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Baumuller b maXX 1000, Parameter Manual

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Baumuller b maXX 1000 Parameter Manual Download Page 171

PLCopen motion control

Parameter manual 

b maXX

®

 

1000

Document no. 5.07004.03

171

of 208

B.3.1

Basic Specification of CAN

m

OSI-Layer

CANopen is an open and hence manufacturer-independent field bus system defining layers 1 and 2 of the CAN 
standard.

The layer 1 is according to ISO 11898

The layer 2 is according to CAN 2.0A (CiA)

m

CAL specification

The CANopen protocol is based on the CAL specification (Layer 7 protocol). With CANopen, profiles are dif-
ferentiated. The communication profile (DS 301) defines the method of data exchange and general definitions 
that are applicable for all devices.

m

Device profile

Device profiles contain application- and device-specific definitions describing the contents-related meaning of 
data and device functionality. Device profiles exist for drives, etc. The CANopen slave for the b maXX

®

 1000 

controller is implemented in accordance with the device profile 

DSP402

 (drives and motion control).

Figure 67:

OSI: Open systems interconnection

Support CAN2.0A Protocol.

Support CANopen DS301 V4.02

Support DSP-402 V2.0

Summary of Contents for b maXX 1000

Page 1: ...E 5 07004 03 b maXX 1000 Parameter manual ...

Page 2: ...ssed on by the owner together with the equipment machine After any sale of the equipment machine this original and all copies must be handed over to the buyer After disposal or any other end of use this original and all copies must be destroyed When the present operating instructions are handed over corresponding sets of operating instructions of a previous version are automatically invalidated Pl...

Page 3: ...A Parameter list 155 Appendix B PLCopen motion control 165 B 1 Hardware 165 B 2 CANopen address CANopen node ID 168 B 2 1 The CANopen address in case SWITCH VALUE 0 169 B 2 2 The value for CANopen address in case SWITCH VALUE 0 169 B 3 Basic of CAN 170 B 3 1 Basic Specification of CAN 171 B 3 2 Data Exchange and Parameterization 175 B 3 3 Objects for communication control 190 B 3 3 1 Receive PDO C...

Page 4: ...Parameter manual b maXX 1000 Document no 5 07004 03 Baumüller Nürnberg GmbH 4 of 208 Table of contents ...

Page 5: ...behaviour of the controller The controller affects the behaviour of the power unit and of the motor which is connected to it A comprehensive description of the parameters sorted by parameter numbers you will find in chapter ZParameter from page 17 A brief survey of all the parameters is shown in ZParameter list from page 155 1 1 Copyright and trade mark b maXX is a registered trade mark of Baumüll...

Page 6: ...Copyright and trade mark Betriebsanleitung b maXX 1000 Document no 5 07004 03 Baumüller Nürnberg GmbH 6 of 208 1 1 ...

Page 7: ... not observe this warning information m serious personal injury m death The danger is mechanical and electrical cause The change of parameters affects the be havior of the Baumüller unit and consequently the behavior of the construction and its com ponents If you change the adjustments of the parameters you may cause a dangerous behavior of the construction and or of its components Please carry ou...

Page 8: ...Information signs Parameter manual b maXX 1000 Document no 5 07004 03 Baumüller Nürnberg GmbH 8 of 208 2 2 ...

Page 9: ...ication interfaces and so on The control of the drive operates via a status machine which is operated via the control word ZP0300 and via hardware control inputs Thereby a control is only to be operated via the hardware inputs i e without the control word The status machine for the device control see ZFigure 2 on page 12 and the com mands in the control word thereby accord to the Drivecom CANopen ...

Page 10: ...WITCH ON m Application can be reparameterized m Drive function is inhibited m Operation is enabled m Drive is ready to operate n SWITCHED ON m Application can be reparameterized m Drive function is inhibited m At automatic operation holding brake the drive is carrying current before transition in OPERATION ENABLED m Power unit is ready for use there is supply voltage m Drive is ready to operate n ...

Page 11: ...of the device control display Figure 1 Introduction of the device control Within the status see ZFigure 1 the bits 7 0 of the status word ZP0301 in binary form are shown as XXXX XXXX At the transition states arrows seeZFigure 1 above the bits 7 0 of the control word ZP0300 are shown in binary form as xxxx xxxx All digits which are marked with X that means the bits of the status word or x that mean...

Page 12: ...Parameter manual b maXX 1000 Document no 5 07004 03 Baumüller Nürnberg GmbH 12 of 208 m Device control status machine Figure 2 Device control status machine ...

Page 13: ...OT READY TO START SWITCH ON INHIBIT n Event m Initialization and self test are completed error free n Action m none 2 INHIBIT START READY TO START n Event m Command Shut down n Condition m Quickstop input High n Action m none 3 READY TO START SWITCHED ON n Event m Command switch on n Condition m Pulse enable High m Supply voltage is present n Action m none 4 SWITCHED ON OPERATION ENABLED n Event m...

Page 14: ... m Feed unit ready for use signal monitoring will be deactivated 7 READY TO START INHIBIT READY TO START n Event m Command quickstop or m Command inhibit voltage or m Quickstop input Low default quickstop input MI5 23 n Action m none 8 ENABLE OPERATION SHUT DOWN DRIVE ACTIVE n Event m Command Shut down n Action m Shut down of drive is commenced according to settings braking or coasting to a stands...

Page 15: ...endable error reactions are activated m Ready to operate relay is switched off multi function relay 14 ERROR REACTION ACTIVE ERROR n Event m Error reaction is completed n Action m Drive operation is inhibited 15 ERROR INHIBIT READY TO START n Event m Command reset error or m RESET ERROR input Low High multi function digital input n Condition m Error doesn t exist anymore n Action m Reset error is ...

Page 16: ...08 The status change only operates if the actions have completely been carried out The sequence of the actions is the same as their execution during condition change The next condition will be reached and new commands will be accepted only if the actions have been completely executed ...

Page 17: ... controller b maXX 1000 there are more than 1000 parameters which are de scribed in this chapter 4 1 Structure of controller parameter range Every parameter has m a name m an association to a function group m an unique number m a data type m and fixed attributes or characteristics ...

Page 18: ...fu ture extensions For these bits the following is valid m In setting parameters the bits are to be set to 0 m In status parameters these bits are not to be evaluated Attribute Meaning A Parameter only serves as display identification operational status actual value etc EE The parameter is part of the central data and can be saved in EEPROM This parameter will be automatically loaded from the con ...

Page 19: ...following scheme The different branches of the scheme are described below Figure 3 Parameter description scheme The construction of the internal parameter name is shown below Figure 4 Construction of internal parameter name P1172 Hochlaufgeber Hochlaufzeit 1 0 1 to 600 0 s or 0 01 to 60 00 s EE RFG acceleration time 1 10 0 s ON BM_u_RFGRampUpTime1 10 1 or 100 1 ...

Page 20: ... no of the controller firmware P0001 Regler Typ 1000 Controller type 1 A BM_u_ControllerType 1 1 Value Meaning 1000 b maXX 1000 P0002 Controller Firmware Typ 0 to 65535 Controller firmware type 0 A BM_u_SoftwareType 1 1 Value Meaning 0 Standard software 1 to 65535 Customized software P0003 Controller Firmware ID 0 to 65535 Controller firmware ID 0 A BM_u_SoftwareID 1 1 Value Meaning 1459 Controlle...

Page 21: ...ode of the b maXX 1000 0 means unknown iden tity P0004 Controller Firmware ID 2 000 to 5 999 Controller firmware ID 2 000 A BM_u_SoftwareVersionID 1000 1 X xx incompatible Version compatible Version P0005 Parametertabellen Version 0 to 65535 Parameter table version 1 A BM_u_ParamTableVersion 1 1 Value Meaning 0 Not defined table version 1 to 65535 Table version P0006 Typenschlüssel 1 0 to 1999 Ide...

Page 22: ...r unit software which is used Figure 7 Software version of power unit P0007 Leistungsteil Seriennummer 0 to 9999 Power unit serial number 0 A BM_u_AmpSerialNr 1 1 Value Meaning 0 Not defined serial number 1 to 9999 Code including place of manufacture and production year P0009 Leistungsteil Software Version 1 00 to 5 99 Power unit software version 1 00 A BM_u_AmpSW_Version 100 1 X xxx incompatible ...

Page 23: ...s output frequency range Also see ZFigure 8 on page 26 P0010 Leistungsteil Nennstrom 0 0 to 99 9 A Power unit rate current 0 0 A A BM_u_AmpNomCurrent 10 1 P0024 Lüfterregelung 0 to 3 EE Fan control 0 ON BM_u_FanControl 1 1 Value Meaning 0 Always fan on 1 Fan off after 1 min drive stop 2 Fan on when drive run Fan off when drive stop 3 Fan on when preliminary temperature attained P0032 50 Hz Spannun...

Page 24: ...o between minimum frequency and mid point frequency can be determined This parameter must be equal to or greater than minimum output voltage ZP0039 and equal to or less than maximum output voltage ZP0053 This setting is invalid in vector control mode ZP0800 1 The settings have to meet the condition of ZP0039 ZP0037 ZP0053 Also see ZFigure 8 on page 26 P0038 This parameter sets the minimum output f...

Page 25: ... ZP0800 1 The settings have to meet the condition of ZP0039 ZP0037 ZP0053 Also see ZFigure 8 on page 26 P0040 This parameter must be equal to or greater than the output frequency lower limit ZP0041 The maximum output frequency ZP0033 is regarded to 100 Output frequency upper limit value ZP0033 ZP0040 100 Also see ZFigure 8 on page 26 P0039 Minimale Ausgangsspannung Vmin 0 1 to 255 0 V or 0 1 to 51...

Page 26: ... If the output frequency lower limit is 10 Hz and the min imum output frequency ZP0038 is set to 1 0 Hz then any command frequency between 1 0 to 10 Hz will generate a 10 Hz output from the drive The maximum output frequency ZP0033 is regarded to 100 This parameter must be equal to or less than the output frequency upper limit ZP0040 Output frequency lower limit value ZP0033 ZP0041 100 Figure 8 V ...

Page 27: ...054 Parameters ZP0054 and ZP0110 must be set if the drive is programmed to operate in vector control mode ZP0800 1 They also must be set if the electronic thermal overload relay ZP1216 or slip compensation ZP0114 functions are selected Motor current motor rated current in A on the motor b maXX 1000 rated current of used b maXX 1000 in A see parameter ZP0010 P0050 Motor Typenschlüssel 0hex to FFFFh...

Page 28: ...onstant ratio of 7 66 V Hz 460 V 60 Hz 7 66 V Hz This parameter value must be equal to or greater than the mid point frequency ZP0036 The settings have to meet the condition of ZP0039 ZP0037 ZP0053 and ZP0038 ZP0036 ZP0061 Also see ZFigure 8 on page 26 ZP0061 can be changed only if ZP0124 0 P0065 Number of motor pole pairs 1 pole pair 2 poles ZP0065 can be changed only if ZP0124 0 P0056 Motor Nenn...

Page 29: ...e pairs 120 60 This parameter is valid only in vector mode ZP0111 can be calculated via ZP0124 automatically if unknown ZP0111 can be changed only if ZP0124 0 P0112 This parameter may be set so that the drive will increase its voltage output to obtain a higher torque Only to be used for V f control mode P0077 Motor Ständerwiderstand 0 to 65535 mΩ abc EE Motor line to line resistance 0 mΩ abc STOP ...

