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Operating Modes

Parameter manual

b maXX

BM5800

Document No.: 5.16029.03

Baumüller Nürnberg GmbH

642

3.8

Sequence of chaining change

In the following the sequence of chaining change is described. Thereby, the handshake
between the control and the controller has priority.

m

The parameters

describe the chaining information.

m

The control sets bit 5 in the control word

to activate the chaining change.

m

Bit 12 is set in the status word

by the drive to signalize that the interlinking

changes were effectually applied. The switchover is not yet effective in the active
segment. At the next segment change the interim buffering is updated and the new
interlinking operates. Refer to chapter

Intermediate buffering of curve segments

m

The PLC resets bit 5 in the control word

.

m

The drive cancels bit 12 in the status word

3.8.10.4 Definition of the starting segment

The following parameters of the parameter structure determine the starting point:

The correct positioning within the chained polynomial curves can be found by specifying
the starting point, as described in chapter

.

3.8.10.5 Synchronization

Synchronization to consisting motion

If switching online into the coupled operation while the drive is in motion then the current
speed and acceleration is applied and the drive is decelerated to speed = 0 by an S-curve
profile. For this the parameters to synchronize motion

to

are used.

NOTE!

It is necessary that the parameters

always are valid as the

controller always performs both operations (decoupling and coupling) - both param-
eters must have the same value.

If for example only one decoupling has to be performed, than the value of both pa-
rameters must be identical. Then this operation is executed twice but as they are
identical this is not relevant for the application.

Starting segment number

UINT16

Starting position Master revolution

UINT32

Starting position Master angle

UINT32

Starting position Slave revolution

UINT32

Starting position Slave angle

UINT32

«
...
640
641
642
643
644
...
»

Summary of Contents for b maXX BM5800

Page 1: ... Read the Operating Manual before starting any work Language English Translation Document No 5 16029 03 Part No 00470716 Status 30 07 2019 b maXX BM5800 Multi axis controller Parameter manual Version 01 15 E 5 16029 03 ...

Page 2: ... you and inform us of your findings and comments so that they might be considered and possibly incorporated when the preliminary information becomes finalized reviewed by Baumüller The conditions noted in the following section under Liability do not apply in the case of pre liminary information Obligation This Parameter manual is a part of the device machine This Parameter manual must be ac cessib...

Page 3: ...axis units 47 3 2 Structure of the parameter overviews 49 3 3 System 51 3 3 1 System control 51 3 3 1 1 Parameter overview 51 3 3 1 2 Description of the Parameters 52 3 4 Configuration 61 3 4 1 Power unit 61 3 4 1 1 ProDrive Power Unit 62 3 4 1 2 Parameter overview 62 3 4 1 3 Description of the Parameters 64 3 4 2 Motor 81 3 4 2 1 Motor Identification Plate 81 3 4 2 2 Torque limits 81 3 4 2 3 Torq...

Page 4: ...uning of the Current Controller 182 3 4 7 3 Description of the Parameters 183 3 4 8 Autotuning of position speed controller 189 3 4 8 1 Ks Determination 189 3 4 8 2 ProDrive Ks Determination 193 3 4 8 3 Parameter overview Ks measurement 193 3 4 8 4 Description of the Ks measurement parameters 194 3 4 8 5 Control loop analysis 198 3 4 9 Autotuning Asynchronous Motor 202 3 4 9 1 Identification Lh ch...

Page 5: ...s 299 3 5 2 Data Set Management 317 3 5 2 1 General 317 3 5 2 2 Command Interface 317 3 5 2 3 Organization of the Parameters in the Data Sets 318 3 5 2 4 Delivered State 318 3 5 2 5 Switch On Behavior 319 3 5 2 6 Changing Loading Copying and Storing Parameters 319 3 5 2 7 Identification of Parameter Set and Data Sets 319 3 5 2 8 Functions of the Data Set Management System 320 3 5 2 9 Data Set Comm...

Page 6: ...04 3 7 1 1 The factor Ks 404 3 7 1 2 Position speed controller adaption 405 3 7 1 3 Cyclical Ks adaption 406 3 7 1 4 Acceleration feedforward 406 3 7 1 5 Friction compensation 407 3 7 1 6 Compensation of the torque ripple 415 3 7 1 7 ProDrive Position Speed Controller 416 3 7 1 8 Parameter Overview of Position Speed Controller 418 3 7 1 9 Description of the Parameters 423 3 7 2 Filter of the torqu...

Page 7: ...Parameter overview 515 3 8 1 4 Description of the Parameter 516 3 8 2 Operating Mode Target Position Setting 530 3 8 2 1 Controlling the Positioning 530 3 8 2 2 Positioning Data 531 3 8 2 3 Bits in the Control Word Status Word 532 3 8 2 4 Actions on the Rising Edge of New Set Value 533 3 8 2 5 Sequence of Events for Positioning Handshake with Single Set Value 533 3 8 2 6 Sequence of Events for Han...

Page 8: ...arameter overview 611 3 8 7 2 Description of the Parameter 612 3 8 8 Operating mode Notch position search 622 3 8 8 1 ProDrive Notch Position Search 624 3 8 8 2 Parameter overview Notch Position Search 625 3 8 8 3 Description of the Notch Position Search parameters 625 3 8 9 Operating Mode U f Characteristic 629 3 8 9 1 Compensating controller for acceleration 630 3 8 9 2 Current control 631 3 8 9...

Page 9: ...the Parameter 697 3 11 Monitoring 703 3 11 1 Field angle monitoring 703 3 11 1 1 Parameter overview 703 3 11 1 2 Description of the Parameter 704 3 11 2 Position Error monitoring 705 3 11 2 1 Parameter overview 705 3 11 2 2 Description of the Parameter 706 3 11 3 Overload monitoring of the power unit 709 3 11 3 1 Ixt model 709 3 11 3 2 Temperature model 712 3 11 4 Temperature monitoring of the mot...

Page 10: ...Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 10 of 814 Contents ...

Page 11: ...k on the device completely read through the Operating Manual in particular the chapter on safety information The Operating Manual is an integral part of the product and must be kept in the immediate vicinity of the device in order to be ac cessible to personnel at all times The Parameter Manual provides information about the parameters for the b maXX 5800 devices for controller firmware from Versi...

Page 12: ... injury and damage to property Recommenda tions DANGER warns of an imminently dangerous situation which will result in death or serious in jury if not avoided WARNING warns of a potentially dangerous situation which may result in death or serious in jury if not avoided CAUTION warns of a potentially dangerous situation which may result in minor or slight injury if not avoided NOTICE warns of a pot...

Page 13: ...assembly or installation is liable for damage arising during assembly or upon connection 1 4 Copyright Treat the Parameter Manual confidentially It is intended exclusively for persons involved with the device It must not be made available to third parties without the written permis sion of the manufacturer NOTE The details text drawings pictures and other illustrations contained within are copy ri...

Page 14: ...ices in installed positions that are not shown here is not permissible and must be checked with the factory in each individual case If the devices are operated differently than described here any guarantee will be invalidated 1 7 Customer service Our customer service department is available for technical information Information concerning the responsible contact person can be obtained at any time ...

Page 15: ...nctioning prop erly This commissioning does not constitute a complete set up of the device for your applica tion Before the commissioning make sure that the technical requirements are met 1 All points including the installation in the b maXX 5800 Operating Manual 5 16027 have been followed 2 Check of the requirements for the electrical supply 3 Check of the requirements for the electrical cables a...

Page 16: ... are able to recognize and avoid potential dangers The qualifications re quired for working on the unit are for example m Training or instruction or authorization to commission ground and characterize power circuits and devices in accordance with safety engineering standards m Training or instruction in accordance with safety engineering standards in the care and use of appropriate safety equipmen...

Page 17: ...d to areas on the device that could still be electrically energized after op eration Figure 1 Danger areas during electrical installation DANGER Risk of fatal injury from electrical current During the routine test of these devices a voltage test is performed by Baumüller Nürnberg GmbH in accordance with EN 61800 5 1 Section 5 2 3 2 It is thus unnec essary for the customer to do this Therefore m Su...

Page 18: ...ns rectifier unit and Axis 1 of a dual axis BM5323 with a Baumüller Motor DS 56 S motor SRS50 encoder sine cosine with HIPER FACE The prerequisite for the commissioning is that assembly and installation have been car ried out correctly 1 Make sure that the assembly is carried out correctly and in particular that all safety regulations have been observed see Assembly in the Operating Manual for the...

Page 19: ...e determine the notch angle see ZSearching for the notch position on page 40 Encoder data Data sheet These data can be found on the data sheet for the encoder that you are using for the com missioning Name Value e g Used for entering in the parameter list parame ter Motor type designation DS 56 M Parameter list Motor configuration Z107 2 Motor type Nominal voltage UN 330 V Parameter list Motor con...

Page 20: ...e sure that the PC Laptop is connected to the controller via the fieldbus interface or the service interface in preparation 2 4 1 Communication via EtherCAT For communication via EtherCAT you will need m EtherCAT Master BMC M ECT 02 m Controller BMC M PLC 02 m Power supply unit BMC M PSB 01 m Engineering Framework ProMaster n Leave the base address on the EtherCAT Master unchanged 192 168 1 1 n Se...

Page 21: ...r n Select b maXX controller PLC with EtherCAT Master from the catalog n Select b maXX 5800 Drive Multi Axis Controller EtherCAT Slave from the catalog n Open activate the Workspace window n Click the Controller PLC in ProMaster n Click EtherCAT Master Configure Master Bus ProEtherCAT in the Workspace win dow n The window will open ...

Page 22: ... Document No 5 16029 03 Baumüller Nürnberg GmbH 22 of 814 2 4 Figure 3 ProEtherCAT n Click on Connect n Select the tab Download Update list Download Figure 4 ProEtherCAT Download n Click on Close n Select the tab Bus control click on Operational ...

Page 23: ...er manual b maXX BM5800 Document No 5 16029 03 23 of 814 2 n Start ProDrive and select Find device Figure 5 ProDrive Find device n The PLC will appear here with 192 168 1 1 and the controller with 192 168 1 2 n Click on OK ...

Page 24: ...the device Button SELECT DEVICE n Select the device type for which parameters are to be set Button TYPE here b maXX5800 Drive Multi Axis Controller n Select the communication Button TYPE here TCP IP Figure 6 ProDrive Device selection with EtherCAT communication 9 Start the graphical user interface by clicking on OK ...

Page 25: ...il the ProDrive start window appears In this example parameters will be set for Axis 1 Figure 7 ProDrive Start window 11 Then press Connect 12 This concludes the preparations The remainder of the commissioning is described in ZPerforming the commissioning using Axis 1 as an example on page 27 ...

Page 26: ...e commissioning schematically You will find the individ ual steps of the commissioning described in detail in ZPerforming the commissioning us ing Axis 1 as an example from page 27 Figure 8 Switch on sequence 5800_0023_rev01 cdr 1 2 3 4 5 6 7 8 Switch on 24V Turn on mains Find notch position Set speed Enable motor rotation Motor n 0 Turn off mains Turn off 24V Step ...

Page 27: ...ommunication as described in ZPreparations on page 18 3 Start the ProDrive program if it is not already running 4 Then click on Drive Manager in ProDrive Figure 9 ProDrive Project tree for Drive Manager Acknowledging warnings errors 5 Acknowledge any warnings errors that may be present in the Drive Management window press the Reset errors button several times if necessary NOTE Any queued error mes...

Page 28: ...manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 28 of 814 2 6 Figure 10 ProDrive Drive Manager NOTE Due to the numerous possible combinations of motors and encoders it is only possi ble to give an example here Enter your own motor and encoder data ...

Page 29: ...Click on Power unit Figure 11 ProDrive Project Tree for Power unit 7 In the Maximum drive current box enter the current required for your application at most the limiting current of the motor according to the data sheet 2 5 A at which you wish to operate the motor and the power unit ...

Page 30: ... an example Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 30 of 814 2 6 Figure 12 ProDrive Power unit Setting encoder parameters The parameters for the encoder still have to be entered 8 Go back to the project tree ...

Page 31: ...Commissioning Parameter manual b maXX BM5800 Document No 5 16029 03 31 of 814 2 9 Click on Encoder Figure 13 ProDrive Project Tree for the Encoder ...

Page 32: ...t a HIPERFACE interface With a sine cosine encoder with a HIPERFACE interface the data are transferred auto matically over the HIPERFACE interface do not alter the data m Sine cosine without HIPERFACE e g Number of Pulses 1024 m Sine cosine without HIPERFACE e g Revolutions 1 11 Enter the overspeed limit manually in the parameter list in the diagnostic block FB 006 Parameter number 006 005 and 006...

Page 33: ...029 03 33 of 814 2 12 Change back to the project tree and click on Motor general Figure 15 ProDrive Project Tree for Motor General Using the motor database 13 Click on the Motor database button in the icon bar in the Motor window Figure 16 ProDrive Motor database ...

Page 34: ...16 Click on the OK button At this point all the data will be transferred from the motor database to the corresponding parameters and display fields 17 Check all the values for the motor using the motor data sheets This is only for check ing purposes if you are using the Baumüller motor database If you are employing mo tors from third party manufacturers you must do this in any case NOTE The values...

Page 35: ...heet and the data taken automatically from the database 18 Click on Motor in the project tree Checking motor data 19 You will find all the important motor data or parameters displayed in the Motor window and the Synchronous Motor sub window Check all data Figure 18 ProDrive Motor General NOTE If you are using motors from third party manufacturers you can also include their data in the motor databa...

Page 36: ...Using the parame ter list If you are not using the Baumüller motor database you can also enter all the motor pa rameters using the Parameter list 20 Click on the Parameter list in the project tree 21 In the parameter list click on Motor Id Figure 20 ProDrive Parameter List Motor Type The following motor parameters must be specified m Maximum speed mech Z107 26 Maximum speed mechanical ...

Page 37: ... pairs Z107 19 Pole pairs m Phase sequence Z107 38 Motor flags Bit 0 0 counter clockwise Bit 0 1 clock wise Now save the entered data 22 Click on Dataset management in the project tree Figure 21 ProDrive Project Tree for Dataset management 23 Click on the Save All button in the Dataset management ...

Page 38: ...til Successful is displayed under Data Set Status 25 At this point the data set is saved in Flash memory 26 Disconnect the device from the main power and control voltage supplies 27 Reconnect the power supplies to the b maXX main power supply control voltage By switching off and on again you can check whether the settings you have made will result in warnings or errors No errors may be present ...

Page 39: ...9 03 39 of 814 2 Autotuning of the current controller Now perform the autotuning of the current controller 28 Go to the project tree and click on Configuration then click on Autotuning Current controller Figure 23 ProDrive Project Tree Autotuning Current controller ...

Page 40: ...cument No 5 16029 03 Baumüller Nürnberg GmbH 40 of 814 2 6 Figure 24 ProDrive Autotuning of the Current Controller Searching for the notch position It is now necessary to search for the notch position 29 Go to the project tree and click on Operating Modes then click on Find Notch Po sition ...

Page 41: ...Commissioning Parameter manual b maXX BM5800 Document No 5 16029 03 41 of 814 2 Figure 25 ProDrive Project Tree Find notch position 30 Click on the Drive Manager icon ...

Page 42: ...800 Document No 5 16029 03 Baumüller Nürnberg GmbH 42 of 814 2 6 The Drive Manager window will also appear Figure 26 ProDrive Find Notch Position Drive Manager 31 For the method select fix currentangle and rotating shaft 32 Select Find notch position in the Drive Manager Axis 1 window ...

Page 43: ...orrectly by having the motor rotate briefly WARNING Risk of injury due to moving components Rotating and or linearly moving components can cause serious injuries If the motor is not rotating freely the motor and parts connected to it may be dam aged destroyed Therefore m Make sure that the motor can rotate freely during commissioning m Do not interfere with moving components during operation m Do ...

Page 44: ...manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 44 of 814 2 6 Initial rotation of the motor 39 Go back to the project tree 40 Click on Set value generators 41 Click on Ramp function generator Figure 27 ProDrive Project Tree Ramp function generator ...

Page 45: ...ields m Ramp function generator Input h Enter the value 10 Confirm with Enter 43 Open the Drive Manager dialog for Axis 1 Figure 29 ProDrive Drive Manager for Axis 1 44 Select the Speed control mode from the scroll list in the Drive Manager dialog 45 46 Click on the Start button in the Drive Manager dialog 47 The motor should now rotate at 10 of the maximum speed ...

Page 46: ... the icon bar 52 Click on the Save All button in the Dataset management Figure 30 ProDrive Dataset management 53 Wait until OK is displayed under Data Set State At this point the data set is saved in Flash memory Switching off the drive To conclude the commissioning the drive is switched off 54 Disconnect the device from the main power supply and the control voltage using the appropriate switching...

Page 47: ...troller 62 5 µs to 250 µs depending on the preset PWM Frequency Z130 15 effective cycle time readable in Z47 65 Speed controller posi tion controller 62 5 µs to 1000 µs adjustable in RT0 cycle time Z1 8 Two level controller 1 ms Operation modes of the task RT1 1 ms Operation modes of the fieldbus task Adjustable in fieldbus cycle time Z131 18 and division ratio fieldbus task Z131 20 Cam generator ...

Page 48: ... time Configurable status word 1 ms Oscilloscope function Adjustable from 62 5 µs to 100 s Z109 1 Operation mode Task 12 Coupled operation Fieldbus 7 Autotuning Remaining time manage ment 6 Spindle positioning RT1 5 Synchronous operation with virtual master axis RT1 Synchronous operation with real master axis RT0 Setpoint RT1 Man agement 4 Position control Fieldbus 3 Speed control RT1 default sett...

Page 49: ... parameter maximum value at internal standardization Default Value Default value at internal standardization Unit Unit of the parameter for display in ProDrive Factor Conversion factor F2 F1 between display ProDrive Gui and internal standardization Para Gui Para F1 F2 X in column Read only Parameter is read only X in column Storage Parameter will be stored in Flash X in column DS support Parameter...

Page 50: ...384 Range of values Default Value 0 Default value 0 at internal standardization Unit Unit for ProDrive Factor 4000hex 100 100 in ProDrive correspond to 16384 internal The parameter is writable cyclic writable fieldbus cycle time 1 ms it will be stored namely in all data sets it is NOT axis independent i e it can be set separately for each axis Number Name Type Min Max Default Value Unit Factor Rea...

Page 51: ...mware version UDINT 0 0xFFFFFFFF 0 1 1 X X 102 3 Firmware type UDINT 0 4 0 1 1 X X 102 4 Firmware build number UDINT 0 0xFFFFFFFF 0 1 1 X X 102 5 Firmware name STRING 1 1 X X 102 6 Firmware version info STRING 1 1 X X 102 7 Firmware time stamp STRING 1 1 X X 102 8 Bootloader0 version STRING 1 1 X X 102 9 Bootloader1 version STRING 1 1 X X 102 10 System Fpga Id UDINT 0 0xFFFFFFFF 0 1 1 X X 102 11 B...

Page 52: ...RING 1 1 X 102 30 Controller serial number UDINT 0 0xFFFFFFFF 0 1 1 X 102 31 Controller article num ber UDINT 0 0xFFFFFFFF 0 1 1 X 102 32 Device serial number UDINT 0 0xFFFFFFFF 0 1 1 X 102 33 Device article number UDINT 0 0xFFFFFFFF 0 1 1 X 102 35 Device type code STRING 1 1 X 102 39 Fpga Id CU UDINT 0 0xFFFFFFFF 0 1 1 X X 139 1 Password UINT 0 0xFFFF 0 1 1 139 2 Baudrate UDINT 9600 115200 38400 ...

Page 53: ...e changed only when the drive is inhibited The RT0 Cycle time must not fall below the preset current controller cycle time Z47 65 This is monitored and as the case may be the error 501 will be triggered which inhibits the enable of the drive 1 10 Task fieldbus cycle time The parameter displays the cycle time for the task fieldbus The task fieldbus cycle time must not fall below the RT0 Cycle time ...

Page 54: ...ber 102 5 Firmware name Firmware term 102 6 Firmware version information Summarized text information of the firmware version 102 7 Firmware time stamp Time stamp for the firmware generation 102 8 Bootloader0 version Version of Bootloader 0 102 9 Bootloader1 version Version of Bootloader 1 Value Meaning 0 Production 1 Beta version 2 Prototype 3 Nightly Build 4 Developer Build 5 Customers version ...

Page 55: ...5 FPGA firmware number Baumüller internal FPGA Firmware number Bit Meaning 0 Current BL1 was faulty fallback used 1 Current firmware was faulty fallback used 2 Current FPGA was faulty fallback used 3 Current communication firmware was faulty fallback used 4 New BL1 file has been saved in Flash 5 New firmware file has been saved in Flash 6 New FPGA file has been saved in Flash 7 New communication f...

Page 56: ... format Major 2 Minor 2 Fix 2 102 20 Fieldbus controller firmware version time stamp 102 21 Fieldbus controller firmware type Firmware type 0 Production 1 Beta 2 Prototype 102 22 Fieldbus controller firmware build number Number for counting beta states prototypes or even nightly builds 102 23 Board data command Reserved 102 24 Board data status Status code All other values are error codes Value Me...

Page 57: ...ormat of HW board identifier 16 byte string e g 33 0707B i e format 33 JJ NN AA 102 26 Circuit board assembly Format 16 byte string e g 01 Safe 102 28 Hardware date Format 16 byte string e g 01 04 2009 102 29 Hardware name Format 16 byte string e g BSC Safe 102 30 Controller serial number Serial number of the controller board as a 32 bit numerical value 102 31 Controller article number Article num...

Page 58: ... Password for protecting access to system parameters The value displayed corresponds to the password level Power unit 1 Power unit 2 Power unit 3 BM5807 SG 322112 252112 222111 001 0000 0110 E80 Identifier in the type code Safety functionalities 0 No functionality 1 STO NOTE The controller has several possible interfaces for accessing parameters serial inter face as well as up to three EOE channel...

Page 59: ...r saves the value of system clock Z1 1 NOTE m The parameter Number of axes is writable from password level 1 on m After the number of axes were adjusted the parameters must be saved and the drive must be switched off and on again m The settings of a parameterized axis 2 are lost if axis 2 is switched off with number of axes 1 m Encoder 2 cannot be used if axis 2 is switched off After switching on ...

Page 60: ...he last update 158 3 Max real time load Maximum value of the computing time load by the real time tasks The parameter can be reset by writing a value 158 4 Interrupt load Computing time load by the interrupt routine 158 5 Interrupt load average Average value of the computing time load by the interrupt routine The parameter is re freshed every second and shows the mean computing time load since the...

Page 61: ...ure is settable Z130 38 Behavior at mains failure The drive can be configured that operation is possible at a mains failure for a set time Z130 25 Different kinds of behavior can be set see Z130 10 Disable only motor operation generator operation is enabled field current is further supplied Normal operation motor and generator operation Normally this option makes only sense at a DC link combinatio...

Page 62: ...1 2 Parameter overview Functional blocks FbPsChars 129 FbPower_Section 130 FbPuTempModell 175 For Parameter 6 27 see ZDiagnosis from page 676 For Parameters 19 6 and 107 9 see ZMotor from page 81 NOTE If the temperature model regarding the overload monitoring of the power unit is active see Z175 2 Bit 0 the output frequency dependent limit ZFig 31 of the maxi mum drive current is dropped ...

Page 63: ... 1 1 X 129 18 Peak current 8 kHz FLOAT 0 1000 0 6 3 A 1 1 X 129 19 Peak current 16 kHz FLOAT 0 1000 0 4 0 A 1 1 X 129 20 Overcurrent threshold FLOAT 0 2000 0 16 6 A 1 1 X 129 21 Max DC link voltage FLOAT 10 1000 0 835 0 V 1 1 X 129 22 Max peak current time UINT 0 0xFFFF 10 00 s 100 1 X 129 24 Time phase error UINT 0 0xFFFF 0 ms 1 1 X 129 25 Current phase error FLOAT 0 1000 0 0 A 1 1 X 129 26 Max h...

Page 64: ...offset phase V FLOAT 2 56e 02 2 56e 02 0 0 A 1 1 414 X 130 20 I offset phase W FLOAT 2 56e 02 2 56e 02 0 0 A 1 1 414 X 130 24 Phase error delay time UINT 0 65535 0 ms 1 1 X 130 25 Mains failure delay UINT 0 6000 0 ms 1 1 X 130 28 Actual ground fault cur rent FLOAT 0 100 0 A 1 1 X 130 29 Chopper threshold FLOAT 300 780 780 V 1 1 X X 130 34 Status STO module UINT 0 0xFFFF 0 1 1 X 130 37 Udc threshol...

Page 65: ...n the power unit 129 6 DC scaling gain Standardization factor for the DC link voltage depends on the power unit 129 7 Main voltage scaling gain Standardization factor for the supply voltages depends on the power unit relevant to mains rectifier units 129 8 Current converter configuration Factory settings for the configuration Abbreviation Meaning YY Year Example 2008 NN Sequential number Example 1...

Page 66: ...tor currents should be measured if possible The harmon ics which result from among other things the switching edges of the PWM can distort the measurement The parameter can be used to take account of time related influences such as e g the time constant of the analog current filter 129 12 Nominal current 2 kHz 129 13 Nominal current 4 kHz 129 14 Nominal current 8 kHz 129 15 Nominal current 16 kHz ...

Page 67: ...tered PWM frequency Z130 15 is dis played in the parameter Z6 25 The value of the peak current Z129 16 to Z129 19 or parameter Z6 25 corre sponds to the maximum current by which the device may be operated at peak current pro cessing time Z129 22 corresponding to the specifications in chapter Technical data of the device s operating manual 129 20 Overcurrent threshold Monitoring the maximum convert...

Page 68: ...pply Mode parameter Z130 10 is not set Maximum current at which the drive can be operated with a phase failure 129 26 Max heat sink temperature Switch off threshold for heat sink temperature 129 27 Max ambiance temperature Switch off threshold for the internal temperature of the power unit 129 41 Max ground current Monitoring the maximum ground current 129 42 Min DC link voltage Monitoring the min...

Page 69: ...article number Article number of the power unit not of the complete unit This parameter is true for all devices of the b maXX 5000 family 129 85 Peak current 2 kHz TM See Z129 88 129 86 Peak current 4 kHz TM See Z129 88 129 87 Peak current 8 kHz TM See Z129 88 129 88 Peak current 16 kHz TM Maximum admitted current of the power unit at the accordant PWM frequency Z130 15 The parameter is valid only...

Page 70: ...the device 129 92 Fan configuration Factory setting of the existing fans in the device During operation is checked if all the con figured fans are operating In case a fan fails the error message 223 Fan failure ap pears In the additional identification Info 1 can be seen which fans failed 130 1 Heat sink temperature Power Unit Heat Sink Temperature 130 2 Interior temperature Internal temperature o...

Page 71: ...ailure 2 0 Limitation of the motor current to Z129 25 Current phase error no shutdown 1 Limitation of the motor current to Z107 9 Nominal current shutdown of the drive after the duration in Z130 24 Phase error delay time 4 3 Reserved 5 Automatic restart after mains failure 0 At mains failure the drive remains enabled for the time set in Z130 25 Mains failure delay According to the setting of bit 1...

Page 72: ...cts an active error response changes to failure state upon comple tion and inhibits the pulses to the power unit If the error response will be not finished up to the phase error delay time has elapsed the drive generates Error 1015 Phase error timeout and inhibits the puls es to the power unit Also if the phase error is cleared during phase error delay time the pulses to the power unit will be inh...

Page 73: ...rrent controller frequency fI R fI R 1 current controller cycle time to the maximum output frequency fmax fmax fI R Kpf The greater the proportional factor Kpf the better the quality is which is reached A multiple of 6 is preferred for Kpf because of the 60 symmetry of the three phase system or of the voltage in the voltage space vector Typically the Kpf 18 is selected to provide a good quality n ...

Page 74: ...he speed control and current control operating modes see Z109 2 m The current controller cycle time may not exceed the RT0 cycle time Z1 8 The value will not be accepted if this condition is violated by writing a PWM frequency during the continuous operation m The power unit peak current Z6 25 depending on the PWM frequency limits the maximum drive current Z19 6 If a higher PWM frequency is entere...

Page 75: ... A 130 20 I offset W Measured current offset of phase W in A 130 21 PWM enable Display of the pulse enable for the power unit 130 24 Phase error delay time Reserved 130 25 Mains failure delay A mains failure is ignored within this time Warning 1046 Mains failure is generated in general if a mains failure is detected If the mains failure is longer than the Mains failure delay and if the drive was e...

Page 76: ...ndicate the cause for the triggering The parameter should only be requested at disabled drive because timeout errors see bit 0 could occur at enabled drive Bit no Meaning 0 0 No error 1 Timeout No update of the status word within the last two seconds Bits 5 7 and bits 13 15 are not valid 1 1 CRC error at latest transfer of the status word 3 2 Reserved 4 For a SAF module with restart inhibit only 0...

Page 77: ...splay parameter of the instantaneous operating PWM frequency The instantaneous PWM frequency deviates from the set PWM frequency Z130 15 if the safety function of the PU temperature model PWM reduction has responded warn ing 216 is triggered In this case the PWM frequency referring to the set PWM frequency Z130 15 is halved The corresponding instantaneous operating cycle time of the current contro...

Page 78: ...ove sea level Important for devices which support the PU temperature model see status PU tempera ture model Z175 2 only The parameter effects the value of the I2 t max continuous current Z175 8 and the value of the maximum continuous current of the device Z175 7 There is no reduction of the output current at the default value of the parameter This means that the default value remains if there is n...

Page 79: ...ous current actual value The parameter displays the instantaneous value of the maximum accepted continuous current of the power unit Important for devices which support the PU temperature model only see status PU tem perature model Z175 2 The parameter 175 7 is generated from the PU s nominal current Z6 26 whereat the correction factors are considered which are described in chapter Operating condi...

Page 80: ... the nominal current 2 kHz Z129 12 whereat the fol lowing correction factors are considered which are described in Operating conditions of the operating manual of the device m Correction factor of the device s control cabinet temperature ambient temperature or surface temperature The required temperature can be entered in parameter Z175 3 m Correction factor of installation altitude The required i...

Page 81: ...the maximum internal torque of the motor Mmax act and is proportional to the maximum torque current Isq max with Isq max Maximum torque current in A Max torque current actual value Z138 30 Fluxset Magnetic flux set value in Z146 13 Ktupd Kt updated Z155 24 in Nm A The maximum torque current Isq max is calculated from the Max drive current actual val ue Z19 5 Imax act and with subtraction of the fi...

Page 82: ...ronous motor Torque limit above Z138 22 b Asynchronous motor Overlap of several limits If there are several torque limits Z138 22 that result from the torque current limits Z138 2 Z138 3 Z138 14 Z138 15 or from the breakdown torque current limit op erating simultaneously then the smallest limit is decisive compare ZFig 33 b Note In ZFig 33 b the Current mode is assumed Z138 1 bit 3 1 with regard t...

Page 83: ...eached if mag netizing current is applied to the machine the following must be considered If the magnetizing current in the nominal working point is lower than 10 of the rated mo tor current then the effects on the torque indicator is about 0 5 of the displayed value With magnetizing currents of about 20 of the rated current or above these effects are significant deviation is about 2 If the requir...

Page 84: ...5500 Ke cold Ke factor for the cold machine in idle speed in V 1000 min 1 independent of the value noted in parameter Z107 20 Without additional safety precautions the operating of the motor with speed greater than nemax is not permitted t sec M Nm 0 1 Status bit P138 25 bit 0 Threshold M P138 24 act M P138 21 nemax 1000 Ke cold Uzk max 2 DANGER Risk of fatal injury from electrical current The ove...

Page 85: ... Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 19 1 Number of motors UDINT 1 2 2 1 1 X X 19 3 Motormanager status UINT 0 60 0 1 1 X 19 5 Max drive current actual value FLOAT 0 10000 0 A 1 1 X 19 6 Max drive current FLOAT 0 0 10000 1 5 A 1 1 X 19 7 Max field current ampli tude FLOAT 0 10000 0 A 1 1 X 19 8 Max torque current FLOAT 0 10000 0 A 1 1 X 19 9 Field current p...

Page 86: ...tion mode UINT 0 0xFFFF 0 1 1 X 107 6 Nominal power FLOAT 0 655 35 5 kW 1 1 X 107 7 Nominal speed UINT 1 65535 3000 U min 1 1 X 107 8 Nominal voltage FLOAT 0 6553 5 0 V 1 1 X 107 9 Nominal current FLOAT 0 6553 5 3 5 A 1 1 X 107 10 Standstill current FLOAT 0 6553 5 0 A 1 1 X 107 11 Standstill torque FLOAT 0 42949672 95 0 Nm 1 1 X 107 12 Power factor FLOAT 0 1 000 0 9 1 1 X 107 13 Nominal frequency ...

Page 87: ...cm2 1 1 X 107 43 Nominal torque FLOAT 0 90000 00 0 Nm 1 1 X 107 44 Kt factor FLOAT 0 1000 00 0 Nm A 1 1 X 107 67 Pole pitch UDINT 1 0xFFFFFFFF 16 mm 1 1 X 107 68 Load inertia FLOAT 0 42949672 95 0 kg cm2 1 1 X 107 72 Continuous current limit curve FLOAT 0 0xFFFFFFFF 0 A 1 1 X 128 1 Motor temperature sta tus UINT 0 0xFFFF 0 1 1 X 128 2 Temperature acquisition system UINT 0 0xFFFF 0 1 1 X 128 3 Moto...

Page 88: ... Factor for breakdown torque FLOAT 0 1 41 0 9 1 1 X 138 18 Iq limit breakdown torque FLOAT 0 1e9 0 A 1 1 X 138 20 Max torque actual value UDINT 0 0xFFFFFFFF 0 Nm 1000 1 X 138 21 Torque display DINT 0x80000000 0x7FFFFFFF 0 Nm 1000 1 X 138 22 Torque limit symmetric UDINT 0 2147483647 2147483647 Nm 1000 1 X X 138 24 Indication threshold torque UDINT 0 2147483647 2147483647 Nm 1000 1 X X 138 25 Status...

Page 89: ...ent It influences the limit of the current torque as well as of the field current The parameter accords to the minimum value be tween the maximum total current of the drive Z19 6 and the External limitation of the maximum total current Z138 9 Value Meaning 0 Motor manager switched off 1 Motor manager switched on 2 Pole position search completed successfully 3 Error during pole position search 9 4 ...

Page 90: ...current Display of the standardized factor of the maximum torque current in A NOTE m The total current limit of the drive can automatically be reduced furthermore for ex ample by the PU overload monitoring or the phase fail see bit bar of external cur rent limit Z138 8 and External limiting max drive current Z138 9 9 and the value of the parameter 19 6 is not changed The current acting limit of th...

Page 91: ...ntroller Imax aux Max drive current actual value Z19 5 Isd aux Isd set value Z47 2 m Load factor mode ASM IsdMax ASM only Z138 1 bit 1 1 bit 3 0 from FW 01 13 of the controller Imax aux Max drive current actual value Z19 5 Isd aux Limit magnetizing current Z146 13 m Current mode from controller FW 01 13 onwards Z138 1 bit 3 1 independent of bit 1 and the motor type Imax aux Max drive current Z19 6...

Page 92: ...dependence external total current limit is not assumed b External total current limit dependence field weakening is not assumed 5000_0349_rev01_int n min N 107 7 N 1 n min NN 1 t t LT Imax 19 6 LT Imax LT Imax 0 0 0 0 0 0 0 0 a b loading mode standard current mode isqMax 19 8 isqMax 19 8 isd set 47 2 external drive current limit LT Imax act 2 isd set 2 LT Imax act 19 5 LT Imax act 2 isd set 2 ...

Page 93: ...or the ASM If a synchronous machine is operated in field weakening here a negative current value must be entered At a synchronous machine and if the field weakening type permanent field current is set Z142 1 bit 0 1 here any negative field current can permanently be preset Isd set value Z47 2 Field current preset value 19 9 This way the field weakening controller is deactivated For example here th...

Page 94: ...the parameters Z107 7 Nominal speed and Z107 20 Ke factor in V 1000 rpm at a magnetic flux 100 When the Ke factor Z107 20 in the enabled state is changed then the internally used value in the controller is smoothed in order to reduce interferences in the controller The temporal change of the smoothing Ke factor can be monitored in the parameter 19 11 19 12 Cutt off frequency PT1 filter Isq set val...

Page 95: ...ine the Slip pre set value Z146 16 See ZTemperature adaption slip frequency on page 508 19 32 Rotor time constant Display of the rotor time constant for the asynchronous motor required for flux control The value is calculated from the magnetic current Z107 14 the nominal current Z107 9 and the slip frequency cold Z107 15 Has no significance for synchronous motors 19 50 Notch position O K 19 51 Cur...

Page 96: ...n of the data structure 107 2 Motor type Motor type as a character string e g DS 71 K 107 3 Article number Article number of the motor on motors with an electronic identification plate The value displayed is read from motors with an electronic identification plate and is for information only 107 4 Serial number Serial number of the motor The value displayed is read from motors with an electronic i...

Page 97: ...to calculate the nom inal torque Z107 43 107 7 Nominal speed Nominal speed of the motor If the motor has no electronic identification plate the nominal speed must be entered 107 8 Nominal voltage Nominal voltage of the motor The value displayed is read from motors with an electronic identification plate and is used for motor control at the sensorless asynchronous motor 107 9 Nominal current Nomina...

Page 98: ...izing current must be entered If the motor type is not known Id can be found from the identification plate motor data sheet If Id is not known it can be calculated approximately Where I Motor nominal current Z107 9 cos n Power factor Z107 12 k 1 0 to 1 3 It corresponds to the nominal current Id at IPMSM see ZSynchronous motor with interior permanent magnet on page 128 The motor constant K Z171 12 ...

Page 99: ... 15 At asynchronous motors without an electronic type plate the parameter must be set man ually 107 17 Slip temperature cold this is relevant at asynchronous motors with an encoder if the temperature monitoring is activated Z128 2 bit 0 to 7 Temperature specification for which the motor slip frequency when cold Z107 15 ap plies see also Z19 30 The cold slip temperature must be lower than the warm ...

Page 100: ...he speed set value according to the nominal speed of the motor Z107 7 m Enable the drive and operate it no load m By altering the Ke factor bring the Iq controller output to approx 0 When changing the Ke factor 107 20 in the enabled state the used value in the con troller is smoothed to reduce the interferences in the controller The temporal change of the smoothing Ke factor can be monitored in th...

Page 101: ...h an electronic identification plate and is for information only 107 26 Max speed mech Setting of the maximum speed of the motor that is permissible in the mechanical config uration used The mechanical maximum speed can at most equal the electrical maximum speed The smaller value of max speed mech Z107 26 and of speed limit Z121 11 acts as limitation in the operating modes 1 5 6 and 4 For details ...

