Jetter JetMove 600 Servo Amplifier Setup Software

Setup-Software DRIVE.EXE

for

JetMove 600

Description of parameters and functions

Edition 07/03

Previously published editions :

Edition

09/01

07/03

Notes

First edition

Bode plot description, position output, external trajectory, oscilloscope, various minor corrections, new motion task types, Graphical Motion Tasking added, valid from software version 5.00

PC-AT is a registered trademark of International Business Machines Corp.

MS-DOS is a registered trademark of Microsoft Corp.

WINDOWS is a registered trademark of Microsoft Corp.

HIPERFACE is a registered trademark of Max Stegmann GmbH

EnDat is a registered trademark of Dr.Johannes Heidenhain GmbH

T e c h n i c a l c h a n g e s w h i c h i m p r o ve t h e p e r f o r m a n c e o f t h e e q u i p m e n t m a y b e m a d e w i t h o u t p r i o r n o t i c e !

P r i n t e d in t h e F e d e r a l R e p u b l i c o f G e r m a n y 0 7 / 0 3

A l l r i g h t s r e s e r v e d . N o p a r t o f t h i s w o r k m a y b e r e p r o d u c e d i n a n y f o r m ( b y p r i n t i n g , p h o t o c o p yi n g , m i c r o f i l m o r a n y o t h e r m e t h o d ) o r s t o r e d , p r o c e s s e d , c o p i e d o r d i s t r i b u t e d b y e l e c t r o n i c m e a n s w i t h o u t t h e w r i t t e n p e r m i s s i o n o f J e t t e r A G .

Jetter AG 07/03 Contents

Contents

1

2

3

1.1

1.2

1.3

1.4

3.1

3.2

3.3

3.4

General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Symbols used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Prescribed use ("Use as directed") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Abbreviations used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Product Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Servo System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Feedback Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

The Motion Profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Limits and Ranges of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Acceleration and Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4

4.1

4.2

4.3

4.4

4.5

4.6

4.7

Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Operating systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Software description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

RS232 interface, PC connection (X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Installation under WINDOWS 95(c) / 98 / 2000 / ME / XP / NT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

5

5.1

5.2

5.3

5.4

5.5

5.6

5.7

5.8

Function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Axis Commissioning Checklist Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Parameterization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Switch on auxiliary supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Basic setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Optimization of the control loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

6

7

8

9

Optimizing the current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Optimizing the speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Optimizing the position controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Screen layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Screen page "Communication" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Screen page "Amplifier" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Slot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

10

11

12

13

14

15

Screen page "Basic Setup". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Screen page "Motor" synchronous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Screen page "Motor" asynchronous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Screen page "Feedback" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Screen page "Encoder". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Screen page "Analog I/O" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

15.1

Analog Inputs AN IN1 / AN IN 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

16

15.2

Analog Outputs AN OUT1 / AN OUT2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Screen page "Digital I/O" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

16.1

Digital inputs DIGITAL-IN1 / DIGITAL-IN2 / PSTOP / NSTOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

17

18

19

20

16.1.1 Description of the digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

16.2

Digital outputs DIGITAL-OUT1 / DIGITAL-OUT2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

16.2.1 Description of the digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Screen page "Current" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Screen page "Speed". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Screen page "Position" (PI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Screen page "Position" (P) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Setup Software 3

Contents 07/03 Jetter AG

Contents

21 Screen page "Homing" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

21.1

Homing 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

21.2

Homing 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

21.3

Homing 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

21.4

Homing 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

22

23

21.5

Homing 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

21.6

Homing 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

21.7

Jog mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Screen page "Position Data" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Screen page "Motion task parameters" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

23.1

Type Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

23.2

Type Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

23.3

Type Comparison tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

23.4

Type Modify parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

23.5

Type Initialize loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

30

31

32

33

34

35

36

27

28

29

24

25

26

23.6

Type Decrement counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

23.7

Type Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

23.8

Type Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

23.9

Type go to Home / Index / Registration + Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Screen page "Gearing" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Screen page "Drive status" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Screen page "Actual values" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Screen page "Oscilloscope" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Screen page "Input Service Parameters" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Screen page "Bode Plot" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Screen page "Terminal" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Screen page "PROFIBUS" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Screen Page "PROFIBUS instrument control" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Screen Page "SERCOS" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Screen Page "SERCOS SERVICE" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Screen page "I/O expansion". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Error and warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

37

38

39

40

36.1

Error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

36.2

Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Trouble-Shooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

4 Setup Software

Jetter AG

1

1.1

1.2

07/03 General Information

General Information

This help system explains the installation and operation of the setup software DRIVE.EXE for digital servo amplifiers.

Contents

General

Product overview

Servo System Overview

Related Documents

Dialog screen layout

Getting started

Axis commissioning checklist procedures

Error messages and warnings

Trouble-Shooting

Motor numbers

Glossar

Screen pages

Communication

Amplifier

Slot

Basic Setup

Synchronous motor

Asynchronous motor

Feedback

Encoder Emulation

Digital I/O

Analog I/O

Current

Speed

Oszilloscope

Input Service Parameters

Bode Plot

Position controller (PI)

Position controller (P)

Position Data

Homing

Motion Tasks Parameters

Gearing

Drive Status

Actual values

Terminal

PROFIBUS

PROFIBUS instrument control

SERCOS

SERCOS Service

I/O-Extension

Symbols used

danger to personnel from electricity and its effects general warning general instructions mechanical hazard



1.3

07/03 Jetter AG

Prescribed use ("Use as directed")

Setup Software

The setup software is intended to be used for altering or storing the operational parameters for the digital servo amplifiers. The servo amplifier that is connected is commissioned with the aid of the software - whereby the drive can be directly controlled by the setup and service functions.

The characteristic nature of a PC mean that these functions are not functionally safe without further measures.

A PC-program might be unexpectedly disturbed or stopped, so that in the event of a malfunction any movements that have already been initiated cannot be stopped from the PC.

The manufacturer of the machine must carry out a hazard analysis for the machine, and is responsible for the functional, mechanical and personnel safety aspects of the machine. This applies especially to the initiation of movements with the aid of functions in the commissioning software.

Only personnel who have extensive knowledge in the fields of drive technology and control technology are permitted to carry out online parameter setting of a drive that is running.

Sets of data that are stored on data media are not safe from undesirable alteration by third parties. So after you have loaded a set of data, you must check all the parameters before enabling the servo amplifier.

Servo amplifier

The BTB/RTO contact must be wired into the safety loop of the system. The safety loop, and the Stop and

Emergency Stop functions must fulfill the requirements of EN60204, EN292 and VDI 2853.

The servo amplifiers are components which are built into electrical equipment or machines, and can only be commissioned as integral components of such equipment.

The servo amplifier is to be used only on earthed three-phase industrial mains supply networks (TN-system,

TT-system with earthed neutral point). The servo amplifiers must not be operated directly on power supply networks >230V without an earth (ground) or with an asymmetrical earth (ground).

Connection to different mains supply networks is only admitted with an additional isolating transformer

(see installation manual page 14).

Periodic overvoltages between outer conductor (L1, L2, L3) and housing of the servo amplifier may not exceed

1000V (peak value). Transient overvoltages (< 50µs) between the outer conductors may not exceed 1000V.

Transient overvoltages (< 50µs) between outer conductors and housing may not exceed 2000V.

If the servo amplifiers are used in residential areas, or in business or commercial premises, then additional filter measures must be implemented by the user.

The servo amplifier is only intended to drive specific brushless synchronous servomotors, with closed-loop control of torque, speed and/or position. The rated voltage of the motors must be at least as high as the DC-link voltage of the servo amplifier.

The servo amplifiers may only be operated in a closed switchgear cabinet, taking into account the ambient conditions defined in the installation manual.

Option -AS-, restart lock for personnel safety

The -AS- restart lock is exclusively intended to provide safety for personnel, by preventing the restart of a system. To achieve this personnel safety, the wiring of the safety circuits must meet the safety requirements of

EN60204, EN292 and EN954-1

The -AS- restart lock must only be activated,

— when the motor is no longer rotating (setpoint = 0V, speed = 0rpm, enable = 0V).

Drives with a suspended load must have an additional safe mechanical blocking

(e.g. by a motor-holding brake).

— when the monitoring contacts (KSO1/2 and BTB/RTO) for all servo amplifiers are wired into the control signal loop (to recognize a cable break).

The -AS- restart lock may only be controlled by a CNC if the control of the internal safety relay is arranged for redundant monitoring.

The -AS- restart lock must not be used if the drive is to be made inactive for the following reasons:

1.

cleaning, maintenance and repair operations

long inoperative periods

In such cases, the entire system should be disconnected from the supply by the personnel, and secured (main switch).

2.

emergency-stop situations

In an emergency-stop situation, the main contactor is switched off

(by the emergency-stop button or the BTB-contact in the safety circuit).


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07/03

Abbreviations used

The abbreviations used are explained in the table below.

EN

IEC

ISO

LED

MB

MS-DOS

NI

NSTOP

PC

PGND

PLC

PSTOP

RAM

RBallast

RBext

RBint

RES

ROD

SRAM

SSI

UL

V AC

V DC

VDE

XGND

Abbrev.

AGND

Meaning

Analog ground

AS Restart Lock, option

BTB/RTO Ready to operate

CAN

CE

CLK

COM

Fieldbus (CANopen)

Communité Europeenne (EC)

Clock

Serial interface for a PC

DGND

DIN

Digital ground

Deutsches Institut für Normung

Disk Magnetic storage (diskette, hard disk)

EEPROM Electrically erasable/programmable memory

EMV Electromagnetic compatibility

European standard

International Electrotechnical Commission

International Standardization Organization

Light-emitting diode

Megabyte

Operating system for a PC

Zero pulse/mark

Limit-switch input for CCW rotation

Personal Computer

Ground for the interface

Programmable logic controller

Limit-switch input for CW rotation

Volatile memory

Regen resistor

External regen resistor

Internal regen resistor

Resolver

Incremental encoder output

Static RAM

Synchronous serial interface

Underwriter Laboratory

Alternating (AC) voltage

DC voltage

Verein deutscher Elektrotechniker

Ground for the 24V supply



Product Overview

2

07/03 Jetter AG

Product Overview

What is DRIVE.EXE?

DRIVE.EXE is an axis commissioning tool for both single-axis and multi-axis motion control applications. With its graphical user interface and Windows dialogues, DRIVE.EXE provides an easy point-and-click method for configuring servo amplifiers

Single-Axis Motion Control

In a single axis system, DRIVE.EXE runs on a programming unit (PC) connected to one servo drive. The communication is established via the RS232 interface.

Multi-Axis Motion Control

In a multi axis system, DRIVE.EXE runs on a programming unit (PC) connected to one servo drive. The communication with the first servo drive is established via the RS232 interface. The other servo drives are connected to the first servo drive by a special cable (Y-adapter) at the built in CAN-bus. Thereby you can communicate with several servo drives without changing connections.

Tuning Your Axis with DRIVE.EXE

During the configuration process, DRIVE.EXE allows you to tune (stabilize) the servo motor for each axis quickly and efficiently. From DRIVE.EXE, 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 DRIVE.EXE oscilloscope to adjust and readjust these values until the motor reaches its best performance - optimum speed without oscillation. The changes made to the servo parameter values may be saved to the servoamplifier or to a file.

DRIVE.EXE dialogues step you through the complete startup phase of your programming projects. All parameters in the servo drive can be saved to a separate file for each axis. Each drive file is a unique custom configu ration 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.


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07/03 Servo System Overview

Servo System Overview

This topic provides a quick lesson in servo system - an overview of what it is and how it works.

What is a Servo System?

A servo system essentially comprises an intelligent servo drive and a servo motor that operates with a PLC or

CNC to perform complex, specialized moves in one or more directions, or axes. These complex and specialized moves, which are needed in the automation of industrial tasks, are collectively known as motion control.

Servo systems are applied in many different field for automation - in the motor industry, the petrol industry, the textile industry, in packaging systems, warehousing systems and so on.

Closed Loop Servo Systems

In a servo system, feedback information - motor position and motor velocity is sent from the feedback unit of the motor back to the servo amplifier. The servo amplifier analyses the feedback, makes adjustments as needed, and generates new currents to bring the motor to the commanded velocity. This cycle constantly repeats itself in a closed loop. A closed loop that controls the position of the shaft or load is called a position loop. A closed loop that keeps the velocity of the motor on the commanded value is called a velocity loop.

Servo System Components

A servo system consists of:

Servo motor

Load

Feedback device

Servoamplifier

(servo drives)

A servo motor moves machinery in a single axis of motion.

Electrical motors are driven by magnetic fields. Motors have a stationary field generated by the magnets of the motor and a rotating or movable field called stator winding or armature. They operate on the principles of synchronous motors. All rotary motors have some type of bearing that supports the rotor at each end.

Every motor has at least two magnetic motor poles, normally four or six. The servo amplifier generates the current in the stator so that a controllable torque is available at the shaft.

The servo motors turn (travel) in two directions - positive and negative. Two forms of angular measurement are commonly used in motion control - degree measurement and radian measurement, where 360 degrees constitute one revolution or 2 p radians.

The servo amplifier operates with standard synchronous servo motors as well as with direct drive motors (rotary or linear). For more information about these motors see the motor manuals.

Motor Stabilizing

Stabilizing (tuning) the motor is a fundamental task in achieving best system performance.

To stabilize a motor, you must set up initial values for and adjust several motion parameters using DRIVE.EXE. These parameter settings compensate for the difference between the actual motion and the commanded motion - getting the actual as close to the commanded as possible, with minimal oscillation and noise. This difference is called following error.

The load is the machinery and equipment that each motor drives. It is everything connected to the output shaft of a motor, including the shaft itself. A motor must be appropriately sized to its load to ensure the motor is powerful enough to carry out your automation tasks. A servo system delivers and converts motion to a load via one or more of the following mechanical techniques:

Direct drive motor connected to a rotating table

Screw drive motor connected to a lead screw carrying a slide (moving table)

Rack and pinion motor connected to a cogwheel that moves a rack

Belt and pulleys motor connected to rollers that move conveyor belts or chains and sprockets

Every closed-loop servo system needs at least one device to return feedback information from each motor (or load) to servo drive. Depending on the feedback device, feedback is transmitted back to the servo drive in the form of digital signals or analog signals. Two types of feedback devices are supported:

Encoder - returns analog or digital signals (optical)

Resolver - returns analog signals (magnetical)

The servo drives comprise a three-phase, power supply, and high-performance control unit all housed in a single enclosure. The several control loops are realize totally digital in the micro controller.


Servo System Overview

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3.2

07/03 Jetter AG

Feedback Device

Servo motors are available with these feedback units: l

RESOLVER l

ENDAT

® compatible Heidenhain encoder l

HIPERFACE

® compatible Stegmann encoder

In a closed-loop feedback system, the innermost loop is the commutation loop, which monitors the motor's rotor and ensures that it keeps spinning. Outer loops are: Position loop, Velocity loop and Current loop

Velocity information and the velocity loop are derived from (are computed based on) position information.

The current loop is also known as a torque loop, since amplitude of the electrical current is directly proportional to torque. Torque is force applied in an axis of rotation.

Resolvers

The servo amplifier can use single (two poles) or multi-speed (multiple poles) resolver feedback to calculate primary position, velocity, and commutation information. A resolver can be thought of as a transformer whose output is unique for any given shaft position (an absolute position feedback). The transformer is driven with a sinewave reference signal. Two AC signals are returned from the resolver into the Sine and Cosine inputs. All three of these sinewave signals are low-level and susceptible to noise.

Encoders

Encoders direct pulses of light, from a light source at the motor or load, to photo detectors through an encoded disk. These light pulses are then converted into digital feedback information. There are two general types of encoders - rotary and linear. Rotary (rotating disk) encoders are typically mounted to the motor shaft. Linear encoders are typically mounted to the load.

The Motion Profile

Overview

Motion operations are universally embodied in a graph called the motion profile. Understanding and using motion profiles to define your motion application is an important part of achieving best system performance.

The motion profile plots one or more motion operations and measures it against time.

Commanded motion the motion that is supposed to happen ideally and precisely, without error, when the motor executes a velocity or position command

Actual motion the motion that really happens in the motor, when a velocity or position command is executed

Closing the Gap between Setpoint and Actual

Best system performance is achieved when you can stabilize or "dampen" the difference or "close the gap" between the commanded motion and the actual motion. This difference is called following error. Stabilizing the servo system means setting the relevant parameters in the servo amplifier, to get as close to the commanded position as possible.

Basic Motion Profile Characteristics

Commanded and actual motion profile shapes have the following characteristics that are also universal to all motion operations:

Profile Characteristic

Moving

In Position

Meaning

Moving refers to the execution of a motion instruction that makes the motor move. A motion profile's moving portion represents most of the profile - the motion itself. The motor is considered moving for as long as the motion controller is commanding new positions. The point at which motion stops is known as the target position.

When a motion command stops executing, and the motor slows to within a few counts of its target position, the motor is considered to be stopped, or "In

Position." A range of positions, typically plotted in a motion profile, represents in position. That is, In Position is signaled when the motor gets close enough to the target position -- within its In-Position range that you have specified, via its parameter. An In-Position signal is often used to make sure the motor stops before the machinery continues its operation.


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07/03 Servo System Overview

Limits and Ranges of Operation

Overview

Another important task in achieving best system performance is setting certain motion limits and ranges of operation to protect equipment from damage and to optimize operational efficiency.

Two Types of Settings

There are two types of settings for motion limits and ranges of operation: l Fault limits l

Tolerance bands

Type of Setting

Fault limit

Tolerance band

Meaning

Fault limits are settings that signal errors when certain limits on motor movement, such as speed and position, as well as electrical current, are exceeded. Fault limits are designed to protect equipment from damage and can cause the drive and motor to shut down.

For example, every motion control system has hardware limit switches, which are used in the position loop to set a limit on how far the actual motor position can deviate from the commanded position before a fault is signaled. You may also program software limits via

DRIVE.EXE parameters. The difference, or gap, between commanded position and actual position is known as following error. Such a limit protects against motor runaway and stalling.

Tolerance bands are set and specify the safe, efficient physical ranges for the equipment.

Some of these tolerance bands do the following:

— In the current loop, set a limit on the amount of electrical current to the drive and motor. This protects the motor from damage that would be caused by excessive

— current.

In the position loop, place a limit on how far the motor can travel in a positive or negative direction.

— Set a range of positions that are considered to be In Position. That is, this range specifies how far the motor can deviate from its commanded position and still be considered in the correct position.

Acceleration and Deceleration

Overview

If the servo amplifier is operated with motion tasks under position control, different acceleration/deceleration profiles can be chosen. It depends on the mechanical structure of the machine and the required dynamical quality, which profile should be chosen. If the machine tends to sway (e.g. robot arm), sine² would be the best choice. Here the torque is altered linear and the velocity characteristic becomes square. This reduces the excitation to sway. Disadvantage of this profile is the double up of the acceleration/deceleration time.

If the machine is mechanically stiff and there are high requirements in dynamics, the linear profile should be chosen. This leads to a torque step at the beginning and the end of each acceleration/deceleration ramp.

Two Types of Acceleration and Deceleration

The following table describes the two fundamental acceleration and deceleration types, linear and square.

A motion profile may accommodate a combination of these two types.

Accel / Decel Type

Linear sine²

Description

Linear is a rate of acceleration and deceleration that theoretically represents a steady speed-up and slow-down.

To limit any jolting, the drive is accelerated/decelerated within the acceleration time along an acceleration ramp without any discontinuities. The resulting speed characteristic corresponds to a sine² curve.


Getting Started

4

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4.2

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07/03 Jetter AG

Getting Started

Operating systems

WINDOWS 95(c) / WINDOWS 98 / WINDOWS 2000 / WINDOWS ME / WINDOWS XP / WINDOWS NT

DRIVE.EXE runs under WINDOWS 95(c) / 98 / ME / XP / 2000 or WINDOWS NT 4.0 (service release 3 or higher). The HTML Help system is not available under WINDOWS 95a and 95b without further updates. In this case, an update is required for Internet Explorer to Version 4.01 (Service Pack 1) or higher.

DOS, OS2, WINDOWS 3.xx, Unix, Linux

DRIVE.EXE will not run under DOS, OS2, Windows 3.xx, Unix or Linux.

Emergency operation is possible with an ASCII terminal-emulation (no user interface).

Interface-settings: 9600 baud, 8 bit, 1 stop bit, no parity, no handshake

Software description

The servo amplifiers must be adapted to the conditions in your machine. In most cases you won’t carry out the parameterization on the amplifier itself, but on a PC, with the aid of the setup software. The PC is connected to the servo amplifier by a null-modem cable (serial). The setup software establishes the communication between the PC and the servo amplifier.

With very little effort, you can alter parameters and instantly see the effect on the drive, since there is a continuous (online) connection to the amplifier. Important process values / actual values are simultaneously read out from the amplifier and displayed on the monitor of the PC (oscilloscope functions).

Any interface modules (expansion cards) that are built into the servo amplifier will be recognized automatically.

You can store sets of data on a data medium (archiving) and load them again. The data set that is in use at the moment can be printed out.

We provide you with default sets of motor-specific data for reasonable combinations of servo amplifier + motor.

In most applications you will be able to commission your drive without any problems, just by using these default values.

Hardware requirements

The PC interface (X6, RS232) of the servo amplifier is connected to the serial interface of the PC via a null-modem cable (not a null-modem link cable).

Disconnect and connect the cable only while all the supply voltages are switched off

(amplifier and PC).

The interface in the servo amplifier is electrically isolated by optocouplers, and is at the same potential as the

CANopen interface.

Minimum specification for the PC:

Processor

Operating system

Graphics card

Drives

Main memory

Interface

80486 or higher

WINDOWS 95(c) / 98 / ME / 2000 / XP / NT4.x

Windows-compatible, color

Hard disk (5 MB free space)

CD-ROM drive

8MB minimum one free serial interface (COM1:, COM2:, COM3: or COM4:)

This interface must not be used by any other software (driver or similar).


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4.4

07/03 Getting Started

RS232 interface, PC connection (X6)

You can carry out the setting up of the parameters for operating, position control, and motion-blocks, by using the setup software on an ordinary personal computer (PC).

Connect the PC interface (X6) of the servo amplifier to the serial interface of the PC via a 3-core null-modem cable (do not use a null-modem link cable). Do this only while the supply voltages are switched off.

The interface is electrically isolated by optocouplers, and is at the same potential as the CANopen interface.

The interface is selected in the setup software.

Interface cable between the PC and the servo amplifier

(View: looking at the built-in SubD connector, i.e. the solder side of the SubD plug on the cable)


Getting Started

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Installation under WINDOWS 95(c) / 98 / 2000 / ME / XP / NT

You can install the setup software directly from the enclosed CD-ROM (call up SETUP.EXE).