Page 30: ...quency according to this parameter P0115 This parameter sets the upper limit of the compensation frequency the percentage of ZP0111 Example when ZP0111 5 Hz and ZP0115 150 the upper limit of the compensation fre quency is 5 Hz 150 7 5 Hz Therefore for a 50 Hz motor the max output is 57 5 Hz P0113 Drehmomentanpassung Zeitkonstante 0 01 to 10 00 s EE Torque compensation time constant 0 10 s STOP BM_...

Page 31: ...konstante 0 05 to 10 00 s EE Motor slip compensation time constant 0 20 s STOP BM_u_MotorSlipCompTimeConst 100 1 s NOTE Too long time constants give slow response too short values can give unstable operation P0117 Motor Kaltleiter Überhitzungsschutz Überwachung 0 to 1 EE Motor PTC overheat protection 0 STOP BM_u_PTCOverheatProt 1 1 Value Meaning 0 Disable 1 Enable overheat protection by AVI termin...

Page 32: ...otor will be coast to stop and error code 0063hex is displayed When the temperature decreases below the level of ZP0120 ZP0121 and error code 0063hex stops blinking you can press RESET key to clear the fault ZP0119 overheat protection level must exceed ZP0120 overheat warning level The PTC uses the AVI input and is connected via resistor divider as shown below 1 The voltage between 10V to ACM lies...

Page 33: ...ider recommended value 1 to 20 kΩ Take the standard PTC resistor as example If protection level is 1330Ω the voltage between 10V ACM is 10 5V and resistor divider R1 is 4 4kΩ Refer to following calculation for ZP0119 setting 1330 47000 1330 47000 1330 47000 1293 4 10 5 1293 4 4400 1293 4 2 38 V 2 4 V Therefore ZP0119 should be set to 2 4 Figure 10 PTC resistor curve P0120 Warning level PTC overhea...

Page 34: ... Value Meaning 0 Warn and RAMP to stop 1 Warn and COAST to stop 2 Warn and keep running P0123 Motor Nenndrehzahl Nennfrequenz Auswahl 0 to 1 EE Motor rated speed nominal slip master selection 1 STOP BM_u_MotorRatedSpeedSlipSelection 1 1 Value Meaning 0 Motor rated speed is existing motor rated Slip can automatic calculation with ZP0124 1 Motor rated slip is existing motor rated speed can automatic...

Page 35: ...54hex Ground current GFF PWM Inhibit 2240hex 0062hex Motor temperature fault switch off threshold exceeded PtC1 ZP0119 7120hex 0063hex Fault I2t 100 oL1 PWM Inhibit 7120hex 0070hex Communication error PG card option card PG_ERR ZP1077 7300hex 00A0hex 1 Modbus communication time monitoring cE10 ZP0862 Warning 00A1hex 1 control board power board communication time monitoring cP10 PWM Inhibit 7500hex...

Page 36: ...Warning 0513hex IO PID feedback error FbE ZP1368 ZP1368 Warning 0515hex U phase error cF30 PWM Inhibit 2300hex 0516hex V phase error cF31 PWM Inhibit 2300hex 0517hex W phase error cF32 PWM Inhibit 2300hex 0518hex Current exceed at acceleration process ocA PWM Inhibit 2310hex 0519hex Current exceed at deceleration process ocd PWM Inhibit 2310hex 051Ahex Current exceed at steady state ocn PWM Inhibi...

Page 37: ...stored After removing the cause of the fault use the reset command to reset the drive fault list see ZP0240 on page 35 P0244 Procedures for troubleshooting and for additional information see chapter Troubleshoot ing in the manual b maXX 1000 Here are the next five most recent faults that occurred are stored After removing the cause of the fault use the reset command to reset the drive fault list s...

Page 38: ...5 No Reaction 0 Reaction according to ZP1007 error reaction code 1 Pulse inhibit 2 Braking operation at the deceleration time 3 Braking operation at the quickstop time 4 Braking operation at the deceleration automatic time 6007hex 0hex No Reaction 2hex Pulse inhibit default value 3hex Quickstop FFFFhex Reaction according to ZP0296 P0297 Fehlerreaktion Spannungsausfall 0 to 255 EE Error reaction po...

Page 39: ...Command shut down 1 1 1 Command Inhibit no voltage operating status 0 Command inhibit voltage 2 1 1 Command no quickstop operating status 0 Command quickstop 3 1 Command operation enabled 0 Command inhibit operation 4 Ramp function generator inhibit output frequency fixed to 0 5 Ramp function generator stop freeze output frequency 6 Ramp function generator zero set output frequency by ramp to 0 7 ...

Page 40: ...ommand Quit error This command is executed when bit 7 changes from 0 1 P0301 This parameter is the output word used in the status machine of the device control 1 These bits are low active 2 Display operational status of device manager P0301 Statuswort 0 to 65535 Statusword 0 A BM_u_Status word 1 1 Bit Meaning 0 2 1 Ready to start 0 Not ready to start 1 2 1 Switched on 0 Not ready to operate 2 2 1 ...

Page 41: ...This bit is low active It is set to 0 if a quick stop reaction is enabled with the control word command QUICK STOP or with the hardware input QUICK STOP multi func tion input MI5 23 The bit is enabled when changing to state READY TO SWITCH ON The bis is set to 0 as long as the drive s state is Quick stop The bit is enabled when the drive s state is enabled again or the state READY TO SWITCH ON is ...

Page 42: ...riebsart 0 to 249 Operation mode actual 249 A BM_i_OperationModeAct 1 1 Value Meaning 249 Motor parameters auto tuning 2 Speed setting 1 ramp function generator 5 Jog operation 6 Operation mode function for motion control P0305 Antriebs Status 0 to 15 Drive status 0 A BM_u_DriveStatus 1 1 Value Meaning 0 Not ready to start 1 Inhibit start 2 Ready to switch on 3 Switched on 4 Operation enabled 7 Qu...

Page 43: ...unter will be incremented at write access for parameters ZP0077 ZP0110 ZP0811 ZP0812 ZP0850 ZP1172 ZP1173 ZP1176 ZP1177 ZP1180 ZP1181 ZP1182 ZP1183 ZP1184 ZP1359 ZP1361 ZP1362 ZP1363 internal parameter 1 internal parameter 2 to EE PROM by Power OFF P0310 Parameter Reset 0 to 11 EE Parameter reset 0 STOP BM_u_ParameterReset 1 1 Value Meaning 0 Parameter can be set and read 3 to 8 Reserved 9 Reset p...

Page 44: ... terminal please refer to ZP0805 for details The first second frequency operation command is enabled disabled by multi function in put terminals Please refer to ZP1091 to ZP1094 P0558 Controller Hardware Version 0 to 65535 Controller hardware version 1 A BM_u_ControllerHardwareVersion 1 1 P0800 Regelungsart 0 to 1 EE Control method 0 STOP BM_u_ControlMethod 1 1 Value Meaning 0 V f control 1 Vector...

Page 45: ...s 1 to 5 EE Source of first operation command 5 STOP BM_u_SourceFirstOperComm 1 1 Value Meaning 0 by digital keypad 1 by external terminals keypad STOP enabled 2 by external terminals keypad STOP disabled 3 by ProDrive communication interface keypad STOP enabled 4 by ProDrive communication interface keypad STOP disabled 5 by CANopen NOTE Value 0 1 and 2 needs the digital input PULSE ENABLE input M...

Page 46: ...determined by the characteristics of the motor load and how frequently it is stopped 1 It is recommended to use ramp to stop for safety of personnel or to prevent material from being wasted in applications where the motor has to stop after the drive is stopped The deceleration time has to be set accordingly 2 If motor free running is allowed or the load inertia is large it is recommended to select...

Page 47: ...Parameter Parameter manual b maXX 1000 Document no 5 07004 03 47 of 208 4 When ZP0803 is set to 2 or 3 When ZP0803 is set to 0 or 1 Figure 11 Stop method ...

Page 48: ...ation status is not changed even if operation command source ZP0802 is changed 1 Enable Operation status is not changed even if operation command source ZP0802 is changed 2 Disable Operation status will change if operation command source ZP0802 is changed 3 Enable Operation status will change if operation command source ZP0802 is changed ZP0805 Start lockout Run when power is ON Operation status w...

Page 49: ...ernal terminals independently from whether the b maXX 1000 runs or stops the b maXX 1000 will operate according to ZP0805 if the two conditions below are both met 1 When operation command source is changed to external terminal ZP0802 1 or 2 2 The status of terminal and b maXX 1000 is different And the operation of the AC motor drive will be 1 When setting 0 or 1 the status of the b maXX 1000 is no...

Page 50: ...ear it MI1 DCM close ZP0802 Output frequency ZP0805 2 or 3 Change opera tion command source Output frequency ZP1090 0 or 1 This action will follow MI1 DCM or MI2 DCM status ON is close OFF is open WARNING The following may occur if you do not observe this warning information m personal injury The line start lockout feature does not guarantee that the motor will never start under this con dition It...

Page 51: ...ails The first second frequency operation command is enabled disabled by multi function in put terminals Please refer to ZP1091 to ZP1094 P0807 Hochlauf Rücklauf Mode 0 to 3 EE Up Down Mode 0 STOP BM_u_UpDownMode 1 1 Value Meaning 0 By digital keypad up down keys mode 1 Based on acceleration deceleration time according to ZP1172 ZP1173 ZP1180 ZP1181 2 Constant speed according to ZP0908 3 By pulse ...

Page 52: ...quComm 1 1 Value Meaning 0 First master frequency command ZP0801 only 1 First master frequency ZP0801 second master frequency ZP0809 2 First master frequency ZP0801 second master frequency ZP0809 P0811 Keypad Frequenzvorgabe 0 00 to 600 00 Hz EE Keypad frequency command 50 00 Hz ZP0310 9 or 60 00 Hz ZP0310 10 ON BM_u_KeypadFrequComm 100 1 Hz P0812 Kommunikation Frequenzvorgabe 0 00 to 600 00 Hz EE...

Page 53: ... Value Meaning 0 By current frequency command 1 By zero frequency command 2 By frequency display at ZP0815 P0815 Anfangsfrequenz Keypad und RS485 Sollwert 0 00 to 600 00 Hz EE Keypad and RS485 initial frequency setpoint 60 00 STOP BM_u_KeypadRS485InitialFrequSet 100 1 P0816 Anzeige der Quelle der Masterfrequenzvorgabe 0 to 7 Display the master frequency command source 1 A BM_u_DisplayMasterFrequCo...

Page 54: ...10 and ZP0819 is set to 600 s 10 min and if there is no fault for over 600 seconds from the restart for the previous fault the auto reset times for restart after fault will be reset to 10 P0817 Anzeige der Sollwertquelle 0 to 63 Display the operation command source 32 A BM_u_DisplayOpCommandSource 1 1 Display value Bit Meaning 1 Bit 0 1 Operation command source by digital keypad 2 Bit 1 1 Operatio...

Page 55: ...the motor runs at voltages ex ceeding the rated voltage with 12 to 20 its lifetime will be shorter and it can be damaged due to higher temperature failing insulation and unstable torque output AVR function automatically regulates the b maXX 1000 output voltage to the maximum output voltage ZP0053 For instance if ZP0053 is set at 200 VAC and the input voltage is at 200 VAC to 264 VAC then the maxim...

Page 56: ... The drift current will occur in a specific zone of the motor and it will make motor instable By using this parameter it will improve this situation greatly The drift current zone of the high power motors is usually in the low frequency area It is recommended to set to more than 2 0 Value Meaning 0 AVR function enabled 1 AVR function disabled 2 AVR function disabled for deceleration 3 AVR function...

