASCII: MSPEED
Default: 3000 rpm
Unit: rpm
Range: 0.0 - 12000.0
Valid for all OPMODES
Maximum authorized speed for the motor. Limit the possible entries for the VLIMP,
VLIMN, and 5/6*VOSPD parameters in the Velocity Loop (See Introduction to the
"Velocity Loop" screen, p. 117) screen page.
Number - Name
ASCII: MDBLIST
Default: Unit: Range: -
valid for all OPMODES
Select the desired motor from the motor database. The MDBLIST command returns
the list of contents for the motor database (for the present combination of output
stage + feedback). One motor database entry is displayed per line on the screen, in
the following format: motor name, motor number, motor family, amplifier
designation. The data is loaded once the motor has been selected.
If an encoder is used as a feedback device, the motor number will automatically be
reported to the servo drive. Change this only while the drive is disabled.
Lexium 15 LP Servo Drives Programming manual
105
Device Functions
Holding brake
ASCII: MBRAKE
Default: 0
Unit: Range: 0,1
valid for all OPMODES
If you want to operate a 24 V holding brake in the motor directly from the servo drive,
this parameter enables you to activate the brake function:
ID
Function
Meaning
0
Without
The brake function is disabled
1
With
If the brake function is enabled, then the output at the BRAKE (X9/
2) terminal will be 24V if the ENABLE signal is present (brake off)
and 0 V if the ENABLE signal is missing (brake activated).
See the Lexium 15 servo drive installation guides for the time/function relationship
between the ENABLE signal, the speed setpoint, the speed value, and the braking
force. This value should only be changed while the drive is disabled and should be
followed by a reset.
WARNING
UNINTENDED EQUPMENT MOVEMENT
- Do not rely only on the holding brake to ensure personnel protection.
- For personnel protection, provide additional measures such as
a protective grid or a mechanical brake in addition to the holding
brake.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
106
Lexium 15 LP Servo Drives Programming manual
Device Functions
Select from
Database
Click Select from Database to select a Motorbase Data File (MDB or CSV format)
with pre-defined motor-related parameters.
Select Motor from Data Base
Motor Family
BDH
Mains Voltage
230
Number
Name
BDH0401B
BDH0402C
BDH0403C
BDH0582C
BDH0582E
BDH0583C
BDH0583D
BDH0583F
BDH0584C
BDH0584D
BDH0584F)
BDH0701C
BDH0701E
BDH0702H
Show Record
Cont. Curr.
1.16
1.51
1.48
1.39
2.73
1.41
2.19
4.31
1.42
2.21
3.89
1.37
2.99
1.44
Peak. Curr.
4.65
6.06
5.93
5.56
10.9
5.64
8.76
17.2
5.68
8.84
15.6
5.48
12
5.75
Cancel
Top Speed
8000 rpm
8000 rpm
7600 rpm
3500 rpm
8000 rpm
2500 rpm
5000 rpm
8000 rpm
2000 rpm
4000 rpm
8000 rpm
2500 rpm
6000 rpm
1500 rpm
Mains Volt.
230
230
230
230
230
230
230
230
230
230
230
230
230
230
Select and return
Open the database to show the relevant records.
Lexium 15 LP Servo Drives Programming manual
107
Device Functions
You can filter the record by Motor Family or by Mains Voltage. You can also view
record parameters by clicking Show Record.
Display Record
Motor Name BDH0401B)
L, line-to-line
Motor Number
Stator Winding Resistance
Motor Family BDH
Motor inertia
Cont. current
1.16 A
Thermal time constant
Peak current
4.65 A
Resolver Poles
Maximum speed
Motor Poles
Feedback Phase
8000 rpm
Mains voltage
6
12.5 mH
20.2 Ohms
2
0.017 kg cm
4 s
2
0 °
230 VAC
Motor Type 1: PM Rotary Motor
Motor torque constant
0.158 Nm/Amp
Done
Select a record and click Select and Return. Record data is then sent to the
corresponding parameters in the setup software.
Custom Motor
Parameters
108
Click Custom Motor Parameters to set parameters for a custom-specific motor. For
more information, see Overview of the "Set Up Motor" Screen, p. 109
Lexium 15 LP Servo Drives Programming manual
Device Functions
Overview of the "Set Up Motor" Screen
At a Glance
This screen enables you to set parameters for a customer-specific motor:
?
Set Up Motor
Motor Type
1: PM Rotary Motor
Motor Name
NN
Cont. current
1.08
Amps
Peak current
5
Amps
Maximum Speed
Motor Poles
6000
rpm
6
Motor torque constant
0.6
Nm/Amp
L, line-to-line
31
mH
30.3
Ohms
0.5
kg cm3
Stator Winding Resistance
Motor inertia
Brake
Thermistor Switch-off Threshold
Feedback Type
Max. allowed line voltage
Cancel
Lexium 15 LP Servo Drives Programming manual
without
300
kOhms
0 Resolver - connector
230
V
Done
109
Device Functions
Motor type
ASCII: MTYPE
Default: 1
Unit: Range: 1-2
Valid for all OPMODES
MTYPE sets the drive control algorithms to different motor types as follows:
MTYPE
Meaning
1
Permanent Magnet Rotary Servo Motor
2
Permanent Magnet Linear Servo Motor
Motor Name
ASCII: MNAME
Default: blank
Unit: Range: max 12 ASCII chars.
Valid for all OPMODES
The MNAME parameter is directly related to the motor number MNUMBER. If a
customer-specific motor designation is to be defined, then this can be done with the
MNAME command. When the motor name is altered, the motor number
(MNUMBER) is set to 0, to indicate a customer-specific motor data set.
Io
ASCII: MICONT
Default: servo drive
Valid for all OPMODES
continuous current
Unit: Amperes
Range: 10%...2* of continuous
current
The standstill current is the RMS current value that the servo motor requires at
standstill to produce the standstill torque (defines the maximum value for the entry
of Irms in the current controller).
110
Lexium 15 LP Servo Drives Programming manual
Device Functions
Io max
ASCII: MIPEAK
Default: servo drive peak
current
Unit: Ampere
Range: 10% - 2* of peak
current
Valid for all OPMODES
In this field, set the maximum (peak) current. The peak current (RMS value) should
not exceed four times the rated current of the servo motor. The actual value is also
determined by the servo drive’s peak current that is used (defines the maximum
value for the entry of Ipeak in the current loop).
Max. speed (n
max)
ASCII: MSPEED
Default: 3000 rpm
Unit: rpm
Range: 0.0 - 12000.0
Valid for all OPMODES
Maximum authorized speed for the motor. Limit the possible entries for the VLIMP,
VLIMN, and 5/6*VOSPD parameters in the Velocity screen page.
Number of poles
ASCII: MPOLES
Default: 6
Unit: Poles
Range: 0, 2, 4, 6,...256
Valid for all OPMODES
Select the number of motor poles. The current setpoint can be set for the operation
of 2-pole to 32-pole motors. Change this only while the drive is disabled.
Motor Torque
Constant
ASCII: MKT
Default: 1.0
Unit: Range: 0.0 - 10.0
Valid for all OPMODES
Use this parameter to set the torque constant of the motor in Nm/A. This parameter
is used for sensorless control. You can check the value using the following equation:
Kt = 60 * SQRT (3) * Ui / ( 2 * PI * n, where Ui is the induced voltage of the motor,
and n is the actual rotor velocity.
Lexium 15 LP Servo Drives Programming manual
111
Device Functions
L, line-to-line
ASCII: ML
Default: 1
Unit: mH
Range: 0 - 100
Valid for all OPMODES
Use this parameter to set the stator inductance between phase and phase in mH.
Stator Winding
Resistance
ASCII: MRS
Default: 1
Unit: Ohm
Range: 1 - 100
Valid for all OPMODES
The parameter describes the stator winding resistance phase-phase in Ohm.
Motor Inertia
ASCII: MJ
Default: 3
Unit: kgcm^2
Range: 0.01 - 1000
Valid for all OPMODES
Use this parameter to set the motor inertia.
112
Lexium 15 LP Servo Drives Programming manual
Device Functions
Holding brake
ASCII: MBRAKE
Default: 0
Unit: Range: 0,1
valid for all OPMODES
If you want to operate a 24 V holding brake in the motor directly from the servo drive,
this parameter enables you to activate the brake function:
ID
Function
Meaning
0
Without
The brake function is disabled
1
With
If the brake function is enabled, then the output at the BRAKE (X9/
2) terminal will be 24V if the ENABLE signal is present (brake off)
and 0 V if the ENABLE signal is missing (brake activated).
See the Lexium 15 LP Servo Drive Installation Guide for the time/function
relationship between the ENABLE signal, the speed setpoint, the speed value, and
the braking force. This value should only be changed while the drive is disabled and
should be followed by a reset.
WARNING
UNINTENDED EQUIPMENT MOVEMENT
- Do not rely only on the holding brake to ensure personnel protection.
- For personnel protection, provide additional measures such as
a protective grid or a mechanical brake in addition to the holding
brake.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.
Thermistor
Switch-off
Threshold
ASCII: MAXTEMPM
Default: 300
Unit: Ohm (Kohms)
Range: 0.0 - 6000.0
Valid for all OPMODES
The temperature at which the motor switches off (defined by the resistance in
kohms).
Lexium 15 LP Servo Drives Programming manual
113
Device Functions
Feedback type
ASCII: FBTYPE
Default: 0
Unit: Range: 0 - 19
valid for all OPMODES
Change this only while the amplifier is disabled, then reset amplifier. See Feedback
type, p. 96 for more information.
Mains Voltage
ASCII: VBUSBAL
Default: 1
Unit: -/Volt
Range: 0 - 870
Valid for all OPMODES
This parameter is used to adjust the regen and switch-off levels of the servo
amplifiers to suit the mains power supply voltage or the system conditions for multiaxis systems with parallel-connected DC-link circuits.
ID
Max. Mains Voltage
DC-link voltage
(rated motor voltage / max. motor voltage)
1
230 V
310 V / 430 V
2
400 V
560 V / 750 V
3
480 V
675 V / 870 V
Single amplifier:
usually the setting taken is the mains supply voltage that is actually available. If the
motor has a higher voltage rating than the DC-link voltage that occurs as a result of
the available mains supply voltage, then you can raise the regen and switch-off
levels by selecting the max. mains voltage that is permissible for the motor (see
previous table).
Multi-axis systems with parallel-connected DC-link circuits:
in a system, the DC-link circuits of the servo amplifiers are usually connected in
parallel (DC-bus). If motors with differing voltage ratings (which must be as high or
higher than the actual DC-link voltage) are used, then each amplifier on the DC-bus
must be set up for the motor with the lowest rated voltage. If the settings are not all
the same, then the desired distribution of the regen power will not be achieved.
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Lexium 15 LP Servo Drives Programming manual
Device Functions
4.6
Screen page "Current Loop"
Overview of the "Current Loop" screen
At a Glance
This screen page contains the parameters for tuning the current loop:
+
Cur. Command
(-)
Ipeak (pos.)
4.036
Proportional Gain (Kp_i)
A
Ipeak (neg.)
Integral Time (Tn_i)
A
4.036
93
0.725
ms
Homing Ipeak
A
1.5
2
I T Warning
80
%
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Cycle time of the current controller: 62.5 μ s
Ipeak (pos.)
ASPCII: IPEAK
Default: IMAX
Unit: Amperes
Range: 0 - DIPEAK
valid for all OPMODES
Sets the positive servo motor peak current (r.m.s. value).
Ipeak (neg.)
ASPCII: IPEAK
Default: IMAX
Unit: Amperes
Range: 0 - DIPEAK
valid for all OPMODES
Sets the negative servo motor peak current (r.m.s. value).
Lexium 15 LP Servo Drives Programming manual
115
Device Functions
Homing Ipeak
ASPCII: REFIP
valid for all OPMODES
Default:
min(IPEAK,IPEAKN,DICONT/2)
Unit: Amperes
Range: 0.0 min(IPEAK,IPEAKN)
Sets the peak current for homing to a stop. When Homing mode 7 is started (homing
to a stop and searching for a zero mark), IPEAK, the normal value for peak current,
is set to the value REFIP. When the homing movement is finished, the IPEAK
parameter is reset to the previous (normal) value.
I2t warning
ASCII: I2TLIM
Default: 80%
Unit: %
Range: 0 - 100
valid for all OPMODES
Sets the level, as a percentage value of the r.m.s. current, above which a message
will be sent to a logic output (OxMODE=11). n01, appears in the display. If the
I2TLIM value is too low, the message appears too soon and the drive is not fully
utilized. If the I2TLIM value is too high, limiting occurs at the same time as the
message.
Proportional
Gain (Kp_i)
ASCII: MLGQ
Default: 1
Unit: Range: 0.01 - 15.0
valid for all OPMODES
Determines the proportional gain of the current controller. Rule: at KP=1 and at a
control deviation I_cmd -I_act = peak armature current, the rated motor voltage
will be output.
Integral Time
(Tn_i)
ASCII: KTN
Default: 0.6 ms
Unit: ms
Range: 0.2 - 2
valid for all OPMODES
Determines the integral-action time (integration time constant) of the current
controller.
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Lexium 15 LP Servo Drives Programming manual
Device Functions
4.7
Screen page "Velocity Loop"
Introduction to the "Velocity Loop" screen
At a Glance
This screen page contains parameters for tuning the velocity loop:
Vel. Command
ACC
+
DEC
(-)
Speed Limit (pos.)
3000
rpm
Acc. Ramp
293750
PI-Plus
Proportional
Gain (Kp_v)
LP Freq.
1
0.042
160
rpm/s
0.042
Speed Limit (neg.)
3000
rpm
Hz
Integral Time (Tn_V) HP Freq.
ms 160
Hz
Dec. Ramp
293750
rpm/s
Emerg. Dec. Ramp
293750
Overspeed
3600
rpm/s
Disable Dec. Ramp
rpm
293750
rpm/s
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If the motor dataset is correct, you will not need to make changes here.
Cycle time of the speed controller:250 μ s
Lexium 15 LP Servo Drives Programming manual
117
Device Functions
Speed Limit
(pos.)
ASCII: VLIMP
Default: 3000 rpm
Unit: rpm
Range: 0.0 - MSPEED
valid for OPMODES 0+1
Sets the maximum velocity for the positive direction (velocity control loop) in units
defined by VUNIT to limit the servo motor speed. When used with the VLIMN
parameter, it sets a directionally-dependent rotational velocity limit for the servo
motor. The maximum value also depends on the servo motor and feedback sensor
used.
SpeedLimit
(neg.)
ASCII: VLIMN
Default: 3000 rpm
Unit: rpm
Range: 0.0 - MSPEED
valid for OPMODES 0+1
Sets the maximum velocity for the negative direction (velocity control loop) in units
defined by VUNIT. When used with the VLIMP parameter, it sets a directionallydependent rotational velocity limit for the servo motor. The maximum value also
depends on the servo motor and feedback sensor used.
Note: The VLIMN parameter must always be positive. The negative direction, and
therefore the negative sign of this value, is implicitly attributed by the software.
Overspeed
ASCII: VOSPD
Default: 3600 rpm
Unit: rpm
Range: 0.0 - 1.2*MSPEED
valid for OPMODES
Determines the upper limit of the motor speed. If this limit is exceeded, the servo
amplifier switches into the overspeed fault condition (error message F08) and its
output stage is disabled.
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Lexium 15 LP Servo Drives Programming manual
Device Functions
Acc. Ramp
ASCII: ACC
Default: 3150
Unit: rpm
Range: 3 - 126000
valid for OPMODES 0+1
This parameter gives either the acceleration value or the acceleration time to the
speed limit (valid for both directions). The smaller the acceleration value is and the
longer the time taken, the smoother and more favorable the acceleration. As long as
the ramp time is less than the mechanically limited rise time of the system, the
response time of the system will not be negatively affected. The ramp time settings
are still effective if the limit-switches are activated.
Dec. Ramp
ASCII: DEC
Default: 3150
Unit: rpm
Range: 3 - 126000
valid for OPMODES 0+1
This parameter gives either the deceleration value or the deceleration time of the
speed limit (valid for both directions). The smaller the deceleration value is and the
longer the time taken, the smoother and more favorable the deceleration.
As long as the ramp time is less than the mechanically limited fall time of the system,
the response time of the system will not be negatively affected. In most cases the
Acc. ramp and the Dec. ramp can be set to the same value.
The ramp time settings are still effective if the limit-switches are activated.
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Device Functions
Velocity
Standstill
Threshold
ASCII: VEL0)
Default: 5
Unit: rpm
Range: -
valid for all OPMODES
The VEL0 (Velocity "0") parameter defines the velocity threshold (in RPM) for the
standstill signal. The standstill signal is required for the following functions:
1. Standstill signal in the status register DRVSTAT.
2. If the brake is configured (MBRAKE=1), then, if the output stage is disabled, first
of all the velocity is reduced to 0, and the brake is only applied after the velocity has
fallen below the standstill threshold.
3. If the ACTFAULT option is activated (active braking in the event of a fault), or the
STOPMODE option (active braking if the output stage is disabled), then the standstill
threshold defines the velocity below which the output stage will actually be disabled.
The Velocity Standstill Threshold can only be set through the Terminal Screen.
Emerg. Dec.
Ramp
ASCII: DECSTOP
Default: 3150
Unit: rpm
Range: 3 - 126000
valid for OPMODES
The braking ramp for emergency braking. In emergency braking situations, the
internal setpoint moves to 0 using the preset DECSTOP ramp. The output stage is
only disabled when the actual velocity has fallen below the standstill threshold
(VEL0).
Emergency braking occurs in the following situations:
z amplifier fault (with ACTFAULT=1)
z contouring/following error
z threshold monitoring (fieldbus devices)
z hardware/software limit switch activated
z emergency stop function through the digital input (INxMODE=27)
z emergency stop function through the fieldbus (control word)
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Device Functions
Disable Dec.
Ramp
ASCII: DECDIS
Default: 3150
Unit: rpm
Range: 3 - 126000
valid for OPMODES
When the output stage is disabled (when the hardware or software enable is
removed), the internal velocity setpoint is set to 0, using the preset DECDIS ramp.
The output stage is only disabled when the actual velocity has fallen below the
standstill threshold (VEL0). The DECDIS ramp is only effective for motors with a
configured brake (MBRAKE=1) or with the selection STOPMODE=1. With
STOPMODE=0 the output stage is immediately disabled, and the drive coasts
down.
PI-PLUS
ASCII: GVFR
Default: 1
Unit: Range: 0.0 - 1.0
valid for OPMODES 0+1
This parameter only effects when the I-component is switched on (GVTN0).
With the default setting, the speed controller functions as a standard PI-controller
with slight overshoot in the step response. If PI-PLUS is reduced to 0.65, the
overshoot is avoided and the actual value approaches the setpoint slowly.
Proportional
Gain (KP_v)
ASCII: GV
Default: 0.046
Unit: Range: 0.001 - 369.2
valid for OPMODES 0+1
Determines the proportional gain (also known as AC-gain). Increase the value up to
the level where the motor starts to oscillate, and then back it off until the oscillations
have clearly stopped.
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Device Functions
Integral Time
(Tn_v)
ASCII: GVTN
Default: 10 ms
Unit: ms
Range: 0.0,GV/6.25 - 1000.0
valid for OPMODES 0+1
Determines the integration time constant. Smaller motors permit shorter integration
times. Larger motors or high moments of inertia in the load usually require
integration times of 20 ms or more. With Tn = 0 ms the integral-action component is
inactive. If the Tn value is too low, the drive runs roughly or strongly overshoots with
high inertia loads. If the Tn value is too high, the drive is too soft.
LP-Freq
ASCII: ARLPF
Default: 0
Unit: Range: 0 - 4000
valid for all OPMODES
Sets the frequency limit for the low pass filter.
HP-Freq
ASCII: ARHPF
Default: 1000
Unit: Range: 0 - 4000
valid for all OPMODES
Sets the frequency limit for the high pass filter.
Low pass and high pass filters are described in Overview of the "Bode plot" screen,
p. 248.
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Device Functions
4.8
Screen page "Position Loop"
Overview of the "Position Loop" screen
At a Glance
Define position loop settings, such as whether the position control works with an
external feedback system or with the motor-feedback system:
Ff Factor v
1
Position
+
+
Velocity Command
(*)
Proportional Gain (Kp_p)
0.05
m/s/mm
Motor Feedback
Secondary Position Feedback
0 None
1
Count Direction Positive
1
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Cycle time of the position controller: 250 μ s
Proportional
Gain (Kp_p)
ASCII: GP
Default: 0.15
Unit: (m/s)/m
Range: 0.1 - 1000
valid for OPMODES 4,5,8
Determines the proportional gain of the position controller. Amplitude: speed in m/s
at 1 mm position deviation.
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Device Functions
Ff Factor
ASCII: GPFFV
Default: 1
Unit: Range: 0 - 1000
valid for OPMODES 4,5,8
Determines the feed-forward factor for the position controller. Feed-forward is used
to ease the task of the position controller. A better setting for the Ff-factor means a
better utilization of the dynamic range of the position controller. The most favorable
setting (usually about 1.0) depends on factors external to the drive, such as friction,
dynamic resistance, and stiffness. If GPFFV is set too low, the drive lags. If GPFFV
is set too high, the drive oversteers.
Secondary
Position
Feedback
ASCII: EXTPOS
Default: 0
Unit: Range: 0 - 24
valid for all OPMODES
If EXTPOS is set to negative values the feedback is read and the position stored in
PFB0. The position loop acts with the commutation feedback (FBTYPE). Example:
EXTPOS = -6 The sinus/cosinus-Feedback(5V) is read. The position can be
monitored by ASCII-command PFB0.
The input of the external feedback is withput in relation to the position control.
EGEARI (See Gear Ratio (nominator), p. 125) and EGEARO (See Gear Ratio
(denominator), p. 125) can be used to set the ratio:
z On all analog read position feedbacks EXTPOS=6,7,8,9 the position is calculated
by the ENCLINES-setting and converted to the 32Bit/turn -format. The parameter
EGEARI/EGEARO is used only for the gearing-factor. On EGEARI-feedback turn
the motor makes EGEARO turns. Example: EGEARI=10,EGEARO=3 -> ratio 10
:3
z On all digital read position feedbacks ( EXTPOS=1...4 ) the parameter EGEARI
are the numbers of feedback turns which corresponde to EGEARO numbers of
motor turns.
Example: An external digital encoder has 1024 pulses/turn, 1 feedback turn
correspond to 3 motor turns. The settings are: EGEARI = 1024, EGEARO = 3
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Device Functions
Resolution
(denominator)
ASCII:
ENCLINES
Default: 1000
Unit: Range: 0 - 65535
valid for all OPMODES
ENCLINES sets the resolution (number of lines) of the sine encoder input channel.