Connection to the serial interface of the PC:

Connect the interface cable between the serial interface of your PC and the PC-interface (X6) of the amplifier.

Switch-on:

Switch on your PC-AT and the monitor.

When the boot phase is finished, the Windows user-interface will appear on the screen.

Installation:

Click on START (taskbar), then on Run.

Enter the program call: a:\setup.exe (where a: is the correct drive letter).

Click on OK and follow the instructions.

Setting up the graphics card (font size)

Note that the screen resolution must at least be 800x600 pixel.

Click on the desktop with the right mouse button. The dialogue window "Properties" will appear. Select the file card "Settings". Set the Font size to "Small Fonts". Follow the instructions provided by the system.

Operation

The setup software is basically used in the same way as other Windows programs.

Use a decimal point as the decimal symbol, do not use a comma.

Please note that, after an alteration in a parameter on a screen page, you must first click on APPLY, so that the parameter is transferred to the RAM of the servo amplifier. Only then you should leave the page. If a reset of the servo amplifier is necessary to activate a function, this will be recognized by the setup software, which will make a reset after a software confirmation request.

The currently valid data set must be saved in the EEPROM of the servo amplifier, in order to be permanently

stored. So execute the Save Data to EEPROM function on the "Amplifier" page before you switch off the servo

amplifier or quit processing the data set.

Values appearing in red on the screen pages designate parameters that are intended for advanced users only.


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07/03 Getting Started

Function keys

Function key Function

F1 Help

F2

F3 reserved reserved

F4 Jog Mode

F5

F6

F7

F8

DC

Speed

Torque

Reversing

F9 Stop (OFF)

F12

Shift F12

Disable

Enable

Comment

Contextual help reserved reserved

Starts the Jog Mode. The drive operates under the parameters that

are pre-selected on the "Homing" page while the F4 key is pressed.

The drive operates under the parameters that are pre-selected on the

"Oscilloscope/Service" pages.

Brakes off the drive movement. The response of the drive varies according to the operating mode that is valid at the moment:

OPMODE=0 the drive brakes along the preset braking ramp for the speed control loop (DEC)

OPMODE=2 the drive coasts down

OPMODE=8 breaks off the present motion task. The drive brakes along the braking ramp that is defined in the motion task.

Software disable

Software enable

Stopping the axis by using F9 or F12 does not ensure personal safety unless further measures are implemented. For safety, operate the ENABLE signal for the amplifier through a button that has to be confirmed, and ensure that the EMERGENCY STOP function is active for this axis.


Axis Commissioning Checklist Procedures 07/03 Jetter AG

5

5.1

Axis Commissioning Checklist Procedures

General

This chapter 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 5.2

l l l l

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, that operates directly on the drive circuitry.

l

The servo amplifier is installed, and all the necessary electrical connections have been made.

See Installations Manual, Chapter II.

The 24V auxiliary supply and the 208V...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 X3/15), i.e.

the servo amplifier is disabled.

Switch on auxiliary supply 5.3

2.

3.

4.

5.

1.

Switch on the 24V auxiliary supply for the servo amplifier.

LED display:

BTB/RTO contact:

After about 5 seconds:

X.XX

(firmware version) open

LED display:

BTB/RTO contact:

YY.

closed

(amount of current, blinking point for CPU o.k.)

Switch on personal computer

Start commissioning software

Click on the interface (COM1:, 2:, 3: or COM4:) that is used for communication with the servo amplifier.

The parameter are transmitted to the PC.

Click on the radio button "SW-disable" at bottom right or press the function key F12.

NO ENABLE now stands in the AXIS status field.


Jetter AG 07/03 Axis Commissioning Checklist Procedures

5.4

Basic setting

1.

2.

3.

4.

5.

6.

7.

8.

The servo amplifier remains disabled and the main power supply is switched off.

Set up basic parameters (address, ballast details, line/mains supply voltage etc.):

- Click on the BASIC SETTINGS button

- Alter the fields, if necessary

- Click on APPLY and then on OK

Select motor:

- Click on the MOTOR button below the picture of the motor

- Open the motor selection table, by clicking on the arrow in the field

NUMBER-NAME

- Click on the motor that is connected

- Click on APPLY

- Answer the query about the brake

- Answer the query "Save to EEPROM/Reset" with NO

(the data are in the RAM and will be permanently saved later)

Select feedback (resolver, encoder):

- Click on the FEEDBACK button

- The values that are displayed correspond to the default data that you have loaded for the motor.

- Alter the fields, if necessary

- Click on APPLY and then on OK

Set up the encoder emulation (ROD, SSI):

- Click on the ROD/SSI/ENCODER button

- Select the desired encoder emulation

- Set up the corresponding parameters in the right half of the window

- Click on OK

Configure the analog inputs/outputs:

- Click on the I/O ANALOG button

- Select the desired ANALOG-FUNCTION

- Set the scaling relative to 10V for the analog input that is used.

- Set up the required output signals for AN OUT 1 and AN OUT2

- Click on OK

Configure the digital inputs/outputs:

- Click on the I/O DIGITAL button

- Assign the required functions to the digital inputs (left half of window) and enter the auxiliary variable X if it is necessary.

- Assign the required functions to the digital outputs (right half of window) and enter the auxiliary variable X if it is necessary.

- Click on OK

Save parameters:

- Click on the button

- Answer the query RESET AMPLIFIER with YES

Click on the radio button "SW-disable" at bottom right or press the function key F12.

NO ENABLE now stands in the status field for AXIS



If you want to use the position control of the servo amplifier, then you must enter the specific parameters for your drive:

1.

2.

3.

4.

5.

6.

7.

8.

Axis type:

- Click on the POSITION button

- Click on the POSITION DATA button

- Select the axis type (linear, rotary or modulo)

For the axis type MODULO: enter the parameters Modulo-Start-Pos. and Modulo-End-Pos.

Resolution:

- 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.

Only integer entries are permitted.

Example 1: Ratio = 3.333 mm / turn

=> resolution = 10000/3 µm/turn (all other path entries in µm)

Example 2: or

=> resolution = 10/3 mm/turn (all other path entries in mm)

Ratio = 180 °mech./turn

=> resolution = 180/1 °mech./turn (all other path entries in °mech) vmax:

- 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).

Example 1: resolution = 10000/3 µm/turn, nnom = 3000 turns/min

=> vmax = resolution * nnom = 10000/3 * 3000 µm/min = 10 000 000 µm/min

Example 2: or

=> vmax = resolution * nnom = 10/3 * 3000 mm/min = 10 000 mm/min resolution = 180 °mech/turn, nnom = 3000 turns/min

=> vmax = resolution * nnom = 180 * 3000 °mech/min = 9000 °mech/s t_acc/dec_min:

- Enter the time in ms that the drive requires, with the

mechanically permissible maximum acceleration, to accelerate from zero speed to vmax.

InPosition:

- Enter the window for InPosition. This value is used for the InPosition message.

The dimensional unit is derived from the resolution

(°mech. or length unit).

Typical value: e.g. approx. resolution * 1/100 turn max. following error:

- 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





Jetter AG

5.5

07/03 Axis Commissioning Checklist Procedures

Optimization of the control loops

The basic setting must be finished.

Preparation

4.

5.

6.

1.

2.

3.

OPMODE:

Set the OPMODE "1,analog speed" (screen page AMPLIFIER)

Setp. function:

Set the analog I/O-function to "0,Xsetp=An In 1" (screen page ANALOG-I/O)

Save the parameters:

- Click on the

button (screen page AMPLIFIER)

An In 1:


Short-circuit the setpoint input 1 or apply 0V to it

OSCILLOSCOPE:

Channel1: n_act

Reversing mode:

Channel2: I_act (screen page OSCILLOSCOPE)

Go to the screen page OSCILLOSCOPE/SERVICE/PARAMETER and set the parameters for reversing mode to values that are

safe for your machine, also when the positioning control loop is switched off (approx. 10% of the final limit speed).

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.

For safety, only operate the ENABLE signal of the amplifier with an interlock switch, and check the EMERGENCY STOP function for this axis.

5.6

Optimizing the current controller

Screen page CURRENT CONTROLLER

3.

4.

5.

1.

2.

If a suitable amplifier-motor combination is used, the current controller will already have a stable setting for almost all applica tions.

Ipeak:

- Reduce Ipeak to the rated value for the motor (protection of the motor)

Switch on the mains/line power.

Provide the analog setpoint:

- Analog-In1 = 0V

Enable the amplifier:

- High signal at Enable input X3/15. In the AXIS status field: NO SW-EN

- Click on the SW-Enable radio button. 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 100Hz), please contact our applications department.



5.7

1.

2.

3.

4.

5.

Optimizing the speed controller

Screen page SPEED CONTROLLER

SETP. -OFFSET:

Leave the amplifier enabled. If the axis is drifting, alter the parameter Setp.-Offset until it stands still (or use the function

AUTO-OFFSET).

SETP. RAMP +/-:

The setpoint ramps are used to smooth the setpoint input (filter effect).

Set the mechanical time constant for the complete system, i.e the rise time or ramp gradient for the speed from 0 to n cmd

.

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.

LIMIT SPEED:

Set the desired final limit speed.

KP/Tn:

Increase KP until the motor starts to oscillate (audible, and visible on the oscilloscope) and then reduce KP again until the oscillations have definitely stopped and stability is assured.

Use the motor-specific default value for Tn.

Start reversing mode:

Start the reversing mode (F8, v1/v2 approx. +/-10% of n

nom for the motor).

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 t

1 n

SW

2

= speed

= setpoint

= time

= optimum

= KP too high

6.

7.

8.

9.

KP:

You can produce a fine tuning of the speed response by cautiously increasing KP.

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.

PID-T2:

You can dampen out disturbances, such as a small amount of play in the gearing, by increasing PID-T2 to about 1/3 the value of Tn.

FEEDBACK:

You can further improve the smooth running by using FEEDBACK, especially for small drives with a low torque.

End reversing mode:

Finish the reversing mode operation (F9).

Set up the correct, motor-specific value for Ipeak (current controller) again. Start up reversing mode again, and observe the step response. If there is any tendency to oscillation, reduce KP slightly.

Save the present parameter set in the EEPROM. Click on the button.


Jetter AG

5.8

1.

2.

3.

4.

5.

07/03 Axis Commissioning Checklist Procedures

Optimizing the position controller

Screen page POSITION CONTROLLER

Preparation

OPMODE:

Select OPMODE 8 (screen page AMPLIFIER)

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.


- Click on the HOMING button

- Check that the parameter v (Jog Mode) is set to 1/10 of the preset speed limit vmax. The sign of "v" determines the direction.

Alter the value if necessary, and click on APPLY.

- Start the function JOG MODE by using the function key F4 and move the load to approximately the middle of the motion path

WARNING:

If the drive moves in the wrong direction, release the F4 function key and change the sign of the parameter "v" (Jog mode).

Use F4 again to move the load to approximately the middle of the motion path.

Set reference point:

- Set the homing type to activate "0, set reference point".

Start the homing run. The momentary position is set as the reference point.

- Stop the homing run

- Click on the radio button "SW-disable" in the amplifier window

Define test motion blocks:


- Click on the POSITION DATA button

- Click on the MOTION TASK TABLE button and select task 1. Enter the

values from the table below, then select task 2 and

enter the corresponding values.

Task 1 Task 2 units type s_cmd v_cmd_source v_cmd

SI

REL setpoint

+10% of total path digital

10% of vmax

10 * t_acc/dec_min t_acc_tot t_dec_tot ramp next motion task next number acc./dec.

start condition

APPLY/OK


10 * t_acc/dec_min trapeze with

2 to target position immediately click

SI

REL setpoint

-10% of total path digital

10% of vmax

10 * t_acc/dec_min or a max

10 * t_acc/dec_min or a max trapeze

/ 10

/ 10 with

1 to target position immediately click





Optimization

The starting of motion tasks with the aid of commissioning-software functions is only permitted in combination with an interlock device according to EN292-1, that operates directly on the drive circuitry.

2.

3.

4.

5.

1.

6.

Start motion task:


- Select motion task 1 on screen page POSITION DATA, click on START, motion task 1 is started and, because of the

definition of the motion task sequence, the drive moves in position-controlled reversing operation.

Optimize parameters (Click on the POSITION DATA button)

PID-T2, FEEDBACK:

The speed controller is not used in OPMODES4, 5 and 8. The position controller includes an integral speed controller, that

takes on the preset parameters for PID-T2 and FEEDBACK from the screen page "SPEED CONTROLLER".

KP, Tn:

If KP is set too low, the position controller tends to oscillate. Use the value for the optimized speed controller for KP. Tn should be 2...3 times as large as the Tn value for the optimized speed controller.

KV:

The acceleration behavior of the motor should be well damped (no tendency to oscillation) with a minimum following error. If

KV is larger, the tendency to oscillation increases. If it is smaller the following error increases and the drive becomes too soft.

Vary KV until the desired response is achieved.

FF:

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 FF parameter. This error is smaller if the FF parameter is increased. If increasing FF does not produce any improvement, then you can increase

KP a little, to make the speed control loop somewhat stiffer.

If the drive does not run satisfactorily under position control, first look for external causes such as: l l l l mechanical play in the transmission chain (limits the KP) jamming or slip-stick effects self-resonant frequency of the mechanical system is too low poor damping, drive is too weakly dimensioned before trying to optimize the control loop again.


Jetter AG

6 Screen layout

07/03 Screen layout

Title Bar

Toolbar

Status Bar

The program name, station address, and the name of the currently valid data set (amplifier) are displayed in the title bar.

During offline operation, instead of the station address a number above 100 will be shown, possibly with the storage location (folder + file name) of the data set that has been loaded.

The typical Windows-style buttons can be used for a direct start of individual functions.

Current information about the data communication is shown here.


Screen layout 07/03 Jetter AG

Menu bar

FILE

Open

Close

Save

Save as

Print

A parameter and/or motion task data set is read from the data medium (hard disk, diskette) and becomes the currently valid set. The servo amplifier must be disabled to do this.

The current data set is closed and not saved.

Saves the current parameter or motion task data set to a data medium (hard disk, diskette) while keeping the file name, if the data set already has a name. If the data set has not yet got a name, you will be prompted to enter a name and storage location. You can save parameters and motion task data to one single file or to separate files.

Saves the current parameter or motion task data set to a data medium (hard disk, diskette). You will be prompted to enter a name and storage location.

The current data set will be printed out. You can choose whether the print data are sent to the system printer or saved to a file.

Use these functions in the same way as for any other Windows software.

Terminates the program.

Print preview / Print setup

Exit

COMMUNICATION

COM1/COM2/COM3/COM4

Offline

Disconnect interfaces

Multidrive

If one of these interfaces (ports) is available for communication with a servo amplifier, which means that it is not used by other equipment or drivers, then the text label appears in full black and can be selected. Select this interface and use it for the connection to the servo amplifier

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 (diskette), work on it, and save it again. The software functions and screen pages that only have a use in the online mode will not be selectable.

This deactivates the access to the setup software from interfaces COM1 to COM4. This function is important if, for instance, the servo amplifier is to be accessed from an external program, without closing the setup software.

With this function, you can establish connection to other amplifiers, that are connected via the

CAN-bus with the amplifier that communicates via the RS232-interface with the PC. Therefore, all

devices must have different addresses.This function should not be used in running field bus applica-

tions.

Update active window only

Terminal, Monitor,

Oscilloscope, Drive status

This affects the updating of the actual-value display in open windows.

activated: only the active window will be updated

de-activated: the actual values will be continuously updated in all open windows, but this is detrimental for keeping the active display up to date.

Lower Transmission Priority Delay of serial communication in favor of the data communication over a field bus.

TOOLS

Opens the corresponding screen page

EDIT

Undo, Cut, Copy, Paste

VIEW

Toolbar / Status bar

Window

Cascade / Tile vertically / Arrange icons

SERVICE

Use these functions in the same way as for any other Windows software.

Switch to insert the toolbar (above) or the status bar (below) into the screen.

Use these function in the same way as for any other Windows software.

STOP (F9)

? (Help function)

Brakes off the drive movement. The response of the drive varies according to the operating mode that is valid at the moment:

OPMODE=0 the drive brakes along the preset braking ramp for the speed control loop (DEC)

OPMODE=2 the drive coasts down

OPMODE=8 breaks off the present motion task. The drive brakes along the braking ramp that is defined in the motion task.

If the screen "Oscilloscope/Service" is active, you can also start the service function from here.

Opens the HTML help file


Jetter AG 07/03 Screen page "Communication"

7 Screen page "Communication"

COM1, 2, 3, 4

Offline

If one of these interfaces (ports) is available for communication with a servo amplifier, which means that it is not used by other equipment or drivers, then the text label appears in full black and can be selected. Use this interface for the connection to the servo amplifier.

Select the interface that you are using. In a multi-axis system with several (up to 4) servo amplifiers linked by the special cable -SR6Y- and connected to a PC (see Installation Manual, Chapter IV.2.1), you can select the servo amplifier you want by selecting its station address in a list. In this case it is also possible to display several servo amplifiers at the same time by repeating the interface selection.

In the status bar you can see information about the status of the communication with the servo amplifier. If the communication is functioning correctly, the parameters that are stored in the servo amplifier are read into the

PC. A dialogue window keeps you up to date.

Even when no servo amplifier is connected, you can still work with the setup software. You can load a set of data from the hard disk (diskette), work on it, and save it again. If you don’t load a set of data, the manufacturer’s default settings (basic setup) will be applied. Software functions and screen pages that only have a use in the online mode will not be selectable.

You can open more than one data set for editing, by clicking on OFFLINE again. The individual data sets are identified in the title bar by the designations "AMPLIFIER 1001", "AMPLIFIER 1002" and so on.

Not the station address is displayed, but a sequential number above 1000. If you have loaded an existing data set from the hard disk or diskette, then the folder name, data set name and amplifier name will also be displayed.

Disconnect interfaces Deactivates the access to the setup software via the interfaces COM1 to COM2. This function is important if, for instance, the servo amplifier is to be accessed from an external program without closing the setup software.


Screen page "Amplifier"

8

07/03 Jetter AG

Screen page "Amplifier"

This screen page displays the control loops of the servo drive in a simplified block diagram. A click with the left mouse button on a button on the screen page calls up the corresponding function or screen page.

Save the current parameter to data media (hard disk, diskette). You can save parameters and motion task data to one single file or to separate files.

Load a control parameter file or a motion-block parameter file from data media

(hard disk, diskette). The servo amplifier must be disabled to do this.

Open the screen page "TERMINAL" for the direct input of ASCII commands

(only for advanced users, and with the support of our application department).

Open the screen page "ACTUAL VALUES" to display the actual drive status.

Open the screen page "OSCILLOSCOPE/SERVICE" for the graphic display of the setpoint/actual values, and

to access the service functions (reversing mode, const. speed etc.) for optimizing the amplifier.

Open the screen page "Bodeplot". This page makes it possible to use a Bode plot generator to generate a

graphical representation of the behavior of the speed controller.

Non-volatile (does not disappear at power-off) 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.

ASCII: SAVE Default: valid for all OPMODES

Stop the currently active service function. This is the same as using the function key F9.

Stop (cancel) motion functions in the OPMODES 0, 2 and 8.

Movements in other OPMODES can only be stopped by using the DISABLE button.

Cancel all the parameters that have been set up, and load the manufacturer’s default values.

Making a hardware-reset

ASCII: COLDSTART Default: valid for all OPMODES


Jetter AG

Basic setup

Slot / Exp. x

Analog I/O

Digital I/O

ROD/SSI/Encoder

OPMODE

07/03 Screen page "Amplifier"

Opens the screen page "BASIC SETUP"

Opens the screen page for the built-in expansion card (description: manual for the expansion card).

Opens the screen page "ANALOG I/O"

Opens the screen page "DIGITAL I/O"

Opens the screen page "ENCODER"

ASCII: OPMODE Default: 1

Set the basic function of the servo amplifier for your application here.

valid for all OPMODES

ID

0

1

2

3

4

5

6

7

8

Function

Digital (rotational) speed

Analog (rotational) speed

Digital torque

Analog torque

Position: electr. gearing

Position: ext. position nodes

SERCOS position control reserved

Position: motion blocks

Comments

Speed control with digital setpoint

Speed control with analog setpoint

Torque control with digital setpoint (speed controller has to be optimized)

Torque control with analog setpoint (speed controller has to be optimized)

Position control "Pulse follower"

Position control interpolates external nodes

Position control with SERCOS expansion card reserved

Position control by stored motion blocks

The OPMODE can be switched over while the drive is running. This could lead to dangerous acceleration. So only switch over OPMODE while the drive is running if the drive application allows it.

Position

Speed

Current

Feedback

Motor

Status=OK/Fault

Axis

Disable/Enable SW

Exit

Opens the screen page "POSITION"

Opens the screen page "SPEED"

Opens the screen page "CURRENT"

Opens the screen page "FEEDBACK"

Opens the screen page "MOTOR"

Opens the screen page "DRIVE STATUS". If a fault is present, the text for the buttons will change.

The enable status of the amplifier is displayed:

ENABLE / NO HW EN. / NO SW EN. / NO ENABLE

ASCII: DIS (disable, F12)

ASCII: EN (enable, Shift F12)

Default: -

Default: valid for all OPMODES valid for all OPMODES

Disables or enables the servo amplifiers via the software. This signal is logically "AND"-linked inside the servo amplifier with the hardware-enable (terminal X3/15).

This function does not ensure personnel safety. To disable the servo amplifier in a way that ensures personnel safety, the enable signal (terminal X3/15) must be removed and the line (mains) power must be switched off, or Option -AS- (see additional manual) must be used.

Ends the processing of the current parameter set. If you have made any changes, you will be asked if you want to save the data.


Slot

9

07/03

Slot

The screen page depends on the built-in expansion card: l

I/O expansion card -I/O-14/08-

l l

SERCOS

PROFIBUS

Jetter AG


Jetter AG 07/03 Screen page "Basic Setup"

10 Screen page "Basic Setup"

PC Software

Regen Resistor

Display the version and revision level of the current setup software.

ASCII: PBALRES Default: 0 (internal) valid for all OPMODES

Preselection of the regen resistor. If you use an external regen resistor, set "1,external" here. Change this only while the amplifier is disabled.

max. Regen Power

ASCII: PBALMAX Default: 80 W / 200 W valid for all OPMODES

The limit for the continuous power of the regen resistor. Change this only while the amplifier is disabled.

Max. Mains Voltage

ASCII: VBUSBAL Default: 1 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 multi-axis systems with parallel-connected DC-link circuits.

ID

0

1

2

Max. mains voltage

230 V

400 V

480 V

DC-link voltage

(rated motor voltage / max. motor voltage)

310 V / 430 V

560 V / 750 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 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.

Mains phase missing

ASCII: PMODE Default: 1 valid for all OPMODES

Handles the message "Phase missing". Change this only while the amplifier is disabled + reset.