Page 57: ... set to 2 the b maXX 1000 will execute auto tuning immediately after receiving a RUN command Note The motor will run The total auto tune time will be 15 seconds ZP1172 ZP1173 Higher power drives need longer accel decel time factory setting is recommended After executing Auto tune ZP0850 is set to 0 5 After executing please check if there are values filled in ZP0110 and ZP0077 If not please press R...

Page 58: ...ps bits per second P0862 This parameter is set to how to react if transmission errors occur P0860 Kommunikationsadresse RS485 1 to 254 EE Communication address RS485 1 STOP BM_u_CommRS485Address 1 1 P0861 Übertragungsgeschwindigkeit RS485 0 to 3 EE Transmission speed RS485 3 STOP BM_u_TransmissionRS485Speed 1 1 Value Meaning 0 Baud rate 4800 bps 1 Baud rate 9600 bps 2 Baud rate 19200 bps 3 Baud ra...

Page 59: ... 2 ms Figure 15 Response delay time P0863 RS485Time out Erkennung 0 0 to 120 0 s EE RS485Time out detection 0 0 s ON BM_u_RS485TimeOutDetect 10 1 Value Meaning 0 0 Disable 0 1 to 120 0 s Time out detection enabled P0864 RS485Kommunikationsprotokoll 0 to 5 EE RS485 Communication protocol 3 STOP BM_u_RS485CommProtocol 1 1 Value Meaning 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII 2 7 O 1 Modbus ASCII 3...

Page 60: ...ommCardTransSpeed 1 1 Value Meaning 0 Baud rate 4800 bps bits second 1 Baud rate 9600 bps 2 Baud rate 19200 bps 3 Baud rate 38400 bps 4 Baud rate 57600 bps P0867 USB Kommunikationskarte Protokoll 0 to 5 EE USB Communication card protocol 3 STOP BM_u_USBCommCardProtocol 1 1 Value Meaning 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII 2 7 O 1 Modbus ASCII 3 8 N 2 Modbus RTU 4 8 E 1 Modbus RTU 5 8 O 1 Mod...

Page 61: ...0 CANopen address is set by parameter ZP0870 only if CANopen hard ware address is set to 0 switch 1 off switch 2 off switch 3 off Otherwise the hard ware setting is valid Figure 16 DIP switch CANopen address P0869 USB Kommunikationskarte Zeitfehler 0 0 to 120 0 s EE USB Communication card over time detection 0 0 s ON BM_u_USBCommCardOverTimeDetect 10 1 Value Meaning 0 0 Disable 0 1 to 120 0 s Over...

Page 62: ...r determines the duration of the DC braking current after a RUN command When the time has elapsed the b maXX 1000 will start accelerating from the minimum Frequency ZP0038 See also ZFigure 17 on page 63 P0892 This parameter determines the duration of the DC braking current during stopping If stop ping with DC braking is desired ZP0803 stop method must be set to 0 or 2 for ramp to stop See also ZFi...

Page 63: ...ds a brake resistor for dynamic braking may also be needed for fast decelerations P0894 This parameter determines the operation mode when the b maXX 1000 restarts from a momentary power loss P0893 DC Bremsen Startfrequenz 0 00 to 600 00 Hz EE Start point for DC braking 0 00 Hz STOP BM_u_StartPointDCBraking 100 1 P0894 Antriebsreaktion bei kurzzeitigem Spannungsabfall 0 to 2 EE Momentary power loss...

Page 64: ... Lu But if the b maXX 1000 is powered off due to overload even if the maximum allowable power loss time is 5 seconds the operation mode as set in ZP0894 is not executed In that case it starts up normally P0896 This parameter determines the b maXX 1000 restart method after external base block is enabled P0895 Maximal erlaubte Spannungsausfallzeit 0 1 to 5 0 s EE Maximum allowable power loss time 2 ...

Page 65: ...Parameter Parameter manual b maXX 1000 Document no 5 07004 03 65 of 208 4 Figure 18 Base block speed search ...

Page 66: ...ing a PG card with PG encoder speed search will begin at the actual PG en coder feedback speed P0898 Following a momentary power loss the b maXX 1000 will start its speed search opera tion only if the output current is greater than the value set by ZP0898 When the output current is less than the value of ZP0898 the b maXX 1000 output frequency is at speed synchronization point The drive will start...

Page 67: ...on with constant speed 0 01 Hz 2 ms STOP BM_u_AccelDecelRateUpDown 100 1 Value Meaning ZP0807 0 Increase decrease the frequency by using UP DOWN key Only enabled if the b maXX 1000 is in state operation ZP0807 1 Increase decrease the frequency by acceleration deceleration setting Only enabled if the b maXX 1000 is in state operation ZP0807 2 Increase decrease the frequency by ZP0908 constant speed...

Page 68: ...the drive Switching between operation modes is possible with drive inhibited offline mode and also drive enabled online mode P0911 Geschwindigkeit Multiplikator CANopen Modbus 0 to EE Speed multiplier CANopen Modbus 1 00 ON BM_u_Speed MultiplierCANModbus 100 1 P1000 Soll Betriebsart 1 to 249 EE Operation mode set value 6 STOP BM_u_OperationModeSetValue 1 1 Value Meaning 249 Motor parameter auto tu...

Page 69: ...from page 70 This parameter determines the drive reaction at transition of status OPERATION EN ABLED towards READY FOR SWITCH ON in the status machine of unit control The speed controller must be sufficiently parameterized for a correct functioning of the brake operations at the quickstop or deceleration ramp P1004 Schnellhalt Reaktion Hardware 0 to 7 EE QUICKSTOP reaction code Hardware 0 STOP BM_...

Page 70: ...nabled that the drive changes to the reaction which was set in ZP1004 QUICKSTOP REACTION The value 0 pulse inhibit has higher priority The speed controller must be sufficiently parameterized for a correct functioning of the braking operations at the quickstop or deceleration ramp P1007 Antrieb Fehler Reaktion 0 to 3 EE Drive error reaction code 0 STOP BM_u_DriveErrorReactionCode 1 1 Reaction code ...

Page 71: ... a feedback signal of the motor speed This parameter defines the number of pulses for each cycle of the PG control 1 pole pair max 20000 Inc P1010 Datensatz Identifikations Nummer 0 to 65535 EE Data set ID 0 STOP BM_u_RecordId 1 1 P1070 PG Funktionsauswahl 0 to 3 EE PG function selection enable card 0 STOP BM_PGFunctionSelection 1 1 Value Meaning 0 Disable Pulse generator PG 1 Single phase 2 Forwa...

Page 72: ...um output frequency Figure 20 Speed control output frequency limit P1075 When ZP2061 is set to 14 its display will be updated regularly This update time is set by ZP1075 The set value is multiplied by 2 ms P1072 PG Verstärkung P 0 0 to 10 0 EE PG proportional gain P 1 0 ON BM_u_PGProportionalGainP 1 1 P1073 PG Integrierzeit I 0 00 to 100 00 s EE PG integral time 1 00 s ON BM_u_PGIntegralTime 100 1...

Page 73: ... the speed feedback to the PG card pulse gener ator incremental encoder P1076 Ansprechzeit PG Geschwindigkeitsrückführung Signalfehler 0 0 to 10 0 s EE Detection time PG speed feedback signal fault 1 0 s STOP BM_u_DetectTimePGFault 10 1 s Value Meaning 0 0 Disable pulse generator encoder card PG 0 1 to 10 0 s Detection time enabled P1077 Fehlerbehandlung Geschwindigkeitsrückführung Signalfehler 0 ...

Page 74: ...parameter operation error SE1 12 Warning PU Keypad Copy parameter save error SE2 13 Warning Motor PTC temperature warning PtC2 14 PG loss warn PG_WARN 15 Warning IO PID feedback error FbE 16 Warning IO PU keypad copying SAvE 23 IO COM1 comm time out PE10 24 ADDA card break off AoFF 25 Lower than standard voltage Lv 26 Control broad ACI current loss Aerr 27 Base block bb 33 CANopen SDO Time out CSd...

Page 75: ... three different types of control modes Figure 21 Multi function input 2 3 wire P1090 Multi Funktions Eingang MI1 MI2 0 to 2 EE Multi function input terminal MI1 MI2 0 STOP BM_u_MultiFunktonInputMI1MI2 1 1 Value Meaning 0 2 wire FWD STOP REV STOP 1 2 wire FWD REV RUN STOP 2 3 wire operation ...

Page 76: ... on the digital keypad After faults such as 0003hex 0500hex and 051Bhex are cleared this input can be used to reset the drive 6 Accel decel inhibit When the command is active acceleration and deceleration is stopped and the b maXX 1000 maintains a constant speed 7 Accel decel time selection command Used to select the one of 2 Accel Decel times ZP1172 ZP1173 and ZP1180 ZP1181 See explanation at the...

Page 77: ...e of these settings is enabled If the status of terminal is changed b maXX 1000 will restart from 0 Hz 17 Parameter lock enable When this setting is enabled all parameters will be locked and write parameters is disabled 18 Operation command selec tion ZP0802 setting exter nal terminals ON Operation command via ext terminals OFF Operation command via ZP0802 setting ZP0802 is disabled if this parame...

Page 78: ...Parameter description Parameter manual b maXX 1000 Document no 5 07004 03 Baumüller Nürnberg GmbH 78 of 208 4 3 Figure 23 Accelaration deceleration time selection Figure 24 Multi step speed ...

Page 79: ...h speed OFF ON OFF ON 6th speed OFF ON ON OFF 7th speed OFF ON ON ON 8th speed ON OFF OFF OFF 9th speed ON OFF OFF ON 10th speed ON OFF ON OFF 11th speed ON OFF ON ON 12th speed ON ON OFF OFF 13th speed ON ON OFF ON 14th speed ON ON ON OFF 15th speed ON ON ON ON P1092 Multi Funktions Eingang MI4 0 to 24 EE Multi function input terminal MI4 2 STOP BM_u_MultiFunctionInputTerminalMI4 1 1 P1093 Multi ...

Page 80: ...FunctionInputTerminalMI7 1 1 P1096 Multi Funktions Eingang MI8 0 to 24 EE Multi function input terminal MI8 0 STOP BM_u_MultiFunctionInputTerminalMI8 1 1 P1097 Multi Funktions Eingang MI9 0 to 24 EE Multi function input terminal MI9 0 STOP BM_u_MultiFunctionInputTerminalMI9 1 1 P1098 Multi Funktions Eingang MI10 0 to 24 EE Multi function input terminal MI10 0 STOP BM_u_MultiFunctionInputTerminalMI...

Page 81: ...hown in the following Figure 25 Multi function input terminals internal external The Setting method is convert binary number to decimal number for input For example If setting MI3 MI5 MI6 to be internal terminals and MI1 MI2 MI4 to be external terminals The setting value should be bit5 x 25 bit4 x 24 bit2 x 22 1 x 25 1 x 24 1 x 22 32 16 4 52 as shown in the following Figure 26 Multi function input...

Page 82: ...ber of the multi function input terminals is 12 Figure 27 Extension card terminals P1102 This parameter is used to set the internal terminal action via keypad or communication For standard b maXX 1000 without extension card the multi function input terminals are MI1 to MI6 as shown in the following Figure 28 Internal terminal 1 P1102 Interner Multi Funktions Eingang 0 to 4095 EE Internal multi fun...