In case of rotary Motors it is the number of lines per revolution, in case of linear
motors it is the number of lines per pole pitch. The ENCLINES data is stored in an
ENDAT or Hiperface Encoder if this feedback is used. In this case during power up
process the ENCLINES data is read automatically .
Gear Ratio
(nominator)
ASCII: EGEARO
Default: 1
Unit: Range: 0 - Long integer
valid for OPMODES 4 - 8
Sets the number of motor turns for one turn of an external feedback system.
Gear Ratio
(denominator)
ASCII: EGEARI
Default: 1
Unit: Range: 1 - Long integer
valid for OPMODES 4 - 8
Sets the number of turn pulses for one turn of the external feedback system.
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125
Device Functions
4.9
Screen page "Position data"
Overview of the "Position Data" Screen
At a Glance
This screen enables you to adjust the position control to suit the requirements of
your application:
Position data 101
Axis Type
a max
Linear
31500
max. Following Error
v max (pos.)
262144
Counts
In Position Window
4000
Counts/s
v max (neg.)
Counts
Modulo Start Pos.
-5000
10000
rpm/s
10000
Counts/s
Modulo End Pos.
Counts
5000
Counts
Software Limit-Switches
No.
1 (neg. SW Limit Switch)
2 (pos. SW Limit Switch)
at Position
0
Counts
0
Counts
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Device Functions
Axis Type
ASCII: POSCNFG
Default: 0
Unit: Range: 0, 1
valid for OPMODE 8
Here you select whether the axis is to be operated as a linear or a modulo axis.
a max
(Accceleration/
Deceleration)
ID
Function
Comments
0
Linear
A linear axis is an axis with a limited range of travel. A linear axis moves
within the traversing limits that are given by the software limit-switches,
both absolutely and relatively. A reference point must be set.
1
Modulo
A modulo axis is an axis with unlimited travel. The software limit-switches
have no significance in this case. A modulo axis always makes a
relative movement, even if the tasks are entered as absolute ones.
The actual position is set to zero with every start. A reference point is not
required.
ASCII: PTMIN
Default: 31500
Unit: ms or SI units
Range: 3 - 126000
valid for OPMODE 8
A drive is always so dimensioned that it can provide more power than the application
requires. This parameter determines the limit for the maximum mechanical
acceleration time to v_max, that must not be exceeded by the drive. This time is
simultaneously valid as the minimum limit for the entry Acceleration" (acceleration
time from 0 to v_cmd) and Deceleration (braking time from v_cmd down to 0) for the
motion tasks.
Depending on the type of acceleration unit that is configured, you can enter either
the acceleration time period or an acceleration value in the drive selected.
max. Following
Error
ASCII: PEMAX
Default: 262144
Unit: m
Range: long integer
valid for OPMODE 4, 5, 8
The following error is the maximum difference (+/- window) between the position
setpoint and the actual position that is permitted during processing. If the value
leaves this window, then the position controller generates a nXX message and
brakes the drive using the emergency ramp.
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127
Device Functions
v max (pos.) /
(neg.)
ASCII: PVMAXP
(positive)
Default: 10000
Unit: defined by VUNIT
Range: 0 - VLIMN
valid for OPMODE 8
ASCII: PVMAXN
(negative)
Default: 10000
Unit: defined by VUNIT
Range: 0 - VLIMN
valid for OPMODE 8
This parameter is used to adjust the maximum speed of movement to suit the limits
of the operative machinery. The calculation of the upper setting limit depends on the
final limit speed of the drive. The value that is entered is used as a limit for the
"v_cmd" entry in the motion tasks. During commissioning, you can limit the speed
by using v_max (without changing the setting for the motion blocks). A lower value
of v_max overrides the v_cmd of the motion tasks.
In Position
Window
ASCII: PEINPOS
Default: 4000
Unit: defined by PUNIT
Range: Long integer
valid for OPMODES 4,5,8
Sets the InPosition window. Determines at which distance from the set position the
"InPosition" message should be reported.
modulo start
pos.
ASCII: SRND
Default: -5000
Unit: Range: -
Valid for OPMODES 4, 5, 8
This parameter is used to define the initial setting of the motion range for a modulo
axis.
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Device Functions
modulo end pos.
ASCII: ERND
Default: 5000
Unit: Range: -
Valid for OPMODES 4, 5, 8
This parameter is used to define the end setting of the motion range for a modulo
axis.
Software Limit
Switches
The software limit-switches from part of the monitoring functions of the position
controller.
SW limitswitch 1
The monitoring checks whether the actual position value is lower than the
preset value; the negative direction of travel is now inhibited. You have to leave
limit-switch 1 by moving in the positive direction.
SW limitswitch 2
The monitoring checks whether the actual position value is higher than the
preset value; the positive direction of travel is now inhibited. You have to leave
limit-switch 1 by moving in the negative direction.
The drive brakes with the emergency ramp, and remains at standstill under torque.
The principle of positioning the software limit-switch can be seen in the diagram
below:
Reference traverse
-
MA1 HE1 NI
Motion task load
-
SWE1
+
Legend
MA1: Machine stop, left
HE1: Hardware limit switch, left
NI: Zero pulse initiator
(reference)
SWE1: Software limit switch 1
SWE2: Software limit switch 2
HE2: Hardware limit switch, right
MA2: Machine stop, right
SWE2HE2 MA2 +: Positive count direction
-: Negative count direction
ASCII: SWCNFG
(enabled)
Default: 0
Unit: Range: 0 - 65536
valid for all OPMODES
ASCII: SWEx
(position)
Default: 0
Unit: Range: Long integer
valid for all OPMODES
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Device Functions
4.10
Registration
Registration (LATCH)
At a Glance
This servo drive function enables position measure captures in a internal register.
registration is triggered by a configured digital input. Capture can be performed in
either a rising edge or a falling edge:
Motor encoder
External encoder
Rising edge
LATCH16
LATCH32
LATCHX16
LATCHX32
Falling edge
LATCH16N
LATCH32N
LATCHX16N
LATCHX32N
For more information, see Digital Edge (See Digital I/O Overview, p. 158).
Configuring
LATCH
130
The value registered may be used in a motion task to execute a relative move.
Lexium 15 LP Servo Drives Programming manual
Device Functions
LATCH
Commands
LATCH Commands
Short description
EXTLATCH
Selection of the Source of the Latch Inputs
LATCH16
Latched 16-bit Position (positive edge)
LATCH16N
Latched 16-bit Position (negative edge)
LATCH32
Latched 32-bit Position (positive edge)
LATCH32N
Latched 32-bit Position (negative edge)
LATCHX16
Latched external 16-bit Position (positive edge)
LATCHX16N
Latched external 16-bit Position (negative edge)
LATCHX32
Latched external 32-bit Position (positive edge)
LATCHX32N
Latched external 32-bit Position (negative edge)
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131
Device Functions
4.11
Screen page "Position Registers"
Overview of the "Position Registers" Screen
At a Glance
This screen page enables you to configure the monitoring of up to 16 position
registers that enable you to set/reset digital output or axis software position limits:
Position Registers enabled, w/ CAN Msg.
No.: Check:
Enable: Signal, if Pos [Counts]
Current Position
No.: Check:
Enable: Signal, if Pos [Counts]
1
always
>=
400
9
always
>=
0
2
always
>=
0
10
always
>=
0
3
always
>=
0
11
always
>=
0
4
always
>=
0
12
always
>=
0
5
always
>=
0
13
always
>=
0
6
always
>=
0
14
always
>=
0
7
always
>=
0
15
always
>=
0
8
always
>=
0
16
always
>=
0
P1
P2
P3
P4
P5
P6
P7
P8
P9 P10 P11 P12 P13 P14 P15 P16
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Device Functions
The position registers are configured using 3 control variables. The position signals
are indicated through a status variable. All control/status variables can be
considered as 32-bit variables, whereby the lower 16 bits (bits 0 ... 15) are used for
the configuration of the position registers P1 ... P16.
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133
Device Functions
Position
Registers
ASCII: WPOS
Default: 0
Unit: Range: 0, 1, 2
valid for all OPMODES
The position registers operate in a deterministic manner: going above or below a
position is detected and signaled within 1 millisecond.
The fast position registers are enabled through the WPOS configuration variable.
WPOS=0
Position register disabled.
WPOS=1
Position register enabled, no spontaneous CAN message on change of status.
WPOS=2
Position register enabled, spontaneous CAN message on change of status
(this setting is only via CAN-Bus possible).
Changes of the WPOS variable between 0 and >0 can only be made offline (SAVE
and COLSTART), although a change between 1 and 2 can be made online.
Current Position
ASCII: PFB
Default: Unit: m
Range: Long integer
valid for all OPMODES
The PFB command returns the actual value of the position (from the position control
loop feedback).
Check
ASCII: WPOSX
Default: 0
Unit: Range: 0 - 65535
valid for all OPMODES
Specify whether the position is monitored continuously or once. If you specify Once,
the corresponding enable bit (WPOSE) is set to 0 when the position signal is
generated, so that the monitoring is disabled for this position register.
Enable
ASCII: WPOSE
Default: 0
Unit: Range: 0 - 65535
valid for all OPMODES
Enable or disable each of the sixteeen position registers.
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Device Functions
Signal If
ASCII: WPOSP
Default: 0
Unit: Range: 0 - 65535
valid for all OPMODES
Specify whether the position signal is generated on going above/beyond (overrun)
the position, or below/behind (underrun) the position.
P1 - P16
ASCII: P1...P16
Default: 0
Unit: Range: Long integer
valid for all OPMODES
Contains the position values for the sixteen position thresholds.
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135
Device Functions
4.12
Screen page "Electronic Gearing"
Overview of the "Electronic Gearing" screen
At a Glance
Select the gearing source and define the gear ratio for the position setpoint received
by the servo amplifier:
Ext. Gearing Source
Position
0 No Feedback
Count Direction
Revolution(s)
1
Line(s)
1024
Positive
Input Filter
4: 40 Hz
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The servo amplifier receives a position setpoint from another instrument (master
servo amplifier, stepper motor control, encoder or similar) and controls the position
of the motor shaft in synchronism with this master (control) signal.
Cycle time of the electrical gearing: 250s. A value averaged over 1000 s is
used.
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Device Functions
Ext. Gearing
Source
ASCII: GEARMODE
Default: 0
Unit: Range: 0 - 6
valid for OPMODE 4
The servo amplifier can be controlled through different interfaces and from various
sources. For the connector pin assignments, see the Installation Manual.
ID
Function
Comments
0
No feedback
-
1
Pulse / direction
Dig.I/O 24V (X3)
With a stepper motor control (pulse/direction, 24V signal level) connected to the digital
inputs LI1/LI2, terminals X3/8, 9.
An additional function assignment for the inputs is not necessary. Any assignments on
the screen page "Digital I/O" will be ignored.
LI1 (X3/8)= Direction (low=positive, high=negative), LI2 (X3/9) =Pulse
2
Encoder Follower
Dig.I/O 24V (X3)
With an incremental encoder (track A/B, 24V signal level) connected to the digital
inputs LI1/LI2, terminals X3/8, 9.
Additional function assignment is not required for inputs. Any assignments on the
screen page "Digital I/O" will be ignored. LI1 (X3/8) = A channel, LI2 (X3/9) = B
channel.
3
Encoder Follower
Dig.I/O 5V (X5)
With an incremental encoder connected to the X5 connector. X5/5 = A +, X5/4 = A -,
X5/7 = B +, X5/6 = B ENCMODE must be set to 0.
4
Pulse / direction,
Dig.I/O 5V (X5)
With a stepper motor control (pulse/direction, 5V signal level) connected to connector
X5.
X5/5 = Pulse +, X5/4 = Pulse -, X5/7 = Direction +, X5/6 = Direction ENCMODE must be set to 0.
5
SSI (X5)
SSI position is read via the X5 connector.
6
Sin/Cos Encoder 5V
(X1)
With a sine/cosine encoder connected to connector X1.
Only the zero crossing if the sine (cosine) signals are used. No analog processing
takes place.
7
Sin/Cos Encoder
12V (X1)
With a sine/cosine encoder connected to connector X1.
Only the zero crossing if the sine (cosine) signals are used. No analog processing
takes place.
8
EnDAT-Encoder
(X1)
The parameter channel of the encoder is read and the absolute position is transfered
to the position register. ENCLINES is calculated automatically to the internal resolution
of 20 Bit per rev of the encoder.
This setting can be used in position mode under EXTPOS=1.
The sine/cosine signals of the encoder are analog read. This increases the resolution
significantly.
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137
Device Functions
ID
Function
Comments
9
HIPERFACEEncoder (X1)
The parameter channel of the encoder is read and the absolute position is transfered
to the position register. ENCLINES is calculated automatically to the internal resolution
of 20 Bit per rev of the encoder.
This setting can be used in position mode under EXTPOS=1.
The sine/cosine signals of the encoder are analog read. This increases the resolution
significantly.
Count Direction
ASCII: DIR
valid for OPMODES
Default: 21
Unit: Range: 0 - 128
This fixes the count direction of the motor shaft in reference to the polarity of the
setpoint. Changing this value will affect Bit 4 of ASCII command DIR.
Positive = count direction CW = DIR Bit 4 set
Negative = count direction CCW = DIR Bit 4 reset
The DIR variable defines the count direction for feedback information.
The DIR variable can be considered as a 16-bit variable, whereby each single bit
defines the count direction for different feedback units.
Setting a bit means a positive direction (cw), resetting a bit a negative direction
(ccw).
z
z
z
z
z
z
z
Bit 0 (0x01) count direction for FBTYPE unit (=1 positive direction)
Bit 1 (0x02)
Bit 2 (0x04) count direction for EXTPOS unit (=1 positive direction)
Bit 3 (0x08)
Bit 4 (0x10) count direction for GEARMODE unit (=1 positive direction)
Bit 5 (0x20)
Bit 6 (0x40) =1 inverse commutation
Make changes only while the amplifier is disabled and reset it (COLDSTART). This
parameter is not available if a SERCOS interface is built-in.
After changing the count direction the hardware limit switches have to be
exchanged.
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Device Functions
Resolution
(denominator)
ASCII:
ENCLINES
Default: 1000
Unit: Range: 0 - 65535
valid for all OPMODES
ENCLINES sets the resolution (number of lines) of the sine encoder input channel.
In case of rotary Motors it is the number of lines per revolution, in case of linear
motors it is the number of lines per pole pitch. The ENCLINES data is stored in an
ENDAT or Hiperface Encoder if this feedback is used (GEARMODE 6 - 9). In this
case during power up process the ENCLINES data is read automatically. Make
changes only while the amplifier is disabled and reset it (COLDSTART).
Gear Ratio
(nominator)
ASCII: GEARO
Default: 1
Unit: Range: 0 - Long integer
valid for OPMODES 4 - 8
Sets the number of motor turns for one turn of an external feedback system.
Gear Ratio
(denominator)
ASCII: GEARI
Default: 1024
Unit: Range: 1 - Long integer
valid for OPMODES 4 - 8
Sets the number of turn pulses for one turn of the external feedback system.
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Device Functions
Input Filter
ASCII: GEARFILT Default: 4
Unit: Range: 1 - 8
valid for OPMODE 4
The input filter is a second-order low-pass filter that smoothes the input position
command signal. The GEARFILT command can be used to determine the
corresponding frequency of the electronic gearing filter.
GEARFILT
Frequency (Hz)
1
318
2
159
3
80
4
40
5
20
6
10
7
5
8
2.5
The filter should be used when necessary. However, because the filter introduces a
delay to prevent the slave from following the master exactly during acceleration and
deceleration, the filter should only be used when necessary. GEARFILT = 4 with 40
Hz cut-frequency is generally used.
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Device Functions
4.13
Screen page "Encoder Emulation"
Overview of the "Encoder Emulation" screen
At a Glance
This screen enables you to define the encoder emulation. Different parameters are
displayed depending on the type of output you select. Parameters for the ROD
output are shown here:
Encoder Emulation
1 Output - ROD (A Quad B) Enc
Resolution
1024
Lines/Rev.
Zero Pulse Offset
1024
Incr.
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141
Device Functions
Parameters for the ROD output with interpolation:
Encoder Emulation
Resolution
3 Output - ROD (A Quad B) Enc w/ interpolation
1024
Lines/Rev.
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Different parameters are displayed if you select SSI as the output:
Encoder Emulation
2 Output - SSI
Transmit Timeout SSI
13
µs
No. of Turns (MultiTurn)
12 Bit (4095)
SSI Code
Binary
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Lexium 15 LP Servo Drives Programming manual
Device Functions
For information on wiring the Encoder Emulation Output on an X5 Connector, see
the Lexium 15 LP Installation Manual.
Encoder
emulation (X5)
ASCII: ENCMODE
Default: 0
Unit: Range: 0, 1, 2, 3
valid for all OPMODES
Encoder emulation cycle time: 0.125 μs
Change this only while the amplifier is disabled.
ID
Function
0
Input
Used as an input.
1
ROD
Incremental encoder emulation In the servo amplifier, the position of the
motor shaft is calculated from the cyclically absolute signals from the resolver or encoder. This information is used to create incremental-encoder
compatible pulses (max. 250 kHz). Pulses are given out at the connector
X5 as two signals A and B with a 90° electrical phase difference, and a
zero pulse. Exception: If a Sincos (Stegmann) encoder is used as the
feedback unit, then the output of the zero pulse is inhibited (data are invalid) until the zero pulse from the encoder has been received.
2
SSI
SSI-encoder emulation. In the servo amplifier, the position of the motor
shaft is calculated from the cyclically absolute signals from the resolver
or encoder. This information is used to create a position output in a
format that is compatible with the standard SSI-absolute-encoder
format. 24 bits are transmitted.
Radio button SINGLE TURN selected: The upper 12 bits are fixed to
ZERO, the lower 12 bits contain the position information. For 2-pole
resolvers, the position value refers to the position within one turn of the
motor, for 4-pole resolvers it is within half a turn, and for 6-pole
resolvers it is within a third of a turn.
Exception: If an encoder with Sincos (Stegmann) is used as the
feedback unit, then the upper 12 bits are set to 1 (data invalid!) until a
homing run is performed. Radio button MULTI TURN selected: The
upper 12 bits contain the number of motor turns, the lower 12 bits
contain the position information.
3
ROD with
Interpolation
Digitization and interpolation of the sine encoder input signals
(feedback) to TTL level incremental output. This function works
properly only with sine encoder feedback systems. The parameter
INTERPOLATION determines the multiplier for the number of lines of
the feedback encoder per electrical motor rotation.
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Comments
143
Device Functions
Resolution
ASCII: ENCOUT
Default: 1024
Unit: CPR
Range: See table
below
valid for all OPMODES
Determines the number of increments per turn that are output. Change this only
while the amplifier is disabled.
Increments per motor turn for feedback type =
Resolution
Resolver 2-poles Resolver 4-poles Resolver 6-poles
HIPERFACE/
EnDat
256
256
256
512
768
512
512
1024
1536
512
1024
1024
2048
3072
1024
2048
-
-
-
2048
4096
-
-
-
4096
8192
-
-
-
8192 (to 3000
rpm.)*
16384
-
-
-
16384 to 1500
rpm.)
Note: Negative values are possible. If the motor turn positive ENCOUT pulses
count negative. The resolution in the controls can be increased by quadruple
evaluation of the increments.
Zero Pulse Offset
ASCII: ENCZERO
valid for all OPMODES
Default: 0
Unit: Range: 0 - ENCOUT-1
Determines the position of the zero (marker) pulse when A=B=1. The entry is
referred to the zero-crossing of the feedback unit over the range of one turn.
For example:
ENCOUT = 1024
ENCZERO = 256
The zero pulse is given out at the 90° position.
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Device Functions
No. of Bits (Multi
/ Single Turn)
ASCII: SSIRXD
Default: 24
Unit: Range: 1 - 33
valid for all OPMODES
ASCII: SSIREVOL
Default: 4
Unit: Range: 0 - 4
valid for all OPMODES
The parameter SSIRXD sts the number of received SSI-bits, with SSIRXD=1 equal
to one bit, SSIRXD=2 equal to two bits, and so on, up to maximum of 32 bits.
The parameter SSIREVOL sets the number of turns (MultiTurn) for SSI Transmission. Change this only while the amplifier is disabled.
Transmit
Timeout SSI
ID
Turns
0
16 bit (65535)
1
15 bit (32767)
2
14 bit (16383)
3
13 bit (8191)
4
12 bit (4095)
ASCII: SSITOUT
Default: 0
Unit: Range: 0 - 1
valid for all OPMODES
The command SSITOUT sets the monoflop - timeout of the SSI - transmission.
ID
Function
0
13 μs
1
3 μs
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Device Functions
SSI-Code
ASCII: SSIGRAY
Default: 0
Unit: Range: 0 - 1
valid for all OPMODES
Determines whether the output is in binary or GRAY code. Change this only while
the amplifier is disabled.
146
ID
Function
0
Binary
1
Gray
Lexium 15 LP Servo Drives Programming manual
Device Functions
4.14
Screen page "Analog Inputs"
General overview of the "Analog Inputs" screen
At a Glance
Overview of the different fields contained in the "Analog Inputs" screen.
What's in this
Section?
This section contains the following topics:
Topic
Page
Overview of the Analog Inputs Screen
148
Analog Inputs
149
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147
Device Functions
Overview of the Analog Inputs Screen
At a Glance
This screen enables you to configure Analog Inputs:
Analog Inputs
0: Analog In 1 = Velocity or Current Cmd (OPMODE dependent)
Analog Input AI1
Analog Input AI2
Offset
0
mV
Current scale
9
Velocity scale
3000
1
msec
Filter
0
mV
A/10V
9
A/10V
rpm/10V
3000
rpm/10V
Auto-offset
Velocity command deadband
0
Auto-offset
mV
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Cycle time of the Analog Input functions: 250 micro-seconds. Analog Input AI1
is read every 125 micro-seconds.
The actual values of the analog inputs are shown in the diagram of the connector X3.