Page 102: ...for motor control as a function of parameter Z123 10 107 31 Rotor resistance Rotor resistance of the single phase equivalent circuit of the asynchronous machine The value displayed is read from motors with an electronic identification plate and is used for motor control as a function of parameter Z123 10 107 32 Rotor leakage inductance Rotor leakage inductance of the single phase equivalent circui...

Page 103: ...as a function of parameter Z123 10 107 36 Inertia of motor Moment of inertia of the motor The value displayed is read from motors with an electronic identification plate and is for information only 107 37 Temperature sensor type Two different types of temperature sensor are available for use If the motor has no elec tronic identification plate the temperature sensor type must be entered 107 38 Mot...

Page 104: ...is no gearing between the motor shaft and the encoder The value 0 is not defined and will be rejected with an error message or treated internally like the value 0x0101 no gearing hence 1 1 transmission 107 40 Brake nominal voltage Voltage for the motor brake The value displayed is read from motors with an electronic identification plate and is for information only 107 41 Brake torque Holding torqu...

Page 105: ...pitch Pole pitch for linear measuring systems 107 68 Load inertia Load inertia can be used for the calculation of the parameters of the speed controller from the data sheet in ProDrive The parameter is not part of the electronic type plate and must be entered manually 107 72 Continuous current limit curve The supporting points of the continuous current limit characteristic motor duty type S1 are e...

Page 106: ...ed on value Z128 2 bits 0 to 7 0 and 1 and 3 only Bit Meaning 0 0 Motor temperature monitoring switched off 1 Motor temperature monitoring switched on 3 1 Reserved 4 1 Warning threshold 1 exceeded 5 1 Warning threshold 2 exceeded 6 1 Switch off temperature reached 7 1 Overtemperature detected by temperature switch 8 1 Short circuit detected on temperature encoder 9 1 Temperature encoder is not con...

Page 107: ...ed 128 5 Warning threshold 2 Motor temperature threshold 2 If the motor temperature exceeds this value Warning 711 is generated 128 7 Motor temperature hysteresis Hysteresis for canceling Warnings 710 and 711 initiated by Z128 4 Warning threshold 1 and Z128 5 Warning threshold 2 133 14 Status motor operating mode The mode is set in parameter Z19 52 Value Meaning 0 Motor observer off 1 Motor observ...

Page 108: ...t field weakening by calcu lation of the parameter with the Isd set value Z47 2 instead of Max field current amplitude Z19 7 0 activated 1 deactivated 2 Breakdown torque limit 0 deactivated 1 activated at asynchronous machines always also see bit 5 3 Additional bit mode Max torque current reference value Additional mode to calculate the Max torque current Z19 8 0 Load mode standard setting 1 Curre...

Page 109: ...138 1 bit 1 1 lsd set value Z47 2 instead of the parameter Z19 7 Current mode m Independent of the field weakening and the external total current limit m Independent of 138 1 bit 1 m Z19 8 is calculated from the Max drive current Z19 6 and the Magnetizing cur rent Z107 14 ASM or field weakening 0 SM Details about the effect of the standardization modes in the Max torque current are de scribed in t...

Page 110: ...ts Z138 18 Z138 30 Z114 5 and Z114 6 In addition the motor operated torque current can be disabled due to power failure refer to Z138 10 bit 1 The strongest limit is effective The definite upper and lower torque current limit is dis played in Z138 6 and Z138 7 Standardization 100 Max torque current Z19 8 138 3 Iq limit generator TD2 This parameter limits the torque current set value for the genera...

Page 111: ...ent speed the instantaneous current and the set hysteresis The following diagram illustrates the definition Figure 39 Definition of the quadrants 138 6 Iq upper limit Display of the currently determined upper limit for the instantaneous current in A 138 7 Iq lower limit Display of the currently determined lower limit for the instantaneous current in A 138 8 Bitmask of external drive current limit ...

Page 112: ...in A which has been reduced by an external limit of the drive current See Bit mask of external drive current limit Z138 8 If there is no external limit active External limiting max field current amplitude 138 10 Maximum value 10000 A 138 11 Iq set value before notch filter The Iq set value at the input of the notch filter is shown in this parameter 138 12 Center frequency Iq set value notch filter...

Page 113: ... in Z138 14 are accepted in the set cycle of the speed controller RT0 cycle time Z1 8 In comparison with the symmetrical torque current limit the 138 14 cannot be saved and is not subject to the hysteresis Z138 15 when defining the quadrant Standardization 100 Max torque current Z19 8 138 15 Iq limit bipolar The torque current set value can be limited symmetrically with this limit i e equal in bot...

Page 114: ... breakdown torque controller The breakdown torque limit calculates the maximum torque current with the present electrical frequency and Ud voltage limit and the breakdown torque controller limits the maximum torque current as soon as the required voltage ex ceeds the maximum permitted voltage The breakdown torque limit lsq k limit 138 18 can be activated by Z138 1 bit 2 and set by the factor of th...

Page 115: ... torque of the motor Mmax act which is available due to the maximum torque current actual value the updated Kt factor and the field current This value is calculated from the maximum torque current If the maximum current of the motor is limited by a monitoring such as PU overload monitoring refer to bit mask external total current limit Z138 8 then this is regarded in this parameter with Isq max Ma...

Page 116: ...agnetic flux set value in Z146 13 Ktupd Kt updated Z155 24 in Nm A Furthermore other settable torque limits are available that result from the setting of the torque current limit Z138 2 Z138 3 Z138 14 Z138 15 Furthermore other torque current limits are available Z138 18 Z138 30 Z114 5 and Z114 6 that limit the torque due to a breakdown torque or an excessive Udc actual value The torque can be disa...

Page 117: ...ameter effects the detection of a blocked motor because the limit flag with hys teresis is used for the blockage monitoring Standardization 100 Max torque current Z19 8 138 29 Time constant torque display Time constant for the torque display Z138 21 138 30 Max torque current actual value Display of the maximum torque current in A available due to the maximum total current actual value and of the u...

Page 118: ...of the same amount as the maximum total cur rent Z19 6 with Is max Max drive current Z19 6 in A Fluxnom Nominal magnetic flux 100 Kt Motor Kt factor Z107 44 in Nm A Asynchronous motors or synchronous motors in the field weakening range cannot reach this torque because of the field current which is required The parameter is the reference value of the standardized set value Z18 78 146 1 Asynchronous...

Page 119: ... 14 Actual flux Actual value of the flux in percent 146 16 Slip preset value this is relevant at asynchronous motors with encoder only Slip preset value between electrical and mechanical frequency Inc Tab It is calculated from lsq set value flux set value Z146 13 and the slip frequency tem perature actual value Z19 30 Refer to ZTemperature adaption slip frequency on page 508 ...

Page 120: ...tor 3 4 3 2 Torque ripple compensation Synchronous motors normally have ripple torques This can cause speed variations in the speed control because the torques cannot be adjusted quickly enough The controller can compensate these ripple torques A feedforward of an additional current torque is generated in which an additional current torque is generated in dependence of an electric or mechanic angl...

Page 121: ...preprocessed Then the additional cur rent set values are saved in the table 3 4 3 2 1 Parameter overview Functional block FbOptimization 157 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 157 1 Mode optimization UINT 0 0xFFFF 0 1 1 X 157 2 State Identification torque ripple compensa tion UINT 0 0xFFFF 0 1 1 X 157 3 Table torque ripple ...

Page 122: ...rrents in dependence of the electric mechanic angle 157 6 Actual torque ripple current The actual additional current set value for the torque ripple compensation Bit no Meaning 0 Initialization measuring of torque ripple compensation 1 Reset of the torque ripple curve 2 Reserved 3 Activation of the torque ripple compensation 4 Torque ripple compensation after 0 electric angle 1 mechanic angle Valu...

Page 123: ... the temperature independent slip frequency the Id current actual value and the flux actual value 3 4 4 1 ProDrive Asynchronous Motor Figure 42 ProDrive asynchronous motor 3 4 4 2 Lh characteristic BM5000 can consider a non linear Lh characteristic for motor control This can be en tered manually or can be identified in idle mode Manual input of the Lh characteristic Z123 33 m Lh dependent on magne...

Page 124: ...al magnetizing current and ramp up time must be preset Then it is accelerated to the de sired speed Z123 39 with nominal magnetizing current Thereby a linear ramp calcu lated from the ramp up time is used Then the motor successively is supplied with a step size of 1 20 of the nominal magnetizing current at this speed Thereby the required volt age is measured As it is estimated that the drive is in...

Page 125: ...Description of the Software Modules and Parameters Parameter manual b maXX BM5800 Document No 5 16029 03 125 of 814 3 3 4 4 3 ProDrive Lh characteristic Figure 43 ProDrive Lh characteristic ...

Page 126: ... executed 146 17 State Lh identification Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 123 33 Magnetization induc tance look up table FLOAT 0 0 100 0 1 1 1 X 123 39 Speed for Lh identifica tion FLOAT 0 0xFFFFFFFF 30 1 1 X 146 17 State Lh identification UINT 0 10 0 1 1 X 146 19 Ramp up time nominal speed FLOAT 1 1000 10 s 1 1 X Value M...

Page 127: ...X BM5800 Document No 5 16029 03 127 of 814 3 146 19 Ramp up time nominal speed Ramp up time for controlled acceleration deceleration to nominal speed speed 0 due to determine the main inductance characteristic 8 Motor control entry in table 9 Completed 10 Error Value Meaning ...

Page 128: ...the torque of the Lorentz force a reluctance torque exists at the IPMSM based on the different inductances T Lq Ld Id Iq In order to get the maximum torque for the impressed current MTPA also an Id current must be impressed depending on this torque The currents were split automatically during controlling so that always the highest torque is reached depending on the total current 3 4 5 1 Control In...

Page 129: ...Z171 16 3 4 5 2 Commissioning In order to ensure an optimum in dynamic when operating a IPMSM the following notes for setting are mandatory Using a Baumueller motor the data can be loaded from a motor data base All set tings are carried out automatically with ProDrive If no Baumueller motor is used at first an autotuning see ZAutotuning of Current Controller from page 181 must be executed to set t...

Page 130: ...his value the currents were varied in ten equal distances and the measure ments were executed Ramp function generator n The ramp up time must be set to 0 seconds so that the speed controller is directly limited at a speed jump Set value generator n The set value generator should alternately generate values from 0 up to a suffi cient high speed in order to get enough measuring values during the ram...

Page 131: ...ich must be impressed in the motor at the least The output of the field weakening controller is multiplied by the maximum current from the MTPF characteristic The field weakening controller should provide a lover threshold than the breakdown torque controller If the re quired voltage rises over the starting threshold of the breakdown controller the lq current is limited From this maximum total cur...

Page 132: ...indicates the flux in Vs and the y axis indicates the current in A The MTPF characteristic is standardized in depen dence of the nominal voltage and the nominal speed as it is assumed that the motors can be operated without limiting the ld current Thus the flux reserve is divided in 15 equal steps up to 0 by the nominal flux The characteristic can be calculated automatically in the controller by b...

Page 133: ...e compensation on page 120 3 4 5 6 Parameter overview Functional block FbReluctance 171 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 171 1 Control word reluctance UINT 0 0xFFFF 0 1 1 171 3 Ld curve family FLOAT 1e 5 1e9 1e 3 mH 1 1000 X 171 4 Lq curve family FLOAT 1e 5 1e9 1e 3 mH 1 1000 X 171 5 Norm current for induc tance chart fam...

Page 134: ...ening of IPMSM DINT 0 10 0 1 1 X 171 16 Total reference current FLOAT 10000 10000 0 A 1 1 X 171 17 Maximal torque current from flux FLOAT 0 10000 0 A 1 1 X 171 20 Magnetic flux FLOAT 0 0001 1e9 0 1 Vs 1 1 X 171 21 State identification non linearity UINT 0 0xFFFF 0 1 1 X Bit no Meaning 0 Motor constant determined via Idnom and Inom 1 Calculate motor constant via Lq Ld and magnetic flux 4 2 Reserved...

Page 135: ...eeded to re duce the flux at high speed and less torque request and to enable a higher torque at high speed 171 11 Id Current of MTPF characteristic Maximum Id current which can be still supplied at a fixed flux The maximum Id current is taken from the MTPF characteristic A higher Id current would not yield a higher torque at constant flux 171 12 Motor constant K Factor The current set values Id a...

Page 136: ...IPMSM State of the field weakening 171 16 Total reference current The total current set value at the IPMSM of the won from the speed controller This is di vided to a lq and ld current and the optimum torque results 171 17 Maximal torque current from flux This current is obtained from the breakdown torque controller This is the maximum torque current that can be impressed in the motor From this cur...

Page 137: ...e identification 3 Variation of Id 4 Variation of Iq 5 Wait until speed is equal zero 6 Acceleration and switching to measurement if speed greater than 10 and speed controller is limited 7 8 Reserved 9 Measurement of Uq Ud and speed 10 15 Calculation of the magnetic flux 16 17 Determination of the sampling time 18 Reset of the parameters used for the measurement 19 Calculation of the inductance if...

Page 138: ... number of pulses Incremental encoder Example Sine Cosine encoder with a number of pulses 1024 Encoder type Supply Remark EnDat 2 2 5 V Max 16 MHz HIPERFACE DSL 10 V SSI 5 V Max 2 MHz Encoder type Supply Signal Maximum input frequency Resolver Excitation fre quency 7 8125 kHz Transmission ratio 0 5 Square wave incre mental encoder 5 V RS422 TTL 250 kHz Sine Cosine encoder 5 V 1 Vss 250 kHz Sine Co...

Page 139: ...recommended to use the value 1 for the pole pair number If the PPR count doesn t amount to an integer then the pole pair number must be increased until an integer is reached Alternatively the PPR count calculation can be performed in ProDrive under Con figurationMotor Linear Motor Hereby Z107 67 Pole pitch Z107 19 Pole pair number Z107 28 Division dis tance measuring system accords to the length o...

Page 140: ...106 6 Encoder revolutions actual value This way the complete position can be read via the parameter Z18 57 32 bit at the maximum are evaluated 3 4 6 2 Encoder monitoring Monitoring of signal amplitude Sin Cos The controller evaluates the present total amplitude from the sine and cosine traces of the encoder Am in ZFig 48 At error free operation the sum of the quadrants of the sine and cosine measu...

Page 141: ... sine or cosine signal is an alyzed at this monitoring Here it is assumed that the sampling rate is at least 4 times the signal frequency and therefore each quadrant of a signal period is at least sampled once Monitoring of square wave incremental encoder The levels of the encoder signal are monitored separately at a square wave incremental encoder because a monitoring of the amplitude using sin c...

Page 142: ...ngle error greater than 45 electrical bit 8 of parameter Z143 1 is set and the error message 211 Error While Monitoring the Field Angle is initiated The pulse enable is blocked as a result Additionally the field angle monitoring can be switched on and off by setting the field an gle speed threshold Z143 8 as a function of the speed set value If the speed is less than the field angle speed threshol...

Page 143: ... Monitoring and Field Angle Monitoring of a Synchronous Machine cos sin 0 5000_0125_rev02 cdr Encoder mec angle Actual value 106 13 Cos signal A Encoder 106 25 Sin signal B Encoder 106 24 Position error Position Calculation Motor Model Motor Pole pairs 107 19 Motor Offset 127 8 Rho electrical 47 47 Rho electric Model Threshold 4 p Speed actual value Field angle 19 16 Speed threshold 143 8 Error No...

Page 144: ... 3 4 3 4 6 3 ProDrive Encoder Figure 50 ProDrive Encoder 3 4 6 4 Encoder optimization The signals of the encoder or of the encoder s attachment are not always correct The en coder signals can be optimized with different methods This way correct positioning infor mation and speed information is obtained ...

Page 145: ... HIPERFACE the SinCos Endat 2 1 and the SSI encoders are advisable upon completion of first cor rection 1 Offset and amplitude error correction Amplitude and offset of the sinusoidal and cosine tracks are measured here This way is optimized that the unit circle of the sine value and the cosine value is centered and has a 90 amplitude On the ProDrive page Encoder diagnosis the measured values can b...

Page 146: ...ution These tolerances are suppressed by using the automatic statical encoder error correc tion The offset values of the encoder tracks are fit so that the speed vibrations are min imized Calculation takes place in speed control Thereby the setpoint frequency of speed PPR pulses per revolution must be constant and they must lie between 30 and 500 Hz Measuring checks are made with the circular buff...

Page 147: ...dules and Parameters Parameter manual b maXX BM5800 Document No 5 16029 03 147 of 814 3 Figure 53 Speed and sinus track before statical encoder error correction Figure 54 Speed and sinus track after statical encoder error correction ...

Page 148: ...esolvers are imprecise in their absolute ac curacy In the controller the basic vibration 1st harmonic vibration as well as other har monic up to the 4th harmonic vibration angular displacements can be compensated For this purpose the amplitude and the phase of the correction function must be entered in Z106 71 and Z106 70 basic vibration and in Z106 76 and Z106 77 higher har monic vibrations The m...

Page 149: ...aluated it must be transmitted as the last bit least significant bit LSB If the encoder transmits the parity bit at another position then it must be considered as a data bit and goes into the 48 bit limitation Then the parity bit is not be checked Additional data If the encoder transmits additional data before and or after the encoder position these can be filed in any scalar and cyclically writab...

Page 150: ...es 7 8125 kHz and 8 kHz By using the 8 kHz thereby the resolver excitation can be synchronized on the fieldbus Additionally the phase of the resolver excitation can be set to set the resulting sine and cosine tracks to a certain time Figure 57 Synchronization of the resolver 15 0 106 98 126 21 106 11 106 10 5000_0408_Rev01 6 Bit MSB 8 Bit LSB 16 Bit MSB 18 Bit MSB 126 61 106 63 106 62 106 99 31 0 ...

Page 151: ...ectric angle In order that all of the participants observe the same current set value a dead time in the current set value must be additionally added at the master Hereby highly dynamical applications with quick changes of high electrical frequencies are not suited Setting At a motor with several windings there is always a Master converter connected with the encoder The other converters are slaves...

Page 152: ...001F 1 1 1 X 14 11 Error count lower limit UINT 0 0x001F 0 1 1 X 14 12 Error count upper limit UINT 0 0x001F 0 1 1 X 14 13 Max error count sector UINT 0 0x001F 1 1 1 X 14 14 Error count sector UINT 0 0x001F 0 1 1 X 14 15 Max error count incre mental encoder UINT 0 0x001F 1 1 1 X 14 16 Error count incremental encoder UINT 0 0x001F 0 1 1 X 14 17 Encoder error mask UDINT 0 0x7F 0x1F 1 1 X 14 19 Cycle...

Page 153: ...06 44 Resolver excitation set amplitude UINT 0 100 55 1 1 X 106 45 Resolver excitation act amplitude UINT 0 100 0 1 1 X 106 46 Resolver set phase off set UINT 0 0xFFFF 20 µs 1 1 X 106 47 Resolver actual phase offset UINT 0 0xFFFF 0 µs 1 1 X 106 52 Resolver phase syn chronization UINT 0 124 0 µs 1 1 X 106 60 SSI mode UDINT 0 0xFFFFFFFF 0x00004000 1 1 X 106 61 SSI status UDINT 0 0xFFFFFFFF 0 1 1 X 1...

Page 154: ...ator DINT 2147483648 2147483647 0 1 1 137 8 Encoder operation time UDINT 0 0xFFFFFFFF 0 1 1 137 9 Time first commission ing UDINT 0 0xFFFFFFFF 0 1 1 137 10 Time last refresh UDINT 0 0xFFFFFFFF 0 1 1 137 20 Type name STRING 1 1 X 137 21 Serial number STRING 1 1 X 137 22 Firmware version STRING 1 1 X 137 23 Firmware date STRING 1 1 X 137 24 Eprom capacity UINT 0 0xFFFF 0 Byte 1 1 X 137 25 Data stora...

Page 155: ...os Calculated average value to the normal distribution of the encoder track signals from the sin cos monitoring The value corresponds to the radius thus the square root of sin cos and is displayed in the resolution of the A D converter 2048 is equivalent to 1 0 14 6 Max sin cos variance Error threshold for the variance monitoring of the sin cos value If the variance ex ceeds this threshold an erro...

Page 156: ...1 Error count lower limit Display of how often the minimum threshold sin cos has been under run 14 12 Error count upper limit Display of how often the maximum threshold sin cos has been exceeded 14 13 Max error count sector Setpoint for the sector monitoring of the encoder signals At activated monitoring an error message is generated corresponding to the preset numbers of sector errors 14 14 Error...

Page 157: ...Cycle time of the variance calculation in ms 14 20 Status variance calculation Internal status of the variance calculation 14 21 Position monitoring error threshold Error threshold for position actual value monitoring see Z14 17 bit 7 Mechanical angle in degrees Bit Meaning 0 0 Encoder monitoring switched off 1 Encoder monitoring switched on 1 Monitoring of maximum signal amplitude active 2 Monito...

Page 158: ...106 1 Encoder type Selection of encoder type and thus the type of encoder evaluation Error threshold 14 21 45 Pole pairs 107 19 Error 14 22 Digital position Analog position Value Encoder type Remark 0 No encoder 1 Resolver Excitation frequency 7 8125 kHz transmission ratio 0 5 2 Square wave incremental encoder 5V with sensing line signal RS422 TTL 3 Sine Cosine incremental encoder 5V with sensing ...

Page 159: ...same as 6 but a mere digital evaluation is carried out Value Encoder type Remark NOTE SSI length measuring devices are not supported at the time If the installed FPGA software Z102 15 does not support the selected encoder type error no 430 is generated Bit Description 0 0 Encoder not active 1 Encoder active 1 0 Automatic resolver setting not active 1 Automatic resolver setting active 2 0 Encoder i...

Page 160: ... better initialization accu racy assignment of digital position refer ring to analog tracks must be available 4 Start of the automatic static encoder error correction 5 Identification of unbalance 6 Activation of unbalance compensation 7 Consideration of the encoder s range at addition of the M0 Offset 0 The M0 Offset will be added without con sideration of the range which is clearly dis tinguisha...

Page 161: ...lization of the encoder This bit is set to zero at all other encoder types 106 4 Oversampling factor Oversampling factor for encoder evaluation Meaning of the values 106 5 Encoder actual angle Current actual value of encoder angle without absolute dimension offset adjustment Standardization 0xFFFFFFFF for 360 degrees NOTE The automatic signal correction should be used only during commissioning As ...

Page 162: ...ed in increments per ms The resolution is 32 bit increments per revolution 106 8 Filter time constant speed display Filter time constant for the smoothed speed display Z106 9 from the actual speed dis play Z106 7 106 9 Speed display filtered Filtered value of the speed only for display smoothing time constant can be set in Z106 8 106 10 Encoder position actual angle The parameter shows the angle o...

Page 163: ...low counter maximum value Z106 16 The overflow counter can be used for the following functions m Addition of the overflow count revolutions to the actual positioning value Z106 11 or Z106 12 at the encoder initialization The Activation of the function is made by Z106 3 encoder options bit 10 m Z121 17 modulo actual position value and Z121 12 actual position value with over flows The activation of ...

Page 164: ... a fixed parameter 106 22 Gain sine Amplification of the sine signal Automatically adjusted when optimization activated Can also be set as a fixed parameter 106 23 Gain cosine Amplification of the cosine signal Automatically adjusted when optimization activated Can also be set as a fixed parameter 106 24 Sine signal Analog value of sine trace after correction At square wave incremental encoders th...

Page 165: ...litude Actual value of the amplitude of the resolver excitation 106 46 Resolver set phase offset Set value of resolver excitation phase is overwritten after Z106 43 bit 1 was activated and cannot be set manually anymore This phase marks the shifting of the excitation fre quency to the evaluation At an automatic setting the phase is set in such a way that the evaluation is always carried out at the...

Page 166: ...___________________ Z106 43 0x0093 Resolver reevaluation resolver frequency 8 kHz with syn chronization on the fieldbus and automatic amplitude and phase setting Here the required phase shift to the DSP interrupt with 106 52 can be set Z106 43 0x0092 Resolver reevaluation 8 kHz with synchronization on the fieldbus However with an automatic phase setting and an manual amplitude set ting Here the fo...

Page 167: ...4 Binary code Gray code 0 Transmitted in binary code 1 Transmitted in Gray code 15 Reserved 16 Parity 0 Transmitted without parity bit 1 Transmitted with parity bit 17 Even parity odd parity 0 Even parity bit 16 is set 1 Odd parity bit 16 is set 31 18 Reserved Bit Meaning Bit Meaning 0 Transmission activity 0 Transmission is not active 1 Transmission is active 1 Validity of data 0 The encoder data...

Page 168: ...ic 106 71 Encoder excentricity angular amplitude The amplitude of the sinusoidal additional angle in order to compensate excentricity or 1st harmonic 106 72 State of encoder optimization Status Meaning 0 Inactive 1 Initialization 2 Measuring for static encoder error correction 3 Measuring for the determination of eccentricity 4 Calculation of amplitude and phase of the measured value 5 Offset corr...

Page 169: ...stands for the amplitude of the 2nd harmonic vibration The further harmonics follow with a rising index 106 77 Phases of the harmonics Array including the phases to correct the encoder angle as a harmonic function whereat the index 0 stands for the phase of the 2nd harmonic The further harmonic vibrations fol low with a rising index 106 78 Correction angle Correction angle of excentricity and addi...

Page 170: ... angle transmitted via the fieldbus 106 91 Encoder speed fieldbus Current speed transmitted via the fieldbus 106 92 Fieldbus dead time Dead time between the master where the encoder is connected and the slave receiving the encoder angle via the connected fieldbus During a slave to slave communication the following dead time results It is recommended to check the time with the global oscilloscope 1...

Page 171: ...ny scalar and cyclically written parameters are permitted Changes at the parameter become effective by the activation of the encoder with Z106 1 137 1 Number of pulses Displays the number of pulses or the number of pole pairs of the encoder or serves for the setting of the encoder Type of encoder Meaning Remark Resolver Number of pole pairs of the resolver Data must be entered using the data sheet...

Page 172: ...the result is rounded up and is entered in this parameter At length measuring devices with EnDat 2 2 protocol the value is calculated with the read encoder data Z137 29 Position format Z137 34 Measure step and the set mo tor parameters Z107 19 Pole pairs Z107 67 Pole pitch At encoders with SSI protocol the parameter is set by means of the setting in Z106 63 SSI bits multiturn EnDat 2 2 Number of s...

Page 173: ...and the machine coordinate system Concerning details see Z137 6 M0 Offset revolutions 137 6 M0 Offset revolutions Absolute distance revolution fraction only The absolute distance is the offset between the encoder coordinate system of the encod er actual value as it is read from the absolute value encoder Z106 5 and Z106 6 and the position coordinate system Z106 10 Z106 11 Z106 12 The M0 Offset is ...

Page 174: ...aken into account or not This is defined in parameter Z106 3 Encoder options bit 7 If the represented range should be taken into account an overflow occurs at addition of the M0 Offset at Z137 2 Number of revolutions In this case the parameter Z137 6 M0 Offset revolutions is ineffective at singleturn encoders A change of the M0 Offset takes effect after switching on or after an encoder initializat...

Page 175: ...101 SKS 36 with identification 32hex SKS 36 unknown identification unknown m Sine Cosine encoder with EnDat The specified name is composed as follows Type of encoder designation of order EnDat version EnDat instruction set e g Multiturn encoder EQN1325 designation of order 01 EnDat version 02 instruction set 2 2 Z137 20 MultiRotaryED01 2 2 Singleturn encoder ECN1313 designation of order is not in ...

Page 176: ...he digital position in bits per revolution It is operated only with rotary encoder with EnDat or HIPERFACE encoders 137 29 Position format The parameter is set at EnDat and HIPERFACE encoders only It displays the resolution of the digital position value which is read out of the encoder The parameter corresponds to the angle resolution at singleturn encoders The sum of the resolution of angle and r...

Page 177: ...on ly It displays the resolution of the digital position value number of bits in the area of angle at encoders or angle measuring devices 137 33 Signal length The parameter is set at EnDat and HIPERFACE length measuring device linear en coders only It displays the length of a signal period in the unit nm 137 34 Measure step 1 The parameter is set at EnDat and HIPERFACE length measuring device line...

Page 178: ...sult in wrong position values The cause of error will be displayed in this parameter Not generally all error messages were supported see Z137 36 Alarm mask The controller responds to a set error bit with a corresponding error error numbers 406 to 412 Bit Supported error messages 0 1 Illumination failure 1 1 Signal amplitude 2 1 Position value 3 1 Overvoltage 4 1 Undervoltage 5 1 Overcurrent 6 1 Ba...

Page 179: ...values are displayed It is not assumed that position value are wrong at warnings contrary to error messages Not generally all warnings were supported see Z137 38 Warning mask The controller responds to a set warning with a corresponding error error numbers 417 to 421 These can be always acknowledged Bit Supported warnings 0 1 Collision of frequency 1 1 Excess temperature 2 1 Lighting controller re...

Page 180: ...29 03 Baumüller Nürnberg GmbH 180 of 814 3 4 137 42 Parameter of OEM 1 2 137 43 Parameter of OEM 3 4 These two parameters are only valid for EnDat encoder The available OEM memories are displayed The controller uses these areas for the Baumueller motor type plate ...

Page 181: ... at the same time m After change of switch frequency Z130 15 the dead time measurement must be ex ecuted again depending on the controller version see ZDead Time Compensation from page 457 If desired the calculation and adoption of the measured resistance and inductance must be activated in the current regulator parameters Z123 10 bit 3 1 before the mea surement The measured resistance is standard...

Page 182: ... 7 2 Parameter overview Autotuning of the Current Controller Functional block Autotuning of the current controller 123 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 123 1 Mode UDINT 0 0xffffffff 1 1 1 X 123 2 Status UDINT 0 22 0 1 1 X 123 4 Display max current FLOAT 0 10000 0 000000e 00 A 1 1 X 123 6 Stator resistance mea sured FLOAT ...

Page 183: ...ffective dead time voltage for the dead 123 7 Inductance measured FLOAT 0 0 10000 6 4 mH 1 1 X 123 8 Result current controller Kp FLOAT 0 0 1000 0 0 V A 1 1 X 123 9 Result current controller Tn FLOAT 0 0 1000 0 0 ms 1 1 X 123 10 Parameters takeover DINT 0 15 0 1 1 X 123 12 Time constant of step response FLOAT 0 10000 0 ms 1 1 X 123 14 Normalized Error FLOAT 0 100 0 1 1 X 123 15 Dead time compensa ...

Page 184: ...tion ac cording to PWM frequency successfully Value Meaning 0 Identification inactive or completed 1 Preparation for identification 2 Identification starting 3 Switch on voltage setting 4 Voltage setting 5 Starts identification of the resistance 6 Identification of resistance or inductance 7 Error during identification of resistance or inductance 8 Identification of dead time in progress 9 10 11 1...

Page 185: ...nce measured This parameter shows the identified stator resistance including the resistance of the IGBT and the motor cable In the case of asynchronous motors the rotor resistance is not included The identified value is calculated to 20 C if a temperature sensor to access the motor temperature is connected The parameter 123 6 can be used in dependence of Z123 10 for motor control 123 7 Inductance ...

Page 186: ... controller Kp value at a PWM frequency of 4 kHz 123 9 Result current controller Tn This parameter shows the identified reset time for the current controller 123 10 Parameters takeover rs Stator resistance rr Rotor resistance on the stator side Ls Leakage inductance of stator Lr Leakage inductance of rotor on stator side Lm Magnetizing inductance main inductance LH Bit no Meaning 0 Reserved 1 Acce...

Page 187: ...or 4 parameters in the motor identification plate module Additionally it is possible to calculate the current controller with the identified parameters in ProDrive 123 12 Time constant of step response This parameter displays the identified time constant for asynchronous motors The cur rent level for this is approx 80 current rise from 75 to 85 of the maximum current Z123 4 For synchronous motors ...

Page 188: ...resistance of an asynchronous motor NOTE If the correction table dead time is measured during the adaption of the dead time compensation according to the PWM frequency is active Z123 1 bit 3 1 the ef fective voltage of the dead time compensation is corrected according to the effective PWM frequency Therefore a dead time measurement after a change of the PWM frequency is not necessary anymore Howev...

Page 189: ...the motor nominal current The excessive distortion is caused by the speed ripple dependent of the encoder type and amplified by a 1 Ksact which is too great In this case the encoder smoothing should be increased to reduce the ripple or a smoother set ting of the speed controller should be made ProDrive offers a calculating tool for a smoother setting Automatic identification of controlled system I...

Page 190: ...the result of the measuring is to be taken over ProDrive copies the value of Z52 8 in the parameter Ks factor Z18 40 The acceleration braking methods are described in the following Ks measurement by accelerating braking The Ks factor see chapter ZThe factor Ks on page 404 can be evaluated by an accel eration and braking procedure or a speed change N between N1 and N2 in degree s The following moti...

Page 191: ...tion tool As by product of the measurement of the drive inertia Z52 11 Inertia measured the sliding friction factor Z52 9 Load friction factor and the static friction coefficient Z52 10 Load friction are determined as well Ks measurement with FFT analyzer function The Ks measurement by the FFT analyzer function is a lighter version of the control loop analysis Here a noise signal whose amplitude m...

Page 192: ... speed or position control by a low speed 100 U min n Motor has a limited travel path or a measurement at a specific position m If the travel path is limited or if the Ks measurement is to be executed at a spe cific position the measurement in position control can be executed with an ad ditional periodical angle offset This cyclical angle offset can be set via the parameter Z52 18 Hereby accordant...

Page 193: ...e Unit Factor Read only Storage DS Support Cyclic Write Axis independent 52 1 Command status UINT 0 100 0 1 1 52 2 Mean speed 1 FLOAT 1000000 1000000 0 Grad s 1 1 X 52 3 Mean speed 2 FLOAT 1000000 1000000 0 Grad s 1 1 X 52 4 Mean Isq 1 FLOAT 10000 10000 0 000000e 00 A 1 1 X 52 5 Mean Isq 2 FLOAT 10000 10000 0 000000e 00 A 1 1 X 52 6 Ks result acceleration FLOAT 1 000000e 00 1 00E 09 0 000000e 00 G...

Page 194: ...f the parameter 52 8 Ks measured FLOAT 1 0 1e 9 0 Grad s2 A 1 1 X 52 9 Load friction factor FLOAT 10000 10000 0 A Grad s 1 1 X 52 10 Load friction FLOAT 10000 10000 0 A 1 1 X 52 11 Inertia measured FLOAT 0 1e 9 0 kg cm2 1 1 X 52 12 Amplitude for FFT FLOAT 1e9 1e9 0 1 1 52 15 Kp identification FLOAT 0 1000000 0 1 s 1 1 X 52 16 Tn identification FLOAT 0 1000000 0 s 1 1 X 52 17 Phase margin FLOAT 0 8...

Page 195: ...an 0 1 seconds 19 Error Time for braking less than 0 1 seconds 20 Error Time for Speed_1 1 or Speed_2 2 or acceleration or braking phases greater than 120 seconds 21 Error Set speed Speed_1 or Speed_2 too low 10 degrees s 22 Error Determined value of Ks would be negative because acceleration value too low 23 Error Determined value of Ks would be negative because acceleration value too low during b...

Page 196: ...lt to evaluate the parameter Z52 8 52 7 Ks result deceleration Display of the Ks results determined during a braking procedure Interim result to evaluate the parameter Z52 8 52 8 Ks measured Display of the Ks value determined If Ks was evaluated by the accelerating braking method the value is shown in 52 8 from the parameters Z52 6 and Z52 7 by averaging Both values should not differ too much 10 A...

Page 197: ... Z104 12 and starts the distance via the lsq additional set value Z19 17 52 15 Kp identification Optimized gain of speed controller form the identification 52 16 Tn identification Optimized reset time of the speed controller from the identification 52 17 Phase margin Setting of the required phase margin which the speed controller was designed to 52 18 Angle amplitude for Ks identification This is ...

Page 198: ...ntroller in speed control which was set low The other possibility is to operate in current control with a low current pre setting System information for the control loop analysis For the distance identification and the optimization the following information of the system is required Kt factor position speed controller sampling time and PWM frequency From the PWM frequency and assuming the amount o...

Page 199: ...e button In this file also the system information of the control loop analysis is saved Based on the recorded frequency response the plant can be identified in the next step Optionally the identification can be executed by a frequency response recorded and saved priorly It can be loaded from a file in the operating memory space of ProDrive with system information Load file button Step 2 Identifica...

Page 200: ...pt is made to suppress the amplitude at the resonance frequency and to reduce the amplitude for higher amplitudes so that the controller gain can be increased At the single mass system the polynomial filter of the torque current set value is set to not filter all of their coefficients are set to zero except the first one which is set to one In order to optimize the controller and polynomial filter...

Page 201: ...sis can be checked from different points of view be fore transmitting the evaluated and optimized values to the final parameters Step 5 Download optimized values Here the evaluated and optimized values can be transmitted to the controller NOTE At this point ProDrive allows to freely define or change the sampling time as well the current time constant in order to optimize the controller and Isq set...

Page 202: ...uning Asynchronous Motor 3 4 9 1 Identification Lh characteristic The procedure to identify the Lh characteristic curve is described detailed in chapter ZLh characteristic on page 123 as a part of the configuration of the asynchronous motor The detailed description is in chapter ZProDrive Lh characteristic on page 125 ...

Page 203: ...X 116 2 Mode digital input 1 WORD 0 0xFFFF 0 1 1 X X 116 3 DI1 Axis index UINT 0 255 0 1 1 X X 116 4 Target number digital input 1 UDINT 0 0xFFFFFFFF 0 1 1 X X 116 5 Bit selection digital input 1 DWORD 0 0xFFFFFFFF 0 1 1 X X 116 6 Set bit pattern for LOW state digital input 1 DWORD 0 0xFFFFFFFF 0 1 1 X X 116 7 Set bit pattern for HIGH state digital input 1 DWORD 0 0xFFFFFFFF 0 1 1 X X 116 8 Mode d...

Page 204: ...a Bits 0 5 should operate with inversion or directly Bit 6 is used to determine which axis the special function selected with Bits 0 5 should apply to In addition Bit 7 is used to determine whether the selected special function should be ap plied to both axes at the same time These two bits thus apply only to the special func tions The axis reference for input linking is specified with the appropr...

Page 205: ...attern Low High If the data of the target parameter is of type Float no bit selection can be made all the bits written to the target parameter will always be of the bit pattern Low or High Bit Meaning 5 0 Function of the input Value Function 0 No special function 1 Quick stop 2 Controller enable 3 Error reset 4 Negative hardware limit switch 5 Positive hardware limit switch 6 Zero point reference ...