Page 83: ...o bit5 x 25 bit4 x 24 bit2 x 22 1 x 25 1 x 24 1 x 22 32 16 4 52 as shown in the following Figure 29 Internal terminal status 2 When extension card is installed the number of the multi function input terminals will in crease according to the extension card The maximum number of the multi function input terminals is 12 Figure 30 Extension card 2 ...

Page 84: ... operation command source is external ter minal 2 3wire The setting method It needs to convert binary number 6 bit to decimal number for input For example If setting MI3 MI5 MI6 to be N C and MI1 MI2 MI4 to be N O The setting value ZP1103 should be bit5 x 25 bit4 x 24 bit2 x 22 1 x 25 1 x 24 1 x 22 32 16 4 52 as shown in the following Figure 32 Multi function input contact selection 2 P1103 Extern...

Page 85: ...mber of the multi function input terminals is 12 3 wire control cannot be selected P1104 This parameter is to delay the signals on digital input terminals 1 unit is 2 ms 2 units are 4 ms etc The delay time is to debounce noisy signals that could cause the digital termi nals to malfunction P1104 Digitaleingang Verzögerungszeit 0 to 20 EE Digital terminal input delay time 1 STOP BM_u_DigitalTerminal...

Page 86: ...play 63 111111 for no action Figure 33 Display status multi function input terminal 1 For Example If ZP1105 displays 52 it means MI1 MI2 and MI4 are active The display value 52 32 16 4 1 x 25 1 x 24 1 x 22 bit 6 x 25 bit 5 x 24 bit 3 x 22 Figure 34 Display status external multi function input terminal 2 P1105 Statusanzeige externe Multi Funktions Eingänge 0 to 4095 Display the status of external m...

Page 87: ...s is 12 Figure 35 Display status external multi function input P1106 The multi function input terminals are falling edge triggered For standard b maXX 1000 without extension card there are MI1 to MI6 and ZP1106 will display 63 111111 for no action Figure 36 Display status multi function input terminal 1 P1106 Statusanzeige Multi Funktions Eingänge 0 to 4095 Display the status of multi function inp...

Page 88: ...he display value 52 32 16 4 1 x 25 1 x 24 1 x 22 bit 6 x 25 bit 5 x 24 bit 3 x 22 Figure 37 Display status multi function input terminal 2 When extension card is installed the number of the multi function input terminals will in crease according to the extension card The maximum number of the multi function input terminals is 12 Figure 38 Display status multi function input terminal ...

Page 89: ...ist ZP0240 9 Desired frequency attained Active when the desired frequency ZP1118 is attained 10 Terminal count value attained Active when the counter reaches terminal count value 11 Preliminary count value attaint Active when the counter reaches preliminary count value 12 Over voltage stall supervision Active when the over voltage stall function operating 13 Over current stall supervision Active w...

Page 90: ...Multi function output photocoupler output MO1 1 STOP BM_u_MultiFunctionOutputMO1 1 1 P1112 Multi Funktions Ausgang MO2 RA2 0 to 21 EE Multi function output terminal MO2 RA2 0 STOP BM_u_MultiFunctionOutputMO2RA2 1 1 P1113 Multi Funktions Ausgang MO3 RA3 0 to 21 EE Multi function output terminal MO3 RA3 0 STOP BM_u_MultiFunctionOutputMO3RA3 1 1 P1114 Multi Funktions Ausgang MO4 RA4 0 to 65535 EE Mul...

Page 91: ...y shows c555 it means that real counter value is between 5 550 and 5 559 P1119 When the counter value reaches this value the corresponding multi function output ter minal will be activated provided one of ZP1110 to ZP1117 set to 11 preliminary count value setting This multi function output terminal will be deactivated upon completion of terminal count value attained Figure 39 Timing diagram prelim...

Page 92: ...nical brake via the output terminals relay or MO1 when ZP1110 to ZP1117 is set to 21 Refer to the following example for de tails Example 1 Case 1 ZP1122 ZP1121 2 Case 2 ZP1122 ZP1121 Figure 40 Brake release frequency P1120 EF wenn Eingang Zählerwert erreicht 0 to 1 EE EF active when terminal count value attained 0 STOP BM_u_EFActiveCountValueAttained 1 1 Value Meaning 0 Continue operation 1 Stop i...

Page 93: ... Example If ZP1123 displays 2 it means Relay 1 is active The display value 2 bit 1 x 21 When extension card is installed the number of the multi function output terminals will in crease according to the extension card The maximum number of the multi function out put terminals is shown as follows Figure 42 Display the status of multi function output terminals 2 P1122 Frequenz Bremse einrasten 0 00 ...

Page 94: ...ZP1117 9 then the output will be activated when the programmed fre quency is attained Figure 43 Output timing chart of multi function terminals Bit Meaning 0 RLY status 1 MO1 status 2 MO2 RA2 status 3 MO3 RA3 status 4 MO4 RA4 status 5 MO5 RA5 status 6 MO6 RA6 status 7 MO7 RA7 status P1124 Sollgeschwindigkeit erreicht 0 00 to 600 00 Hz EE Desired frequency attained 0 00 Hz STOP BM_u_DesiredFrequenc...

Page 95: ...based on ZP0033 during open loop control as shown in the following ZP0033 50 00 Hz when ZP0310 9 ZP0033 60 00 Hz when ZP0310 10 Figure 44 Analog input reference values 1 ZP0033 50 00 Hz when ZP0310 9 ZP0033 60 00 Hz when ZP0310 10 Figure 45 Analog input reference values 2 P1125 Minimale AVI Spannung 0 0 to 10 0 V EE Minimum AVI voltage 0 1 V STOP BM_u_MinimumAVIVoltage 10 1 V ...

Page 96: ...ZFigure 44 and ZFigure 45 on page 95 P1129 Please note the ACI AVI2 switch on the b maXX 1000 Switch to ACI for 4 to 20 mA an alog current signal ACI ZP1129 should be set to 0 and AVI2 for analog voltage signal AVI2 ZP1129 should be set to 1 Figure 46 ACI AVI2 selection This parameter selects between ACI and AVI2 P1126 Minimale AVI Frequenz 0 0 to 100 0 EE Minimum AVI frequency 0 0 STOP BM_u_Minim...

Page 97: ...000 see ZP1129 from page 96 The parameter are used to set the analog input reference values and is based on percent age of ZP0033 For further information see ZFigure 44 and ZFigure 45 on page 95 P1134 Please note the ACI AVI switch on the b maXX 1000 see ZP1129 from page 96 For further information see ZFigure 44 and ZFigure 45 on page 95 P1130 Minimaler ACI Strom 0 0 to 20 0 mA EE Minimum ACI curr...

Page 98: ...r information see ZFigure 44 and ZFigure 45 on page 95 P1138 This parameter selects the target of the analog input function P1135 Minimale AVI2 Frequenz 0 0 to 100 0 EE Minimum AVI2 frequency 0 0 STOP BM_u_MinimumAVI2Frequency 10 1 P1136 Maximale AVI2 Spannung 0 0 to 10 0 V EE Maximum AVI2 voltage 0 1 V STOP BM_u_MaximumAVI2Voltage 10 1 P1137 Maximale AVI2 Frequenz 0 0 to 100 0 EE Maximum AVI2 fre...

Page 99: ...l ACI ZP1139 should be set to 0 and AVI for analog voltage signal AVI2 ZP1139 should be set to 1 Besides parameter settings the voltage current mode should be used with the switch Figure 47 Voltage current mode setting For further information see ZFigure 48 on page 100 P1139 ACI2 AVI3 Auswahl für AI1 0 to 1 EE ACI2 AVI3 selection for AI1 terminal mode 0 STOP BM_u_AI1modeACI2AVI3Selection 1 1 Value...

Page 100: ...ed on percent age of ZP0033 For further information see ZP1139 and ZFigure 48 on page 100 P1142 For further information see ZP1139 and ZFigure 48 on page 100 P1143 For further information see ZP1139 and ZFigure 48 on page 100 P1140 Minimale AVI3 Spannung 0 0 to 10 0 V EE Minimum AVI3 voltage 0 1 V STOP BM_u_MinimumAVI3Voltage 10 1 P1141 Minimale AVI3 Frequenz 0 0 to 100 0 EE Minimum AVI3 frequency...

Page 101: ...0 to 20 0 mA EE Minimum ACI2 current 4 0 mA STOP BM_u_MinimumACI2Current 10 1 P1145 Minimale ACI2 Frequenz 0 0 to 100 0 EE Minimum ACI2 frequency 0 0 STOP BM_u_MinimumACI2Frequency 10 1 P1146 Maximaler ACI2 Strom 0 0 to 20 0 mA EE Maximum ACI2 current 4 0 mA STOP BM_u_MaximumACI2Current 10 1 P1147 Maximale ACI2 Frequenz 0 0 to 100 0 EE Maximum ACI2 frequency 0 0 STOP BM_u_MaximumACI2Frequency 10 1...

Page 102: ...53 The parameter are used to set the analog input reference values and is based on percent age of ZP0033 For further information see ZP1139 or ZP1149 and ZFigure 48 on page 100 P1149 ACI3 AVI4 Auswahl für AI2 0 to 1 EE ACI3 AVI4 selection for AI2 terminal mode 0 STOP BM_u_AI2ModeACI3AVI4Selection 1 1 Value Meaning 0 ACI3 analog current 0 0 to 20 0 mA 1 AVI4 analog voltage 0 0 to 10 0 V P1150 Minim...

Page 103: ...based on percent age of ZP0033 For further information see ZP1139 or ZP1149 and ZFigure 48 on page 100 P1158 Example 1 Standard application P1154 Minimaler ACI3 Strom 0 0 to 20 0 mA EE Minimum ACI3 current 4 0 mA STOP BM_u_MinimumACI3Current 10 1 P1155 Minimale ACI3 Frequenz 0 0 to 100 0 EE Minimum ACI3 frequency 0 0 STOP BM_u_MinimumACI3Frequency 10 1 P1156 Maximaler ACI3 Strom 0 0 to 20 0 mA EE ...

Page 104: ...a potentiometer will give 40 Hz Once the maximum out put frequency is reached any further increase of the potentiometer or signal will not in crease the output frequency To use the full potentiometer range please refer to Example 3 The value of external input voltage current 0 to 8 33 V corresponds to the setting frequency 10 to 60 Hz ZP0033 60 Hz max output frequency potentiometer ZP1158 0 bias a...

Page 105: ... V or any value under 10 V Regarding the setting please refer to the following examples Example 4 Use of 0 to 5 V potentiometer range via gain adjustment This example shows a potentiometer range of 0 to 5 Volts Instead of adjusting gain as example below you can set ZP0033 to 120 Hz to achieve the same results ZP0033 60 Hz ZP1158 20 0 ZP1159 0 ZP1160 83 3 ZP1161 0 Gain ZP1160 Bias adjustment ZP1158...

Page 106: ...e Example 6 Use of negative bias in noisy environment and gain adjustment to use full po tentiometer range In this example a negative bias is used to provide a noise margin Also a potentiometer frequency gain is used to allow the maximum output frequency to be reached ZP0033 60 Hz ZP1158 10 0 ZP1159 1 ZP1160 100 ZP1161 0 Gain ZP1160 100 Bias adjustment ZP1158 ZP0033 60 Hz ZP1158 10 0 ZP1159 1 ZP11...

Page 107: ...tive slope is shown Negative slopes are used in applica tions for control of pressure temperature or flow The sensor that is connected to the in put generates a large signal 10 V at high pressure or flow With negative slope settings the b maXX 1000 will slow stop the motor With these settings the b maXX 1000 will always run in only one direction reverse This can only be changed by exchanging 2 wir...