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Device Functions
Analog Inputs
Setpoint
functions
ASCII: ANCNFG
Default: 0
Unit: Range: 0 - 14
valid for all OPMODES
ID
Function
0
Analog Input 1 = Velocity or Current Cmd (OPMODE dependent)
1
Analog Input 1 = Velocity Cmd, Analog Input 2 = Current Command
2
Analog Input 1 = Velocity Cmd, Analog Input 2 = Current Feed Forward Scaling
3
Analog Input 1 = Velocity or Current Cmd (OPMODE dependent), Analog Input 2 =
Sys peak current
4
Analog Input 1 + Analog Input 2 = Velocity or Current (OPMODE dependent)
5
Analog Input 1 x Analog Input 2 = Velocity or Current Cmd (OPMODE dependant)
6
Analog Input 2 = Gearing ratio Cmd
7
Analog Input 1 = Current Cmd, Analog Input 2 = Max Sys Speed
8
Analog Input 1 = Position Command
9
Analog Input 1 = Velocity or Current Cmd (OPMODE dependent), Analog Input 2 =
Ferraris
10
Reserved
11
Analog Input 2 = adjust Digital Trigger Level (Direct)
12
Analog Input 2 = adjust Digital Trigger Level (After Rising Edge)
13
Analog Input 1 = Velocity or Current Cmd (OPMODE dependent), Analog Input 2 =
Sys Peak Current (Pos only)
14
Analog Input 1 = Velocity or Current Cmd (OPMODE dependent), Analog Input 2 =
Sys Peak Current (Neg only)
0: Analog Input 1 = Velocity or Current Cmd (OPMODE dependent)
The servo amplifier only uses the Analong Input 1 as velocity command or current
command according to OPMODE value.
OPMODE
Analog Input 1 function
Analog Input 1 value
1: analog velocity
Velocity command
VSCALE1 * AI1
3: analog torque
Torque (Current) command
ISCALE1 * AI1
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Device Functions
Additionally, function "switch-over Analog Input 1 to Analog Input 2" can be set.
Then a LIx digital input allows switch between AI1 and AI2.
OPMODE
LIx
Analog Input Setting
Analog Input Value
1: analog velocity
HIGH
AI2 is active and set as
velocity command
VSCALE2 * AI2
1: analog velocity
LOW
AI1 is active and set as
velocity command
VSCALE1 * AI1
3: analog torque
HIGH
AI2 is active and set as
current command
ISCALE2 * AI2
3: analog torque
LOW
AI1 is active and set as
current command
1SCALE1 * AI1
To set up digital input LIx for this function, see Digital I/O (See Digital Inputs LI1 / LI2
/ LI3 / LI4, p. 159) "Function 8 - An In 1 / An In 2"
1: Analog Input 1 = Velocity Cmd, Analog Input 2 = Current Command
The servo amplifier only uses one of the two analog inputs, depending on the setting
of OPMODE.
vcmd = Scaling (AIx) * AIx
OPMODE
AI1 setting
AI2 setting
1: analog velocity
velocity cmd active & vcmd =
VSCALE1 * AI1
inactive
3: analog torque
inactive
current (torque) command active
& Icmd = ISCALE2 * AI2
all other settings
inactive
inactive
2: Analog Input 1 = Velocity Cmd, Analog Input 2 = Current Feed Forward
Scaling
Analog Input 2 is used as current feed forward (OPMODE=0,1).
vcmd = VSCALE1 * AI1
Iffd = ISCALE2 * AI2
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Device Functions
3: Analog Input 1 = Velocity or Current Cmd (OPMODE dependent), Analog
Input 2 = Sys peak current
The servo amplifier uses the Analog Input 1 as velocity command or current
command according to OPMODE value. Analog Input 2 is used for limiting drive
peak current (Ipeak1).
OPMODE
AI1 setting
AI1 value
AI2 function AI1 value
1: analog
velocity
Velocity
command
VSCALE1 * AI1
3: analog
torque
Current
command
ISCALE1 * AI1
Drive peak
current
limitation
Ipeak1=IPEAK * AI2 /
10V
IPEAK is the peak current set up for the application. For more details, see Overview
of the "Current Loop" screen, p. 115.
If you use both Ipeak2 (see Digital I/O (See Digital Inputs LI1 / LI2 / LI3 / LI4, p. 159)
"Function 18 - Ipeak2 x") and Ipeak1 setpoint function, the servo amplifier will set the
lowest Ipeak value.
4: Analog Input 1 + Analog Input 2 = Velocity or Current (OPMODE dependent)
The servo amplifier uses the sum of both analog inputs, depending on the setting of
OPMODE.
Xcmd = Scaling (AI1) * AI1 + Scaling (AI2) * AI2
OPMODE
AI1 + AI2 Description
AI1 + AI2 Value
1: analog velocity
velocity setpoint
VSCALE1 * AI1 + VSCALE2 * AI2
3: analog torque
current (torque) setpoint
ISCALE1 * AI1 + ISCALE2 * AI2
all other settings
inactive
-
5: Analog Input 1 x Analog Input 2 = Velocity or Current Cmd (OPMODE
dependant)
The servo amplifier uses the product of both setpoint inputs, depending on the
setting of OPMODE. The voltage on Analog Input 2 has the effect of a weighting
factor for Analog Input 1, the scaling for Analog Input 2 is ineffective:
Xcmd = AI1 * Scaling (AI1) * AI2
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Device Functions
OPMODE
AI1 . AI2 Description
AI1 . AI2 Value
1: analog velocity
velocity setpoint
( VSCALE1 * AI1 ) * AI2
3: analog torque
current (torque) setpoint
( ISCALE1 * AI1 ) * AI2
all other settings
inactive
-
6: Analog Input 2 = Gearing ratio Cmd
Correction of the gearing ratio (GEARO) of the electrical gearing through Analog
Input 1 for OPMODE 4. Analog Input 1 is used as a speed (or torque) setpoint for
OPMODE 1 (or 3).
GEAROeff = GEARO * (1 + VSCALE2 * AI2 / 1000)
VSCALE defines a correction factor in %
for example:
VSCALE2 = 20
for AI2 = 10V, GEAROeff = GEARO * 1,2
for AI2 = -10V, GEAROeff = GEARO * 0,8
for AI2 = 0V, GEAROeff = GEARO
7: Analog Input 1 = Current Cmd, Analog Input 2 = Max Sys Speed
OPMODE should be previously set to 3.
Analog input 1 is used as current command. Analog input 2 is used to set maximum
motor velocity.
Icmd = ISCALE1 * AI1
nmax = VSCALE2 * AI2
Whatever Icmd value, motor velocity will never exceed nmax.
8: Analog Input 1 = Position Command
OPMODE 5 has to be set.
Analog input 1 is used as a analog position setpoint.
The working distance is defined by SRND (start position) and ERND (end position).
Analog input 1 = 0V Position = SRND
Analog input 1= +/-10V Position = ERND
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Device Functions
In addition, homing can be performed independantly by starting a homing motion
task (See Overview of the "Motion Task" Screen, p. 229) thanks to a digital input LIx
(see Digital I/O (See Digital Inputs LI1 / LI2 / LI3 / LI4, p. 159) "Function 16 Start_MT
no.2").
9: Analog Input 1 = Velocity or Current Cmd (OPMODE dependent), Analog
Input 2 = Ferraris
Analog Input 1 as velocity command when OPMODE=1 or as torque (current)
command when OPMODE=3.
Analog Input 2 is used as a Ferraris sensor input (acceleration sensor) for
implementing speed control using this sensor.
10: Reserved
11: Analog Input 2 = adjust Digital Trigger Level (Direct)
Change of an INxTRIG (x=1, 2, 3, 4) variable via the Analog Input 2. The
corresponding Number (x) of the trigger variable is set by AN11NR. The range of the
parameter change is defined by AN11RANGE.
The change of AI2 value occurs immediately (update time 1 to 10ms): INxTRIG will
be changed whatever the LIx state.
For example:
ANCNFG=1
enabling analog input function 11
AN11NR=1
enabling IN1TRIG as LI1 input value to be changed
IN1TRIG=1000
setting IN1TRIG at 1000
AN11RANGE=500
setting Analog Input 2 range
at AI2 = 0V, IN1TRIG = 1000
at AI2 = 10V, IN1TRIG = 1500
at AI2 = -10V, IN1TRIG = 500
12: Analog Input 2 = adjust Digital Trigger Level (After Rising Edge)
Change of INxTRIG (x=1,2,3,4) variable via Analog Input 2. The corresponding
number (x) of trigger variable is set by AN11NR. The range of the parameter change
is defined by AN11RANGE. The change of AI2 value acts on INxTRIG after a rising
edge on the selected LIx digital input.
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153
Device Functions
13: Analog Input 1 = Velocity or Current Cmd (OPMODE dependent), Analog
Input 2 = Sys Peak Current (Pos only)
The servo amplifier uses the Analog Input 1 as velocity command or current
command according to the OPMODE value. The absolute value of Analog Input 2
limits the positive current of the drive.
OPMODE
AI1 setting
AI1 value
AI2 function AI2 value
1: analog
velocity
Velocity
command
VSCALE1 * AI1
3: analog
torque
Current
command
ISCALE1 * AI1
Drive peak
current
limitation
IPEAK * abs(AI2) /
10V
The negative current is not affected.
In the positive direction, the acceleration current is limited, and in the negative
direction, the deceleration current.
14: Analog Input 1 = Velocity or Current Cmd (OPMODE dependent), Analog
Input 2 = Sys Peak Current (Neg only)
The servo amplifier uses the Analog Input 1 as velocity command or current
command according to the OPMODE value. The absolute value of Analog Input 2
limits the negative current of the drive.
OPMODE
AI1 setting
AI1 value
AI2 function AI2 value
1: analog
velocity
Velocity
command
VSCALE1 * AI1
3: analog
torque
Current
command
ISCALE1 * AI1
Drive peak
current
limitation
- IPEAK * abs(AI2) /
10V
The positive current is not affected.
In the negative direction, the acceleration current is limited, and in the positive
direction, the deceleration current.
Offset
ASCII: ANOFFx
Default: 0
Unit: mV
Range: -10000 - 10000
valid for all OPMODES
Is used to compensate the offset voltages of CNC-controls and the analog inputs 1
(ANOFF1) or 2 (ANOFF2). Adjusts the axis to standstill while the setpoint = 0V.
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Device Functions
Auto-Offset
ASCII: ANZEROx
Default: Unit: Range: -
valid for all OPMODES
This command carries out an automatic adjustment of the setpoint offset.
Conditions: analog inputs short-circuited, or 0V from the controls.
ANZERO1 command for Analog Input 1 & ANZERO2 command for Analog Input 2.
Scaling
ASCII: VSCALEx
Default: 3000
Unit: rpm/10V
Range: -15000 - 15000
Scaling of the velocity setpoint value.
valid for OPMODE 1
Input: xx rpm / 10 V
VSCALE1 parameter for Analog Input 1 & VSCALE 2 parameter for Analog Input 2.
ASCII: ISCALEx
Default: peak current
Unit: A/10V
Range: 0 - 30
Scaling of the analog setpoint value.
valid for OPMODE 3
Input: xx A / 10 V
ISCALE1 parameter for Analog Input 1 & ISCALE 2 parameter for Analog Input 2.
Filter
ASCII: AVZ1
Default: 1
Unit: ms
Range: 0.2 - 100.0
valid for OPMODE 1
You can enter a filter time constant here for Analog Input 1 (62.5s Update Rate, 1st
order filter).
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155
Device Functions
Velocity
Command
Deadband
ASCII: ANDB
Default: 0 mV
Unit: mV
Range: 0.0 - 10000.0
valid for OPMODES 1+3
This variable suppresses small analog input signals by setting a deadband zone in
which signals are ignored. This function is useful with OPMODE=1 (without higherlevel position control). Depending on the operating mode, this parameter applies to
Analog Input 1 or Analog Input 2 (depending on which setpoint input is used as the
source for the velocity value).
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Device Functions
4.15
Screen page "Digital I/O"
Overview of "Digital I/O"
At a Glance
Overview of the different fields contained in the "Digital I/O" screen
What's in this
Section?
This section contains the following topics:
Topic
Digital I/O Overview
Page
158
Digital Inputs LI1 / LI2 / LI3 / LI4
159
Digital Outputs LO1/LO2
173
Configure OPMODE
184
Configure Command Buffer
187
Configure Velocity Time
189
Configure Mask for TRJSTAT
190
Configure Mask for DRVSTAT
191
Configure Mask for POSRSTAT
192
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157
Device Functions
Digital I/O Overview
At a Glance
This screen page enables you to assign pre-defined functions to the digital inputs
and outputs of the servo amplifier:
Set INCMD...
Input LI1 30: Execute Contents of Command Buffer Set 1
Input LI2 15: Start “Next Motion Task” defined in Current Motion Task
0
Input LI3 0: Off
0
Input LI4 0: Off
0
Output LO1 0: Off
0
Output LO2 0: Off
0
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Cycle time of digital I/O functions: 1 ms The digital I/O states are displayed.
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Device Functions
Digital Inputs LI1 / LI2 / LI3 / LI4
At a Glance
ASCII: INxMODE
Default: 0
Unit: Range: 0- 43
valid for all OPMODES
ASCII: INxTRIG
Default: 0
Unit: Range: 0- 43
valid for all OPMODES
The terminals LI1, LI2, LI3 & LI4 (X3/8,9,10,11, respectively) can be used in
combination with internal functions. Each digital input is defined by INxMode and
INxTRIG. INxMODE sets digital input function and INxTRIG sets digital input value.
Change this only while the amplifier is disabled, then reset amplifier. (COLDSTART).
IN1MODE, IN1TRIG parameters for LI1, IN2MODE, IN2TRIG parameters for LI2,
IN3MODE, IN3TRIG parameters for LI3 & IN4MODE, IN4TRIG parameters for LI4.
Here is the complete list of available function on each digital input:
Function can be combined with
LI1
X3/8
LI2
X3/9
-
x
x
-
x
Auxiliary
value x
INxTRIG
INxMODE Function
value
Active
edge/
Level
0
Off
-
1
Reset Fault
2
PSTOP (EOT Limit Switch) -
-
(1)
3
NSTOP (EOT Limit Switch) -
-
4
PSTOP+Integral Off (EOT
Limit Switch)
-
-
5
NSTOP + Integral Off (EOT Limit Switch)
6
PSTOP+NSTOP (EOT
Limit Switch)
7
P / NSTOP +Integral Off
(EOT Limit Switch)
8
Change Command from
High/Low
Analog Input AI1 to Analog
Input AI2
Lexium 15 LP Servo Drives Programming manual
LI3 PSTOP
X3/10
LI4 NSTOP
X3/11
x
x
(1)
(1)
(1)
x
x
(1)
(1)
x
x
(1)
(1)
x
x
-
(1)
(1)
x
x
-
-
(1)
(1)
x
(1)
-
-
(1)
(1)
x
(1)
-
x
x
x
x
159
Device Functions
Function can be combined with
INxMODE Function
value
Active
edge/
Level
Auxiliary
value x
INxTRIG
LI1
X3/8
LI2
X3/9
LI3 PSTOP
X3/10
LI4 NSTOP
X3/11
9
Motion Task BCD Select
Bit
-
x
x
x
x
10
Integral Off
-
x
x
x
x
11
Change Velocity to Torque
Control
-
x
x
x
x
12
Machine Home
(Reference) Switch
-
x
x
x
x
13
Change Emulation from
ROD (A Quad B) Enc to
SSI
-
x
x
x
x
14
Clear Position Error or
Network Node Guarding
-
x
x
x
x
15
Start "Next Motion Task"
Defined in Current Motion
Task
-
x
x
x
x
16
Start Motion Task No x
(Level Triggered)
Motion task
no.
x
x
x
x
17
Start Motion Task
Configured by BCD Select
Bits
-
x
x
x
x
18
Change System Peak
Current to x
% of Ipeak
x
x
x
x
High/Low
High/Low
Can be
set
19
Off
-
x
x
x
x
20
Jog Motor at x Speed
Speed in rpm
x
x
x
x
21
Turn Off Under Voltage
Monitoring
-
x
x
x
x
22
Restart Current Motion
Task
-
x
x
x
x
23
Start Motion Task No x
(Edge Triggered)
Motion task
no.
x
x
x
x
24
Change OPMODE A to B
Opmode no.
x
x
x
x
25
Latch ROD (A Quad B)
Enc Zero Pulse
-
x
x
x
x
26
Latch Motor Position (High
Speed)
x
x
160
-
Lexium 15 LP Servo Drives Programming manual
Device Functions
Function can be combined with
INxMODE Function
value
Active
edge/
Level
Auxiliary
value x
INxTRIG
LI1
X3/8
LI2
X3/9
x
x
x
x
LI3 PSTOP
X3/10
LI4 NSTOP
X3/11
27
Emergency Stop
28
Start Jogmode
29
Start Motion Task/Homing
-
x
x
x
x
30
Execute Contents of
Command Buffer Set 1
High/Low
x
x
x
x
32
Release Motor Brake when
Drive Disabled
-
x
x
x
x
33
Execute Contents of
Command Buffer Set 2
High/Low
-
x
x
x
x
34
Reserved
-
35
Reserved
-
36
Give Offset to Gearing
Function
-
x
x
x
x
37
Reserved
38
Additional Enable for "Next
Motion Task"
x
x
x
x
39
Move Constant Velocity for
Set Time
x
x
x
x
40
Additional HW Enable
x
x
x
x
41
Fast Emergency Stop
x
x
x
x
42
Turn On/Off Gearing
High/Low
-
x
x
x
x
43
Turn On/Off Gearing (with High/Low
phase adjust from ramp up
-
x
x
x
x
Low
-
x
x
x
-
Opmode no.
High
Low
(1) At this INxMODE value, digital input is OFF. See Function 0 for explanation.
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Device Functions
Description of
Digital Input
Function
0: Off
The state of Input 1 is read and can be used via a Fieldbus or SLOT card.
1: Reset
Software reset of the amplifier in the event of a fault. All the functions and displays
are set to the initial status. Parameters that are not stored in the EEPROM are
erased, the parameters stored in the EEPROM are loaded.
If any of the error messages F01, F02, F03, F05, F08, F13, F16 or F19 are present,
then no software-reset will be carried out. Only the error message will be deleted.
This means that, for example, the encoder output signals are stable and can
continue to be evaluated by the controller.
When the input is HIGH while the auxiliary 24V supply is switched on, the drive
waits, before the input is set to LOW. In this case, the first of the three display
positions displays an "A".
2: PSTOP (EOT Limit Switch)
LOW level at selected input disables the positive direction (clockwise if DIR=1,
counterclockwise if DIR=0). At the same time, "n10" is displayed. If a negative edge
is recognized while the motor is running, the drive stops the motor in OPMODE=0
(velocity control with setpoint zero) using the DECSTOP ramp (See Emerg. Dec.
Ramp, p. 120). When the motor has stopped, the previous OPMODE is activated.
3: NSTOP (EOT Limit Switch)
LOW level at selected input disables the negative direction (clockwise if DIR=0,
counterclockwise if DIR=1). At the same time, "n11" is displayed. If a negative edge
is recognized while the motor is running, the drive stops the motor in OPMODE=0
(velocity control with setpoint zero) using the DECSTOP ramp (See Emerg. Dec.
Ramp, p. 120). When the motor has stopped, the previous OPMODE is activated.
4: PSTOP+Integral Off (EOT Limit Switch)
LOW level at selected input disables the positive direction (clockwise if DIR=1,
counterclockwise if DIR=0). At the same time, "n10" is displayed. If a negative edge
is recognised while the motor is running, the drive stops the motor in OPMODE=0
(velocity control with setpoint zero) using the DECSTOP ramp (See Emerg. Dec.
Ramp, p. 120)p. When the motor has stopped, the previous OPMODE is activated
(without integral part in the velocity controller).
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5: NSTOP + Integral Off (EOT Limit Switch)
LOW level at selected input disables the negative direction (counterclockwise if
DIR=1, clockwise if DIR=0). At the same time, "n11" is displayed. If a negative edge
is recognised while the motor is running, the drive stops the motor in OPMODE=0
(velocity control with setpoint zero) using the DECSTOP ramp (See Emerg. Dec.
Ramp, p. 120). When the motor has stopped, the previous OPMODE is activated
(without integral part in the velocity controller).
6: PSTOP+NSTOP (EOT Limit Switch)
LOW level at LI3 input disables the positive and the negative direction. At the same
time, "n10" and "n11" is displayed. If a negative edge is recognised while the motor
is running, the drive stops the motor in OPMODE=0 (velocity control with setpoint
zero) using the DECSTOP ramp (See Emerg. Dec. Ramp, p. 120). When the motor
has stopped, the previous OPMODE is activated.
7: P/NSTOP + Integral Off (EOT Limit Switch)
LOW level at LI3 disables the positive and the negative direction. At the same time,
"n10" and "n11" is displayed. If a negative edge is recognised while the motor is
running, the drive stops the motor in OPMODE=0 (velocity control with setpoint
zero) using the DECSTOP ramp (See Emerg. Dec. Ramp, p. 120). When the motor
has stopped, the previous OPMODE is activated (without integral part in the velocity
controller).
8: Change Command from Analog Input AI1 to Analog Input AI2
Switches over the setpoint inputs analog input 1/2 at ANCNFG (See Setpoint
functions, p. 149) = 0. This function is only effective if the analog set-point function
"0: Analog Input 1 = Velocity or Current Cmd (OPMODE dependent)" has been
selected.
HIGH level at the input : analog input 2 (terminals X3/5,6) is active
LOW level at the input : analog input 1 (terminals X3/3,4) is active
9: Motion Task BCD Select Bit
Here you can select the motion tasks that are stored in the amplifier (numbers 1...7)
or the homing (0). The motion task number is presented externally at the digital
inputs as a logical word, with a width of max. 3 bits. An input is required to start the
motion task (17, Start_MT I/O). If you wire up a reference switch (12, Reference) and
(also) want to start a following task (15, Start_MT Next) externally, the number of
inputs that are available for selecting the motion tasks will be further reduced.
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Device Functions
Examples of possible assignments of the digital inputs for various applications:
Application
Motion task number: MSB ----------------------------------------->LSB
Selectable
motion task
numbers
LI4 function
IN4MODE
LI3 function
IN3MODE
LI2 function
IN2MODE
LI1 function
IN1MODE
Start_MT I/O
IN4MODE=17
22
IN3MODE=9
21
IN2MODE=9
20
IN1MODE=9
0 to 7
Start_MT Next
3 motion tasks + homing,
without reference switch. Start IN4MODE=15
a following task that is defined
in the motion task, using the
setting "Start with I/O".
Start_MT I/O
IN3MODE=17
21
IN2MODE=9
20
IN1MODE=9
0 to 3
3 motion tasks + homing,
with reference switch.
20
IN3MODE=9
Reference
IN2MODE=12
Start_MT I/O
IN1MODE=17
0 to 3
Start_MT Next
IN3MODE=15
20
IN2MODE=9
Start_MT I/O
IN1MODE=17
0 to 1
7 motion tasks + homing,
without reference switch
21
IN4MODE=9
1 motion task + homing, with Reference
IN4MODE=9
reference switch. Start a
following task that is defined
in the motion task, using the
setting "Start with I/O".
10: Integral Off
Switches off the integral component of the speed controller, the P-gain remains at
the set value, the current (rotational) speed feedback remains in operation.
11: Change Velocity to Torque Control
Bypasses the velocity controller. The analog setpoint is taken 1:1 as the setpoint for
current control, i.e. change over from velocity control to current (torque) control.