ID

0

1

2

Function no message

Warning

Error

Remark

A missing mains supply phase is not evaluated. Operation is possible on two phases. The peak current for acceleration is limited to 4A.

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. The peak current for acceleration is limited to 4A.

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 BTB/RTO contact opened.

Hardware

Firmware

Serial number

ASCII: HVER Default: valid for all OPMODES

Displays the version and revision level of the servo amplifier hardware.

ASCII: VER Default: valid for all OPMODES

Displays the version and revision level of the servo amplifier firmware.

ASCII: SERIALNO Default: -

Displays the serial number of the servo amplifier.



Screen page "Basic Setup" 07/03 Jetter AG

Run time

Address

Fieldbus-Address

Baudrate CANopen

ASCII: CBAUD Default: 500 kbps valid for all OPMODES

The entry is the transmission rate of the amplifier (10, 20, 50, 100, 125, 250, 333, 500, 666, 800, 1000 kbps).

The transmission rate is required by the fieldbus (CANopen) and for the parameter setting of the servo amplifier in multi-axis systems (see Installation Manual).

You can also use the keys on the front panel of the servo amplifier to set the baud rate (see Installation

Manual).

Name

ASCII : ADDRFB Default : 0 valid for all OPMODES

The entry is the fieldbus address (1 to 63) of the amplifier. If set, the number is used in in fieldbus communication. If this parameter is not set, the station address is used.

The address is indicated in the setup software on each screen page in the title bar, if you work on-line. In the off-line operation not the actual station address is indicated, but a number above 1000. Then you can recognize the off-line mode immediately. With the keys on the servo amplifier front plate you can likewise set the field bus address (see installation manual).

ASCII: ALIAS Default: blanks 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.

Auto Enable

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 DP, 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 (see Installation Manual).

The address is displayed in the setup software in the title bar of every screen page, as long as you are working online. In offline operation the display is not the actual station address, but a number above 1000. In this way you can instantly recognize the offline mode.

You can also use the keys on the front panel of the servo amplifier to set the station address (see Installation

Manual).

ASCII: AENA Default: 1 valid for OPMODES 0, 2, 4-8

Definition of the status of the software-enable on switching on the instrument, or after using Reset to clear errors.

Ext. WD

ASCII: TRUN Default: valid for all OPMODES

Displays the operational time of the servo amplifier, saved at 8 min. intervals. If the 24V supply is switched off, a maximum of 8 min. operational time will be unregistered.

ASCII: EXTWD Default: 100 ms valid for all OPMODES

Definition of the monitoring (watchdog) time for fieldbus/slot communication. This monitoring is only active when the value is greater than 0 and the output stage is enabled. If the pre-set time runs out without the timer being re-triggered, then the warning n04 (response time monitoring) is generated and the drive is stopped. The amplifier remains operative and the output stage is still enabled. This error warning must be cleared by using

Reset before a new setpoint can be accepted.


Jetter AG

Acceleration

Velocity

Position

Setup Software

07/03 Screen page "Basic Setup"

ASCII: ACCUNIT Default: 0 valid for all OPMODES

Definition of the dimensional unit for acceleration. This unit is used for the ramps of the trajectory generator

(internal motion blocks, OPMODE 8) as well as for the braking/acceleration ramps of the speed controller.

3

4

5

ID

0

1

2

Function ms->VLIM rad/s² rpm/s

Remark

Acceleration given as run-up time (in ms) taken to reach the target speed

Acceleration given in rad/s²

Acceleration given in min

-1

/s (rpm per sec)

PUNIT/s² Acceleration given in PUNIT/s² (from Version 4.00)

1000*PUNIT/s² Acceleration given in 1000 * PUNIT/s² (from Version 4.00)

10^6*PUNIT/s² Acceleration given in 1000000 * PUNIT/s² (from Version 4.00)

With the setting ms->VLIM it is still possible to enter the acceleration for the motion block in mm/s². If the setting is changed, all the acceleration and braking parameters that are affected will be internally converted to the currently valid dimensional unit.

The automatic parameter adjustment does not apply to the internal motion blocks. For this reason, the valid dimensional unit for acceleration should be fixed before the first motion block is created. If an alteration is made at a later stage, the acceleration/deceleration values for all motion blocks will have to be checked, and corrected if necessary.

ASCII: VUNIT Default: 0 valid for all OPMODES

Definition of the global dimensional unit for speed and velocity. This unit applies to all speed/velocity dependent parameters of the speed/position controllers.

6

7

4

5

8

ID

0

1

2

3

Function

Compatibility mode

1/min rad/s

°/s

Counts/250µs

PUNIT/s

PUNIT/min

1000*PUNIT/s

1000*PUNIT/min

Remark definition of speed in min

-1

, definition of velocity in µm/s unit = min

-1 unit = radians/s unit = degrees/s unit = counts/250 µs unit = PUNIT/s unit = PUNIT/Min unit = 1000*PUNIT/s unit = 1000*PUNIT/Min

Note:

1. All speed-dependent parameters are normally defined as 32-bit fixed point numbers (3 decimal places). For this reason, many settings (in particular: 1000*PUNIT/s), will not be able to cover the entire speed range,

depending on the resolution, that has been set. Care must be taken that a suitable unit is chosen, depending on

the application.

2. All velocity-dependent parameters are normally defined as 32-bit integer numbers. For this reason, it is not possible to enter a velocity with decimal fractional values, particularly for the Counts/250µs setting. Care must be taken that a suitable unit is chosen, depending on the application.

ASCII: PUNIT Default: 0 valid for all OPMODES

Definition of the global unit for all position-dependent parameters of the position controller. The following settings are possible:

ID

0

7

8

5

6

9

3

4

1

2

Function

Counts dm cm mm

100µm

10µm

µm

100nm

10nm nm

Remark internal unit (application-specific) unit = 1 dm unit = 1 cm unit = 1 mm unit = 0.1 mm unit = 0.01 mm unit = 1 µm unit = 0.1 µm unit = 0.01 µm unit = 1 nm

With the Counts setting, no path/distance unit will be displayed. In this case, application-specific units can be

implemented, which are exclusively dependent on the resolution that is used.

31

Screen page "Motor" synchronous

11

Motor Type

No. of poles

Io

Iomax

L

Max. speed

Number / Name

07/03 Jetter AG

Screen page "Motor" synchronous

All the parameters that appear on this screen page are defined by the motor default values (internal database in the amplifier), and in most cases it will not be necessary to alter them.

ASCII: MTYPE Default:1 valid for all OPMODES

This parameter is used to distinguish between synchronous (MTYPE = 1) and asynchronous motors (MTYPE =

3). If asynchronous is selected, then this screen page will appear in a different layout. Change this only while

the amplifier is disabled.

ASCII: MPOLES Default: 6 valid for all OPMODES

The current setpoint can be set for the operation of 2- to 250-pole motors. Change this only while the amplifier is disabled.

ASCII: MICONT Default: standstill current valid for all OPMODES

The standstill current is the r.m.s. current value that the motor requires at standstill to produce the standstill torque (defines the maximum value for the entry of Irms in the current controller).

ASCII: MIPEAK Default: peak current valid for all OPMODES

The peak current (r.m.s. value) should not exceed 4 x the rated current of the motor. The actual value is also determined by the peak current of the servo amplifier that is used (defines the maximum value for the entry of

Ipeak in the current controller).

ASCII: L Default: 0 mH valid for all OPMODES

Inductance of the motor (phase-phase). You can take this value from the motor manual.

ASCII: MSPEED Default: 3000 rpm valid for all OPMODES

Maximum permissible speed of the motor. Limits the entry for the parameter SPEED LIMIT (screen page

"Speed controller").

ASCII: MNAME

ASCII: MNUMBER

Screen page

Basic Setup

Motor

Feedback

Current controller

Speed controller

Default: blanks

Default: 0 valid for all OPMODES valid for all OPMODES

Select the motor that is used from the motor database. The data are loaded after the motor has been selected.

If an encoder is used as a feedback unit, the motor number will automatically be reported to the servo amplifier.

Make changes only while the amplifier is disabled.

The following parameters are updated from the parameter set in the motor database:

Parameter

Max. Mains Voltage

No. Of Poles, Io, Iomax, L, Max.speed, Current Advance, Start Phi, Limit Phi, Brake with dialogue box

Feedback Type, No. Of Resolver Poles, Offset

KP, Tn

KP, Tn, PID-T2, Feedback, Max.speed, Overspeed

Brake

ASCII: MBRAKE Default: 0 valid for all OPMODES

If you want to operate a 24V holding brake in the motor directly from the servo amplifier, this parameter can be used to enable the brake function.

ID

0

1

Function Comments without Brake function is disabled.

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 0V if the ENABLE signal is missing (brake activated).

In the diagram in Chapter I.9 of the Installation Manual you can see the time/function relationship between the

ENABLE signal, the speed setpoint, actual speed value, and the braking force. Change this only while the amplifier is disabled + reset.


Jetter AG 07/03 Screen page "Motor" synchronous

Current advance

ASCII: MTANGLP Default: 0 °electr.


A current-dependent phase advance, to make use of the reluctance torque for motors with magnets embedded in the rotor.

Start/Limit Phi

ASCII: MVANGLB

ASCII: MVANGLF

Default: 2400 rpm

Default: 20 °electr.

valid for all OPMODES valid for all OPMODES

The inductive phase shift between the motor current and the motor voltage can be compensated at high speeds. With the given voltage conditions, a higher torque can be achieved at the speed limit. Alternatively, the achievable speed limit can be increased by up to 30%.

The phase shift is increased (depending on the motor speed) linearly from the Start Phi value up to the final value = Limit Phi. The optimum setting depends on the motor type and the speed limit.

Motor Unit

ASCII: MUNIT Default: 0 valid for all OPMODES

Defines the entry for motor speed.

If 1/min (rpm) is used, the setting for velocity/speed will be applied for VUNIT.

Load Data from disk Load a motor-parameter file from a data medium (hard disk, diskette). The servo amplifier must be disabled to do this.


Screen page "Motor" asynchronous 07/03 Jetter AG

12 Screen page "Motor" asynchronous

All the parameters that appear on this screen page are defined by the motor default values (internal database in the amplifier), and in most cases it will not be necessary to alter them.

Motor Type

ASCII: MTYPE Default:1 valid for all OPMODES

This parameter is used to distinguish between synchronous (MTYPE = 1) and asynchronous motors (MTYPE =

3). If synchronous is selected, then this screen page will appear in a different layout . Change this only while the

amplifier is disabled.

No. of poles

ASCII: MPOLES Default: 6 valid for all OPMODES

The current setpoint can be set for the operation of 2- to 256-pole motors. Change this only while the amplifier is disabled.

Io

ASCII: MICONT Default: standstill current valid for all OPMODES

The standstill current is the r.m.s. current value that the motor requires at standstill to produce the standstill torque (defines the maximum value for the entry of Irms in the current controller).

Iomax

ASCII: MIPEAK Default: peak current valid for all OPMODES

The peak current (r.m.s. value) should not exceed 2.5 x the rated current of the motor. The actual value is also determined by the peak current of the servo amplifier that is used (defines the maximum value for the entry of

Ipeak in the current controller).

Rotor time constant

ASCII: MTR Default: 200 ms

Defines the rotor time constant under rated load (Tr = Lh/Rr).

Lh is die magnetizing inductance and Rr is the rotor resistance.

Max. speed valid for all OPMODES

ASCII: MSPEED Default: 3000 rpm valid for all OPMODES

Maximum permissible speed of the motor. Limits the entry for the parameter SPEED LIMIT (screen page

"Speed controller").

Rated Speed

ASCII: MVR Default: 3000 rpm valid for all OPMODES

Rated speed of the asynchronous motor. This defines the point above which field-weakening is applied. For instance, if a 4-pole motor is used that would normally operate on a 50Hz supply, then the rated speed must be set to 1500.

Number / Name

ASCII: MNAME

ASCII: MNUMBER

Select the motor that is used from the motor database. The data are loaded after the motor has been selected.

If an encoder is used as a feedback unit, the motor number will automatically be reported to the servo amplifier.

Make changes only while the amplifier is disabled.

The following parameters are updated from the parameter set in the motor database:

Screen page

Basic Setup

Motor

Feedback

Current controller

Speed controller

Default: blanks


Parameter

Max. Mains Voltage

No. Of Poles, Io, Iomax, L, Max.speed, Current Advance, Start Phi, Limit Phi, Brake with dialogue box

Feedback Type, No. Of Resolver Poles, Offset

KP, Tn

KP, Tn, PID-T2, Feedback, Max.speed, Overspeed


Jetter AG 07/03 Screen page "Motor" asynchronous

Brake

ASCII: MBRAKE Default: 0 valid for all OPMODES

If you want to operate a 24V holding brake in the motor directly from the servo amplifier, this parameter can be used to enable the brake function.

Load Data from Disk Load a motor-parameter file from a data medium (hard disk, diskette). The servo amplifier must be disabled to do this.

Motor Unit

ASCII: MUNIT Default: 0 valid for all OPMODES

Defines the entry for motor speed.

If 1/min (rpm) is used, the setting for velocity/speed will be applied for VUNIT.

Field Level

ID

0

1

Function Comments without Brake function is disabled.

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 0V if the ENABLE signal is missing (brake activated).

In the diagram in Chapter I.9 of the Installation Manual you can see the time/function relationship between the

ENABLE signal, the speed setpoint, actual speed value, and the braking force. Change this only while the amplifier is disabled + reset.

ASCII: MIMR Default: 0 A valid for all OPMODES

Defines the magnetizing current for an asynchronous motor: this is usually set to 40% - 50% of the continuous current.

The magnetizing current remains constant below the rated speed of the motor. If the motor is operated above the rated speed, this current is reduced in inverse proportion to the motor speed (field-weakening).

Kp

ASCII: GF Default: 15 valid for all OPMODES

Proportional gain (P) of the flux controller. The flux controller is implemented as a PI controller.

Tn

ASCII: GFTN Default: 50 ms valid for all OPMODES

Reset (I) time of the flux controller. The flux controller is implemented as a PI controller.

Field Correct Factor

ASCII: MCFW Default: 1.5


Correction factor for field-weakening.

The correction factor compensates for non-linearity of the motor inductance with reducing magnetizing current by increasing speed during field-weakening.

Slip Correct Factor

ASCII: MCTR Default: 1.5


Correction factor for the rotor (armature) time constant, increases the torque in the field-weakening range

/stationary range.


Screen page "Feedback"

Screen page "Feedback" 13

Feedback Type

07/03 Jetter AG

ASCII: FBTYPE Default: 0 valid for all OPMODES

Change this only while the amplifier is disabled + reset.

ID

0

Function

Resolver

Comments

It is possible to connect 2, 4 or 6-pole resolvers to the servo amplifier. Cycle time 62.5 µs.

1 reserved

2

3

4

HIPERFACE

®

Absolute encoder

Auto

EnDat

Feedback from a high-resolution absolute encoder (single- or multi-turn) with

HIPERFACE

®

-compatible interface, e.g. SRS x0 / SRM x0 / SCS x0 / SCM x0 from Stegmann. Cycle time 125 µs

The servo amplifier detects the connected feedback system automatically.

(Resolver, EnDat or Hiperface)

Feedback from a high-resolution absolute encoder (single- or multi-turn) with

EnDat-compatible interface, e.g. ECN 1313 / EQN 1325 from Heidenhain.

Cycle time 125 µs

5

6 reserved

SinCos EEP

7

8

9

10

11

12

SinCos W&S

RS422 & W&S

RS422

Sensorless

SinCos & Hall

RS422 & Hall

13-15 reserved

Sine-cosine encoder. The offset data are loaded from the serial eeprom.

Sine-cosine encoder. The offset-data are determined by the servo amplifier, using a Wake&Shake procedure.

This setting can only be used with Gearmode=3 and Encoder emulation=0.

If FPGA=1, the position output (X5) relays the position information of the incremental encoder.

This setting can only be used with Gearmode=3 and Encoder emulation=0.

If FPGA=1, the position output (X5) relays the position information of the incremental encoder.

Without feedback

Sine-cosine encoder with Hall-sensor

RS422-feedback with Hall Sensor

16 Res & SinCos

Both feedback systems are installed. The drive starts running with the resolver feedback. After a short delay the feedback switches to SinCos W&S (ID 7).


Jetter AG 07/03 Screen page "Feedback"

No.of resolver poles

ASCII: MRESPOLES Default: 2 valid for all OPMODES

This parameter effects only with resolver feedback (FBTYPE = 0 or 3).

Standard resolvers have 2 poles. Change this only while the amplifier is disabled.

Enclines

ASCII : ENCLINES Default : 1000 valid for all OPMODES

Describes the resolution (without quadrupel evaluation) of the encoder if used as standard feedback. For rotary motors the line number per revolution is to be indicated, for linear motors the number of lines per magnetic segment is indicated. If a ENDAT or a Hiperface is used, then the line number is set automatically when booting.

Resolver bandwidth

ASCII: MRESBW Default: 600 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).

Offset

ASCII: MPHASE Default: 0 °electr.


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. When using an FBTYPE 7 (SinCos W&S), the offset will be determined automatically.

Attention!

An incorrect setting can cause the motor to run away, even with a 0V setpoint!

Velocity Observer

ASCII: FILTMODE

ID

0

1

2

3

Function

Default: 1

Remark

OFF 16 kHz VL 16 kHz sped loop

OFF 4 kHz VL T

Q

Filter

ON 16 kHz VL Velocity observer

ON 4 kHz VL Velocity observer valid for all OPMODES

Acceleration Feedforward

ASCII: VLO Default: 1.0


This parameter applies a dynamic pre-control to the actual-value detection (Luenberger monitor), particularly for resolver feedback. It reduces the phase-shift in the detection of the actual value, thus improving the stability of the speed control.

With VLO = 1 the pre-control is set to optimum, with VLO = 0 the monitor is switched off.


Screen page "Encoder" 07/03 Jetter AG

14 Screen page "Encoder"

Cycle time of the encoder emulation: 0.125 µs.

Encoder emulation ASCII: ENCMODE Default: 1

Change this only while the amplifier is disabled.


ID

0

1

2

3

Function

Input

ROD

SSI

Comments

The interface is used as an input.

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 / B with a 90° electrical phase difference, and a zero pulse.

Exception: If an encoder with a commutation track 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 evaluated.

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 a commutation track is used as the feedback unit, then the upper 12 bits are set to 1 (data invalid!) until a homing run is performed.

ROD Interpolation

Radio button MULTI TURN selected:

The upper 12 bits contain the number of motor turns, the lower 12 bits contain the position information.

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.

Resolution ROD ASCII: ENCOUT Default: 1024 valid for all OPMODES

Determines the number of increments per turn that are output. Change this only while the amplifier is disabled.

Encoder function (ENCMODE) Feedback system

Resolver

ROD (1)

ROD interpolation (3)

EnDat / HIPERFACE

Incremental encoders without absolut data channel

Resolution

16...1024

16...4096 and

8192...524288 (2 n

)

Zero position one per revolution

(only if A=B=1) one per revolution

(only if A=B=1)

4...128

TTL lines per sine line analog pass through from X1 to X5

The resolution in the controls can be increased by quadruple evaluation of the increments.


Jetter AG

NI-Offset ROD

07/03 Screen page "Encoder"

ASCII: ENCZERO Default: 0 valid for all OPMODES

Determines the position of the zero (marker) pulse when A=B=1. The entry is referred to the zero-crossing of the feedback unit.

Single / Multi Turn

ASCII: SSIMODE Default: 0 valid for all OPMODES

Determines whether the output format is compatible to a single turn or multi turn SSI encoder. Change this only while the amplifier is disabled.

ID

0

1

Function

Single turn

Multi turn

Baudrate SSI

ASCII: SSIOUT Default: 0 valid for all OPMODES

Determines the serial transmission rate. Change this only while the amplifier is disabled.

ID

0

1

Function

200 kBaud

1,5 MBaud

SSI-Clock

ASCII: SSIINV Default: 0 valid for all OPMODES

Determines whether the output level is normal, or inverted. Change this only while the amplifier is disabled.

ID

0

1

Function standard inverted

SSI-Code

ASCII: SSIGRAY Default: 0 valid for all OPMODES

Determines whether the output is in binary or GRAY code. Change this only while the amplifier is disabled.

ID

0

1

Function

Binary

Gray

ROD-Interpolation

ASCII: ENCOUT Default: 16 valid for all OPMODES

Determines the multiplier for the number of lines of the feedback encoder per electrical motor rotation.

Maximum output pulse number: 400,000 pulses/sec


Screen page "Analog I/O"

15

07/03

Screen page "Analog I/O"

Cycle time of the analog I/O-functions: 250 µs. An In 1 is read every 125 µs.

The actual values of the analog inputs/outputs are shown in the diagram of the connector X3.

Jetter AG

15.1

Dead Band

Setp. Offset

Scaling

T.Setpoint

Auto-Offset

Analog Inputs AN IN1 / AN IN 2

ASCII: ANDB Default: 0 mV valid for OPMODES 1+3

Suppresses small input signals.

The function is useful with OPMODE1: analog speed (without higher-level position control)

ASCII: ANOFFx Default: 0 mV valid for all OPMODES

This is used to compensate the offset voltages of CNC-controls and the analog inputs 1 (ANOFF1) or 2

(ANOFF2). Adjust the axis to standstill while the setpoint = 0V.

ASCII: VSCALEx Default: 3000 valid for OPMODE 1

Scaling of the speed setpoint value.

ASCII: ISCALEx entry: xx rpm / 10 V

Default: Peak current valid for OPMODE 3

Scaling of the torque setpoint value.

entry: xx A / 10 V

ASCII: AVZ1 Default: 1 ms valid for OPMODE 1

You can enter a filter time constant here, for An In 1 (clock rate 8 kHz, 1st order filter)

ASCII: ANZEROx Default: valid for all OPMODES

This function carries out an automatic adjustment of the setpoint offset.

Conditions: analog inputs short-circuited, or 0V from the controls.


Jetter AG

Setp.-Functions

07/03 Screen page "Analog I/O"

ASCII: ANCNFG

5

6

3

4

7

ID

0

1

2

8

9

Default: 0

Function

Xcmd=An In 1 v_cmd=An In 1, Icmd=An In 2 v_cmd=An In 1, Iff=An In 2

Xcmd=An In 1, Ipeak=An In 2

Xcmd=An In 1 + An In 2

Xcmd=An In 1 * An In 2 electr. gear

Icmd=An In 1, nmax=An In 2

Pcmd=An In 1

Xcmd=An In 1, Ferraris=An In 2 valid for all OPMODES

0, Xcmd=An In 1

The servo amplifier only uses the An In 1, and operates in the mode that is set by the OPMODE parameter. The

digital input function 8, An In 1/An In 2. can be used to change over to An In 2.