Page 206: ...al input 1 Bit pattern for logic HIGH on digital input 1 116 8 Mode digital input 2 For description see Z116 2 116 9 DI2 Axis index For description see Z116 3 116 10 Target number digital input 2 For description see Z116 4 116 11 Bit selection digital input 2 For description see Z116 5 116 12 Set bit pattern for LOW state digital input 2 For description see Z116 6 116 13 Set bit pattern for HIGH s...

Page 207: ...nds The fieldbus communication takes place in an own task which can be interrupted by the cur rent controller or by the position and speed controller The beginning of the fieldbus task or of the controller interrupt after this the fieldbus task starts is synchronized to the sync signal of the fieldbus Hence the fieldbus task starts at a sync offset of 0 µs with a time delay of about 30 µs shortly ...

Page 208: ...n in the example In the controller the set value as well as the actual value transmission takes place in the fieldbus task The set values at a sync offset of 0 µs must reach the controller before the sync signal takes place As the fieldbus processor requires time to receive the data from the fieldbus and then to provide it to the controller this data must be provided to the field bus in time Alter...

Page 209: ...the timing for the fieldbus transmission must be considered exactly in order to avoid access conflicts when responding to the actual values on the fieldbus Time setting of actual value transfer Figure 66 Optional separated transmission of set values and actual values The transmission time of the actual values to the fieldbus processor can be determined in the parameter Fieldbus options Z131 23 sep...

Page 210: ...st two lists in which the values of a maximum of 16 parameter Ids can be transferred in each case The IDs of the Producer and Consumer lists are represented in ProDrive as a two dimen sional array 2 16 in each case The lists can then be opened simultaneously in ProDrive All the data can thus be visualized in a clearly laid out manner 3 4 11 2 Access Counter for each Real Time List The number of ac...

Page 211: ...0 0xFFFFFFFF 0 1 1 X X 131 17 Subnet mask UDINT 0 0xFFFFFFFF 0xffff0000 1 1 X X 131 18 Fieldbus cycle time UDINT 125000 8000000 1000000 ns 1 1 X X 131 19 Slave error code UDINT 0 0xFFFFFFFF 0 1 1 X X 131 20 Division ratio fieldbus task UINT 1 32 1 X X 131 21 Configuration profile 1 DWORD 0 0xFFFFFFFF 0x0 1 1 X X 131 22 Fieldbus type WORD 0 0xFFFF 0 1 1 X 131 23 Options DWORD 0 0xFFFFFFFF 0 1 1 X X...

Page 212: ...of 814 3 4 131 2 State Displays the Fieldbus status No bits defined yet 131 3 Producer List The parameter Ids configured by the Fieldbus computer are displayed in the real time lists The parameters are two dimensional arrays Figure 67 Producer list and cunsumer list 131 4 Consumer List See Z131 3 ...

Page 213: ...onds to the number of the accessed real time list At present a maxi mum of only 2 lists is possible 131 6 Consumer Counter See Z131 5 131 7 Last Producer Index The index of the list that was last accessed is displayed 131 8 Last Consumer Index The index of the list that was last accessed is displayed 131 9 Slave Settings The settings for the communications software MicroBlaze can be altered by set...

Page 214: ...tings Z131 13 131 13 DIP switch settings Setting on the DIP switch used as an offset to the base IP address when Slave Settings Z131 9 Bit 0 0 15 Reserved 16 1 Switch off of the offset calculation for the objects 0x6062 0x6064 0x607A 0x607C 0x607D UNSIGNED SIGNED 0x80000000 31 17 Reserved Bit Description Bit Description 1 0 Fieldbus status 0 Init 1 PreOperational 2 SafeOperational 3 Operational In...

Page 215: ... Z131 14 131 16 Gateway Gateway IP address 131 17 Subnet mask Subnet mask associated with the IP address Recommended value 255 255 0 0 131 18 Fieldbus cycle time Setting for the Fieldbus cycle time in ns Besides the Z131 20 division ratio of fieldbus task its value determines the Z1 10 field bus task cycle is determined cycle of the set value generator for cyclical set values 131 19 Slave error co...

Page 216: ...e time 2 ms division ratio 8 Z1 8 RT0 cycle time 250 µs 2 ms 8 250 µs A call up ratio greater than 8 would no longer be admissible anymore The following operating modes are considered as cyclical set values m Z109 1 4 position control Z136 3 target position and Z136 5 target angle m Z109 1 12 coupled operation Z122 3 master axis position revolutions and Z122 4 master axis position angle 131 21 Con...

Page 217: ...7 200 0 No IEC profile type 1 CiA 402 2 CIP Motion 3 PROFIdrive 4 Sercos Rest is reserved 15 8 Network technology 1 EtherCAT 2 VARAN 3 CANopen 4 Ethernet Powerlink 5 PROFINET IRT 6 Sercos III Rest is reserved Bit Description 0 Activate separated set value and actual value transmission 0 Transmission of the set values and the actual values at the same time and at the beginning of the fieldbus task ...

Page 218: ...ditional IP address can also be specified where the drive can be reached via the service interface as well The change of this IP address is accepted at the next booting only Example IP address fieldbus e g EtherCAT 192 168 a x IP address service interface 192 168 b y The following must apply a b and a 0 and b 0 131 52 Error counter fieldbus actual values Error counter for access conflicts at actua...

Page 219: ...hronous with the fieldbus the error 1938 is set at exceeding of threshold Z131 56 131 55 Max error count fieldbus actual values Error threshold for access conflicts at actual values This parameter configures how many access conflicts actual values have been not re trieved are necessary to set the error 1937 131 56 Max error count fieldbus set values Error threshold for set value failures This para...

Page 220: ... at digital input TP1 or TP2 A one time or continuous storage is possible for each trigger event e g rising edge at digital input TP1 If a trigger should be issued for a rising or falling edge of a digital input a minimum edge distance of at least 4 µs must be observed due to the limitations of the digital I O evaluation The minimum edge distance is extended up to 500 µs if the filter for suppress...

Page 221: ... the measuring inaccuracy due to the encoder s resolution With triggering from zero pulse the measured value of the positive edge is independent of the direction of revolution the measured value of the negative edge differs depending on the direction of revolution by maximum number of pulses So only the positive edge should be analyzed by triggering from zero pulse Figure 68 Direction of revolutio...

Page 222: ...caling types see Z124 30 m n bit revolutions m bit angle n m 32 m Scaling with the Factor Group m Scaling with the actual position value modulo 3 4 12 1 ProDrive Measuring Encoder Figure 69 ProDrive Measuring Encoder 3 4 12 2 Parameter overview Functional block FbTouchProbe 124 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 124 1 Confi...

Page 223: ...l input TP2 neg edge angle UDINT 0 0xFFFFFFFF 0 1 1 X X 124 13 Encoder 1 trigger zero pulse pos edge revolu tions UDINT 0 0xFFFFFFFF 0 1 1 X X 124 14 Encoder 1 trigger zero pulse pos edge angle UDINT 0 0xFFFFFFFF 0 1 1 X X 124 15 Encoder 1 trigger zero pulse neg edge revolu tions UDINT 0 0xFFFFFFFF 0 1 1 X X 124 16 Encoder 1 trigger zero pulse neg edge angle UDINT 0 0xFFFFFFFF 0 1 1 X X 124 17 Enc...

Page 224: ...revolu tions UDINT 0 0xFFFFFFFF 0 1 1 X X 124 28 Encoder 2 trigger zero pulse neg edge angle UDINT 0 0xFFFFFFFF 0 1 1 X X 124 30 DS402 mode UDINT 0 0xFFFFFFFF 0x00100100 1 1 X 124 31 DS402 touch probe 1 pos value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 124 32 DS402 touch probe 1 neg value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 124 33 DS402 touch probe 2 pos value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 124 34 DS402 touch p...

Page 225: ...nnel measurement negative edge Enc1TrDi2NegValRev Enc1TrDi2NegValPhi 0 switch off 1 switch on 5 Trigger frequency 0 one time trigger a new measure does not occur until measuring encoder has been reac tivated with P124 2 1 Continuous triggering Measurements always occur however within a sampling cycle of the module 1 ms only the first event will be triggered 6 12 Measurement Encoder 1 with Trigger ...

Page 226: ...0 µs 0 No filtering 4 µs Encoder 2 16 18 Measurement Encoder 2 with Trigger digital input TP1 16 Activation channel measurement positive edge Enc2TrDi1PosValRev Enc2TrDi1PosValPhi 0 switch off 1 switch on 17 Activation channel measurement negative edge Enc2TrDi1NegValRev Enc2TrDi1NegValPhi 0 switch off 1 switch on 18 Trigger frequency 0 one time trigger a new measure does not occur until measuring...

Page 227: ...put 0 Qualification off 1 Qualification on 26 Selection digital input for qualification 0 Qualification zero pulse with digital input TP1 1 Qualification zero pulse with digital input TP2 27 Selection Signal Level for qualification 0 Zero pulse trigger active when digital input low 1 Zero pulse trigger active when digital input high 28 Trigger frequency 0 one time trigger a new measure does not oc...

Page 228: ...nel Delete reactivate Encoder 1 with Trigger digital input TP1 positive edge 1 0 1 1 0 Measurement Channel Delete reactivate Encoder 1 with Trigger digital input TP1 negative edge 2 0 1 1 0 Measurement Channel Delete reactivate Encoder 1 with Trigger digital input TP2 positive edge 3 0 1 1 0 Measurement Channel Delete reactivate Encoder 1 with Trigger digital input TP2 negative edge 4 0 1 1 0 Meas...

Page 229: ...edge 0 Switched off 1 Switched on 1 Measured value storage Measurement Channel Encoder 1 with Trigger dig ital input TP1 negative edge 0 Switched off 1 Switched on 2 Measured value storage Measurement Channel Encoder 1 with Trigger dig ital input TP2 positive edge 0 Switched off 1 Switched on 3 Measured value storage Measurement Channel Encoder 1 with Trigger dig ital input TP2 negative edge 0 Swi...

Page 230: ... storage Channel Encoder 1 with Trigger digi tal input TP1 or linked Bits 20 21 0 No measured value stored yet 1 Measured value stored 13 Status of the measured value storage Channel Encoder 1 with Trigger digi tal input TP2 or linked Bits 22 23 0 No measured value stored yet 1 Measured value stored 14 Status of the measured value storage Channel Encoder 1 with Trigger Zero Pulse or linked Bits 24...

Page 231: ... yet 01 Measured value positive edge stored 10 Measured value negative edge stored 11 Measured value positive negative edge stored 25 24 Status of measured value storage channel Encoder 1 with Zero Pulse 00 No measured value stored yet 01 Measured value positive edge stored 10 Measured value negative edge stored 11 Measured value positive negative edge stored 27 26 Status of measured value storage...

Page 232: ...ge exists 0 1 1 0 new measured value exists 5 Toggle bit to signal New measured value in channel Encoder 1 with Trigger Zero Pulse negative edge exists 0 1 1 0 new measured value exists 6 Toggle bit to signal New measured value in channel Encoder 2 with Trigger digital input TP1 positive edge exists 0 1 1 0 new measured value exists 7 Toggle bit to signal New measured value in channel Encoder 2 wi...

Page 233: ...al input TP1 124 8 Encoder 1 Trigger digital input TP1 neg Edge Angle Angle Encoder 1 with triggering of measurement through falling edge at digital input TP1 124 9 Encoder 1 trigger digital input TP2 pos edge revolutions Revolutions Encoder 1 with triggering of measurement through rising edge at digital input TP2 124 10 Encoder 1 Trigger digital input TP2 pos Edge Angle Angle Encoder 1 with trigg...

Page 234: ... with triggering of measurement through falling edge of Zero Pulse of Encoder 1 124 16 Encoder 1 Trigger Zero Pulse neg Edge Angle Angle Encoder 1 with triggering of measurement through falling edge of Zero Pulse of En coder 1 124 17 Encoder 2 Trigger digital input TP1 pos Edge Revolutions Revolutions Encoder 2 with triggering of measurement through rising edge at digital input TP1 124 18 Encoder ...

Page 235: ...2 124 23 Encoder 2 Trigger digital input TP2 neg Edge Revolutions Revolutions Encoder 2 with triggering of measurement through falling edge at digital input TP2 124 24 Encoder 2 Trigger digital input TP2 neg Edge Angle Angle Encoder 2 with triggering of measurement through falling edge at digital input TP2 124 25 Encoder 2 Trigger Zero Pulse pos Edge Revolutions Revolutions Encoder 2 with triggeri...

Page 236: ... the same source Bit Meaning 0 1 Switch on DS402 touch probe Start calculation of the combined measured values Z124 31 to Z124 34 and if necessary Z179 16 to Z179 19 The respective source is selected in bits 16 23 Configuration scaling of the combined measured values see bits 2 1 Attention The respective channel in Z124 1 Configuration mode must be activated 0 Switch off 2 1 Configuration scaling ...

Page 237: ...ions 17 bits angle 16 16 bits revolutions 16 bits angle 17 17 bits revolutions 15 bits angle 18 18 bits revolutions 14 bits angle 19 19 bits revolutions 13 bits angle 20 20 bits revolutions 12 bits angle 21 21 bits revolutions 11 bits angle 22 22 bits revolutions 10 bits angle 23 23 bits revolutions 9 bits angle 24 24 bits revolutions 8 bits angle 25 25 bits revolutions 7 bits angle 26 26 bits rev...

Page 238: ...sition value Z121 17 Z124 30 bit 2 1 10 124 32 DS402 touch probe 1 neg value DS402 touch probe object 0x60BB The source is selected in Z124 30 The following scalings are possible m according to Z124 30 bits 9 4 Z124 30 bits 2 1 00 or m with the Factor Group weightings from Z179 2 to Z179 9 Z124 30 bit 2 1 01 or m position system of the modulo actual position value Z121 17 Z124 30 bit 2 1 10 23 20 ...

Page 239: ...m with the Factor Group weightings from Z179 2 to Z179 9 Z124 30 bit 2 1 01 or m position system of the modulo actual position value Z121 17 Z124 30 bit 2 1 10 124 34 DS402 touch probe 2 neg value DS402 touch probe object 0x60BD The source is selected in Z124 30 The following scalings are possible m according to Z124 30 bits 9 4 Z124 30 bits 2 1 00 or m with the Factor Group weightings from Z179 2...

Page 240: ...fied alternatively via open loop control field bus or analogous inputs The output can be read out via open loop control fieldbus or analogous output The customizable controller can be configured as P PI PD PID I ID and D controller by selection of the corresponding bits in the PID controller mode The activation of the PID controller can be synchronized with current speed or position controller by ...

Page 241: ...mode P150 1 17 Bit 2 1 0 0 PID controller deactivated 1 and current controller active PID controller activated 2 and speed controller active PID controller activated 3 and position controller active PID controller activated 4 PID active always PID controller deactivated PID controller output P150 15 31 PID controller integral term P150 16 32 will be set to 0 Mode PID controller P150 1 17 Bit 6 P15...

Page 242: ...ID controller 2 UINT 0 1 0 1 1 X 150 20 Source number set value PID controller 2 UDINT 0 0xFFFFFFFF 0 1 1 X X 150 21 Source number actual value PID controller 2 UDINT 0 0xFFFFFFFF 0 1 1 X X 150 22 Target number output PID controller 2 UDINT 0 0xFFFFFFFF 0 1 1 X X 150 23 Kp PID controller 2 FLOAT 0 100000 1 1 1 X O X 150 24 Tn PID controller 2 FLOAT 0 000001 100000 0 01 s 1 1 X X 150 25 Td PID cont...

Page 243: ...tion controller is active 100 Activate PID controller always 3 Reserved 4 If PID controller active bit 2 0 000 0 Deactivate P controller 1 Activate P controller 5 If PID controller active bit 2 0 000 0 Deactivate I controller 1 Activate I controller 6 If PID controller active bit 2 0 000 0 Deactivate D controller 1 Activate D controller 15 7 Reserved Bit Meaning 0 0 PID controller is deactivated 1...

Page 244: ... controller actual value At source number 0 the value can be specified directly e g via a fieldbus or an analogous input 150 6 Target number output PID controller 1 Selection of the target of the PID controller output All cyclic writable parameters are permitted 150 7 Kp PID controller 1 Proportional gain of the PID controller 1 9 If PID controller input is linked only Z150 4 0 or Z150 5 0 1 PID c...

Page 245: ...is limited with this limit it will be signalized in Z150 2 bit 4 150 12 Output lower limit PID controller 1 Lower limit of the PID controller output If the output is limited with this limit it will be signalized in Z150 2 bit 4 NOTE If the upper limit is greater than the maximum value of the linked target parameter then the output is limited at writing on the target parameter to the maximum value ...

Page 246: ...s actual value can be selected in Z150 5 Axis index PID controller 1 If the source is not selected Z150 5 0 the actual value can be written via fieldbus or an analogous input If the source is selected Z150 5 0 and the value of the source parameter is less than the minimum value or greater than the maximum value of the actual value the actual val ue is limited to its minimum or maximum value This w...

Page 247: ...source number 0 the value can be specified directly e g via a fieldbus or an analogous input Bit Meaning 0 0 PID controller is deactivated 1 PID controller is activated 3 1 Reserved 4 1 PID controller output is limited 7 5 Reserved 8 If PID controller output is linked only Z150 22 0 1 PID controller output greater than maximum value or less than minimum value of the target parameter PID controller...

Page 248: ...time of the PID controller 2 150 26 Pt1 time constant PID controller 2 Time constant of the PT1 filter in the D leg of the PID controller If the value 0 is speci fied the signal will be transmitted unfiltrated 150 27 Output upper limit PID controller 2 Upper limit of the PID controller output If the output is limited with this limit it will be signalized in Z150 18 bit 4 NOTE If the upper limit is...

Page 249: ...t 9 150 30 Actual value PID controller 2 Value of the actual value of the PID controller The source of this actual value can be selected in Z150 21 Axis index PID controller 2 If the source is not selected Z150 21 0 the actual value can be written via fieldbus or an analogous input If the source is selected Z150 21 0 and the value of the source parameter is less than the minimum value or greater t...

Page 250: ... 5 16029 03 Baumüller Nürnberg GmbH 250 of 814 3 4 150 32 Integral term PID controller 2 Display of the unlimited integral term of the PID controller The integral term is set to 0 permanently at deactivated PID controller or switched off in tegral controller ...

Page 251: ...ers 3 4 14 1 Temporal features of the filters Both of the instances of the PT1 filters of every axis are calculated permanently in the RT1 cycle alternating every 2 ms The cycle time in which every filter is calculated is therefore not settable 3 4 14 2 Parameter overview Parameter ID Name Remark P182 1 i 0 Mode Activate deactivate filter P182 2 i 0 Source parameter ID Filter input P182 3 i 0 Time...

Page 252: ... UDINT INT DINT FLOAT 182 3 Time constant PT1 filter This parameter indicates the smoothing time constant 182 4 PT1 filter output This parameter represents the filter output The data type of the filter output is always FLOAT independently of the data type of the source parameter The output is always displayed in ProDrive as a raw value of the source parameter A cal culation of the unit of the inpu...

Page 253: ... communication between master and slave is possible double axis unit internally or between two Mono units in separated devices A compensating controller on the slave drive calculates an additional speed set value from the torque set value of the master receiving over cross communication and the torque set value of the slave corresponding to the torque weighting Over a rigid coupling the torque are...

Page 254: ...ler as speed additional set value Thus the torque init stress acts upon the slave axis only Figure 71 Structure of the control of the torque coupling at connecting the torque coupling via compensat ing controller x x P147 4 Bit 0 0 1 P147 13 P147 9 P147 10 P147 7 P147 8 P147 18 5000_0179_rev01_int cdr nSet Coupling factor slave P147 6 Compensating controller Coupling factor master P147 5 nact Slav...

Page 255: ...t is connected to the output of the speed controller also The torque init stress acts symmetrically on the master and the slave axis Figure 72 Structure of the control of the torque coupling at connecting the torque coupling as torque addi tional set value x x 0 P147 4 Bit 0 0 1 P147 13 P147 9 P147 10 P147 7 P147 8 P147 6 P147 5 P147 18 0 5 0 5 Compensating controller Coupling factor slave Couplin...

Page 256: ...mand master m Z147 19 Torque set value master m Z147 21 Torque init stress actual value master only if torque init stress is connected directly Z147 1 Bit 16 1 The cross communication can take place either via fieldbus e g EtherCAT or within a double axis internally Cross communication via fieldbus The parameter to be transferred cyclic coupling command master torque set value mas ter torque init ...

Page 257: ...ch the slave functionality is always equal It is recommended to configure axis 1 as master and axis 2 as slave because dead time does not effect then The cross communication can be realized on a double axis also via fieldbus see ZCross communication via fieldbus on page 256 Figure 75 Axis internal cross communication EtherCAT EtherCAT 5000_0181_rev02_int cdr Control EtherCAT master Drive master Et...

Page 258: ...0 ms 1 1 X 147 9 Compensating controller output upper limit FLOAT 0 180000 18000 Grad s 1 1 X 147 10 Compensating controller output lower limit FLOAT 180000 0 18000 Grad s 1 1 X 147 11 Compensating controller set value FLOAT 10000 10000 0 Nm 1 1 X 147 12 Compensating controller actual value FLOAT 10000 10000 0 Nm 1 1 X 147 13 Compensating controller output FLOAT 180000 180000 0 Grad s 1 1 X 147 14...

Page 259: ...is 2 7 5 Reserved 8 Coupling standby switch on switch off possible only at master functionality i e Bit 1 0 01 Slave side the coupling is efficiently not before master and slave are enabled 0 Coupling standby switch off 1 Coupling standby switch on 11 9 Reserved 12 Activate deactivate the speed dependent torque init stress at slave function ality only i e Bit 1 0 10 0 Torque init stress is indepen...

Page 260: ... sent via cross commu nication fieldbus or digital inputs outputs See also ZCross communication on page 256 At internal master slave communication an external transmission is not required The master transmits the command Switch on torque coupling when the coupling is ac tivated basically Z147 1 Bit 0 1 and the master drive is enabled Bit Meaning 0 0 Master functionality is switched off 1 Master fu...

Page 261: ... torque coupling at slave functionality on ly i e Z147 1 Bit 1 0 10 see ZFig 71 on page 254 147 8 Tn compensating controller Integral action time of the compensating controller at slave functionality only i e Z147 1 Bit 1 0 10 see ZFig 71 on page 254 147 9 Compensating controller output upper limit Upper limit of the compensating controller at torque coupling at slave functionality only i e Z147 1...

Page 262: ...r output Display of the limited compensating controller output at torque coupling at slave function ality only i e Z147 1 Bit 1 0 10 see ZFig 71 on page 254 147 14 Compensating controller integral term Display of the unlimited integral part of the compensating controller output at torque cou pling at slave functionality only i e Z147 1 Bit 1 0 10 see ZFig 71 on page 254 147 15 Torque init stress 0...

Page 263: ...e ZFig 73 on page 256 The limit effects bipolar thus means in both directions of revolution 147 18 Torque init stress pt1 time constant Time constant of PT1 element to connect the torque init stress to the slave at torque cou pling at slave functionality only i e Z147 1 Bit 1 0 10 see ZFig 71 on page 254 147 19 Torque set value master Display of the torque set value of the master at torque couplin...

Page 264: ... No Meaning 2 Torque init stress acts directly on the torque set values m Master Display of the present torque init stress which is parameterized and generated of the master This parameter must be sent cyclic from the master to the slave At external master slave communication this parameter must be sent via cross com munication fieldbus or analog inputs outputs See also ZCross communication on pag...

Page 265: ...16 2 Description of the Parameters 169 1 Mode Setting of the Gantry mode Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 169 1 Mode UDINT 0 0xFFFFFFFF 0 1 1 X X 169 2 Status UDINT 0 0xFFFFFFFF 0 1 1 X X 169 3 Position difference limit UDINT 0 0xFFFFFFFF 0x00010000 Inc 1 1 X X 169 4 Position difference time UINT 0 65535 1000 ms 1 1 X X 1...

Page 266: ...oth Gantry axes If the position difference for this time is greater than the set threshold bit 5 in parameter Z169 2 Status is set and depending on the setting in Z169 1 Mode bit 8 error message 213 Position difference greater than threshold in Gantry operation is displayed 8 1 Report error 213 if position difference for the set time is greater than the threshold 9 1 Report error 214 if current di...

Page 267: ...que current values smoothed torque current actual values parameter Z47 5 between both axes is greater than this threshold 169 7 Current difference time Time slot for the monitoring of the torque current difference between both Gantry axes Bit 7 in parameter Z169 2 Status is set if the difference of the actual torque current val ues between both Gantry axes is greater than the set threshold during ...

Page 268: ...Fieldbus cycle UDINT 0 4294967295 0 µs 1000 20 X X 156 6 Fieldbus jitter DINT 2147483648 2147483647 0 µs 1000 20 X X 156 7 Sync error DINT 2147483648 2147483647 0 µs 1000 20 X X 156 8 Max jitter positive DINT 0 262144 0 µs 1000 20 X 156 9 Max jitter negative DINT 262144 0 0 µs 1000 20 X 156 15 Time fieldbus write access DINT 500000 500000 0 µs 1000 20 X X 156 16 Time DSP read access DINT 500000 50...

Page 269: ...Synchronization Mode Z156 1 According to fieldbus cycle time and configuration of the EtherCAT master a manual set ting may be necessary in order to exchange data between the drive controller and the fieldbus connection without problems The Sync Offset must be set so that no access conflicts occur on the internal DPRAM This can be controlled via the parameters Z156 15 to Z156 19 Write access field...

Page 270: ... value 156 15 Time fieldbus write access Instant of time of write access of the fieldbus processor on the DPRAM referring to the Sync signal 156 16 Time DSP read access Instant of time of read access of the controller processor on the DPRAM referring to the Sync signal 156 17 Time DSP write access Instant of time of write access of the controller processor on the DPRAM referring to the Sync signal...

Page 271: ...he parameter Z165 2 can be combined with logic op erations The structure of the operations is predefined see ZFig 76 The following boolean operators are available AND OR XOR NAND NOR and XNOR The operation results can also be mapped to the configurable bits 14 and 15 of the Z108 3 Status word 1 of the drive manager Here the information is available with a de lay of 1 ms This function is described ...

Page 272: ...Configuration Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 272 of 814 3 4 Figure 76 Boolean operation of the configurable status bits Z165 2 via the operators of Z165 5 ...

Page 273: ...pletely via the Z165 1 Mode bit 0 0 the state of the completely configurable status is frozen at the shut off time Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 165 1 Mode DWORD 0 0xFFFFFFFF 0 1 1 X O 165 2 Configurable status DWORD 0 0xFFFFFFFF 0x0 1 1 X 165 3 Source numbers UDINT 0 0xFFFFFFFF 0 1 1 X 165 4 Bit mode WORD 0 0xFFFF 0 1...

Page 274: ...s Bit Source 1 Z165 3 Index 1 Bit 2 Status Bit Source 2 Z165 3 Index 2 Bit 15 Status Bit Source 15 Z165 3 Index 15 30 16 Results from the logic operations of the status bits Bit 16 Result from Bit 0 and 1 Bit 17 Result from Bit 2 and 3 Bit 18 Result from Bit 4 and 5 Bit 19 Result from Bit 6 and 7 Bit 20 Result from Bit 8 and 9 Bit 21 Result from Bit 10 and 11 Bit 22 Result from Bit 12 and 13 Bit 2...

Page 275: ...re is described in chapter ZConfigurable status word from page 271 The logic function is activated by entering a value between 1 and 6 Bit No Meaning 4 0 Bit number 7 5 Reserved 8 Bit Logic 0 positive logic selected bit is copied unchanged into the configured status 1 negative logic selected bit is copied inverted into the configured status 15 9 Reserved Index Meaning 0 Bit number and bit logic fo...

Page 276: ...e Here one time statuses in the status bits are saved This parameter can be written to in order to reset single bits or the complete latch Switching off single channels or the complete function has no effect on its value Index Meaning 0 Logic Operator OP0 a for status bit 16 of Z165 2 a This abbreviation is used for the logic operations in the logic structure 1 Logic Operator OP1 a for status bit ...

Page 277: ... The Factor Group is activated for all axes available in the device by setting bit 14 1 in parameter Z131 9 Fieldbus slave settings Scaling can be adjusted separately for each axis The DS402 scalings are calculated as follows the corresponding DS402 object number is in brackets NOTE The Factor Group cannot be used together with the functions Modulo position set value or Modulo position actual valu...

Page 278: ...Position weighting without sign Position resolution 0x608F Gear ratio 0x6091 Feed constant 0x6092 Position weighting with sign Position weighting without sign Polarity 0x607E Speed weighting without sign Speed resolution 0x6090 Gear ratio 0x6091 Feed constant 0x6092 Speed weighting with sign Speed weighting without sign Polarity 0x607E Acceleration weighting d dt Speed weighting without sign ...

Page 279: ...le P136 5 Positioning relative target position P118 16 1 Position weighting unsigned 1 Position weighting unsigned 1 Position weighting unsigned Home offset P179 13 0x607C Home position P120 3 Minimum software position limit P179 14 0x607D 01 Negative software limit switch P121 3 Maximum software position limit P179 15 0x607D 02 Positive software limit switch P121 4 Position actual value P179 10 0...

Page 280: ...eighting Acceleration weighting Acceleration weighting Acceleration weighting Speed weighting signed Position weighting signed Speed additional value P18 68 Ramp function generator input 32 bit P110 4 x2 speed actual value P121 4 Homing acceleration P120 7 Homing deceleration P120 8 Quick stop time P110 8 Positioning deceleration P118 13 Positioning acceleration P118 12 Speed offset P179 25 0x6081...

Page 281: ...he Factor Group non positioning encoder cannot be calculated correctly anymore if the standardized by the Factor group actual position value overflows This is the case at devices with more than one encoder per axis single axis BM5300 mono device BM5500 and separate encoders for motor and positioning control Z18 9 bit 0 1 If this overflow can not be excluded the factor group must be switched off fo...

Page 282: ... manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 282 of 814 3 4 3 4 19 2 ProDrive DS402 Figure 79 ProDrive Factor Group and touch probe DS402 3 4 19 3 Parameter overview Functional block FbFactorGroup 179 ...

Page 283: ...window UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 179 12 Target position DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 13 Home offset DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 14 Minimum software posi tion limit DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 15 Maximum software posi tion limit DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 16 Touch probe pos1 pos value DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 17 Touc...

Page 284: ... denominator of the position weighting 179 4 Speed resolution encoder increments s DS402 Factor Group object 0x6090 01 numerator of the speed weighting 179 5 Speed resolution motor revolutions s DS402 Factor Group object 0x6090 02 denominator of the speed weighting 179 6 Gear ratio motor shaft revolutions DS402 Factor Group object 0x6091 01 numerator of the gear ratio 179 28 Profile acceleration U...

Page 285: ... with position weighting corre sponding to ZGeneral information from page 277 179 11 Position window DS402 Factor Group object 0x6067 positioning window for the operating mode Position target setting with position weighting corresponding to ZGeneral information from page 277 179 12 Target position DS402 Factor Group object 0x607A target position for the operating modes Position tar get setting onl...

Page 286: ...ation from page 277 Notice The touch probe must be parameterized adequately see notes on Zpage 281 179 17 Touch probe pos1 neg value DS402 Factor Group object 0x60BB touch probe value from revolutions and angle scaled with position weighting corresponding to ZGeneral information from page 277 Notice The touch probe must be parameterized adequately see notes on Zpage 281 179 18 Touch probe pos2 pos...

Page 287: ...th speed weighting corresponding to ZGeneral information from page 277 179 23 Homing speed search for switch DS402 Factor Group object 0x6099 01 homing speed search for switch with speed weighting corresponding to ZGeneral information from page 277 179 24 Homing speed search for zero DS402 Factor Group object 0x6099 02 homing speed search for zero with speed weight ing corresponding to ZGeneral in...

Page 288: ...le acceleration DS402 Factor Group object 0x6083 profile acceleration with acceleration weighting cor responding to ZGeneral information from page 277 179 29 Profile deceleration DS402 Factor Group object 0x6084 profile deceleration with acceleration weighting cor responding to ZGeneral information from page 277 179 30 Quick stop deceleration DS402 Factor Group object 0x6085 quick stop deceleratio...

Page 289: ... function is inhibited m The operationally ready relay is OFF drive is not operationally ready n SWITCH ON INHIBIT m Software hardware initialization is complete m The parameters for the application can be changed m The drive function is inhibited m Switch on is inhibited m The operationally ready relay is ON drive is operationally ready n READY TO SWITCH ON m The parameters for the application ca...

Page 290: ...application can be changed m Drive function is enabled m Shut down command is executed m The operationally ready relay is ON drive is operationally ready n QUICK STOP ACTIVE m The parameters for the application can be changed m Quick Stop command is executed m Drive function is enabled m The operationally ready relay is ON drive is operationally ready n ERROR RESPONSE ACTIVE m The parameters for t...

Page 291: ...stem Within the states see ZFig 80 Bits 7 0 of Status Word 1 Z108 3 are represented in binary form as XXXX XXXX At the state transitions arrowed see ZFig 80 Bits 7 0 of the Control Word Z108 1 are represented in binary form as xxxx xxxx None of the bits labeled X i e the bits of the status word or x i e the bits of the control word have any significance for the control of the state machine or the ...

Page 292: ...t down xxxx x110 Operation enabled xxxx 1111 Shut down xxxx x110 Quick stop xxxx x01x Inhibit voltage xxxx xx0x Qick stop xxxx x01x Inhibit voltage xxxx xx0x Quick stop xxxx x01x Inhibit voltage xxxx xx0x NOT READY FOR START X0X0 0000 Drive messeges Not ready for switching power on INHIBIT START X1XX 0000 READY FOR SWITCH ON X01X 0001 SWITCHED ON X011 0011 SHUT DOWN ACTIVE X011 0111 OPERATION ENAB...

Page 293: ...ion and self test completed without error n Action m None 2 SWITCH ON INHIBIT READY TO SWITCH ON n Event Drive activation by control word m Shut down command n Condition m axis not parked n Action m None 3 READY TO SWITCH ON SWITCHED ON n Event Drive activation by control word m Switch On command n Condition m Power supply reports operational readiness main supply voltage applied and n Action m No...

Page 294: ...nd state monitoring Parameter Z134 1 Bit 4 1 is switched on n Action m Drive function is inhibited 5b OPERATION INHIBIT ACTIVE OPERATION ENABLED n Event m Operation Inhibit has ended speed 0 reached and holding brake could not be applied holding brake only relevant if brake is in Automatic mode Parameter Z134 1 Bit 0 1 and state monitoring Parameter Z134 1 Bit 4 1 is switched on and Drive activati...

Page 295: ...r Z134 1 Bit 4 1 is switched on n Action m Drive function is inhibited 8b DRIVE SHUT DOWN ACTIVE OPERATION ENABLED n Event m Drive Shut down has ended speed 0 reached and holding brake could not be applied holding brake only relevant if brake is in Automatic mode Parameter 134 1 Bit 0 1 and state monitoring Parameter 134 1 Bit 4 1 is switched on or Drive activation by control word m Enable Operati...

Page 296: ...function is inhibited 16 QUICK STOP ACTIVE OPERATION ENABLED n Event Drive activation by control word m Enable Operation command n Condition m QUICK STOP response Z108 13 is set to Remain in Quick Stop value 5 to 8 or QUICK STOP response Z108 13 is not set to Remain in Quick Stop value less than 5 and Quick Stop has ended speed reached 0 and the holding brake could not be applied holding brake onl...

Page 297: ...ED remains off This is also the case when errors occur However errors and the drive state continue to be sig naled as usual by means of the status word and the error parameters The transition to other drive states as State 1 Switch on Inhibit or State F Error is not possible After the Parking Axis display state is exited the actual drive state 1 or F will be dis played again Error and warning mess...

Page 298: ... sta tusbit 14 UDINT 0 0xFFFFFFFF 0 1 1 X X 108 10 Bit pattern status bit 14 UDINT 0 0xFFFFFFFF 0 1 1 X X 108 11 Parameter selection sta tusbit 15 UDINT 0 0xFFFFFFFF 0 1 1 X X 108 12 Bit pattern status bit 15 UDINT 0 0xFFFFFFFF 0 1 1 X X 108 13 QUICK STOP reaction code INT 0 8 0 1 1 X X 108 14 SHUTDOWN reaction code INT 0 3 0 1 1 X X 108 15 DISABLE OPERATION reaction code INT 0 3 0 1 1 X X 108 16 ...

Page 299: ... operating condition 0 Quick Stop command 3 1 Enable Operation command 0 Inhibit Operation command 4 Depends on operating mode Ramp FG inhibit start reference run new set value 5 Depends on operating mode Ramp FG stop Change set immediately 6 Depends on operating mode Ramp FG zero Absolute relative target specification 7 0 1 Error reset 8 Depends on operating mode Hold 9 Depends on operating mode ...

Page 300: ...put to 0 0 Enable ramp function generator enable output n Target Position Setting Operating mode 1 1 Start positioning if control of positioning is via New Set Value n Reference run mode Operating mode 6 1 Start reference run n Coupled operation operation mode 12 0 1 Activate switchover to a reloaded curve m Bit 5 Ramp FG Stop Change set immediately n Target Position Setting Operating mode 1 Chang...

Page 301: ... target specification n Speed Setting Operating mode 2 1 Enable ramp FG input 0 Set ramp FG input to zero braking with ramp n Speed Control Operating mode 3 Sense of the bits inverted with respect to the Speed Setting mode Operating mode 2 1 Set ramp function generator input to zero braking with ramp 0 Enable ramp function generator input n Coupled operation operation mode 12 0 1 Activate addition...

Page 302: ... 3 5 or P136 4 6 are not adopted n Spindle positioning Start of a sequential positioning m Bit 12 n Manual drive operation Operating mode 5 1 Jog backwards n Target Position Setting Operating mode 1 1 Interrupt positioning with Z121 8 stop delay FbPosCommonData n Position control Operating mode 4 1 Inhibit set values Position set values which are written to 136 3 136 5 or 136 4 136 6 are not adopt...

Page 303: ...age State machine device control 1 2 Quick Stop State machine device control 1 3 Enable Operation State machine device control 4 Activate curve X X X X X X X Inhibit ramp FG X X Start Positioning 3 New Set Value Inhibit ramp FG1 X Start refer ence run 5 Sequence change X X X X X X X Stop ramp FG X X Change set immediately 3 5 Stop ramp FG 1 X X 6 Activate additional movement X X X X X X X Ramp FG ...

Page 304: ...der Diagnosis Sercos A valid and current value is displayed in OPERATIONAL bus status only Writing to the parameters does not have any effect on the state machine of the device controller 108 3 Status word 1 This parameter is the output word from the state machine for the device controller Bit Meaning at axis units 0a 1 Ready to switch on 0 Not ready to switch on 1b 1 Switched on 0 Not operational...