HIGH-level at the input : torque control
LOW-level at the input : velocity control
Depending on OPMODE, it changes between OPMODE=0 (LOW) and OPMODE=2
(HIGH) or OPMODE=1 (LOW) and OPMODE=3 (HIGH).
12: Machine Home (Reference) Switch
Home/reference switch located on machine. This is useful when preparing a Homing
with a switch in the machine. Please refer to Overview of the "Homing" screen,
p. 207 for more information.
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13: Change Emulation from ROD (A QUAD B) Enc to SSI
Changeover of the encoder-emulation (position output) on connector X5.
HIGH level at the input: SSI-compatible position signals. (ENCMODE = 2)
LOW level at the input: ROD-compatible position signals. (ENCMODE = 1)
14: Clear Position Error or Network Node Guarding
Clears the alert for a following error (display no. 03) or for response monitoring
(display no. 04).
15: Start "Next Motion Task" Defined in Current Motion Task
The next task, that is defined in the motion task by "Start with I/O" is started. The
target position of the processing motion task must be reached before the next task
can be started.
16: Start Motion Task No x (Level Triggered)
Start a motion task that is stored in the servo amplifier, by giving the motion task
number (x) stored in the INxTRIG variable. After the function has been selected you
can enter the motion task number. Motion task number "0" initiates homing/
reference traverse. A rising edge starts the motion task, a falling edge interrupts the
motion instruction.
17: Start Motion Task Configured by BCD Select Bits
Start of the motion task that has the number that is presented, bit-coded, at the
digital inputs (LI4/LI3/LI2/LI1, see Function 9, "Motion Task BCD Select Bit" ). A
rising edge starts the motion task, a falling edge interrupts the motion instruction.
18: Change System Peak Current to x
Switch over to a second (lower) peak value of current. Scaled as x (0...100) % of the
peak current of the instrument. After the function has been selected you can enter
the percentage value ( stored in the INxTRIG variable). Make the conversion
according to the following equation:
x = (IPEAK2 / IPEAK) * 100%
=> lpeak2 = (x / 100%) * IPEAK
Can be implemented with an Analog Input Current Limition function. See Analog
Inputs, p. 149 Function 3. for more information.
19: Off
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20: Jog Motor at x Speed (Position Motion Task Opmode)
Start of the setup mode "Constant velocity" with a defined speed.
By selecting the function, INxTRIG stores velocity value. A rising edge starts the
motion, a falling edge cancels the motion. This function works in position control, so
OPMODE=8 must be selected. The velocity is given in units of the position controller
given by VUNIT; the sign selects the moving direction.
21: Turn Off Under Voltage Monitoring
Turns off the undervoltage monitoring function of the servo amplifier.
HIGH = off
LOW = on
22: Restart Current Motion Task
Continues the motion task that was previously interrupted by a STOP command.
23: Start Motion Task No x (Edge Triggered)
Starts a motion task that is stored in the amplifier, with definition of the motion task
number. You can enter the motion task number x in INxTRIG. Motion task number
"0" initiates homing/reference traverse. A rising edge starts the motion task.
CAUTION
MOTOR POSITION OVERRUN
The motion task does not stop automatically if the start signal is removed!
The motion task must be stopped by:
z a falling edge on another digital input (configured with 16, Start_MT No x)
z the ASCII command STOP
z the STOP function via Bus or digital input
Failure to follow these instructions can result in injury or equipment
damage.
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24: Change OPMODE A to B
Changeover of the operating mode (OPMODE). The numbers of the OPMODES
that are to be changed over are entered in INxTRIG as a decimal number. You have
to calculate this decimal value from a 2-byte hex value.
Bits 0 ... 7 of the hex value contain the number of the OPMODE to which the system
changes when a falling edge is detected at the appropriate input; bits 8 ... 15 contain
the number for the response to a rising edge.
When the controller is switched on, the OPMODE is set according to the input level.
For example:
Changeover between OPMODE 4 (LOW state) and OPMODE 8 (HIGH state)
according to the state of the digital input LI1.
Function IN1MODE = 24
IN1TRIG=2052 (0804h)
LI1=LOW, OPMODE=4
LI1=HIGH, OPMODE=8
25: Latch ROD (A QUAD B) Enc Zero Pulse
A edge on this input latches the actual position. The position can be read by
LATCHX32 (positive edge) or LATCHX32N (negative edge).
The actual 16-Bit position (absolute in one turn) can be read by LATCHX16 (positive
edge) and LATCHX16N (negative edge). The status of the latching can be read by
the equivalent bits of DRVSTAT.
The min. cycle time for a LOW/HIGH to HIGH/LOW transaction is 500s. The min.
time between two latch pulses is 8 msec.The Latch function does not work with
modulo axis (POSCNFG=1).
26: Latch Motor Position (High Speed)
An edge freezes the current position. The 32-bit value is stored in LATCHX32 (rising
edge) or in LATCHX32N (falling edge). The 16-bit value is stored in LATCHX16
(rising edge) or in LATCHX16N (falling edge). Current status is coded on a status
bit. The minimum detectable pulse rate for this input (high level/low level and low
level/high level passage) is 500 ms. With CANopen, minimum pulse gap is 8 ms.
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27: Emergency Stop
The LOW level initiates an emergency-stop phase: motion is cancelled and the drive
stop process is initiated, in a velocity control (OPMODE=1), using emergency ramp
DECSTOP. When motor stop is complete, the servo amplifier mode reverts to
previous OPMODE.
28: Start Jogmode
Can be set up only via the Termina (See Overview of the "Terminal" screen, p. 254)l
screen.
Only for OPMODE = 8, where the Firmware version is 0.73. A rising edge starts a
jog mode with speed VJOG, a falling edge stops it.
29: Start MT I/O
Can be set up only via the Terminal (See Overview of the "Terminal" screen, p. 254)
screen.
Start of the motion task that has the number that is presented, bit-coded, at the
digital inputs (LI4 / LI3 / LI2 / LI1, see Function 9, Motion Task BCD Select Bit ). A
rising edge has no effect.
30: Execute Contents of Command Buffer Set 1
A positive or negative edge on the input LI1starts a command buffer. This command
buffer contains separate ASCII objects, that are separated with semicolon (;).
The command buffer for the positive edge is INxHCMD, the command buffer for the
negative edge is INxLCMD.The max. length of each buffer is 56 characters.
In case of a drive switch off and on, the drive automatically starts commands from
INxHCMD (or INxLCMD) buffer if input level is HIGH (or LOW).
See Configure Command Buffer, p. 187 for more information.
Note: Only one of the digital inputs can use the INxMODE=30 function.
32: Release Motor Brake when Drive Disabled
A rising edge at the input triggers the braking output of the amplifier. This function is
only available while the amplifier is disabled. If an error message is active, the brake
cannot be de-energized.
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Note: With suspended loads, this function will lead to slipping
of the axis!
33: Execute Contents of Command Buffer Set 2
A positive or negative edge on the input starts a command buffer. This command
buffer contains separate ASCII objects, that are separated with semicolon (;).The
results of the command are sent to the serial communication channel RS232.
The command buffer for the positive edge is INHxCMD, the command buffer for the
negative edge is IN1xCMD. The max. length of each buffer is 56 characters.
In case of a drive switch off and on, the drive automatically starts commands from
INxHCMD (or INxLCMD) buffer if input level is HIGH (or LOW).
Note: This mode cannot be used with grapical user interface software.
34: Reserved
35: Reserved
36: Give Offset to Gearing Function
This function is available when gearing mode is enabled and OPMODE =4.
Gearing mode OPMODE =4. A high signal on the digital input configured with this
INxMODE adds a difference velocity to the gearing. This allows a simple synchronisation of two axes. The difference velocity is given by INxTRIG. The scaling is in
32Bit per revolution every 250s. The difference velocity (n) must be known, then the
INxTRIG can be calculated:
INxTRIG = n [rpm]*2^32/(4000*60)
For example:
n = 500 [U/min]
INxTRIG = 500 * 2^32 / (4000*60) = 8947848:
37: Reserved
38: Additional Enable for "Next Motion Task"
Used in conjunction with INxMODE=15, this mode signals that the following task,
that is defined in the motion task by "Start with I/O" can start. The following motion
task is started when a rising edge on LIx input is detected and INxMODE=15 input
is enabled.
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39: Move Constant Velocity for Set Time
This function starts a constant velocity for a defined time. The parameters for
velocity and time are given by INxTRIG. For more information, see Configure
Velocity Time, p. 189.
40: Additional Hardware Enable
The digital input works as an additional ENABLE hardware input. The power stage
is only enabled if this input has a high signal.
If you want to use this function for several inputs, configure the inputs in series. All
inputs have to be high to enable the power stage.
41: Fast Emergency Stop
When LIx level is getting LOW, the drive stops the motor using the emergency ramp
DECSTOP. If zero velocity is reached (V<VEL0), the power stage is disabled.
While stopping the motor, the 24 bit (0x01000000) in TRJSTAT is set. The input is
read in the 250s task.
42: Turn On/Off Gearing
Available only in OPMODE = 4, this function is only practical with a slave axis.
A rising edge on the digital input starts the motion from 0 to the master speed and a
falling edge changes the speed from master speed to 0. The ramp times can be set
by ACCR for the acceleration and DECR for deceleration time.
43: Turn On/Off Gearing (with phase adjust from ramp up)
Available only in OPMODE = 4, this function is only practical with a slave axis.
A rising edge on the digital input starts the motion from 0 to the master speed and a
falling edge changes the speed from master speed to 0. The ramp times can be set
by ACCR for the acceleration and DECR for deceleration time unlike INxMODE =
42, in this mode the master position is latched at the rising edge of the input and the
position delay caused by the ramp is compensated. INxTRIG offers the possibility of
adding an position offset (in PGEARI units) to the latched position.
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Digital Outputs LO1/LO2
Values
ASCII codes and values:
ASCII: OxMODE
Default: 0
Unit: Range: 0 - 54
valid for all OPMODES
ASCII: OxTRIG
Default: 0
Unit: Range: 0 - 54
valid for all OPMODES
You can combine the following standard pre-programmed functions with the digital
outputs LO1 (O1MODE, terminal X3/13) or LO2 (O2MODE, terminal X3/14).
Change this only while the amplifier is disabled + reset.
High functions:
The presence of the function that is set is indicated by a High signal on the
corresponding interface terminal.
Low functions:
The presence of the function that is set is indicated by a Low signal on the
corresponding interface terminal.
ID
Function
Logic
Auxiliary value OxTRIG
0
Off
-
-
1
Absolute value (Actual Velocity) < x
High
Speed (rpm)
2
Absolute value (Actual Velocity) > x
High
Speed (rpm)
3
Main Bus Voltage Charging
Low
-
4
Regen off
High
-
5
Software Limit Switch Reached
High
-
6
Present Motor Postion > x
High
Position (increments)
7
Within In-Position Window
High
-
8
Absolute value (Current) < x
High
Current (mA)
9
Absolute value (Current) > x
High
Current (mA)
10
Max Postion Error Exceeded
Low
-
11
Drive in Current Foldback (I2t)
High
-
16
Next-In Position Reached
High
-
17
Error/Alert Present
High
-
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172
ID
Function
Logic
Auxiliary value OxTRIG
18
Error Present
High
-
19
DC Bus Link > x
High
20
DC Bus Link > x
High
21
Drive Enabled
High
-
22
Zero Pulse
High
-
23
Expansion Card State
-
-
24
Drive Homed
High
-
30
Position Register(s) State
-
-
31
Voltage at Analog Input AI1 < x
High
mV
32
Voltage at Analog Input AI1 > x
High
mV
33
Voltage at Analog Input AI 2 < x
High
mV
34
Voltage at Analog Input AI2 > x
High
mV
35
Drive Internal Enable Active
High
-
36
Drive Status OR Bit Mask
High
-
37
Drive Status AND Bit Mask
High
-
38
Motion Status OR Bit Mask
High
-
39
Motion Status AND Bit Mask
High
-
40
Position Register OR Bit Mask
High
-
41
Position Register AND Bit Mask
High
-
42
Temperature Alert
High
-
43
Motion Direction
High
Speed (rpm)
44
abs (Velocity Actual - Velocity Cmd) < x
High
Speed (rpm)
45
abs (Velocity Actual - Velocity Cmd) > x
Low
Speed (rpm)
46
abs (Current Actual - Current Cmd) < x
Low
mA
47
abs (Current Actual - Current Cmd) > x
Low
mA
48
Drive Status NOR Bit Mask
High
-
49
Drive Status NAND Bit Mask
High
-
50
Motion Status NOR Bit Mask
High
-
51
Motion Status NAND Bit Mask
High
-
52
Position Register AND Bit Mask + delay
High
-
54
Prepared for moving
High
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Device Functions
Description of
Digital Output
Functions
0:Off
No function assigned.
1: Absolute value (Actual Velocity) < x
As long as the absolute value for the motor velocity is lower than a preset value
OxTRIG, a HIGH-signal will be output. After the function has been selected you can
enter the velocity in rpm in OxTRIG.
The ouput is HIGH if V < OxTRIG and becomes LOW if V > OxTRIG + 0.01 *
MSPEED.
2: Absolute value (Actual Velocity) > x
As long as the absolute value for the motor velocity is lower than a preset value
OxTRIG, a HIGH-signal will be output. After the function has been selected you can
enter the velocrpm in OxTRIG.The ouput is HIGH if V > OxTRIG and becomes LOW
if V < OxTRIG + 0.01 * MSPEED.
3: Main Bus Voltage Charging
This signals the operational readiness of the amplifiers power output stage. After
switching on the mains supply, LOx output level is LOW until the DC-link circuit is
fully charged up. LOx output level is HIGH when the charging of the DC-link circuit
is completed. If the DC-link voltage falls below VBUSMIN, then LOx output level
becomes LOW. The "Undervoltage" monitoring is inactive.
4: Regen off
Signals if the preset Regen power (see Overview of "Basic Setup", p. 81) is
exceeded.
5: Software Limit Switch Reached
Produces a HIGH-signal if a software limit-switch is reached (a preset function of the
corresponding position register, set to "SW limit-switch 1" or "SW limit switch 2" - the
function is defined in the screen page Position Data (See Overview of the "Position
Data" Screen, p. 126). A motion task in the opposite direction resets the output.
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6: Present Motor Position > x
If the position (angular position of the motor shaft) exceeds a preset value (auxiliary
value "OxTRIG"), LOx output level is HIGH. After the function has been selected,
you can enter the signaling position (in increments a number or fraction of motor
turns N) as the auxiliary value "in OxTRIG". Make the calculation according to the
following equation:
OxTRIG = 1048576 *N*increments
Maximum possible entry value: OxTRIG = 231 = 2147483648, this corresponds to N
= 2048
7: Within In-Position Window
When the target position for a motion task has been reached (the InPosition window
PEINPOS), LOx output level becomes HIGH. A cable break will not be detected. The
width of the InPosition window for all the valid motion tasks is entered in the "Position
data" screen page.
If a sequence of motion tasks is performed one after another, then the signal for
reaching the final position of the motion-task sequence will be output (target position
of the last motion task).Signaling that the target position of each motion task has
been reached, in a sequence of motion tasks, can be achieved with the function "16,
Next_InPos".
8: Absolute Value (Current) < x
The output produces a HIGH-signal, as long as the absolute r.m.s. value of the
actual current is lower than a defined value in mA (OxTRIG). After the function has
been selected, you can enter the current value in OxTRIG.
9: Absolute Value (Current) > x
The output produces a HIGH-signal, as long as the absolute r.m.s. value of the
actual current is higher than a defined value in mA (OxTRIG). After the function has
been selected, you can enter the current value in OxTRIG.
10: Max Position Error Exceeded
If the position goes outside the preset contouring-error window, this is indicated by
a LOW-signal. The width of the following error window (PEMAX) is entered in the
screen page "Position" for all the valid motion tasks.
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2
11: Drive in Current Foldback ( I t)
If the preset I2t monitoring threshold I2TLIM is reached (see Overview of the
"Current Loop" screen, p. 115) this is indicated by a HIGH-signal.
16: Next in-Position Reached
The start of each motion task in an automatically executed sequence of motion tasks
is signalled by an inversion of the output signal. The output produces a LOW signal
at the start of the first motion task of the motion task sequence. The type of message
can be set by IN2PM.
ASCII: IN2PM
Default: 0
Unit: Range: 0, 1, 2
valid for all OPMODES
At the start of the first motion block (motion task), the "NextInPos" output is always
set to 0. The response of the output during the execution of the motion block
sequence depends on the configuration variable IN2PM.
z
z
z
IN2PM=0 - the output is inverted at the start of the next block.
IN2PM=1- the output is set to 0 at the start of a motion block, and set to HIGH at
the end of a motion block.
IN2PM=2 - the output is inverted at the end of a block.
With a sequence of motion blocks where the blocks are started immediately, only
the IN2PM=0 or IN2PM=2 settings make sense. If the setting is IN2PM=1, the HIGH
state is so short that it may not be registered at all by the external control system.
If a following task is started with the aid of an I/O (INxMODE=15), then the IN2PM=2
or IN2PM=1 setting should be used. With this setting, the end of a motion block is
signaled by the HIGH state (IN2PM=1) or the change of state (IN2PM=2) at the
"NextInPos" output. The external control system can then initialize the continuation
of the motion task sequence via the "Start next task" input.
See Digital Inputs LI1 / LI2 / LI3 / LI4, p. 159 Function Number 15 for more
information.
17: Error/Alert Present
The output produces a HIGH-signal if an error or an alert message is signaled by the
servoamplifier. A list of the error messages can be found under ERRCODE.
18: Error Present
The output produces a HIGH-signal if an error message is signaled by the servo
amplifier. A list of the error messages can be found under ERRCODE.
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19: DC Bus Link > x
LOx input level is HIGH if the actual value of the DC-link voltage is higher than a
defined value in volts (OxTRIG). After the function has been selected, you can enter
a voltage value in OxTRIG.
20: DC Bus Link < x
LOx input level is HIGH if the actual value of the DC-link voltage is lower than a
defined value in volts (OxTRIG). After the function has been selected, you can enter
a voltage value in OxTRIG.
21: Drive Enabled
LOx output level is HIGH if the servo amplifier is enabled.
To obtain the enable, the external Hardware Enable X3/12 signal must be present,
the Enable status must be set in the setup software (or via the fieldbus interface) and
no errors must be present that would cause an automatic internal disabling of the
servo amplifier.
If this function is selected, the enable LOx output signal is HIGH, if the line voltage
is applied and the charging of the link capacitors is completed. The drive is disabled,
if the DC-link voltage wents under the threshold VBUSMIN.
22: Zero Pulse
The zero mark/pulse (HIGH-signal) is indicated by the encoder-emulation. This
function is only useful at very low speeds.
23: Expansion Card State
Option not available.
24: Drive Homed
The output signals High, if a reference point is available. Reference traverse
(homing) has been carried out, or a reference point has been set. See Homing,
p. 209 for more information.
30: Position Registers State
The state of the position registers is indicated by a HIGH-signal
31: Voltage at Analog Input AI1 < x
LOx output level is HIGH, if the analog input voltage at analog input AI1 is lower than
the threshold of OxTRIG. The auxiliary variable OxTRIG is given in mV (with sign).
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32: Voltage at Analog Input AI1 > x
LOx output level is HIGH, if the analog input voltage at analog input AI1 is higher
than the threshold of OxTRIG. The auxiliary variable OxTRIG is given in mV (with
sign).
33: Voltage at Analog Input AI2 < x
LOx output level is HIGH, if the analog input voltage at analog input AI2 is lower than
the threshold of OxTRIG. The auxiliary variable OxTRIG is given in mV (with sign).
34: Voltage at Analog Input AI2 > x
LOx output level is HIGH, if the analog input voltage at analog input AI2 is higher
than the threshold of OxTRIG. The auxiliary variable OxTRIG is given in mV (with
sign).
35: Drive Internal Enable Active
The state of the internal enable signal is mirrored on LOx output.If the settings are:
MBRAKE=0, STOPMODE=0 and ACTFAULT=0, the function is similar to
OxMODE=21.
If one of the three variables is "1", LOx output changes to LOW, when the drives
starts to dec to "0".
If OxMODE=21, LOx input level is LOW if the drive has stopped and has disabled
the output stage.
36: Drive Status OR Bit Mask
This function makes an OR operation between the Bit-variable DRVSTAT and a Bit
mask given by OxTRIG. The result is present at the output selected. See Configure
Mask for DRVSTAT, p. 191 for more information.
37: Drive Status AND Bit Mask
This function makes an AND operation between the Bit-variable DRVSTAT and a Bit
mask given by OxTRIG. The result is present at the output selected. See Configure
Mask for DRVSTAT, p. 191 for more information.
38: Motion Status OR Bit Mask
This function makes an OR operation between the Bit-variable TRJSTAT and a Bit
mask given by OxTRIG. The result is present at the output selected. See Configure
Mask for TRJSTAT, p. 190 for more information.
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39: Motion Status AND Bit Mask
This function makes an AND operation between the Bit-variable TRJSTAT and a Bit
mask given by OxTRIG. The result is present at the output selected. See Configure
Mask for TRJSTAT, p. 190 for more information.
40: Position Register OR Bit Mask
This function makes an OR operation between the Bit-variable POSRSTAT and a
Bit mask given by OxTRIG. The result is present at the output selected. See
Configure Mask for POSRSTAT, p. 192 for more information.
41: Position Register AND Bit Mask
This function makes an AND operation between the Bit-variable POSRSTAT and a
Bit mask given by OxTRIG. The result is present at the output selected. See
Configure Mask for POSRSTAT, p. 192 for more information.
42: Temperature Alert
This function enables a temperature alert.
The amplifier displays in real time Motor temperature, heatsink temperature and
ambiant temperature. Those 3 temperature parameters can be read respectively by
ASCII commands TEMPM, TEMPH and TEMPE.
If one of the three internal measured temperatures reaches the trip level, the
digitaloutput is set to HIGH. After the selected delay time given in OxTRIG, the drive
generates a error message and disables the output stage.
The delay time has the range 0...30000 msec and effects following temperatures:
z
z
z
Motor temperature TEMPM, threshold MAXTEMPM
Heatsink temperature TEMPH, Threshold MAXTEMPH
Ambient temperature TEMPE, threshold MAXTEMPE
ASCII: TEMPM
Default: Unit: Ohm
Range: 0 - 100000
valid for all OPMODES
Displays the motor temperature in real time, in the form of the resistance of the
temperature sensor (in ohms).
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ASCII: MAXTEMPM
Default: 300
Unit: Ohm (KOhm)
Range: 0 - 6000
valid for all OPMODES
Motor temperature switch off threshold. Defined by the resistance in KOhms. Entry
to be done in KOhms.