Xcmd = Scaling(An In 1) * An In 1

1, v_cmd=An In 1, Icmd=An In 2

The servo amplifier uses one of the two analog inputs, depending on the setting of OPMODE.

vcmd = Scaling(An In x) * An In x

OPMODE

1, analog speed

3, analog torque all other settings

An In 1 speed setpoint inactive inactive

An In 2 inactive current (torque) setpoint inactive

2, v_cmd=An In 1, Iff=An In 2

An In 2 is used as current feed forward (OPMODE=0,1).

vcmd = Scaling(An In 1) * An In 1 Iff = Scaling(An In 2) * An In 2

3, Xcmd=An In 1, Ipeak1=An In 2

The servo amplifier uses An In 1, depending on the setting of OPMODE. An In 2 is used for the limiting of the peak current of the instrument (Ipeak).

Ipeak1 = Ipeak *

An In 2

10V

Xcmd = Scaling(An In 1) * An In 1

If you use the digital input function Ipeak2x as well as the setpoint function Ipeak1, the servo amplifier will use

the lower of the two settings for Ipeak.

4, Xcmd=An In 1+ An In 2

The servo amplifier uses the sum of both analog inputs, depending on the setting of OPMODE.

Xcmd = Scaling(An In 1) * An In 1 + Scaling(An In 2) * An In 2

OPMODE

1, analog speed


An In 1 + An In 2 speed setpoint current (torque) setpoint inactive

5, Xcmd=An In 1

· An In 2

The servo amplifier uses the product of both setpoint inputs, depending on the setting of OPMODE. The voltage on An In 2 has the effect of a weighting factor for An In 1, the scaling for An In 2 is ineffective:

Xcmd = An In 1 * Scaling(An In 1) * An In 2

OPMODE

1, analog speed


An In 1

· An In 2 speed setpoint current (torque) setpoint inactive


Screen page "Analog I/O" 07/03 Jetter AG

6, electr.gear

Correction of the gearing ratio (nominator y, GEARO) of the electrical gearing through An In 2 for OPMODE 4.

An In 1 is used as a speed (or torque) setpoint for OPMODE 1 (or 3).

GEAROeff= GEARO * (1 +

An In 2 * Scaling(An In 2)

1000

)

7, Icmd=An In 1, nmax=An In 2

The servo amplifier uses An In 1 as current (torque) setpoint. An In 2 defines the maximum rotary speed.

Icmd = Scaling(An In 1) * An In 1 nmax = Scaling(An In 2) * An In 2

8, Pcmd=An In1

The setpoint input 1 is used for the position setpoint. For instance, for setting a valve.

9, Xcmd=An In 1, Ferraris=An In 2

The servo amplifier uses setpoint input 1 as the current (torque) or speed setpoint, depending on the setting of

OPMODE.

Setpoint input 2 is used for the input from a Ferraris sensor (acceleration sensor) to implement speed control in conjunction with the feedback system.


Jetter AG

15.2

AN OUT1/2

07/03 Screen page "Analog I/O"

Analog Outputs AN OUT1 / AN OUT2

ASCII: ANOUTx Default: 1 valid for OPMODES 1+3

The analog outputs 1 (ANOUT1, terminal X3/8) and 2 (ANOUT2, terminal X3/9) each provide various analog actual/setpoint values, depending on the selection in the commissioning software. Make changes only while the amplifier is disabled + reset.

Output resistor 2.2k

W. Resolution 10 bit.

ID Function Description

0 Off not active

1 v_act

The speed monitor provides a DC voltage referred to AGND, analog to the actual speed.

Normalization: ±10V at the preset speed limit in the speed controller

2

3

I_act v_cmd

The current monitor provides a DC voltage referred to AGND, analog to the actual current.

The output is the actual in-phase current (active component Iq), which is nearly propor-

tional to the motor output torque.

Normalization: ±10V for ± preset peak current (r.m.s. value) in the current controller

The output provides ±10V referred to AGND for the internal speed setpoint.

Normalization: ±10V at the preset speed limit in the speed controller

4

5

6

I_cmd

FError

Slot

The output provides ±10V referred to AGND for the internal current setpoint (corresponds to the preset peak current at the output of the speed controller).

Normalization: ±10V for ± preset peak current (r.m.s. value) in the current controller

The output provides ±10V referred to AGND for the preset following error window reserved by the expansion card


Screen page "Digital I/O" 07/03 Jetter AG

16

16.1

Screen page "Digital I/O"

Cycle time of the digital I/O functions: 1 ms.

The states of the digital inputs/outputs are shown.

Digital inputs DIGITAL-IN1 / DIGITAL-IN2 / PSTOP / NSTOP

ASCII: INxMODE

ASCII: INxTRIG

Default: 0


The terminals DIGITAL-IN1/2, PSTOP and NSTOP (X3/11,12,13,14) can be used in combination with internal functions. Change this only while the amplifier is disabled + reset.

ID

23

24

25

26

27

32

18

20

21

22

14

15

16

17

10

11

12

13

7

8

9

2

3

4

0

1

5

6

Function

Off

Reset

PSTOP

NSTOP

PSTOP+Intg.Off

NSTOP+Intg.Off

PSTOP+NSTOP

P/Nstop+Intg.Off

An In1/ An In2

MT_No. Bit

Intg.Off

v/Torq.Contr.

Reference

ROD/SSI

FError_clear

Start_MT Next

Start_MT No x

Start_MT IO

Ipeak2 x

Start_Jog v=x

U_Mon.off

MT_Restart

FStart2 Nr x

Opmode A/B

Zero_latch

Zero pulse

Emergency Stop

Brake

Active edge/level

-

ì

î Low

î Low

î Low

î Low

î Low

î Low

High/Low

ì

ì

High/Low

ì

High/Low

ì

Can be set

ì

ì

ì

ì

ì

ì

ì

ì

ì

ì

î Low

ì

Auxiliary value x

INxTRIG

-

-

-

Motion task no.

-

% of Ipeak

Speed in rpm

-

-

Motion task no.

OPMODE no.

-

-

-

-

-

-

-

-

-

-

-

-

-

-

x x x x x x x x x x x x x x x x x

DIGITAL-IN1

X3/11

Function can be combined with

DIGITAL-IN2 PSTOP

X3/12 X3/13

IN1MODE x x

IN2MODE x

IN3MODE x x

NSTOP

X3/14

IN4MODE x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x


Jetter AG 07/03 Screen page "Digital I/O"

16.1.1

Description of the digital inputs

0, Off

1, Reset

2, PSTOP

3, NSTOP

4, PSTOP+Intg.Off

5, NSTOP+Intg.Off

6, PSTOP+NSTOP

7, P/Nstop+Intg.Off

8, An In 1/An In 2

No function.

Software reset of the servo 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 parameter set that is stored in the

EEPROM is 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, just 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 controls.

Limit-switch function. A LOW signal on the input terminal PSTOP (terminal X3/13) inhibits the positive direction

of rotation (clockwise, when looking at the motor shaft, at the A-end of the motor: parameter ROTARY

DIRECTION positive). The motor brakes (with emergency ramp), and stands with the I-component under

control, mechanical disconnection (stop) is not permitted.

A falling edge releases the brake, the 0V level disables the negative setpoint.

Limit-switch function. A LOW signal on the input terminal NSTOP (terminal X3/14) inhibits the negative direction

of rotation (counterclockwise, when looking at the motor shaft at the A-end of the motor: parameter ROTARY

DIRECTION positive). The motor brakes (with emergency ramp), and stands with the I-component under

control, mechanical disconnection (stop) is not permitted.

A falling edge releases the brake, the 0V level disables the positive setpoint.

Limit-switch function. A LOW signal on the input terminal PSTOP (terminal X3/13) inhibits the positive direction

of rotation (clockwise, when looking at the motor shaft, at the A-end of the motor: parameter ROTARY

DIRECTION positive). The motor brakes (with emergency ramp), and stands without the I-component under

proportional control, mechanical disconnection (stop) is permitted.

A falling edge releases the brake, the 0V level disables the negative setpoint.

Limit-switch function. A LOW signal on the input terminal NSTOP (terminal X3/14) inhibits the negative direction

of rotation (counterclockwise, when looking at the motor shaft at the A-end of the motor: parameter ROTARY

DIRECTION positive). The motor brakes (with emergency ramp), and stands without the I-component under

proportional control, mechanical disconnection (stop) is permitted.

A falling edge releases the brake, the 0V level disables the positive setpoint.

Limit-switch function STOP, regardless of the direction of rotation. A LOW-Signal on the input terminal PSTOP

(terminal X3/13) or NSTOP (terminal X3/14) inhibits both directions. The motor brakes (with emergency ramp), and stands with the I-component under control, mechanical disconnection (stop) is not permitted.

A falling edge releases the brake, the 0V level switches the internal speed setpoint to 0V.

Limit-switch function STOP, regardless of the direction of rotation. A LOW-Signal on the input terminal PSTOP

(terminal X3/13) or NSTOP (terminal X3/14) inhibits both directions. The motor brakes (with emergency ramp), and stands without the I-component under proportional control, mechanical disconnection (stop) is permitted.

A falling edge releases the brake, the 0V level switches the internal speed setpoint to 0V.

Switches over the setpoint inputs An In ½. This function is only effective if the analog setpoint function

0,Xcmd=An In 1 has been selected.

High level at the input: Setpoint input 2 (terminals X3/6,7) is active

Low level at the input: Setpoint input 1 (terminals X3/4,5) is active



9, MT_No_Bit

07/03 Jetter AG

Here you can select the motion tasks that are stored in the servo 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. 3bits.

An input is required to start the motion task (17, Start_MT IO). 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.

Examples of possible assignments of the digital inputs for various applications:

Application

7 motion tasks + homing, without reference switch.

3 motion tasks + homing, without reference switch.

Start a following task that is defined in the motion task, using the setting "Start with I/O".

3 motion tasks + homing, with reference switch.

1 motion task + homing, with reference switch.

Start a following task that is defined in the motion task, using the setting "Start with I/O".

Motion task number: MSB ----------------> LSB

NSTOP PSTOP

DIGITAL-

IN 2

DIGITAL-

IN 1

Start_MT IO 2

2

2

1

2

0

Start_MT Next

2

1

Reference

Start_MT IO

2

0

Start_MT Next

2

Reference

2

1

0

2

0

Start_MT IO

Start_MT IO selectable motion task numbers

0...7

0...3

0...3

0...1

10, Intg.Off

11, v/Torq.Contr.

12, Reference

13, ROD/SSI

14, FError_clear

15, Start_MT Next

16, Start_MT No x

17, Start_MT IO

18, Ipeak2 x

Switch off the integral component of the speed controller, the P-gain remains at the set value, the actual-

(rotational) speed feedback remains in operation.

Bypasses the speed controller. The analog setpoint is taken 1:1 as the setpoint for current control, i.e. change over from speed control to current (torque) control.

High-level at the input: torque control

Low-level at the input: speed control

Polls the reference switch.

Changeover of the encoder-emulation (position output) on connector X5.

High level at the input: SSI-compatible position signals

High level at the input: ROD-compatible position signals

Clear the warning of a following error (display n03) or the response monitoring (display n04).

The following task, that is defined in the motion task by "Start with I/O" is started. The target position of the present motion task must be reached before the following task can be started.

Start a motion task that is stored in the servo amplifier, by giving the motion task number. After the function has been selected you can enter the motion task number as the auxiliary variable "x". Motion task number "0" initiates homing/reference traverse. A rising edge starts the motion task, a falling edge cancels the motion task.

Start of the motion task that has the number that is presented, bit-coded, at the digital inputs

(PSTOP/NSTOP/DIGITAL-IN1/DIGITAL-IN2, see function 9, MT_No_Bit ). A rising edge starts the motion task a falling edge cancels the motion task.

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 as the auxiliary variable

"x".

Make the conversion according to the following equation: x =

Ipeak2

Ipeak

* 100% => Ipeak2 = x

100%

* Ipeak


Jetter AG

20, Start_Jog v=x

21, U_Mon.off

22, MT Restart

23, FStart2 Nr x

07/03 Screen page "Digital I/O"

Start of the setup mode "Jog Mode" with a defined speed. After selecting the function, you can enter the speed in the auxiliary variable "x". The sign of the auxiliary variable defines the direction. A rising edge starts the motion, a falling edge cancels the motion.

Turns off the undervoltage monitoring function of the servo amplifier.

Continues the motion task that was previously interrupted.

Start of a motion task that is stored in the servo amplifier, with definition of the motion task number. After selecting the function, you can enter the motion task number in the auxiliary variable "x". Motion task number

"0" starts the homing run. A rising edge starts the motion task.

24, Opmode A/B

25, Zero_latch

26, Pos_latch

Warning!

The motion task does not stop automatically if the start signal is removed!

The motion task must be stopped by

—

—

— a falling edge on another digital input (configured with 16, Start_MT No x) the ASCII command STOP the STOP function of the setup software

Changeover of the operating mode (OPMODE). The numbers of the OPMODES that are to be changed over are entered in the auxiliary variable "x" 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.

Example:

Preparation for the changeover between OPMODE 1 (LOW state) and OPMODE 2 (HIGH state) according to the state of the digital input DIGI-INI.

Function DIGI-IN1 = 24

2 Byte Hex value: "0801" => decimal value: "2049"

Auxiliary value "x" = 2049

Sets the ROD zero pulse offset. The current position, depending on the ROD resolution that is set, is calculated

at the rising edge and stored as NI-Offset. This function is used to perform an automatic save of all parameters.

An edge causes a freezing of the actual position. The 32-Bit value is stored in the variable LATCHX32 (positive edge) or LATCHX32N (negative edge). The 16-Bit value (absolute within a revolution) is stored in the variable

LATCHX16 (positive edge) or LATCHX1N (negative edge). The Latch procedure taken place is communicated about the corresponding status bits. The min. Pulse length wich can be read by this input (Low/High and

High/Low toggle) is 500 µsek. For CANopen the minimum distance between two Latch impulses is 8 msek.


Screen page "Digital I/O" 07/03 Jetter AG

27, Emergency Stop The LOW level initiates an emergency-stop phase (motion is canceled and the drive is stopped, using the

EMERGENCY RAMP). Regardless of the OPMODE that is currently set, the speed controller is activated during

the emergency-stop phase.

32, Brake A rising edge at the input triggers the braking output of the servo amplifier.

This function is only available while the amplifier is disabled. If an error message is active, the brake cannot be de-energized.

Warning!

With suspended loads, this function will lead to slipping of the axis!


Jetter AG

16.2

07/03 Screen page "Digital I/O"

Digital outputs DIGITAL-OUT1 / DIGITAL-OUT2

ASCII: OxMODE

ASCII: OxTRIG

Default: 0


You can combine the following standard pre-programmed functions with the digital outputs

DIGITAL-OUT1 (O1MODE, terminal X3/16) or DIGITAL-OUT2 (O2MODE, terminal X3/17). Change this only while the amplifier is disabled + reset.

The following level information refers to the output at additional inverting interface terminals (e.g. Phoenix

DEK-REL-24/I/1), see Installation Manual.

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.

Function

Off v_act<x v_act>x

Mains-RTO

Regen off

Sw_limit

Pos.>x

InPos

I_act<x

I_act>x

FError

I²t

Posreg.1

Posreg.2

Posreg.3

Posreg.4

Next-InPos

Error/Warn

Error

DC_Link>x

DC_Link<x

ENABLE

Zero_pulse

Reserved

Ref_OK

Reserved

Posreg. 0

Posreg. 5

16

17

18

19

12

13

14

15

8

9

10

11

6

7

4

5

20

21

22

23

24

25-27

28

29

ID

0

1

2

3

Logic

-

High

High

Low

High

High

High

High

High

High

Low

High

High

High

High

High

High

High

High

High

High

High

High

-

High

-

High

High

Auxiliary value OxTRIG

speed (rpm) speed (rpm)

-

-

position (increments)

current (mA) current (mA)

-

-

-

-

-

-

-

-

voltage (V) voltage (V)

-

-

-

-

-

-

-



16.2.1

0, Off

1, v_act<x

2, v_act>x

3, Mains-RTO

4, Regen off

5, Sw_limit

6, Pos.>x

7, InPos

8, I_act<x

9, I_act>x

07/03

Description of the digital outputs

Jetter AG

No function assigned.

As long as the absolute value for the motor speed is lower than a preset value (auxiliary value "x"), a

HIGH-signal will be output. After the function has been selected you can enter the speed in rev./min. as the auxiliary value "x".

As long as the absolute value for the motor speed is higher than a preset value (auxiliary value "x"), a

HIGH-signal will be output. After the function has been selected, you can enter the speed in rev./min. as the auxiliary value "x".

This signals the operational readiness of the amplifiers power output stage. After switching on the mains supply, a LOW-signal is output until the DC-link circuit is fully charged up. A HIGH-signal is output when the charging of the DC-link circuit is finished. If the DC-link voltage falls below 100V, then 0V will be output. The "Undervoltage" monitoring is inactive.

Signals if the preset regen power (screen page "Basic Setup") is exceeded.

This 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").

If the position (angular position of the motor shaft) exceeds a preset value (auxiliary value "x"), a HIGH-signal will be output. After the function has been selected, you can enter the signaling position in increment (a number or fraction of motor turns N) as the auxiliary value "x".

Make the calculation according to the following equation: x = 1048576 * N * counts

Maximum possible entry value: x = 2

31

= 2147483648, this corresponds to N = 2048

When the target position for a motion task has been reached (the InPosition window), this is signaled by the output of a HIGH-signal. 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".

The output is a HIGH-signal, as long as the absolute r.m.s. value of the actual current is lower than a defined value in mA (auxiliary value "x").

After the function has been selected, you can enter the current value as the auxiliary value "x".

The output is a HIGH-signal, as long as the absolute r.m.s. value of the actual current is higher than a defined value in mA (auxiliary value "x").

After the function has been selected, you can enter the current value as the auxiliary value "x".


Jetter AG 07/03 Screen page "Digital I/O"

10, FError

11, I²t

12...15, Posreg.1...4

16, Next-InPos

17, Error/Warn

18, Error

19, DC-Link>x

20, DC-Link<x

21, ENABLE

22, Zero pulse

24, Ref_OK

28, Posreg 0

29, Posreg 5

If the position goes outside the preset contouring-error window, this is indicated by a LOW-signal. The width of

the following error window is entered in the screen page "Position" for all the valid motion tasks.

If the preset I²t monitoring threshold is reached (screen page "Current" ) this is indicated by a HIGH-signal.

The preset function of the corresponding position register (the function is defined in the screen page "Position

Data") is indicated by a HIGH-signal.

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 motion task sequence.

The output produces a HIGH-signal if an error or a warning message is signaled by the servo amplifier.

The output produces a HIGH-signal if an error is signaled by the servo amplifier.

A HIGH-signal is output if the actual value of the DC-link voltage is higher than a defined value in volts (auxiliary value "x").

After the function has been selected, you can enter the voltage value as the auxiliary value "x".

A HIGH-signal is output if the actual value of the DC-link voltage is lower than a defined value in volts (auxiliary value "x").

After the function has been selected, you can enter the voltage value as the auxiliary value "x".

A HIGH-signal is output if the servo amplifier is enabled.

To obtain the enable, the external Enable signal on terminal X3/15 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.

The zero mark/pulse (HIGH-signal) is indicated by the encoder-emulation. This function is only useful at very low speeds.

The output signals High, if a reference point is available. Reference traverse (homing) has been carried out, or a reference point has been set.

The preset function of the corresponding position register is indicated by a HIGH-signal. Valid only with

expansion card -I/0-14/08-.

The preset function of the corresponding position register is indicated by a HIGH-signal. Valid only with

expansion card -I/0-14/08-.


Screen page "Current"

17

Irms

07/03 Jetter AG

Screen page "Current"

Use the default values for the motor. Please do not make any alterations to the settings for the current controller unless they have been discussed with our applications department.

Cycle time of the current controller: 62.5 µs

ASCII: ICONT Default: 50% rated current valid for all OPMODES

Sets the rated output current that is required. The adjustment is usually made to I

0

, the standstill current for the motor that is connected. The value that can be entered is limited to the rated current of the amplifier or the

standstill current of the motor Io (the lower of the two values). The function is used in the monitoring of the

actual r.m.s. current that is drawn. The limit that is set by the Irms-setting reacts after approx. T

I2t

= 5 sec at maximum load. The calculations for current settings other than the rated values are made according to the equation:

T

I2T

=

I²rms * 15s

I²peak - I²rms

Ipeak

Ref.-Ipeak

I²t message

KP

Tn

ASCII: IPEAK Default: 50% peak current valid for all OPMODES

Sets the required pulse current (r.m.s. value). The value that can be entered is limited to the rated peak current

of the motor or amplifier (the lower of the two values).

ASCII : REFIP Default : 50% peak current Valid for all OPMODES

This sets the required pulse current (r.m.s. value) for Homing 7 (homing to the hardware stop, with zero-mark

detection) and for "Wake & Shake" commutation with external encoder systems. The entry is limited by the

lower value of the peak currents for the amplifier and motor.

ASCII: I2TLIM Default: 80 % 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 one of the

programmable outputs DIGITAL-OUT1/2 (X3/16 or X3/17). A warning appears in the display.

ASCII: MLGQ Default: 1 valid for all OPMODES

Determines the proportional gain of the current controller.

Normalization: at KP=1 and at a control deviation I_cmd -I_act = peak armature current the rated motor voltage will be output.

ASCII: KTN Default: 0,6 ms valid for all OPMODES

Determines the integral-action time (integration time constant) of the current controller.


Jetter AG

18

SpeedLimit

Rotary Direction

Setp. Ramp+

Setp. Ramp–

07/03 Screen page "Speed"

Screen page "Speed"

Use the default values for the motor as a starting point for optimization.

Cycle time of the speed controller: 250 µs

ASCII: VLIM Default: 3000 rpm valid for OPMODES 0+1

Limits the motor speed. The maximum value also depends on the used motor and encoder.

ASCII: DIR Default: 1 valid for all OPMODES

Fixes the direction of rotation of the motor shaft, referred to the polarity of the setpoint.

Make changes only while the amplifier is disabled + reset. This parameter is not available, if a SERCOS interface is built-in.

After changing the rotary direction the hardware limit switches have to be exchanged.

Standard setting: right-hand (cw) rotation of the motor shaft (looking at the shaft end), with:

—

— positive voltage on terminal X3/4 (+ ) against terminal X3/5 ( - ) or positive voltage on terminal X3/6 (+ ) against terminal X3/7 ( - )

ID

0

1

Function negative positive

ASCII: ACC Default: 10 ms valid for OPMODES 0+1

Limits the rate of increase of the internal setpoint processing during acceleration to the speed limit (valid for both directions). A jump or step in the setpoint that is provided will be turned into a smoother, more favorable transition. 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.