Page 108: ...Offset Polarität 0 to 1 EE Keypad potentiometer bias polarity 0 ON BM_u_KeypadPotentiometerBiasPolarity 1 1 Value Meaning 0 Positive bias 1 Negative bias P1160 Bedienfeld Potentiometer Verstärkung 0 1 to 100 0 EE Keypad potentiometer gain 100 0 ON BM_u_KeypadPotentiometerGain 1 1 P1161 Bedienfeld Potentiometer negativ AN AUS 0 to 1 EE Keypad potentiometer negative enable disable 0 STOP BM_u_Keypad...

Page 109: ...le of 5 Volts adjust ZP1163 to 50 If ZP1162 is set to 0 then 5 VDC will correspond to maximum output frequency P1164 This parameter selects the mode of the analog voltage output or analog current output Besides parameter settings the voltage current mode should be used with the switch Figure 49 Voltage current mode setting P1163 Analoges Ausgangssignal Verstärkung 1 to 200 EE Analog output gain 10...

Page 110: ...adjust ZP1166 to 50 If ZP1165 is set to 0 then 5 VDC will correspond to maximum output frequency P1167 This parameter selects the mode of the analog voltage output or analog current output For further information see ZVoltage current mode setting on page 109 P1165 Analoges Ausgangssignal AO1 0 to 1 EE Analog output signal AO1 0 STOP BM_u_AnalogOutputSignal1 1 1 Value Meaning 0 Analog frequency met...

Page 111: ...urrent of the b maXX 1000 With ZP1169 set to 100 then 2 5 times the rated current corresponds to 10 VDC on the AO2 output For Example When using the meter with full scale of 5 volts adjust ZP1169 to 50 If ZP1168 is set to 0 then 5 VDC will correspond to maximum output frequency P1168 Analoges Ausgangssignal AO2 0 to 1 EE Analog output signal AO2 0 STOP BM_u_AnalogOutputSignal2 1 1 Value Meaning 0 ...

Page 112: ...inear unless S curve is Enabled see ZP1176 Acceleration deceleration time 1 or 2 can be switched by setting the external terminals MI3 to MI5 or MI7 to MI12 ZP1091 to ZP1093 or ZP1095 to ZP1100 to 7 Standardization see ZP1186 P1170 Hochlaufgeber Modus 0 to 120 EE Ramp function generator mode 0 ON BM_u_RFGMode 1 1 Bit Meaning 0 to 2 reserved 3 1 Negative set values inhibited 4 1 Positive set values...

Page 113: ...o determine the time required for the b maXX 1000 to ramp from maximum output frequency ZP0033 to 0 Hz For a correct functioning of brake operations at the quickstop or deceleration the speed controller must be sufficiently parameterized Standardization see ZP1186 P1176 This parameter is used to ensure smooth acceleration and deceleration via S curve For further information see ZP1177 Standardizat...

Page 114: ...ot follow the accel decel times in ZP1172 ZP1173 ZP1180 ZP1185 Standardization see ZP1186 The diagram below shows that the original setting of the accel decel time is only for ref erence when the S curve is enabled The actual accel decel time depends on the select ed S curve 0 1 to 10 0 The total accel time ZP1172 ZP1177 or ZP1180 ZP1177 The total decel time ZP1173 ZP1177 or ZP1185 ZP1177 Disable ...

Page 115: ...P1100 to 7 Standardization see ZP1186 P1182 The jog ramp up time is used to determine the time required for the b maXX 1000 to ramp from 0 Hz to maximum output frequency ZP0033 Standardization see ZP1186 for further information refer to ZP1184 P1183 The jog ramp down time is used to determine the time required for the b maXX 1000 to decelerate from the maximum output frequency ZP0033 down to 0 Hz ...

Page 116: ...uency ZP1184 When the jog command is OFF the b maXX 1000 will decelerate from jog frequency to zero The used accel decel time is set by the jog ramp up ramp down time ZP1182 ZP1183 Before using the JOG command the drive must be stopped first and operation mode ZP1000 must be set to 5 During Jog operation other operation commands are not ac cepted except commands via the FORWARD REVERSE and STOP ke...

Page 117: ...is parameter is set to 04 the actual accel decel time will be equal to or more than parameter ZP1172 ZP1173 ZP1180 ZP1185 Auto acceleration deceleration makes the complicated processes of tuning unnecessary It makes operation efficient and saves energy by acceleration without stall and decelera tion without brake resistor In applications with brake resistor or brake unit Auto deceleration shall no...

Page 118: ...e b maXX 1000 is the time between 0 Hz to maximum output frequency ZP0033 Suppose the maximum output frequency is 60 Hz minimum output frequency ZP0038 is 1 0 Hz and accelera tion deceleration time is 10 seconds The actual time for the b maXX 1000 to accelerate from start up to 60 Hz and to decelerate from 60 Hz to 1 0 Hz is in this case 9 83 s 60 1 10 60 9 83 s Figure 52 Resulting accel decel tim...

Page 119: ...ti step speeds The speeds frequencies are determined by ZP1189 to ZP1203 for fur ther information see ZFigure 24 on page 78 P1187 Hochlaufgeber Status 0 to 65535 Ramp function generator status 0 A BM_u_RFGStatus 1 1 Bit Meaning 0 to 3 reserved 4 1 RFG output is internally set to 0 RFG inhibit 5 1 RFG is stopped on the ramp RFG stop 6 1 RFG input is internally set to 0 RFG zero 7 1 Quickstop ramp i...

Page 120: ... 78 P1194 The multi function input terminals MI3 to MI5 or MI7 to MI12 refer to ZP1091 to ZP1093 and ZP1095 to ZP1100 are used to select one of the b maXX 1000 multi step speeds The speeds frequencies are determined by ZP1189 to ZP1203 for fur ther information see ZFigure 24 on page 78 P1195 The multi function input terminals MI3 to MI5 or MI7 to MI12 refer to ZP1091 to ZP1093 and ZP1095 to ZP1100...

Page 121: ...ction input terminals MI3 to MI5 or MI7 to MI12 refer to ZP1091 to ZP1093 and ZP1095 to ZP1100 are used to select one of the b maXX 1000 multi step speeds The speeds frequencies are determined by ZP1189 to ZP1203 for fur ther information see ZFigure 24 on page 78 P1200 The multi function input terminals MI3 to MI5 or MI7 to MI12 refer to ZP1091 to ZP1093 and ZP1095 to ZP1100 are used to select one...

Page 122: ...o ZP1093 and ZP1095 to ZP1100 are used to select one of the b maXX 1000 multi step speeds The speeds frequencies are determined by ZP1189 to ZP1203 for fur ther information see ZFigure 24 on page 78 P1204 This parameter displays the ramp function generator input after PID control P1201 13 Stufengeschwindigkeit 0 00 to 600 00 Hz EE 13th step speed frequency 0 00 Hz ON BM_u_13StepSpeedFrequency 100 ...

Page 123: ...value again Over voltage stall prevention must be disabled ZP1210 0 when a brake unit or brake resistor is used Figure 53 Over voltage stall prevention P1210 Überspannung Abschaltschutz 330 0 to 410 0 VDC or 660 0 to 820 0 VDC EE Over voltage stall prevention 390 0 V or 780 0 V STOP BM_u_OverVoltageStallPrevention 10 1 NOTE With moderate inertia load over voltage stall prevention will not occur an...

Page 124: ...XX 1000 will stop accelerating and keep the out put frequency constant until the current drops below the maximum value Figure 54 Over current stall prevention during acceleration Value Meaning 0 0 Disabled over voltage stall prevention with brake unit or brake resistor 330 0 to 410 0 VDC 230 V device for 230 V mains voltage 660 0 to 820 0 VDC 460 V device for 460 V mains voltage P1211 Überstrom Ab...

Page 125: ...he motor stall If the output current is lower than the setting specified in ZP1212 the drive will accelerate again to catch up with the set frequency command value Figure 55 Over current stall prevention during operation P1212 Überstrom Abschaltschutz während Betrieb 0 to 250 EE Over current stall prevention level during oper ation 170 STOP BM_u_OverCurrentStallPreventionLevelOper 1 1 Value Meanin...

Page 126: ...ted before OL2 is displayed P1213 Momenten Überlast Erkennung 0 to 4 EE Over torque detection mode 0 STOP BM_u_OverTorqueDetectMode 1 1 Value Meaning 0 Over torque detection disabled 1 Over Torque detection enabled during constant speed operation After over torque is detected keep running until I t ZP1216 or OL overload occurs 2 Over Torque detection enabled during constant speed operation After o...

Page 127: ... the overtorque must be detected before OL2 error code 0509hex for ZP1213 Figure 56 Electronic thermal overload relay P1216 Elektron thermische Überlast Relais Auswahl 0 to 2 EE Electronic thermal overload relay selection 2 STOP BM_u_ElectronicThermalOverloadRelaySelection 1 1 Value Meaning 0 Operate with standard motor self cooled by fan 1 Operate with a special motor forced external cooling 2 Op...

Page 128: ...Figure 57 Electronic thermal characteristic P1240 This parameter determines the PWM carrier frequency of the b maXX 1000 Figure 58 PWM carrier frequency selection P1217 Elektron thermische Kennlinie 30 to 600 s EE Electronic thermal characteristic 60 s STOP BM_u_ElectronicThermalCharacteristic 1 1 P1240 PWM Frequenz Auswahl 1 to 15 kHz EE PWM carrier frequency selections 8 kHz STOP BM_u_PWMCarrier...

Page 129: ...the b maXX 1000 It is used as a necessary precaution to prevent the b maXX 1000 from overheating and thus extends IGBT s life Example for 460V models Assume the carrier frequency to be 15 kHz the ambient temperature is 50 C with a sin gle b maXX 1000 mounting method A If the output current exceeds 80 rated cur rent the b maXX 1000 will decrease the carrier frequency automatically according to the ...

Page 130: ...or from multi step speed When ZP1359 is set to 1 the set point is obtained from the keypad Negative feedback means target value feedback Positive feedback means target value feedback Complete PID diagram see ZP1369 P1359 PID Sollwert Auswahl 0 to 5 EE PID set point selection 0 STOP BM_u_SetPointSelection 1 1 Value Meaning 0 Disable 1 Digital keypad UP DOWN keys ZP0801 0 2 AVI 0 to 10 VDC 3 ACI 4 t...

Page 131: ...lete PID diagram see ZP1369 P1363 This parameter specifies derivative control rate of change of the input and associated gain D With this parameter set to 1 the PID output is equal to differential time x present deviation previous deviation It increases the response speed but it may cause over compensation Complete PID diagram see ZP1369 P1361 Verstärkung P 0 0 to 10 0 EE Proportional gain P 1 0 O...

Page 132: ...to dampen oscillations Complete PID diagram see ZP1369 P1366 This parameter defines the percentage of output frequency limit during the PID control The formula is Output frequency limit maximum output frequency ZP0033 x ZP1366 This parameter will limit the maximum output frequency An overall limit for the output fre quency can be set in ZP0040 Complete PID diagram see ZP1369 P1364 Obere Grenze Int...

Page 133: ...uencies For further information see ZP1375 P1368 Antriebsreaktion auf PID Rückführung Fehler 0 to 2 EE Treatment of PID feedback signal error 0 STOP BM_u_PIDFeedbackSignalDetectionTime 1 1 Value Meaning 0 Warn and RAMP to stop 1 Warn and COAST to stop 2 Warn and continue operation P1369 Verstärkung des PID Wertes 0 0 to 10 0 EE Gain over the PID detection value 1 0 STOP BM_u_GainPIDDetectionValue ...