ASCII: TEMPH
Default: Unit: °C
Range: -20 - +90
valid for all OPMODES
Displays the heatsink temperature in real time in °C.
ASCII: MAXTEMPH
Default: 70
Unit: °C
Range: -20 - +90
valid for all OPMODES
Heat Sink Temperature Switch off Threshold. Exceeding this value will switch off the
drive.
ASCII: TEMPE
Default: Unit: °C
Range: -20 - +90
valid for all OPMODES
Displays the internal drive temperature in real time in °C.
ASCII: MAXTEMPE
Default: 70
Unit: °C
Range: 10 - 80
valid for all OPMODES
The drive temperature value for switching off the power stage and opening the R1A/
R1C contact. If the drive temperature exceeds this value, the drive faults (F13).
43: Motion Direction
LOx output level is HIGH, if v_act < VEL0, and LOW if v_act > VEL0.
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Device Functions
44: abs(Velocity Actual - Velocity Cmd) < x
LOx output level is HIGH if the absolute of the difference between the internal
velocity command and the actual velocity is smaller than OxTRIG. OxTRIG value is
given in valid velocity units (VUNIT).
45: abs(Velocity Actual - Velocity Cmd) > x)
LOx output level is HIGH if the absolute of the difference between the internal
velocity command and the actual velocity is bigger than OxTRIG. OxTRIG value is
given in valid velocity units (VUNIT).
46: abs(Current Actual - Current Cmd) < x)
LOx output level is HIGH if the absolute of the difference between current command
and actual value is smaller than OxTRIG. OxTRIG value is given in mA.
47: abs(Current Actual - Current Cmd) > x)
LOx output level is HIGH if the absolute of the difference between current command
and actual value is bigger than OxTRIG. OxTRIG value is given in mA.
48: Drive Status NOR Bit Mask
This function makes an inverted NOR operation between the Bit-variable DRVSTAT
and a Bit mask given by OxTRIG. The result is present at the output selected. See
Configure Mask for DRVSTAT, p. 191 for more information.
49: Drive Status NAND Bit Mask
This function makes an inverted NAND operation between the Bit-variable
DRVSTAT and a Bit mask given by OxTRIG. The result is present at the output
selected. See Configure Mask for DRVSTAT, p. 191 for more information.
50: Motion Status NOR Bit Mask
This function makes an inverted NOR operation between the Bit-variable TRJSTAT
and a Bit mask given by OxTRIG. The result is present at the output selected. See
Configure Mask for TRJSTAT, p. 190 for more information.
51: Motion Status NAND Bit Mask
This function makes an inverted NAND operation between the Bit-variable
TRJSTAT and a Bit mask given by OxTRIG. The result is present at the output
selected. See Configure Mask for TRJSTAT, p. 190 for more information.
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Device Functions
52: Position Register AND Bit Mask + delay
Same as OxMODE = 41 with PTBASE * 250 s delay time
54: Prepare for moving
The output is high if all following conditions are true:
z
z
z
z
software-enable set
no error
DC link loaded (VBUS > VBUSMIN)
no contouring error (n03)
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Device Functions
Configure OPMODE
At a Glance
Define basic functions of the Servo amplifier for high input and for low input. This
option is available when the digital input function INxMODE 24 is enabled.
Configure INxMode 24 (OPMODE....)
OPMODE Input HIGH
OPMODE Input LOW
0: Digital Velocity
0: Digital Velocity
1: Analog Velocity
1: Analog Velocity
2: Digital Torque
2: Digital Torque
3: Analog Torque
3: Analog Torque
4: Electronic Gearing
4: Electronic Gearing
5: Ext. position Node
5: Ext. position Node
6: SERCOS
6: SERCOS
8: Motion Tasking
8: Motion Tasking
Done
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Device Functions
OPMODE
ASCII: OPMODE
Default: 1
Unit: Range: 0 - 8
Valid for all OPMODES
Set the basic function of the servo amplifier for your application here.
ID
Function
0
Velocity control -digital command There are two different ways to generate a
Digital (rotational) velocity
velocity command:
- RS232 Interface (J command)
- Fieldbus Interface (PROFIBUS, CANopen,
SERCOS, ModBus+, FIPIO Slot boards)
1
Velocity control -analog
command Analog (rotational)
velocity
1 The velocity setpoint is generated by the
analog inputs AI1 & AI2. The configuration is
done with ANCNFG and INxMODE=8.
2
Current control -digital command
Digital torque
The current setpoint can be generated by:
- RS232 Interface (T command)
- Fieldbus Interface (PROFIBUS, CANopen,
SERCOS, ModBus+, FIPIO Slot boards)
3
Current control -analog
command Analog torque
The current command is generated by the analog
inputs AI1 & AI2. The configuration is done with
ANCNFG and INxMODE=8.
4
Electronic Gearing (Master/
Slave) Position: electr. gearing
The target position is generated by an external
encoder. The type of the activated interface is
selected by GEARMODE.
5
External Trajectory Position: ext.
position nodes
The target position is generated by fieldbus
(PROFIBUS, CANopen or ModBus+, FIPIO Slot
board).
The cycle time for writing the new position can be
selected with the command PTBASE in 250s
steps.
The position controller brings the actual position
to the new target postion in the selected time.
When using ANCNFG=8, the target position is
given by the analog input AI1. The analog voltage
is read every 250s and is used as target position
for the position controller. The scaling of the
analog input voltage is done with SRND and
ERND.
Before this function is active, a homing move has
to completed.
6
SERCOS control
Position control with SERCOS expansion card
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Comments
183
Device Functions
ID
Function
Comments
7
reserved
reserved
8
Motion Tasks Position: motion
blocks
This setting allows the starting of motion tasks
and also the homing moves.
See Motion Task Parameters, p. 232 for more
information.
DANGER
LOSS OF MOTOR CONTROL
The OPMODE can be switched over while the drive is running. This could lead to
dangerous acceleration. Do not switch over OPMODE while the drive is running.
Failure to follow these instructions will result in death or serious injury.
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Device Functions
Configure Command Buffer
At a Glance
Input of the ASCII command list for execution. Depending on the edge (positive or
negative) of the input signal, the command lists can be different.
Configure Command Buffer
Command List, Positive Transition (56 characters max, separate commands with semicolon
ECHO
Example: GV5; GVTN 20; OPMODE 0
Command List, Negative Transition
ECHO
Done
Command List,
Positive
Transition
ASCII: INxHCMD
Default: Unit: Range: -
Valid for all OPMODES
This function is available for LI1, LI2, LI3 and LI4 inputs (see Digital Inputs LI1 / LI2
/ LI3 / LI4, p. 159, INxMODE=30 and 33).
The command IN1HCMD can be used to define an ASCII command sequence. This
command sequence will always be carried out when a rising edge is detected at the
input 1 that has been configured with the function IN1MODE=30,33.
A command sequence consists of individual ASCII commands, separated by a
semicolon (;). The maximum length of this command sequence is 56 characters.
Example: IN1HCMD GV 10; GVTN 15
If a LOW/HIGH edge is detected, the gain of the velocity control loop is set to 10 and
the integral action time is set to 15 msec.
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Device Functions
Command List,
Negative
Transition
ASCII: INxLCMD
Default: Unit: Range: -
Valid for all OPMODES
This function is available for LI1, LI2, LI3 and LI4 inputs (see Digital Inputs LI1 / LI2
/ LI3 / LI4, p. 159, INxMODE=30 and 33).
The command IN1LCMD can be used to define an ASCII command sequence. This
command sequence will always be carried out when a falling edge is detected at the
input 1 that has been configured with the function IN1MODE=30,33.
A command sequence consists of individual ASCII commands, separated by a
semicolon (;) The maximum length of this command sequence is 56 characters.
Example: IN1LCMD GV 5; GVTN 10
If a HIGH/LOW edge is detected, the gain of the velocity control loop is set to 5 and
the integral action time is set to 10 msec.
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Device Functions
Configure Velocity Time
At a Glance
Define parameters for velocity and time using the auxiliary variable x to start a
constant velocity for a defined time.This function is available when you select
INxMODE 39.
Configure InMode 39 (Velocity)
Address
Log
0
rpm
for
0
msec
Done
INxTRIG
ASCII: INxTRIG
Default: 1
Unit: Range: long integer
Valid for all OPMODES
The velocity is given by the lower 16 bit (scaling by VUNIT), bit 15 is the sign and
defines the moving direction and the time by the upper 16 bit (given in msec) of the
help variable y.
A rising edge at LIx input changes the OPMODE value to 0 (digital velocity) and
gives the velocity that is defined by INxTRIG.
After the defined time, or if a falling edge at LIx input is detected, the digital velocity
setpoint is set to "0". After the actual velocity has reached "0" the OPMODE is
automatically switched back to the previous one.
Example 1:
Velocity = 1000 rpm
time = 10 sec = 10000 msec
INxTRIG = 0x271003E8 = 553610002.
Example 2:
Velocity = -500 rpm
time = 10 msec
INxTRIG = 0x000afe0c = 720396
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187
Device Functions
Configure Mask for TRJSTAT
At a Glance
The TRJSTAT command returns the internal status information in the form of a bitvariable. The returned value is in hexadecimal format. Select the information in the
bit mask that you want to observe:
Configure Mask for TRJSTAT
Bit
Bit
0
INPOS2
16
Motion task running
1
No INPOS from MT
17
Drive homed
2
Toggle MT finished
18
Home switch
3
No used
19
In Position
4
No used
20
Position latched (POS)
5
No used
21
Homing active
6
No used
22
Jogging active
7
No used
23
Position latched (NEG)
8
No used
24
Stopping
9
No used
25
Position latch at IN1 (POS)
10
No used
26
Position latch at IN1 (NEG)
11
No used
27
No used
12
No used
28
No used
13
No used
29
No used
14
No used
30
No used
15
No used
31
No used
Done
The status information 3...15 and 27...31 are primarily used for internal functions.
Bits 0...2 and 16...26 can be used for external functions (control system).
The bit mask is compared with the bit variable contents according to the selected
logic (AND, OR, NAND, NOR). The digital output is set if the result is a logical 1.
This function is available when you select OxMODE 38/39/50/51 as the Digital
Output.
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Device Functions
Configure Mask for DRVSTAT
At a Glance
The DRVSTAT command returns the internal status information in the form of a bitvariable. The returned value is in hexadecimal format. Select the information in the
bit mask that you want to observe:
Configure Mask for DRVSTAT
Bit
Bit
0
I2T threshold exceeded (N01)
16
Motion task running
1
Regen fault (N02)
17
Drive homed
2
Contouring error (N03)
18
Home switch
3
Option card comm error (N04)
19
In Position
4
Phase loss (N05)
20
Position latched (POS)
5
Soft limit SWE1 (N06)
21
Position register 0
6
Soft limit SWE2 (N07)
22
Position register 1
7
Motion task checksum (N08)
23
Position register 2
8
Home required (N09)
24
Position register 3
9
Hard limit PSTOP (N010)
25
Position register 4
10
Hard limit NSTOP (N011)
26
Initialiation complete
11
Motor data base fault (N12)
27
Position register 5
12
Option card power (N13)
28
abs(vel) < VEL0
13
MPHASE error (N14)
29
Safety relay closed
14
VC table error (N15)
30
Output enabled
15
Other errors (“OR” of N17-18)
31
Drive error
Done
The bit mask is compared with the bit variable contents according to the selected
logic (AND, OR, NAND, NOR). The digital output is set if the result is a logical 1.
This function is available when you select OxMODE 36/37/48/49 as the Digital
Output.
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189
Device Functions
Configure Mask for POSRSTAT
At a Glance
The POSRSTAT command returns the actual status of the fast position registers.
The returned value is in hexadecimal format. Select the information in the bit mask
that you want to observe:
Configure Mask for POSRSTAT
Note: this is an advanced function
Bit
Bit
0
Pos reg. 1 active
8
Pos reg. 9 active
1
Pos reg. 2 active
9
Pos reg. 10 active
2
Pos reg. 3 active
10
Pos reg. 11 active
3
Pos reg. 4 active
11
Pos reg. 12 active
4
Pos reg. 5 active
12
Pos reg. 13 active
5
Pos reg. 6 active
13
Pos reg. 14 active
6
Pos reg. 7 active
14
Pos reg. 15 active
7
Pos reg. 8 active
15
Pos reg. 16 active
Note: each bit of POSRSTAT represents one of 16 fast
position registrers. These registers are configured in the
Motion Tasking set up screens (see Operation Mode screen)
Done
The bit mask is compared with the bit variable contents according to the selected
logic (AND, OR,). The digital output is set if the result is a logical 1.
The functionality of the position registers can be set on the screen page Position
Registers.
This function is available when you select OxMODE 40/41 as the Digital Output.
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Device Functions
4.16
Screen page "Motion Service"
Screen page "Motion Service"
At a Glance
Overview of the different field values included in the "Motion Service" screen page.
What's in this
Section?
This section contains the following topics:
Topic
Page
Jog mode
194
Introduction to the "Motion Service" screen
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Lexium 15 LP Servo Drives Programming manual
191
Device Functions
Jog mode
At a Glance
Jog mode is defined as an endless motion at a constant velocity, which is
implemented by the internal position control loop . This type of operation can be
started without a reference point being set. The hardware limit-switches are
monitored. Software limit-switches are only monitored if a reference point has been
set. Acceleration and deceleration ramps are taken from the settings for homing.
v
ASCII: VJOG
Default: 10000
Unit: in relation to VUNIT
Range: -500008...500008
valid for OPMODE 8
Determines the velocity for jog mode. The sign that is entered determines the
direction of movement. Before starting the jog mode, the velocity value must be
entered. The scaling of the velocity is given in position control loop units, and
depends on the PGEARI and PGEARO parameters.
F4
ASCII: MJOG
Default: Unit: Range: -
valid for OPMODE 8
MJOG starts the jog mode via the serial interface (OPMODE 8 only ). The velocity
in the jog mode is taken from VJOG (with sign). Acceleration and deceleration
ramps are taken from the settings for homing (see ACCR and DECR).
CAUTION
IMMEDIATE SERVO MOTOR STARTUP
Do not execute the "MJOG" command or issue a jog start command over fieldbus
if the drive is in OPMODE-1 or in OPMODE-3.
Failure to follow these instructions can result in injury or equipment
damage.
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Device Functions
Introduction to the "Motion Service" screen
At a Glance
This screen page enables you to set parameters to move the drive with constant
speed (jog mode):
Jog (Digital Velocity Mode)
Jog
100
rpm
Jog (Position Motion Task Mode)
Jog
Jog Speed
10000
Counts/s
Actual Values
Position
3259
Velocity
-0.023
Counts
rpm
The drive moves with the preset speed when the + or – button is pressed. It stops
when the button is released.
CAUTION
IMMEDIATE SERVO MOTOR STARTUP
Ensure that motion is restricted within a "safe" zone when using some OPMODE's
(e.g., OPMODE-1 or OPMODE-3). In those OPMODE's, the software limits stay
deactivated. If the movement of the servo motor crosses the soft limits in those
OPMODE's, then the motion would not stop on the soft limits.
Failure to follow these instructions can result in injury or equipment
damage.
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193
Device Functions
Digital Velocity
Mode
ASCII: J
Default: 0
Unit: rpm/ms
Range: -15000.0 - 15000.0/
long integer
valid for OPMODE 0
Jog (digital velocity mode checks parameters in velocity controller)
The command "J <n> <t>" can be used to define a constant velocity <n> (in rpm) for
a defined time <t> (in msec). If the <t> entry is missing, the drive runs continuously.
Position Motion
Tasks Mode
ASCII: VJOG
Default: 0
Unit: Range: -500008...500008
valid for OPMODE 8
Jog (position motion tasks mode checks parameters in position controller)
Jog mode in OPMODE 8.
Positive speed: +
Negative speed: Enter the speed (dimension: speed in position loop)
Actual Values Counts
ASCII: PFB
Default: Unit: m
Range: Long integer
valid for all OPMODES
The PFB command returns the actual value of the position (from the position control
loop feedback). The unit for the position value depends on the PGEARI, PGEARO
and PRBASE settings.
PFB = Position * PGEARI / PGEARO, where:
Position = position value in increments, 1048576/turn for PRBASE=20, 65536/turn
for PRBASE=16
If the resolution is set to 1 (PGEARI=PGEARO) then the PFB command provides
internal units (counts).
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Device Functions
Actual Values Velocity
ASCII: V
Default: Unit: rpm
Range: -15000...15000
valid for OPMODE 8
Motor velocity in real time.
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195
Device Functions
4.17
Screen page "Status"
Introduction to the "Status" Screen
At a Glance
The actual error status and the run time monitor of the servo amplifier are displayed
here:
Run Time [h:min]
74:37
Fault History
h:min
Fault Frequency
F25
F04
F25
F04
F08
F08
F10
F16
F05
F16
73:05
73:05
72:57
72:57
71:36
70:38
70:37
70:37
70:37
70:44
F01 Heat Sink Temp.
F02 Overvoltage Cond.
Commutation Error
Feedback Loss
Commutation Error
Feedback Loss
Overspeed Condition
Overspeed ,Condition
ROD Cable Break
Mains R1A/R1C
Undervoltage Cond.
Mains R1A/R1C
Actual Errors
F03
F04
F05
F06
Following Error
Feedback Loss
Undervoltage Cond.
Motor Temperature
F07 V_fault (Int. Supply)
F08 Overspeed Condition
F09 EEPROM
F10 ROD Cable Break
0
0
0
4
10
4
0
21
0
4
Fault Frequency
n04
Node Guarding
Clear actual Errors / Warnings
On the top left pane is the error history with the time (run time) when the error
occured. On the top right pane information about the frequency of every error is
listed. Below these frames, the actual errors and alerts are listed.
By comparing the error status to the runtime status you can calculate when an error
occurrs.
You can find a list of all warnings and error messages in the installation manual of
the servo amplifier.
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Device Functions
Run time
ASCII: TRUN
Default: Unit: hhhhh:mm
Range: 00000:00 - 99999:45
valid for all OPMODES
Display of the operational time of the servo amplifier, saved in EEPROM at 8 minute
intervals. If the 24V supply is switched off, maximum 8 minutes of operation are
unregistered.
Fault History
ASCII: FLTHIST
Default: Unit: Fault Number / TRUN
time
Range: Last 10 faults and
times
valid for all OPMODES
The last 10 faults that occurred are displayed, together with the time of their
occurrence, referred to the operating hours.
Return data looks like n1 t1 n2 t2 ... n10 t10, where n is the fault number and t is the
time of the event.
Fault Frequency
ASCII: FLTCNT
Default: Unit: Range: 0, 65535 per Fault
Message
valid for all OPMODES
Display of the frequency of all faults that caused the servo amplifier to switch off. The
command returns a list of 33 numbers:
1st number: total number of faults (Integer32)
2nd number number of occurrences of fault F01
3rd number number of occurrences of fault F02..........
33rd number number of occurrences of fault F32
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197
Device Functions
Actual Errors
ASCII: ERRCODE
Default: Unit: Range: 0 .. 0xFFFFFFFF
valid for all OPMODES
Display of the errors presently being reported by the servo amplifier (corresponds to
the error messages Fxx in the LED-display on the front panel of the amplifier).
ERRCODE can be erased by resetting the drive or by using command CLRFAULT.
Actual Warnings
ASCII: STATCODE
Default: Unit: Range: -
valid for all OPMODES
Display of the warnings presently being reported by the servo amplifier (corresponds
to the nxx warnings in the LED-display on the front panel of the amplifier).
Clear Errors/
Warnings
ASCII: CLRFAULT
Default: Unit: Range: -
valid for all OPMODES
Software-reset of the servo amplifierc command. The servo amplifier must be
disabled.
Present errors are deleted, the firmware is re-initialized, and communication is reestablished.
If only errors marked with an asterisk in the error listing are present, then the errors
are cancelled, but no reset of the amplifier takes place.
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Device Functions
Active Fault
Mode
ASCII: ACTFAULT
Default: 1
Unit: Range: 0, 1
valid for all OPMODES
The ACTFAULT command is used to specify the response of the drive if a fault
occurs.
To set up ACTFAULT, you must use the Terminal Screen. Changes will be
performed only while the amplifier is disabled and reset it (COLDSTART).
ACTFAULT=0: If a fault occurs, the output stage is immediately inhibited, the drive
coasts down.
ACTFAULT=1: If a fault occurs, an Emergency Stop procedure is initiated, that
consists of the following steps.
1. Switch over the controller mode to velocity control (OPMODE=0)
2. Change the braking ramp for the velocity control loop (DEC) to the emergency
stop ramp (DECSTOP)
3. Set the internal velocity setpoint to 0 (before the ramp generator).
4. Start a timer (with time-out = 5 seconds)
As soon as the internal velocity setpoint (after the ramp generator) has reached 0,
the output stage is inhibited and the original controller mode is re-activated. This will
also happen if the time-out occurs before the velocity setpoint has reached 0.
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199
Device Functions
4.18
Screen page "Monitor"
Introduction to the "Monitor" Screen
At a Glance
This screen enables you to monitor the value of important parameters:
Drive I2t load
1 %
Motor Thermistor Resistance
Motor I2t load
2 %
Angle of Rotation
Effective Current
0.017 A
Current D Component
0.005 A
Current Q Component
-0.006 A
Bus Voltage
0 V
Regen Power
0 W
Heat Sink Temperature
26 °C
Internal Temperature
32 °C
2 Ohm
117.0 Omech
537 0e Counts
Actual Velocity
-0.029 rpm
Velocity Command
0.000 rpm
Position
3259 Counts
0 Counts
Following Error
User defined Variables to monitor
ASCII Cmd. Value
ASCII Cmd. Value
P1
0
0
ASCII Cmd. Value
0
Analog Inputs
Input 1
705 mV
Input 2
62 mV
Digital Inputs / Outputs
LI1
LI2
LI3
LI4 Enable LO1
LO2
PWR
You can also choose to display three more parameters. Enter the ASCII names of
the parameters you wish to display to see their values.
Drive I2t Load
ASCII: DI2T
Default: Unit: %
Range: 0 - 100
valid for all OPMODES
This variable returns the average current as a percentage of the continuous current
(see DICONT). The average current is filtered with a time constant of 16 seconds.
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Device Functions
Motor I2t Load
ASCII: MI2T
Default: Unit: %
Range: 0 - 100
valid for all OPMODES
This variable returns the average current as a percentage of the continuous current
(see MICONT (See Io, p. 104) for more information). The average current is filtered
with the time constant MTIME.
Effective Current
ASCII: I
Default: Unit: Amperes
Range: -
valid for all OPMODES
This variable returns the actual current value in amperes. This value is always
positive.
Current D
Component
ASCII: ID
Default: Unit: Amperes
Range: -
valid for all OPMODES
The D-axes component of the actual current value.