Depending on the setting of the parameter ACCUNIT, acceleration time or ramp gradient will be set.

ASCII: DEC Default: 10 ms valid for OPMODES 0+1

Limits the rate of decrease of the internal setpoint processing during braking to the zero speed (valid for both directions). A jump or step in the setpoint that is provided will be turned into a smoother, more favorable transition.

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 Setp.ramp+ and Setp.ramp– can be set to the same value.

The ramp time settings are still effective if the limit-switches are activated.

Depending on the setting of the parameter ACCUNIT, acceleration time or ramp gradient will be set.


Screen page "Speed"

Overspeed

07/03 Jetter AG

ASCII: VOSPD Default: 3600 rpm valid for all OPMODES

Determines the upper limit for the motor speed. If this limit is exceeded, the servo amplifier switches into the overspeed fault condition (error message F08).

Emergency ramp

Dis Ramp

KP

Tn

PID-T2

Feedback

PI-PLUS

ASCII: DECSTOP Default: 10 ms valid for all OPMODES

The braking ramp for emergency braking. This braking ramp is used if the message n03, following error or n04, response monitoring occurs, as well as on the activation of a hardware or software limit-switch.

ASCII : DECDIS Default : 10 ms Valid for all OPMODES

If the output stage is disabled (by removal of the hardware or software enable), the internal speed setpoint is run down to 0 along this ramp. When the speed has fallen below 5 rpm the output stage is disabled.

This ramp is only effective for motors that have a brake configured.

ASCII: GV Default: 1 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. Typical values for this setting are between 10 and 20.

Normalization: at KP = 1 and a control deviation of v_cmd -v_act = 3000 rev/min the instrument delivers the peak current.

ASCII: GVTN Default: 10 ms 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

I-component is switched off.

ASCII: GVT2 Default: 1 ms valid for all OPMODES

Affects the proportional gain (P-gain) at medium frequencies. It is often possible to improve the damping of the speed control loop by increasing PID-T2 to about Tn/3. The setting is made, if required, after the basic setting of

KP and Tn.

ASCII: GVFBT Default: 0,4 ms valid for all OPMODES

If necessary, the time constant for the PT1-filter in the actual speed feedback (tachometer smoothing) can be altered. This may improve the step response and smoothness of running, particularly for very small, highly dynamic motors.

ASCII: GVFR Default: 1 valid for OPMODES 0+1

This parameter only effects when the I-component is switched on (GVTN

¹ 0).

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.

Optionally, you can reduce Tn. This makes the drive stiffer for the same step response.


Jetter AG

19

07/03

Screen page "Position" (PI)

Cycle time of the position controller: 250 µs

Subscreens

Position Data

Homing

Gearing

Opens the screen page "Position Data"

Opens the screen page "Homing"

Opens the screen page "Gearing"

Screen page "Position" (PI)

Ff Factor

ASCII: GPFFV Default: 1 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.

KV

ASCII: GP Default: 0,15

Determines the proportional gain for the position controller.

Normalization: speed in m/s at 1 mm position deviation.

valid for OPMODES 4,5,8

Tn max.Following Error

ASCII: PEMAX Default: 262144 valid for OPMODES 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 an error message and brakes the drive, using the emergency ramp.

KP

ASCII: GPTN Default: 10 ms valid for OPMODES 4,5,8

Determines the integral-action time (integration time constant) for the position controller.

Tn = 0 ms switches off the I-component.

ASCII: GPV Default: 7 valid for OPMODES 4,5,8

Determines the proportional gain for the speed section of the controller. Increase the value up to the level where the motor starts to oscillate, and then back it off until the oscillations have clearly stopped. Typical values are the same as for the KP of the speed controller.

Normalization: as for the KP of the speed controller

PID-T2

Feedback

Displays the value from the screen page "Speed"

Displays the value from the screen page "Speed"

Mode / Position Feedback

ASCII: EXTPOS Default: 0 valid for all OPMODES

Mode

Determines the type of position control loop (P/PI). With a P position control this screen page appears in a

different layout.

Position feedback

Determines the feedback source for the internal position controller. For most applications, the position infor mation for commutation and for position control are derived from the same source. This source is determined on

the "FEEDBACK" screen page, and can be either a resolver or an Endat/Hiperface encoder. In certain situa-

tions it may be advisable to derive the position information for commutation from a different source to that for

the position control. In such a case the feedback parameter will continue to be the source for commutation, and

the source for the position control will be given by gearing mode.

Standard feedback

- Feedback type is set by feedback

- It is not possible to read in an encoder via X1 or X5

Read external (ROD/SSI) for fieldbus

- Feedback type is set by feedback, external encoder is set by gearing mode

External (ROD/SSI) for position control

- Not possible in this mode


Screen page "Position" (P)

20

07/03

Screen page "Position" (P)

Cycle time of the position controller: 250 µs

Subscreens

Position Data

Homing

Gearing

Opens the screen page "Position Data"

Opens the screen page "Homing"

Opens the screen page "Gearing"

Jetter AG

Ff Factor

ASCII: GPFFV Default: 1 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.

KV

ASCII: GP Default: 0,15

Determines the proportional gain for the position controller.

Normalization: speed in m/s at 1 mm position deviation.

valid for OPMODES 4,5,8 max.Following Error

ASCII: PEMAX Default: 262144 valid for OPMODES 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 an error message and brakes the drive, using the emergency ramp.

Mode / Position Feedback

ASCII: EXTPOS Default: 0 valid for all OPMODES

Mode

Determines the type of position control loop (P/PI). With a PI position control, this screen page appears in a

different layout.

Position feedback

Determines the feedback source for the internal position controller. For most applications, the position infor mation for commutation and for position control are derived from the same source. This source is determined on

the "FEEDBACK" screen page, and can be either a resolver or an Endat/Hiperface encoder. In certain situa-

tions it may be advisable to derive the position information for commutation from a different source to that for

the position control. In such a case the feedback parameter will continue to be the source for commutation, and

the source for the position control will be given by gearing mode.

Standard feedback

- Feedback type is set by feedback

- it is not possible to read in an encoder via X1 or X5

Read external (ROD/SSI) for fieldbus

- Feedback type is set by feedback, external encoder is set by gearing mode

External (ROD/SSI) for position control

- Feedback type is set by external source via gearing mode


Jetter AG

21

Start

Stop

07/03 Screen page "Homing"

Screen page "Homing"

The reference traverse (homing) is an absolute task, that is used to zero the drive for subsequent positioning operations. You can choose between various types of homing.

After homing, the drive reports "InPosition" and then enables the position controller in the servo amplifier.

Take care 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 high moments 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.

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.

ASCII: MH

Radio button to start homing.

Default: valid for OPMODE 8

The SW-enable is set automatically when homing starts. Homing will only be started in OPMODE 8. 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.

ASCII: STOP Default: valid for all OPMODES

Radio button to stop (cancel) the homing. The SW-enable remains set!


Screen page "Homing" 07/03 Jetter AG

Reference traverse

ASCII: NREF Default: 0 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.

You can shift the zero-crossing point of the motor shaft within one turn, at will, by using the "NI offset" parameter (screen page "Encoder").

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. Two-pole 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 zero-crossings.

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.

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.

Homing 0 Sets the reference point to the setpoint position (the following error is lost).

Homing 1

Traverse to the reference switch with zero-mark recognition.

In this case, a reference traverse can also be made without hardware limit-switches. The precondition is one of the initial situations shown below: negative traverse, positive rotation negative traverse, negative rotation

58

Homing 2

Homing 3

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.

Move to reference switch, without zero-mark recognition. The reference point is set to the transition of the reference switch.

Homing 4

Homing 5

Move to hardware limit-switch, without zero-mark recognition. The reference point is set to the transition of the hardware limit-switch.

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

Homing 8

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.

The pulse current is set by the parameter REF.-IPEAK on the screen page "Current controller".

Drives to an absolute SSI position. At the start of the homing run, a position is read in from the

SSI input (GEARMODE=7), converted according to the scaling factors GEARI and GEARO and the reference offset, and then used a the target position.

On the following pages you can find the paths traversed during homing types 1 to 5 for every possible initial situation (positive rotation, negative and positive directions of motion).

The meanings of the abbreviations in the drawings are:

N

R limit-switch NSTOP reference switch

P vref limit-switch PSTOP preset velocity

SP

NM start position zero mark of the resolver

Setup Software

Jetter AG

21.1


Homing 1

Homing with reference switch, negative direction of motion, positive rotation, with zero-mark

Warning!

Before starting homing, check the safety of the system, since the load may move, even if the limit-switches are disconnected or defective.

The

limit-switch functions

2, PSTOP and 3, NSTOP must be activated to achieve the full homing functionality.

Homing with reference switch, positive direction of motion, positive rotation, with zero-mark

Warning!


The





21.2

Homing 2

07/03

Homing without reference switch, negative direction of motion, positive rotation, with zero-mark

Jetter AG

Warning!

Hardware limit-switches must be present and connected.

The


2, PSTOP and 3, NSTOP must be switched on.

Homing without reference switch, positive direction of motion, positive rotation, with zero-mark

Warning!


The




Jetter AG

21.3


Homing 3

Homing with reference switch, negative direction of motion, positive rotation, without zero-mark

Warning!


The



Homing with reference switch, positive direction of motion, positive rotation, without zero-mark

Warning!


The





21.4

Homing 4

07/03

Homing without reference switch, negative direction of motion, positive rotation, without zero-mark

Jetter AG

Warning!


The



Homing without reference switch, positive direction of motion, positive rotation, without zero-mark

Warning!


The




Jetter AG

21.5


Homing 5

Homing without reference switch, negative direction of motion, positive rotation, with zero-mark

Homing without reference switch, positive direction of motion, positive rotation, with zero-mark

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!



21.6

Homing 7

07/03

Homing to mechanical stop, negative direction of motion, positive rotation, with zero-mark

Jetter AG

Homing to mechanical stop, positive direction of motion, positive rotation, with zero-mark

Warning!

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. (see parameter

Ref.-Ipeak

).


Jetter AG 07/03 Screen page "Homing"

Direction of motion v for homing

ASCII: DREF Default: 0 valid for OPMODE 8

Determines the direction of motion for homing. The setting "distance-dependent" is only relevant for Homing 5

(within one turn). In this case, the direction is chosen to give the shortest distance to the zero-mark. This parameter also defines the direction of motion for a Modulo type of axis.

ID

0

1

2

Function negative direction positive direction zoned distance

ASCII: VREF Default: 0 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 dimension is set by VUNIT .

Accel. ramp

ASCII: ACCR Default: 10 ms valid for OPMODE 8

The acceleration ramp for the homing operation. The dimension is set by ACCUNIT. Entry e.g. in milliseconds

(1 ... 32767 ms). The ramp is also valid for constant velocity mode.

Decel. ramp

ASCII: DECR Default: 10 ms valid for OPMODE 8

The deceleration (braking) ramp for homing. The dimension can be set by ACCUNIT. Entry e.g. in milliseconds

(1 ... 32767 ms). The ramp is also valid for constant velocity mode. 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 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 dimension is set by PUNIT. An alteration of the offset only takes effect after a new homing

operation.

The parameter "Resolution" must be set correctly for your application.

21.7

Jog mode

Jog mode is defined as an endless motion at a constant velocity. 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

F4

ASCII: VJOG Default: 0 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 taken on. The dimension is set by VUNIT .

ASCII: MJOG Default: valid for OPMODE 8

Start the jog mode by pressing the function key F4. The drive moves with the preset velocity in the direction, which is indicated by the sign of the velocity for the jog mode "v", as long as the function key is pressed. If a communication error occurs while pressing the button, the drive stops with the emergency deceleration ramp.

When the function "Jog mode" is started, the SW-enable is set automatically. The

Function "Jog mode" is only started in OPMODE 8. 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.


Screen page "Position Data" 07/03 Jetter AG

22

Number

Motion task table

Start

Screen page "Position Data"

For each one of the positioning tasks you must define motion tasks. These motion tasks can be selected by a motion task number, and are stored in the servo amplifier.

Motion task

1...180

192...255

Stored in

EEPROM

RAM

Precondition for storing output stage disabled none

Comments permanently stored volatile storage

When the servo amplifier is switched on, the RAM motion blocks 192...255 are automatically pre-loaded with the parameters of the EEPROM motion blocks 1...64.

Entry of a motion task number, to start the motion task from the PC.

A new window appears, in which all motion tasks are represented in tabular form.

All motion task parameters can be entered in the table directly. The following operations are available: l Cut l l l

Copy

Paste

Delete

The clipboard operations cut, copy and paste are only possible for complete rows, i.e. for these operations the appropriate row must be selected. The deletion is possible both, row- and cellwise. A line can be selected either by clicking on the row number, or through the keyboard shortcuts <Shitft>+<Space> (similar to Microsoft Excel).

All Edit operations are available through the Windows standard keyboard shortcuts.

Input via the screen page"Motion task parameters":

Double-clicking a line number in the table opens the screen page for the associated motion task. The use of the dialogue "Motion task parameters" in relation to older versions of the software changed concerning the buttons

"OK", and "Cancel".Compared to older versions of the software, the functions of the buttons "OK" and "APPLY" have changed. By clicking these buttons, the changes are no longer saved to the flash EEPROM but the values in the associated table are changed instead. Writing the changes to the EEPROM is possible with the buttons

"OK" or "APPLY" on the screen page "Motion task table"

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 X3/15 has a High signal).

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 OPMODES 1 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)

Stop

ASCII: STOP Default: -

Stops the current motion task. The SW-enable remains set!

valid for OPMODE 8


Jetter AG 07/03 Screen page "Position Data"

Axis type

ASCII: POSCNFG Default: 0 valid for OPMODE 8

Here you select whether the axis is to be operated as a linear or a rotary axis.

ID

0

1

2

Function Comments 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.

The maximum range of movement is limited to +/- 2047 turns of the motor. If a larger number (+/- 32767) is needed, please consult our applications department.

rotary modulo

A rotary axis is an axis with unlimited travel. The software limit-switches have no significance in this case. A rotary 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.

The position of the position controller is limited to the range given by

(Modulo-Start-Pos … Modulo-End-Pos.). As soon as the end of this range

(Modulo-End-Pos.-1) is reached, the position begins again at (Modulo-Start-Pos).

So the absolute target positions for the motion tasks must lie within the valid range.

Any attempt to start an absolute motion task with a target position outside this range will generate the warning n08 (motion task error). With relative motion tasks, the target position will be corrected so that it always lies within the valid range. Since a target position can be approached from two directions when positioning within the

modulo range, the "direction" parameter on the "Homing" screen page can be used

to define the preferred direction.

The same restrictions apply for the reference point as for axis type=linear, i.e. the completion of a homing movement is a precondition for all positioning actions.

The limitation to the modulo range does not apply during the homing movement, in other words, during the homing movement the position for the position controller is treated the same as for axis type=linear.

The limitation to the modulo range is only activated after the homing movement has been completed.

v_max

ASCII: PVMAX Default: 100 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_setp" 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_setp of the motion tasks.

t_acc/dec_min / a max ASCII: PTMIN

Default: 1 ms 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 "t_accel_tot" (acceleration time from 0 to v_setp) and "t_brake_tot" (braking time from v_setp down to 0) for the motion tasks.

Depending on the setting of acceleration unit you can enter either the acceleration time or the acceleration in the dimensional unit that has been selected.

InPosition

Modulo-Start-Pos.

ASCII: PEINPOS Default: 4000 valid for OPMODES 4,5,8

Sets the InPosition window. Determines at which distance from the set position the "InPosition" message should be reported. The drive moves precisely to the target position.

ASCII : SRND Default : -2

31 valid for OPMODES 4,5,8

This parameter is used to define the start of the range of movement for a modulo axis.

The end of the range is defined by the parameter Modulo-End-Pos.

Modulo-End-Pos.

ASCII : ERND Default : 2

31

-1 valid for OPMODES 4,5,8

This parameter is used to define the end of the range of movement for a modulo axis.

The start of the range is defined by the parameter Modulo-Start-Pos.


Screen page "Position Data"

Position register

07/03 Jetter AG

A programmable register that can have various functions assigned to it.

Make changes only while the amplifier is disabled + reset.

Function inactive

Pos. not reached

Pos. overshot

SW limit-switch 1


Comment

threshold for signal threshold for signal limit-switch function limit-switch function

Position register

1 (SWE1) 2 (SWE2) 3 (SWE3) 4 (SWE4) x x x x x x x x x x

x

x x

-

x

-

-

SW limit-switches 1 / 2

The software limit-switches from part of the monitoring functions of the position controller.



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. ).

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:

Legend

MA1 : Machine stop, left

HE1 : Hardware limit-switch, left

NI : Zero pulse initiator (reference)

SE1 : Software limit-switch 1

+

-

SE2 : Software limit-switch 2

HE2 : Hardware limit-switch right

MA2 : Machine stop right

: Positive count direction

: Negative count direction

ASCII: SWCNFG (set)

ASCII: SWEx (position)

Default: 0


Configuration variables for the position register. SWCNFG is a binary-coded bit-variable, and is transferred to the ASCII terminal program as a decimal number.

Bit-variable SWCNFG

Bit Value Description

2

2

2

2

0

1

2

3

0

1

0

1

0

0

1

Monitoring of SWE1 inactive

Monitoring of SWE1 active

Signal for actual position>SWE1

Signal for actual position<SWE1

SWE1 functions as signal threshold

SWE1 functions as SW limit-switch

Reserve

1

2

4

0

1



2

2

5

6

0

1

0



SWE2 functions as signal threshold

SWE2 functions as SW limit-switch

2

7

1

0

1

Reserve

Bit Value Description

2

2

2

8

9

10

0

1

0

1

0





Reserve

2

11

1

0

Reserve

1

2

12

0

1



2

2

2

13

14

15

0

1

0

1

0

1



Reserve

Reserve


Jetter AG

Resolution

GMT

07/03 Screen page "Position Data"

ASCII: PGEARI (numerator)

ASCII: PGEARO (denominator)

Default: 10000

Default: 1 valid for OPMODE 8 valid for OPMODE 8

The entry for the resolution of the motion tasks is in µm/Revolution. The resolution can be defined at will, through the entries for the numerator/denominator.

Make changes only while the amplifier is disabled + reset.

Examples:

An entry of 10000/1 produces a resolution of 10 mm/turn

An entry of 10000/3 produces a resolution of 3.333 mm/turn

Rotary table with geared motor, i = 31 (31 motor turns for one turn of the table)

– The entry 360/31 provides operation with position entries in degrees, without rounding off.

The maximum range of movement is limited to +/- 2047 motor turns. If a larger range (+/- 32767) is required, please consult our applications department.

Opens the graphical motion tasking.

Graphical motion tasking is an advanced feature that lets you easily edit motion tasks with its graphical interface. You can command multiple motions, process I/O, make decisions, add time delays and modify drive process variables. The environment is easy to use, allowing you to program in an intuitive flow-chart.

Motion tasking has been supported by the amplifier since the product was introduced in 1998. In its original form, motion tasking supported only chained moves in sequences executed either once or in infinite loops.

Graphical motion tasking extends the capabilities of moiton tasking by adding looping, comparing (<, =, >, etc.), calling functions and setting process variables.


Screen page "Motion task parameters"

23

Number

Type

07/03 Jetter AG


You can use the ASCII-terminal to completely define motion blocks, with the "ORDER" command. You can obtain further information about this command from our applications department.

Displays the currently active motion task number.

Selection of the basic motion task type.

Type

Motion

Delay

Comparison tests

Modify parameter

Initialize loop

Decrement counter

Loop

Jog

Go to home / index / registration + offset

Description

Standard motion task

Delay in ms branch conditional on parameter value set parameter value define loop parameters decrease loop counter by one step branch conditional on loop counter value move at constant velocity move to reference point

Depending upon selected type the representation of the screen page changes. The individual variants are described in the following sections.

The motion task type “Motion” is always available, all other types presuppose an installed extension card

(DeviceNet, Sercos or I/O-14/08) and orient by the Graphical Motion Tasking and the DeviceNet communication

profile. You find further information in the appropriate manuals


Jetter AG 07/03 Screen page "Motion task parameters"

23.1

Type Motion

Trajectory

Velocity profile No.

Units (general)

If the drop down list Trajectory is set to internal, the motion tasks from the internal trajectory generator are used.

Otherwise entries from the lookup table of the amplifier (can be downloaded over the CAN Download program) are selected. You can get more information on this topic from our application department.

Selection of a velocity profile from the table selected by trajectory. You can get more information on this topic from our application department.

Select the unit for path and speed entries

Selection

Counts

SI / User

Path x = 1048576 * N * Incr.

with N = no. of motor turns, Nmax=+/- 2047

µm

Velocity x = 140/32 * n * min * Incr.

with n = rotational speed of the motor shaft

µm/s

Type s_cmd v_cmd-source v_cmd

This selection determines whether the motion task is interpreted as a relative or an absolute task.

ABS

REL cmd movement to an absolute target position, referred to the reference point.

relative to last target (setpoint) position (in connection with motion block changeover: e.g.

summing operation)

REL act

REL InPos relative to actual position at start (in connection with motion block changeover: e.g. register control) 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.

please contact our applications department.

REL Latch neg.

please contact our applications 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.

This parameter determines the distance to be traveled.

The velocity can be defined in the motion block, or provided as an analog setpoint.

digital analog An In 1 digital setpoint provision through v_cmd

analog setpoint provision at input An In 1 (terminals X3/4-5, scaling is used. The value is

read in at the start of the motion task.

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 smaller value.


Screen page "Motion task parameters" 07/03 Jetter AG

Acceleration/Deceleration

Units (acceleration)

ASCII: ACCUNIT Default: 0

Select the unit for acceleration and ramp entries.

This parameter determines the acceleration time to v_cmd.

t_acc_total t_dec_total

Ramp valid for all OPMODES

This parameter determines the deceleration (braking) time from v_cmd to zero.

Determines which type of acceleration/braking ramp should be used to carry out a motion task.

Trapeze

Sine² variable

The drive is given a constant linear acceleration/deceleration to the target speed


The acceleration/braking ramps can be adjusted (in preparation).

Setting The setting for the rate-of change limiting of the acceleration/braking ramps: t_acc_total t_dec_total

T1

T2

Display of the total acceleration time

Display of the total deceleration (braking) time

Rate-of-change limiting of the acceleration ramp, maximum is half the acceleration time

Rate-of-change limiting of the deceleration ramp, maximum is half the deceleration time


Jetter AG

Next motion task

Next number

Accel./decel.

07/03 Screen page "Motion task parameters"

Next Motion Task

Select whether a new motion task should be started automatically, after the present task is finished.

The InPosition 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.

The number of the next task, which will be started automatically after the present task is finished.