Page 305: ...ds on operating mode 15 14 Real time bits can be set as parameters See Parameters 108 9 108 12 a Display of drive manager operating state b Display of drive manager operating state c Display of drive manager operating state d Display of drive manager operating state e Bit active low f Display of drive manager operating state g Meaning dependent on Control Word Bit 8 If Hold 0 0 Set Value not reach...

Page 306: ...Stop is selected as the behavior for the Quick Stop re sponse Parameter Z108 13 QuickstopCode QUICK STOP reaction code Values 5 to 8 this bit remains cleared for as long as the drive is in Quick Stop The bit is set once more as soon as the drive is enabled again or the Ready to Switch On state is reached as a result of a command Bit 7 Warning This bit indicates when a warning or an error which doe...

Page 307: ...s Reference run has completed successfully bit 12 is set additionally Reference run is not yet started or interrupted command hold and the drive is at standstill then bit 12 is deleted Error at reference run and drive is at standstill bit 13 is set additionally An overview of the bit combinations for the reference run is located subsequent to the table General Overview of All Operating Modes m Spi...

Page 308: ...Operating mode 6 The start of a sequential positioning will be acknowledged when the controller has rec ognized the command and positions For this purpose the preceding spindle position ing must be completed and then an increasing edge must be recognized in the start bit This handshake is made only at sequential positioning and at start after spindle po sitioning error m Position control operating...

Page 309: ... machine device control 3 Error State machine device control 4 Voltage inhibited State machine device control a 5 Quick Stop active State machine device control a 6 Switch on inhibit State machine device control 7 Warning 8 Curve ready X X X X X X X Ramp FG stop X X X Ramp FG stop X X 9 Remote 10 Set value reached Drive fol lows curve X X X Auto tuning com plete in posi tion Posi tion set value Po...

Page 310: ...ter is only relevant for axis units Status Word 2 of the Drive Manager is allocated as follows Bit 13 Error ref erence run Bit 12 Refer ence run has com pleted Bit 10 Set value reached Meaning 0 0 0 Reference run in operation or speed not equal zero e g braking procedure at stop command 0 0 1 Reference run interrupted stop command or not yet started speed 0 0 1 0 Reserved 0 1 1 Reference run has c...

Page 311: ... axis units Selection of the parameter for the freely definable Status Bit 14 in the drive manager Sta tus Word Z108 3 If at least one bit from the mask Z108 10 is set in the selected parameter Bit 14 in the Status Word will be set When StatusB14_IdSelect 0 the mapping for Bit 14 is switched off Value Meaning at axis units 0 Not ready to switch on 1 Switch on inhibit 2 Ready to switch on 3 Switche...

Page 312: ...selected parameter Bit 15 in the Sta tus Word will be set When StatusB15_IdSelect 0 the mapping for Bit 15 is switched off 108 12 Bit pattern status bit 15 This parameter is only relevant for axis units Mask for the freely definable Status Bit 15 in the drive manager Status Word Z108 3 If at least one bit from the mask is set in the selected parameter 108 11 Bit 15 in the Sta tus Word will be set ...

Page 313: ... the response of the drive during the transition from the OPERA TION ENABLED to the READY TO SWITCH ON state in the state machine for the device controller For correct functioning of the braking procedures on the Quick Stop or Ramp down ramps the speed controller must be adequately configured 7 Return to current limit and remain in Quick Stop active mode renewed enabling possible 8 Return to volta...

Page 314: ...igured 108 16 Status internal limits This parameter is only relevant for axis units Status bit string for internal limits Value Meaning 0 Inhibit drive immediately 1 Return to ramp down ramp 2 Return to Quick Stop ramp 3 Return to current limit NOTICE Do not use return to current limit during U f operation Bit Meaning 0 1 Current torque limited 1 1 Speed set value limited at speed controller input...

Page 315: ...ime for reducing torque This parameter is only relevant for axis units This parameter can be set to provide smooth torque reduction using controlled braking procedures After the drive has been braked to Speed 0 the internal torque current limit is reduced linearly to 0 over the set time and the drive is then inhibited This smooth re duction of torque is effective for all braking procedures control...

Page 316: ... see Parameter 109 1 Bit Meaning 0 0 Parking shaft is not active 1 Parking shaft is active 1 1 Activation of Parking shaft is not possible 2 1 Deactivation of Parking shaft is not possible 15 3 Reserved Value Meaning 12 Coupled operation 11 Reserved 10 U f operation 9 Voltage setting for development purposes only 8 Current setting for development purposes only 7 Autotuning 6 Spindle positioning 5 ...

Page 317: ... are implemented as data set parameters i e up to 7 different configurations can be stored It is also possible to switch between these data sets during operation 3 5 2 2 Command Interface The data set management system can be accessed via ProDrive or via Fieldbus The following actions are possible m Storing parameter set m Loading parameter set m Creating and deleting data sets m Initializing data...

Page 318: ...switch between the data sets In so doing the window moves from DS 0 to the memory area of the activated data set Example Data Set 3 is activated The window for the active data set addresses Data Set 3 Figure 82 Active data set Basically only data from the active data set DS 0 can be accessed via external option modules or fieldbuses 3 5 2 4 Delivered State When delivered only Data Set 1 is created...

Page 319: ...ters in created data sets can be loaded individually or completely into the working memory The data set copy function permits copying of the parameter values from a created source data set to a different target data set If the target data set has not been created yet it will be automatically created by the device If the target data set has already been created the original parameter values will be...

Page 320: ...te protected invalid parameter num ber m Error while reading m Command processing running m Error code Some commands for data set management require additional parameters which are list ed as follows m Z105 8 Source Data Set Source data set for certain commands such as Copy or Reload m Z105 9 Target Data Set Target data set for certain commands such as Create or Delete m Z105 6 Active Data Set Num...

Page 321: ...Parameter is read only n Due to operating state parameter cannot be changed n Parameter value is invalid n Check yielded faulty checksum m Delete parameters in Flash This data set command deletes the parameters saved in Flash Possible error messages n Error writing to Flash m Set standard values for all savable parameters All savable parameters of the device are set to their standard values This c...

Page 322: ... data set command copies in RAM the parameters from Data Set x Z105 8 Source Data Set to the parameters of Data Set y Z105 9 Target Data Set The copying pro cedure takes a few milliseconds for that reason the command is only permitted when the device is inhibited Only source data sets that are already created may be specified If a target data set that has not yet been created is specified it will ...

Page 323: ...ore the changeover a check is made to ensure that the data set has been created 3 5 2 11 Overview of the Data Set Management Commands NOTE No consideration can be given to inconsistent set values and monitored values during the changeover of data sets During the changeover the possibility cannot be ruled out that e g a monitored value in the new data set is smaller than the associated instantaneou...

Page 324: ...105 8 Source data set Z105 9 Target Data Set Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 105 1 Command DINT 0 10 0 1 1 105 2 Status UDINT 0 0xFFFFFFFF 0 1 1 X 105 3 Message RE CORD X 105 4 Record name STRING 1 1 X 105 5 Record Id UDINT 0 0xFFFFFFFF 0 1 1 X 105 6 Dataset index UINT 1 7 1 1 1 105 7 ValidDatasets BIT FIELD 1 0x7F 1 1 1...

Page 325: ...ost frequent status messages RC codes Value Meaning 0 Resets the DSM the message list is deleted 1 Saves the parameter set in Flash 2 Loads the parameter set from Flash 3 Deletes the parameter set in Flash 4 Set all parameters in the target data set to the default value 5 Sets all savable parameters to the default value 6 Create Data Set X target data set 7 Delete Data Set X target data set 8 Copy...

Page 326: ...lid data set number specified for DSM command copying of non created DS deletion of active DS Value RC Code Meaning ParaId Parameter Id value 0 if no message Index0 Index for Index Level 0 Index1 Index for Index Level 1 Index2 Index for Index Level 2 Index3 Index for Index Level 3 RC RC code of this message Value RC Code Meaning 0 RC_NO_ERROR No command executed yet or else Reset command executed ...

Page 327: ... value will be rejected Certain additional conditions must be satisfied in order to switch over when the device is enabled 105 7 Valid Datasets Bit string to show which data sets are created A set bit indicates a created data set 166 RC_ERR_BAD_VALUE Value is invalid 169 RC_ERR_NO_CHANGE Value cannot be changed 172 RC_ERR_FORMAT Byte length in the parameter set does not agree with the byte length ...

Page 328: ...umber for data set operations such as e g creating or deleting data sets 105 11 Name of complete parameter set Denomination for the complete parameter set of the drive 105 12 Error count Number of valid messages in array parameter Z105 3 Message 105 13 Config Ident number User definable identification number for the complete parameter set of the drive 5 0 Data Set 6 deleted 1 Data Set 6 created 6 ...

Page 329: ...ndently of the state of the drive Z134 4 Bit 0 Automatic Brake Triggering Z134 1 Bit 0 1 In the Automatic mode the brake is actuated depending on the state of the device con troller see ZDrive management from page 289 In states 0 Not Ready to Switch On to 3 Switched On the brake is applied The brake is enabled on the transition to State 4 Operation Enabled For commissioning purposes Z134 4 Bit 1 1...

Page 330: ...d When the torque is reached the Enable Brake command is sent If the holding torque corresponds ex actly to the load torque the drive does not sag Any difference between the load torque and the holding torque set in the parameters results in a negligible movement and is cor rected If the holding torque set in the parameters cannot be achieved the brake will not be enabled and the drive will go int...

Page 331: ...Description of the Software Modules and Parameters Parameter manual b maXX BM5800 Document No 5 16029 03 331 of 814 3 Figure 83 Starting the drive in the Automatic brake control mode ...

Page 332: ...orque is to be reduced after the end of the braking procedure pulse inhibit the brake is applied when a presettable speed threshold is reached The subsequent pulse inhibit can also be delayed if this is required to compensate for a me chanical dead time If the activated state monitoring detects that the brake could not be applied the drive re mains under torque in the Quick Stop active drive shut ...

Page 333: ...HUT DOWN INHIBIT drive error the brake could be applied immediately or when the speed threshold see above is reached With a suspended load it is recom mended that the brake be allowed to be applied immediately in this case Z134 3 Bit 2 0 as the drive could be accelerated by the externally acting torque with the result that the speed threshold is not reached and the brake is not applied Figure 84 B...

Page 334: ...s 2 Drop out time of holding brakes depends on type approx 125 400 ms 3 Duration of current reduction in brake coil depends on type approx 30 ms processing time for response in controller max approx 32 ms The following must apply for a correct error reaction Z134 7 timeout check back signal TSignalCom TSignalFB 3 5 3 2 Brake watchdog A hardware watchdog can be activated by the parameter Z134 1 bit...

Page 335: ... Support Cyclic Write Axis independent 134 1 Mode DWORD 0 0xFFFFFFFF 0x22 1 1 X 134 2 Status DWORD 0 0xFFFFFFFF 0 1 1 X 134 3 Control automatic DWORD 0 0xFFFFFFFF 0 1 1 X 134 4 Command WORD 0 0xFFFF 0 1 1 X 134 5 Torque limit FLOAT 1 00E 06 1 00E 06 0 Nm 1 1 X X 134 6 Speed limit FLOAT 0 1 00E 06 90 Grad s 1 1 X 134 7 Timeout check back sig nal UINT 0 1000 1000 ms 1 1 X 134 8 Pulse inhibit delay U...

Page 336: ...igital output X2 If a digital output is needed the special function Triggering holding brake must be selected at the digital outputs 3 Reserved 4 Brake state monitoring 0 Switch off 1 Switch on 5 Polarity of brake state signal 0 Brake is enabled when response signal low 1 Brake is enabled when response signal high 6 Feedback signal brake status 0 Standard BM5200 5300 Controller input X207 X208 BM5...

Page 337: ...s enabled 5 Preset brake triggering mode 0 Manual 1 Automatic 6 Service operation 0 Switched off 1 Switched on 7 Reserved 8 Error state 0 No error 1 Error 9 Watchdog for brake monitoring 0 Is not provided 1 Is provided 10 1 Delay enabling the brake start drive active 11 1 Delay applying the brake inhibit drive active 31 12 Reserved Bit Meaning 0 Brake enabling mode 0 Without holding torque preset1...

Page 338: ...ns in its current state i e the original state before the service mode was activated is not re established If the motor holding brake is to be actuated manually Z134 1 Manual the command must be transmitted to the brake directly via 134 4 134 5 Torque limit Torque limit for torque controlled enabling of the motor holding brake in the Automatic mode Z134 1 Bit 0 1 This torque is built up before the...

Page 339: ... braking force m The evaluation of the brake state is switched off Z134 1 Bit 4 0 The pulse inhibit occurs at the earliest after the time set in 134 8 has elapsed following the issue of the engage command by the drive manager m The evaluation of the brake state is switched on Z134 1 Bit 4 1 The drive is without torque at the earliest after the time set in 134 8 has elapsed follow ing reception of ...

Page 340: ... torque and the Enable brake command in Automatic mode Z134 1 Bit 0 1 134 10 is only evaluated if a holding torque is to be built up before the brake is enabled and the brake is to be enabled after a presettable time Z134 3 Bit 1 0 3 The En able brake command is issued 134 10 ms after the start of the buildup of the holding torque See also ZEnabling the Brake from page 329 ...

Page 341: ...e The error will not be messaged No error response The error is messaged but there is no response of the drive e g pulse block Pulse block The pulses are locked and the drive goes in the failure state Stop at current limit The drive is stopped at current limit Afterwards the pulses are locked and the drive goes in the failure state Stop RFG Quickstop time The drive is stopped at the quick stop ram...

Page 342: ...Write Axis independent 100 1 Error command UINT 0 65535 0 1 1 X 100 2 Error count UINT 0 20 0 1 1 X 100 3 Error information RE CORD X 100 4 Error reaction RE CORD X 100 5 First error UDINT 0 5000 0 1 1 X 100 7 Error communication mode UINT 0 0xFFFF 0 1 1 X 100 8 Error reaction actual value INT 5 3 1 1 1 X 100 9 Error reaction set value INT 5 3 1 1 1 X 100 11 Launch application error UDINT 0 0xFFFF...

Page 343: ...t rel ative time since switch on If errors are reset then these are shifted to the end of the array By reading out the array completely it is possible to access error messages prior to the last reset The number of the relevant entries i e the not yet acknowledged messages is displayed in parameter Z100 2 Error count Value Meaning 0 Reserved 1 Reset all errors Parameter is supported for compatibili...

Page 344: ...ror response The error responses Return motion and Controlled stop are described in the chapters Z 3 6 3 and Z 3 6 4 Name Meaning RC Error code see ZError descriptions from page 732 FB Type Functional block type FB Instance Instance number of the FB Set Time Timestamp of when the error was reported Reset Time Timestamp of when the error was reset Error Response Error response code see Z100 4 table...

Page 345: ...p pears as an actual value on the sending drive and as a set value on the receiving drive I e the control must copy Z100 8 of drive 1 to Z100 9 of drive 2 At internal transmission this parameter is displayed for diagnostics 100 9 Error reaction set value This error code is sent from the other drive The receiving drive should execute this reac tion if Z100 7 bit 0 1 and bit 1 1 At external transmis...

Page 346: ...etError Info at VARAN and BM_GetDriveError at EtherCAT and is evaluated by these function blocks see the Online help of these function blocks Function Drive 1 Control Drive 2 Transmission exter nal Z100 7 1 Z100 9 Drive 2 Z100 8 Drive 1 Z100 9 Drive 1 Z100 8 Drive 2 Z100 7 1 Transmission inter nal within a double axis Z100 7 3 Z100 7 3 Value Error which is set 0 Noneffective 1 175 Application erro...

Page 347: ...erating mode Z109 2 For the operating modes which work in the so named RT1 Task the cycle time is always 1 ms An active RT1 operating mode can be recognized by Z111 1 Status Bit 4 1 RT1 operating modes are all position and speed controlled modes for which the speed profile is produced internally to the controller Examples for RT1 operating modes are the are the setting of the target positions Z109...

Page 348: ...t value angle SetValMgr UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 111 4 Speed set value Set ValMgr DINT 0x80000000 0x7FFFFFFF 0 Inc ms 1 1 X 111 5 Acceleration set value SetValMgr DINT 0x80000000 0x7FFFFFFF 0 Inc ms 1 1 X 111 6 Interpolation mode UINT 0 4 1 1 1 X O 111 7 External speed feedfor ward FLOAT 180000 180000 0 Grad s 1 1 X 111 8 External acceleration feedforward FLOAT 2147483647 2147483647 0 Grad s...

Page 349: ...ue SetValMgr This parameter indicates the intended acceleration in the set value manager m at speed controlled operating modes from the derivative of the speed set value source m at position controlled operating modes from the second derivative of the position set value source Resolution is 32 bit increments revolutions every ms2 111 6 Interpolation mode Using this parameter the mode for the inter...

Page 350: ...ixture of Modes 0 and 1 The position is linear extrapolated the speed linear interpolated As a result of the interpolation of the speed overshoots in the speed set value or speed feedforward value are avoided At the same time due to the linear extrapolation of the position the position controller receives a dead time optimized po sition set value m Mode 3 The mode 3 carries out a linear interpolat...

Page 351: ... mode must be set to mode 0 extrapolation at the external feedforward The fieldbus cycle time Z131 18 must correspond to the controller cycle Z1 8 in order to achieve an optimum result NOTICE The following functions are not applicable at an activated external feedforward con trol value in the operating mode Position control because the dominating external speed control value Z111 7 is superimposin...

Page 352: ...etValMgr This parameter displays the jerk set value in the set value manager m at speed controlled operating modes from the second derivative of the speed set value source m at position controlled operating modes from the third derivative of the position set val ue source Its resolution is 32 bit increments revolution per ms3 ...

Page 353: ...rovides the following control options via the control word Z108 1 m Inhibit ramp generator set output permanently to 0 ramp down at the current limit m Stop ramp generator freeze output value m Inhibit ramp generator set value set input internally to 0 ramp down on the ramp down ramp The following options can additionally be selected via Ramp generator mode Z110 2 m Selection between a 16 bit para...

Page 354: ...ardware limit switch The behavior at an active hardware limit switch can be chosen via Z110 2 bit 8 and 9 The limit switch monitoring is switched on via Z121 1 bit 1 1 m Additional additive input Z110 17 with format of the 32 bit input Z110 4 m Transparency mode Switch off ramp generator output input m Optional interpolation of the ramp function generator set value input see chapter Z 3 6 1 1 on Z...

Page 355: ...more smoothly with the S Curve profile The time to reach maximum acceleration or deceleration is set using the S Curve time The maximum value of the accelerations is determined by the ramp up time or the ramp down time The S Curve time can be set separately for the ramp up and the ramp down The ramp up or ramp down time resulting from a change to the input set value of 100 can be found from TRamp ...

Page 356: ... Set value 0 Acceler ation 0 For set value changes less than 100 two cases for determining the resulting ramp up and ramp down times must be distinguished n the maximum acceleration or deceleration is achieved n the maximum acceleration or deceleration is not achieved In the following the calculation of the resulting ramp up time for the two cases is ex plained by means of examples for the ramp up...

Page 357: ...tion is achieved Calculate proportion of phase at maximum acceleration dVamax dVtotal dVScurve 50 25 25 Duration of phase at maximum acceleration tamax dVamax 100 TRamp up 25 100 800 ms 200 ms Now determine the resulting ramp up time ttotal 2 TScurve tamax 2 200 ms 200 ms 600 ms Example 2 Set value changed by 12 5 Total set value change dVtotal 12 5 Calculate proportion of S Curve phase in the acc...

Page 358: ...be activated Both must take place before enabling the operation mode speed control or speed setting A change at active ramp function generator is invalid The ramp function generator interpolates if the set value cycle time Z145 11 is greater than the active cycle time of the ramp function generator Z110 22 Example 1 Fieldbus cycle 1 ms set value cycle 6 ms und ramp function generator cycle 1 ms A ...

Page 359: ...ersal of the input value directional block ramp function generator block ramp function generator stop quick stop function and ramp generator This interpolator must not be confused with the interpolator of the ramp function generator cycle to controller cycle This interpolator is specified in chapter ZSet Value Manager from page 347 Interpolator active and ramp generator switched off The ramp gener...

Page 360: ...ol of the ramp function generator using the drive manager control word FG INHIBIT Parameter Z108 1 Control word 1 Bit 4 FG STOP Parameter Z108 1 Control word 1 Bit 5 FG ZERO Parameter Z108 1 Control word 1 Bit 6 Display Set value reached Parameter Z108 3 Status word 1 Bit 10 NOTE m The input set value will be delayed by one set value cycle when using the interpo lation m The following ramp functio...

Page 361: ...rameter overview Functional block FbRampGenerator 110 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 110 1 Status DWORD 0 0xFFFFFFFF 0 1 1 X 110 2 Mode DWORD 0 0xFFFFFFFF 0x20 1 1 X X X 110 3 Output DINT 1073741824 1073741824 0 400000 00hex 100 X 110 4 Input 32 bit DINT 1073741824 1073741824 0 400000 00hex 100 X X X ...

Page 362: ...00 X X 110 13 Maximum drive speed FLOAT 1 1 000000e 06 3000 U min 1 1 X 110 14 Output acceleration FLOAT 5000000000 5000000000 0 Inc ms 1 1 X 110 15 Input max amount UDINT 0 1073741824 1073741824 400000 00hex 100 X X X 110 16 Input min amount UDINT 0 1073741824 0 400000 00hex 100 X X X 110 17 Input 32 bit additive DINT 1073741823 1073741823 0 400000 00hex 100 X X X 110 20 Controlled stop time UDIN...

Page 363: ...alue inhibit has blocked negative set value see 110 2 Mode Bit 0 17 1 Set Value inhibit has blocked positive set value see 110 2 Mode Bit 1 18 1 Run in negative direction with hardware limit switch prevented 19 1 Run in positive direction with hardware limit switch prevented 20 Absolute value limitation of the input set value to an allowed minimum value Z110 16 21 Absolute value limitation of the ...

Page 364: ...e from 100 0 1 Change of set value from effective set value at ramp function generator output Z110 3 0 9 8 Behavior at run over hardware limit switch at active limit switch monitor ing 0 Error message 1 Error message stop at deceleration ramp if error reaction no reac tion 2 No error message no stop 3 No error message stop at deceleration ramp 10 1 Transparency mode on 11 1 Input set value interpo...

Page 365: ...e hardware limit switch active is set The following behav ior of the drive corresponds to the preset error reaction for the respective error code The default value for this error is no reaction No reaction and bit 8 0 Only the respective error is set New set values from the ramp function generator input are accepted furthermore The correspondent reaction must be carried through the controller The ...

Page 366: ... is described in ZOptional interpola tion of the ramp function generator input set value from page 358 m Bit 12 With this bit the rounding off of the speed in zero crossing at change of direction can be switched on Rounding off in zero crossing means acceleration 0 at speed 0 Thus the period will be extended up to the reaching of the new input set point The ad vantage of this setting is the reduce...

Page 367: ...h ramp function generator are set by this bit The configuration in the fieldbus task is recommended for the cyclical speed demand by fieldbus Configuration examples are described in the chapter ZOp tional interpolation of the ramp function generator input set value on page 358 In Z110 22 the current cycle time of the set value processing of the ramp function generator is displayed In which task th...

Page 368: ...e range 29999 rpm If the ramp function generator is operating in the fieldbus task Z110 2 Mode bit 16 1 its cycle time is set by means of the Z131 18 Fieldbus cycle time and the Z131 20 Division ratio fieldbus task Example Z110 22 Active cycle time ramp generator 500 µs Set value range 59999 rpm Z110 22 Active cycle time ramp generator 2000 µs Set value range 14999 rpm 110 4 Input 32 bit Ramp gene...

Page 369: ...all speeds at ramp function generator output For correct functioning of the braking procedures on the Quick stop or Ramp down ramps the speed controller must be adequately configured 110 9 S Curve ramp up time Rounding of the ramp corners on ramp up for the speed controlled operating modes The time selected here applies to a 100 set value change The set S Curve ramp up time must be less than the s...

Page 370: ...enerator inputs the ramp generator output and the input value limits 100 Z110 4 Input 32 bit Maximum drive speed rpm 100 Z110 5 Input 16 bit Maximum drive speed rpm A change of this parameter affects only if the ramp function generator is activated again or a ramp function generator command is set via Z108 1 Control word bits 4 5 or 6 110 15 Input max amount Absolute value of upper limit of the ac...

Page 371: ...Z110 15 and Z110 16 remain set no limiting takes place and the ramp input receives values between 100 and 100 Figure 93 Absolute value of min max input 110 17 Input 32 bit additive Additional ramp function generator input value with 32 bit resolution The additional set value is used independent of the input selection in parameter Z110 2 bit 5 This additional set value is always added to the define...

Page 372: ...applies to a 100 change of the set value braking decel eration independent of the instantaneous speed or applies to the instantaneous speed braking time to 0 independent of the instantaneous speed The behavior is set in param eter Z110 2 bit 13 The SS1 stop ramp is available only for error reactions 110 22 Active cycle time ramp generator Displaying the cycle time of the set value processing of th...

Page 373: ...of time spent in the target position Furthermore it is possible to determine whether the set value generator will start again with the first time zone after the last time zone has elapsed looped operation or whether only one cycle is run through and the last set value is preserved Thus the following speed set value sequence can be produced for example Figure 94 Speed set value sequence for set val...

Page 374: ...0 5000000000 0 1 1 X 132 13 Duration zone 2 UDINT 1 4294967295 1000 ms 1 1 X 132 14 Set value 3 FLOAT 5000000000 5000000000 0 1 1 X 132 15 Duration zone 3 UDINT 1 4294967295 1000 ms 1 1 X 132 16 Set value 4 FLOAT 5000000000 5000000000 0 1 1 X 132 17 Duration zone 4 UDINT 1 4294967295 1000 ms 1 1 X Bit Meaning 0 0 Deactivate set value generation 1 Activate set value generation 1 Processing only whe...

Page 375: ...Time zone 1 of the set value generator When the set value generator is started a check is made to make sure that the set value lies within the range of values in the target parameter and if necessary an error message is issued 132 11 Duration zone 1 Duration of Time zone 1 for the set value generator in ms The associated set value is applied to the output of the generator for this duration Bit Mea...

Page 376: ... value generator When the set value generator is started a check is made to make sure that the set value lies within the range of values in the target parameter and if necessary an error message is issued 132 15 Duration zone 3 Duration of Time zone 3 for the set value generator in ms The associated set value is applied to the output of the generator for this duration 132 16 Set value 4 Set value ...

Page 377: ...ly to frequency 0 If the speed set value is not available the last speed ac tual value is used as start value At braking in U f operation the current set values are controlled to 0 A at the frequency of the last effective speed set value for a short time The voltages adjust themselves accord ing to the EMF of the motor Subsequently the voltages are reduced linearly to standstill A soft torque redu...

Page 378: ...n Z148 2 Status and the corresponding error message no 2703 is transmitted For this purpose the position error of return motion is monitored The return motion target is con sidered as not reached if a position error is recognized according to the limit in Z148 6 Position Error Limit and Z148 7 Position Error Time The return motion positioning is not an operating mode of its own During positioning ...

Page 379: ...X Bit Meaning 0 Interpretation of the return motion target position related to Z106 12 Posi tion actual value 0 Absolute short distance 1 Relative to the current position 1 Enabling of return motion function 0 Return motion enable 1 Return motion inhibit The return motion is not be started at all or is canceled drive stops if bit is set A corresponding error message is displayed 31 2 Reserved Bit ...

Page 380: ...mum acceleration during a return motion positioning True for acceleration phase and deceleration phase A change of the maximum acceleration during a continuous return motion positioning does not affect the present return motion positioning 7 5 Reserved 8 If bit 4 1 1 Inhibit abort with Z148 1 bit 1 1 9 If bit 4 1 1 Abort on the hardware end with pulse inhibit digital input or with a more significa...

Page 381: ...n a controlled man ner e g if the DC link is discharged completely at mains failure so that no more motion is possible Standardization 16 bit revolutions 16 bit angle A motor revolution corresponds to 65536 increments 148 7 Position error time Timeout for position error monitoring of error reaction return motion Full particulars see Z148 6 148 8 Output position set value Display of the present pos...

Page 382: ... 3 6 5 2 Time control with virtual master axis The index from the position of the virtual master axis Z159 10 results if it is controlled via a virtual master axis The speed is set via Z159 9 Interpolation between the single cam supporting points can be processed in 256 steps The following cam interpolation ta ble with the following supporting point count is generated The position of the virtual m...

Page 383: ...ed by an input parameter and is adjusted by an accordant parameterization Index calculation is made as follows m Input parameters type Float m Input parameters type Integer n Processing is executed once only Z159 2 bit 5 0 n Processing is executed cyclical Z159 2 bit 5 0 In order to process the bitwise AND in this case the supporting point count must comply with a power of 2 for example 256 or 512...

Page 384: ...nerated to specify the index This acts on the input parameters This mask operates after subtraction of the base value and after shift operation Referring to mask operation only those bits are used to specify the index which are required to activate the curve index Example Initial situation Value input parameter 0x0075AB39 Base value Z159 14 0xA000 Shift factor Z159 15 7 Count supporting points Z15...

Page 385: ...Time control with virtual master axis reverse processing if Z159 9 is negative Now the cyclical curve offset is subtracted from the total curve offset after processing is started m Parameter controlled processing mode The cyclical curve offset Z159 6 is added to the total curve offset if the table index overflows This means that a jump is made from a great table index to a small table index The ca...

Page 386: ... input parameters during the processing period It is ensured that the cam is processed with the first index by starting at the beginning Interpolation If processing is parameter controlled and if there is a time control with a virtual master axis then interpolation can be executed between the table entries It is possible to select between a linear and a square interpolation These settings are made...

Page 387: ...m generator is in init state if bit 0 0 and bit 1 0 in Z159 3 State If the cam generator is in init state changes can be made at the parameter settings It is checked if a valid cam was loaded and if an output parameter was selected during the transmission from init to active If the parameter controlled processing mode is configured the cam checks if an input parameter was configured It also checks...

Page 388: ...tive the maximum value is written on this parameter If the output of the cam is greater than the positive maximum value of the parameter then this maximum value is written on the parameter If the output of the cam generator is smaller than the positive minimum value of the parameter then this minimum value is written on the parameter Behavior of float parameters and of unsigned integer parameters ...

Page 389: ...ndex UINT 0 0xFFFF 0 1 1 X 159 5 List entries UINT 0 0xFFFF 512 1 1 X 159 6 Cyclic curve offset UDINT 0 0xFFFFFFFF 0 1 1 X 159 7 Reference parameter UDINT 0 0xFFFFFFFF 0 1 1 X 159 8 Reference axis UINT 0 1 0 1 1 X 159 9 Speed virtual master INT 32768 32767 256 1 1 X 159 10 Position virtual master DINT 0 0x7FFFFFFF 0 1 1 X 159 11 Input parameter UDINT 0 0xFFFFFFFF 0 1 1 X 159 12 Axis index input pa...

Page 390: ...of the cam 2 The processing of the cam generator is stopped The table index is reset 0 Cam generator can be started and operated 1 Cam generator is stopped and is reset 3 Stops the processing at time controlled processing As soon as the bit is reset processing is started again at the same point interrupt function 0 Time controlled processing is running 1 Time controlled processing is stopped 4 6 R...

Page 391: ...essing only 0 linear interpolation 1 square interpolation 4 0 specify cyclical offset manually 1 generate cyclical offset from the cam 5 0 processing one time only 1 cyclical processing 6 0 real time mode 1 relative mode 7 Parameter controlled processing only 0 no auto offset 1 active auto offset Bit no Meaning Bit no Meaning 0 1 00 init state parameterization is possible 01 active state parameter...

Page 392: ...a negative speed the cam will run the opposite direction 159 10 Position virtual master axis Specifies the position of the virtual master in the cam It must be considered that the max imum position of the virtual master axis is supporting points 1 256 because interpo lation is executed between the supporting points with 256 If the virtual master axis is exactly on position 512 then the virtual mas...

Page 393: ...ed processing the base value is subtracted from the input parame ter 159 15 Shift factor index calculation After the base value was subtracted from the input parameter the resulting value is shift ed to the right by the shift factor if the input parameters are integer data types 159 16 Output parameter The cam generator writes on this output parameter All cyclic writable parameters can be used as ...

Page 394: ...ter Z168 6 Increment is added or subtracted every 32 ms The output of the Motor potentiometer is limited by an upper and a lower limit The output of the Motor potentiometer is set to 0 or is synchronized with the ramp function generator parameter Z110 5 Input 16 bit depending on parameterization of Z168 2 Mode bit 3 at activation of the Motor potentiometer The output of the motor potentiometer Z16...

Page 395: ...r depressed 7 1 Button Motor potentiometer depressed 8 1 Motor potentiometer active 9 1 Motor potentiometer active 10 1 Error at writing on the target parameter e g value greater than maxi mum value 15 11 Reserved Bit no Meaning 0 0 Disable Motor potentiometer 1 Enable Motor potentiometer 1 0 Motor potentiometer off 1 Motor potentiometer on 2 0 Motor potentiometer off 1 Motor potentiometer on 3 Sy...

Page 396: ... Minimum value which is not fallen below in spite of activating the Motor potentiometer button This value must be less than the value set in parameter Z168 4 Motor potentiometer up per limit If this condition is not fulfilled the input value is rejected NOTE If this limit is changed and the actual output value Z168 3 is out of the area of the limit value at first activation of the Motor potentiome...

Page 397: ... is set the ramp function generator parameter Z110 5 Input 16 bit increases by 1 at each clicking of the Motor potentiometer button up to the maximum upper limit Z168 4 in the edge sensitive mode Incrementint Increment Z168 6 100 Max Z110 5 where Max Z110 5 16384 internal standardization of 100 of the ramp function generator parameter Z110 5 Input 16 bit Incrementint Increment Z168 6 100 16384 ...

Page 398: ...n be directly defined The torque current set value can be written in the writable parameter lsq set value for OM current con trol Z18 50 in standardization 100 accord to lsq max Z19 8 The torque set val ue can be entered in the writable parameter Torque set value for OM current control Z18 78 in standardization 100 Mbase Z138 34 Accordantly the torque cur rent set value is converted in A or the to...

Page 399: ...Description of the Software Modules and Parameters Parameter manual b maXX BM5800 Document No 5 16029 03 399 of 814 3 Figure 95 Overview of the controller module in the drive ...

Page 400: ...000_0082_rev02 cdr 111 4 111 5 111 9 111 2 111 3 S s Inc s Acceleration set value SetValMgr Jerk set value SetValMgr Updating RT0 cycle Set value source cycle Position set value source Speed controlled operating modes Position controlled operating modes Speed set value source Position set value SetValMgr Position set value 18 58 18 59 Speed set value speed controlled op m Acceleration Feedforward ...

Page 401: ... feedfwd act value 18 17 18 9 bit 2 1 and 109 2 4 or bit 16 1 Controller options 18 9 bit 16 1 bit 2 0 and not position control 109 2 4 operating mode Gear factor Position controller Position controller output total 18 51 Speed contoller w3 acceleration feedfwd from position controller 18 52 Isq set value unlimited 18 45 Degree Operating mode position control 109 2 4 and controller options 18 9 bi...

Page 402: ...39 w3 acceleration feedfwd act value 18 35 x2 speed actual value filtered 18 22 Smoothing time 18 27 Center frequency 18 42 x2 speed actual value unfiltered 18 44 Derivate term speed controller 18 30 Integral term speed controller 18 29 w3 Feedforward act factor 18 38 w3 Feedforward factor neg accel 18 37 w3 Feedforward factor pos accel 18 36 Bandwidth 18 43 Speed additional value 18 68 Speed limi...

Page 403: ...roller options 5000_0145_rev04_int cdr 0 1 Position set value 18 58 and 18 59 Electronic gearing 145 3 and 145 4 Master angle offset 145 18 Position actual value of the master axis 106 10 and 106 11 of the master encoder 145 2 Mode bit 13 Position controller see block diagram at position control Position actual value of the master axis 106 10 and 106 11 of the master encoder Position set value of ...

Page 404: ...nal point magnetic flux FluxN 100 and a warm motor The Ks factor Z18 40 is the base of the parameter Ks actual value Z155 10 at which an operation is considered that deviates from the nominal operation 5000_0085_rev02_int cdr 18 27 18 45 47 1 47 3 18 11 18 13 18 23 18 22 106 38 18 12 x2 1 s x3 1 s 2 Kp 18 24 Kv 18 14 Kp 1 s S H Kv 1 s Ks 18 40 Tn 18 25 s s s 1 Ks As Grad 2 Kt Nm A 1 J 1 kg m 2 Ki ...

Page 405: ...oller that can be programmed freely At low speed the error value is very low and these deviations can not be compensated fast enough Therefore often a stronger controller is required for low speed The parameters Kp and Tn of the speed controller and Kv of the position controller are adapted depending on the speed with the speed controller adaption Two or three inter polation points can be specifie...

Page 406: ...at can be programmed freely The torque of inertia changes at some applications This requires a cyclical change of the Ks factor and can be adapted via the control and parameter Z155 14 The Ks value is updated in RT1 cycle The cyclical Ks adaption can be activated by controller adaption mode Z155 1 3 7 1 4 Acceleration feedforward There are four different types of acceleration feedforward From the ...

Page 407: ...Z111 6 Feedforward of the set value manager and the interpolation method 4 Feedforward of the entire speed set value and the interpolation method 3 and 4 This option is activated by bit 19 of Z18 9 3 7 1 5 Friction compensation This compensation consists of an additive additional torque set value friction precontrol and an adaption of the P and I parts of the speed controller stick slip effect cou...

Page 408: ...onnected A hysteresis Z154 9 can be taken into account to avoid unintentional switching operations at the speed threshold if the speed signal is noisy Three point with ramp Figure 104 Three point with ramp A ramp function value is set between the constant connection values below the lower speed threshold and above the upper speed threshold Faults at the switching edges are avoided by the continuou...

Page 409: ...M5800 Document No 5 16029 03 409 of 814 3 Two point with hysteresis Figure 105 Two point with hysteresis Two different values are connected The effective hysteresis results from the speed thresholds Z154 3 and Z154 4 5000_0211_rev01_int cdr 154 7 154 3 154 5 154 4 Output Speed ...

Page 410: ...hed by a PT1 el ement The friction torque is precontrolled till such time as the set values of the position and the speed precede the actual values Compensation characteristic The compensation characteristic is defined by the interpolation of six parameterized sup porting points P1 P6 refer to ZFig 107 The individual supporting points include com pensation torques regarding the accordant speed Z15...