Page 134: ...ntinuous frequency output These six parameters should be set as follows ZP1370 ZP1371 ZP1372 ZP1373 ZP1374 ZP1375 The frequency ranges may be overlapping Figure 61 Skip frequencies P1372 Ausblendfrequenz 2 obere Grenze 0 00 to 600 00 Hz EE Skip frequency 2 upper bound 0 00 STOP BM_u_SkipFrequency2UpperBound 100 1 P1373 Ausblendfrequenz 2 untere Grenze 0 00 to 600 00 Hz EE Skip frequency 2 lower bo...

Page 135: ... ZP1384 and the time exceeds the setting of ZP1383 the b maXX 1000 will be in sleep mode When the actual frequency command ZP1385 and the time exceeds the setting of ZP1383 the b maXX 1000 will restart When the b maXX 1000 is in sleep mode frequency command is still calculated by PID When frequency reaches wake up frequency b maXX 1000 will accelerate from ZP0038 minimum frequency following the V ...

Page 136: ...quency and time detection time frequency will be 0 in sleep mode If sleep function is disabled frequency command lower bound frequency When PID frequency min output frequency and sleep function is enabled output fre quency sleep frequency and time detection time output frequency 0 in sleep mode If output frequency sleep frequency but time detection time frequency command lower frequency If sleep f...

Page 137: ...nsecutive failed attempts a blinking error code 0503hex will show up to force the user to restart the b maXX 1000 in order to try again to input the correct password P1385 PID Stand by Einschalt Frequenz 0 00 to 600 00 Hz EE PID wake up frequency 0 00 STOP BM_u_WakeUpFrequency 100 1 Hz P1386 Minimale PID Ausgangsfrequenz mode 0 to 1 EE Minimum PID output frequency selection 0 STOP BM_u_PIDFeedback...

Page 138: ...r later use To cancel the parameter lock set the parameter to 0 after inputting correct password into ZP2030 The password consists of min 1 digits and max 4 digits How to make the password valid again after decoding by ZP2030 Method 1 Re input original password into ZP2031 or you can enter a new password if you want to use a changed or new one Method 2 After rebooting password function will be rec...

Page 139: ... value Fxxx 1 Display the actual output frequency Hxxx 2 Display the output current in A supplied to the motor Axxx 3 Display the content of user defined unit Uxxx 4 FWD REV command P2061 Inhalt Multi Funktions Anzeige 0 to 14 EE Content of multi function display 0 ON BM_u_MultiFunctionDisplay 1 1 Value Meaning 0 Display the content of user defined unit Uxxx 1 Display the counter value which count...

Page 140: ...e estimated value of torque in Nm as it relates to current 9 Display the signal of AVI analog input terminal V 10 Display the signal of ACI analog input terminal mA or display the sig nal of AVI2 analog input terminal V 11 Display the temperature of IGBT h in C 12 Display the signal of ACI2 analog input terminal mA or display the signal of AVI3 analog input terminal V 13 Display the signal of ACI3...

Page 141: ...l of the ACI3 or AVI4 analog input terminal mA or V 4095 Inc 20 0 mA or 10 0 V 0 4095 Inc 0 0 20 0 mA or 0 0 10 0 V P2062 Anzeige Stromsollwert 0 0 to 99 9 Display the current set value 0 A BM_u_DisplayCurrentSetValue 1 1 P2063 Anzeige AVI analoges Eingangssignal 0 to 1023 Display of AVI analog input terminal 0 A BM_u_DisplayAVI 1 1 P2064 Anzeige ACI oder AVI2 analoger Eingang 0 to 1023 Display of...

Page 142: ...the signal of AO1 analog output mA or V 4095 Inc 20 0 mA or 10 0 V 0 4095 Inc 0 0 20 0 mA or 0 0 10 0 V P2067 Anzeige Geber PG Eingang 0 to 65535 Inc Display of encoder PG input terminal 0 A BM_u_EncoderPGInputTerminal 1 1 P2068 Anzeige Geber PG A O Ausgang 0 to 65535 Inc Display of encoder PG A O output terminal 0 A BM_u_EncoderPGAOOutputTerminal 1 1 P2069 Anzeige Geber PG B O FWD REV Ausgang 0 t...

Page 143: ...Frequency command 35 Hz display shows U and 35 0 2 7 0 m s To increase accuracy use K 2 2 or K 22 7 and disregard decimal point P2081 ZP2081 and ZP2082 are used to record the motor operation time They can be cleared by setting to 0 and time is less than 1 minute is not recorded P2072 Anzeige AO2 analoger Ausgang 0 to 65535 Display of AO2 analog output 0 A BM_u_AO2AnalogOutput 1 1 P2073 Anzeige Ges...

Page 144: ... to 0 and time is less than 1 minute is not recorded P2100 This parameter displays the identity code word 1 of the b maXX 1000 Identity code word 2 is displayed via parameter ZP2101 Figure 64 Type code P2082 Motorbetriebszeit Tag 0 to 1439 Accumulative motor operation time day 0 A BM_u_AccumulMotorOperationTimeDay 1 1 P2100 Typenschlüssel word 1 1111 to 1999 Identity code word 1 1xxx A BM_u_IdentC...

Page 145: ...it serial number word 3 This parameter displays the number of b maXX 1000 built per year 99 990000 P2101 Typenschlüssel word 2 1111 to 1999 Identity code word 2 1xxx A BM_u_IdentCodeWord2 1 1 P2102 Leistungsteil Seriennummer word 1 0 to 9999 Power unit serial number word 1 0 A BM_u_AmpSerialNrWord1 1 1 Value Meaning 0 Not defined serial number 1 to 9999 Code including place of manufacture and prod...

Page 146: ...ation by gain complete PID diagram see ZP1369 P2111 This parameter displays the power factor angle in of the terminals U T1 V T2 W T3 to the motor P2105 Benutzerdefinierte Einheit 0 to 60000 User defined unit 0 A BM_u_UserDefinedUnit 1 1 P2106 Zähler Triggerimpulse 0 to 65535 Trigger count value 0 A BM_u_TriggerCountValue 1 1 P2108 Zwischenkreis Spannung 0 0 to 1000 0 V DC link voltage 0 0 V A BM_...

Page 147: ...GBT in C P2117 This parameter displays the output current in A supplied to the motor P2112 Ausgangsleistung 0 00 to 99 99 kW Output power 0 00 kW A BM_u_OutputPower 100 1 P2113 Ausgangsmoment 0 00 to 655 35 Nm Output torque 0 00 Nm A BM_u_OutputTorque 100 1 P2114 Frequenzsollwert 0 00 to 600 00 Hz Set point frequency 0 00 Hz A BM_u_SetPointFrequency 100 1 P2115 Frequenzistwert 0 00 to 600 00 Hz Ac...

Page 148: ...8 Drehrichtung vor zurück 0 to 1 FWD REV 0 A BM_u_FWD_REV 1 1 Value Meaning 0 FWD rotation 1 REV rotation P2119 Geber Geschwindigkeit U min optional 0 to 65535 rpm PG speed RPM option 0 rpm A BM_u_SpeedRPM 1 1 P2120 Benutzerdatensatz 1 0 to 65535 EE Data set for use 1 0 ON BM_u_DataSet1 1 1 P2121 Benutzerdatensatz 2 0 to 65535 EE Data set for use 2 0 ON BM_u_DataSet2 1 1 P2122 Benutzerdatensatz 3 ...

Page 149: ... for use 6 0 ON BM_u_DataSet6 1 1 P2126 Benutzerdatensatz 7 0 to 65535 EE Data set for use 7 0 ON BM_u_DataSet7 1 1 P2127 Benutzerdatensatz 8 0 to 65535 EE Data set for use 8 0 ON BM_u_DataSet8 1 1 P2128 Benutzerdatensatz 9 0 to 65535 EE Data set for use 9 0 ON BM_u_DataSet9 1 1 P2129 Benutzerdatensatz 10 0 to 65535 EE Data set for use 10 0 ON BM_u_DataSet10 1 1 P2130 Benutzerdatensatz 11 0 to 655...

Page 150: ...535 EE Data set for use 13 0 ON BM_u_DataSet13 1 1 P2120 Benutzerdatensatz 14 0 to 65535 EE Data set for use 14 0 ON BM_u_DataSet14 1 1 P2134 Benutzerdatensatz 15 0 to 65535 EE Data set for use 15 0 ON BM_u_DataSet15 1 1 P2135 Benutzerdatensatz 16 0 to 65535 EE Data set for use 16 0 ON BM_u_DataSet16 1 1 P2136 Benutzerdatensatz 17 0 to 65535 EE Data set for use 17 0 ON BM_u_DataSet17 1 1 P2137 Ben...

Page 151: ...is used as CAN baudrate if all DIP switches are OFF P2138 Benutzerdatensatz 19 0 to 65535 EE Data set for use 19 0 ON BM_u_DataSet19 1 1 P2139 Benutzerdatensatz 20 0 to 65535 EE Data set for use 20 0 ON BM_u_DataSet20 1 1 P2140 CAN baudrate 0 to 5 EE CAN baudrate for CAN with switch on 2 STOP BM_u_CANBaudrateWithSwitchOn 1 1 Value Meaning 0 1000 kbaud 1 500 kbaud 2 250 kbaud 3 125 kbaud 4 100 kbau...

Page 152: ...148 0 ZP2148 0 P2141 Adresse Einstellung für DIP Schalter 1 0 to 127 EE Address setting for DIP switch 1 21 STOP BM_u_CANBaudrateWithSwitchOn1 1 1 DIP switch DIP switch value CAN address setting Default value 1 2 3 1 0 0 1 ZP2141 21 0 1 0 2 ZP2142 22 1 1 0 3 ZP2143 23 0 0 1 4 ZP2144 24 1 0 1 5 ZP2145 25 0 1 1 6 ZP2146 26 1 1 1 7 ZP2147 27 DIP switch DIP switch value CAN address setting Default val...

Page 153: ... is 21 If ZP2148 0 ZP2144 ZP2144 ZP2148 For further information see ZP2141 on page 152 P2145 This parameter together with ZP2148 DIP switch multiplier determines the CAN ad dress If ZP2148 0 ZP2145 default value is 21 If ZP2148 0 ZP2145 ZP2145 ZP2148 For further information see ZP2141 on page 152 P2142 Adresse Einstellung für DIP Schalter 2 0 to 127 EE Address setting for DIP switch 2 22 STOP BM_u...

Page 154: ...ZP2148 DIP switch multiplier is used together with parameters ZP2141 to ZP2147 If ZP2148 0 ZP2141 to ZP2147 can be set by user to 1 to 127 as CAN address If ZP2148 0 the values of the DIP switches 1 to 7 are multiplied by ZP2148 and stored at ZP2141 to ZP2147 If all DIP switches OFF the CAN address is read from ZP2141 to ZP2147 For further information see ZP2141 on page 152 P2146 Adresse Einstellu...

Page 155: ... output frequency 50 00 to 600 00 Hz 50 00 Hz 100 1 23 P0036 Mid point frequency Fmid 0 10 to 600 0 Hz 1 50 Hz 100 1 Hz 24 P0037 Mid point voltage Vmid 0 1 to 255 0 V or 0 1 to 510 0 V 10 0 V or 20 0 V 10 1 V 24 P0038 Minimum output frequency Fmin 0 10 to 600 0 Hz 1 50 Hz 100 1 24 P0039 Minimum output voltage Vmin 0 1 to 255 0 V or 0 1 to 510 0 V 10 0 V or 20 0 V 10 1 V 25 P0040 Output frequency u...