Select the action to be taken when the target position for the present motion task is reached.

on v_act=0 from target to target

The drive brakes to a stop in the target position. The next motion task is then started.

The drive moves at v_cmd of the present motion task to the target position, and then accelerates through to v_cmd of the next task

The changeover to the next task is brought so far forwards, that the v_cmd of the next task is already achieved by the time the target of the present motion task has been reached.

Start condition

Start by I/O edge

Delay time

23.2

Next number

Delay time immediately

I/O

Time

I/O or Time

The next task is started as soon as the target position is reached.

The next task is started by a signal at a digital input (one of the terminals X3/11...14).

This is only meaningful with "Accel./Decel to v=0".

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

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.


The next task is started by a signal at a digital input (one of the terminals X3/11...14) or after a defined delay.


The trigger is the event that occurs first (the start signal or the end of the delay time)



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 that has the function "15, Start_MT Next" assigned to it.

LOW-level:

HIGH-level:

0 ... 7 V

12 ...3 0 V / 7 mA

The entry (in ms) for the delay time between reaching the target position and starting the next task.

Type Delay





23.3

Parameter

Test

Type Comparison tests

Selection of the parameter to be compared by means of class, instance, attribute as described in DeviceNet protocol.

Operator for the comparison test

= The parameter value must be equivalent to the test value

> The parameter value must be larger than the test value

< The parameter value must be smaller than the test value

>= The parameter value must not be smaller than the test value

<= The parameter value must not be larger than the test value

<> The parameter value must not be equivalent to the test value

Value

Bit Test

Nest task if FALSE

Nest task if TRUE

Test Type value, with which the parameter value is to be compared

Selection of a special bit, if not the whole parameter is to be compared.

number of next motion task if the result of the comparison is FALSE number of next motion task if the result of the comparison is TRUE

Branch imm.

wait until TRUE

Comparison will be carried out immediately and only one time.

Comparison will be carried out repeatedly until the result is TRUE branch FALSE on Timeout

Comparison will be carried out repeatedly until the result is TRUE or timeout runs off

Fault on Timeout if the result is not TRUE until timeout expired, an error message will be generated

Timeout Waiting period for kinds of test “branch FALSE on Timeout” and “Fault on Timeout” in milliseconds.


Jetter AG

23.4

Parameter

Value


Next number

Accel./decel.

07/03 Screen page "Motion task parameters"

Type Modify parameter

Selection of the parameter to be compared by means of class, instance, attribute as described in DeviceNet protocol.

Value, which is to be assigned to the parameter












Start condition



I/O

Time

I/O or Time

















LOW-level: 0 ... 7 V

HIGH-level: 12 ...30 V / 7 mA




23.5

initial value

Next task

23.6


Next number

Accel./decel.

Type Initialize loop

07/03

Number of counting steps of the loop

Number of the motion task, which is to be processed after setting the counter

Jetter AG

Type Decrement counter












Start condition



I/O

Time

I/O or Time

















LOW-level: 0 ... 7 V

HIGH-level: 12 ...30 V / 7 mA



Jetter AG 07/03 Screen page "Motion task parameters"

23.7

if counter <> 0

If counter = 0

23.8

Velocity

23.9

Reference

Type Loop

Number of the motion task, which is to be processed if the counter is larger or smaller than zero

Number of the motion task, which is to be processed if the counter equals zero

Type Jog

velocity in counts/sec for constant velocity mode

Type go to Home / Index / Registration + Offset

Offset

Units

Home

Index

Registration reference point set by the user reference points defined via DeviceNet

Offset from the reference point units for offset

Counts

SI

Offset in counts

Offset in SI units, unit is given by PUNIT

v_cmd source

Setting

Source for the speed setpoint digital analog (SW1) v_cmd as speed setpoint speed setpoint from analog input 1 v_cmd speed setpoint in counts / 250 µsec for v_cmd source = digital

Acceleration/Deceleration

Units (acceleration) t_acc_total t_dec_total

Ramp

ASCII: ACCUNIT Default: 0

Select the unit for acceleration and ramp entries.


This parameter determines the acceleration time to v_cmd.

This parameter determines the deceleration (braking) time from v_cmd to zero.

Determines which type of acceleration/braking ramp should be used to carry out a motion task.

Trapeze

Sine² variable

The drive is given a constant linear acceleration/deceleration to the target speed


The acceleration/braking ramps can be adjusted (in preparation).

The setting for the rate-of change limiting of the acceleration/braking ramps: t_acc_total t_dec_total

T1

T2

Display of the total acceleration time

Display of the total deceleration (braking) time

Rate-of-change limiting of the acceleration ramp, maximum is half the acceleration time

Rate-of-change limiting of the deceleration ramp, maximum is half the deceleration time




Next number

Accel./decel.












Start condition



I/O

Time

I/O or Time

















LOW-level:

HIGH-level:

0 ... 7 V

12 ...3 0 V / 7 mA



Jetter AG

24

Gearing mode

Ratio

07/03 Screen page "Gearing"

Screen page "Gearing"

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: 250 µs. A value averaged over 1000 µs is used.

ASCII: GEARMODE Default: 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

0

1

Function

Encoder follower

Dig.I/O 24V (X3)

Pulse / direction

Dig.I/O 24V (X3)

Comments

With an incremental encoder (track A/B, 24V signal level) connected to the digital inputs DIGITAL-IN ½, terminals X3/11,12. An additional function assignment for the inputs is not necessary, and any assignments on the screen page "Digital I/O" will be ignored.

With a stepper motor control (pulse/direction, 24V signal level) connected to the digital inputs DIGITAL-IN ½, terminals X3/11,12). An additional function assignment for the inputs is not necessary, and any assignments on the screen page "Digital I/O" will be ignored.

2

3

4

5

6

7 reserved

Encoder follower

5V (X5)

Pulse / direction,

5V (X5) reserved

Sin Encoder, (X1)

Sin Encoder, (X1)

+Protocol +analog

Set encoder emulation to "INPUT". With an incremental encoder (track A/B,

5V signal level) connected to connector X5. In this case, the incremental position signal from another amplifier can be used as the master signal.

Set encoder emulation to "INPUT". With a stepper motor control

(pulse/direction, 5V signal level) connected to connector X5.

reserved

With a sine/cosine encoder connected to connector X1.

Read in the SSI position via the Encoder interface. Every 250µsec the SSI position is captured and the difference to the preceding position is calculated.

Subsequently, this difference is multiplied by the scaling factor and added to the last position setpoint.

ASCII: ENCIN (x)

ASCII: GEARO (y)

ASCII: GEARI (z)

Default: 4096

Default: 8192

Default: 8192 valid for OPMODE 4 valid for OPMODE 4 valid for OPMODE 4

You can use the entry fields in this equation to determine the transmission ratio:

Ratio =

Input pulses per turn x

* y z

(electr. gearing, correction factor through An In 2).

where: x = normalization for the input pulses (256 ... actual no. of pulses) y/z = ratio with y = –32767 ... +32767 and z = 1 ... 32767

If you have any queries, please contact our applications department.


Screen page "Drive status" 07/03 Jetter AG

25

Run time

Screen page "Drive status"

ASCII: TRUN Default: valid for all OPMODES

Display of the operational time of the servo amplifier, saved at 8 minute intervals. If the 24V-supply is switched off, maximum 8 minutes of operation are unregistered.

Last 10 faults

Rate of occurrence

ASCII: FLTCNT Default: valid for all OPMODES

Display of the frequency of all faults that caused the servo amplifier to switch off.

Actual errors

ASCII: FLTHIST Default: valid for all OPMODES

The last 10 faults that occurred are displayed, together with the time of their occurrence, referred to the operating hours.

ASCII: ERRCODE Default: 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)

Actual warnings

ASCII: STATCODE Default: valid for all OPMODES

Display of the warnings presently being reported by the servo amplifier (corresponds to the

warnings nxx in the LED-display on the front panel of the amplifier)

Reset

ASCII: CLRFAULT Default: valid for all OPMODES

Software-reset of the servo amplifier. The servo amplifier must be disabled.

Present errors are deleted, the firmware is re-initialized, and communication is re-established.

If only errors marked with an asterisk in the error listing are present, then the errors are canceled, but no reset

of the amplifier takes place.


Jetter AG 07/03 Screen page "Actual values"

26

Analog In1/2

Screen page "Actual values"

ASCII: ANIN1

ASCII: ANIN2

Default: -

Default: -

Displays the actual voltages (in mV) at the setpoint inputs.

valid for all OPMODES valid for all OPMODES

I²t (Mean value)

ASCII: I2T Default: valid for all OPMODES

The actual effective load is shown as % of the preset effective current Irms.

Effective current

ASCII: I Default: valid for all OPMODES

This shows the value (in A) of the actual current indication (r.m.s. value, always positive).

Current D comp.

ASCII: ID Default: valid for all OPMODES

Shows the value (in A) of the current D-component (Id, reactive current) of the current indication.

Current Q comp.

ASCII: IQ Default: valid for all OPMODES

Shows the value (in A) of the current Q-component (Iq, active current) of the current indication. The sign that is displayed is negative in regenerative operation (motor under braking).

Bus voltage

ASCII: VBUS Default: valid for all OPMODES

The DC-link (DC-bus) voltage produced by the amplifier is shown in V.

Regen power

ASCII:PBAL Default: valid for all OPMODES

The mean value (calculated during 30s) of the regenerative power is shown in W.

Heat sink temperature ASCII: TEMPH

Default: valid for all OPMODES

The temperature of the heat sink in the servo amplifier is shown in °C.

Internal temperature

ASCII: TEMPE Default: -

The temperature inside the servo amplifier is shown in °C.

Angle of rotation valid for all OPMODES

ASCII: PRD Default: valid for all OPMODES

Displays the actual angle of rotation of the rotor (only for speeds n < 20 rpm) in °mech, with the counts referred to the mechanical zero point of the measuring system.

Actual speed

ASCII: V Default: -

Displays the actual rotational speed of the motor in rpm.


Setpoint speed

ASCII: VCMD Default: -

Displays the currently set speed in rpm.


Position

ASCII: PFB Default: -

Shows the momentary position in user units (µm).


Following Error valid for all OPMODES

Reference point

ASCII: PE Default: -

Shows the momentary following error in user units (µm).

Shows whether a reference point is set, or not.


Screen page "Oscilloscope"

27

Start

Cancel

Save

Load

Channel

Mem

Auto/Min-Max

Update

Trigger level

Trigger position

Trigger edge

Trigger signal

Resolution

Time/Division

07/03 Jetter AG

Screen page "Oscilloscope"

Cycle time for the measurement acquisition

³ 250 µs.

Various value are graphically displayed in a diagram. You can display up to three variables simultaneously, as a function of time.

Start recording the data.

Stops recording the data

Saves the recorded measurements to a data medium in CSV format (to be evaluated with MS-Excel).

Loads a CSV data file and displays the curves on the oscilloscope diagram.

Assignment of the displayed variables to the channels. At present, the following variables can be selected:

I_act v_act

VBUS

Off

Actual torque (current)

Actual velocity

DC-link (bus) voltage

Channel is not used

I_CMD v_CMD

Torque setpoint

Velocity setpoint

FERROR Following error

user-defined Manual entry

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).

If this is active when a new curve is recorded, the previous measurement is saved, so that a comparison can be made between 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 this is not so, the

"Mem" checkbox will be de-activated and locked.

Change-over of the scaling of the coordinate system from automatic to minimum/maximum

Loads and displays the latest set of data that was recorded, provided that this set has not been erased or overwritten.

Y-value for triggering.

X-value for triggering (time axis)

Triggering on the rising or falling edge.

The current and speed variables can be used as trigger signals. In addition, "Direct" can be used for immediate

(independent) triggering. The setting "user-defined" enables manual entry of a parameter using ASCII.

The number of measured points per time unit (storage depth). Setting: fine, normal, coarse

Scaling of the time axis. Select the time/division. Setting: 1 ... 500 ms/div

Total length of the time axis: 8 * x ms/Div


Jetter AG

Service functions

07/03 Screen page "Oscilloscope"

Select one of the service functions described below. Click on the "Parameter" button and set the corresponding parameter. 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

Speed

Torque

Reversing

Motion Task

Zero

Apply a direct current to the motor, with adjustable size and electrical field-vector 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.

Operates the drive at constant speed. An internal digital setpoint is provided (speed is adjustable).

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).

Operates the drive in reversing mode, with separately adjustable speed and reversing time for each direction of rotation.

Starts the motion task, which is selected on the screen page "Input Service Parameters"

Function for the automatic setting of the feedback unit phase according to the phase position of the motor. This function is only available in OPMODE2

Attention

With service function “Zero” the motor shaft moves into preferential position. It can implement a movement of up to ± 60°, in order to arrive there

Service start

Service stop

Cursor-function

Default settings

Starts the selected service function.

Stops the selected service function.

When a data set is displayed (from a file, or by starting a recording) the measured values for the signals are displayed in the co-ordinate system for the selected time period by a mouse click. A click outside the coordinate system, or a click while pressing the shift-key, resets the values in the display to 0.

Resets all functions of the screen page to the default settings.


Screen page "Input Service Parameters" 07/03 Jetter AG

28 Screen page "Input Service Parameters"

Service operation parameters

Settings of the parameters for the service functions.

Direct current

Speed

Torque

Reversing mode

Setpoint electr. angle

Rotational speed

Current v1 t1 v2 t2

Motion Task No.

current setpoint for the function phase angle of the electrical field

Speed for the function current for the function speed for clockwise rotation duration of the clockwise rotation speed for counterclockwise rotation duration of the counterclockwise rotation

Motion task parameters must be handled on the "Motion task parameters" page.


Jetter AG

29

Bode plot

Stop

Save

Load

Update

Cursor function

Parameter ...

07/03 Screen page "Bode Plot"

Screen page "Bode Plot"

This function is reserved for engineers and technicians who are experienced in control technology. We can offer you appropriate training on request.

With the aid of the Bode plot you can analyze and optimize the speed control loop, taking into account the mechanical characteristics of the machine.

The Bode plot draws the frequency response of the speed control loop. The system is stimulated by a sinusoidal input variable. The output variable has the same frequency, but a different amplitude and some degree of phase shift.

The relationship between the amplitude as a function of frequency (amplitude response) and the phase shift as a function of frequency (phase response) provides a complete description of the dynamic characteristics of the control loop.

Amplitude response

The amplitude response is the frequency-dependent amplitude characteristic (gain), shown on a logarithmic scale.

Phase response

The phase response is the frequency-dependent phase-shift characteristic.

The following characteristic data are used for a qualitative description of the open loop frequency response:

Phase reserve (open loop)

The spacing between the phase characteristic curve and the -180° phase-shift line at the cut-off frequency, i.e.

the frequency at which the amplitude characteristic (gain) has fallen to 0 dB.

Amplitude reserve (open loop)

The spacing between the amplitude characteristic (gain) and the 0 dB level at a phase shift of -180°.

The characteristics of the closed control loop are evaluated with the aid of the Bode plot, using the expressions

"bandwidth" and "peaking":

Bandwidth (closed loop)

Bandwidth is the range of frequencies limited by the frequencies where the logarithmic amplitude characteristic

(gain) falls off by -3 dB.

Peaking (closed loop)

The expression "peaking" describes an overshoot of the closed control loop, corresponding to the maximum in the amplitude response.

Starts recording the data.

This function should only be used by experts. As soon as the confirmation query has been confirmed, the movement immediately starts automatically, using the internal setpoint provision !

Stops recording data.

Saves the measurements that were recorded to a data medium in CSV format (can be evaluated by MS-Excel).

Loads a CSV file and displays the curves in a diagram.

Loads and display the latest set of recorded data.

When a set of data is displayed (from a file, or by starting a recording), a mouse click in the coordinate system displays the measured values for the signals at the selected time. A click outside the coordinate system sets the display values back to 0.

Call up the screen page "Bode Plot Parameter"

This page is used to define the frequency range and the number of steps.


Screen page "Terminal"

30

Command

07/03 Jetter AG

Screen page "Terminal"

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: l l l

The last 200 lines are displayed

The transmission from the servo amplifier to the PC is limited to a maximum of 1000 bytes per command

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.

Enter the ASCII command here, with the parameters. End the entry with RETURN or operate the APPLY button to start the transmission.

The terminal software should be used only by experts.

In many instances there will be no confirmation query.


Jetter AG 07/03 Screen page "PROFIBUS"

31 Screen page "PROFIBUS"

The PROFIBUS-specific parameters, the bus status, and the data words in the transmit and receive directions, as seen by the bus-master are displayed on this screen page. This page is helpful when searching for errors and commissioning the bus communication.

Baudrate

PNO Identification

Address

PPO Type

BUS status

Input/Output-Buffer

The baud rate that is given by the PROFIBUS master is shown here.

The PNO identification is the number for servoamplifier in the list of ID-numbers of the PROFIBUS user organization.

Station address of the amplifier. The address is set up on the screen page “Basic setup”.

The servoamplifier only supports PPO-type 2 of the PROFIDRIVE profile.

Shows the present status of the bus communication. Data can only be transferred across the PROFIBUS when the "Communication OK" message appears.

The data for input/output are only transferred, if the threshold monitoring for the servoamplifier has been activated in the master’s hardware configuration.

Output

The last bus object that was received by the master.

Input

The last bus object that was sent by the master.


Screen Page "PROFIBUS instrument control" 07/03

32 Screen Page "PROFIBUS instrument control"

Jetter AG

On this screen page the bit states are displayed for the control word (STW) and the status word (ZSW). The instrument state that is given by the status word is made visible in the state machine. The present state is shown in black, all other states are shown in gray. In addition, the previous state is indicated by accentuation of the number for the corresponding arrow symbol.

The following table describes the instrument states and the transitions.

States of the state machine

Not ready for switch-on

Switch-on inhibited

Ready for switch-on

Ready for operation

Operation enabled

Fast stop activated

Error response active/error

Amplifier is not ready for switch-on. No operation readiness (BTB) is signaled from the amplifier software.

Amplifier is ready for switch-on. Parameters can be transferred, DC-link

(DC-bus) can be switched on, motion functions cannot be carried out yet.

DC-link voltage must be applied. Parameters can be transferred, motion functions cannot be carried out yet.

DC-link voltage must be switched on. Parameters can be transferred, motion functions cannot be carried out yet. Output stage is switched on (enabled).

No error present. Output stage is switched on, motion functions are enabled.

Drive has been stopped, using the emergency stop ramp. Output stage is switched on (enabled), motion functions are enabled.

If an instrument error occurs, the Amplifier changes to the instrument state

"Error response active". In this state, the power stage is switched off immediately. After this error response has taken place, it changes to the state

"Error". This state can only be terminated by the bit-command "Error-reset".

To do this, the cause of the error must have been removed (see ASCII command ERRCODE).


Jetter AG 07/03 Screen Page "PROFIBUS instrument control"

Transitions of the state machine

Transition 0

Transition 1

Transition 2

Transition 3

Transition 4

Transition 5

Transition 6

Transition 7

Transition 8

Transition 9

Transition 10

Transition 11

Transition 12

Transition 13

Transition 14

Transition 15

Transition 16

Event Reset / 24V supply is switched on

Action Initialization started

Event Initialization successfully completed, amplifier switch-on inhibit

Action none

Event

Bit 1 (inhibit voltage) and Bit 2 (fast stop) are set in the control word

(command: shutdown). DC-link voltage is present.

Action none

Event Bit 0 (switch-on) is also set (command: switch-on)

Action Output stage is switched on (enabled). Drive has torque.

Event Bit 3 (operation enabled) is also set (command: operation enable)

Action Motion functions are enabled, depending on the operating mode that is set.

Event

Action

Event

Bit 3 is canceled (command: inhibit)

Motion functions are disabled.

Drive is braked, using the relevant ramp (depends on operating mode).

Bit 0 is canceled (ready for switch-on).

Action Output stage is switched off (disabled). Drive has no torque.

Event Bit 1 or Bit 2 is canceled.

Action (Command: "Fast stop" or "Inhibit voltage")

Event Bit 0 is canceled (operation enabled -> ready for switch-on)

Action Output stage is switched off (disabled) - motor loses torque.

Event Bit 1 is canceled (operation enabled -> switch-on inhibited)


Event Bit 1 or 2 are canceled (ready for operation -> switch-on inhibited)


Event

Action

Bit 2 is canceled (operation enabled -> fast stop)

Drive is stopped, using the emergency ramp. The output stage remains enabled.

Setpoints are canceled (e.g motion block number, digital setpoint).

Event Bit 1 is canceled (fast stop -> switch-on inhibited)


Event Error response active


Event Error

Action none

Event Bit 7 is set (error -> switch-on inhibited)

Action Acknowledge error (depending on error – with/without reset)

Event Bit 2 is set (fast stop -> operation enabled)

Action Motion function is enabled again.

The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by the flags in the control word (Bits 0, 1, 2, 3, 7).


Screen Page "SERCOS" 07/03 Jetter AG

33 Screen Page "SERCOS"

Address

Baud Rate

ASCII: ADDR Default: 0 valid for all OPMODES

The address mark the Sercos station address of the drive, within the Sercos communication The address can

changed between 0 and 63 in the screen "Basic settings".

Address 0 designates the drive as a repeater on the Sercos ring.

ASCII: SBAUD Default: 4MBaud

In this field it is possible to set the Sercos baud rate.


LWL-Length

ASCII: SLEN Default: 5m valid for all OPMODES

Within this parameter it is possible to change the optical power of the transmit output of the drive, to the next station in the ring. The optical power can set for the length of plastic optical cable, in meters, from 1 to 45 meters. If the optical power is not adjusted properly, there will be errors in the telegram transmission, and the red error LED on the drive will light. In normal communication, the green transmit and receive LED’s will light

(referring to the LED of the optical transmission).

Phase

ASCII: SPHAS Default: -

This field display the actual phase of the Sercos communication.


Status

SERCOS SERVICE

ASCII: SSTAT Default: valid for all OPMODES

This field displays the actual status of the Sercos communication, according the Sercos status-word in text format.

With this button you can open the "Sercos Service" screen page.


Jetter AG 07/03 Screen Page "SERCOS SERVICE"

34 Screen Page "SERCOS SERVICE"

Read IDN

ASCII: SERCOS Default: valid for all OPMODES

With this function it is possible to read special Sercos IDN’s witch are not represented by an ASCII parameter.

The number of the IDN should be entered into this field and the data can be demanded by the "Transmit Data" button.

Read List Item

ASCII: SERCLIST Default: valid for all OPMODES

This parameter could be used to read also IDN lists with the function "Read IDN". To use this, the requested list element must be chosen within this field, before using the "Read IDN" function.

This fields contain the result of a "Read IDN" function in decimal and hexadecimal format.