Page 411: ... is switched on at speed 0 by bit 11 of Z154 1 The friction torque is reduced till such time as the current reaches 0 By the waiting time Z154 13 can be set how long is waited after recognizing speed 0 until the friction torque reduction is initiated 3 7 1 5 3 Parameter overview Functional block FbReibmoment 154 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic...

Page 412: ...n torque reduction UINT 0 10000 1000 ms 1 1 X 154 14 Compensation charac teristic torque FLOAT 0 100000 0 Nm 1 1 X 154 15 Compensation charac teristic speed FLOAT 0 1200000 0 rpm 6 1 X Bit Meaning 0 0 Friction compensation function is switched off 1 Friction compensation function is switched on 2 1 Connection 00 Three point with hysteresis and dead zone Output Value 1 3 hysteresis speed threshold ...

Page 413: ...limit For connection Three point with hysteresis and dead zone Z154 1 bit 2 1 00 see ZFig 103 on page 408 154 6 Output value 2 Connected friction compensation value for Lower speed limit Speed Upper speed limit Effective only if connection Three point with hysteresis and dead zone Z154 1 bit 2 1 00 see ZFig 103 on page 408 154 7 Output value 3 Connected friction compensation value for Speed Upper ...

Page 414: ...03 on page 408 154 10 Time constant friction torque Time constant of the friction torque filter at the friction compensation ramp with PT1 filter and response 154 11 Stick slip controller adaption Factor for the P term and the integral term of the speed controller when a stick slip effect is detected 154 12 State identification friction torque Value Meaning 0 Deactivated 1 Init 2 Wait until there ...

Page 415: ... of the compensation sup porting points P1 P6 refer to ZDescription of the friction compensation from page 407 154 15 Compensation characteristic speed Parameter array with the elements 0 to 5 of the speed values of the compensation sup porting points P1 P6 refer to ZDescription of the friction compensation from page 407 3 7 1 6 Compensation of the torque ripple If the torque ripples are dependent...

Page 416: ...rollers Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 416 of 814 3 7 3 7 1 7 ProDrive Position Speed Controller Figure 108 ProDrive position controller with detailed settings ...

Page 417: ...Description of the Software Modules and Parameters Parameter manual b maXX BM5800 Document No 5 16029 03 417 of 814 3 Figure 109 ProDrive speed controller with detailed settings ...

Page 418: ...c Write Axis independent 18 7 Adaptation time param eter UDINT 0 10000 1950 ms 1 1 X X 18 9 Controller options DWORD 0 0xFFFFFFFF 0 1 1 X 18 10 Position controller status DWORD 0 0xFFFFFFFF 0 1 1 X 18 11 w1 position set value FLOAT 1000000 1000000 0 Grad 1 1 X 18 12 x1 position actual value FLOAT 1000000 1000000 0 Grad 1 1 X 18 13 e1 Position error value FLOAT 1000000 1000000 0 Grad 1 1 X 18 14 Kv...

Page 419: ...8234e38 3 4028234e38 0 Grad s2 1 1 X 18 31 Position controller out put FLOAT 1000000 1000000 0 Grad s 1 1 X 18 32 Speed controller output FLOAT 3 4028234e38 3 4028234e38 Grad s2 1 1 X 18 33 Time constant speed set value filter FLOAT 0 50 0 ms 1 1 X 18 35 w3 acceleration feed fwd act value FLOAT 3 4028234e38 3 4028234e38 0 Grad s2 1 1 X 18 36 w3 Feedforward factor pos accel FLOAT 0 10 1 1 1 X X X 1...

Page 420: ...w2 Feedforward time constant FLOAT 0 50 0 ms 1 1 X 18 71 Speed set value positive limit FLOAT 0 1000000 18000 Grad s 1 1 X X O 18 72 Speed set value nega tive limit FLOAT 1000000 0 18000 Grad s 1 1 X X O 18 73 x3 acceleration actual value FLOAT 3 4028234e38 3 4028234e38 0 Grad s2 1 1 X 18 74 x3 acceleration time constant FLOAT 0 10000 0 ms 1 1 X 18 75 Speed controller output total FLOAT 3 4028234e...

Page 421: ...esh old for speed controller FLOAT 0 1e9 1000 1 1 X 155 5 Factor Kp adaption FLOAT 0 01 100 1 1 1 X 155 6 Factor Tn adaption FLOAT 0 100 1 1 1 X 155 7 Actual Kp speed control ler FLOAT 0 100000 10 1 s 1 1 X 155 8 Actual Tn speed control ler FLOAT 0 1000 1 s 1 1 X 155 9 Actual Ki speed control ler FLOAT 0 100000 0 1 1 X 155 15 Middle adaption thresh old for speed controller FLOAT 0 1e9 0 1 1 X 155 ...

Page 422: ...et value The first mode is divided into 3 sub modes 1 a to 1 c Refer to table Tabelle Feedfor ward modes in position controlled operating modes auf Seite 425 Bit Meaning 0 Selection of the encoder for position control 0 Position actual value of encoder 1 which is used for the motor control 1 Position actual value of encoder 2 A change of bit 0 is only effective at drive block and again enabling Th...

Page 423: ...ue for OM current control Z18 78 from FW 01 14 6 0 I f operation at controlled stop 1 U f operation at controlled stop 8 7 Reserved 9 Reversal of rotation This bit internally changes the rotary field encoder evaluation and the notch position and changes the direction if the set value setting is the same Notice With incremental encoders the notch position search must be executed once more 10 Reserv...

Page 424: ...edforward Modes Controller Options 18 9 bit Operat ingmode Z109 2 Interpo lation Mode Z111 6 Description No 1 2 3 16 Feedforward from the position controller from derivative speed feedforward 1 a 0 0 0 from external acceleration feedforward Z111 8 1 b 0 1 4 0 from acceleration feedfor ward of the set value man ager 1 c 0 0 1 Feedforward in the speed controller from derivative speed set value total...

Page 425: ... multiplied by the Kv factor 18 15 w2 Feedforward factor Weighting factor for the speed feedforward at position control The speed feedforward is implemented as DT1 element All changes to the position set value are differentiated with respect to time multiplied by the parameter w2 Feedforward factor and smoothed subsequently with the Z18 70 w2 Feedforward time constant From this it follows that at ...

Page 426: ...rror display filter Time constant for the PT1 filter to smooth the position deviation display in parameter Z18 13 e1 position controller error The filtering doesn t influence the position control 18 20 Speed controller status Status of the speed controller NOTE The gear factor is active at single axis and mono devices with two encoder inputs on ly The gear factor is not evaluated at double axis un...

Page 427: ...e total Z18 69 Speed set value output SetValMgr Z18 15 w2 feedforward factor Z18 68 Speed set value add Z18 13 e1 position controller error Z18 14 Kv position controller 12 1 Actual speed is equal to speed set value set value reached 13 1 Torque current set value is limited 14 1 Torque reduction according to braking procedure ended 15 1 Torque reduction according to braking procedure active 16 1 T...

Page 428: ...n of the speed controller Units s 1 18 25 Tn speed controller Reset time of the speed controller Units s If the value is 0 the integral term is set to 0 and the control operates without an integral term 18 26 Td speed controller Rate time for the D term in the speed controller Units s 18 27 Filter time constant x2 speed act value Time constant for the PT1 filter in the response for the speed contr...

Page 429: ...21 and to calculate the e2 speed error value Z18 23 18 35 w3 acceleration feedfwd act value The parameter displays the current value of the acceleration feedforward in degrees s i e the value after the parameter w3 Feedforward act factor Z18 38 18 36 w3 Feedforward factor pos accel Weighting factor for acceleration feedforward Factor for acceleration feedforward during the acceleration phase posit...

Page 430: ...lue is available whose smoothing occurs via pa rameter Z18 70 w2 Feedforward time constant 18 40 Ks scaling factor The entered value must comply with the system gain at the nominal point magnetic flux 100 and motor warm The Ks factor 18 40 provides the basis of the parameter Ks actual value Z155 10 at which a deviating operation from the nominal point must be considered The inverse value of the Ks...

Page 431: ...he op tion Specification by torque set value is not active Z18 9 bit 5 0 the controller re ceives the torque current set value from this writable parameter The parameter value for the torque current can be entered for example by parameter in terface ProDrive analog inputs or by Fieldbus Standardization 100 Max torque current Z19 8 18 51 Position controller output total Speed set value from the pos...

Page 432: ...ution It corresponds with the position actual value angle 32 bit Z106 10 of the se lected encoder for position control 18 56 Position act value revolutions The parameter displays the number of revolutions in the position actual value in 32 bit res olution It corresponds with the position actual value revolutions Z106 11 of the select ed encoder for position control 18 57 Position set value rev ang...

Page 433: ...ions The parameter displays the number of revolutions in the position set value in 32 bit reso lution The current position set value is displayed in the parameter Z18 11 in degrees and in Z18 57 in 32 bit resolution 18 60 Position error rev angle Display of the position error in 32 bit integer format The lower 16 bits correspond to the angle and the upper 16 bits to the revolutions The angular res...

Page 434: ...8 Speed set value add With absolute position control Z18 21 w2 Speed set value total Z18 69 Speed set value output SetValMgr Z18 15 w2 Feedforward factor Z18 68 Speed set value add Z18 13 e1 Position controller error Z18 14 Kv position controller 18 70 w2 Feedforward time constant Time constant of the speed feedforward The speed feedforward is implemented as DT1 element All changes to the position...

Page 435: ...ration time constant Time constant of the PT1 filter to smooth the x3 acceleration actual value Z18 73 18 75 Speed controller output total Speed controller output or the entire acceleration set value from the speed controller in cluding the acceleration feedforward term and an additional feedforward friction compen sation torque coupling etc in degrees s 18 76 Position actual angle for fieldbus Th...

Page 436: ...ode Z109 2 2 and if the option Specification by torque set value is active Z18 9 bit 5 1 the controller receives the torque input from this writable parameter The parameter value referring to the torque setting can be en tered by the parameter interface ProDrive the analog inputs or by the fieldbus Standardization 100 accord to the Torque reference value Z138 34 18 84 w3 Filter frequency nominator...

Page 437: ...y this command The value 7 displays a successful acceptance of the filter parameters 18 93 Time feedforward w3 With this parameter the time with which the acceleration feedforward is supposed to come before the position set value can be precisely specified This is possible for spec ified settings only also refer to ZAcceleration feedforward on page 406 In order to ac tivate Z18 93 bit 19 of Z18 9 ...

Page 438: ...enominator damping of the speed set value filter 155 3 Lower adaption threshold for speed controller Lower speed limit for adaption of the speed controller 155 4 Upper adaption threshold for speed controller Upper speed limit for adaption of the speed controller 155 5 Factor Kp adaption Factor for the adaption of the gain Kp of the speed controller 155 6 Factor Tn adaption Factor for the adaption ...

Page 439: ...n threshold is not effective The speed controller adaption works only with two interpolation points 155 16 Factor Kp for middle speed threshold Factor for the adaption of the gain Kp of the speed controller at the middle speed thresh old Factor is only effective if middle speed threshold 0 155 17 Factor Tn middle speed threshold Factor for the adaption of the integral action time Tn of the speed c...

Page 440: ...erg GmbH 440 of 814 3 7 155 20 Factor Kv middle speed threshold Factor to adapt the gain Kv of the position controller at the average speed threshold Is activated only if the average speed threshold is parameterized unequal to zero 155 21 Actual Kv factor Currently active Kv factor ...

Page 441: ...nd at the active mains rectifier unit between the DC link controller and the cur rent controller as a torque current set value filter It can be switched on and off using the Module command Z29 1 The polynomial filter can be used at the axes at two positions either after the torque cur rent set value limit or directly after the speed PI controller output The difference is that with the last mention...

Page 442: ... parameterized via the accordant limit frequency and the notch fil ters via the blocking frequency and the bandwidth The three biquad filters can parame terize any filter type such as notch filters with a defined notch depth and or a defined lowering Also the PT2 filter can be parameterized with this hereby the numerator fre quency must be set to 0 Hz Internally the entire numerator is set to 1 th...

Page 443: ...lowing parameterization examples Notch filter with defined notch depth Figure 112 Notch filter with defined notch depth Center frequency 200 Hz Bandwidth 200 Hz Notch depth 20 dB fZ 200 Hz fN 200 Hz DZ 0 05 DN 0 5 fZ Center frequency fN Center frequency DN Bandwidth 2 Center frequency DZ Bandwidth 2 Center frequency 10 Notch depth 20 ...

Page 444: ... can be filtered by the notch filter also Set value filter The set value filter filters the set value which the set value manager receives from the active set value generator refer to chapter ZSet Value Manager on page 347 This way position as well as speed and acceleration are filtered This filter can be used if individual resonance frequencies should be excited The settings of the filter are mad...

Page 445: ...ter is made via the command 3 of the parameter Z18 92 The filter is activated via the bit 20 of Z18 9 otherwise the PT1 element is effective 3 7 2 5 Parameter overview Functional block Filter 29 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 29 1 Command UINT 0 0xffff 0 1 1 X 29 2 Status UINT 0 2 0 1 1 X 29 6 Input value FLOAT 50000000...

Page 446: ... Biquad filter 2 damping denominator FLOAT 0 10 0 1 1 X 29 38 Biquad filter 3 nominator frequency FLOAT 0 10000 0 Hz 1 1 X 29 39 Biquad filter 3 damping nominator FLOAT 0 10 0 1 1 X 29 40 Biquad filter 3 denomi nator frequency FLOAT 0 10000 0 Hz 1 1 X 29 41 Biquad filter 3 damping denominator FLOAT 0 10 0 1 1 X 29 42 Notch filter 1 center fre quency FLOAT 0 10000 0 Hz 1 1 X 29 43 Notch filter 1 ba...

Page 447: ...again during a change of the RT0 cycle time Z1 8 29 2 Status Display of filter status on off 29 6 Input value Displays the input to the filter 29 7 Output value Displays the output of the filter Bit Meaning 1 0 0 Switch off filter 1 Filter as a current set value filter Active mains rectifier unit Switch on filter 2 Filter directly following the speed controller 2 Filter parameterization as a biqua...

Page 448: ...e filter coefficients for the particular axis ZFig 111 on page 442 can be entered accordingly in the numerator polynomial In order to change the parameter the filter either must be deactivated Z29 1 0 or the pulses must be inhibited 29 10 Coefficient a1 For description see parameter Z29 9 29 11 Coefficient a2 For description see parameter Z29 9 29 12 Coefficient a3 For description see parameter Z2...

Page 449: ...or the particular axis ZFig 111 on page 442 can be entered accordingly in the denominator polynomial In order to change the parameter the filter either must be deactivated Z29 1 0 or the pulses must be inhibited 29 18 Coefficient b2 For description see parameter Z29 17 29 19 Coefficient b3 For description see parameter Z29 17 29 20 Coefficient b4 For description see parameter Z29 17 29 21 Coeffici...

Page 450: ...Biquad filter 1 nominator frequency Nominator frequency of the first biquad filter 29 31 Biquad filter 1 damping nominator Nominator damping of the first biquad filter 29 32 Biquad filter 1 denominator frequency Denominator frequency of the first biquad filter 29 33 Biquad filter 1 damping denominator Denominator damping of the first biquad filter 29 34 Biquad filter 2 nominator frequency Nominato...

Page 451: ...29 38 Biquad filter 3 nominator frequency Nominator frequency of the third biquad filter 29 39 Biquad filter 3 damping nominator Nominator damping of the third biquad filter 29 40 Biquad filter 3 denominator frequency Denominator frequency of the third biquad filter 29 41 Biquad filter 3 damping denominator Denominator damping of the third biquad filter 29 42 Notch filter 1 center frequency Center...

Page 452: ... 46 Notch filter 3 center frequency Center frequency of the third notch filter 29 47 Notch filter 3 bandwidth Bandwidth of the third notch filter 29 48 PT1 filter 1 cut off frequency Cutoff frequency of the first PT1 filter 29 49 PT1 filter 2 cut off frequency Cutoff frequency of the second PT1 filter 29 50 PT1 filter 3 cut off frequency Cutoff frequency of the third PT1 filter 29 51 PT1 filter 4 ...

Page 453: ... the measurement of the phase currents and DC link voltages current control including prediction dead time compensation and PWM For the sign of the transformed active current Isq referring to the directional power the following is valid Sign of Isq Axis Current is flowing from the motor to the axis the motor is braked Current is flowing from the axis to the motor the motor is powered ...

Page 454: ...2 1 1 Umax 142 6 2 3 Isd set value 47 2 Isq set value 47 1 Back EMF feed forward 47 26 Iw_actual Iv_actual Iu_actual Current sensing Interface between motor manager and current controller Usd control output 47 25 Usq control output 47 24 Additional feedforward dq decoupling IxR Additional feedvorward Usq set valuel 47 20 Usd set value 47 21 Deadtime voltage 47 70 Deadtime voltage 47 71 U set value...

Page 455: ...e 47 70 Deadtime voltage 47 71 U set value 47 27 U set value 47 28 Dead time compensation factor 47 50 U after PWM 47 41 U after PWM 47 42 Ud after PWM 47 44 Uq after PWM 47 43 DC link actual voltage 130 3 Motor total voltage smoothed 6 38 Smoothing time 1 25 ms PWM total voltage smoothed 142 7 Smoothing time 142 10 Nominal deadtime voltage Nominal deadtime voltage Deadtime voltage 47 70 Deadtime ...

Page 456: ... the moment of the measurement Udc actual value PWM frequency and locking time IGBT dead time Z129 9 If the dead time measurement is not executed the table Z123 15 has default values defined for Udc 540 V PWM frequency 8 kHz and locking time 4 µs The effective voltage of the dead time compensation is corrected according to the Udc actual value regardless whether the table Z123 15 includes default ...

Page 457: ... torque current limits are available Z138 18 Z138 30 Z114 5 and Z114 5 Furthermore the torque current can be disabled due to a power failure refer to Z130 10 bit 1 Always the less value of these limits is effective The effective limit values are displayed in Z138 6 Iq upper limit and Z138 7 Iq lower limit The settable torque current limits Z138 2 Z138 3 Z138 14 and Z138 15 were standardized by the...

Page 458: ...20 on page 463 whereat lsqLim stands for one of the torque cur rent limits Z138 2 Z138 3 Z138 14 or Z138 15 Figure 116 Torque current limit lsqLim at the Standard load mode of the synchronous motor 138 1 bit 3 0 a Dependent of the field current an external total current limit is not assumed b Dependent of external total current limit field weakening is not assumed 5000_0351_rev01_int t LT Imax 19 ...

Page 459: ...us motor 138 1 bit 3 1 a Dependent of the field current the external total current limit is assumed b Dependent of the external total current limit field weakening is not assumed 5000_0352_rev01_int t LT Imax 19 6 n min NN 1 t A n min NN 1 0 IsqLim 107 7 A isq A isq A LT Imax 19 6 LT Imax 19 6 IsqLim a b isqMax 19 8 isqMax 19 8 LT Imax Act 19 5 i drive isd set external drive current limit ...

Page 460: ... field current external total current limit is not assumed b Dependent of external total current limit field weakening is not assumed 5000_0353_rev01_int t LT Imax 19 6 n min NN 1 t A n min NN 1 t 100 100 IsqLim isq 100 IsqLim IsqLim isq A isq A n min N 107 7 N 1 0 0 IsqLim a b A Isq loading Isq loading isqMax 19 8 LT Imax act 2 isd set 2 isqMax 19 8 isd set Isd nom external drive current limit LT...

Page 461: ...ent of the field current external total current limit is not assumed b Dependent of external total current limit field weakening not assumed 5000_0354_rev01_int t LT Imax 19 6 n min NN 1 t A n min NN 1 t 100 100 IsqLim isq 100 IsqLim IsqLim isq A isq A n min N 107 7 N 1 0 0 IsqLim a b A Isd Lim 146 12 Isq loading Isq loading isqMax 19 8 isqMax 19 8 LT Imax act 2 2 Isd Lim isqMax 19 8 Isd nom isd s...

Page 462: ...ted but the total current is limited at IPMSM because both cur rents contribute to the torque production This limit current can be referred in Z138 26 3 7 3 4 Feedforward Decoupling feedforward The decoupling feedforward compensates the influences on the field forming current to the torque of the machine Vice versa the influence of the torque forming current on the field of the machine is compensa...

Page 463: ...resistance the decisive factor can be either the parameter value Z107 29 Motor data or the parameter value Z123 6 measured resistance It de pends on the parameterization of parameter Z123 10 3 7 3 5 Current controller adaption Adaption of the current controller that can be programmed freely The current controller may become instable at motors with strong saturation The current controller adaption ...

Page 464: ...pple can be up to twice as great as with normal SVM The lower the stator frequency becomes the more slowly the current space vector ro tates In the extreme case it can even be stationary For the IGBTs in the three half bridg es the concept of average thermal loading can no longer be used here as for a higher stator frequency For certain IGBTs it is then also no longer possible to reduce the losses...

Page 465: ...Description of the Software Modules and Parameters Parameter manual b maXX BM5800 Document No 5 16029 03 465 of 814 3 3 7 3 7 ProDrive Current Controller Figure 122 ProDrive current controller ...

Page 466: ...Controllers Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 466 of 814 3 7 Figure 123 ProDrive Current controller details ...

Page 467: ...000 0 A 1 1 X 47 2 Isd set value FLOAT 10000 10000 0 A 1 1 X 47 3 Isq actual value FLOAT 10000 10000 0 0 A 1 1 X 47 4 Isd actual value FLOAT 10000 10000 0 0 A 1 1 X 47 5 Isq Act value filtered FLOAT 10000 10000 0 0 A 1 1 X 47 6 Isd Act value filtered FLOAT 110000 10000 0 0 A 1 1 X 47 7 Kp q current controller 4kHz FLOAT 0 0 1 0e 04 10 0 V A 1 1 X X 47 8 Tn q current controller FLOAT 0 0 1 0e 04 5 ...

Page 468: ...VM threshold UINT 0 100 100 1 1 X 47 41 Ualpha after PWM FLOAT 440 440 0 V 1 1 X 47 42 Ubeta after PWM FLOAT 440 440 0 V 1 1 X 47 43 Uq after PWM FLOAT 440 440 0 V 1 1 X 47 44 Ud after PWM FLOAT 440 440 0 V 1 1 X 47 47 Rho electrical UINT 0 65535 0 1 1 47 49 Output frequency fil tered FLOAT 1e9 1e9 0 Hz 2 1 X 47 50 Dead time compensa tion factor FLOAT 0 0 2 0e 02 0 0 1 1 X 47 51 Current controller...

Page 469: ...ant 1 25ms 47 7 Kp q current controller 4kHz Proportional gain of the q current controller at 4 kHz PWM frequency Units V A The proportional gain Kp of the Iq current controller is set with this parameter Corre spondingly the reset time Tn of the Iq current controller is set with the Tn q current con troller parameter Z47 8 According to the optimum magnitude and taking account of the internal stan...

Page 470: ... at 4 kHz PWM frequency can be set as follows Tn Lsd rs ms where rs Stator resistance in ohms cold kp Lsd 3 Tab Lsd 3 0 125 2 667 Lsd Lsd in mH For asynchronous motors the total leakage inductance Lsigma must be used instead of Lsd 47 10 Tn d current controller Integral action time of the d current controller Units ms For description see Z47 9 47 20 Usq set value Displays the control variable for ...

Page 471: ...e flux set value Z146 13 The exact correlation between the speed actual value and the EMF feed forward is shown in adaption EMF feed forward ZFig 132 on page 504 At the stator flux oriented encoderless control of the asynchronous motor this parameter has no effect on the EMC feedforward and has an informative purpose only 47 27 U Alpha set value Real part of the control variable for the current co...

Page 472: ...ase W A value of 0 or 1 means full modulation 47 32 Iu actual value Measured value of the phase current 47 33 Iv actual value Measured value of the phase current 47 34 Iw actual value Value of the phase current calculated from the condition Sum of all currents is equal to 0 47 40 PWM MSVM threshold The limiting value for modified modulation can be set in this parameter The standard val ue is 100 i...

Page 473: ...g the modulation levels If the dead time voltage completely is compensated this parameter accords to the q volt age at the motor The unit of the parameter is V phase to phase voltage effective 47 44 Ud after PWM d voltage after calculating the modulation levels If the dead time voltage completely is compensated this parameter accords to the d volt age at the motor The unit of the parameter is V ph...

Page 474: ... actual value of the commutation angle and the notch po sition complies with the pole position offset or commutation angle offset n The following applies to the asynchronous motors Z107 38 bits 2 1 01 with f2 Slip frequency actual value in Hz m During the encoderless operation of the synchronous motor the parameter Rho electric 47 47 is generated from a motor model with current actual values volta...

Page 475: ...ined by the current prediction pro cedure if the current prediction procedure is switched on Bit Meaning 0 Switches the current prediction for the current controller on off 0 Current prediction deactivated 1 Current prediction active 1 Feedforward of the ohmic voltage drop at the stator winding IxR feedfor ward 0 IxR feedforward deactivated 1 IxR feedforward active 2 Selection of the actual curren...

Page 476: ...er cycle time must not exceed the Z1 8 RT0 Cycle time This is mon itored and as the case may be the error 501 will be triggered which inhibits enabling of the drive 47 70 Alpha voltage of dead time compensation Alpha component of the dead time compensation Because of the current actual values the PWM frequency according to setting Z123 1 bit 3 and of the UDC link actual value evaluated dead time v...

Page 477: ...tarts 155 12 High adaption threshold for current controller Current Iq from which the minimum current controller gain acts 155 13 Kp current controller adaption This percentaged value describes the real acting part of the proportional gain of both cur rent controllers at a current Iq above the high adaption threshold for the current controller Z155 12 Interpolation between the lower and the upper ...

Page 478: ... braking process drops if there is no brake resistor because the energy of the motor must be reduced Additional energy in the motor can be reduced by applying reactive current The Udc link ld controller operates with the same controller parameters as the Udc link controller The threshold set value can be set separately by a factor Z114 10 in de pendence of the maximum DC link voltage Z114 1 If the...

Page 479: ...djustable threshold Z114 7 below the threshold positive ld current is supplied only 3 7 4 4 Short circuit brake Synchronous motors are able to be braked using a short circuit brake additionally If the DC link voltage exceeds a set threshold the motor phases are shorted and the current no longer flows into the DC link The motor is decelerated by the resulting current 3 7 4 5 Parameter Overview of t...

Page 480: ...t To this end the deceleration torque in the drive is reduced if necessary so that the DC link voltage does not rise any further 114 2 P Gain of DC link controller Proportional gain of the DC link controller Units 1 V The controller output of the DC link controller limits the permissible Iq current in the gen erator mode Output 0 5 means Iq should be a maximum of 0 5 Z138 6 or Z138 7 114 3 Tn of D...

Page 481: ...f the speed thresh old is set above the maximum speed 114 8 Flux threshold The flux is minimal with block shaped ld current If the actual flux drops below this thresh old the sign of the ld current is changed 114 9 DC link voltage hysteresis If the DC link voltage drops below the maximum value Z114 1 by this value the torque current is no longer limited 114 10 Factor maximum voltage for Id brake F...

Page 482: ... reactive current The output of the reactive current brake Z114 11 can accept values between 0 and 1 and be limited by this parameter With the value 0 the complete field current Z19 9 can be specified by the reactive current brake at synchronous machines the reactive current brake cannot apply any reactive current at value 1 ...

Page 483: ...d weakening Z142 9 acts if bit 1 was set by the field weakening mode Z142 1 or the rated speed Z142 7 if this bit was not set The output of the open loop controlled field weakening is the field weakening factor after the speed Z142 12 Closed loop controlled field weakening The second channel contains a voltage controller that evaluates the difference between the specified limit Z142 23 and the fil...

Page 484: ... at the ASM directly influences the current flux set value and at the SM the field current set value as follows also see diagram in ZFig 127 m Asynchronous machine Z142 1 bit 0 0 Flux set value in Z146 13 Field weakening factor Z142 2 100 Considering the extreme cases Field weakening factor 0 means that a flux will not be applied Field weakening factor 1 means that a flux set value of 100 will be ...

Page 485: ...at IPMSM from page 130 Figure 126 Block diagram of the field weakening factor 5000_0227_rev02 cdr 1 MIN MIN u u u u 2 2 3 2 Speed threshold x2 speed actual value filtered 18 22 Voltage threshold 142 8 Max total PWM voltage 142 6 Minimum field weak factor 142 5 Field weak factor 142 2 PWM total voltage smoothed 142 7 107 7 142 9 Field weakening controller Smoothing time 142 10 after PWM 47 41 after...

Page 486: ... value 47 2 Permanent field current 142 1 Bit 0 1 Field current preset value 19 9 External limit max field current amplitude 138 10 Limit magnetizing current 146 12 Isd set value 47 2 Actual flx Limit magnetizing current 146 12 Lh characteristic 1 Flux nom Vs Flux set value 146 13 X 1 SM 1 5000_0345_rev01 cdr 1 Field weakening at voltage limit 142 1 bit 0 0 Field weak factor 142 2 Field current pr...

Page 487: ...rque current breakdown torque limit Two limits of the breakdown torque are possible m Breakdown torque limit A feedforward controller limiting the maximum torque cur rent in dependence of the voltage and the speed m Breakdown torque controller A feedforward controller readjusting the maximum torque current on the basic of the available voltage Figure 129 ProDrive Breakdown torque Breakdown torque ...

Page 488: ...ing the Usq voltage of the field weakening is reduced to 1 2 Uph Max If this angle is reached by the increase of the lq current there is no increase of the torque at the asyn chronous machine anymore and therefore must be limited Factor of breakdown torque Additionally the operating speed still can be adjusted by the parameter Z138 17 factor at the breakdown torque Sk The smaller the factor the sm...

Page 489: ...n at the activated breakdown torque as well The operat ing principle of the adaption is presented in ZFig 130 Figure 130 Examples in regard to constant speed and moderate discrepancies in the motor parameters a Too low without adaption and breakdown limit Voltage limit Value is lower than expected b Including adaption although there are discrepancies Value of the voltage limit as expected Breakdow...

Page 490: ...e the 1 2 fold Uph Max it is recom mended to activate the breakdown torque limit Z138 1 bit 2 to 1 by the default set ting of the breakdown torque factor Z138 17 If the Usd voltage is not limited to the assumed value Ud Max it is recommended to activate the adaption for the breakdown torque limit Z138 1 bit 5 to 1 If the Usd voltage is limited and the issue with the con trolled current remains the...

Page 491: ... voltage actual value FLOAT 0 1000 0 V 1 1 X 142 7 PWM total voltage smoothed FLOAT 0 1000 0 V 1 1 X 142 8 Voltage threshold for field weakening FLOAT 50 600 600 V 1 1 X 142 9 Speed threshold for field weakening FLOAT 10 500000 3000 U min 1 1 X 142 10 Smoothing time PWM total voltage FLOAT 0 20 10 ms 1 1 X 142 12 Field controller due to speed FLOAT 0 1 1 1 1 X 142 13 Field weakening control ler ou...

Page 492: ...weakening factor Z142 2 1 Permanent field current Isd set value Z47 2 Field current preset value Z19 9 Other details see ZField weakening controller from page 484 1 Threshold speed of the controlled field weakening characteristic 0 Motor nominal speed Z107 7 1 Speed threshold field weakening Z142 9 2 From FW version 01 15 Correction of the PWM voltage Z142 7 in the over modulation range relevant t...

Page 493: ...to the linear range i e no overmodulation factor field weakening threshold Z142 15 less than or equal to 1 In contrast during the transient response the range of the overmodulation can be reached The breakdown torque controller from FW version 1 14 on however can allow the continuous operation in the overmodulation range factor breakdown torque thresh old Z142 21 greater than1 In the linear range ...

Page 494: ... The flux set value Z146 13 can be reduced to 0 Minimum field weak factor 0 For SM the parameterized field current preset value Z19 9 can not be reached For ASM the flux set value in can only be reduced to 100 Minimum field weak factor 142 6 Max total PWM voltage actual value Display of the maximum total voltage available that can be generated at an amplitude of 100 PWM limit of the linear range f...

Page 495: ...set 142 10 Smoothing time PWM total voltage Time constant of the PT1 filter for parameter Z142 7 If the time constant is less than 800 µs the filter is deactivated 142 12 Field controller due to speed The field weakening factor after the speed is the ratio of threshold speed actual speed value whereat the field is reduced if the actual speed value threshold speed whereat Threshold speed Rated spee...

Page 496: ...oller 142 21 Factor breakdown torque threshold This factor defines the set voltage from which the breakdown torque controller starts The provided voltage is multiplied with this factor and therefore a relative setting of the set volt age is possible This factor should be higher than Z142 15 142 22 Breakdown torque control output The output from the breakdown torque controller is dimensionless and ...

Page 497: ...le PI controller with proportional gain Kp integral time Tn and limitation The Isd set value is at the output of the flux controller The actual flux value is calculated from an asynchronous machine value If the Kp of the flux controller is set to 0 the inverse of the Imr flux characteristic is set for the Isd set val ue 3 7 6 1 ProDrive Flux controller Figure 131 ProDrive Flux controller 3 7 6 2 P...

Page 498: ...46 12 Limit magnetizing current Limitation of the flux controller s output A 146 15 Actual flux current Flux current A 146 18 Integral term flux controller Integral term of the flux controller Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 146 10 Kp flux controller FLOAT 0 1e9 0 1 s 1 1 X 146 11 Tn flux controller FLOAT 0 10000 1000 ms...

Page 499: ...onous machines with permanent magnets an increase of the motor temperature causes a reversible weakening of the magnetic force This produces a reversible drop of the Kt Ke and the Ks factors with the increasing motor temperature Saturation effects In order to profit of the asynchronous motor normally the main inductance is brought to the saturation point at the nominal point In the field weakening...

Page 500: ... be compensated by the integral component especially if the direction is changed This results in a lower tracking error The stick slip phenomenon is a jerking motion due to alternation between sticking and sliding The phenomenon can be compensated by an adaption of the P and I components of the speed controller This is described in detail in ZFriction compensation from page 407 Torque ripples Sync...

Page 501: ...nd Kt are not effected The exact collaboration between the torque current and the torque is shown in ZAdaption torque monitoring on page 505 ZFig 133 155 1 Mode Configuration of the controller adaption function The mode can only be changed if the controller is not enabled Bit Meaning 0 Direct speed controller adaption switch 0 Switch off 1 Switch on 2 1 Direct speed controller adaption D term mode...

Page 502: ...ter 155 10 1 Ksact serves as a standardization constant in the controller of the acceleration value speed controller output and torque current set value isq Refer to ZThe factor Ks on page 404 and ZKs adaption on page 506 Bit no Meaning 0 Direct speed controller adaption 0 inactive 1 active 2 1 Direct speed controller adaption D term mode 00 Td is not adapted 01 Td is 0 for n n1 lower threshold 10...

Page 503: ...Kt correction factor Z138 23 Kt factor Motor Kt in Nm A Kt factor Z107 44 3 7 7 3 Adaption EMF feed forward As shown in ZFig 132 the EMF feed forward in the torque current controller is depen dent of the flux set value and of the motor voltage constant Figure 132 EMF feed forward with Motor Ke Ke factor Z107 20 The ASM is dependent of the magnetic flux of the saturation influence refer to ZAdaptio...

Page 504: ...Motor Kt in Nm A Z107 44 Isq max Max torque current Z19 8 to controller FW 01 12 or Max torque current actual value Z138 30 from FW 01 13 Isq act Isq act value filtered Z47 5 in A M max Max torque actual value Z138 20 in Nm M act Torque display Z138 21 in Nm M lim Torque limit symmetric Z138 22 in Nm Isq set lim From Z138 22 internally calculated torque current set value limit in A At the ASM the ...

Page 505: ...n the inertia of the drive with Ks act Ks actual value Z155 10 Ks factor Ks at rating point Z18 40 Fluxset Set value of the magnetic Flux in Z146 13 Kscycl adapt Factor of the cyclic Ks adaption Z155 14 in Q16 i e 216 1 100 The Ks adaption is significant to the following m Standardization constant 1 Ksact of the speed controller output and the torque cur rent set value The magnetic flux is depende...

Page 506: ...ue in Vs Id act Field current actual value in A Im act Magnetizing current actual value in A The Lh characteristic can be entered manually It can be detected in the idle state of the motor see chapter ZLh characteristic on page 123 as well The adaption of the flux actual value applies to the following m Standardization constant 1 Ksact of the speed controller output and the torque cur rent set val...

Page 507: ... in C Z128 3 TM cold Motor temperature cold 20 C Ractual Instantaneous value internally used in the controller in The temperature adaption applies to the following m Current prediction current controller m IxR pre control current controller m Encoderless operation m Field angle monitoring synchronous motors The adaption is made automatically if the motor temperature monitoring is activated Z128 2 ...

Page 508: ...the slip frequency is made roughly by means of a linear characteristic using slip frequency temperature support points at the warm as well as the cold motor Z107 15 to Z107 18 The actual slip frequency F2 Tm act accordant to the motor temperature actual value Z128 3 is shown in the parameter Z19 30 and is evaluated as follows with F2 Tm act Slip frequency at nominal torque current and nominal flux...

Page 509: ...ual b maXX BM5800 Document No 5 16029 03 509 of 814 3 The displayed value in the parameter Z19 32 Rotor time constant is not changed by the temperature compensation The temperature compensation applies to the following m Field orientation of the ASM with an encoder ...

Page 510: ... to limit the output speed set value of the active operating mode via Z121 11 m Parameter to set the load gear the drive ended positioning resolution and of the modulo value m Calculation of the Modulo position actual value m Command Moving to positive stop Overview of the using in the operating modes This functions are not effective in the unlisted operating modes Operating mode Z109 1 Hardware l...

Page 511: ...itoring window A new drive error is generated if the position actual value is out of this window The n 0 message can be monitored instead of using the monitoring window The error reaction can be set on demand Default reaction pulse inhibit m The reduction of the torque limit can be switched off via Z120 12 Process The command is enabled by setting bit 0 in Z121 21 The controller acknowledges this ...

Page 512: ... stop mon itoring is disabled the three switched off monitoring functions are enabled again the torque reducing is disabled and the set values of the master control are effective in the controller after disabling the command NOTICE 1 The motor can be destroyed at active command because the blocking monitoring of the controller is switched off during the command and therefore a blocking which is no...

Page 513: ...ion of the Software Modules and Parameters Parameter manual b maXX BM5800 Document No 5 16029 03 513 of 814 3 Figure 135 Sequence of the Moving to positive stop command in the Position control 4 operating mode ...

Page 514: ...FF 0x0 1 1 X 121 3 Negative SW limit Switch UDINT 0 0xFFFFFFFF 0x00010000 Inc 1 1 X 121 4 Positive SW limit switch UDINT 0 0xFFFFFFFF 0xFFFF0000 Inc 1 1 X 121 5 Positioning window UDINT 0 0xFFFFFFFF 0x1000 Inc 1 1 X 121 6 Positioning window time UINT 0 65535 10 ms 1 1 X 121 7 Feedrate override UINT 0 65535 10000 100 1 X X 121 8 Stop Delay UDINT 7 65535 200 Inc ms 100 1 X 121 9 Positioning position...