Page 156: ... protection 0 to 2 0 1 1 34 P0123 Motor rated speed nominal slip master selection 0 to 1 1 1 1 34 P0124 Motor rated speed nominal slip master selection con firm 0 to 2 0 1 1 34 P0240 Present fault record 0 to 052Fhex 0 1 1 35 P0241 Second most recent fault record 0 to 052Fhex 0 1 1 36 P0242 Third most recent fault record 0 to 052Fhex 0 1 1 37 P0243 Fourth most recent fault record 0 to 052Fhex 0 1 ...

Page 157: ... Communication address RS485 1 to 254 1 1 1 58 P0861 Transmission speed RS485 0 to 3 3 1 1 58 P0862 RS485 Transmission fault treatment 0 to 3 3 1 1 58 P0863 RS485Time out detection 0 0 to 120 0 s 0 0 s 10 1 59 P0864 RS485 Communication protocol 0 to 5 3 1 1 59 P0865 RS485 Response delay time 0 to 200 1 2 ms 1 1 59 P0866 USB Communication card transmission speed 0 to 4 3 1 1 60 P0867 USB Communicat...

Page 158: ...0 to 2 0 1 1 75 P1091 Multi function input terminal MI3 0 to 24 1 1 1 76 P1092 Multi function input terminal MI4 0 to 24 2 1 1 79 P1093 Multi function input terminal MI5 0 to 24 23 1 1 79 P1094 Multi function input terminal MI6 0 to 24 24 1 1 79 P1095 Multi function input terminal MI7 0 to 24 0 1 1 80 P1096 Multi function input terminal MI8 0 to 24 0 1 1 80 P1097 Multi function input terminal MI9 ...

Page 159: ...0 0 0 10 1 98 P1136 Maximum AVI2 voltage 0 0 to 10 0 V 0 1 V 10 1 98 P1137 Maximum AVI2 frequency 0 0 to 100 0 0 0 10 1 98 P1138 AI1 function selection 0 to 5 0 1 1 98 P1139 ACI2 AVI3 selection for AI1 terminal mode 0 to 1 0 1 1 99 P1140 Minimum AVI3 voltage 0 0 to 10 0 V 0 1 V 10 1 100 P1141 Minimum AVI3 frequency 0 0 to 100 0 0 0 10 1 100 P1142 Maximum AVI3 voltage 0 0 to 10 0 V 0 1 V 10 1 100 P...

Page 160: ... 2 0 1 to 600 0 s or 0 01 to 60 00 s 10 0 s 10 1 or 100 1 115 P1181 RFG ramp down time 2 0 1 to 600 0 s or 0 01 to 60 00 s 10 0 s 10 1 or 100 1 115 P1182 RFG jog ramp up time 0 1 to 600 0 s or 0 01 to 60 00 s 10 0 s 10 1 or 100 1 115 P1183 RFG jog ramp down time 0 1 to 600 0 s or 0 01 to 60 00 s 10 0 s 10 1 or 100 1 115 P1184 RFG jog frequency 0 10 to 600 00 Hz 6 00 Hz 100 1 s 116 P1185 RFG Auto a...

Page 161: ...trol D 0 00 to 1 00 s 0 00 s 100 1 131 P1364 Upper bound for integral control 0 to 100 100 1 1 132 P1365 Primary delay filter time 0 0 to 2 5 s 0 0 s 10 1 132 P1366 Output frequency limit 0 to 110 100 1 1 132 P1368 Treatment of PID feedback signal error 0 to 2 0 1 1 133 P1369 Gain over the PID detection value 0 0 to 10 0 1 0 10 1 133 P1370 Skip frequency 1 upper bound 0 00 to 600 00 Hz 0 00 100 1 ...

Page 162: ...ial number word 2 0 to 99 0 1 1 145 P2104 Power unit serial number word 3 0 to 9999 0 1 1 145 P2105 User defined unit 0 to 60000 0 1 1 146 P2106 Trigger count value 0 to 65535 0 1 1 146 P2108 DC link voltage 0 0 to 1000 0 V 0 0 V 10 1 146 P2109 Output voltage 0 0 to 1000 0 V 0 0 V 10 1 146 P2110 PID feedback 0 00 to 327 67 0 00 100 1 146 P2111 Power factor angle 0 0 to 99 9 0 0 10 1 146 P2112 Outp...

Page 163: ... 65535 0 1 1 151 P2139 Data set for use 20 0 to 65535 0 1 1 151 P2140 CAN baudrate for CAN with switch on 0 to 5 2 1 1 151 P2141 Address setting for DIP switch 1 0 to 127 21 1 1 152 P2142 Address setting for DIP switch 2 0 to 127 22 1 1 153 P2143 Address setting for DIP switch 3 0 to 127 23 1 1 153 P2144 Address setting for DIP switch4 0 to 127 24 1 1 153 P2145 Address setting for DIP switch 5 0 t...

Page 164: ...Parameter manual b maXX 1000 Document no 5 07004 03 Baumüller Nürnberg GmbH 164 of 208 A ...

Page 165: ...quences red green light up briefly on The CANopen slave is then initialized m Start Initialization H3 blinking in orange color m End Initialization H3 single flash in orange color m Initialization ready H3 orange color off In this way the basic initialization of the option module CANopen slaves is completed if a mistake occurred during initialization the H3 flashes in red color n blinking n single...

Page 166: ...open slave is in working condition m Single flash warning limit reached At least one of the error counters of the CAN controller has reached or exceeded the warning level too many error frames This warning should be OPTIONAL if there are CAN controllers available which do not indicate the warning level Please report if you are aware of such CAN controller implementations m Double flash error contr...

Page 167: ... cc02 Guard NMT master or NMT slave or Heartbeat event cc03 Sync message hasn t received within the configured communication cycle cc04 No communication between CAN interface and CANopen master cc05 Hardware failure or no CANopen hardware available on processing unit cc06 No CANopen software available on processing unit cc07 A newer CANopen software is necessary cc08 Hardware error ON OFF 200 ms 1...

Page 168: ...blish the communication that the H3 blinking with red color As soon as a few valid data frames have been send received the red color of H3 turns off Hold up communication If the communication with the CANopen network is established the CANopen Slave tries to maintain the com munication with the CANopen network If the communication cancels the H3 Fault LED on with red color B 2 CANopen address CANo...

Page 169: ...Nopen baudrate can be entered by the user directly CANopen is deactivated if the P0870 CANopen address is 0 Switch value Switch value multi plication P2148 default CAN switch address Switch address baud rate parameter P2140 Parameter Value Default Value 1 8 P2141 1 2 0 1000k 2 8 P2142 2 1 500k 3 8 P2143 3 2 250k 4 8 P2144 4 3 125k 5 8 P2145 5 4 100k 6 8 P2146 6 5 50k 7 8 P2147 7 Switch value Switc...

Page 170: ...to transmit simultaneously begin sending their messages onto the bus If a recessive bit of a participant is overwritten by a dominant bit of another then the recessive node withdraws from the bus and after detecting bus quiescence attempts once more to transmit its message Consequently it is guaranteed that the most important and highest priority message with the lowest identifier will be transmit...

Page 171: ... With CANopen profiles are dif ferentiated The communication profile DS 301 defines the method of data exchange and general definitions that are applicable for all devices m Device profile Device profiles contain application and device specific definitions describing the contents related meaning of data and device functionality Device profiles exist for drives etc The CANopen slave for the b maXX ...

Page 172: ...e used for device configuration transmitted asynchronous and accepted by the receiver All entries in the object directory can be accessed by means of SDOs n PDO The function of PDOs is the exchange of process data data with high priority PDOs can be transmitted both synchronously and asynchronous They have broadcast character and are not confirmed by the re ceiver Synchronous means that transmissi...

Page 173: ... Peer to peer objects in accordance with the predefined connection set Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Function code Node ID Object Binary function code Resultant COB ID Object NMT 0000 0 SYNC 0001 128 1005hex 1006hex EMERGENCY 0001 129 255 1014hex 1015hex PDO1 TX 0011 385 511 1800hex PDO1 RX 0100 513 639 1400hex PDO2 TX 0101 641 767 1801hex PDO2 RX 0110 769 895 ...

Page 174: ...a b maxx 1000 CANopen slave Device control objects 6040hex Control word 6041hex Status word 6060hex Modes of operation set value 6061hex Modes of operation actual value speed objects 6042hex Target speed 604Fhex Ramp function time 6050hex Slow down time 6051hex Quick stop time 606Chex Speed actual value Others objects 6064hex Encoder value 6067hex Output torque actual value 6078hex Output current ...

Page 175: ...is shown Figure 68 Communication state diagram After INITIALIZATION triggered by switching on the device the PRE OPERATIONAL state will automatically be reached If a slave is in this state it can be configured via SDOs Data exchange via PDOs is not possible In the STOPPED state only node guarding is activated Neither SDOs nor PDOs can be transmitted or re ceived In the OPERATIONAL state normal ope...

Page 176: ...a bytes are transmitted per message frame Data byte 0 contains the command specifier CS data byte 1 contains the device address If the address 0 is entered then all nodes will be addressed with the appropriate command broadcast NMT message frame for controlling the communication states Figure 69 NMT message frame Command specifiers and their effects on the slave CS Identification Effect 1 Start_Re...

Page 177: ...oltage and a reset the bmaxx1000 CANopen slave signals a boot up telegram the entire reset sequence lasts a few seconds Starting with the receipt of command reset node to the acknowledgement using boot up telegram m Boot up Boot up behavior is according to DS301 V4 Boot up frame with ID 700 node ID DLC 1 byte 0 is filled with data 0 Boot up according with DS 301 V4 Boot up telegram with ID 700hex ...

Page 178: ...ot be the case the life guarding event occurs in the slave Through this the slave switches to the PRE OPERATIONAL state and the reaction spec ified in Object 6007hex is triggered in the controller drives If there is no response from the slave within a certain time the node guarding event will be triggered in the master If no time is set the slave will respond to every RTR but without monitoring li...

Page 179: ... node guarding or heartbeat is supported each time If the Heartbeat time is not equal to NULL the Heart beat protocol will be activated m Service data SDO Segmented SDO transfer and Block SDO transfer are currently not used by b maxx 1000 The function of service data objects SDOs is to exchange messages without real time requests Therefore low priority COB IDs are provided for this in the predefin...

Page 180: ...s of user data per message frame can be transmitted The command specified CS classifies the var ious SDO types n Expedited transfer Objects can be written or read with their data comprised of a maximum of 4 bytes Only two message frames are required a request and a response All objects with the indices 1xxxhex 2xxxhex and 6xxxhex can be addressed via expedited SDOs n Writing objects With the bmaxx...

Page 181: ... to object 6060hex subindex 00hex of the b maXX 1000 CANopen slave with the address 4 The data width of this object is 8 bits Request Response Data length in D0 D3 Command specifier CS 1 byte 2Fhex 2 byte 2Bhex 4 byte 23hex CS Multiplexor D0 D1 D2 D3 COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 604hex 08hex 2Fhex 60hex 60hex 00hex 05hex 00hex 00hex 00hex Basic address 600hex ...

