Baumuller BUS 6-T Series Technical Description And Operations Manual Download Page 51

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Torque control

Commissioning

Controller BUS 6 T

Baumüller Nürnberg GmbH

5.94017.06

6.5 Torque control

NOTE

: The motor may overspeed even with low set values. In this case the motor is

automatically switched to speed control and decelerated on reaching the maximum

speed value (ID no. 32829 of parameter set 0).

unit

Summary of Contents for BUS 6-T Series

Page 1: ...BAUMÜLLER Technical description and operation manual Edition November 1995 CONTROLLER BUS 6 T E 5 94017 06 ...

Page 2: ... been adhered to there will be no personal danger during the installation and commissioning stages The commisioning is prohibited until it has been positively determined that the machine into which these components are to be incorporated complies with EC machine regulations This technical description replaces and nullifies all provious description In order to provide the best possible service we r...

Page 3: ...isplay 19 5 4 Terminal diagram I 20 5 5 Terminal diagram II only SV 03 05H and SV 03 07H 21 5 6 Connector location diagram 22 5 7 Connector pin assignment 23 5 8 Connection cable 31 5 8 1 Connection cable for resolver or incremental encoder 31 5 8 2 Serial connection cable for PC 32 5 9 Accessories 33 6 Commissioning 35 6 1 Identification power unit 37 6 2 Initial commissioning of the drive system...

Page 4: ...g 67 7 3 5 Measuring channel 1 and 2 69 7 3 6 Display of controller parameters 71 7 4 Parameter set 0 73 7 4 1 Velocity and ramp function generator 74 7 4 2 Rounding generator and torque 77 7 4 3 Speed controller 79 7 4 4 Messages monitoring 82 7 5 Parameter set 1 84 7 6 Parameter set 2 86 7 7 Parameter set 3 88 7 8 Encoder evaluation 90 7 9 Set adaptation 93 7 10 Position control asynchronous mot...

Page 5: ...G Magnetising current limitation IβG Active current limitation IαN Set magnetising current IβN Set active current ID no Identification number IN Set apparent current ING Apparent current limitation PI Pulse inhibit LP Board M Torque Mdx Torque limit MN Nominal torque n Speed nN Nominal speed NTC Negative temperature coeffizient nx Speed threshold P Power Pkzx Power threshold PN Nominal power PTC P...

Page 6: ...Abbreviations IV Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH ...

Page 7: ...the necessary information for normal operation of the products described therein It is intended for technically qualified personnel who are setially trained and are familiar in detail with all warnings and maintenance tasks The units systems are finished to the highest standard and are safe and reliable They can be installed and operated safely and function without problem if the following caution...

Page 8: ... definitions both within the scope of this manual and in the notes on the product itself DANGER DANGER means that death serious injury or considerable material damage will occur if the safety precautions are not met WARNING WARNING means that death serious injury or considerable material damage can occur if the safety precautions are not met NOTE NOTE points to important information on the product...

Page 9: ...the required safety standards are trained or authorised in the care and operation of applicable safety equipment according to the required safety standards Normal use WARNING The unit system may only be used as set in the system manual and only with other units and components recommended or approved by BAUMÜLLER NÜRNBERG GmbH Unauthorised conversion of the unit system is not permitted for safety r...

Page 10: ...Technical data 4 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH ...

Page 11: ...control torque control Digital control with 32 bit microprocessor using SMD technology components 4 parameter sets are deposited in the non volatile memory and can be switched in online mode Digital control offers drift free operation excellent concentricity properties high control dynamic response and rigidity in the whole speed range control range of asynchronous motor with encoder system ROD 48...

Page 12: ...ions 2 digital outputs programmable by Baumüller analog outputs resolution 8 bit 2 measuring channels resolution 12 bit 2 programmable functions by Baumüller Encoder modules sine incremental encoder ROD resolver incremental encoder emulation I O option board for analog interface analog inputs set speed value input for main spindle set speed value input for C axis torque limiter additional set spee...

Page 13: ... Torque controller cycle rate 1 ms 4 analog inputs voltage range type input resistance resolution fo speed set value input 10 V 10 V differential input ca 40 kΩ 12 bit 8 potential free inputs low level high level input resistance 0 V 5 V 11 V 35 V 5 kΩ 4 analog outputs optional voltage range maximum output current resolution 10 V 10 V 1 mA 12 Bit 4 relay outputs maximum contact load maximum potent...

Page 14: ...ed set value 8 ms Speed limitation 4 ms Digital inputs 8 ms Digital outputs 8 ms Display speed actual value 16 ms Display torque actual value 16 ms 0 High C axis range C axis speed set value 4 ms Limitation torque 4 ms Digital inputs 8 ms Digital outputs 8 ms Display speed actual value 16 ms Display torque actual value 16 ms 1 High C axis range C axis speed set value 4 ms Additional speed set valu...