Current Q
Component
ASCII: IQ
Default: Unit: Amperes
Range: -
valid for all OPMODES
The Q-axes component of the actual current value.
Bus Voltage
ASCII: VBUS
Default: Unit: Volts
Range: 0 - 900
valid for all OPMODES
The current voltage of the DC-bus.
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201
Device Functions
Regen Power
ASCII: PBAL
Default: Unit: W
Range: 0 - 1500
valid for all OPMODES
The actual value of average regen power.
Heat Sink
Temperature
ASCII: TEMPH
Default: Unit: °C
Range: -20 - 90
valid for all OPMODES
Displays the current heat sink temperature in °C.
Internal
Temperature
ASCII: TEMPE
Default: Unit: °C
Range: -20 - 90
valid for all OPMODES
Displays the current internal temperature in °C.
Motor
Thermistor
Resistance
ASCII: TEMPM
Default: Unit: Ohm
Range: 0 - 10000
valid for all OPMODES
Indicates the motor temperature, in the form of the resistance of the temperature
sensor (in ohms).
Angle of Rotation
ASCII: PRD
Default: Unit: Counts
Range: 0 - 1048575
valid for all OPMODES
The PRD command returns a 20-bit position (absolute within one turn) that is
derived from the signals of the feedback device (FBTYPE (See Feedback type,
p. 96)). Unlike the position from the position control loop, PFB, this position cannot
be altered. PRD is not related to PRBASE.
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Device Functions
Actual Velocity
ASCII: V
Default: Unit: MUNIT
Range: -15000...15000
valid for all OPMODES
Motor velocity in real time.
Velocity
Command
ASCII: VCMD
Default: Unit: MUNIT
Range: -VMAX...VMAX
valid for all OPMODES
The VCMD variable contains the internal velocity setpoint (after the ramp generator)
in RPM. Depending on the operating mode that is set (OPMODE=0), this value is
either provided directly and digitally (fieldbus, slot card) or derived from the analog
velocity setpoint (OPMODE=1).
For operating modes that do not use a velocity control loop (OPMODE=2, 3) the
VCMD variable has the value V of the actual velocity.
Position
ASCII: PFB
Default: Unit: m
Range: Long integer
valid for all OPMODES
The PFB command returns the actual value of the position (from the position control
loop feedback). For more information, see Actual Values - Counts, p. 196.
Following Error
ASCII: PE
Default: Unit: m
Range: Long integer
valid for all OPMODES
The following error OPMODE = 8 or contouring error OPMODE = 5 or 6 is the
momentary difference between the position command and the actual position. It is
displayed in the same units as the position control loop (PGEARI / PGEARO). See
max. Following Error, p. 127for additional information.
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Device Functions
4.19
Screen page "Homing"
General overview of the "Homing" screen
At a Glance
Overview of the different field values included in the "Homing" screen.
What's in this
Section?
This section contains the following topics:
204
Topic
Page
Overview of the "Homing" screen
207
Homing 1
214
Homing 2
219
Homing 3
221
Homing 4
223
Homing 5
225
Homing 7
226
Homing 9
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Overview of the "Homing" screen
At a Glance
Homing is an essential task, used to zero the drive for subsequent positioning
operations. You can choose between various types of homing:
Homing
0 Set Home Reference immediately
Start
Homing Speed
10000
Acc. Ramp
Counts/s
Direction of Motion
negative
Stop
293750
Offset
0
rpm/s
Dec. Ramp
Counts
293750
rpm/s
After homing, the drive reports "InPosition" and then enables the position controller
in the servo amplifier.
CAUTION
MOVEMENT PAST ALLOWABLE LIMITS
- The position controller cannot be operated without first making a reference
traverse (homing).
- A homing/reference traverse must be made after the 24V auxiliary voltage has
been switched on.
- The start signal must not be removed during homing.
- The start signal must remain present until the "InPosition" message appears.
Failure to follow these instructions can result in injury or equipment
damage.
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Device Functions
Note: Ensure that the zero point of the machine (reference point) is in a position that
permits the subsequent positioning operations. The software limit-switches that
were set as parameters may be ineffective. The axis could move on to the hardware
limit-switch or even the mechanical stop. There is a risk of damage. If the reference
point (zero point of the machine) is approached with excessive velocity, for instance
because of inertia, it may be overshot and, in the worst case, move on to the
hardware limit-switch or even the mechanical stop. There is a risk of damage.
Start
ASCII: MH
valid for OPMODE 8
Default: Unit: Range: -
Click to start homing.
CAUTION
IMMEDIATE SERVO MOTOR STARTUP
Do not execute the "MH" command or issue a HOME START command over
fieldbus if the drive is in OPMODE-1 or in OPMODE-3.
Failure to follow these instructions can result in injury or equipment
damage.
Stop
ASCII: STOP
Default: Unit: Range: -
valid for all OPMODES
Click to stop (cancel) the homing. The SW-enable remains set!
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Homing
CAUTION
RISK OF EQUIPMENT DAMAGE
- Before starting homing, check the safety of the system, since the load may
move, including if the limit-switches are disconnected or defective.
- The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
ASCII: NREF
Default: 0
Unit: Range: 0 - 20
valid for OPMODE 8
You can choose which type of reference traverse should be performed. A preset
zero-point offset (screen page "Encoder" is taken into account for the position output
and display.
Exception: homing 5, in this case the true current position is displayed.
Zero-point recognition: the reference point is set to the first zero-crossing point of the
feedback unit (zero mark) after recognition of the reference switch transition. Twopole resolvers and all encoders have just one zero-crossing per turn, so the positioning at the zero mark is unambiguous within a motor turn. For 4-pole resolvers
there are two zero-crossings per turn, and for 6-pole resolvers there are three zerocrossings. If the transition of the reference switch lies very close to the zero-crossing
point of the feedback unit, then the positioning to the zero mark can vary by one motor turn.
Note: the repetition accuracy of homing operations that are
made without zero-point recognition depends on the traversing
speed and the mechanical design of the reference switch or
limit-switch.
For homing modes 1 and 3, a digital input must be configured as a zero-mark input
(home position) (INxMODE=12 or I/O expansion card).
For homing modes 2 and 4, a digital input must be configured as a hardware limit
switch.
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Device Functions
For homing modes 1, 2, 3, 4, 5, and 7, the setting of the zero-pulse offset for the
Encoder Equivalent Output (EEO) output is taken into account (the zero point is set
so both the output of the zero pulse and the display of the zero position appear at
zero-pulse offset).
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Homing 0
Sets the current position point to the value of the Offset field setpoint. The
motor does not run (the following error is lost).
Homing 1
Traverse to the reference switch with zero-mark recognition.
Homing 2
Move to hardware limit-switch, with zero-mark recognition. The reference
point is set to the first zero-crossing of the feedback unit (NM, zero mark)
beyond the limit-switch.
Homing 3
Move to reference switch, without zero-mark recognition. The reference
point is set to the transition of the reference switch.
Homing 4
Move to hardware limit-switch, without zero-mark recognition. The
reference point is set to the transition of the hardware limit-switch.
Homing 5
Move to the next zero-mark of the feedback unit. The reference point is set
to the next zero-mark of the feedback unit.
Homing 6
Sets the reference point to the actual position (the following error is not lost).
Homing 7
Move to mechanical stop, with zero-mark recognition. The reference point
is set to the first zero-crossing of the feedback unit (NM, zero mark) beyond
mechanical stop.
Homing 8
Drives to an absolute SSI position. At the start of the homing run, a position
is read from the SSI input (GEARMODE=5), converted according to the
scaling factors GEARI and GEARO, as well as the reference offset, then
used as the target position.
Homing 9
Move to mechanical stop, without zero-mark recognition. When the homing
mode is started, the peak current limit threshold IPEAK is set to REFIP
(peak current for the homing mode in A) in the direction given by DREF
(DREF=0 positive, DREF=1 negative).
When the drive moves the motor, the contouring error is monitored and if
the error becomes higher than PEMAX / 2 (half of the contouring error
window), this position is used to set the actual and the target position to
ROFFS. The peak current of the drive is set back to the original value of
IPEAK.
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Device Functions
Direction of
Motion
ASCII: DREF
Default: 0
Unit: Range: 0, 1, 2, 16, 17, 18, 32,
33, 34
valid for OPMODE 8
The DREF parameter can be used to define the preferred direction of motion for a
homing operation and for positioning with a modulo-axes. Bits 0..3 are used for
homing, Bits 4..7 for modulo-axis (POSCNFG=1). If a homing mode with zero puls
is selected DREF should be set to 2,18 or 34. The possible combinations are shown
in the table.
ID
Homing
Modulo
0
Negative
Negative
1
Positive
Negative
2
Shortest distance
Negative
16
Negative
Positive
17
Positive
Positive
18
Shortest distance
Positive
32
Negative
Shortest distance
33
Positive
Shortest distance
34
Shortest distance
Shortest distance
Homing Speed
ASCII: VREF
Default: 1000
Unit: VUNIT
Range: 0 - VLIMN/VLIMN
valid for OPMODE 8
Determines the velocity for the homing operation. The sign is automatically fixed by
the direction of motion that is selected. The size is defined by VUNIT.
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Accel. ramp
ASCII: ACCR
Default: 31500
Unit: ACCUNIT
Range: 3 - 126000
valid for OPMODE 8
Acceleration ramp for jogging and homing with the internal position control loop. This
variable defines the acceleration ramp used for jogging and homing with the internal
position control loop. When starting the homing or jog mode, the ACCR acceleration
ramp can (in some circumstances) be limited by the minimum acceleration time
PTMIN. The size is defined by ACCUNIT.
Decel. ramp
ASCII: DECR
Default: 31500
Unit: ACCUNIT
Range: 3 - 126000
valid for OPMODE 8
The DECR command defines the braking ramp for jog mode or homing with the
internal position control loop. When starting the homing/jog mode, the DECR
deceleration ramp can, in some circumstances, be limited by the minimum
acceleration time PTMIN.The size is defined by ACCUNIT.
This deceleration ramp is only used if the operating mode allows it. For homing to a
hardware limit-switch, the emergency ramp is used.
Offset
ASCII: ROFFS
Default: 0
Unit: m
Range: long integer
valid for OPMODE 8
With the reference offset you can assign an absolute position value other than 0 to
the reference point. With an offset for the reference position you are not actually
making a physical change, but the offset is used as a reference value within the
position control of the servo amplifier. Homing to the reference switch will then not
finish at zero, but at the preset reference offset value. The reference offset must
be set before homing is started. The scaling of the position depends on the
settings for PGEARI, PGEARO, PRBASE. The reference offset is entered in m.
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Device Functions
Homing
Diagrams
On the following pages you can find the paths traversed during homing types 1 to 7
for every possible initial situation (positive rotation, negative and positive directions
of motion).
The meanings of the abbreviations in the diagrams are:
N
limit-switch NSTOP
P
limit-switch PSTOP
SP
start position
R
reference switch
vref
preset velocity
NM
zero mark of the resolver
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Homing 1
Diagrams
Homing without limit switches, with homing switch, with feedback zero
negative traverse, positive rotation
negative traverse, negative rotation
R
R
S
S
+Vref
+Vref
S
S
-Vref
-Vref
N
N
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Device Functions
Homing with reference switch, negative direction of motion, positive rotation, with
zero-mark.
R
P Initial point in positive
N
direction from reference
SP
switch
+Vref
S
-Vref
NM
R
N
P
Initial point in negative
direction from reference
switch
P
Initial point at reference switch
SP
+Vref
S
-Vref
NM
N
R
SP
+Vref
S
-Vref
NM
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Device Functions
CAUTION
RISK OF EQUIPEMENT DAMAGE
Before starting homing, check the safety of the system, since the load may move,
including if the limit-switches are disconnected or defective.
The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
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Device Functions
Homing with reference switch, positive direction of motion, positive rotation, with
zero-mark.
R
N
P
SP
Initial point in positive
direction from reference
switch
+Vref
S
-Vref
NM
R
N
P
Initial point in negative
direction from reference
switch
P
Initial point at reference
switch
SP
+Vref
S
-Vref
NM
N
R
SP
+Vref
S
-Vref
NM
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CAUTION
RISK OF EQUIPEMENT DAMAGE
Before starting homing, check the safety of the system, since the load may move,
including if the limit-switches are disconnected or defective.
The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
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Device Functions
Homing 2
Diagrams
Homing with reference switch, negative direction of motion, positive rotation, with
zero-mark.
P
N
+Vref
P
N
SP
SP
+Vref
S
S
-Vref
-Vref
NM
NM
Initial point in positive direction from
limit-switch
Initial point at limit-switch
Note: hardware limit-switches must be present and connected.
The digital inputs LI3 and LI4 limit-switch functions 2, PSTOP
and 3, NSTOP must be switched on.
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Device Functions
Homing with reference switch, positive direction of motion, positive rotation, with
zero mark.
P
N
N
SP
+Vref
P
SP
+Vref
S
S
-Vref
-Vref
NM
NM
Initial point in negative direction from
limit-switch
Initial point at limit-switch
CAUTION
RISK OF EQUIPEMENT DAMAGE
Before starting homing, check the safety of the system, since the load may move,
including if the limit-switches are disconnected or defective.
The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
Note: hardware limit-switches must be present and connected.
The digital inputs LI3 and LI4 limit-switch functions 2, PSTOP
and 3, NSTOP must be switched on.
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Device Functions
Homing 3
Diagrams
Homing with reference switch, negative direction of motion, positive rotation,
without zero-mark.
R
N
P
SP
Initial point in positive
direction from reference
switch
+Vref
S
-Vref
R
N
P
Initial point in negative
direction from reference
switch
P
Initial point at reference
switch
SP
+Vref
S
-Vref
R
N
SP
+Vref
S
-Vref
CAUTION
RISK OF EQUIPMENT DAMAGE
Before starting homing, check the safety of the system, since the load may move,
including if the limit-switches are disconnected or defective.
The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
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Device Functions
Homing with reference switch, positive direction of motion, positive rotation,
without zero mark.
Initial point in positive
R
P
N
direction from reference
SP
switch
+Vref
S
-Vref
R
N
P
Initial point in negative
direction from reference
switch
P
Initial point at reference
switch
SP
+Vref
S
-Vref
N
R
SP
+Vref
S
-Vref
CAUTION
RISK OF EQUIPMENT DAMAGE
Before starting homing, check the safety of the system, since the load may move,
including if the limit-switches are disconnected or defective.
The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
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Device Functions
Homing 4
Diagrams
Homing without reference switch, negative direction of motion, positive rotation,
without zero mark.
P
N
+Vref
P
N
SP
SP
+Vref
S
S
-Vref
-Vref
Initial point in positive direction from
limit-switch
Initial point at limit-switch
CAUTION
RISK OF EQUIPMENT DAMAGE
Before starting homing, check the safety of the system, since the load may move,
including if the limit-switches are disconnected or defective.
The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
Note: Hardware limit-switches must be present and connected.
The LI3 and LI4 digital input limit-switch functions 2, PSTOP
and 3, NSTOP must be switched on.
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Device Functions
Homing without reference switch, positive direction of motion, positive rotation,
without zero mark.
P
N
N
SP
+Vref
P
SP
+Vref
S
S
-Vref
-Vref
Initial point in negative direction from
limit-switch
Initial point at limit-switch
CAUTION
RISK OF EQUIPMENT DAMAGE
Before starting homing, check the safety of the system, since the load may move,
including if the limit-switches are disconnected or defective.
The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
Note: Hardware limit-switches must be present and connected.
The LI3 and LI4 digital input limit-switch functions 2, PSTOP
and 3, NSTOP must be switched on.
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Device Functions
Homing 5
Diagram
Homing without reference switch, negative direction of motion, positive rotation,
with zero mark.
P
N
SP
+Vref
-Vref
NM
Homing with reference switch, positive direction of motion, positive rotation, with
zero mark.
N
P
SP
+Vref
S
-Vref
NM
CAUTION
RISK OF EQUIPMENT DAMAGE
Before starting homing, check the safety of the system, since the load may move,
including if the limit-switches are disconnected or defective.
The limit-switch functions 2, PSTOP and 3, NSTOP must be activated at digital
inputs LI3 and LI4 to achieve the full homing functionality.
Failure to follow these instructions can result in injury or equipment
damage.
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Note: behavior for successively repeated starts of Homing 5:
the position controller can only hold the motor in the zero
position by passing the zero mark by 1 count. On a repeated
start of Homing 5, depending on the position (1 count in
advance of or 1 count behind the zero-mark) and the count
direction, the movement may be a full motor turn !
Homing 7
Diagrams
Homing to mechanical stop, negative direction of motion, positive rotation, with
zero mark.
SP
+Vref
-Vref
NM
Homing to mechanical stop, positive direction of motion, positive rotation, with
zero mark.
SP
+Vref
S
S
-Vref
NM
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Device Functions
CAUTION
RISK OF EQUIPMENT DAMAGE
Using this type of homing run can damage the mechanical stop on the machine.
The peak current Ipeak and the continuous current Irms are limited for the duration
of the homing run.
A more severe limiting of the current is possible. Consult our applications department.
Failure to follow these instructions can result in injury or equipment
damage.
Homing 9
Diagrams
Mechanical stop, without limit switches, without homing switch, without feedback
zero.
Homing to mechanical stop, negative direction of motion, positive rotation, without
zero mark.
SP
+Vref
S
-Vref
Homing to mechanical stop, positive direction of motion, positive rotation, without
zero mark.
SP
+Vref
S
-Vref
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CAUTION
RISK OF EQUIPMENT DAMAGE
Using this type of homing run can damage the mechanical stop on the machine.
The peak current Ipeak and the continuous current Irms are limited for the duration
of the homing run.
A more severe limiting of the current is possible. Consult our applications department.
Failure to follow these instructions can result in injury or equipment
damage.
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Device Functions
4.20
Screen page "Motion task parameters"
General overview of the "Motion task parameters" screen
At a Glance
Overview of the different field values included in the "Motion task parameters "
screen page.
What's in this
Section?
This section contains the following topics:
228
Topic
Page
Overview of the "Motion Task" Screen
229
Motion Task Parameters
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Lexium 15 LP Servo Drives Programming manual
Device Functions
Overview of the "Motion Task" Screen
At a Glance
Motion Task is a Mode Of Operation 8 that allows the execution of a move sequence
stored in the servo drive memory. Each move is called a Motion Task.
Depending on the Lexium 15 model you use, you can store several Motion Tasks in
the RAM or EEPROM:
EEPROM
RAM
Lexium 15 LP
180
75
Lexium 15 MP/HP
200
100
Each Motion Task is numbered; the number is used to start the sequence or to
define the next execution:
Target
Position /
No. Distance Velocity
x
OP
OV
20000
100000
1
170000
150000
2
9900000
3000
3
3000
4 -99000000
5000
100
5
6
7
8
500000
9 10000000
-50000
10000
10
11
12
13
14
15
16
17
Motion Task
Start
Stop
Control
Word
(Hex)
Acc.
Dec.
Table
Entry
OC
O ACC
O DEC
O TAB
Following
Motion
Delay
Task No. Time
O FN
O FT
2003
2008
2001
2001
2003
100
100
50
50
100
100
100
50
50
100
0
0
0
0
0
0
201
0
0
0
12001
12001
50
50
50
50
0
1
0
0
Number 1
Reload Motion Task Table from Drive
Edit...
Motion
Type
Type
0
0
0
0
0
REL CMD
ABS
REL INPOS
REL INPOS
REL CMD
0 REL INPOS
0 REL INPOS
Motion Task running none
Save Motion Tasks to Drive
A Motion Task may be started by a Digital Input or a field bus order.
The Motion Task may be started automatically in Operation Enable mode if
AUTOHOME was set. The Motion Task number is declared by the NREFMT
command.
The completion of the Motion Task or sequence of Motion Tasks is shown in the
In_Position object, which can also be monitored by a Digital Output.
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Device Functions
Number
Entry of a motion task number, to start the motion task from a PC.
Start
ASCII: MOVE
Default: -
valid for OPMODE 8
Start the motion task that has the number that can be seen in the NUMBER field.
The amplifier must be enabled (input X3/12 has a High signal).
When using the Terminal screen, entering MOVE "x" means that the Servo amplifier
will start motion task number "x’, where the range of "x" is 0 - 300.
CAUTION
RISK OF EQUIPMENT DAMAGE
The SW-enable is automatically set when the motion task starts. The motion task
is only started in OPMODE8. However, the SW-enable is set in all OPMODES.
The drive can therefore be accelerated by an analog setpoint that is applied, if the
START command is executed in OPMODES1 or 3. The motion task is not started
if the target position is beyond the defined SW-limit switches (warning messages
n06/n07 and n08.
Failure to follow these instructions can result in injury or equipment
damage.
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Device Functions
Stop
ASCII: STOP
Default: -
valid for OPMODE 8
Stops the current motion task. The SW-enable remains set!
Edit
Enter a Motion task number and click Edit to set parameters for that motion task. The
Motion Task Parameters dialog box is displayed.
Motion Task
Table
You can use this table to directly enter all task parameters. The following commands
are available:
z
z
z
z
Cut
Copy
Paste
Delete
Clipboard operations can only be carried out on full lines, i.e. the line requird must
be selected. A whole line or a single cell may be selected. Select a line by clicking
on the line number or by using the <Shift><Space> key combinations (as in Excel).
(All edit operations use standard Windows key combinations.)
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Device Functions
Motion Task Parameters
At a Glance
The various elements of the Motion Task Parameters are described in the following
paragraphs:
?
Motion Task Parameters
Number
1
Trajectory
v_cmd
trapezoidal
Counts/s
100000
v_cmd Source
Velocity Profile No.
Digital
0
Acceleration
100
Deceleration
rpm/s
100
rpm/s
Next Motion Task
Motion Type
Next Number
REL CMD
0
immediately
Start by I/O Edge
Target Position / Distance
Counts
20000
Units
a
immediately
b
Delay Time
0
c
SI / User
Clear Motion Task
Start Condition
OK
Cancel
ms
Apply
Number
Displays the active motion task number.
Trajectory
Determines which type of acceleration/braking ramp is used to carry out a motion task.
Trajectory Description
232
Trapeze
The drive is given a constant linear acceleration/deceleration to the target speed.
Customer
profile
The acceleration/braking ramps can be adjusted with a customer profile stored
previously in the servo amplifier.
Sine
To limit any jolting, the drive is accelerated/decelerated within the acceleration
time along an acceleration ramp without any disruptions. The resulting speed
characteristic corresponds to a sine curve. The profile is stored in a table in the
servo amplifier.
Lexium 15 LP Servo Drives Programming manual
Device Functions
Velocity profile
No.
Selection of a velocity profile from the table selected by trajectory. You can get more
information on this topic from our Technical Help department.
Motion Type
This selection determines whether the motion task is interpreted as a relative or an
absolute task.
ABS
movement to an absolute target position, relative to the reference point.