Page 182: ...Figure 71 Initiate SDO upload expedited The command specifier CS for the request is always 40hex The command specifier CS for the response will depend on the length of the user data D0 is the LSB and D3 the MSB Example CS Multiplexor D0 D1 D2 D3 COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 604hex 08hex 23hex 00hex 18hex 02hex 08hex 00hex 61hex 60hex Basic address 600hex slave...

Page 183: ... 08hex 40hex 61hex 60hex 00hex 00hex 00hex 00hex 00hex CS Multiplexor D0 D1 D2 D3 COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 584hex 08hex 4Fhex 61hex 60hex 00hex D0hex 00hex 00hex 00hex Basic address 580hex slave address 4hex Object 60 61hex Subindex 00hex Value data CS Multiplexor D0 D1 D2 D3 COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 604hex 08hex 4...

Page 184: ...h indication 06hex 06hex 00hex 00hex Hardware access error save load from flash memory 06hex 07hex 00hex 00hex Access to flash memory concerning hardware fault failed 06hex 07hex 00hex 10hex Incorrect length data value 06hex 09hex 00hex 11hex Subindex does not exist 06hex 09hex 00hex 30hex Value range exceeded during write accesses 06hex 09hex 00hex 31hex Value too high during write accesses 08hex...

Page 185: ... response telegram specifies that it is an abort tele gram The request and response multiplexors agree CS Multiplexor D0 D1 D2 D3 COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 604hex 08hex 40hex 08hex 10hex 01hex 00hex 00hex 00hex 00hex CS Multiplexor D0 D1 D2 D3 COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 584hex 08hex 80hex 08hex 10hex 01hex 11hex 00hex...

Page 186: ...is set in the object directory via addressable objects There are four such objects for each PDO Mapping cannot be changed in the OPERATIONAL state New mapping will only be activated after switch ing to OPERATIONAL m Set value mapping The permissible cyclical set values are marked in a table with the column PDO mapping as RX The b maXX 1000 CANopen can only predefined six thousands object numbers 6...

Page 187: ...he Emergency error code byte 0 1 is defined in CANopen DSP 402 The conversion to b maXX 1000 error numbers in error table from Zpage 188 The error register corresponds to the content of object 1001hex also see Zpage 188 error register The first two bytes of the manufacturer specific error field contain the b maXX 1000 error number If several errors are present and one is cleared the CANopen slave ...

Page 188: ...0000hex Reserve 0003hex NMI interrupt has occurred incorrect bus access oc 7400hex 0021hex CAN error cPtE cc04 to cc08 cc02 0030hex Error in analog option card AnCd 7300hex 0050hex Communications error USB CARD CME USB01 UbCd 0052hex UIC overvoltage Uzk ov 3210hex 0054hex Ground current GFF 2240hex 0062hex Motor temperature fault switch off threshold exceeded PtC1 7120hex 0063hex Fault I2t 100 oL1...

Page 189: ...F Ground Hardware error HPF3 5000hex 050Dhex OC Hardware error HPF4 5000hex 050Ehex DC BUS Checking Error cF33 3210hex 0512hex Motor PTC temperatur Error PtC2 0513hex IO PID feedback error FbE 0515hex U phase error cF30 2300hex 0516hex V phase error cF31 2300hex 0517hex W phase error cF32 2300hex 0518hex Current exceed at acceleration process ocA 2310hex 0519hex Current exceed at deceleration proc...

Page 190: ...ss type Default value Identity Object 1018hex 00hex U8 RO 3hex Vendor ID 01hex U32 RO reserved Product Code 02hex U32 RO reserved Revision Number 03hex U32 RO 1hex NAME Index Sub index Data type Access type Default value Device Type 1000hex 00hex U32 RO 00010192hex NAME Index Sub index Data type Access type Default Value Error Register 1001hex 00hex U8 RO 0hex Bit Meaning 0 Error has occurred gene...

Page 191: ...e guarding time basis is set in milliseconds By writing the value 0 node guarding will be deactivated Guarding factor The value of this object is multiplied by object 100Chex and from this the node guarding period results By writ ing the value 0 node guarding will be deactivated NAME Index Sub index Data type Access type Default value COB ID SYNC Message 1005hex 00hex U32 RO 80hex NAME Index Sub i...

Page 192: ...meters are set according to default values for this object Subindex01 is currently not supported With the value 01hex in subindex 02hex the mapping and communica tion parameter default values are set This occurs only in the stop state of the Drive by entering the value 64616F6Chex as U32 NAME Index Sub index Data type Access type Default value COB ID guarding protocol 100Ehex 00hex U32 RW 700hex n...

Page 193: ...NING The following can occur if you disregard this warning instruction m serious personal injury m death The danger is changed mapping Modified mapping causes parameters to be used other than those planned and consequently the drive can react unexpectedly In your application prevent mapping from being modified in an uncontrolled manner NAME Index Sub index Data type Access type Default value Heart...

Page 194: ... index Data type Access type Default value 2 Receive PDO Parameter 1401hex 00hex U8 RO 2hex COB ID used by PDO 01hex U32 RW 300hex Node ID Transmission Type 02hex U8 RW 01hex NAME Index Sub index Data type Access type Default value 3 Receive PDO Parameter 1402hex 00hex U8 RO 2hex COB ID used by PDO 01hex U32 RW 400hex Node ID Transmission Type 02hex U8 RW 01hex NAME Index Sub index Data type Acces...

Page 195: ...ME Index Sub index Data type Acces s type Default value 1 Receive PDO Mapping 1600hex 00hex U8 RW 1hex 01hex U16 RW 60400010hex 08hex U16 RW NAME Index Sub index Data type Acces s type Default value 2 Receive PDO Mapping 1601hex 00hex U8 RW 21hex 01hex U16 RW 60400010hex 02hex U8 RW 60600008hex 08hex U16 RW NAME Index Sub index Data type Acces s type Default value 3 Receive PDO Mapping 1602hex 00h...

Page 196: ...Dummy Object Notice for Receive PDO mapping parameter The total number of the mapped bytes at each receive PDO may not exceed the CAN message frame limit of 8 bytes maximum NAME Index Sub index Data type Acces s type Default value 4 Receive PDO Mapping 1603hex 00hex U8 RW 0hex 01hex U16 RW 60400010hex 02hex U32 RW 607A0020hex 08hex U16 RW ...

Page 197: ...imer 05hex U16 RW 0hex NAME Index Sub index Data type Access type Default Value 2 Transmit PDO Parameter 1801hex 00hex U8 RO 5hex COB ID used by PDO 01hex U32 RW 280hex Node ID Transmission Type 02hex U8 RW F0hex Inhibit Time 03hex U16 RW 0hex CMS Priority Group 04hex U8 RW 3hex Event Timer 05hex U16 RW 0hex NAME Index Sub index Data type Access type Default Value 3 Transmit PDO Parameter 1802hex ...

Page 198: ...l The input value is defined as a multiplier of 100 Sub index 04hex is not used Sub index 05hex is for setting the time of timer triggered Transmit PDOs The resolution is 1 millisecond NAME Index Sub index Data type Access type Default Value 4 Transmit PDO Parameter 1803hex 00hex U8 RO 5hex COB ID used by PDO 01hex U32 RW 480hex Node ID Transmission Type 02hex U8 RW F0hex Inhibit Time 03hex U16 RW...

Page 199: ...6078hex P2117 current actual value NAME Index Sub index Data type Access type Default value 1 Transmit PDO Mapping 1A00hex 00hex U8 RW 3hex 01hex U16 RW 60410010hex 02hex U32 RW 606C0020hex 03hex U16 RW 60770010hex NAME Index Sub index Data type Access type Default value 2 Transmit PDO Mapping 1A01hex 00hex U8 RW 2hex 01hex U16 RW 60410010hex 02hex U8 RW 60610008hex NAME Index Sub index Data type ...

Page 200: ... P2113 torque actual value Notice for Transmit PDO mapping parameter The total number of the mapped bytes at each transmit PDO may not exceed the CAN message frame limit of 8 bytes maximum NAME Index Sub index Data type Access type Default value 4 Transmit PDO Mapping 1A03hex 00hex U8 RW 3hex 01hex U16 RW 60410010hex 02hex U32 RW 60640020hex 03hex U16 RW 60770010hex ...

Page 201: ... in drive manager SYS_ERR_DRIVE_ MANAGER adjustable NAME Index Sub index Data type Access type Default value Control word 6040hex 00hex U16 RW 0hex Bit No Meaning 0 1 Command switch on 0 Command shut down 11 1 Command inhibit no voltage operating status 0 Command inhibit voltage 21 1 Command no quickstop operating status 0 Command quickstop 3 1 Command operation enabled 0 Command inhibit operation...

Page 202: ...ready to operate 1 2 1 switched on 0 not ready for use 2 2 1 operation enabled 0 operation inhibited 3 2 1 error 0 no error 4 1 2 1 mains voltage DC link voltage is present 0 mains voltage DC link voltage is not present 5 1 2 1 no requirements quickstop 0 quickstop or quickstop requirement is present 6 2 1 inhibit start 0 no inhibit start 7 1 warning 0 no warning 8 RFG stop 9 Reserved 10 1 set val...

Page 203: ... 1000 parameter 1 1 1000s 1 s 1000 the resolution is 10 ms m Ramp down time 6050hex P1173 b maXX 1000 parameter 1 1 1000s 1 s 1000 the resolution is 10 ms NAME Index Sub index Data type Access type Default value Operation mode set value 6060hex 00hex U8 RW 6hex NAME Index Sub index Data type Access type Default value Operation mode actual value 6061hex 00hex U8 RO 6hex NAME Index Sub index Data ty...

Page 204: ...parameter m Encode value 6064hex P2067 b maXX 1000 parameter NAME Index Sub index Data type Access type Default value Quick stop time 6051hex 00hex U32 RW 3E8hex NAME Index Sub index Data type Access type Default value Speed actual value 606Chex 00hex U32 RO 0hex NAME Index Sub index Data type Access type Default value Output current actual value 6078hex 00hex U16 RO 0hex NAME Index Sub index Data...

Page 205: ... Extension card terminals 82 Internal terminal 1 82 Internal terminal status 2 83 Extension card 2 83 Multi function input contact selection 1 84 Multi function input contact selection 2 84 Display status multi function input terminal 1 86 Display status external multi function input terminal 2 86 Display status external multi function input 87 Display status multi function input terminal 1 87 Dis...

Page 206: ...eristic 128 PWM carrier frequency selection 128 PWM carrier frequency 129 Complete PID diagram 133 Skip frequencies 134 Wake up sleep frequency 136 Password protect set 138 Type code 144 Type code field bus and software 145 Indicator states and flash rates 167 OSI Open systems interconnection 171 Communication state diagram 175 NMT message frame 176 Initiate SDO download protocol 180 Initiate SDO ...

Page 207: ...vision survey Version Date of issue Changings 5 07004 01 21 12 2007 n First edition 5 07004 02 15 01 2008 n Added parameter attributes 5 07004 03 08 02 2008 n Parameters changed P0036 P0123 P0124 P0909 P0805 P0871 P2140 P0296 P1211 P1212 P1380 P1382 n Parameters deleted P0804 P1367 ...

Page 208: ...Parameter manual b maXX 1000 Document no 5 07004 03 Baumüller Nürnberg GmbH 208 of 208 Notes ...

Page 209: ......

Page 210: ... our permanent revision service Please notice that specifications data information are current values according to the printing date These statements are not legally binding according to the measurement computation and calculations Before you make any information given in this manual to the basis of your own calculations and or applications please make sure that you have the latest edition of the ...

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