Page 515: ... 1 X 121 22 Status positive stop drive WORD 0x0 0xFFFF 0x0 1 1 X 121 23 Mode positive stop drive WORD 0 0xFFFF 0 1 1 X 121 24 Positive stop position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X 121 25 Monitoring window posi tive stop drive UDINT 0x0 0x7FFFFFFF 0x1000 Inc 1 1 X 121 26 Offset modulo position actual value DINT 0x80000000 0x7FFFFFFF 0x0 1 1 X 121 27 Command value mode WORD 0 0xFFFF 0x0002 1 1 X...

Page 516: ...mit switches Bit 1 0 Monitoring of hardware limit switches is deactivated Bit 1 1 Monitoring of hardware limit switches is active Response with active monitoring in the different operating modes n Position target entry Response depends on the setting in Z118 2 Mode bit 5 For details refer to Z118 2 n Manual operation The drive is decelerated to speed 0 when a hardware limit switch is reached A err...

Page 517: ...onse the response will occur depending on the operating mode and without pulse block which means the current operating mode will remain active Position target entry Always stop including error message 905 Manual operation Always stop including error message 905 Position control In the case of an error the error message 905 is only generated if Z136 2 Mode bit 4 1 drive internal stop or bit 5 0 err...

Page 518: ...w Operating mode position target specification 1 and spindle positioning 6 If the drive reaches a window around the new target position the Position target reached bit will be set in the status word The positioning window is symmetrical surrounding the tar get position and is determined with this parameter Operating mode reference run 6 The positioning window for standstill recognition is used wit...

Page 519: ...plication with the feed rate override results in a maximum speed of 0 Inc ms a stop will occur 121 8 Stop delay The stop delay describes the maximum permitted deceleration of the drive with the stop request through a limit switch or command through the control word 121 9 Positioning position actual value This parameter shows the current position actual value The parameter is updated with the cycle...

Page 520: ...eed limit i e Z121 11 is effective Reference run Operating mode 6 If the set Z120 5 Homing speed exceeds the effective speed limit Z121 11 and Z107 26 respectively the speed will be reduced to the value of the limit and bit 6 is set in the Z120 1 Status Position target specification Operating mode 1 and manual operation Operating mode 5 If the set Z118 11 Speed or Z119 3 Jogging speed multiplied w...

Page 521: ...rolling see Z18 9 the M0 Offset Z137 5 Z137 6 and the number of revolution overflows If the overflows of Z106 15 should be ignored bit 5 in Z121 1 must be set The parameter has the further characteristics m Update with the cycle time of the fieldbus task Z1 10 m The parameter counts to the maximum value of Z137 2 Z106 16 1 Z106 16 Revolution overflow counter max value and Z137 2 Number of revoluti...

Page 522: ...nt for the Modulo position actual value Modulo value 0 The revolutions at the gear output will be added to the Modulo position actual value with out modulo division With it the Modulo function is switched off for the position actual val ue Z121 17 and the position set value Z136 3 Target position The parameter Modulo revolution will be effective only if the following condition is com plied with Mo...

Page 523: ...Z121 15 Modulo revolutions Tho Modulo position actual value can be shifted with the Z121 26 Offset modulo posi tion actual value The parameter has the following characteristics m Update with the cycle time of the fieldbus task Z1 10 m No control specific use in the controller m A homing in the mode Referencing without setting the home position has no influ ence on the parameter m A homing in the m...

Page 524: ... Coarse position window the drive messages in Z121 18 Status bit 5 Coarse in position Bit Meaning 0 1 Function Modulo position actual value is switched on 1 Reserved 2 Warning It is not possible to operate the actual positioning value of the modulo continuously if parameterization was set 3 Error at initialization of the Modulo position actual value caused by improper parameterization 4 Reserved 5...

Page 525: ...lable The selection between both monitoring possibilities monitoring window or N 0 message is set in Z121 23 in bit 0 1 Bit 5 Error Moving to positive stop not possible The bit is set in case the command cannot be started because of the current operation state The error is also generated if the master slave torque coupling or the gantry func tion is active The bit 0 Positive stop drive active of Z...

Page 526: ... is active Bit 10 Message Positive stop reached is set if the n 0 message and the message Clamp ing torque reached are present constantly during the Blocking time Z120 11 121 23 Mode positive stop drive Note Bit 2 If the bit is set the parameter Z120 12 Homing torque limit related to the maxi mum available torque current Z19 8 is not evaluated during the command 121 24 Positive stop position When ...

Page 527: ...itive stop drive bit 0 1 01 121 26 Offset modulo position actual value By this offset the parameter Z121 17 modulo position actual value can be moved 121 27 Command value mode This parameter determines the rotational direction of the modulo function Bit Meaning 0 1 Rotation direction at Modulo function 00 Positive rotational direction 01 Negative rotational direction 10 Shortest way path optimized...

Page 528: ...21 30 Position error load basis The parameter displays the actual position error in the load standardization 121 30 Z18 13 Z121 14 Z121 13 Z121 16 The parameter is updated with the cycle time of the fieldbus task Z1 10 if the function modulo position actual value was activated via Z121 1 Positioning general mode bit 4 Position error load basis Pos controller error Output rev Input rev Rotation pos...

Page 529: ...cess In the case of dynamic changes the traverse profile is automatically adapted to the new positioning data The target position can be specified m absolutely m relative to the target position or m relative to the instantaneous actual position positioning on the fly During positioning the travel of the drive can be restricted by hardware limit switches and by freely settable software limit switch...

Page 530: ...d however the bit must be set There are two different positioning procedures m Set specification Single setpoint Procedure using individual positioning records With this procedure a positioning set is started and the drive positions at the target and holds there It is possible to activate a new task even during positioning edge of New Set Value This is then taken up immediately the drive thus chan...

Page 531: ...ing has been started The drive clears the bit as soon as it is ready to accept new set values The controller may not start any new positioning tasks while this bit is set In contrast the data in the positioning records can be changed Bit Name Meaning 4 New set value Signal for transferring data and starting the positioning procedure Used in the handshake process Rising edge activates a positioning...

Page 532: ...n the status word bit 12 is set to indicate that the positioning data have been accepted m In the Single Set Value mode the positioning data are accepted immediately even if the drive is still positioning and the positioning is carried out with the new data m In the Set of Set Values mode the data only take effect when the previous target is reached 3 8 2 5 Sequence of Events for Positioning Hands...

Page 533: ...ler cancels New Set Value 5 In response to the cleared New Set Value bit the drive also clears the Set Value Handshake bit in the status word From this point onwards the Set Value Reached message is also displayed again It is suppressed while New Set Value is set 6 The drive reaches the target position The ramp generator reports Function Ended however values can still be specified by the smoothing...

Page 534: ...re 140 Handshake for Set of Setpoints 1 The controller has transmitted the positioning data to the drive The data only take ef fect on an edge of the New Set Value bit 2 The controller sets the New Set Value bit in the control word The rising edge is the request to start positioning Since the Set Value Specification mode is to be used the Change Set Immediately bit bit 5 of the control word must b...

Page 535: ... values the drive signals this by clearing the Set Value Handshake 13 The ramp generator reports Function Ended however values can still be specified by the smoothing generator 14 The drive reports Target Position Reached This occurs depending on the Positioning Window and the Positioning Window Time that have been set At the set value specification the controller monitors whether it has got the n...

Page 536: ...ulses the drive thus continues to be position controlled This error must be reset before a new motion task is execut ed Driving Out from the Limit Switch If a new positioning task is now started a check is made of the direction of travel New data set drives in blocked direction of revolution m The data set is not executed m The blocked direction of revolution remains blocked m In error generation ...

Page 537: ...tion lies beyond the limit switch The drive remains position controlled and does not execute the erroneous task The af fected limit switch is indicated in Parameter Z121 2 State of Limit Switches No new positioning tasks will be executed while the error message is present The error message must be acknowledged beforehand The Target Position Reached status mes sage is also not displayed If a positi...

Page 538: ...osition m Positioning to absolute angle with selectable number of revolutions In this case it will be positioned to the denoted angle Thereby the number of revolu tions is calculated relatively m Absolute modulo positioning with direction select or shortest way This type of positioning can be applied at axes on which an endless moving rotational axis application is desired and the target position ...

Page 539: ...bit Status Word Z108 3 bit 10 A new positioning task can be started at the earliest when Set Speed 0 Status Z118 1 bit 4 is set The Abort bit must not be set for this In contrast to halting a running positioning task using the Halt bit Control Word Z108 1 bit 8 the positioning is not resumed when the Abort bit is cleared 3 8 2 13 Set Value Profiles There are two different speed profiles implemente...

Page 540: ...ons 50000hex Inc n Positioning speed 1000 Inc ms n Positioning acceleration 20 Inc ms n Positioning deceleration 20 Inc ms Time Optimized Positioning Trapezoidal Speed Profile Figure 141 Time optimized positioning Trapezoidal profile S Curve profile Speed profile Trapezoidal shaped S shaped quadratic Acceleration profile Block shaped Trapezoidal shaped Impulse 1 Shock free Shock free Jerk 2 3 or 4...

Page 541: ...tioning with Smoothing 10 ms filter element Figure 142 Time optimized positioning with smoothing Figure 143 Jerk free positioning S Curve speed profile with jerk 0 12 Inc ms3 Figure 144 Jerk free positioning S Curve speed profile with jerk 0 63 Inc ms3 v 0 200 400 600 800 1000 1200 1 21 41 61 81 101 121 141 161 181 201 221 Sampling steps ...

Page 542: ...g task is started with the Start Positioning command bit 11 of the Control word The Start bit must always be set to start a positioning task The positioning task then runs to the end regardless of the Start bit The following differences for this Start bit arise depending on the Target mode parameter Parameters Z118 10 Target mode for positioning Set 0 Z118 19 Target mode for po sitioning records 1...

Page 543: ... S Curve profiles new positioning data target position position ing speed positioning acceleration etc can also be activated while in motion If Positioning Set 0 Parameters Z118 9 to Z118 16 is selected in Z118 6 Record Number Actual on line changes must also be made here The changes take effect imme diately if m the start bit is set and m no positioning error e g hardware limit switches active is...

Page 544: ... started Start Positioning can be reset Between 1 and 2 there is a delay of up to 1 ms 3 Function ended L H Set Value setting by the ramp generator ended Caution Position set values may continue to be issued via the smoothing generator see Positioning Status Bit 1 4 Target position reached L H Is set correspondingly later than the function ends depending on settings for Position ing Window and Pos...

Page 545: ...to control word 2 Function ended H L and Target position reached H L Starting edge of Bit 11 in the control word detected Positioning is started Start Posi tioning can be reset Between 1 and 2 there is a delay of up to 1 ms 3 Function ended L H Set Value setting by the ramp generator ended Caution Position set values may continue to be issued via the smoothing generator see Positioning Status Bit ...

Page 546: ...sitioning be started The controller resets the bit for New Set Value again This can also occur before the start of positioning The controller acknowledges the falling edge of the New Set Value control bit by re setting Set Value Acknowledged The controller resets the Start Positioning bit again This can take place during the still running positioning operation or also only after it has completed A...

Page 547: ...16 0 1 1 X X 118 7 Clip environment 1 UDINT 0x1 0xFFFFFFFF 0x00010000 Inc 1 1 X 118 8 Clip environment 2 UDINT 0x1 0xFFFFFFFF 0x00010000 Inc 1 1 X 118 9 Target position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X X 118 10 Target mode INT 2 17 0 1 1 X X 118 11 Speed UDINT 1 65535 100 Inc ms 1 1 X X 118 12 Acceleration UDINT 7 65535 200 Inc ms 100 1 X X 118 13 Deceleration UDINT 7 65535 200 Inc ms 100 1 X X ...

Page 548: ...tus word bit 10 11 Reserved 12 1 Set value acknowledgment copy of 108 3 Status word bit 12 15 13 Reserved 16 1 Clip environment 1 reached 17 1 Clip environment 2 reached 18 1 Actual position value Clip environment 1 19 1 Actual position value Clip environment 2 20 1 Switch position ON cam ON Clip environment 1 Act Pos value Clip environment 2 23 21 Reserved 24 1 Drive into negative direction was p...

Page 549: ...e transfer of the date is possible here at any time S Curve profile Bit 8 will be set when there is a running driving set in the brake phase The new data is then not transferred until the brake phase Target position reached set is com pleted m All bits except bit 1 Function finished and bit 10 Set value reached will be deleted with drive block 118 2 Mode Mode of positioning operating type Position...

Page 550: ...he start bit 1 After activation a start will occur immediately with set start bit 7 0 No homing required for positioning 1 Homing required before positioning can occur 8 Controlling the Positioning through 0 New set value Z108 1 Control word bit 4 New set value 1 Start Positioning Z108 1 Control word bit 11 Start Position ing 9 Reserved 10 Automatic start when changing the positioning record 0 No ...

Page 551: ... already out of range and the new target position is within range Move to target position n When current position is already out of range and the new target position is out of range Move to next software end switch Bit 4 1 n When the new target position is out of range No movement Error 908 or 909 n When current position is already out of range and the new target position is within range Move to t...

Page 552: ...et at the time of controller activation the data will be transferred immediately during the controller enable and relative positioning will start immedi ately m Bit 7 homing required This bit defines whether the drive will allow positioning prior to successful homing Bit 7 1 Error message 900 is set and the drive stops position controlled at the present po sition if the drive was enabled in operat...

Page 553: ... during ongoing positioning which is located in the blocked direction the current target position is started and a error message is dis played The block check occurs through a comparison of the old target position to the new tar get position The current desired position is meaningless for the test 118 3 Output position set value Display of the output position set value in the position target speci...

Page 554: ...uences the bit 19 Position actual value Clip en vironment 2 in the Z118 1 status and bit 20 Switch position ON 118 9 Target position In this parameter the target position is set for the positioning set 0 Z118 6 Record num ber actual 0 The high word represents the revolutions and the low word represents the angle at rota tive systems without gear see Z18 16 118 10 Target mode The target mode for th...

Page 555: ...h to absolute target Target input through Z118 16 Relative target position differentiation whether absolute relative target input through Z108 1 Control word range offset by 231 Inc with absolute target positioning occurs in direction of short est path to the target which means the maximum traversing range may be exceeded Condition software end switch OFF 13 Absolute relative positioning with shor...

Page 556: ...s used to calculate the new target position flying Po sitioning The new target position is calculated as follows n The angle to be activated absolute is in the Low Word of the Relative target posi tion parameter n The revolutions to be adjusted relative are in the High Word of the Relative target position parameter n The direction of positioning is determined using the leading sign of the Relative...

Page 557: ...ther this is an absolute or relative target entry occurs through bit 6 of the Z108 1 Control word With absolute target entries a range offset of 231 increments is included in the calcu lation and the number range is interpreted with applied leading signs m Target mode 10 The indication whether the target is absolute or relative in relation to the last target is determined through Bit 6 of the cont...

Page 558: ...absolute format Conversion of actual set position to modulo format SetPositionModulo SetPositionAbsolute mod ModuloValue 00221111hex mod 00140000hex 000E1111hex First positioning Z118 9 Target position 00063333hex in modulo format New absolute target position calculates itself via the shorter way to modulo target Way to right greater position set values WayRight ModuloValue SetPpositionModulo Targ...

Page 559: ...the direction of the shortest distance to the target which means the maximum traversing range may be exceeded Condi tion software end switch OFF m Target mode 14 and 15 The preset of the target position in modulo format occurs here analogous to target mode 11 The difference to mode 11 consists only in the preset of the moving direction via the mode and not in the calculation of the shorter distanc...

Page 560: ...d to adjust the maximum jerk change of acceleration for the S curve profile jerk limited positioning The parameter has no effect with other speed profiles 118 15 Smoothing time A PT1 element has been implemented to achieve a rounding of ramp corners in the trap ezoidal profile Parameter Z118 2 Mode bit 2 and 3 00 The time constant of the PT1 element can be adjusted using this parameter Looping is ...

Page 561: ... Z118 1 status Otherwise a timeout error will be generated 118 19 Positioning records The parameter consists of 16 positioning records The positioning records 1 to 16 cannot be described cyclically Each positioning set consists of the following elements NOTE The remaining distance is not calculated at set value setting Set of setpoints The remaining distance calculation is active not until the fin...

Page 562: ...oning Measurement ends if parameter Z118 3 Output position set value reaches its target position This is the case if param eter Z118 1 Status messages signals in bit 4 Speed set value 0 This means only the duration of the set value setting is measured The additional time for the parameters Z121 9 Position actual value Z121 5 Position ing window and Z121 6 Positioning window time to reach the targe...

Page 563: ...ero mark of the encoder is included however homing runs without consideration of the zero mark are possible The zero pulse is used as the zero mark with incremental encoders The mechanical zero angle is used with tilt encoders and sine cosine encoders The mechanical zero angle thereby means 0 in the parameter mechanical angle actual value Z106 5 Either one of the two end switches negative or posit...

Page 564: ... this phase If the zero pulse is not detected within this distance Homing error no 901 is reported and homing is interrupted 3 8 3 2 Shifting the zero angle When referencing under consideration of the Zero angle or Zero pulse it may be near the switch tolerances of the reference switch This may result in the detection of two different home positions with multiple homing runs that are one revolutio...

Page 565: ...homing final speed in the reverse direction of travel It will now be driven out of the switch again m Phase 3 The falling switch edge of the switch will trigger another reversal of the direction of trav el The drive will now approach the switch again once again with an eight of the refer encing speed m Phase 4 Once the reference switch is reached the drive is decelerated and accelerated in the rev...

Page 566: ...e using the configuration of the digital inputs Wiring as an opener is recommended for safety reasons detection of wire breaks Limit switch The hardware or software limit switches do not limit the adjusting range during the homing runs The limit switches must be designed so that they cannot be overridden The option to leave the switching mode actuated with the negative limit switch should only be ...

Page 567: ...tch The home position is the first zero pulse or zero angle to the right of the switch which means after the switch is inactive again Figure 152 Homing method 1 3 8 3 9 Homing Method 2 pos limit switch Homing occurs to the positive limit switch When the limit switch is not operated during commissioning travel occurs in the direction of the switch The home position is the first zero pulse or zero a...

Page 568: ...s in the direction of the positive zero point changeover switch which means the switch may be anywhere in the traversing range and is continuously active from the switch point in positive direction The initial direction of travel depends on the switching mode and applied method The home position is the first zero pulse on the left or right of the switch Figure 154 Homing method 3 and 4 ...

Page 569: ...n the direction of the negative zero point changeover switch which means the switch may be anywhere in the traversing range and is continuously active from the switch point in negative direction The initial direction of travel depends on the switching mode and applied method The home position is the first zero pulse or zero angle on the left or right of the switch Figure 155 Homing method 5 and 6 ...

Page 570: ... of travel will be changed at the positive limit switch when the initial direction of travel leads away from the switch The home position is one of the zero pulses or zero angles at the rising or falling edge of the switch Figure 156 Homing methods 7 to 10 Homing method 11 to 14 With homing methods 11 to 14 the initial direction of travel is negative unless the refer ence switch is operated at the...

Page 571: ...hese methods are reserved for future extensions according to the CANopen drive pro file 3 8 3 14 Homing Methods 17 to 30 without zero pulse or zero angle The homing methods 17 to 30 do not use zero pulse or zero angle as an additional refer ence mark Only the switch is referenced Otherwise these methods correspond with homing methods 1 to 14 Only homing methods 19 and 20 are shown as an example ...

Page 572: ...nd 32 reserved These methods are reserved for future extensions according to the CANopen drive pro file 3 8 3 16 Homing Methods 33 and 34 zero pulse only These homing methods do not use a switch but only the zero pulse or zero angle as ref erence mark The home position is the next zero pulse or zero angle in negative or positive direction Figure 159 Homing method 33 and 34 ...

Page 573: ...he drive moves clockwise and with 8 counterclockwise toward the me chanical stop m Phase 1 Approaching the mechanical stop at the referencing speed The torque will be limited at the start of homing to Z120 12 Homing torque limit To recognize the mechanical stop a test will be run to determine whether the drive is present at the current limit speed controller status Z18 20 bit 13 1 and at the same ...

Page 574: ...h means from the start of homing to the recognition of the mechanical stop after expiration of the Z120 11 Homing blocking time 3 8 3 19 Command set home position Besides the homing it is possible to set the reference point in the inhibited state pulse inhibit By writing the command Set reference point to the parameter Z120 17 the set value of the reference point is taken over at the current posit...

Page 575: ...on UDINT 7 65535 200 Inc ms 100 1 X 120 8 Homing deceleration UDINT 7 65535 200 Inc ms 100 1 X 120 9 Homing maximum Jerk UDINT 7 65535 25 Inc ms 100 1 X 120 10 Homing encoder offset UINT 0x0 0xFFFF 0x0 Inc 1 1 X 120 11 Homing blocking time UINT 1 65535 100 s 100 1 X 120 12 Homing torque current limit UINT 0 10000 2500 100 1 X 120 13 Output speed set value DINT 65535 65535 0 Inc ms 1 1 X 120 14 Out...

Page 576: ...ared m or if the position control encoder is switched over via Z18 9 Controller options bit 0 The status of the bit is evaluated after operating mode Target position mode was start ed if in the Z118 2 Mode bit 7 Homing required prior to positioning was set 120 2 Mode Options for homing 5 Reserved 6 1 Speed is limited to maximum speed refer to Z121 11 Speed limit and Z107 26 Max speed mech 8 7 Rese...

Page 577: ...st active monitoring suitable for homing However this may be too weak for normal operation The user will deactivate monitoring for the duration of homing itself Activating the Mode bit 5 will prompt the controller to deactivate the three monitoring procedures for the period of homing which means from the start of the homing to the recognition of the mechanical stop after expiration of the Z121 11 ...

Page 578: ...turn 33 1 Approaching the encoder zero angle or zero pulse with clockwise turn 34 0 Reserved 1 Negative limit switch with zero pulse or encoder zero angle 2 Positive limit switch with zero pulse or encoder zero angle 3 Positive zero point changeover switch with zero pulse or encoder zero angle counterclockwise turn 4 Positive zero point changeover switch with zero pulse or encoder zero angle clock...

Page 579: ...h zero pulse or encoder zero angle counterclockwise turn 13 Zero point switch right of Edge A with zero pulse or encoder zero angle counterclockwise turn 14 Zero point switch left of Edge A with zero pulse or encoder zero angle counterclockwise turn 15 to 16 Reserved 17 Negative limit switch 18 Positive limit switch 19 Positive zero point changeover switch counterclockwise turn 20 Positive zero po...

Page 580: ...g acceleration indicates the maximum acceleration of the drive in the reference run operating mode The homing deceleration applies to braking the drive in the reference run operating mode 120 8 Homing deceleration The homing deceleration indicates the maximum deceleration of the drive in the reference run operating mode 120 9 Homing maximum jerk Setting the maximum jerk for the adjustment profile ...

Page 581: ...ming modes to the mechanical adjustable stop were implemented mainly at the SM without field weakening The limitation of the torque is made by the limitation of the Max drive current actual value Z19 5 This means that the field current is assumed zero so that the limit of the total current torque current limit When starting the homing to the mechanical adjustable stop the total current limit is re...

Page 582: ...oming error no 901 is reported and homing is interrupted This function is deactivated if the value is 0 There is no distance monitoring until to the zero pulse Display 65536 increments correspond to 1 revolution 120 17 Command Homing command Via this parameter the setting of a reference point is possible in the inhibited state Value Meaning 0 No command reset The acknowledgment bit of Set referenc...

Page 583: ... is set through the Z109 1 operating mode 5 The main functions in manual drive operation are m Separately adjustable acceleration for start and reverse m Selection between two speed profiles Trapezoidal block shaped acceleration S Curve trapezoidal acceleration m Online change OPERATION ENABLED of the profile data is possible at any time which means the tipping speed and acceleration can be change...

Page 584: ...100 1 X X 119 5 Jogging deceleration UDINT 7 65535 200 Inc ms 100 1 X X 119 6 Jogging maximum jerk UDINT 7 65535 25 Inc ms 100 1 X 119 7 Output position set value UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X 119 8 Output speed set value DINT 65535 65535 0 Inc ms 1 1 X 119 9 Output acceleration set value DINT 65535 65535 0 Inc ms 100 1 X Bit Meaning 0 1 Manual drive operation is switched on 3 1 Reserved 4 1 ...

Page 585: ...sults from Tipping speed Feed rate override Z121 7 119 4 Jogging acceleration The jogging acceleration describes the maximum permitted acceleration of the drive in manual drive operation 119 5 Jogging deceleration The jogging deceleration describes the maximum permitted deceleration of the drive in manual drive operation 14 1 Drive into negative direction was prevented by limit switch 15 1 Drive i...

Page 586: ... 119 5 Max Jerk 2 0 Inc ms 119 3 Acceleration 30 0 Inc ms Time after which the acceleration is reached t 30 0 Inc ms 2 0 Inc ms 15 ms 119 7 Output position set value This parameter indicates the desired position calculated by the manual drive operation 119 8 Output speed set value This parameter is used to show the output desired speed generated by manual drive op eration 119 9 Output acceleration...

Page 587: ...Z121 5 Positioning window in the Z121 6 Positioning window time The message in position is also available in bit 10 of Z108 3 Status word 1 From the following operation modes position control Z109 1 4 speed control Z109 1 3 position set mode Z109 1 1 speed set value Z109 1 2 jogging mode Z109 1 5 homing mode Z109 1 6 synchronous operation Z109 1 5 current control Z109 1 2 Online switching at speed...

Page 588: ...speed Speed actual value spindle position speed Figure 162 Speed profile Speed actual value spindle position speed t n Switched to operating mode 6 spindle positioning Slow down with spindle acceleration bipolar Spindle positioning speed Setpoint value stands at target position t n 5000_0176_rev01_int cdr Switched to operating mode 6 spindle positioning Speed setpoint value will be kept Spindle po...

Page 589: ...tion set values 01 Towards smaller position set values 10 Shortest distance 11 Reserved Spindle positioning to trigger signal mode Not available at the time Sequential positioning via command bit 11 of the control word A sequential positioning is a positioning after the first spindle positioning The controller is in operating mode spindle positioning Due to start a sequential positioning the bit 1...

Page 590: ...time 5 Controller has recognized a start command resets Setpoint reached sets the Start Command Acknowledge and begins with sequential positioning Instant of time 6 Start sequential positioning is deleted Instant of time 7 Controller deletes Start Command Acknowledge Instant of time 8 Position setpoint has reached active target position Instant of time 9 The position actual value is in positioning...

Page 591: ...ved value is incorrect and is not accepted Relative positioning using Z149 9 Spindle relative offset Dependent on the preset direction the new target position is calculated from the last target position plus or minus spindle relative offset Only the Low Word is used from Z149 9 A positive edge in the control bit 11 is necessary in order to start The positioning direction is determined only with bi...

Page 592: ... 100 1 X 149 6 Spindle maximum jerk UDINT 0 07 655 35 0 25 Inc ms3 100 1 X 149 9 Spindle relative offset UDINT 0 0x0000FFFF 0 Inc 1 1 X 149 10 Active target position UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 149 11 Output Position Set Value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 149 12 Output speed set value DINT 65535 0 65535 0 0 Inc ms 1 1 X 149 13 Output acceleration set value DINT 655 35 655 35 0 Inc ms2 100 1 X...

Page 593: ... Initialization of a sequential positioning 9 to 14 Reserved 15 Error status 31 20 Reserved Bit no Meaning Bit no Meaning 1 0 Definition of the direction if the speed actual value 0 If bit 4 0 absolute positioning 00 Towards greater position set values 01 Towards smaller position set values 10 Shortest distance 11 Reserved If bit 4 1 relative sequential positioning only bit 0 relevant 0 Towards gr...

Page 594: ...itioning speed or the drive keeps the preset speed If operating mode spindle position ing is switched on from standstill the drive accelerates with maximum acceleration to the spindle positioning speed The internal resolution of the spindle positioning speed is 0 0625 Inc ms Therefore only parameter values in multiples of the resolution make sense Interim values will be round ed down 149 5 Spindle...

Page 595: ...This is the calculated target position which must be reached in a 16 bit revolution and in a 16 bit angle format The parameter is updated in the operating modes spindle positioning 6 and target po sition setting 1 149 11 Output Position Set Value This parameter shows the actual position set value calculated from module spindle posi tioning 149 12 Output speed set value This parameter shows the out...

Page 596: ...e used as modulo positioning set value This function is activated by Z121 15 Modulo revolutions 0 For details refer to Z136 2 Mode with bit 6 and ZFig 167 on page 598 m Additional input as offset speed Z136 7 The function can thereby be tested without cyclical set value specifications through the fieldbus m Optional speed actual value synchronization when activating the operating mode m Optional e...

Page 597: ...erved when using a double axis unit 5000_1003_rev04 cdr 136 7 136 2 1 1 0 0 136 4 136 5 136 3 136 6 136 13 121 11 136 14 x x x Position offset Input selection Offset speed Inter polator Inter polator Position Speed controller Speed limit Speed set value unlimited Actual values Interpolation from clock of SW interface to controller clock Default values position set value 136 8 angle set value 136 1...

Page 598: ...ition set value UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X 136 9 Output speed set value DINT 65535 65535 0 Inc ms 1 1 X 136 10 Output acceleration set value DINT 65535 65535 0 Inc ms 100 1 X 136 11 Active interpolation interval UINT 125 32000 1000 µs 1 1 X 136 12 Output angle set value UDINT 0 0xFFFFFFFF 0x0 Inc 1 1 X 136 13 Smoothing time posi tion set value FLOAT 0 32 0 ms 1 1 X 136 14 Speed set value u...

Page 599: ...d 1 Target position effective drive follows the cyclic set value 13 Reserved 14 1 Drive into negative direction was prevented by limit switch 15 1 Drive into positive direction was prevented by limit switch 31 16 Reserved Bit Meaning Bit Meaning 0 1 Synchronization to speed actual value with activation 1 0 No extrapolation with set value failure after the interpolation procedure the position set v...

Page 600: ...m the corresponding response m no response and bit 4 1 In addition to settling the error a Stop is also triggered Braking occurs drive internally with Z121 8 Stop delay New set values through the fieldbus will be ignored After ending the Stop speed set value 0 the end switch errors may be confirmed During confirmation the drive control synchronizes the input parameters Z136 3 Tar get position and ...

Page 601: ...ns of the modulo position shall invert to 0 The Z121 27 Set value mode determines the rotational direction The presetting is shortest path The other direction modes at position control make sense only if the rotational direction of the set values shall be monitored A movement of the set value towards the inhibited direction causes a very large position change in the free direc tion Dependent on th...

Page 602: ... output angle Z136 12 at fixed input set value This difference is caused by the interpolation and is internally saved and is considered in the input set value with the next motion Example 1 New set values are to be transferred under the following conditions n New set values are transferred during each fieldbus cycle The setting of the interpolation procedure is therefore irrelevant Bit 8 0 Factor ...

Page 603: ...the input Z136 3 Target position has been selected The offset value is added to the target position This is an absolute position value and it is also set regardless of the number of communication transmissions and always as an absolute offset value for the target position This means that if for example the same off set value is set twice through communication it will not be added twice If the offs...

Page 604: ...angle The format of the parameter is 32 Bit angle However in contrast to Parameter Z136 5 Target angle it has applied leading signs Activation of a new offset value In default mode Z136 2 Mode bit 11 0 a new set offset operates after writing the main set value Z136 5 target angle only This way the effect of the new offset is syn chronized with the cyclically mapped main set value If the main set v...

Page 605: ...ing The displayed value is in format 16 bits increments revolution per ms 136 10 Output Acceleration Set Value This parameter shows the generated output set value speed after offset addition and is updated during the cycle of the set value interface The displayed value is in format 16 bits increments revolution per ms 136 11 Effective Interpolation Interval Parameter to display the effective inter...

Page 606: ...mat 32 bits increments revolution per ms 136 15 Output speed set value 32 bit This parameter shows the generated output speed set value after offset addition and after PT1 smoothing In contrast to parameter Z136 9 this parameter has a higher resolution of 32 bits incre ments revolution per ms and therefore very low velocities are visible NOTE m With the transfer in the operation enable state the c...

Page 607: ...de change of transmission factor or a Stop command to the slave axis When the speed synchronization is ON Mode bit 8 1 the angle relation will not be specified until the synchronization has been established The set value of the master axis can be smoothed with the Z18 70 w2 Feedforward time constant The differentiated required position target speed which yields the value for the speed feedforward ...

Page 608: ...d synchronization of the slave axis with the master axis is possible when the synchronous operation is activated For details refer to Parameter Z145 2 Mode bit 8 m Speed synchronization with Online operating mode changeover Status Operation En abled from synchronous operation to another position or speed controlled operating mode The speed synchronization must be activated for the operating mode m...

Page 609: ...f speed controlled operating mode is ac tive or the position actual value of the master axis encoder when drive is inhibited or operating mode without active speed controller is used If the master axis operates in a speed controlled operating mode speed control or speed set value 1 and their speed set value is used as master set value an absolute angle relation is not more assured Notes regarding ...

Page 610: ...ter overview Functional block FbSynchroOperation 145 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 145 1 Status WORD 0 0xFFF 0x0 1 1 X 145 2 Mode DWORD 0x0 0xFFFFFFFF 0x0 1 1 X 145 3 Gear slave shaft revolu tions DINT 2147483647 2147483647 1 1 1 X 145 4 Gear master shaft revo lutions DINT 1 2147483647 1 1 1 X ...

Page 611: ...7 0 Inc ms 10000 1 X 145 11 Virt master set value cycle time UINT 1 128 1 ms 1 1 X 145 12 Master speed DINT 2147483647 2147483647 0 Inc ms 10000 1 X 145 13 Master position revolu tions UDINT 0 0xFFFFFFFF 0 Inc 1 1 145 14 Master position angle UDINT 0 0xFFFFFFFF 0 Inc 1 1 145 15 Master speed set value additive 1 DINT 2147483647 2147483647 0 Inc ms 10000 1 X 145 16 Master speed set value additive 2 ...

Page 612: ... the mode are transferred to the enabled operation status during transfer Changes may be made in this status but they will not take effect until blocking and re en able is completed Bit 4 is the exception Bit Meaning 3 0 Type of synchronous operation 0000 Actual master axis in relative synchronized angle run 0001 Reserved 0010 Virtual master axis in relative synchronized angle run Rest is reserved...

Page 613: ...ion set value for the virtual master axis is calculated in the drive from the speed set value The drive follows this virtual master axis synchronized This mechanism is purposeful when other axis are connected as slave axis These slave axis then receive the set value of the virtual master axis as input set value Sub sequently all other axis then follow the same set value including the axis that cal...

Page 614: ...et speed for the ramp generator is set to 0 The speed actual value of the slave axis under consideration of the inverse trans mission factor corresponds with the start speed for the ramp generator The Stop cannot be ended until the speed set value at the output of the ramp gen erator has reached 0 The stop is canceled by deleting the control word bit 8 After canceling the Stop the target speed of ...

Page 615: ...ntered in Z145 11 Virt master set value cycle time m Bit 13 Real master axis Setting of the set value source This bit only relevant a double axis units The set value of the master axis is here avail able The master axis must be at least in a speed controlled operating mode If this is not the case the actual value of the master axis is used as set value Although at a single axis unit or a mono unit...

Page 616: ...Mode i Z145 4 Rot Master axis Z145 3 Rot Slave axis 0 2 10 2 0 78 100 78 3 15 100 315 6 54321 100000 654321 0 3333 10000 3333 Rot Master axis Rot Slave axis Mode bit 4 Transmission Ratio i 10 8 0 0 8 10 100 8 0 0 8 0 08 100 8 115 0 0 08 1 15 Rot Master axis Rot Slave axis Mode bit 4 Transmission Ratio i 10 8 0 0 8 10 8 115 0 0 8 11 5 10 100 115 0 11 5 1 15 NOTE Undesired transmission ratios may oc...

Page 617: ...e position controller cycle refer to Z1 8 RT0 cycle time Example Position controller cycle 250 µs Inc Tab Inc 250µs Z145 3 revolution of the slave axis 55555 Z145 4 revolution of the master axis 1000 Z145 5 Speed limit 231 1 Rot master axis Rot slave axis 2147483647 1000 55555 38655092 Inc 250µs The result converted to a rotative speed Speed limit 38655092 4 Inc ms 1546220368 Inc ms 1546220368 600...

Page 618: ...is activated This is the case with speed synchronization a Stop command or the virtual master axis 145 9 Synchronization maximum jerk This parameter is used to set the maximum jerk change of acceleration in the Synchro nous operating mode The parameter determines the maximum permitted jerk value on the master axis in front of the transmission It is used as soon as the internal ramp gen erator for ...

Page 619: ...r axis encoder will be shown This also applies to a Stop or speed synchronization although the set value of the ramp generator affects the transmission input here In the case of the virtual master axis the set value speed at the output of the ramp gen erator or interpolated set value speed will be displayed 145 13 Master position revolutions The parameter shows the number of revolutions in the pos...

Page 620: ...nput parameters will be used It is not necessary to write the main set value for mode Virtual master axis with ramp gen erator Each cycle calculates the total set value This value is written to the input of the ramp generator 145 18 Master angle offset The set value of the slave axis can be set in the Real master axis mode with this param eter The offset immediately is active Set value slave axis ...

Page 621: ...itable for the dismounted motor which is free of load During this procedure the Current set value is linearly Z127 5 Rate of current rise increased to the Z127 4 Maximum current The motor engages into a position which is shifted by a half pole pitch The notch position is calculated from the relevant encoder angle The determination of the notch position is made twice Both results must be checked fo...

Page 622: ...or Friction Resolution and quality of encoder signals Setting of current controller see ZAutotuning of Current Controller from page 181 Setting of specific parameters for the operating mode Notch position search The default values of these parameters Z127 5 to Z127 12 are preset ro bust enough for the most drive configurations Therefore in general the default values must not be changed m Method 2 ...

Page 623: ...tion search do not agree Increase the injected current in step 1 1 Via a higher voltage Z133 3 2 Via a less frequency Z133 2 Or increase the gain of the compensating controller Z133 5 Please note better results are yielded at higher frequencies 601 Plausibility error in step 2 The part of the second har monic is too small Increase the injected current in step 2 1 Via a higher voltage Z133 7 2 Via ...