REL cmd
relative to last target (setpoint) position (in connection with motion block
changeover: e.g. summing operation).
REL act
relative to actual position at start (in connection with motion block
changeover: e.g. register control).
REL InPos
when the load is in the InPosition window: relative to last target position.
When the load is not in the InPosition window: relative to actual position
at start.
REL Latch pos.
Contact our Technical Help department.
In the setup software, the transmission of an absolute task to the RAM of the servo
amplifier is prevented for axes of the ROTARY type.
Target Position/
Distance
Defines the distance or the target position, depending on the motion type.
Units (general)
Unit for path and speed entries. See screen page Units/Mechanical.
v_cmd
This parameter determines the velocity of movement for digital setpoint provision. If
v_max is set to a value that is less than v_cmd at a later time, the position controller
will use the smallest value.
v_cmd Source
The velocity can be defined in the motion block, or provided as an analog setpoint.
Digital
Setpoint provision in the v_cmd field.
Analog AI1
Analog setpoint provision at input Analog Input AI1 (terminals X3/3 - 4,
scaling is used.
This value read in at the start of the motion task.
Acceleration
This parameter determines the acceleration ramp steepness, depending on the
selected units.
Deceleration
This parameter determines the deceleration ramp steepness, depending on the
selected units.
Next Motion task
After the present task is finished, a new task will start automatically.
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Device Functions
The "In Position" signal is only enabled when the last motion task (no further task)
has been processed. You can use the function "16, Next-InPos" to generate a signal
at one of the digital outputs when each target position within a sequence of motion
tasks has been reached.
Next number
The number of the next task, which will be started automatically after the present
task is finished.
Start condition
Start by I/O edge
Immediately
The next task is started as soon as the target position is reached.
I/O
The next task is started by a signal at a digital input (one of the X3/8 - 11
terminals). This is only meaningful with "Motion Blending Type A".
Condition: the digital input must have the function "15, Start_MT Next"
assigned, and the target position must have been reached.
You can preselect the logic with the "Start with" parameter.
Time
The next task is started with a defined delay after the target position has
been reached. You can enter the delay time with the "Delay time" parameter.
This is only meaningful with "Motion Blending Type A".
I/O or Time
The next task is started by a signal at a digital input (one of the X3/8 - 11
terminals) or after a defined delay. This is only meaningful with "Motion
Blending Type A". The trigger is the event that occurs first (the start signal or
the end of the delay time).
Condition: the digital input must have the function "15, Start_MT Next"
assigned, and the target position must have been reached. You can
preselect the logic with the "Start with" parameter, and enter the delay time
with the "Delay time" parameter.
The logic for the digital input with function "15, Start_MT Next" assigned to it.
LOW-level: 0...07 V
HIGH-level: 12 ... 30 V / 7 mA
Timeout value
(Delay time)
234
Delay time (in ms) between arrival at target position and start of next task.
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Device Functions
Motion Blending
ASCII Command
List
a
The drive brakes to a stop in the target position. The next motion task is started.
b
The drive moves at v_cmd of the present motion task to the target position, and
accelerates through to v_cmd of the next task.
c
The changeover to the next task is brought so far forward that the v-cmd of the
next task is already reached by the time the target of the present motion task is
reached.
ASCII Command
Description
ACCUNIT
Type of acceleration command for the system
CLRORDER
Deleting a Motion Task
CONTINUE
Continue last position order
MOVE
Start Motion Task
MTMUX
Presetting for motion task that is processed later
NREFMT
Motion task automatic executed after homing
O_ACC1
Acceleration Time 1 for Motion Task 0
O_ACC2
Acceleration Time 2 for Motion Task 0
O_C
Control Variable for Motion Task 0
O_DEC1
Braking Time 1 for Motion Task 0
O_DEC2
Deceleration Time 2 for Motion Task 0
O_FN
Next Task Number for Motion Task 0
O_FT
Delay before Next Motion Task
O_P
Target Position/Path for Motion Task 0
O_V
Target Speed for Motion Task 0
OCOPY
Save/copy Motion Tasks
OLIST
List of Motion Task Data
ORDER
Set Motion Task Parameters
OVRIDE
Override Function for Motion Tasks
PTARGET
Last Target Position
PTEACH
Teach-In Function
PTMIN
Min. Acceleration Ramp for Motion Tasks
PVMAXN
Max. (Negative) Velocity for Position Control
SPSET
Enable for S-curve
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Device Functions
4.21
Screen page "Service parameters"
Overview of the "Service Parameters" Screen
At a Glance
This screen enables you to set service function parameters. You access it via the
Motion Service tab (See Overview of the Oscilloscope - Motion Service Tab, p. 244):
Service Parameters
Speed
100
Reversing
v1
rpm
100
rpm
t1
Torque
0
1000
A
-100
Constant Direct Current
1000
Motion Task
+
No. 1
Done
236
msec
A
Electr. Angle
0
rpm
t2
Command
0
msec
v2
Cancel
Lexium 15 LP Servo Drives Programming manual
Device Functions
Service
operation
parameters
Settings of the parameters for the service functions.
Speed
Rotational speed
Torque
Current
Current setpoint (in A) for the function
Constant Direct
current
Command
Electr. Angle
Current setpoint (in A) for the function phase angle of the electrical field
Reversing mode
v1
t1
v2
t2
speed (in rpm) for clockwise rotation
duration (in ms) of the clockwise rotation
speed (in rpm) for counterclockwise rotation
duration (in ms) of the counterclockwise rotation
Motion Task
No
Parameters for the motion task must be entered in the screen page
"Motion task parameters".
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Speed (in rpm) for the function
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Device Functions
4.22
Screen page "Oscilloscope"
Screen page "Oscilloscope"
At a Glance
Overview of the different field values included in the "Oscilloscope" screen page.
What's in this
Section?
This section contains the following topics:
238
Topic
Page
Overview of the "Oscilloscope" screen
239
Overview of the Oscilloscope - Channels Tab
241
Overview of the Oscilloscope - Triggers Tab
242
Overview of the Oscilloscope - Recording Scope Files Tab
243
Overview of the Oscilloscope - Motion Service Tab
244
Overview of the Oscilloscope - Tuning Tab
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Device Functions
Overview of the "Oscilloscope" screen
At a Glance
Various value are graphically displayed in a diagram. You can display up to four
variables simultaneously, as a function of time:
0
V
1min
0
A
1min
5000 5000 20 500
0.0 250
-5000 -5000 -20
0
0.100
0.200
0.300
0.400
Zeit
K.1: n_ist
K.1: n_sol
K.1: n_ist
K.1: n_VBUS
Cycle time for the measurement acquisition ≥ 250 μ s.
The Oscilloscope screen contains five tabs that enable you to define the variables
to display - Channels, Triggers, Recording, Motion Service, and Tuning.
Command buttons enable you to control the display.
Recording
Start
Stop
Refresh
Restore
Oscilloscope
Defaults
Start
Start displaying the data.
Cancel/Stop
Stop displaying the data.
Refresh
Reloads and displays the last recorded scope data from the servo amplifier, if it has
not yet been deleted.
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Device Functions
Restore
Oscilloscope
Defaults
Resets all functions of the screen page to the default values.
Cursor function
(Mouse pointer)
When the curves are displayed (when reading the file, or beginning a save), a
mouse click displays the values measured for the signals in the coordinates system
for the time period selected. If the user clicks outside the coordinates system or
clicks while holding down the SHIFT key, the values displayed are reset to 0.
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Device Functions
Overview of the Oscilloscope - Channels Tab
At a Glance
Assign the displayed variables to the channels:
Channels
Oscilloscope Recording
101
Trigger
/ Scope Files
Motion Service
Tuning
Resolution
Chanel 1
v_cmd
Auto-scale
Auto-Svaling Mode...
normal
Chanel 2
v_act
Auto-scale
Auto-Svaling Mode...
Chanel 3
I_cmd
Auto-scale
Auto-Svaling Mode...
Chanel 4
I_act
Auto-scale
Auto-Svaling Mode...
Time/Div
100
ms
Cycle time for the measurement acquisition ≥ 250 μ s.
Resolution
The number of measured points per time unit (storage depth). Setting: fine, normal,
coarse.
Time/Div
Scaling of the time axis. Select the time/division. Setting: 1 ...500 ms/div
Total length of the time axis: 8 * x ms/Div
Channel
The following variables can be selected:
I_act
Actual torque (current)
I_CMD
Torque setpoint
v_act
Actual speed
v_CMD
Setpoint speed
VBus
DC-link (bus) voltage
FERROR
Following error
Off
Unused channel
User defined
Manual entry
If you select "user-defined", you can display the value of an ASCII variable.
Auto-scale
For each channel, the range of measurement can be selected: automatically (Auto
checkbox is active) or manually (Auto checkbox is inactive, and min./max. values
have been entered).
Auto-Scaling
Mode
Select standard or min/max scaling.
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241
Device Functions
Overview of the Oscilloscope - Triggers Tab
At a Glance
Set triggers:
Channels
Trigger
OscilloscopeRecording
101
/ Scope Files
Motion Service
Tuning
Trigger Signal
v_cmd
Trigger Level
0
Trigger
25%
Trigger Edge
positive
Trigger signal
Speed and current variables may be used as trigger signals. In addition, "Direct" can
be used for immediate (independent) triggering. Choosing "User-defined" allows an
ASCII parameter to be entered manually.
Trigger position
Trigger setting X (time axis).
Trigger level
Trigger setting Y.
Trigger edge
Trigger on rising or falling edge.
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Device Functions
Overview of the Oscilloscope - Recording Scope Files Tab
At a Glance
Record variable measurements:
Channels
/ Scope Files
OscilloscopeRecording
101
Trigger
Motion Service
Tuning
Recording Parameters
Show interpolated Values
Mem
Save Plot File
Current Plot File
Load Plot File
Save Plot File
Saves the recorded measurements to a data medium in CSV format (to be
evaluated with MS-Excel).
Load Plot File
Loads a CSV data file and displays the curves on the oscilloscope diagram.
Mem
If this is active when a new curve is recorded, the previous measurement is saved
so a comparison can be made between the two measurements. The previous
measurement curve is displayed in a darker color than the latest curve. The
measurement range settings must be identical for both measurements. If not, the
"Mem" checkbox is de-activated.
Show
Interpolated
Values
If the checkbox is activated, intermediate values between the mearured values are
interpolated.
Current Plot File
Displays the filename and location of the currently-loaded CSV file.
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Device Functions
Overview of the Oscilloscope - Motion Service Tab
At a Glance
Define service functions:
Channels
OscilloscopeRecording
101
Trigger
/ Scope Files
Motion Service
Tuning
Function
Parameters...
Functions
Start
Speed
Stop
Select one of the service functions described below. Click on the "Parameter" button
and set the corresponding parameter. (See the Overview of the "Service
Parameters" Screen, p. 236.) Then start the function by using the START button.
The function will continue to be performed until you click on the STOP button or
press the function key F9.
Direct current Apply a direct current to the motor with adjustable size and electrical fieldvector angle. The changeover from speed control to current control is made
automatically. Commutation is made independently of the feedback
(resolver or similar). The motor locks into a preferred position.
Speed
Operates the drive at constant speed. An internal digital setpoint is provided
(speed is adjustable).
Torque
Operates the drive with constant current. An internal digital setpoint is
provided (current is adjustable). The changeover from speed control to
current control is made automatically. Commutation is made independently
of the feedback (resolver or similar).
Reversing
Operates the drive in reversing mode, with separately adjustable speed and
reversing time for each direction of rotation.
Motion task
Starts the motion task that is selected in the screen page "Service Parameters".
Zero
Function used for feedback setting in conjunction with the positioning
phase. This function can only be accessed in OPMODE2.
WARNING
UNINTENDED EQUIPMENT OPERATION
Use this function with care, as it causes the motor shaft to return to its fallback
position. That may lead to a movement of as much as +/- 60º.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
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Device Functions
Start (service)
Starts the service function selected.
Stop (service)
Stops the service function selected.
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245
Device Functions
Overview of the Oscilloscope - Tuning Tab
At a Glance
Some variables important for the control behavior are combined here. You can tune
the servo amplifier without closing the oscilloscope screen page:
Channels
Trigger
OscilloscopeRecording
101
/ Scope Files
Velocity Loop
Kp_v
0.042
Velocity Filter
LP Freq
Hz
160
Tn_v
HP Freq
6
Proportional
Gain (Kp_v)
ASCII: GP
ms
1000
Motion Service
Position Loop
Kp_p
Velocity FF
0.05
Hz
Default: 0.046
Unit: Range: 0.001 - 369.2
Tuning
Feedback
Resolver BW
1
600
Current FF
Observer FF
1
0.5
ms
valid for OPMODES 0, 1
Determines the proportional gain (also known as AC-gain). Increase the value up to
the level where the motor starts to oscillate, and then back it off until the oscillations
have clearly stopped.
Integral Time
(Tn_v)
ASCII: GVTN
Default: 10
Unit: ms
Range: 0.0, GV/62.5 - 1000.0
valid for OPMODES 0,1
This variable determines the integration time constant. Smaller motors permit
shorter integration times. Larger motors or high moments of inertia in the load
usually require integration times of 20ms or more.
With Tn=0ms, the integral action component is inactive.
If the Tn value is too low, the drive runs roughly or strongly overshoots with high
inertia loads. If theTn value is too high, the drive is too soft.
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Device Functions
Velocity LP Freq.
ASCII: ARLPF
Default: 0
Unit: Range: 0 - 4000
valid for all OPMODES
Frequency limit low pass filter
Velocity HP Freq.
ASCII: ARHPF
Default: 1000
Unit: Range: 0 - 4000
valid for all OPMODES
Frequency limit high pass filter
The ARHPF and ARLPF commands are described in "BODEPLOT" screen page.,
p. 248.
Kp_p
ASCII: GP
Default: 0.1
Unit: (m/s)/m
Range: 0.1 - 1000
valid for OPMODES 4,5,8
This variable is the proportional gain of the position control loop . If GP is set too low,
the lag or settling time is too long and the drive is too soft. If GP is set too high, the
drive oscillates.
Velocity FF
ASCII: GPFFV
Default: 1
Unit: Range: 0 - 1000
valid for OPMODES 4,5,8
Determines the feed-forward factor for the position controller. Feed-forward is used
to ease the task of the position controller. A better setting for the Ff-factor means a
better utilization of the dynamic range of the position controller. The most favorable
setting (usually about 1.0) depends on factors external to the drive, such as friction,
dynamic resistance, and stiffness. If GPFFV is set too low, the drive lags. If GPFFV
is set too high, the drive oversteers.
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247
Device Functions
Current FF
ASCII: GPFFT
Default: 1
Unit: Range: 0 - 1000
valid for OPMODES 4,5,8
Position control loop: feed forward for the current setpoint. This parameter must be
set to minimize the following error. The parameter only has an effect on control
structure in the following cases:
1.using table based motion task enabled with bit in O_C.
2.using sine squared acceleration and deceleration motion profiles.
If GV is changed after optimizing GPFFT, GPFFT has to be changed also inversely
proportional.
Resolver BW
ASCII: MRESBW
Default: 300
Unit: Hz
Range: 50 - 2000
valid for all OPMODES
MRESBW is a tuning parameter that sets the bandwidth (in Hz) of the inner control
loop. A high value (>800 Hz) results in a fast (low phase lag) and noisy velocity
signal. A low value (<400 Hz) results in a slow (higher phase lag) and smooth
velocity signal. The value of 600 Hz is a compromise between phase lag and noise.
The phase lag can be reduced by providing the acceleration feed forward signal
(VLO = 1 ).With a wide bandwidth, the drive responds more rapidly to control loop
deviations and there is a smaller following error (reduced lag). A very wide
bandwidth only makes sense with low moments of inertia, low KP, and very high
acceleration values. A narrower bandwidth produces a filter effect. The rotational
velocity and positional control are smoother (encoder equivalent output is quieter as
well).
Observer FF
ASCII: VLO
Default: 1.0
Unit: Range: 0 - 30
valid for all OPMODES
This parameter generates a dynamic pre-control for the detection of current values
(Luenberger monitor), in particular for resolver feedback. It reduces phase slippage
in the detection of the current value, so improving the stability of the speed control.
For VLO = 1, the pre-control is optimal; for VLO = 0, the action is suppressed.
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Device Functions
4.23
"BODEPLOT" screen page.
Overview of the "Bode plot" screen
At a Glance
This function should only be used by speed control engineers and technicians.
Use this screen to analyse and maximise the speed control loop, using the
machine's mechanical specifications.
Bode Plot
20
G[dB]
Parameter...
Open Loop /
Closed Loop
Filter Func.
10
0
Configure...
-10
Save
Load
Refresh
-20
-30
Current Loop
Veloc. Loop
Observer
0%
100%
Stop
phi[°]
20
Auto-Tune
0
-90
-180
-270
20
100
200
500
Open Loop
Closed Loop
This screen displays the frequency response for speed control. The system is
simulated using a sinusoid input variable. The output variable has identical
frequency but different amplitude and is out of phase by several degrees.
The relation between frequency related amplitude (amplitude response) and
frequency related phase shift (phase response) provides a full picture of the speed
control loop's dynamic features.
Amplitude response
This graph shows amplitude in relation to frequency (Gain) on a log scale.
Phase Response
This graph shows phase shift in relation to frequency.
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249
Device Functions
Open loop response
The following information is used to supply a qualitative description of the open loop
response.
Parameter
Description
Phase margin
Differential between the characteristic curve phase and a -180°
phase shift at cut-off frequency. Represents the frequency for a
0dB gain.
Gain margin
Differential between the characteristic amplitude and a gain of 0 dB
for a -180° phase shift.
Closed loop response
The closed loop characteristics are defined using bandwidth and cut-off.
Bode Plot
Notion
Description
Bandwidth
Represents frequency bandwidth for a -3dB attenuation.
Overshoot
Overshoot represents closed loop overshoot at maximum
amplitude
Starts saving the data.
WARNING
UNEXPECTED EQUIPMENT OPERATION
This function should be used only by speed controls engineers and technicians.
The motion starts automatically and immediately as soon as confirmation request
has been validated, using the internal setpoint provided.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
Stop
Stops saving the data.
Save
Makes back-up of settings saved in a CSV file (can be used with MS-Excel).
Load
Loads settings saved in a CSV file and displays corresponding curves.
Refresh
Loads and displays latest settings saved.
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Device Functions
Cursor function
When a data series is displayed (when reading a file, or beginning a save), click
once on the graph to display the values measured at a given point in time. Click once
outside the graph to zero the display.
Parameters
Displays the Bode Plot parameter page. Defines the frequency range and number
of increments.
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251
Device Functions
Filter Functions
Mechanical resonance may occur in general industrial machines. Resonance may
cause instability of the velocity control loop which reduces dynamic performance
(speed gain attenuation). Mechanical resonance comes from mechanical system
rigidity : the use of belts & pulleys, gearboxes, linear guides, racks & pinions,
screws, and elastic coupling makes the system more or less stiff.
Mechanical resonance can be corrected by increasing mechanics stiffness. System
can also be improved by the use of electrical controllers such as filters.
There is 2 mechanical resonance areas : the first at a low frequency, typically
between 100 and 500 Hz and a second at high frequency between 700 and 1400Hz
Most of the time in industrial situations, low frequency resonance problems occur.
For high frequency resonance, contact our technical department.
The aim of using filters is to attenuate or move resonance frequencies out of the
bandwidth used for your application.
Unilink L / Lexium 15 LP offers 3 filters :
Filters
Description
PID-T2
For standard mechanics (resonance frequency between 100 and 500Hz).
Combination of a low-pass first order and high-pass first order.
1rst Order
low pass
Useful for a very stiff mechanics (resonance over 500Hz)
Bi-Quad
For standard mechanics (resonance frequency between 100 and 500Hz).
Combination of a low-pass second order and high-pass second order and
ability to damp gain at resonance / anti-resonance frequencies
Four ASCII commands are used to set up each filter:
ASCII: ARLPD
Default: 0
Unit: Range: 0...10
valid for all OPMODES
Damping low pass filter
ASCII: ARLPF
Default: 0
Unit: Hz
Range: 0...4000
valid for all OPMODES
Frequency limit low pass filter
ASCII: ARHPD
252
Default: 0
Unit: Range: 0...10
valid for all OPMODES
Lexium 15 LP Servo Drives Programming manual
Device Functions
Damping high pass filter
ASCII: ARHPF
Default: 0
Unit: Hz
Range: 0...4000
valid for all OPMODES
Frequency limit high pass filter
Before starting using the filter mode, a simulation in open/closed loop of your system
should be done : it will give you indication of resonance frequencies of your system.
PID-T2 Filter
Filter Function
Select Filter Function:
PID-T2
LP Frequency (Hz)
0
HP Frequency (Hz)
0
OK
Cancel
The LP frequency field will fill in ARLPF (anti-resonance frequency) and the HP
frequency field will fill in ARHPF (resonance frequency).
Make sure that the ARLPD and ARHPD have been set to 0 (check using the
Terminal screen)
Setting ARLPF and ARHPF to 0 disables the filter.
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253
Device Functions
Low-pass Filter
1rst order
Filter Function
Select Filter Function:
1st-Order Low-Pass
LP Frequency (Hz)
OK
ASCII: ARHPF
0
Cancel
Default: 0
Unit: Hz
Range: 0...4000
valid for all OPMODES
LP frequency will fill in the ARLP2 parameter.
Setting ARLPD2 to 0 disables this filter.
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Device Functions
Bi-Quad Filter
Filter Function
Select Filter Function:
Bi-Quad
LP Frequency (Hz)
0
LP Damping
0
HP Frequency (Hz)
0
HP Damping
0
OK
Cancel
LP frequency field will fill in ARLPF (anti-resonance frequency) and HP frequency
field will fill in ARHPF (resonance frequency).LP damping field will fill in ARLPD and
HP damping field will fill in ARHPD. Setting all parameters to 0 disables the filter.
For further details on low-frequency resonance phenomena, please contact our
technical department.
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255
Device Functions
4.24
Screen page "Terminal"
Overview of the "Terminal" screen
At a Glance
Diagram:
--> VBUSBAL
1
-->
Command :
Communication with the servo amplifier is made through ASCII commands. You can
obtain a complete list of the commands from our application department.
Commands that are sent to the servo amplifier are marked by ->. The answers from
the servo amplifier appear without any preceding characters.
When using this integrated terminal function, the following restrictions apply:
z The last 500 lines are displayed,
z The transmission from the servo amplifier to the PC is limited to a maximum of
1000 bytes per command,
z A watchdog timer limits the transmission time in both directions to a maximum of
3 sec.
If the number of characters is more than 1000, or the transmission time is more than
3 seconds, then the terminal reports a fault.