EL 7 Dec/Hex

EL 7 Read Error

ASCII: SERCERR Default: valid for all OPMODES

This parameter will be set to 1 if the IDN number is not supported by the "Read IDN" list function.

Product Sercos settings:

EOT consequence (IDN P3015):

This parameter defines the consequence of the Hardware Limit Switch, if the corresponding digital inputs are set to the limit switches. If the hardware limit switch consequence is set to 0, then the Limit switch consequence is a warning. Else if the IDN P3015 is set to 1, then the switch consequence is a fault.

Clearfault allow coldstart (IDN P3016):

This parameter defines the consequence of the reset command (IDN 99; ASCII CLRFAULT), for faults which require a coldstart. If this IDN is set, faults which require a coldstart will not clear.

Standard Sercos settings:

Position polarity (IDN 55):

The position polarity parameter is used to switch the polarities of position data. Polarities are not switched internally but externally, this means on the in- and output of a closed loop system. The motor shaft turns clockwise when there is a positive position command difference and no inversion.

Position value 1 polarity:

This function can be used to invert the polarity of the 1st actual-position value.

Position value 2 polarity:

This function can be used to invert the polarity of the 2nd actual-position value.

Velocity polarity (IDN 43):

The velocity polarity parameter is used to switch the polarities of velocity data. Polarities are not switched internally but externally, this means on the in- and output of a closed loop system. The motor shaft turns clockwise when there is a positive velocity command and no inversion.

Actual-speed polarity:

This function can be used to invert the polarity of the actual-speed value.


Screen page "I/O expansion"

35

PosReg1-5

FError

Next-InPos

InPos

Start_MT No. x

MT_Restart

Start_Jog v=x

Start_MT Next

FError_clear

Reference

A0-7

ERR

24V

07/03 Jetter AG

Screen page "I/O expansion"

Displays the states of the individual channels of the I/O-14/08 expansion card and the overall status of the card.

The preset function of the corresponding position register (the function of PosReg 1-4 is defined in the screen

page "Position Data", PosReg5 only via ASCII) is indicated by a HIGH-signal.

Contouring-error (low-active). The width of the following error window is entered in the screen page "Position"

for all the valid motion tasks.

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 motion task sequence.

When the target position for a motion task has been reached (the InPosition window), this is signaled by the output of a HIGH-signal. 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.

Start of the motion task that has the number that is presented, bit-coded, at the digital inputs (A0 to A7). A rising edge starts the motion task a falling edge cancels the motion task.

Continues the motion task that was previously interrupted.

Start of the setup mode "Jog Mode" with a defined speed. After selecting the function, you can enter the speed in the auxiliary variable "x". The sign of the auxiliary variable defines the direction. A rising edge starts the motion, a falling edge cancels the motion.

The following task, that is defined in the motion task by "Start with I/O" is started. The target position of the present motion task must be reached before the following task can be started.

Clear the warning of a following error or the response monitoring.

Polls the reference switch.

Motion task number, Bit1 to Bit8

Error message from the expansion card. The fault could be caused by the following: missing supply voltage, overloaded output, or short-circuited.

Indicates that the 24V supply for the expansion card is present.


Jetter AG

36

36.1

07/03 Error and warning messages

Error and warning messages

Error messages

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 BTB/RTO 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

F01*

F02*

F03*

F04

F05*

F06

F07

F08*

F09

F10

F11

F12

F13*

F14

F15

F16*

F17

F18

F19*

F20

F21

F22

F23

F24

F25

F26

F27

F28

F29

F30

F31

F32

Designation heat sink temperature overvoltage following error feedback undervoltage motor temperature

Explanation heat sink temperature is too high, the limit is set by the manufacturer to 80°C overvoltage in the DC-link circuit, the limit depends on the mains supply voltage message from the position controller cable break, short-circuit, short to ground undervoltage in DC-link, the limit is set by the manufacturer to 100V temperature sensor faulty or motor temperature too high, the limit is set by the manufacturer to 145°C internal aux. voltage not OK motor running away, the speed is higher than permitted checksum error v_fault (int.supply) overspeed

EEPROM

Flash-EPROM brake motor phase internal temperature checksum error cable break, short-circuit, short to ground motor phase missing (cable break or similar) internal temperature too high output stage

I²t max.

mains BTB/RTO

A/D converter regen fault in the power output stage

I²t max. value exceeded

2 or 3 supply phases missing error in the analog-digital conversion mains phase

Slot error

Handling error

Short circuit to earth

CAN bus off

Warning

Commutation error

Limit switch

AS-Option reserved

Sercos regen circuit faulty or incorrect setting a supply phase is missing

(can be switched off for 2-phase operation)

Hardware error on the expansion card

Software error on the expansion card

40/70 amps types only: Short circuit to earth

CAN bus total communication error

Warning display as error

Commutation error

Homing error (Hardware limit switch reached)

Operating error for AS-option reserved

Sercos error

Emerg. Stop Timeout Emerg. Stop Timeout wrong Firmware-version wrong Firmware Version system fault system software not responding correctly

* = These error messages can be canceled 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.


Error and warning messages

36.2

07/03 Jetter AG

Warning messages

Faults that occur, but do not cause a switch-off of the output stage of the amplifier (BTB/RTO contact remains closed), are displayed as a coded warning number in the LED-display on the front panel, and shown in the

screen page "STATUS". Warnings that are recognized by the supply monitoring are only reported after the

servo amplifier has been enabled.

Number n01 n02 n03* n04* n05 n06* n07* n08 n09 n10* n11* n12 n13* n14 n15 n16-n31 n32

A

Designation

I²t regen power

FError node guarding mains phase missing

Sw limit-switch 1

Sw limit-switch 2 motion task error no reference point

PSTOP

NSTOP motor default values loaded expansion card

SinCos

Firmware beta version

Reset

Explanation

I²t threshold exceeded preset regen power reached exceeded preset following error window response monitoring (fieldbus) is active supply phase missing passed software limit-switch 1 passed software limit-switch 2 a faulty motion task was started no reference point set at start of task

PSTOP limit-switch activated

NSTOP limit-switch activated

Only sine encoders with ENDAT or HIPERFACE format.

Motor number stored in encoder memory different from number stored in drive memory, default parameters loaded expansion card not functioning correctly

SinCos commutation is not determined

Table error Velocity current table INXMODE 35 error see ASCII documentation see ASCII documentation

The firmware is a not released beta version

RESET is active at DIGITAL IN x

* = These warning messages lead to a controlled shut-down of the drive (braking with the emergency ramp)


Jetter AG 07/03 Trouble-Shooting

37

Fault

Fault message communication fault

Motor doesn't rotate

Motor oscillates

Motor runs too soft

Motor runs roughly

Trouble-Shooting

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 further hidden causes of a fault.

Our applications department can give you further assistance with problems.

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

Possible causes

—

— wrong cable used cable plugged into wrong socket of the servo amplifier or PC wrong PC interface selected amplifier disabled analog setpoint failed

Motor phases swapped

Brake not released drive is mechanically blocked

Motor pole number set incorrectly

Feedback set up incorrectly current limit activated (analog or digital I/O)

Gain KP too high

Interference in feedback system

Analog-GND (AGND) is not connected with the analog setpoint sources

Integral time Tn too high

Gain KP too low

PID-T2 too high

T-Tacho too high

Integral time Tn too low

Gain KP too high

PID-T2 too low

T-Tacho too low

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

—

Measures to remove the cause of the fault

—

— use a null-modem cable plug the cable into the correct socket of the servo amplifier or PC select the correct interface apply enable signal check PLC-program and cable correct motor phase sequence check cable and inverse diode check drive correct setting correct feedback setting correct current limitation reduce KP (speed contr.) replace the feedback cable connect AGND with setpoint source reduce Tn (speed contr.) increase KP (speed contr.) reduce PID-T2 reduce T-Tacho increase Tn (speed contr.) reduce KP (speed contr.) increase PID-T2 increase T-Tacho


Related Documents

38

07/03

Related Documents

l l l

All the documents listed below can be found on the documentation CD-ROM.

l Installation manual l l

CANopen manual

PROFIBUS manual

SERCOS manual

Application note Emergency Stop

Manuals for several motor series

Jetter AG


Jetter AG

39

07/03 Glossary

Glossary

I

F

G

H

C

D

E

K

L

M

O

P

R

S

T

Z

Clock

Common-mode voltage

Continuous power of the regen circuit

Counts

Current controller

DC-link (bus) voltage

Disable

EEPROM

Enable

Earth short speed limit

GRAY-code

Holding brake

I²t threshold

Incremental encoder interface

Ipeak, peak current

Irms, r.m.s. current

KP, P-gain

Limit-switch

Machine

Monitor output

Motion block

Multi-axis system

Optocoupler

P controller

Phase shift

PID controller

PID-T2

Position controller

Pulse power of the regen circuit

RAM

Regen circuit

Reset

Reversing mode

ROD interface

Servo amplifier

Short-circuit

Speed controller

SSI interface

Setp. ramps

Tacho voltage

T-tacho, tacho time constant

Tn, integration time

Zero pulse/mark clock signal the disturbance amplitude that can be compensated for by a differential analog input the average power that can be dissipated in the regen circuit internal count pulses, 1 pulse = 1/2

20 turn

-1 regulates the difference between the current setpoint and the actual current to 0.

Output: power-output voltage rectified and smoothed power voltage removal of the ENABLE signal (0V or open) electrically erasable memory in the servo amplifier, data that are stored in the

EEPROM are not lost if the auxiliary voltage is switched off the enable signal for the servo amplifier (+24V) electrically conductive connection between a phase and PE maximal value for the speed normalization at ±10V a special way of representing binary numbers a brake in the motor, that can only be applied when the motor is at standstill monitoring of the r.m.s. current that is actually drawn position indication through 2 signals with a 90° phase difference, not an absolute position output the r.m.s. value of the pulse current the r.m.s. value of a steady current proportional gain of a control loop to limit the range of movement of the machine; implemented as an n.c. (break) contact the total assembly of parts or devices that are connected together, of which at least one is movable output of an analog measurement a packet of data containing all the position parameters that are required for a motion task a machine with several independent drive axes optical connection between two electrically independent systems a control loop that has purely proportional response compensation for the lag between the electromagnetic and the magnetic field in the motor control loop with proportional, integral and differential response filter time constant for the speed controller output regulates the difference between the position setpoint and the actual position to 0.

Output: speed setpoint the maximum power that can be handled by the regen circuit volatile memory in the servo amplifier. Data that are stored in the RAM are lost when the auxiliary voltage is switched off.

converts superfluous (regenerative) energy that is fed back by the motor, during braking, into heat in the regen resistor.

new start of the microprocessor operating with a periodic change of direction incremental position output an instrument for controlling the torque, speed and position of a servomotor here: electrically conductive connection between two phases regulates the difference between the speed setpoint SW and the actual speed to 0.

Output: current setpoint cyclically absolute, serial position output limiting of the rate of change of the speed setpoint value a voltage proportional to the actual speed filter time constant in the speed feedback of the control loop integral component of the control loop is produced by incremental encoders, once per turn, used to zero the machine


Index

40

!

A

Index

? . . . . . . . . . . . . . . . . . . . . . . . . 24

abbreviations . . . . . . . . . . . . . . . . . . 7

accel./decel. . . . . . . . . . . . . . . . . . . 73

Acceleration . . . . . . . . . . . . . . . . . . 31

Acceleration Feedforward . . . . . . . . . . . 37

acceleration ramp . . . . . . . . . . . . . . . 65

actual current. . . . . . . . . . . . . . . . . . 81

actual errors . . . . . . . . . . . . . . . . . . 80

actual speed . . . . . . . . . . . . . . . . . . 81

Actual warnings . . . . . . . . . . . . . . . . 80

Address . . . . . . . . . . . . . . . . . . . . 30

Address (SERCOS) . . . . . . . . . . . . . . 90

Analog In 1/2

actual value . . . . . . . . . . . . . . . . 81

Analog Inputs . . . . . . . . . . . . . . . . . 40

Analog outputs . . . . . . . . . . . . . . . . . 43

angle of rotation . . . . . . . . . . . . . . . . 81

ASCII-command

ACC . . . . . . . . . . . . . . . . . . . . 53

ACCR . . . . . . . . . . . . . . . . . . . 65

ACCUNIT . . . . . . . . . . . . . . . . . 31

ADDR . . . . . . . . . . . . . . . . . . . 30

ADDR (SERCOS) . . . . . . . . . . . . . 90

ADDRFB . . . . . . . . . . . . . . . . . . 30

AENA . . . . . . . . . . . . . . . . . . . 30

ALIAS . . . . . . . . . . . . . . . . . . . 30

ANCNFG . . . . . . . . . . . . . . . . . . 41

ANDB . . . . . . . . . . . . . . . . . . . 40

ANIN1 . . . . . . . . . . . . . . . . . . . 81

ANIN2 . . . . . . . . . . . . . . . . . . . 81

ANOFFx . . . . . . . . . . . . . . . . . . 40

ANOUT. . . . . . . . . . . . . . . . . . . 43

ANZEROx . . . . . . . . . . . . . . . . . 40

AVZ1 . . . . . . . . . . . . . . . . . . . . 40

CBAUD. . . . . . . . . . . . . . . . . . . 30

CLRFAULT. . . . . . . . . . . . . . . . . 80

COLDSTART . . . . . . . . . . . . . . . 26

DEC . . . . . . . . . . . . . . . . . . . . 53

DECDIS . . . . . . . . . . . . . . . . . . 54

DECR . . . . . . . . . . . . . . . . . . . 65

DECSTOP . . . . . . . . . . . . . . . . . 54

DIR . . . . . . . . . . . . . . . . . . . . . 53

DIS . . . . . . . . . . . . . . . . . . . . . 27

DREF . . . . . . . . . . . . . . . . . . . 65

EN . . . . . . . . . . . . . . . . . . . . . 27

ENCLINES . . . . . . . . . . . . . . . . . 37

ENCOUT . . . . . . . . . . . . . . . . . . 39

ENCZERO . . . . . . . . . . . . . . . . . 39

ERND . . . . . . . . . . . . . . . . . . . 67

ERRCODE . . . . . . . . . . . . . . . . . 80

EXTPOS (P) . . . . . . . . . . . . . . . . 56

EXTPOS (PI). . . . . . . . . . . . . . . . 55

EXTWD . . . . . . . . . . . . . . . . . . 30

FBTYPE . . . . . . . . . . . . . . . . . . 36

FILTMODE . . . . . . . . . . . . . . . . . 37

FLTCNT . . . . . . . . . . . . . . . . . . 80

FLTHIST . . . . . . . . . . . . . . . . . . 80

GF (async) . . . . . . . . . . . . . . . . . 35

GFTN (async) . . . . . . . . . . . . . . . 35

GP (P) . . . . . . . . . . . . . . . . . . . 56

GP (PI) . . . . . . . . . . . . . . . . . . . 55

GPFFV (P) . . . . . . . . . . . . . . . . . 56

GPFFV (PI) . . . . . . . . . . . . . . . . 55

GPTN . . . . . . . . . . . . . . . . . . . 55

GPV . . . . . . . . . . . . . . . . . . . . 55

GV . . . . . . . . . . . . . . . . . . . . . 54

GVFBT . . . . . . . . . . . . . . . . . . . 54

GVFR . . . . . . . . . . . . . . . . . . . 54

GVT2. . . . . . . . . . . . . . . . . . . . 54

GVTN . . . . . . . . . . . . . . . . . . . 54

HVER . . . . . . . . . . . . . . . . . . . 29

I . . . . . . . . . . . . . . . . . . . . . . 81

I2T . . . . . . . . . . . . . . . . . . . . . 81

I2TLIM . . . . . . . . . . . . . . . . . . . 52

98

07/03 Jetter AG

ICONT . . . . . . . . . . . . . . . . . . . 52

ID. . . . . . . . . . . . . . . . . . . . . . 81

IPEAK . . . . . . . . . . . . . . . . . . . 52

IQ . . . . . . . . . . . . . . . . . . . . . 81

ISCALEx . . . . . . . . . . . . . . . . . . 40

KTN . . . . . . . . . . . . . . . . . . . . 52

L (sync) . . . . . . . . . . . . . . . . . . 32

MBRAKE (async) . . . . . . . . . . . . . 35

MBRAKE (sync) . . . . . . . . . . . . . . 32

MCFW (async) . . . . . . . . . . . . . . . 35

MCTR (async) . . . . . . . . . . . . . . . 35

MH . . . . . . . . . . . . . . . . . . . . . 57

MICONT (async) . . . . . . . . . . . . . . 34

MICONT (sync) . . . . . . . . . . . . . . 32

MIMR (async) . . . . . . . . . . . . . . . 35

MIPEAK (async) . . . . . . . . . . . . . . 34

MIPEAK (sync). . . . . . . . . . . . . . . 32

MJOG . . . . . . . . . . . . . . . . . . . 65

MLGQ . . . . . . . . . . . . . . . . . . . 52

MNAME (async) . . . . . . . . . . . . . . 34

MNAME (sync) . . . . . . . . . . . . . . . 32

MNUMBER (async) . . . . . . . . . . . . 34

MNUMBER (sync) . . . . . . . . . . . . . 32

MOVE . . . . . . . . . . . . . . . . . . . 66

MPHASE . . . . . . . . . . . . . . . . . . 37

MPOLES (async) . . . . . . . . . . . . . 34

MPOLES (sync) . . . . . . . . . . . . . . 32

MRESBW . . . . . . . . . . . . . . . . . 37

MRESPOLES . . . . . . . . . . . . . . . 37

MSPEED (async) . . . . . . . . . . . . . 34

MSPEED (sync) . . . . . . . . . . . . . . 32

MTANGLP (sync) . . . . . . . . . . . . . 33

MTR (async) . . . . . . . . . . . . . . . . 34

MTYPE (async) . . . . . . . . . . . . . . 34

MTYPE (sync) . . . . . . . . . . . . . . . 32

MUNIT (async) . . . . . . . . . . . . . . . 35

MUNIT (sync) . . . . . . . . . . . . . . . 33

MVANGLB (sync) . . . . . . . . . . . . . 33

MVANGLF (sync) . . . . . . . . . . . . . 33

MVR (async) . . . . . . . . . . . . . . . . 34

NREF . . . . . . . . . . . . . . . . . . . 58

OPMODE . . . . . . . . . . . . . . . . . 27

PBAL . . . . . . . . . . . . . . . . . . . . 81

PBALMAX . . . . . . . . . . . . . . . . . 29

PBALRES . . . . . . . . . . . . . . . . . 29

PE . . . . . . . . . . . . . . . . . . . . . 81

PEINPOS . . . . . . . . . . . . . . . . . 67

PEMAX (P). . . . . . . . . . . . . . . . . 56

PEMAX (PI) . . . . . . . . . . . . . . . . 55

PFB . . . . . . . . . . . . . . . . . . . . 81

PGEARI . . . . . . . . . . . . . . . . . . 69

PGEARO. . . . . . . . . . . . . . . . . . 69

PMODE . . . . . . . . . . . . . . . . . . 29

POSCNFG . . . . . . . . . . . . . . . . . 67

PRD . . . . . . . . . . . . . . . . . . . . 81

PTMIN . . . . . . . . . . . . . . . . . . . 67

PVMAX . . . . . . . . . . . . . . . . . . 67

REFIP . . . . . . . . . . . . . . . . . . . 52

ROFFS . . . . . . . . . . . . . . . . . . . 65

SAVE . . . . . . . . . . . . . . . . . . . 26

SBAUD. . . . . . . . . . . . . . . . . . . 90

SERIALNO . . . . . . . . . . . . . . . . . 29

SLEN. . . . . . . . . . . . . . . . . . . . 90

SPHAS . . . . . . . . . . . . . . . . . . . 90

SRND . . . . . . . . . . . . . . . . . . . 67

SSIGRAY . . . . . . . . . . . . . . . . . 39

SSIINV . . . . . . . . . . . . . . . . . . . 39

SSIMODE . . . . . . . . . . . . . . . . . 39

SSIOUT . . . . . . . . . . . . . . . . . . 39

SSTAT . . . . . . . . . . . . . . . . . . . 90

STATCODE . . . . . . . . . . . . . . . . 80

STOP . . . . . . . . . . . . . . . . . . . 66

SWCNFG . . . . . . . . . . . . . . . . . 68

SWEx . . . . . . . . . . . . . . . . . . . 68

Setup Software

Jetter AG

B

C

D

E

TEMPE. . . . . . . . . . . . . . . . . . . 81

TEMPH. . . . . . . . . . . . . . . . . . . 81

TRUN . . . . . . . . . . . . . . . . . . . 30

V . . . . . . . . . . . . . . . . . . . . . . 81

VBUS . . . . . . . . . . . . . . . . . . . 81

VBUSBAL . . . . . . . . . . . . . . . . . 29

VCMD . . . . . . . . . . . . . . . . . . . 81

VER . . . . . . . . . . . . . . . . . . . . 29

VJOG . . . . . . . . . . . . . . . . . . . 65

VLIM . . . . . . . . . . . . . . . . . . . . 53

VLO . . . . . . . . . . . . . . . . . . . . 37

VOSPD. . . . . . . . . . . . . . . . . . . 54

VREF. . . . . . . . . . . . . . . . . . . . 65

VSCALEx . . . . . . . . . . . . . . . . . 40

Auto Enable . . . . . . . . . . . . . . . . . . 30

Auto-Offset, setpoints . . . . . . . . . . . . . 40

axis type . . . . . . . . . . . . . . . . . . . . 67

Bandwidth Resolver . . . . . . . . . . . . . . 37

Baud Rate (SERCOS) . . . . . . . . . . . . . 90

Baudrate . . . . . . . . . . . . . . . . . . . . 30

brake (async). . . . . . . . . . . . . . . . . . 35

brake (sync) . . . . . . . . . . . . . . . . . . 32

bus voltage (DC-link) . . . . . . . . . . . . . . 81

Cancel

recording . . . . . . . . . . . . . . . . . . 82 channel . . . . . . . . . . . . . . . . . . . . . 82

Clearfault allow coldstart (Sercos) . . . . . . . 91

close . . . . . . . . . . . . . . . . . . . . . . 24

COM1, 2, 3, 4 . . . . . . . . . . . . . . . . . 25

command, terminal . . . . . . . . . . . . . . . 86

Communication . . . . . . . . . . . . . . . . 24

current advance (sync) . . . . . . . . . . . . . 33

current component D . . . . . . . . . . . . . . 81 current component Q. . . . . . . . . . . . . . 81