Page 624: ...FLOAT 0 20000 0 A 1 1 X 127 5 Current rise FLOAT 0 001 100 1 A s 1 1 X 127 6 Current drop FLOAT 0 001 100 5 A s 1 1 X 127 7 Duration constant cur rent FLOAT 0 10 1 s 1 1 X 127 8 Notch position electrical UINT 0 0xFFFF 0 Grad 1 1 X 127 9 Maximum angle UINT 1 0xFFFF 0x005b Inc 1 1 X 127 10 Angle rising UINT 1 0xFFFF 1 Inc ms 1 1 X 127 11 Error limit mech delta angle UINT 1 0xFFFF 0x5B0 Inc 1 1 X 127...

Page 625: ...ime of the constant current phase at notch position search method 0 and method 1 is set This time remains in the end position at maximum current Z127 4 Now Notch position calculation Z127 8 can be initiated 127 8 Notch position electrical The notch position electric or pole position offset commutation angle offset is the fixed angular difference or offset between the pole position referring to the...

Page 626: ...ust be evaluated via the operation mode Notch position search After a successful search the result is entered in the parameter 127 8 Then the notch position electric must be stored in the EEPROM of the controller store parameter set 127 9 Maximum angle Setting of window for permitted mechanic movement at notch position search method 1 Now the adjusting of electric angle can be initiated 65536 Inc ...

Page 627: ... Parameters Parameter manual b maXX BM5800 Document No 5 16029 03 627 of 814 3 127 13 Actual value mech delta angle Display of the measured mechanic movement at notch position search method 1 65536 Inc of the parameter accord to 360 degrees ...

Page 628: ...he maximum frequency on Via the zero voltage Z166 5 a voltage can be set at frequency 0 Hz Three different operation modes are possible in general U f characteristic with and with out overcurrent protection and a operation with the compensating controller for the accel eration see chapter Z 3 8 9 1 At operation without overcurrent protection the controller is switched off if the maximum current of...

Page 629: ...nsating controller is activated for acceleration It reduces the acceleration insofar that the maximum current is always applied and the motor is operated with the highest possible acceleration Hereby in the regenerative operation additionally an operation with a voltage controller is possible so that the converter can be operated without braking resistors If the DC link exceeds the set threshold t...

Page 630: ...uency can be reduced at a con stant frequency bit 7 of Z166 1 to enable the drive acceleration 3 8 9 2 Current control If a specified torque is required to operate at low frequencies the current control at low frequencies bit 3 of Z166 1 is recommended An additional voltage Z166 20 is ap plied at the set frequency threshold Z166 17 via a PI controller so that at least the set current Z133 22 or ma...

Page 631: ...X 166 11 Time constant current filter FLOAT 0 100000 0 ms 1 1 X 166 12 Frequency Umax FLOAT 1 1e9 50 Hz 1 1 X 166 13 Maximum voltage FLOAT 0 1000 380 V 1 1 X 166 14 Kp acceleration control ler FLOAT 0 1e9 0 1 Grad s 1 1 X 166 15 Tn acceleration control ler FLOAT 0 1e9 20 ms 1 1 X 166 17 Frequency threshold FLOAT 0 1e9 2 Hz 6 28318 53 1 X 166 18 State frequency reduc tion UINT 0 0xFFFF 0 1 1 X 166 ...

Page 632: ...Current control for low speed 0 Inactive 1 Active 4 0 Increase of frequency via slip compensation 1 Compensating controller for frequency with speed controller 5 0 Ramp up via S curve 1 Ramp up linear 6 0 Set value via Z166 6 Input reference frequency 1 Set value via ramp function generator 7 Frequency reduction 0 Inactive 1 Active 8 Current set value 0 Current threshold motor generator Z166 3 Z16...

Page 633: ...ax drive current Z19 6 166 5 Zero voltage DC voltage at an electrical frequency of 0 Hz 166 6 Input reference frequency Electrical reference frequency in 32 bit resolution Standardization 100 maximum frequency Z166 10 166 7 Rising time Ramp up time to 1000 rpm electrical 166 9 Slip compensation Additional frequency depending on the current The slip compensation is only active if the speed control ...

Page 634: ...tage Z166 13 This value can also be calculated from the Ke factor Z107 20 and the pole pair number p Z107 19 166 13 Maximum voltage Maximum linked voltage on the motor The voltage should be less than the available DC link voltage Uzk 2 166 14 Kp acceleration controller Proportionality factor for the compensating controller of acceleration in 1 s 166 15 Tn acceleration controller Reset time for the...

Page 635: ...hich the slope of the voltage is linear The threshold frequen cy is calculated from the Zero voltage Z166 5 and the slope of the U f characteristic 166 22 Reference frequency Reference frequency Hz Additional frequency Z166 23 Frequency of ramp generator Z166 24 Frequency reduction Z166 19 166 23 Additional frequency Additional frequency Hz from the compensating controller Value Meaning 0 Inactive...

Page 636: ...n controller Set value is equivalent to the reference fre quency Z166 6 actual value is equivalent to the velocity of the encoder At asynchronous motors a slip occurs between set frequency and actual speed The set frequency is increased so that the encoder s speed is equivalent to the set frequency The number of pole pairs is taken into account 166 26 Tn speed correction controller Reset time for ...

Page 637: ...as well as the backward direction m Automatic linear interpolation of the master axis position of Z131 18 fieldbus cycle to the Z1 10 cycle of the fieldbus task if Z131 20 division ration fieldbus task greater than has been set m Optional linear extrapolation of the master axis position if a set value fail occurs m Real master axis at devices with two encoder inputs can be activated m The master a...

Page 638: ...led operation is described in ZFig 175 Basi cally the position of the master axis is transferred cyclical to the drive The positioning set value is calculated by the drive from the master axis position and the existing segments of the polynomial curves Thereby the available options of this operation mode are con sidered A gear factor is evaluated if required and overlaid by an additional movement ...

Page 639: ...cycle with regard to the fieldbus cycle This is applied by the parameter Z131 20 division ration fieldbus task The examples as well as the described limitations must be taken into consideration in Z131 20 If the division ratio was set greater than 1 the master axis position is automatically inter polated linearly with the last master axis position A delay of the master axis position of a Z131 18 f...

Page 640: ...s made by setting or resetting bit 5 in Z122 2 Bit 8 is set in Z122 1 and Z108 3 by the drive as soon as a combined curve available The drive deletes bit 8 if it was switched over to the combined curve The combined curve is not yet operating in the active segment if the switchover is applied by the control word The internal interim buffering is updated not until the next segment change and the com...

Page 641: ... as the starting segment The specified chaining is only processing three seg ments currently these segments are shown in the following table The segments 4 and 5 are not active at the current chaining These shall be connected as an alternative path to segment 2 The parameters Z122 6 and Z122 41 are written to as follows P122 6 0x00010004 and P122 41 0x00050003 see description of Z122 6 and Z122 41...

Page 642: ...ing parameters of the parameter structure determine the starting point The correct positioning within the chained polynomial curves can be found by specifying the starting point as described in chapter Z 3 8 10 3 8 10 5 Synchronization Synchronization to consisting motion If switching online into the coupled operation while the drive is in motion then the current speed and acceleration is applied ...

Page 643: ...n the servo controller finds its valid master position always within one revolution from the starting point of the starting polynomial The synchronization movement doesn t require parts of the polynomial curve it s a positioning operation using the settable profile data via the parameters Z122 12 to Z122 15 Activate deactivate synchronization If synchronization was selected Z122 2 bit 0 1 the driv...

Page 644: ...bit angle 3 8 10 6 Use of the output sided gear At the output of the polynomial curve generator a scaling of the mean output values is possible by means of a gear factor This factor is specified by two parameters The gear factor is either taken over when starting the operation mode or it can be changed during the active operation When starting the parameter values of Z122 42 and Z122 43 are accept...

Page 645: ... into account The rising edges in the control word bit 6 are ignored till the additional motion is reported as com pleted by the status During the processing of the additional movement it is checked if the additional movement and the polynomial curves exceed the limited positioning difference in the drive per field bus cycle If this is the case the drive will stop operation due to the error 910 Th...

Page 646: ...ample the active segment 0 is processed during a positive master direction and then it jumps to segment 1 Then at the change in segment 1 the followers of segment 1 are updated in the interim buffering and an interlinking change comes into effect As the interlinking change applies to segment 0 change of 0 1 to 0 8 and segment 1 now is active the interlinking change is not made in this passage Once...

Page 647: ...ous data before segment 2 of the combined curve is activated As the segments smoothly join next to each other the segment 2 of the combined curved is added to the segment 1 of the original curve An offset occurs and therefore the required curve position is not achieved If the switching to the combined curve occurs in segment 7 the segments 4 to 7 and 0 to 2 are loaded in the intermediate buffer Se...

Page 648: ...sible only at a switched off coupled operation If the function is to become invalid during an activated coupled operation the parameters for the selection of the flex segment numbers Z122 30 and Z122 35 can be set to a curve segment that is not used Flex data for two segments can be set m Flex segment 1 from Z122 30 to Z122 34 m Flex segment 2 from Z122 35 to Z122 39 The flex data must be valid at...

Page 649: ...0x7FFFFFFF 0 Inc 1 1 X 122 18 Maximum speed offset UDINT 1 65535 100 Inc ms 1 1 X 122 19 Maximum acceleration offset UDINT 7 65535 200 Inc ms2 100 1 X 122 20 Maximum deceleration offset UDINT 7 65535 200 Inc ms2 100 1 X 122 21 Maximum jerk offset UDINT 7 65535 25 Inc ms3 100 1 X 122 22 Curve segments RE CORD 1 1 X X 122 23 Curve name STRING 1 1 X 122 24 Segment count UDINT 0 0xFFFFFFFF 0 1 1 X 122...

Page 650: ...from the entire linked curve 1 Synchronize on the curve 2 Additional movement is in process 3 Total set speed is 0 whereby the following is valid vSet total vSet polynomial gear factor vSet add movement mit vSet total Total set speed vSet polynomial Set speed from the polynomial calculation vSet add movement Set speed of the additional movement 4 Curve data are available 5 Reserved 6 Maximum total...

Page 651: ...Ignore rotational direction positioning is made accordant to the shortest distance 1 Consider rotational direction 4 Ignore rotational information of the master axis 5 Activation of reloaded curve files 0 Via the control word 1 Via the master axis angle at 0 rotational angle 6 Delete curve data 7 Rotational rotation at synchronization 0 positive 1 negative 8 Reserved 9 Braking after activation for...

Page 652: ...t which is currently pro cessed 122 6 Sequence change at first With this cyclically writable parameter the coupling decoupling point of the sequence change is specified This parameter is used together with Z122 41 The parameter is split The sequence change is indicated here The change is carried out by a rising edge of bit 5 of Z108 1 Control word 1 15 13 Reserved 16 Real master axis 1 Inversion o...

Page 653: ...lave revolution Revolutions of the drive at the beginning of the start segment 122 11 Start position slave angle Angle of the drive at the beginning of the start segment 122 12 Maximum speed synchronization The parameter value specifies the maximum speed of the overlaid synchronization move ment after starting the operation mode by which the drive is synchronized to the set po sition from the curv...

Page 654: ...s stands still during the synchronization phase 122 17 Target position offset The parameter specifies the target position for the overlaid compensating movement during operation The parameter has the following format 122 18 Maximum speed offset The value of this parameter in Inc ms specifies the maximum speed of the overlaid com pensating movement during the active operation by which the drive ove...

Page 655: ...e name that was specified in the polynomial curve file is shown here 122 24 Number of segments The curve segment count of the curve which is being processed currently 122 25 Master speed The parameter shows the current master axis speed in the coupled operation It corresponds to the change of the master axis position Z122 3 master axis positions revolutions Z122 4 Master axis position angle per ms...

Page 656: ...effect quick compensation 122 30 Flex segment no 1 Segment number for the first flexible segment where the traversing distances were changed during movement 122 31 Flex master distance revolutions 1 The revolution portion of the changed master axis travel for the segment with the number from Z122 30 122 32 Flex master distance angle 1 The angular portion of the changed master axis travel for the s...

Page 657: ...r the segment with the number from Z122 35 122 39 Flex slave distance angle 2 The angular portion of the changed drive system travel for the segment with the number from Z122 35 122 41 Sequence change at the end With this parameter which is cyclical writable a coupling decoupling point of the se quence change is specified This parameter must be considered in combination with Z122 6 The parameter i...

Page 658: ...g Modes Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 658 of 814 3 8 122 43 Denominator gear factor Denominator of the gear factor at the output of the polynomial curve generator ...

Page 659: ... current control Z18 50 in standardization 100 Isq max Z19 8 The torque set value can be written in the writable parameter Torque set value for OM current control Z18 78 in standardization 100 Mbase Z138 34 At the torque current specification Z18 9 bit 5 0 the torque current set value in A is converted At the torque specification Z18 9 bit 5 1 the torque set value at first is re scaled and then is...

Page 660: ...Operating Modes Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 660 of 814 3 8 3 8 11 1 ProDrive OM current control Figure 177 ProDrive OM current control ...

Page 661: ... ma chine or the difference between the direct axis and of the cross current axis is the basis of the injection procedure Ld and Lq This is caused by the iron saturation due to the field of permanent magnets The orientation of this anisotropy is analyzed with the help of high frequent HF injection The HF voltage signal is injected in the motor the HF cur rent is filtered and it is demodulated acco...

Page 662: ... notch position search is only then possible if the machines have been tested successfully Constraints of the sensorless control at very low speed The operation is also possible at very low speed and at standstill Because of the higher torque ripple however the motor may run irregularly Switch on Enable at rotating machine At first there is no speed or position information available when enabling ...

Page 663: ...dditional speed set value Here the high frequency component of the Iq I term is filtered and added to the speed set value Figure 178 Control diagram of the vibration damping The I term is guided through a slow filter Z133 59 and a fast filter Z133 58 and the difference is then multiplied by a damping factor Z133 55 This value is added to the speed set value 3 9 1 4 Motor diagnosis In general the m...

Page 664: ...S Support Cyclic Write Axis independent 133 1 Mode sensorless UINT 0 0xffff 0 1 1 X 133 2 Injection frequency 1 FLOAT 0 4000 0 1000 0 Hz 1 1 X 133 3 Injection amplitude 1 FLOAT 1 400 0 100 0 V 1 1 X 133 4 Bandpass bandwidth FLOAT 1 500 0 50 0 Hz 1 1 X 133 5 Injection Kp FLOAT 1 000000e 10 1 000000e 10 80 1 s 1 1 X 133 6 Injection frequency 2 FLOAT 0 1000 0 250 0 Hz 1 1 X 133 7 Injection amplitude ...

Page 665: ...00 1200 Grad s 1 1 X 133 20 Speed filter FLOAT 0 10000 2 ms 1 1 X 133 22 Current FLOAT 0 100000 0 5 A 1 1 X X 133 25 Time for notch psition FLOAT 0 1 5 3 s 1 1 X 133 28 Minimum speed torque monitoring FLOAT 0 10000 60 Grad s 1 1 X 133 30 Deviation voltage model FLOAT 10000 10000 0 1 1 133 31 Deviation injection FLOAT 10000 10000 0 1 1 133 41 Anisotropy FLOAT 0 50000000 0 A 1 1 X 133 51 Saliency ra...

Page 666: ...tor current Id and Iq 133 5 Injection Kp With this parameter the proportional gain Kp and the reset time Tn of the PI compensat ing controller which belongs to the injection procedure is set 133 6 Injection frequency 2 With this parameter the voltage frequency is set which in the course of the pole position determination is injected in the motor in step 2 in order to enable a 180 indeterminate sta...

Page 667: ...I1 in the 2nd step minimum saturation level 133 11 Carrier current Id Filtered HF current Id 133 12 Carrier current Iq Filtered HF current Iq 133 15 Injection Tn Sets the reset time of the compensating controller at the injection in ms 133 16 Voltage model Tn Sets the reset time of the compensating controller at the voltage model in ms 133 17 Current dependent correction The factor that multiplies...

Page 668: ...or and should be sufficient for the load moment otherwise a commutation error of the motor can occur 133 25 Time for notch position This parameter determines the time for notch position search 2 in ms 133 28 Minimum speed torque monitoring The torque is displayed in the controlled operation from this speed set value onwards and the torque is monitored In order to increase the torque accuracy a fin...

Page 669: ... Ld If the motor parameters are not known the commutation controller can be set in the first step with the default value 0 1 133 55 Damping factor Damping gain The high frequency component of the Iq I term is multiplied by this factor and is used as an additional speed set value 133 58 Time constant fast damping filter Fast time constant by which the Iq I term is filtered The high frequency compon...

Page 670: ...also be ac tivated so that the nonlinearity of the power unit can be compensated The reliability of open loop operation at low frequencies below 2 Hz is compromised by the accuracy of motor model parameters and compensation of power unit nonlinearity Therefore for applications requiring persistent operation in this region it is recommended to use the closed loop control with an encoder m Motoring ...

Page 671: ...th starting is needed But the reliability and repeatability of starting may be affected 6 Parameter Minimum speed delay OL Z161 2 may be decreased to lock the flux esti mation and prevent the loss of motor control at stand still If the drive does not follow a deceleration ramp e g drive in current limit the parameter may be increased to allow speed control down to zero 7 Auto tuning of the speed r...

Page 672: ...n completed during commissioning m If a DC link overvoltage error occurs during catch operation parameterize Z167 3 Catch demagnetization time m If a overcurrent error occurs during catch operation parameterize Z167 3 Catch de magnetization time m During catch operation the actual speed value Z18 22 settles to the actual rotor speed Overshoots of over 30 might occur Take this into account to param...

Page 673: ...1 Minimum speed threshold OL Speed reference below which speed estimation is suspended 161 2 Minimum speed delay OL Time which must elapse before speed estimation is suspended when speed is below the threshold Z161 1 Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 160 1 Magnetization time UDINT 0 5000 200 ms 1 1 X 161 1 Minimum speed th...

Page 674: ... Catch demagnetization time For motors with a high rotor time constant this parameter can be used to force a delay between pulse disable and subsequent pulse enable While the catch operation is active there might occur a short term regenerative operation of the motor due not known rotor position If the delay between pulse disable and pulse enable is short compared to the rotor time constant and th...

Page 675: ... neg speed error value FLOAT 1 000000e 06 0 0 0 Grad s 1 1 X 6 11 Speed error value response time FLOAT 0 0 100 2 0 ms 1 1 X 6 12 Speed actual value Speed ON threshold FLOAT 0 1 000000e 06 18000 Grad s 1 1 X O 6 13 Speed actual value Speed OFF threshold FLOAT 0 1 000000e 06 17000 Grad s 1 1 X O 6 14 Velocity window per centage UINT 0 65535 0 100 1 X O 6 20 Blockade Speed Limit FLOAT 0 1000000 10 G...

Page 676: ... smoothed FLOAT 0 1000 0 V 1 1 X 6 39 Motor I2t warning threshold FLOAT 0 1000 0 1 1 X 6 42 Smoothing time electr motor power display FLOAT 0 1000 1 25 ms 1 1 X 6 43 Motor I2t monitoring mode UINT 0 0xFFFF 0 1 1 X 6 46 Motor I2t derating fac tors FLOAT 10 100 100 1 1 X 175 1 Mode PU temperature model UINT 0x0 0xFFFF 0x0 1 1 X 175 2 Status PU temperature model UINT 0 0xFFFF 0 1 1 X 175 15 Power uni...

Page 677: ...al places The parameter value corresponds to the following equational format The display is refreshed every 2 ms 6 5 Positive overspeed limit When the drive exceeds this positive maximum speed limit the drive is immediately de energized by error message 203 Positive overspeed limit exceeded The clock of the overspeed monitoring is 1 ms 6 6 Negative overspeed limit When the drive exceeds this negat...

Page 678: ...rence Z6 7 Max pos speed difference and Z6 14 Velocity window percentage are used to generate the Nact Nset message For details see the description of Z18 20 Speed controller status 6 11 Speed error value response time The maximum time is specified here in ms for each axis in which the set limit values of the speed error value Parameter Z6 7 Z6 8 may be exceeded before a drive error will be trigge...

Page 679: ... current limit and the drive at the same time at standstill Nact Blockade Speed Limit The threshold for the actual speed under which the drive is assumed to be blocked can be set under this parameter This speed threshold must be adapted depending on the motor or encoder system es pecially at resolver The threshold must be higher than the variation of the speed actual value in standstill An adjusta...

Page 680: ...power unit Z129 12 Z129 13 Z129 14 or Z129 15 depending on the PWM frequency Z130 15 6 27 Power unit Ixt actual value This parameter displays the current Ixt value of PU overload monitoring The current will be limited to the power unit nominal current with a value of 100 At nominal load devices peak current nominal current the current is limited to nominal current Additional monitoring and limitat...

Page 681: ...coordinates in A actual values usd usq Calculated motor voltages in dq coordinates in V phase voltage actual values The dead time voltages are compensated with 100 independent of the value of the dead time compensation factor Z47 50 i e it doesn t matter if the dead time compensation in the motor is active or not See ZFig 115 on page 456 The parameter 6 32 accords to the smoothed value of pe real ...

Page 682: ... a fixed hysteresis of 10 be low the warning threshold the warning is withdrawn again If the value for the warning threshold is 0 there is no warning See also ZOverload monitoring of the motor I2t from page 717 Standardization 100 Maximum thermal load of the motor 6 42 Smoothing time electr motor power display Smoothing time constant for the motor real power display Z6 32 6 43 Motor I2t monitoring...

Page 683: ...6 46 0 defines the maximum contin uous current in the standstill operating point and 6 46 1 defines the operating point at the half rated speed By default both derating factors have a value of 100 which accords to the speed inde pendent standardized solution of the l2 t monitoring refer to ZTemperature monitoring of the motor from page 715 The minimum value corresponds to 10 Bit Meaning 2 0 Value ...

Page 684: ...ated 1 The lxt model is activated If the device supports both models the lxt model will be active in general 175 1 bit 1 0 A change of the overload monitoring model setting in the parameter list is valid after the device was switched on and off again Bit no Meaning 0 PWM reduction mode 0 not enabled 1 enabled 1 Selection of the PU overload monitoring model at availability of the tem perature model...

Page 685: ...ontinuous current Z175 7 If PU overload monitoring via the temperature model is not active this parameter isn t im portant see status PU temperature model Z175 2 Bit Meaning 0 Display of the active PU overload monitoring model 0 Ixt model active 1 Temperature model active 1 Availability of the temperature model complete data set of the temperature model 0 not available 1 available 2 Availability o...

Page 686: ...izable which means recording with or without prior history related to the trigger event Trigger sources m Digital signals selection of relevant bits through bit masks is possible e g n Status change n Error or warning events n external digital inputs m analog signals n Target or actual values n Analog inputs Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Wri...

Page 687: ... value FLOAT 5 000000e 9 5 000000e 9 0 000000e 00 1 1 X X 101 16 Trigger compare mask UDINT 0 0xFFFFFFFF 0 1 1 X X 101 17 Trigger cause UINT 0 1999 0 1 1 X X 101 18 Sample time FLOAT 0 0000625 100 0 001 s 1 1 X X 101 19 After Run time FLOAT 3 000000e 01 3 000000e 06 1 000000e 00 s 1 1 X X 101 20 Recording time FLOAT 1 000000e 01 3 000000e 06 1 000000e 01 s 1 1 X X 101 21 Buffer size UDINT 10000 50...

Page 688: ...nts Only real time capable parameters can be recorded for which the access function does not exceed a specific minimum time The controller checks the ID and reports a corre sponding error message to the operating system if the parameters are not real time ca pable 101 4 Channel 1 source parameter Id See Z101 3 101 5 Channel 2 source parameter Id See Z101 3 Value Meaning 0 Recording Stop 1 Recordin...

Page 689: ...ource parameter Id See Z101 3 101 11 Trigger source parameter Id Parameter ID for trigger events that are freely programmable The value of RSP Trigger Source Pxxx axis indicated through trigger axis mask refer to Z101 13 is compared with the trigger comparison value Z101 15 and a trigger is ac tivated when the trigger condition Z101 14 is met 101 12 Trigger mode Setting the corresponding bit will ...

Page 690: ...pared with the trigger compare value 101 15 and a trigger is activated when the trigger condition 101 14 is met Bit Value Trigger event 0 0x0001 Reserved 1 0x0002 Reserved 2 0x0004 Freely programmable trigger event 3 0x0008 Reserved 4 0x0010 Trigger on positive edge 5 0x0020 Trigger on negative edge 15 6 Reserved Bit Trigger event 0 Axis 0 1 Axis 1 15 2 Reserved Value Trigger condition 0 No condit...

Page 691: ...number multiple of the control cycle Value Trigger Cause 0 Reserved 1 Reserved 2 Trigger activated through command in Parameter Z101 2 3 Trigger activated through drive error 4 Reserved 5 Trigger activated through programmable trigger value greater than compari son value 6 Trigger activated through programmable trigger value equal to comparison value 7 Trigger activated through programmable trigge...

Page 692: ... buffer 101 22 Measure time Display of the time used by the Scope Buffer module in real time Interrupt This time de pends on the number of channels and axes 101 23 Scope buffer Two dimensional array for Type FLOAT32 scope buffer data The 1st dimension corresponds with the channels Channel 0 is reserved Channel 1 Channel 8 correspond with the recording channels Channel 9 corresponds with the trigge...

Page 693: ... 3 dimensional accordingly If no data is present in the ring buffer the Read command response with error code RC_ERR_RSP_NODATA 1305 If an attempt is made to read data from the buffer during recording the Read command responds with error code RC_ERR_RSP_NOREAD 1304 Index 0 of the 2nd dimension points to the most current value 101 24 Task number Display in which the ring buffer recording is carried...

Page 694: ... signal generator is also integrated for system analysis which can be fed into the system by broadband signals such as white noise or sine signal generated and through the parameter interface Block diagram of the FFT analyzer function Figure 180 Block diagram FFT analyzer function 5000_1000_rev02 cdr Output as an array parameter 104 21 Results Spectrum signal 1 signal 2 Amplitude phase response si...

Page 695: ...ce Number Name Type Min Max Default Value Unit Factor Read only Storage DS Support Cyclic Write Axis independent 104 1 Command UDINT 0 4 0 1 1 X X 104 2 Status UDINT 0 41 0 1 1 X X 104 3 Signal input 1 source Pxxx UDINT 0 0xFFFFFFFF 0 1 1 X X 104 4 Signal input 2 source Pxxx UDINT 0 0xFFFFFFFF 0 1 1 X X 104 5 Signal input 1 2 axis UINT 0 0x11 0 1 1 X X 104 6 Signal out target Pxxx UDINT 0 0xFFFFFF...

Page 696: ... 17 Input signal 2 FLOAT 1e 9 1e 9 0 000000e 00 1 1 X X 104 18 Actual average DINT 0 20000 0 1 1 X X 104 19 Max frequency FLOAT 0 000000e 00 8000 2000 Hz 1 1 X X 104 20 Frequency resolution FLOAT 0 000000e 00 62 5 9 765625e 01 Hz 1 1 X X 104 21 FFT data FLOAT 0 0 0 1 1 X X 104 22 Prbs register length UINT 0 19 19 1 1 104 23 Prbs register clock UINT 1 0xFFFF 1 1 1 FFT Command Meaning 0 Stop 1 Run S...

Page 697: ...ut signals and the output signal can be configured here The output signal is thereby always assigned together with the input signal Signal_1 En tries are only possible with the FFT command Stop Definition 104 6 Signal out target Pxxx The parameter for a target parameter can be entered here The output signal from the signal generator is thereby routed through the system as an excitation signal Entr...

Page 698: ...gnal generator active Bit 6 set 0x40 Hissing noise signal generator 31 Bit active Bit 32 7 Reserved Value Meaning 0 No error 1 Internal memory for Vector 1 could not be allocated e g due to configured ring buffer 2 Internal memory for Vector 2 could not be allocated e g due to configured ring buffer 3 Internal memory for Vector 3 could not be allocated e g due to configured ring buffer 4 Error wro...

Page 699: ...owing This parameter can be used to switch FFT windowing on Since the FFT always works with a time frame finite time record the use of a window function usually makes sense The Window function serves to reduce the Bin Leakage or Side Lobe The price for that is a certain reduction of frequency resolution The change of the Window type does not take effect until the FFT Command is re started 104 11 A...

Page 700: ...e This pa rameter can also be used as the signal source of another module 104 16 Input signal 1 This parameter shows the actual value of the input signal for Channel 1 104 17 Input signal 2 This parameter shows the actual value of the input signal for Channel 2 104 18 Actual average This parameter shows the current number of average determinations that have been car ried out 104 19 Max frequency D...

Page 701: ...ross spectrum imaginary The data accordingly contains the first 500 elements of the entire FFT evaluation starting with the lowest frequency The complete FFT evaluation accordingly has FFT length 2 elements Thus the FFT results 104 21 include data up to a maximum frequency of Max frequency Z104 19 x 500 x 2 FFT length Z104 9 Example An assumed RT0 cycle Z1 8 250 µs results in the Max frequency Z10...

Page 702: ...e Monitoring the Field Angle is initiated The pulse enable is blocked as a result The cycle time of the monitoring part for error triggering is 1 ms Additionally the field angle monitoring can be switched on and off by setting the field an gle speed threshold Z143 8 as a function of the speed set value If the speed is less than the field angle speed threshold Z143 8 the monitoring remains disabled...

Page 703: ...tive Field angle monitor ing is not carried out below the threshold Value 0 will completely switch off field angle monitoring 143 9 Field angle counter Shows the current status of the field angle error counter The field angle error is determined in the current controller cycle The message Error While Monitoring the Field Angle must recognize a field angle error not less than in every other current...

Page 704: ...ld in the Parameter Z143 1 Status If the actual position error exceeds one of the two thresholds the bit Position Error Limit Exceeded will be set in the Z143 1 Status If the position error remains longer than the position error time that was entered another bit is set in the Status and the error 207 Position error limit 1 exceeded or 208 Position error limit 2 exceeded will be reported If the pos...

Page 705: ...ss Field angle monitoring only works with synchronous machines and when this is permit ted by the operating mode For example it is activated in the speed control operating mode and deactivated during notch position search 143 2 Mode 1 Mode for position error monitoring regarding position error limit 1 Position error monitoring is only active when a position controlled operating mode is ac tive If ...

Page 706: ... message Set value reached in the position controller status bit 12 in Z18 10 and in the drive status bit 10 in the Z108 3 Status word 1 only in operating modes position control Z109 2 4 and synchronous operation Z109 2 5 If the position error is within both position error limits Z143 1 Status bits both 0 then the message Set value reached will be displayed immediately If the position error is eve...

Page 707: ...it 10 in the Z108 3 Status word 1 only in operating modes position control Z109 2 4 and synchronous operation Z109 2 5 If the position error is within both position error limits Z143 1 Status bits both 0 then the message Set value reached will be displayed immediately If the position error is even outside one of the position error limits and this position error limit is active at the same time sta...

Page 708: ...device is emulated on the basis of total current and peak current time Figure 182 Overload monitoring of the power unit Ixt model Current controller Iq actual value fil tered 47 5 Current controller Id actual value fil tered 47 6 Total current actual value Iist Aeff LT nominal current 4 kHz 8 kHz Inenn Aeff 6 26 LT maximum current 4 kHz 8 kHz Imax Aeff 6 25 Maximum current for the drive Igrenz Aef...

Page 709: ...xample Inenn 10 Aeff Imax 15 Aeff tu 1 s Igrenz 12 Aeff ist 35 C s s LT Thermal time constant LT s LT Activation time taus s Time to limit to Inenn LT Ixt Offset Ixt Offset umax Imax Inenn 100 u Iist Inenn 100 LT tu umax 100 umax ln IxtOffset ist 45 o C 85 o C 45 o C 100 taus LT u u 100 IxtOffset ln u max 15 10 100 150 u 12 10 100 120 LT 1 150 100 150 ln 0 91 t aus 0 91 120 120 100 ln 1 63 ...

Page 710: ...ing Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 710 of 814 3 11 Figure 183 Curve overload monitoring This characteristic curve assumes a cold power unit Ixt Offset 0 ist 45 C ...

Page 711: ... 1 OR 100 LimPwmRed LT I2t Ini therm model semicon ductors Ist N D PT1 N D I2t max Main voltage 130 8 141 12 dc link voltage 130 3 Heat Sink temperature 130 1 Power electronic submodel Iu Iv Iw actual values 47 32 47 33 47 34 Initialization PU I2t max continuous current actual value 175 8 I2t submodel Status PU temperature model 175 2 bit 4 Warning 206 Power unit responded maximal torque current l...

Page 712: ...rection factors at changed operating conditions and Electrical data in the operating manual Initialization I2 t sub model The I2 t sub model is set or initialized to the following value if the heatsink temperature exceeds 45 C during the operating enable Protective function current limit I2 t sub model This model was implemented for components of the device whose thermal load isn t de pendent of t...

Page 713: ...rent limit still can be activated by I2 t sub model Protective function PWM reduction In order to avoid current limiting the switching frequency can be automatically reduced i e PWM frequency Z130 15 is halved Thereby the switching losses in the IGBTs are reduced If the temperature of the power electronics exceeds the temperature threshold Sem LimRed the PWM frequency is halved and warning 216 is ...

Page 714: ...on of the PWM changes in the continuous operation However they cannot be excluded Therefore this option is applicable to simple not critical applications where the drive tolerates possible failures If the PWM frequency Z130 15 is set to 2 kHz or if the precondition Current cycle RT0 wasn t considered during the reduction PWM reduction cannot be processed 3 11 4 Temperature monitoring of the motor ...

Page 715: ... the temperature value determined is compared to an inter nal permanently set switch off threshold This switch off threshold corresponds to a resis tance value of 1100 ohms If it is exceeded Error 714 Motor Overtemperature Detected by Temperature Switch is generated The temperature encoder can be connected either to the encoder input or to the connec tor provided on the power unit The setting for ...

Page 716: ...el corresponds to 40 C 0 maximum value of the en vironmental temperature and the maximum thermal load of the motor 100 The maximum thermal load of the motor corresponds to the maximum continuous load of the motor e g motor nominal current at motor nominal speed 5000_0087_rev03 cdr T 107 28 t t 6 28 100 40 C 0 I A Motor IN t max thermal load 63 2 NOTE The overload monitoring applies to motors used ...

Page 717: ...ugh a motor temperature actual value is lower than the permitted continuous temperature of the winding Refer to the motor manufacturer for details such as the temperature measurement I2 t Monitoring Figure 187 Motor I2 t overload monitoring standard solution The motor overload monitoring is active if the motor l2 t time constant Z107 28 is differ ent from zero If the motor l2t actual value at acti...

Page 718: ...variable l2 t overload monitoring on page 720 for implementations of a speed dependent l2 t monitoring By default the apparent current of the motor is monitored However at low speeds the 3 phases are unequally loaded Refer to chapter ZMonitoring of the single phases on page 724 for information about monitoring each phase separately Example In the following function example refer to ZFig 188 on pag...

Page 719: ...tinuous current of the l2t motor model As long as error is acknowledged in controlword 108 1 Motor error error no 99 Motor I2t time constant 107 28 600 s Motor I2t actual value 6 28 Motor I2t actual value After error shut down from drive manager Motor I2t actual value theoretically w o error shut down Motor warning Warnung no 34 act Limit Motor total smoothed current 6 30 I 8 A 5 1 A 2 2 2 2 I I I...

Page 720: ...ndent modes Z6 43 bits 0 to 2 value 1 re quires that support points are provided for the continuous current limit characteristic S1 characteristic or S1 current limit curve over the speed curve so that the calculation of an interpolated current limit curve can be made By means of the interpolated current limit curve and the effective speed the maximum permissible continuous current can be cal cula...

Page 721: ...l current is used as a reference for the continuous current as well the iron losses are assumed zero at standstill In case one of these values is not available value equals ze ro the option cannot be activated This option is specific to the motor standstill current motor rated current only Between standstill and rated speed this method applies to the continuous current characteristic quite accurat...

Page 722: ...ax imum continuous current at the standstill point and at half the rated speed Based on this a current limit curve is interpolated from the available current values again and is used for the calculation of the l2t actual value see ZFig 192 The maximum continuous current is fixed to the rated current if it is above the rated speed Figure 193 Speed dependent l2t overload monitoring of asynchronous m...

Page 723: ...the current characteristics are not to be interpreted literally A minimum speed for the standstill current can be mentioned in the data sheets Please contact the motor manufacturer for more detailed information if the output frequencies are as low as described above The output frequencies described above load the three phases unequally By l2 t monitor ing mode Z6 43 bit 3 set to 1 instead of the l...

Page 724: ...Monitoring Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 724 of 814 3 11 ...

Page 725: ...t a haz ardous voltage Therefore m Pay heed to areas on the device that could be dangerous WARNING Risk of injury due to improper troubleshooting Therefore m Only qualified personnel may work on this unit m Personnel that work with the b maXX device must be trained in the safety regula tions and the handling of the device and be familiar with the correct operation of it In particular reacting to e...

Page 726: ...this time X Heat sink temperature Temperature threshold 1 X X Temperature switch off threshold X IS Temperature of device inte rior Temperature threshold 1 X X Temperature switch off threshold X IS Motor temperature I2 t threshold exceeded X IS Threshold 1 exceeded 3 X X Threshold 2 exceeded 3 X X Encoder short circuit and or tem perature 30 C 3 X Encoder not connected and or tem perature 250 C 3 ...

Page 727: ...ime out during transmission X X X 5 Safety technology Switch off by Safety technology Safe Torque Off X IS Safety technology Warning switch off by Safety tech nology Safe Torque Off X Blockage monitoring Drive blocked X X IS Monitoring function Warning error Warning Error Adjustable threshold Adjustable reaction Reaction 1 Not available with BM51xx BM541X and BM542X 2 Pulse inhibit carried out aft...

Page 728: ...f the temperature is too high then a pulse inhibit takes place immediately Motor temperature This monitoring function checks the temperature of motor If the I2 t threshold is exceeded then the error message I2 t overload is reported by the controller Only for KTY84 encoder If the set temperature threshold 1 is exceeded then the warning Temperature threshold 1 exceeded is signaled by the controller...

Page 729: ... the motor speed and the motor current If the Blockage monitoring interval time frame meets the following two conditions then the error message warning Drive blocked is signaled by the controller and a pulse inhibit takes place immediately m Motor speed 0 m The motor current output by the device is the same as the set motor limiting current current limit ...

Page 730: ...ing red blinking slow red blinking fast Error Warning Torque limit 1 1 H13 red permanent lighting red blinking slow red blinking fast Error Warning Torque limit 2 1 H14 red permanent lighting red blinking slow red blinking fast Error Warning Torque limit 3 2 H21 red permanent lighting red blinking slow red blinking fast Error Warning Torque limit 4 2 H22 red permanent lighting red blinking slow re...

Page 731: ...r further information on the subject of error reset see Instruction Manual b maXX 5800 Col umn LED Color flash code Meaning Axis 1 H11 green blinking Power on and pulse enable at least one axis or SE 1 to 7 green permanent lighting Power on and pulse enable at all con figured axes orange Power on no pulse enable green flashing Download active 1 H12 red permanent light ing Error at least one axis o...