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Device Functions
Command
Enter the ASCII command here, with the corresponding parameters. End the entry
with RETURN or press the APPLY button to start the transmission.
Press the F3 function key to recall the last commands (max. 100 commands).
WARNING
UNEXPECTED IMMEDIATE STARTUP
This function should only be used by speed control engineers and technicians.
The motion starts automatically and immediately as soon as the confirmation
request has been validated, using the internet set point provided.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
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257
Device Functions
4.25
Screen page "I/O expansion"
Overview of the Screen Page "I/O Expansion"
At a Glance
I/O expansion card P/N: AM0INE001V000
This screen displays individual status of the 14 logic inputs and 8 logic outputs on
the expansion card as well as overall status of the card. It is available only if an I/O
Expansion card is inserted into the servo amplifier.
X11A
X11B
12
Start_Jog v=x
In 8
12
GND
11
Start_MT Next
In 7
11
24V DC
10
FError_clear
In 6
10
PosReg5
Out 10
9
Reference
In 5
9
PosReg4
Out 9
8
A7
In 18
8
PosReg3
Out 8
7
A6
In 17
24V
7
Sw_limit 2
Out 7
6
A5
In 16
ERR
6
Sw_limit 1
Out 6
5
A4
In 15
5
Sfault
Out 5
4
A3
In 14
4
Next-InPos
Out 4
3
A2
In 13
3
InPos
Out 3
2
A1
In 12
2
Start_MT No. x
In 10
1
A0
In 11
1
MT_Restart
In 9
Start Jog v=x
Starting in jog mode at a given speed. After selecting the function, you can enter the
speed in IN8TRIG. The sign of the auxiliary variable defines the direction. A rising
edge starts the motion, a falling edge cancels it.
Start_MT Next
This task, which is defined in the motion task by "Start with I/O", is started. The target
position of this motion task must be reached before the following task can be started.
FError_clear
Erases the error message or the supervisor's response.
Reference
Checks reference switch.
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Device Functions
A7-0
Motion task number, Bit1 to Bit8
PosReg. 5-3
The preset function of the corresponding position register is indicated by a high
signal. (the PosReg 1-2 function is defined in the "Position Data" screen only via
ASCII).
S fault
Contouring-fault (low-active). The width of this error window is entered in the screen
"Position" for all enabled motion tasks.
Next InPos.
The start of each motion task in an automatically executed sequence of motion tasks
is signaled by an inversion of the output signal. The output produces a low signal at
the start of the first motion task of the sequence.
In Pos
When the target position for a motion task has been reached, (InPosition window) a
high signal is generated. A cable break will not be detected. The width of the
"InPosition" window for all enabled motion tasks is entered in the screen "Position
data".
Start_MT No x
Start of the motion task that has the number and bit code at the digital entry (A0 to
A7). A rising edge starts the motion, a falling edge cancels it. You can also define
how to stop the motion task: STOP command or a low level signal at the input.You
can assign this function via Terminal screen.
MT_Restart
Restarts the motion task that had been stopped.
24V
Shows that 24V power supply for the expansion card is present.
Err.
Expansion card error message. The error may be due to the following reasons: no
power supply, output overload or short-circuit.
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Device Functions
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Field Buses
5
Field Buses
At a Glance
This chapter describes how to configure the software for use with field buses.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
Overview of "CAN Fieldbus Settings"
262
Fieldbus Availability
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261
Field Buses
Overview of "CAN Fieldbus Settings"
At a Glance
You can customise the station address and baud rate in the fieldbus network here:
General Field Bus Settings
Address
External Watchlog (Fieldbus)
ms
100
0
CAN Bus Settings
Baud Rate
500
kBaud
< Previews
Next >
Address
ASCII: ADDR
Default: 0
Valid for all OPMODES
The entry is the station address (1...63) of the amplifier. This number is required by
the fieldbus (CANopen, Profibus, SERCOS, etc.) and for the parameter setting of
the servo amplifier in multi-axis systems for an unambiguous identification of the
servo amplifier within the system. You can also use the keys on the front panel of
the servo amplifier to set the station address (see Lexium 15 LP Installation Manual).
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Field Buses
External
Watchdog
ASCII: EXTWD
Default: 100 ms
Valid for all OPMODES
Definition of the watchdog period for the communication expansion card. This
watchdog is only active when the value is greater than 0 and the output stage is
enabled. If the preset duration is reached and the clock is not triggered, the message
n04 (Response time monitoring) is generated, and the amplifier servo drive stops.
The amplifier servo drive remains operational, and the output stage remains
enabled. This message must be cleared using the CLRFAULT key in order for a new
setpoint to be accepted.
Baud Rate
ASCII: CBAUD
Default: 500
Valid for all OPMODES
The transmission rate is required by the fieldbus (CANopen) and for the parameter
setting of the amplifier servo drive in multi-axis systems.
CAN ASCII
Commands
ASCII: CBAUD
Baud Rate CAN Bus
ASCII: CUPDATE
Program Update (CAN Bus)
ASCII: DRVCNFG
Configuration parameter for compatible behaviour
ASCII: FB_LTF
FB_LTF sets the CANopen specific Life Time Factor. It can be stored
to the EEProm, if bit 3 of the parameter |DRVCNFG| is set to 1.
ASCII: FB_TGUARD FB_TGUARD sets the CANopen network communication watchdog
time. It can be stored to the EEPROM, if bit 3 of the parameter
|DRVCNFG| is set to 1.
ASCII: MAXSDO
Number of Objects of the Parameter Channel
ASCII: OBJCO
Mirror CAN - Objects for debug
ASCII: RXPDOxA
RX-PDO x parameter selection, where x is a number between 1 and 4.
ASCII: RXPDOxB
RX-PDO x Mapping Settings, where x is a number between 1 and 4.
ASCII: SCAN
Detect CAN Stations
ASCII: SYNCSRC
Source for Fieldbus Synchronization
ASCII: TXPDOxA
TX-PDOx Mapping - Setup, where x is a number between 1 and 4.
ASCII: TXPDOxB
TX-PDOx Mapping - Setup, where x is a number between 1 and 4.
Lexium 15 LP Servo Drives Programming manual
263
Field Buses
Fieldbus Availability
At a Glance
Fieldbus screen pages are available by connecting an extension card on Lexium 15 LP.
Fieldbus
Extension Card
Profibus DP
VW3 M3 301
FIPIO
AM0FIP001V000
Modbus
AM0MBP001V000
Sercos
AM0SER001V000
Please contact our technical department for relevant Fieldbus instructions.
264
Lexium 15 LP Servo Drives Programming manual
Troubleshooting
6
Troubleshooting
At a Glance
This chapter describes how to troubleshoot Unilink commissioning software.
What's in this
Chapter?
This chapter contains the following sections:
Section
Topic
Page
6.1
Troubleshooting
266
6.2
Error and alert messages
267
Lexium 15 LP Servo Drives Programming manual
265
Troubleshooting
6.1
Troubleshooting
Troubleshooting
At a Glance
The following table should be understood as a "First-aid" box. There may be a wide
variety of causes of any fault that occurs, depending on the conditions in your
system. In multi-axis systems there may be several causes of a fault. Our
applications department can give you further assistance with problems.
Fault
Possible causes
Measures to remove the cause of the fault
Fault message
Communication fault
- Amplifier disabled
- Cable plugged into wrong socket of the
servo amplifier or PC
- Wrong PC interface selected
- Use a null-modem cable
- Plug the cable into the correct socket of the
servo amplifier or PC
- Select the correct interface
Motor doesn't rotate
- Amplifier disabled
- Analog setpoint inoperable
- Apply enable signal
- Check PLC-program and cable
- Correct motor phase sequence
- Check cable and inverse diode
- Check drive
- Correct setting
- Motor phases swapped
- Brake not released
- Drive is mechanically blocked
- Motor pole number set incorrectly
- Correct feedback setting
- Feedback set up incorrectly
- Correct current limitation
- Current limit activated (analog or digital I/O)
Motor oscillates
- Gain KP too high
- Reduce KP (speed contr.)
- Interference in feedback system
- Replace the feedback cable
- Analog-GND (ACOM) is not connected with - Connect ACOM with setpoint source
the analog setpoint source
Motor runs sluggish
- Integral time Tn too high
- Gain KP too low
- PID-T2 too high
- Reduce Tn (speed contr.)
- Increase KP (speed contr.)
- Reduce PID-T2
Motor runs roughly
- Integral time Tn too low
- Gain KP too high
- PID-T2 too low
- Increase Tn (speed contr.)
- Reduce KP (speed contr.)
- Increase PID-T2
266
Lexium 15 LP Servo Drives Programming manual
Troubleshooting
6.2
Error and alert messages
General overview of the "Error and alert messages"
At a Glance
Explanations and designations of the various alert and error messages.
What's in this
Section?
This section contains the following topics:
Topic
Page
Error Messages
268
Alert messages
270
Lexium 15 LP Servo Drives Programming manual
267
Troubleshooting
Error Messages
At a Glance
268
Errors that occur are displayed as a coded error number in the LED-display on the
front panel, and in the "Status" screen page. All error messages result in the R1A/
R1C contact being opened and the output stage of the amplifier being switched off
(the motor loses all torque). The motor-holding brake is activated. Errors that are
recognized by the mains supply monitoring are only reported after the servo
amplifier has been enabled.
Number
Designation
Explanation
F01*
Heat sink temperature
The heat sink temperature is too high; the limit is
set by the manufacturer to 80°C.
F02*
Overvoltage
Overvoltage in the DC-link circuit; the limit depends
on the mains supply voltage.
F03*
Following error
Message from the position controller
F04
Feedback
Cable break, short-circuit, short to ground
F05*
Undervoltage
Undervoltage in DC-link; the limit is set by the
manufacturer to 100V
F06
Motor temperature
Temperature sensor faulty or motor temperature
too high; the limit is set by the manufacturer to
145°C.
F07
Auxiliary voltage
Internal auxiliary voltage not OK
F08*
Overspeed
Motor running away; the speed is higher than
permitted.
F09
EEPROM
Checksum error
F10
Flash-EPROM
Checksum error
F11
Brake
Cable break, short-circuit, short to ground
F12
Motor phase
Motor phase missing (cable break or similar)
F13*
Internal temperature
Internal temperature too high
F14
Output stage
Analysis needed in the power output stage
F15
I2t max.
I2t max. value exceeded
F16*
Mains R1A/R1C
2 or 3 supply phases missing
F17
A/D converter
Error in the analog-digital conversion
F18
Regen
Regen circuit requires analysis or incorrect setting
F19*
Main phase
A main supply phase is missing (can be switched
off for 2-phase operation).
F20
Slot error
Hardware error on the expansion card
Lexium 15 LP Servo Drives Programming manual
Troubleshooting
Number
Designation
Explanation
F21
Handling error
Software error on the expansion card
F22
Short circuit to earth
40/70 amps types only: short circuit to earth
F23
CAN bus off
CAN bus total communication error
F24
Alert
Error alert display
F25
Commutation error
Commutation error
F26
Limit switch
Homing error (limit-switch reached)
F27
AS-Option
Operating error for AS-option
F28
Reserved
Reserved
F29
SERCOS
SERCOS error
F30
Emerg. Stop Timeout
Emergency-stop time exceeded
F31
Wrong Firmware-version
Wrong version of Firmware
F32
System error
The software does not respond correctly.
* These error messages can be cancelled by the ASCII command CLRFAULT,
without making a reset. If only these errors are present, and the RESET button or
the I/O-function RESET is used, the CLRFAULT command is also all that is carried
out.
Lexium 15 LP Servo Drives Programming manual
269
Troubleshooting
Alert messages
At a Glance
Faults that occur, but do not cause a switch-off of the output stage of the amplifier
(R1A/R1C contact remains closed), are displayed as a coded number in the LEDdisplay on the front panel. They are also shown in the screen page "STATUS". Alerts
that are recognized by the supply monitoring are only reported after the servo
amplifier has been enabled.
Number
Designation
Explanation
n01
I
n02
Regen power
Preset regen power reached
n03*
S_fault
Exceeded preset following error window
2t
Threshold I2t exceeded
n04*
Node guarding
Response monitoring (fieldbus) is active
n05
Mains phase missing
Supply phase missing
n06*
Sw limit- switch 1
Passed software limit-switch 1
n07*
Sw limit- switch 2
Passed software limit-switch 2
n08
Motion task error
An incorrect motion task was started.
n09
No reference point
No reference point set at start of task
n10*
PSTOP
PSTOP limit-switch activated
n11*
NSTOP
NSTOP limit-switch activated
n12
Default values
only HIPERFACE®: Motor default values were
loaded.
n13*
Expansion card
Expansion card not functioning correctly.
n14
SinCos
SinCos communication is not determined.
n15-n31
Reserved
Reserved
n32
Firmware beta version
The firmware is a beta version.
* These alert messages lead to a controlled shut-down of the drive (braking with the
emergency ramp).
270
Lexium 15 LP Servo Drives Programming manual
B
AC
Index
A
Abs(I), 176
Abs(I)> x, 176
Abs(v_act), 175
Abs(v_act)> x, 175
Acc. Ramp, 119
Acceleration, 89
Acceleration ramp, 212
Actual errors, 200
Actual Velocity, 205
Actual warnings, 200
Address, 260
Alert messages, 270
Analog inputs, 156
Angle of Rotation, 204
ASCII Command
INxPM, 177
MAXTEMPE, 181
MAXTEMPH, 181
MAXTEMPM, 181
TEMPE, 181
TEMPH, 181
TEMPM, 180
Lexium 15 LP Servo Drives Programming manual
ASCII command
ACC, 119
ACCR, 212
ACCUNIT, 89
ACTFAULT, 201
ADDR, 260
AENA, 85
ALIAS, 85
ANCNFG, 149
ANDB, 156
ANOFFx, 154
ANZEROx, 155
ARHPD, 250
ARHPF, 122, 251, 252
ARHPFV, 246
ARLPD, 250
ARLPF, 122, 250
ARLPFV, 246
AVZI, 155
CBAUD, 261
CLRFAULT, 200
CUPDATE, 261
DEC, 119
DECDIS, 121
DECR, 212
DECSTOP, 120
DI2T, 202
DIR, 100, 138
DREF, 211
DRVCNFG, 261
EGEARI, 125, 139
EGEARO, 125, 139
269
Index
ENCLINES, 125, 139
ENCMODE, 143
ENCOUT, 144
ENCZERO, 144
ERRCODE, 200
EXTPOS, 124
EXTWD, 261
FB_LTF, 261
FB_TGUARD, 261
FBTYPE, 93, 96, 114
FLTCNT, 199
FLTHIST, 199
GEARFILT, 140
GEARMODE, 137
GP, 123, 245, 246
GPFFT, 247
GPFFV, 124, 246
GV, 121
GVFR, 121
GVTN, 122, 245
HICOFFS, 98
HIFACT1, 99
HISOFFS, 98
HVER, 84
I, 203
I2TLIM, 116
ID, 203
INxHCMD, 187
INxLCMD, 188
INxMODE, 159
INxTRIG, 159, 189
IPEAKP, 30, 115
IQ, 203
ISCALEx, 155
J, 196
KTN, 116
M, 104
MAXSDO, 261
MAXTEMPM, 113
MBRAKE, 94, 106, 113
MDBLIST, 105
MH, 208
MI2T, 203
MICONT, 104, 110
MIPEAK, 104, 111
MJ, 112
270
MJOG, 194
MKT, 111
ML, 112
MLGQ, 116
MNAME, 110
MNUMBER, 99
MPHASE, 97
MPOLES, 99, 104, 111
MRESBW, 100, 247
MRS, 105, 112
MSPEED, 105, 111
MTIME, 105
MTYPE, 103, 110
NREF, 209
OBJCO, 261
OPMODE, 185
OxMODE, 173
OxTRIG, 173
P1...P16, 135
PBAL, 204
PBALMAX, 82
PBALRES, 81
PE, 205
PEINPOS, 128
PEMAX, 127
PFB, 134, 196, 205
PGEARI, 90
PGEARO, 90
PMODE, 84
POSCNFG, 127
PRBASE, 90
PRD, 101, 204
PTMIN, 127
PUNIT, 87
PVMAXN, 128
PVMAXP, 128
REFIPP, 116
ROFFS, 212
RXPDO xB, 261
RXPDOxA, 261
SCAN, 261
SERCERR, 128, 129
SERIALNO, 85
SSIGRAY, 146
SSIREVOL, 145
SSIRXD, 145
Lexium 15 LP Servo Drives Programming manual
Index
SSITOUT, 145
STATCODE, 200
STOP, 208, 231
SWCNFG, 129
SWEx, 129
SYNCSRC, 261
TEMPE, 204
TEMPH, 204
TEMPM, 204
TRUN, 85, 199
TXPDOxA, 261
TXPDOxB, 261
V, 205
VBUS, 203
VBUSBAL, 83, 114
VCMD, 205
VEL0, 120
VER, 85
VJOG, 194, 196, 197
VLIMN, 118
VLIMP, 118
VLO, 101, 247
VOSPD, 118
VREF, 211
VSCALEx, 155
VUNIT, 88
WPOS, 134
WPOSE, 134
WPOSP, 135
WPOSX, 134
Auto-Offset, setpoint, 155
Auto-scale, 241
Axis Commissioning Checklist Procedures,
58
Axis Type, 127
B
Bandwidth, 100, 247
Baud Rate, 261
Bus Voltage, 203
C
Cancel
Saving, 239, 240
Lexium 15 LP Servo Drives Programming manual
Channel, 241
Clear Errors
Switch, 200, 201
Command buffer, 170
Command, Terminal, 255
Communication, 21, 25
Count direction, 100, 138
Current D Component, 203
Current Q Component, 203
D
DC-Link, 178
DC-Link> x, 178
Dead Band, 156
Dec. Ramp, 119
Deceleration (braking) ramp, 212
Delay time, 234
Digital inputs, 159
Digital outputs, 173
Direction of movement, 211
Drive, 25
Drive I2t Load, 202
DRVSTAT
Configure, 191
E
Edit
Motion task, 231
Effective Current, 203
Emergency Ramp, 120
Disable, 121
Enable
Message, 178
Encoder emulation, 143
Entry of service parameters, 237
Error messages, 268
Error/Alert, 177
External Watchdog, 261
F
Fault Frequency, 199
Fault History, 199
271
Index
Feedback type, 93, 96, 114
FError_clear, 167
Ff Factor, 124, 246, 247
Fieldbus Availability, 262
Firmware, 85
Following Error, 205
G
Gearing mode, 137
H
Heat Sink Temperature, 204
Homing, 209
Homing 1, 215
Homing 2, 219
Homing 3, 221
Homing 4, 223
Homing 5, 225
Homing 7, 226, 227
HP-Freq, 122
I
In Position, 176
In Position Window
, 128
Integral Time, 116
Internal Enable, 179
Internal Temperature, 204
Intg.Off, 166
Ipeak2 x, 167
It
Message, 177
Threshold, 116
J
J
Jog mode, 196
Jog mode, 194
272
K
Kp_i, 116
Kp_p, 123
KP_v, 121
KV_p, 245
L
LOGICAL AND, 179, 180
LOGICAL NAND, 182
LOGICAL NOR, 182
LOGICAL OR, 179, 180
LP-Freq, 122
M
Mains, 175
max. Following Error, 127
Max. Mains Voltage, 83, 114
Menu bar, 25, 27
modulo end pos., 129
modulo start pos., 128
Motion Blending, 235
Motion task, number, 230
Motor I2t Load, 203
Motor Thermistor Resistance, 204
MT_No_Bit, 165
MT_Restart, 168
N
Name, 85
Next motion task, 233
Next number, 234
Number of the motion task, 230
O
Offset
Auto, 155
Encoder, 97
Resolver, 97
Setpoint, 154
Zero pulse, ROD, 144
OPMODE, 185
Lexium 15 LP Servo Drives Programming manual
Index
OPMODE A/B, 168
Oscilloscope
Channels, 241, 243
Motion Service, 244
Triggers, 242
Tuning, 245
Oscilloscope resolution, 241
Overspeed, 118
P
Peak current
Homing Ipeak, 116
Ipeak (neg.), 115
Ipeak (pos.), 115
PFB
Jog mode, 196
Phase missing, 84
PI-PLUS, 121
PORSTAT
Configure, 192
Pos latch, 169
Pos. > x, 176
Position, 87, 205
Position registers, 134
Presentation of the product, 12
Proportional Gain, 121, 123, 245
Proportional gain, 116
R
Reference Offset, 212
Reference, digital input, 166
Regen off, 175
Regen Power, 204
Configuration, 82
Regen Resistor, 81
Reset
Input, 164
Resolution, 90, 144
Resolver
Offset, 97, 98, 99
ROD
NI-Offset, 144
ROD/SSI, 167
Lexium 15 LP Servo Drives Programming manual
Rotation
Angle, 101
Run time, 85
Run time, drive status, 199
S
Save, 243
Saving, 243
Scaling, setpoints, 155
Screen layout, 24
Screen page
Analog I/O, 148
Current Loop, 115
Digital I/O, 157
Encoder, 143
Entry of service parameters, 237
Gearing, 136
Homing, 207
Motion Task, 229
Motor, 103
Motor/Feedback, 93, 96, 114
Oscilloscope, 239, 241, 242, 243, 244,
245
Position (PI), 123
Position Data, 126
Terminal, 254
Velocity, 117
Screen page, I/O expansion, 256
Serial number, 85
Service functions
Direct current, 244
Reversing, 244
Speed, 244
Start, 244
Stop, 244
Torque, 244
Setp.-Functions, 149
Setup Wizard, 36
Software limit-switches, 129
Position register, 132
Software-Enable, 85
SpeedLimit
neg, 118
pos, 118
273
Index
SSI, 145
SSI-Code, 146
Timeout, 145
Start
Jog mode, 194
Motion task, 230
Saving, 239
Service function, 244
Start by I/O edge, 234
Start condition, 234
Start_Jog v=x, 168
Start_MT I/O, 167
Start_MT Next, 167
Start_MT No x, 167
Start_No x, 168
Status bar, 28
Stop
Homing, 208
Motion task, 231
Service function, 244
Sw_limit, 175
U
U_Mon. off, 168
V
v
Jog mode, 194, 196, 197
v_cmd Source, 233
v_max, 128
Velocity, 88
Velocity Command, 205
W
Z
Zero Pulse, 178
T
T Setp., 155
t_acc/dec_min, 127
Table
Motion task, 231
Time/Div, 241
Timeout value, 234
Title bar, 24
Tn_i, 116
Tn_v
Speed contr., 122
Toolbar, 27
Trigger
Trigger level, 242
Trigger position., 242
Trigger signal.., 242
TRJSTAT
Configure, 190
Troubleshooting, 264
Type, 233
274
Lexium 15 LP Servo Drives Programming manual
LXM15 LP programming manual
30072-452-56
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