Cursor-function . . . . . . . . . . . . . . . . . 83

DC-link voltage . . . . . . . . . . . . . . . . . 81

DC-Link>x . . . . . . . . . . . . . . . . . . . 51

DC-Link <x . . . . . . . . . . . . . . . . . . . 51

dead band . . . . . . . . . . . . . . . . . . . 40

deceleration ramp . . . . . . . . . . . . . . . 65

Default settings. . . . . . . . . . . . . . . . . 83

delay time . . . . . . . . . . . . . . . . . . . 73

digital inputs . . . . . . . . . . . . . . . . . . 44

digital outputs . . . . . . . . . . . . . . . . . 49

direction of motion . . . . . . . . . . . . . . . 65

Disable . . . . . . . . . . . . . . . . . . . . . 27

Disconnect interfaces . . . . . . . . . . . . . 25

Edit . . . . . . . . . . . . . . . . . . . . . . . 24

effective current (Irms) . . . . . . . . . . . . . 52

EL 7 Read Error (SERCOS) . . . . . . . . . . 91

EL7 Dec/Hex (SERCOS). . . . . . . . . . . . 91

emergency ramp . . . . . . . . . . . . . . . . 54

Emergency Stop . . . . . . . . . . . . . . . . 48

ENABLE

message . . . . . . . . . . . . . . . . . . 51

switch . . . . . . . . . . . . . . . . . . . 27

Enclines . . . . . . . . . . . . . . . . . . . . 37

Encoder emulation . . . . . . . . . . . . . . . 38

EOT consequence (Sercos) . . . . . . . . . . 91

Error . . . . . . . . . . . . . . . . . . . . . . 51

error messages . . . . . . . . . . . . . . . . 93

Error/Warn . . . . . . . . . . . . . . . . . . . 51

Exit . . . . . . . . . . . . . . . . . . . . . . . 27

Ext. WD . . . . . . . . . . . . . . . . . . . . 30

Setup Software

07/03

I

F

G

H

J

K

L

fault-frequency . . . . . . . . . . . . . . . . . 80

Feedback Type. . . . . . . . . . . . . . . . . 36

Feedback, actual speed filter . . . . . . . . . 54

FError . . . . . . . . . . . . . . . . . . . . . 51

FError_clear . . . . . . . . . . . . . . . . . . 46

Ff (P) . . . . . . . . . . . . . . . . . . . . . . 56

Ff (PI) . . . . . . . . . . . . . . . . . . . . . 55

Field Correct Factor (async) . . . . . . . . . . 35

Field Level (async) . . . . . . . . . . . . . . . 35

Fieldbus-Address . . . . . . . . . . . . . . . 30

Firmware . . . . . . . . . . . . . . . . . . . . 29

Following Error

actual value . . . . . . . . . . . . . . . . 81

following error (P) . . . . . . . . . . . . . . . 56

following error (PI) . . . . . . . . . . . . . . . 55

FStart2 Nr x . . . . . . . . . . . . . . . . . . 47

function keys . . . . . . . . . . . . . . . . . . 15

gearing mode . . . . . . . . . . . . . . . . . 79

glossary . . . . . . . . . . . . . . . . . . . . 97

Hardware . . . . . . . . . . . . . . . . . . . . 29

hardware requirements. . . . . . . . . . . . . 12

heat sink temperature . . . . . . . . . . . . . 81

homing . . . . . . . . . . . . . . . . . . . . . 57

homing 1 . . . . . . . . . . . . . . . . . . . . 59

homing 2 . . . . . . . . . . . . . . . . . . . . 60

homing 3 . . . . . . . . . . . . . . . . . . . . 61

homing 4 . . . . . . . . . . . . . . . . . . . . 62

homing 5 . . . . . . . . . . . . . . . . . . . . 63

homing 7 . . . . . . . . . . . . . . . . . . . . 64

I/O-Expansion

A0-A7 . . . . . . . . . . . . . . . . . . . 92

FError . . . . . . . . . . . . . . . . . . . 92

FError_clear . . . . . . . . . . . . . . . . 92

InPos . . . . . . . . . . . . . . . . . . . . 92

MT_Restart . . . . . . . . . . . . . . . . 92

Next-InPos . . . . . . . . . . . . . . . . . 92

PosReg . . . . . . . . . . . . . . . . . . 92

Reference . . . . . . . . . . . . . . . . . 92

Start_Jog v=x . . . . . . . . . . . . . . . 92

Start_MT Next . . . . . . . . . . . . . . . 92

Start_MT No. x . . . . . . . . . . . . . . . 92

I_act>x . . . . . . . . . . . . . . . . . . . . . 50

I_act <x . . . . . . . . . . . . . . . . . . . . 50

I²t

actual value . . . . . . . . . . . . . . . . 81

message . . . . . . . . . . . . . . . . . . 51

threshold . . . . . . . . . . . . . . . . . . 52

inductance . . . . . . . . . . . . . . . . . . . 32

InPos . . . . . . . . . . . . . . . . . . . . . . 50

InPosition. . . . . . . . . . . . . . . . . . . . 67

Installation . . . . . . . . . . . . . . . . . . . 14

internal temperature . . . . . . . . . . . . . . 81

Intg.Off . . . . . . . . . . . . . . . . . . . . . 46

Io . . . . . . . . . . . . . . . . . . . . . . . . 34

Io (sync) . . . . . . . . . . . . . . . . . . . . 32

Iomax (async) . . . . . . . . . . . . . . . . . 34

Iomax (sync) . . . . . . . . . . . . . . . . . . 32

Ipeak2 x . . . . . . . . . . . . . . . . . . . . 46

jog mode . . . . . . . . . . . . . . . . . . . . 65

KP

current contr. . . . . . . . . . . . . . . . . 52

position/speed contr. (PI) . . . . . . . . . 55

speed contr. . . . . . . . . . . . . . . . . 54

Kp (async) . . . . . . . . . . . . . . . . . . . 35

KV (P) . . . . . . . . . . . . . . . . . . . . . 56

KV (PI) . . . . . . . . . . . . . . . . . . . . . 55

L (sync). . . . . . . . . . . . . . . . . . . . . 32

last 10 faults . . . . . . . . . . . . . . . . . . 80

Limit Phi (sync) . . . . . . . . . . . . . . . . . 33

Load

recording . . . . . . . . . . . . . . . . . . 82

Load Data from Disk (async) . . . . . . . . . . 35

Load Data from disk (sync) . . . . . . . . . . 33

Load from disk . . . . . . . . . . . . . . . . . 26

LWL-Length (SERCOS) . . . . . . . . . . . . 90

Index

99

Index

M

N

O

P

Mains phase missing . . . . . . . . . . . . . . 29 mains voltage max. . . . . . . . . . . . . . . 29

mains-RTO . . . . . . . . . . . . . . . . . . . 50

max. speed (async) . . . . . . . . . . . . . . 34

max. speed (sync) . . . . . . . . . . . . . . . 32

Mem . . . . . . . . . . . . . . . . . . . . . . 82

menu bar . . . . . . . . . . . . . . . . . . . . 24

Mode/Position Feedback (P) . . . . . . . . . . 56

Mode/Position Feedback (PI) . . . . . . . . . 55

Modulo-End-Pos.. . . . . . . . . . . . . . . . 67

Modulo-Start-Pos. . . . . . . . . . . . . . . . 67

Monitor1/2 . . . . . . . . . . . . . . . . . . . 43

Motion task table . . . . . . . . . . . . . . . . 66 motion task, number . . . . . . . . . . . . . . 66

Motor numbers . . . . . . . . . . . . . . . . . 98

Motor Unit (async) . . . . . . . . . . . . . . . 35

Motor Unit (sync) . . . . . . . . . . . . . . . . 33

Motorname (async). . . . . . . . . . . . . . . 34

Motorname (sync) . . . . . . . . . . . . . . . 32

Motornumber (async) . . . . . . . . . . . . . 34

Motornumber (sync) . . . . . . . . . . . . . . 32

MT Restart . . . . . . . . . . . . . . . . . . . 47

MT_No_Bit . . . . . . . . . . . . . . . . . . . 46

Name . . . . . . . . . . . . . . . . . . . . . . 30

next motion task . . . . . . . . . . . . . . . . 73 next number . . . . . . . . . . . . . . . . . . 73

Next-InPos . . . . . . . . . . . . . . . . . . . 51

NSTOP . . . . . . . . . . . . . . . . . . . . . 45

number of the motion task . . . . . . . . . . . 66

Offline . . . . . . . . . . . . . . . . . . . . . 25

Offset

Auto-Offset . . . . . . . . . . . . . . . . . 40

Encoder . . . . . . . . . . . . . . . . . . 37

Resolver . . . . . . . . . . . . . . . . . . 37

setpoint . . . . . . . . . . . . . . . . . . 40

Zero pulse, ROD . . . . . . . . . . . . . . 39

open . . . . . . . . . . . . . . . . . . . . . . 24

Operating systems . . . . . . . . . . . . . . . 12

operation . . . . . . . . . . . . . . . . . . . . 14

OPMODE . . . . . . . . . . . . . . . . . . . 27

Opmode A/B . . . . . . . . . . . . . . . . . . 47

oscilloscope . . . . . . . . . . . . . . . . . . 82

overspeed . . . . . . . . . . . . . . . . . . . 54

PC cable . . . . . . . . . . . . . . . . . . . . 13

PC connection . . . . . . . . . . . . . . . . . 13

PC software . . . . . . . . . . . . . . . . . . 29

Peak current

Iomax (async) . . . . . . . . . . . . . . . 34

Iomax (sync) . . . . . . . . . . . . . . . . 32

Ipeak . . . . . . . . . . . . . . . . . . . . 52

Ref.-Ipeak . . . . . . . . . . . . . . . . . 52

Phase (SERCOS) . . . . . . . . . . . . . . . 90

PID-T2 . . . . . . . . . . . . . . . . . . . . . 54

PI-PLUS . . . . . . . . . . . . . . . . . . . . 54

poles

motor (async) . . . . . . . . . . . . . . . 34

motor (sync) . . . . . . . . . . . . . . . . 32

Resolver . . . . . . . . . . . . . . . . . . 37

Pos latch . . . . . . . . . . . . . . . . . . . . 47

Pos.>x . . . . . . . . . . . . . . . . . . . . . 50

Position. . . . . . . . . . . . . . . . . . . . . 31

actual value . . . . . . . . . . . . . . . . 81

Position polarity (Sercos) . . . . . . . . . . . 91

position register . . . . . . . . . . . . . . . . 68

Posreg0 . . . . . . . . . . . . . . . . . . . . 51

Posreg1-4 . . . . . . . . . . . . . . . . . . . 51

Posreg5 . . . . . . . . . . . . . . . . . . . . 51

prescribed use . . . . . . . . . . . . . . . . . . 6

print . . . . . . . . . . . . . . . . . . . . . . 24 print preview / print setup . . . . . . . . . . . 24

Product Sercos Settings . . . . . . . . . . . . 91

PSTOP . . . . . . . . . . . . . . . . . . . . . 45

100

07/03 Jetter AG

R

S

ramp . . . . . . . . . . . . . . . . . . . . . . 72

Rated Speed (async). . . . . . . . . . . . . . 34

ratio . . . . . . . . . . . . . . . . . . . . . . 79

READ IDN (SERCOS) . . . . . . . . . . . . . 91

Read List Item (SERCOS) . . . . . . . . . . . 91

Ref_OK, digital output . . . . . . . . . . . . . 51

reference offset . . . . . . . . . . . . . . . . 65

Reference point

actual value . . . . . . . . . . . . . . . . 81

reference traverse . . . . . . . . . . . . . . . 58

reference traverse (homing) . . . . . . . . . . 57

Reference, digital input. . . . . . . . . . . . . 46

regen off . . . . . . . . . . . . . . . . . . . . 50

regen power

actual value . . . . . . . . . . . . . . . . 81

setting . . . . . . . . . . . . . . . . . . . 29

Regen resistor . . . . . . . . . . . . . . . . . 29

reset

Input . . . . . . . . . . . . . . . . . . . . 45

switch . . . . . . . . . . . . . . . . . . . 80

resolution

oscilloscope . . . . . . . . . . . . . . . . 82

position data . . . . . . . . . . . . . . . . 69

Resolver . . . . . . . . . . . . . . . . . . . . 37

Bandwidth . . . . . . . . . . . . . . . . . 37 no. of poles . . . . . . . . . . . . . . . . 37

Offset. . . . . . . . . . . . . . . . . . . . 37

ROD

NI-Offset . . . . . . . . . . . . . . . . . . 39

Resolution . . . . . . . . . . . . . . . . . 38

ROD/SSI . . . . . . . . . . . . . . . . . . . . 46

ROD-Interpolation . . . . . . . . . . . . . . . 39

Rotary Direction . . . . . . . . . . . . . . . . 53

Rotor time constant . . . . . . . . . . . . . . 34

RS232/PC, interface . . . . . . . . . . . . . . 13

run time

status . . . . . . . . . . . . . . . . . . . 80

Run time . . . . . . . . . . . . . . . . . . . . 30

s_cmd . . . . . . . . . . . . . . . . . . . . . 71

save . . . . . . . . . . . . . . . . . . . . . . 24

Save

recording . . . . . . . . . . . . . . . . . . 82

save as . . . . . . . . . . . . . . . . . . . . . 24

Save to disk . . . . . . . . . . . . . . . . . . 26 save to EEPROM . . . . . . . . . . . . . . . 26

scaling, setpoints . . . . . . . . . . . . . . . . 40

screen layout . . . . . . . . . . . . . . . . . . 23

screen page

actual values . . . . . . . . . . . . . . . . 81

amplifier . . . . . . . . . . . . . . . . . . 26

analog I/O . . . . . . . . . . . . . . . . . 40

basic setup . . . . . . . . . . . . . . . . . 29

Bode Plot . . . . . . . . . . . . . . . . . 85

communication . . . . . . . . . . . . . . . 25

current . . . . . . . . . . . . . . . . . . . 52

digital I/O . . . . . . . . . . . . . . . . . . 44

encoder . . . . . . . . . . . . . . . . . . 38

feedback . . . . . . . . . . . . . . . . . . 36

gearing . . . . . . . . . . . . . . . . . . . 79

homing . . . . . . . . . . . . . . . . . . . 57

I/O expansion . . . . . . . . . . . . . . . 92

Input service parameters . . . . . . . . . 84

motion task parameters . . . . . . . . . . 70

motor . . . . . . . . . . . . . . . . . . . . 34

motor (sync) . . . . . . . . . . . . . . . . 32

oscilloscope . . . . . . . . . . . . . . . . 82

position (P) . . . . . . . . . . . . . . . . . 56

position (PI) . . . . . . . . . . . . . . . . 55

position data . . . . . . . . . . . . . . . . 66

PROFIBUS. . . . . . . . . . . . . . . . . 87

PROFIBUS instrument control . . . . . . . 88

SERCOS . . . . . . . . . . . . . . . . . . 90

SERCOS Service . . . . . . . . . . . . . 91

speed . . . . . . . . . . . . . . . . . . . 53

status . . . . . . . . . . . . . . . . . . . 80

terminal . . . . . . . . . . . . . . . . . . 86

Setup Software

Jetter AG

Serial number . . . . . . . . . . . . . . . . . 29

service . . . . . . . . . . . . . . . . . . . . . 84

service functions . . . . . . . . . . . . . . . . 83 direct current . . . . . . . . . . . . . . . . 83 motion task. . . . . . . . . . . . . . . . . 83 reversing mode . . . . . . . . . . . . . . 83 speed . . . . . . . . . . . . . . . . . . . 83 torque . . . . . . . . . . . . . . . . . . . 83

Zero . . . . . . . . . . . . . . . . . . . . 83

service parameters . . . . . . . . . . . . . . . 84

Service, menu bar . . . . . . . . . . . . . . . 24

Setp. ramp– . . . . . . . . . . . . . . . . . . 53

Setp. ramp+ . . . . . . . . . . . . . . . . . . 53

Setp.-functions . . . . . . . . . . . . . . . . . 41

SETUP.EXE . . . . . . . . . . . . . . . . . . 14

Single Turn/Multi Turn . . . . . . . . . . . . . 39

Slip Correct Factor (async). . . . . . . . . . . 35

Slot, Extension x . . . . . . . . . . . . . . . . 27

software limit-switches

position register . . . . . . . . . . . . . . 68

Sw_limit . . . . . . . . . . . . . . . . . . 50

speed limit . . . . . . . . . . . . . . . . . . . 53

speed setpoint . . . . . . . . . . . . . . . . . 81

SSI

Baudrate . . . . . . . . . . . . . . . . . . 39

SSI-Clock . . . . . . . . . . . . . . . . . 39

SSI-Code. . . . . . . . . . . . . . . . . . 39

Standard Sercos Settings . . . . . . . . . . . 91

standstill current . . . . . . . . . . . . . . . . 32

standstill current (async) . . . . . . . . . . . . 34

start

homing . . . . . . . . . . . . . . . . . . . 57

jog mode . . . . . . . . . . . . . . . . . . 65

motion task. . . . . . . . . . . . . . . . . 66

recording . . . . . . . . . . . . . . . . . . 82

service function . . . . . . . . . . . . . . 83

start by I/O edge . . . . . . . . . . . . . . . . 73 start condition . . . . . . . . . . . . . . . . . 73

Start Phi (sync) . . . . . . . . . . . . . . . . . 33

Start_Jog v=x . . . . . . . . . . . . . . . . . 47

Start_MT IO . . . . . . . . . . . . . . . . . . 46

Start_MT Next . . . . . . . . . . . . . . . . . 46

Start_MT No x . . . . . . . . . . . . . . . . . 46

state machine . . . . . . . . . . . . . . . . . 88

Status (SERCOS) . . . . . . . . . . . . . . . 90

status bar. . . . . . . . . . . . . . . . . . . . 23

stop

Bode Plot . . . . . . . . . . . . . . . . . 85

homing . . . . . . . . . . . . . . . . . . . 57

motion task. . . . . . . . . . . . . . . . . 66

service function . . . . . . . . . . . . . . 83

Symbols . . . . . . . . . . . . . . . . . . . . . 5

07/03

U

V

T

W

Z

T.Setpoint . . . . . . . . . . . . . . . . . . . 40

t_acc/dec_min / a max . . . . . . . . . . . . . 67

t_acc_total . . . . . . . . . . . . . . . . . . . 72 t_dec_total . . . . . . . . . . . . . . . . . . . 72

time/division . . . . . . . . . . . . . . . . . . 82

Title bar . . . . . . . . . . . . . . . . . . . . 23

Tn

current contr. . . . . . . . . . . . . . . . . 52

position contr. (PI) . . . . . . . . . . . . . 55

speed contr. . . . . . . . . . . . . . . . . 54

Tn (async) . . . . . . . . . . . . . . . . . . . 35

toolbar . . . . . . . . . . . . . . . . . . . . . 23

Tools . . . . . . . . . . . . . . . . . . . . . . 24

Trajectory. . . . . . . . . . . . . . . . . . . . 71

Transmission priority . . . . . . . . . . . . . . 24

Trigger

Trigger edge . . . . . . . . . . . . . . . . 82

Trigger level . . . . . . . . . . . . . . . . 82

Trigger position . . . . . . . . . . . . . . 82

Trigger signal . . . . . . . . . . . . . . . 82

trouble shooting . . . . . . . . . . . . . . . . 95

type. . . . . . . . . . . . . . . . . . . . . . . 71

Type

Motion task. . . . . . . . . . . . . . . . . 70

motor (async) . . . . . . . . . . . . . . . 34

motor (sync) . . . . . . . . . . . . . . . . 32

U_Mon.off . . . . . . . . . . . . . . . . . . . 47

use as directed . . . . . . . . . . . . . . . . . 6

v

homing . . . . . . . . . . . . . . . . . . . 65 jog mode . . . . . . . . . . . . . . . . . . 65

v/Torq.Contr. . . . . . . . . . . . . . . . . . . 46

v_act>x . . . . . . . . . . . . . . . . . . . . . 50 v_act

<x . . . . . . . . . . . . . . . . . . . . 50

v_cmd . . . . . . . . . . . . . . . . . . . . . 71 v_cmd-source . . . . . . . . . . . . . . . . . 71

v_max . . . . . . . . . . . . . . . . . . . . . 67

Velocity . . . . . . . . . . . . . . . . . . . . . 31

Velocity Observer . . . . . . . . . . . . . . . 37

Velocity polarity (Sercos). . . . . . . . . . . . 91

Velocity profile No. . . . . . . . . . . . . . . . 71

view . . . . . . . . . . . . . . . . . . . . . . 24

warning messages . . . . . . . . . . . . . . . 94

window . . . . . . . . . . . . . . . . . . . . . 24

zero pulse . . . . . . . . . . . . . . . . . . . 51

Zero_latch . . . . . . . . . . . . . . . . . . . 47

Index


Jetter JetMove 600 Servo Amplifier Setup Software

Assistant Bot

Setup-Software DRIVE.EXE

for

JetMove 600

Previously published editions :

PC-AT is a registered trademark of International Business Machines Corp.

MS-DOS is a registered trademark of Microsoft Corp.

WINDOWS is a registered trademark of Microsoft Corp.

HIPERFACE is a registered trademark of Max Stegmann GmbH

EnDat is a registered trademark of Dr.Johannes Heidenhain GmbH

Contents

Contents

1

1.1

1.2

General Information

Contents

General

Screen pages

Symbols used

1.3

Prescribed use ("Use as directed")

The manufacturer of the machine must carry out a hazard analysis for the machine, and is responsible for the functional, mechanical and personnel safety aspects of the machine. This applies especially to the initiation of movements with the aid of functions in the commissioning software.

Only personnel who have extensive knowledge in the fields of drive technology and control technology are permitted to carry out online parameter setting of a drive that is running.

Sets of data that are stored on data media are not safe from undesirable alteration by third parties. So after you have loaded a set of data, you must check all the parameters before enabling the servo amplifier.

1.4

Abbreviations used

2

Product Overview

3

Servo System Overview

3.1

3.2

Feedback Device

The Motion Profile

3.3

3.4

Limits and Ranges of Operation

Acceleration and Deceleration

4

4.1

4.2

4.3

Getting Started

Operating systems

Software description

Hardware requirements

Disconnect and connect the cable only while all the supply voltages are switched off

(amplifier and PC).

4.4

RS232 interface, PC connection (X6)

4.5

4.6

Installation under WINDOWS 95(c) / 98 / 2000 / ME / XP / NT

Operation

4.7

Function keys

Stopping the axis by using F9 or F12 does not ensure personal safety unless further measures are implemented. For safety, operate the ENABLE signal for the amplifier through a button that has to be confirmed, and ensure that the EMERGENCY STOP function is active for this axis.

5

5.1

Axis Commissioning Checklist Procedures

General

Parameterization 5.2

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, that operates directly on the drive circuitry.

Switch on auxiliary supply 5.3

5.4

Basic setting

5.5

Optimization of the control loops

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.

For safety, only operate the ENABLE signal of the amplifier with an interlock switch, and check the EMERGENCY STOP function for this axis.

5.6

Optimizing the current controller

5.7

Optimizing the speed controller

5.8

Optimizing the position controller