Page 732: ... measured in the FPGA is greater than the parameterized set value fieldbus cycle Pulse block 122 Measured fieldbus cycle too small The fieldbus cycle that is measured in the FPGA is smaller than the parameterized set value fieldbus cycle Pulse block 123 RT fieldbus jitter greater than the syn chronizer window The error is triggered when the jitter of the fieldbus interrupt that is measured in the ...

Page 733: ...irmware error e g switch Pulse block 141 Operating system error Error in context with the operating system Pulse block 142 Method not implemented Method not implemented Pulse block 144 invalid file type invalid file type No response 145 File already open File already open No response 146 Maximum size of file reached writing reading Maximum size of file reached writing reading No response 147 File ...

Page 734: ...rror when translating the PLC project No response 174 PLC runtime error PLC runtime error No response 175 Application error 1 Freely definable application error 1 No response 176 Application error 2 Freely definable application error 2 No response 177 Application error 3 Freely definable application error 3 No response 178 Application error 4 Freely definable application error 4 No response 179 Ap...

Page 735: ...s greater than the variable threshold No response 215 Controller fan not working The fan of the controller board is switched on but the controller gets no feedback from the tachometer Either the fan is not working or the tachometer signal is broken No response 216 Power unit monitoring responded PWM frequency reduced Power unit monitoring temperature model responded PWM fre quency reduced halved N...

Page 736: ...t interface The error is triggered by the module EnDat interface when the absolute encoder reports via the EnDat interface that the ampli tude of the Sine Cosine signals is too small Sine Cosine signals that are too small can lead to a position loss m Cause Cause for sine cosine signals that are too small may be contami nation aging or excess temperature n Remedy Replace encoder Pulse block 408 Po...

Page 737: ... battery replacement in the Multiturn encoder may be a modification of the battery n Remedy Replace encoder Pulse block 413 Alarm Bit set EnDat interface has set alarm Bit collective message Pulse block 414 Error during reception Address mirror ing returns an error Error during reception Address mirroring returns an error Pulse block 415 Variance of encoder signals exceeds adjustable limit The var...

Page 738: ...or between the DSL master slave Failure in the HIPERFACE DSL encoder due to the EMC or shock vibration Position is estimated as long as the error is applied If the error remains longer than 5 speed control cycles in series the error 405 is enabled Adjustable 500 New set value not transferred to the controller soon enough The new set value was not transferred to the controller position or speed con...

Page 739: ...ronize the motor 702 Rotor position at synchronous machine is unknown The rotor position of the synchronous drive is unknown Either the rotor position offset or the absolute position could not be read from the encoder or the synchronous drive is used with a incremental encoder and a rotor position identification has not been executed yet The error is also set if the encoder is switched off but the...

Page 740: ...der No response 709 Motor excess temperature The measured temperature is higher than permitted Pulse block 710 Motor Temperature Threshold1 exceeded Motor Temperature Threshold1 exceeded No response 711 Motor Temperature Threshold 2 exceeded Motor Temperature Threshold 2 exceeded No response 712 Short circuit on temperature encoder Short circuit on temperature encoder Pulse block 713 Temperature e...

Page 741: ...ting mode requires a one time reference run homing after activating the controller Currently only the operating mode Position Target Specification BA 1 requires homing This requirement can be activated in the mode for the position target specification No response 901 Problem during homing A homing error has occurred Possible error causes m An invalid homing mode was selected m Homing isn t possibl...

Page 742: ...Target position to be approached is greater than the positive soft ware limit switch Other operating modes Position set value is greater than the positive software limit switch No response 910 Overspeed detected at set value input Overspeed detected at set value input In the operating mode speed control or speed setting a set value was written exceeding the maximum interpolating speed set value of...

Page 743: ...ected and the position actual value is outside of the symmetrical monitoring win dow or the standstill message is not active anymore Pulse block 914 Positive stop drive impossible Positive stop drive impossible is generated in case of the actual operation state Others reasons are an active master slave torque coupling or an active gantry function No response 915 Abort of the command at positive st...

Page 744: ... actual value of the DC link voltage is displayed through Parame ter 130 03 When a limit that is defined by the power unit is exceeded see Parameter Z129 21 the power unit will switch off with error m Cause Remedy Continuous braking operation of the axes Error on chopper connection chopper resistor n Effect The error is fatal and leads to the immediate deactivation of the drive controller The driv...

Page 745: ...ifferentiation of the errors If the bit bar cannot be read out the error message will be generated This error is provided for monitoring the deactivation sequence m Effect The error is fatal and leads to the immediate deactivation of the drive controller The drive will fizzle out if applicable Controller activation for the drive again will be prevented until the error cause has been eliminated and...

Page 746: ...ponse 1040 reserved reserved No response 1041 reserved reserved No response 1042 reserved reserved No response 1043 Warning Undervoltage DC link voltage Warning Undervoltage DC link voltage No response 1046 Warning Deactivation through safety technology The safety function Safe Torque Off is active No response 1048 Warning Mains failure Supply not ready A mains failure was detected or the supply i...

Page 747: ...uld be switched off but it does not m Effect The above error message is issued The error bit will be activated in the status of the brake activation The response of the drive depends on the error response that has been set n Pulse block The drive blocks the pulses and will be switched off n otherwise At first the pulses remain switched on The drive can then either be switched off depending on the ...

Page 748: ... or copy the values from a non existing data record No response 1500 uBlaze Software has a critical error It was an critical error and uBlaze Software is no longer functional No response 1501 If there is no response from the slave HPI Buffer Initialization Slave did not respond within specified time Master Ident Code 0xDEADBEEF Slave Ident Code 0xBEEFDEAD No response 1502 Message length is greater...

Page 749: ...during switch down of phase Error during switch down of the bus state phase switch down No response 1529 Phase transition without ready acknowledge Sercos n switch up to CP3 not possible back to CP0 n switch up to CP4 not possible back to CP0 SoE n switch up to Safe Op not possible back to Pre OP n switch up to Op not possible back to Safe OP No response 1530 Error Invalid phase Invalid phase bus ...

Page 750: ...oo high no position establish ment possible Speed too high no position establishment possible Pulse block 1732 Speed too high position can t be calcu lated At rotatory encoders position can t be calculated At linear encoders sensor is not adjusted or is not in adjustment mode Pulse block 1733 Position error Multiturn At rotatory encoders Position error Multiturn At linear encoders distance magneti...

Page 751: ... response 1902 GdpProtocol version not supported No response 1903 Maximum number of users reached No response 1904 Report ID not known No GDP report No response 1905 CRC32 checksum does not match the calculated checksum No response 1906 Telegram header size not plausible No response 1907 Job length not plausible No response 1908 Fragment length not plausible No response 1909 Command not yet implem...

Page 752: ...to transmit parameters with different subdevice indices within a telegram m Effect The requested telegram cannot be transmitted No response 1936 Report timeout has occurred Report timeout has occurred No response 1937 Actual data were not picked up on time Actual data producer data were not picked up on time Pulse block 1938 Set value failure at cyclic data Set value failure at cyclic data Pulse b...

Page 753: ... 2702 Error in the configuration of the return motion General error in the configuration of the return motion detected by the test function Cause m The motorized operation at mains failure is not permitted Z130 10 Supply mode bit 1 0 Pulse block 2703 Return motion target not reached The return motion positioning did not reach the target This is described in Z148 2 Status bits 4 8 11 n Inhibit inte...

Page 754: ...he speed of the master or to increase the scope of the individual curve segments m Consequence The processing of the polynomial curves must be interrupted Pulse block 2744 Master axis in motion during synchroni zation In the Z122 2 mode of the Coupled mode was set that the master axis must stop during the synchronization phase However a posi tion change was determined at the master axis position m...

Page 755: ...e The cam file is rejected No response 2750 To many revolutions per segment defined One of the transmitted curve segments was defined for more than 65535 master or slave revolutions m Consequence The cam file is rejected No response 2800 No identification in the DPRAM Header No identification found in the DPRAM Header DEADBEEF No response Error num ber Brief error text Error description Default se...

Page 756: ...Error descriptions Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 756 of 814 4 5 ...

Page 757: ...lating to nomi nal torque INT 1000 1000 0 1 1 X 6 5 Positive overspeed limit FLOAT 0 0 1 000000e 06 0 Grad s 1 1 X 6 6 Negative overspeed limit FLOAT 1 000000e 06 0 0 0 Grad s 1 1 X 6 7 Max pos speed error value FLOAT 0 0 1 000000e 06 0 Grad s 1 1 X 6 8 Max neg speed error value FLOAT 1 000000e 06 0 0 0 Grad s 1 1 X 6 11 Speed error value response time FLOAT 0 0 100 2 0 ms 1 1 X 6 12 Speed actual ...

Page 758: ... fac tors FLOAT 10 100 100 1 1 X 14 1 Min value sin cos FLOAT 0 141 42 30 1 1 X 14 2 Max value sin cos FLOAT 0 141 42 125 1 1 X 14 3 Actual value sin cos FLOAT 0 141 42 0 1 1 X 14 4 Variance of sin cos FLOAT 0 141 42 0 1 1 X 14 5 Average sin cos FLOAT 0 2896 0 Inc 1 1 X 14 6 Max sin cos variance FLOAT 0 141 42 100 1 1 X X 14 7 Variance quality factor FLOAT 0 141 42 0 1 1 X 14 8 Absolute range of f...

Page 759: ...Max error count sector UINT 0 0x001F 1 1 1 X 14 14 Error count sector UINT 0 0x001F 0 1 1 X 14 15 Max error count incre mental encoder UINT 0 0x001F 1 1 1 X 14 16 Error count incremental encoder UINT 0 0x001F 0 1 1 X 14 17 Encoder error mask UDINT 0 0x7F 0x1F 1 1 X 14 19 Cycle time variance cal culation UDINT 0 0x7FFFFFFF 10000 1 1 X 14 20 Status variance calcula tion UDINT 0 0xFFFF 0 1 1 X 14 21 ...

Page 760: ...controller FLOAT 3 4028234e38 3 4028234e38 0 Grad s2 1 1 X 18 31 Position controller out put FLOAT 1000000 1000000 0 Grad s 1 1 X 18 32 Speed controller output FLOAT 3 4028234e38 3 4028234e38 Grad s2 1 1 X 18 33 Time constant speed set value filter FLOAT 0 50 0 ms 1 1 X 18 35 w3 acceleration feed fwd act value FLOAT 3 4028234e38 3 4028234e38 0 Grad s2 1 1 X 18 36 w3 Feedforward factor pos accel FL...

Page 761: ...18 62 Position error revolu tions DINT 2147483648 2147483648 0 INC 1 1 X 18 68 Speed additional value FLOAT 150000 150000 0 Grad s 1 1 X 18 69 Speed set value output SetValMgr FLOAT 1000000 1000000 0 Grad s 1 1 X 18 70 w2 Feedforward time constant FLOAT 0 50 0 ms 1 1 X 18 71 Speed set value positive limit FLOAT 0 1000000 18000 Grad s 1 1 X X O 18 72 Speed set value nega tive limit FLOAT 1000000 0 ...

Page 762: ...1 1 X 19 1 Number of motors UDINT 1 2 2 1 1 X X 19 3 Motormanager status UINT 0 60 0 1 1 X 19 5 Max drive current actual value FLOAT 0 10000 0 A 1 1 X 19 6 Max drive current FLOAT 0 0 10000 1 5 A 1 1 X 19 7 Max field current ampli tude FLOAT 0 10000 0 A 1 1 X 19 8 Max torque current FLOAT 0 10000 0 A 1 1 X 19 9 Field current preset value FLOAT 10000 10000 0 A 1 1 X 19 10 Motor nominal torque curre...

Page 763: ... 1 X 29 18 Coefficient b2 FLOAT 1000000 1000000 0 0 1 1 X 29 19 Coefficient b3 FLOAT 1000000 1000000 0 0 1 1 X 29 20 Coefficient b4 FLOAT 1000000 1000000 0 0 1 1 X 29 21 Coefficient b5 FLOAT 1000000 1000000 0 0 1 1 X 29 22 Coefficient b6 FLOAT 1000000 1000000 0 0 1 1 X 29 23 Coefficient b7 FLOAT 1000000 1000000 0 0 1 1 X 29 29 Filter cycle time FLOAT 62 5 1000 250 µs 1 1 X 29 30 Biquad filter 1 no...

Page 764: ...lue FLOAT 10000 10000 0 A 1 1 X 47 3 Isq actual value FLOAT 10000 10000 0 0 A 1 1 X 47 4 Isd actual value FLOAT 10000 10000 0 0 A 1 1 X 47 5 Isq Act value filtered FLOAT 10000 10000 0 0 A 1 1 X 47 6 Isd Act value filtered FLOAT 110000 10000 0 0 A 1 1 X 47 7 Kp q current controller 4kHz FLOAT 0 0 1 0e 04 10 0 V A 1 1 X X 47 8 Tn q current controller FLOAT 0 0 1 0e 04 5 0 ms 1 1 X X 47 9 Kp d curren...

Page 765: ... 1 1 X 47 55 SM Phi error FLOAT 180 180 0 Grad 1 1 X 47 65 Current controller cycle time FLOAT 6 25e 01 2 5e 02 6 25e 01 µs 1 1 X 47 70 Alpha voltage of dead time compensation FLOAT 440 440 0 V 1 1 X 47 71 Beta voltage of dead time compensation FLOAT 440 440 0 V 1 1 X 52 1 Command status UINT 0 100 0 1 1 52 2 Mean speed 1 FLOAT 1000000 1000000 0 Grad s 1 1 X 52 3 Mean speed 2 FLOAT 1000000 1000000...

Page 766: ... X X 101 2 Command INT 0 7 0 1 1 X X 101 3 Channel 0 source parameter Id UDINT 0 4294967295 0 ID 1 1 X 101 4 Channel 1 source parameter Id UDINT 0 4294967295 0 ID 1 1 X 101 5 Channel 2 source parameter Id UDINT 0 4294967295 0 ID 1 1 X 101 6 Channel 3 source parameter Id UDINT 0 4294967295 0 ID 1 1 X 101 7 Channel 4 source parameter Id UDINT 0 4294967295 0 ID 1 1 X 101 8 Channel 5 source parameter ...

Page 767: ...ersion STRING 1 1 X X 102 10 System Fpga Id UDINT 0 0xFFFFFFFF 0 1 1 X X 102 11 Bootloader flags UDINT 0 0xFFFFFFFF 0 1 1 X X 102 13 Expected System Fpga Id UDINT 0 0xFFFFFFFF 0 1 1 X X 102 14 FPGA version UDINT 0 0xFFFFFFFF 0 1 1 X X 102 15 FPGA firmware number UDINT 0 0xFFFFFFFF 0 1 1 X X 102 18 Fieldbus controller firm ware number UDINT 0 0xFFFFFFFF 0 1 1 X X 102 19 Fieldbus controller firm war...

Page 768: ...T 0 20000 16 1 1 X X 104 12 Signal out amplitude FLOAT 1e 9 1e 9 0 1 1 X X 104 13 Signal output offset FLOAT 1e 9 1e 9 0 000000e 00 1 1 X X 104 14 Frequency for sinus generator FLOAT 0 8000 0 Hz 1 1 X X 104 15 Signal out FLOAT 1e 9 1e 9 0 1 1 X X 104 16 Input signal 1 FLOAT 1e 9 1e 9 0 000000e 00 1 1 X X 104 17 Input signal 2 FLOAT 1e 9 1e 9 0 000000e 00 1 1 X X 104 18 Actual average DINT 0 20000 ...

Page 769: ... 106 10 Encoder position actual angle UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 106 11 Encoder position actual revolutions UDINT 0 0xFFFFFFFF 0 1 1 X 106 12 Encoder position actual value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 106 15 Revolution overflow counter UDINT 0 2147483647 0 1 1 106 16 Revolution overflow counter max value UDINT 0 2147483647 0 1 1 X 106 20 Offset sinus INT 2048 2047 0 1 1 X 106 21 Offset cosin...

Page 770: ...SL communication error counter UDINT 0 0xFFFFFFFF 0 1 1 X 106 90 Encoder angle fieldbus UDINT 0 0xFFFFFFFF 0 Grad 1 1 X X 106 91 Encoder speed fieldbus FLOAT 1000000 1000000 0 Grad s 1 1 X X 106 92 Fieldbus deadtime FLOAT 0 5 2 ms 1 1 X 106 98 SSI bits extra data MSB UINT8 0 32 0 Bit 1 1 X 106 99 SSI bits extra data LSB UINT8 0 32 0 Bit 1 1 X 106 100 SSI extra data target parameter MSB UDINT 0 0xF...

Page 771: ...in 1 1 X 107 27 Max temperature UINT 0 250 150 Grad C 1 1 X 107 28 Time constant i2t UINT 0 65535 100 s 1 1 X 107 29 Stator resistance FLOAT 0 1000 000 0 5 Ohm 1 1 X 107 30 Stator leakage induc tance FLOAT 0 655 35 0 mH 1 1 X 107 31 Rotor resistance FLOAT 0 4294967 295 0 Ohm 1 1 X 107 32 Rotor leakage induc tance FLOAT 0 655 35 0 mH 1 1 X 107 33 Magnetizing inductance FLOAT 0 655 35 40 mH 1 1 X 10...

Page 772: ...UDINT 0 0xFFFFFFFF 0 1 1 X X 108 11 Parameter selection sta tusbit 15 UDINT 0 0xFFFFFFFF 0 1 1 X X 108 12 Bit pattern status bit 15 UDINT 0 0xFFFFFFFF 0 1 1 X X 108 13 QUICK STOP reaction code INT 0 8 0 1 1 X X 108 14 SHUTDOWN reaction code INT 0 3 0 1 1 X X 108 15 DISABLE OPERATION reaction code INT 0 3 0 1 1 X X 108 16 Status internal limits DWORD 0 0xFFFFFFFF 0 1 1 X 108 17 Mask for status inte...

Page 773: ... 16 Input min amount UDINT 0 1073741824 0 400000 00hex 100 X X X 110 17 Input 32 bit additive DINT 1073741823 1073741823 0 400000 00hex 100 X X X 110 20 Controlled stop time UDINT 0 65000 1000 ms 1 1 X X X 110 21 SS1 stop time UDINT 0 650000 0 ms 1 1 X X X 110 22 Active cycle time ramp generator FLOAT 0 8 0 1 ms 1 1 X 111 1 Status WORD 0x0000 0xFFFF 0x0000 1 1 X 111 2 Position set value rev SetVal...

Page 774: ... number digital input 1 UDINT 0 0xFFFFFFFF 0 1 1 X X 116 5 Bit selection digital input 1 DWORD 0 0xFFFFFFFF 0 1 1 X X 116 6 Set bit pattern for LOW state digital input 1 DWORD 0 0xFFFFFFFF 0 1 1 X X 116 7 Set bit pattern for HIGH state digital input 1 DWORD 0 0xFFFFFFFF 0 1 1 X X 116 8 Mode digital input 2 WORD 0 0xFFFF 0 1 1 X X 116 9 DI2 Axis index UINT 0 255 0 1 1 X X 116 10 Target number digit...

Page 775: ...DINT 0 0xFFFFFFFF 0 ms 1 1 X 119 1 Status DWORD 0 0xFFFFFFFF 0 1 1 X 119 2 Mode UINT 0x0 0xFFFF 0 1 1 X 119 3 Jogging speed UDINT 0 65535 100 Inc ms 1 1 X X 119 4 Jogging acceleration UDINT 7 65535 200 Inc ms 100 1 X X 119 5 Jogging deceleration UDINT 7 65535 200 Inc ms 100 1 X X 119 6 Jogging maximum jerk UDINT 7 65535 25 Inc ms 100 1 X 119 7 Output position set value UDINT 0x0 0xFFFFFFFF 0x0 Inc...

Page 776: ...FFF0000 Inc 1 1 X 121 5 Positioning window UDINT 0 0xFFFFFFFF 0x1000 Inc 1 1 X 121 6 Positioning window time UINT 0 65535 10 ms 1 1 X 121 7 Feedrate override UINT 0 65535 10000 100 1 X X 121 8 Stop Delay UDINT 7 65535 200 Inc ms 100 1 X 121 9 Positioning position actual value UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X 121 10 Maximum Position Value UDINT 0x0 0xFFFFFFFF 0xFFFFFFFF Inc 1 1 X 121 11 Speed lim...

Page 777: ...0x0 1 1 X 122 6 Sequence change start UDINT 0x0 0xFFFFFFFF 0x0 1 1 X 122 7 Start cam segment UINT 0 0xFFFF 0 1 1 X 122 8 Start position master revolution UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X 122 9 Start position master angle UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X 122 10 Start position slave rev olution UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X 122 11 Start position slave angle UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 ...

Page 778: ... 2 UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X X 122 37 Flex master distance angle 2 UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X X 122 38 Flex slave distance rev olutions 2 UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X X 122 39 Flex slave distance angle 2 UDINT 0x0 0xFFFFFFFF 0x0 Inc 1 1 X X 122 41 Sequence change target UDINT 0x0 0xFFFFFFFF 0x0 1 1 X 122 42 Numerator gear factor INT 32768 32767 1 1 1 X X 122 43 Denominator g...

Page 779: ...coder 1 trigger digital input TP2 pos edge rev olutions UDINT 0 0xFFFFFFFF 0 1 1 X X 124 10 Encoder 1 trigger digital input TP2 pos edge angle UDINT 0 0xFFFFFFFF 0 1 1 X X 124 11 Encoder 1 trigger digital input TP2 neg edge revolutions UDINT 0 0xFFFFFFFF 0 1 1 X X 124 12 Encoder 1 trigger digital input TP2 neg edge angle UDINT 0 0xFFFFFFFF 0 1 1 X X 124 13 Encoder 1 trigger zero pulse pos edge rev...

Page 780: ...neg edge revolu tions UDINT 0 0xFFFFFFFF 0 1 1 X X 124 28 Encoder 2 trigger zero pulse neg edge angle UDINT 0 0xFFFFFFFF 0 1 1 X X 124 30 DS402 mode UDINT 0 0xFFFFFFFF 0x00100100 1 1 X 124 31 DS402 touch probe 1 pos value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 124 32 DS402 touch probe 1 neg value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 124 33 DS402 touch probe 2 pos value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 124 34 DS40...

Page 781: ...er Float_5 FLOAT 5000000000 5000000000 0 1 1 X X 127 1 Init Pos Detection Method INT 0 3 0 1 1 X 127 4 Max current notch posi tion FLOAT 0 20000 0 A 1 1 X 127 5 Current rise FLOAT 0 001 100 1 A s 1 1 X 127 6 Current drop FLOAT 0 001 100 5 A s 1 1 X 127 7 Duration constant cur rent FLOAT 0 10 1 s 1 1 X 127 8 Notch position electrical UINT 0 0xFFFF 0 Grad 1 1 X 127 9 Maximum angle UINT 1 0xFFFF 0x00...

Page 782: ...k voltage FLOAT 10 1000 0 835 0 V 1 1 X 129 22 Max peak current time UINT 0 0xFFFF 10 00 s 100 1 X 129 24 Time phase error UINT 0 0xFFFF 0 ms 1 1 X 129 25 Current phase error FLOAT 0 1000 0 0 A 1 1 X 129 26 Max heat sink tempera ture UINT 0 0xFFFF 85 Grad C 1 1 X 129 27 Max ambience tempera ture UINT 0 0xFFFF 65 Grad C 1 1 X 129 41 Max ground current FLOAT 0 16 450 0 3 0 A 1 1 X 129 42 Min DC link...

Page 783: ...d for mains failure FLOAT 10 1000 450 V 1 1 X X 130 38 Udc hysteresis for mains failure FLOAT 10 500 50 V 1 1 X X 130 40 Operation time UDINT 0 0xFFFFFFFF 0 s 1 1 X 130 41 Actual PWM frequency UINT 2 16 8 kHz 1 1 X 131 1 Mode WORD 0 0xFFFF 0 1 1 X 131 2 State WORD 0 0xFFFF 0 1 1 X 131 3 Producer List UDINT 0 0xFFFFFFFF 0 1 1 X X 131 4 Consumer List UDINT 0 0xFFFFFFFF 0 1 1 X X 131 5 Producer Count...

Page 784: ...132 4 Target number output UDINT 0 0xFFFFFFFF 0 1 1 X 132 10 Set value 1 FLOAT 5000000000 5000000000 0 1 1 X 132 11 Duration zone 1 UDINT 1 4294967295 1000 ms 1 1 X 132 12 Set value 2 FLOAT 5000000000 5000000000 0 1 1 X 132 13 Duration zone 2 UDINT 1 4294967295 1000 ms 1 1 X 132 14 Set value 3 FLOAT 5000000000 5000000000 0 1 1 X 132 15 Duration zone 3 UDINT 1 4294967295 1000 ms 1 1 X 132 16 Set va...

Page 785: ... 133 58 Time constant fast damping filter FLOAT 0 10000 1 ms 1 1 X 133 59 Time constant slow damping filter FLOAT 0 100 1 s 1 1 X 134 1 Mode DWORD 0 0xFFFFFFFF 0x22 1 1 X 134 2 Status DWORD 0 0xFFFFFFFF 0 1 1 X 134 3 Control automatic DWORD 0 0xFFFFFFFF 0 1 1 X 134 4 Command WORD 0 0xFFFF 0 1 1 X 134 5 Torque limit FLOAT 1 00E 06 1 00E 06 0 Nm 1 1 X X 134 6 Speed limit FLOAT 0 1 00E 06 90 Grad s 1...

Page 786: ...nc 1 1 X 137 6 M0 Offset revolution UDINT 0 0xFFFFFFFF 0 1 1 X 137 7 M0 Sector position initi ator DINT 2147483648 2147483647 0 1 1 137 8 Encoder operation time UDINT 0 0xFFFFFFFF 0 1 1 137 9 Time first commission ing UDINT 0 0xFFFFFFFF 0 1 1 137 10 Time last refresh UDINT 0 0xFFFFFFFF 0 1 1 137 20 Type name STRING 1 1 X 137 21 Serial number STRING 1 1 X 137 22 Firmware version STRING 1 1 X 137 23...

Page 787: ...0 10000 A 1 1 X 138 11 Iq set value before notch filter FLOAT 10000 10000 0 A 1 1 X 138 12 Center frequency Iq set value notch filter FLOAT 0 8000 0 Hz 1 1 X 138 13 Bandwidth Iq set value notch filter FLOAT 0 4000 50 Hz 1 1 X 138 14 Iq limit bipolar cyclic UINT 0 16384 16384 4000hex 100 X 138 15 Iq limit bipolar FLOAT 0 100 100 1 1 X 138 16 Speed threshold for breakdown torque limit FLOAT 0 1e9 0 ...

Page 788: ... ler integral action time FLOAT 0 10000 3000 ms 1 1 X 142 5 Minimum field weak fac tor FLOAT 0 1 0 1 1 X X 142 6 Maximum output voltage RMS FLOAT 0 1000 0 V 1 1 X 142 7 Actual filtered output voltage RMS FLOAT 0 1000 0 V 1 1 X 142 8 Voltage threshold for field weakening FLOAT 50 600 600 V 1 1 X 142 9 Speed threshold for field weakening FLOAT 10 500000 3000 U min 1 1 X 142 12 Field controller due t...

Page 789: ... 10000 1 X 145 7 Synchronization accel eration UDINT 1 6553600 10000 Inc ms 10000 1 X X 145 8 Synchronization decel eration UDINT 1 6553600 10000 Inc ms 10000 1 X X 145 9 Synchronization maxi mum jerk UDINT 1 6553600 1000 Inc ms 10000 1 X X 145 10 Virtual master speed set value DINT 2147483647 2147483647 0 Inc ms 10000 1 X 145 11 Virt master set value cycle time UINT 1 128 1 ms 1 1 X 145 12 Master...

Page 790: ...6 Torque coupling factor slave FLOAT 0 1 0 1 1 X 147 7 Kp compensating con troller FLOAT 0 10000 2 Grad Nms 1 1 X 147 8 Tn compensating con troller FLOAT 0 100000 10 ms 1 1 X 147 9 Compensating controller output upper limit FLOAT 0 180000 18000 Grad s 1 1 X 147 10 Compensating controller output lower limit FLOAT 180000 0 18000 Grad s 1 1 X 147 11 Compensating controller set value FLOAT 10000 10000...

Page 791: ... positioning speed UDINT 0 0625 32767 0000 100 0000 Inc ms 10000 1 X 149 5 Spindle acceleration bipolar UDINT 0 07 655 35 2 00 Inc ms2 100 1 X 149 6 Spindle maximum jerk UDINT 0 07 655 35 0 25 Inc ms3 100 1 X 149 9 Spindle relative offset UDINT 0 0x0000FFFF 0 Inc 1 1 X 149 10 Active target position UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 149 11 Output Position Set Value UDINT 0 0xFFFFFFFF 0 Inc 1 1 X 149 1...

Page 792: ...ce number set value PID controller 2 UDINT 0 0xFFFFFFFF 0 1 1 X X 150 21 Source number actual value PID controller 2 UDINT 0 0xFFFFFFFF 0 1 1 X X 150 22 Target number output PID controller 2 UDINT 0 0xFFFFFFFF 0 1 1 X X 150 23 P gain PID controller 2 FLOAT 0 100000 1 1 1 X O X 150 24 Integral action time PID controller 2 FLOAT 0 000001 100000 0 01 s 1 1 X X 150 25 Derivative time PID con troller 2...

Page 793: ...so lute FLOAT 5000000000 5000000000 0 1 1 X 152 7 Lower threshold relative FLOAT 5000000000 5000000000 0 1 1 X 152 8 Upper threshold relative FLOAT 5000000000 5000000000 0 1 1 X 152 9 Axis selection output parameter UINT 0 1 0 1 1 X 152 10 Target number UDINT 0 0xFFFFFFFF 0 1 1 X 152 11 Bit selection DWORD 0 0xFFFFFFFF 0 1 1 X 152 12 Bit pattern LOW DWORD 0 0xFFFFFFFF 0 1 1 X 152 13 Bit pattern HI...

Page 794: ...d controller FLOAT 0 1e9 10 1 1 X 155 4 Upper adaption thresh old for speed controller FLOAT 0 1e9 1000 1 1 X 155 5 Factor Kp adaption FLOAT 0 01 100 1 1 1 X 155 6 Factor Tn adaption FLOAT 0 100 1 1 1 X 155 7 Actual Kp speed control ler FLOAT 0 100000 10 1 s 1 1 X 155 8 Actual Tn speed control ler FLOAT 0 1000 1 s 1 1 X 155 9 Actual Ki speed control ler FLOAT 0 100000 0 1 1 X 155 10 Ks actual valu...

Page 795: ...4 0 0 µs 1000 20 X 156 15 Time fieldbus write access DINT 500000 500000 0 µs 1000 20 X X 156 16 Time DSP read access DINT 500000 500000 0 µs 1000 20 X X 156 17 Time DSP write access DINT 500000 500000 0 µs 1000 20 X X 156 18 Time fieldbus read access DINT 500000 500000 0 µs 1000 20 X X 156 19 Time fieldbus read to DSP read DINT 500000 500000 0 µs 1000 20 X X 157 1 Mode optimization UINT 0 0xFFFF 0...

Page 796: ...gurable status DWORD 0 0xFFFFFFFF 0x0 1 1 X 165 3 Source numbers UDINT 0 0xFFFFFFFF 0 1 1 X 165 4 Bit mode WORD 0 0xFFFF 0 1 1 X 165 5 Logic functions UINT 0 6 0 1 1 X 165 6 Latch DWORD 0 0xFFFFFFFF 0x0 1 1 O 166 1 Mode UINT 0 0xFFFF 0 1 1 X 166 2 State UINT 0 0xFFFF 0 1 1 X 166 3 Current threshold motor FLOAT 0 1 1 1 100 X 166 4 Current threshold gener ator FLOAT 0 1 1 1 100 X 166 5 Zero voltage ...

Page 797: ...25 00 1 1 X 167 3 Catch demagnetization time UINT 0 4000 0 ms 1 1 X 168 1 Status WORD 0 0xFFFF 0 1 1 X 168 2 Mode WORD 0 0xFFFF 0 1 1 X X 168 3 Output INT 16384 16384 0 16384 100 X 168 4 Upper Limit INT 16384 16384 16384 16384 100 X 168 5 Lower Limit INT 16384 16384 16384 16384 100 X 168 6 Increment INT 0 2000 100 100 1 X 169 1 Mode UDINT 0 0xFFFFFFFF 0 1 1 X X 169 2 Status UDINT 0 0xFFFFFFFF 0 1 ...

Page 798: ...5 6 Max device DC link voltage UINT 0 760 540 V 1 1 X X 175 7 PU max continuous cur rent actual value FLOAT 0 1000 4 A 1 1 X 175 8 PU I2t max continuous current actual value FLOAT 0 1000 4 A 1 1 X 175 15 Power unit thermal load FLOAT 0 1000 0 1 1 X 176 1 Mode UDINT 0 0xFFFFFFFF 0 1 1 X X 176 2 Mode analog inputs UDINT 0 0xFFFFFFFF 0 1 1 X X 176 6 Status digital inputs WORD 0 0xFFFF 0 1 1 X X 176 7...

Page 799: ...FFFFF 0 Inc 1 1 X 179 16 Touch probe pos1 pos value DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 17 Touch probe pos1 neg value DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 18 Touch probe pos2 pos value DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 19 Touch probe pos2 neg value DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 20 Position error actual value DINT 0x80000000 0x7FFFFFFF 0 Inc 1 1 X 179 21 Speed act...

Page 800: ...Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 800 of 814 ...

Page 801: ...ap Chapter KG Cooling air requirement of device interior KLK Cooling air requirement of passive cooling unit min Minute MSKL Motor protection thermistor n 0 revolutional speed 0 nist revolutional speed actual value nmax Maximum revolutional speed nmin Minimum revolutional speed MSL Height above mean sea level No Number nsoll revolutional speed set value NTC Negative temperature coefficient thermis...

Page 802: ...800 Document No 5 16029 03 Baumüller Nürnberg GmbH 802 of 814 A V Volt VA Stainless steel VDE Verband der Elektrotechnik Elek tronik und Informationstechnik German electrical engineering electronics and IT association ZK DC link ...

Page 803: ... 44 ProDrive Ramp function generator 45 ProDrive Drive Manager for Axis 1 45 ProDrive Dataset management 46 Output frequency dependent limit of the maximum drive current 61 ProDrive Power Unit axis units 62 a Asynchronous motor Torque limit above Z138 22 b Asynchronous motor Overlap of several limits 82 Torque threshold 84 ProDrive Motor General 85 Modes of the Max torque current 19 8 at the synch...

Page 804: ...re of the control of the torque coupling at connecting the torque coupling as torque additional set value 255 Torque init stress of the torque coupling 256 Cross communication via EtherCAT 257 Axis internal cross communication 257 Boolean operation of the configurable status bits Z165 2 via the operators of Z165 5 272 Factor Group effect of position weighting 279 Factor Group effect of the speed a...

Page 805: ...tandard load mode of the asynchronous motor 138 1 bit 1 0 bit 3 0 a Dependent of the field current external total current limit is not assumed b Dependent of external total current limit field weakening is not assumed 461 Example Torque current limit lsqLim at the Load mode ASM lsdMax for the asynchronous motor only 138 1 bit 1 1 bit 3 0 a Dependent of the field current external total current limi...

Page 806: ...4 572 Homing methods 19 and 20 573 Homing method 33 and 34 573 Manual Drive Operation page in ProDrive 584 Speed profile Speed set value spindle position speed 589 Speed profile Speed actual value spindle position speed 589 Speed profile Speed actual value 0 standstill message is set 590 Spindle positioning with sequential positioning 591 Spindle angle position 595 Spindle relative offset 596 SW S...

Page 807: ...21 Continuous current limit characteristic by current supporting points and interpolation see ZFig 187 on page 718 722 Continuous current limit characteristic by approximation of the iron losses see ZFig 187 on page 718 722 Typical derating of standard asynchronous machines without forced ventilation 723 Speed dependent l2 t overload monitoring of asynchronous machines without forced ventilation 7...

Page 808: ...Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 808 of 814 ...

Page 809: ... 47 373 D Danger 12 Data set Changeover 323 Commands 323 Copy 322 324 Create 321 324 Delete 322 324 Identification 319 Load from EEPROM 322 Loading 322 324 Parameter 318 Reset 321 saving 46 Standard values 323 Switch on behavior 319 Data set command 321 Data Set Identification Number 320 Data Set Management 317 320 Data set management status 317 320 Data Set Manager 37 Data Set Name 319 320 Data S...

Page 810: ...imum speed 34 36 Measuring encoder 220 Message text 320 Monitoring functions 726 Motion task 531 Motor Data sheet 19 Temperature monitoring 715 Motor control 20 Motor data Data sheet 19 Motor data Identification plate 19 Motor data sheets 34 Motor database 19 33 Motor identification plate 81 Motor rated voltage 34 Motor type 19 34 N New set value 531 New setpoint 531 Nominal speed 34 NOT READY TO ...

Page 811: ...ator 44 353 Ramp generator 609 Read Flash completely 323 READY TO SWITCH ON 289 Reference switch 565 Releasing brake 330 Reproducibility 567 Reset errors 27 Reset the Data Set Management System 323 Rotary table positioning 530 Route positioning 530 Running positioning 539 S Safety devices 20 Safety information 11 Sampling interval 687 Save All 37 46 Saving the data set 46 S Curve profile 355 543 S...

Page 812: ... 538 absolute 538 relative 538 Temperature 709 Thermal load 709 Thermal time constant 710 Time zones 373 Time optimized positioning 541 Tipping operation 584 Torque current limiting 458 Trapezoidal profile 354 543 Travel 530 Trigger 687 Trigger sources 687 Trigger time 687 Triggering 687 Troubleshooting 725 U Up Download 319 V Virtual lead shaft 608 Voltage test 17 W Warning 12 726 Warnings 12 Z Z...

Page 813: ...3 813 of 814 Overview of Revisions Overview of Revisions Version Status Changes 5 09022 01 20 09 2017 Initial creation firmware version 01 13 5 09022 02 22 02 2018 Changes for firmware version 01 14 5 09022 03 30 07 219 Changes for firmware version 01 15 ...

Page 814: ...Parameter manual b maXX BM5800 Document No 5 16029 03 Baumüller Nürnberg GmbH 814 of 814 Notes ...

Page 815: ......

Page 816: ...by our permanent change management system Note that all the data numbers information that are quoted are current values at the time of printing This information is not legally binding for dimensioning calculation and costing Before using the information listed in these Operating Instructions as the basis for your own calculations and or applications make sure that you have the latest most current ...

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