Page 15: ...V_03 07H synchronous control see terminal diagram II ID no 32819 controlling Cycle times 0 n control MSP speed set value 1 ms Digital inputs 8 ms Digital outputs 8 ms Display speed actual value 16 ms Display torque actual value 16 ms 1 M control Torque set value 1 ms Digital inputs 8 ms Digital outputs 8 ms Display speed actual value 16 ms Display torque actual value 16 ms ...

Page 16: ...Type code Technical data 10 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 2 3 Type code ...

Page 17: ...e devices are checked for their completeness assembly can follow Packaging material consists of cardboard corrugated caroboard and or wood It can be disposed of in accordance with local disposal regulations Any transport damage should be reported DANGER In the event of damage being sustained in transit the device should no be connected to a supply without prior high voltage testing trained personn...

Page 18: ...Assembly 12 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH ...

Page 19: ...ndards e g DIN VDE and all other relevant national or local regulations regarding conductor dimensions and fusing grounding circuit breakers overcurrent protection etc It must be ascertained that unrestricted cooling air access and outlet is available In operation the apparatus is protected against direct handling in such a way that it is suitable for installation in enclosed electrical operating ...

Page 20: ...g GmbH 4 1 Dimensions Plug in depth of cassette BUS 6 and BUM 62 128 5 mm BUM 63 64 131 0 mm The total depth can only be determined in conjunction with the basic unit In addition it is necessary to take into account the dimensions of the connector to be used approx 40 mm ...

Page 21: ...g GmbH 5 94017 06 4 2 Assembly notes Plug the controller cassette into the appropriate recess in the basic unit and secure it with the two screws attached to it NOTE Do not plug in the cassette under voltage The installation of the basic units is covered separately ...

Page 22: ...Installation 16 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH ...

Page 23: ...urs in the converter and the motor i e the drive may be incompatible with residual current protective devices corresponding to DIN VDE 0160 sect 5 5 3 4 and sect 6 5 2 1 The intermediate circuit carries electrical potential it is imperative that the provided cover is used Variable speed drives may only be used if they conform to valid VDE regulations With equipment where speed is of critical impor...

Page 24: ...r Check wether power unit type and motor type printed at memory module correspond to power module type and motor type Check the connections by means of the terminal diagram particularly clockwise rotating field of the mains terminals correct connection of the motor winding Connection of plugs to the unit PC connection via standard RS 232 Enabling check do not yet switch on unit Switch on power uni...

Page 25: ... has stopped or motor speed below minimum speed Torque limit torque has reached torque limit Torque direction 1 positive torque Torque direction 2 negative torque Error error message present Ready for use controller ready for use no error status class 1 or manufacturer status class 1 Power mains on Reset processor in reset ...

Page 26: ...Installation Terminal Diagram 20 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 5 4 Terminal diagram I ...

Page 27: ...Terminal Diagram Installation Controller BUS 6 T 21 Baumüller Nürnberg GmbH 5 94017 06 5 5 Terminal diagram II only SV 03 05H and SV 03 07H ...

Page 28: ...Installation Connector location diagram 22 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 5 6 Connector location diagram ...

Page 29: ... encoder U0 not assigned 4 incremental encoder U0 not assigned 5 incremental encoder U2 cos 6 not assigned not assigned 7 incremental encoder U1 sin 8 incremental encoder U1 sin 9 incremental encoder U2 cos 10 RA identification not assigned 11 RB identification not assigned 12 5 V sense not assigned 13 0 V sense not assigned 14 Temperature motor TM1 Temperature motor TM1 15 BSA BSA Encoder cable X...

Page 30: ...nnector pin assignment 24 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH Motor temperature recording X28 sub unit terminal RM 5 Pin no Assignment 1 motor temperature connection 1 2 BSA analog ground 3 shielding ...

Page 31: ...UB D socket Pin Nr Belegung 1 ground incr emulation 2 5 V incr emulation 3 incr emulation track 0 4 incr emulation track 0 5 incr emulation track B 6 not assigned 7 incr emulation track A 8 incr emulation track A 9 incr emulation track B 10 not assigned 11 not assigned 12 5 V incr emulation 13 ground incr emulation 14 not assigned 15 not assigned ...

Page 32: ... pin X2 SUB D plug Pin Nr Belegung 1 nset MSP difference amplifier input 2 nset MSP difference amplifier input 3 10 V 2 mA output 4 nset C axis difference amplifier input 5 nset C axis difference amplifier input 6 10 V 2 mA output 7 M limitation difference amplifier input 8 M limitation difference amplifier input 9 BSA ...

Page 33: ...llow on 3 9211 12 make contact 24 V 0 1 A 13 Mact Mx LED 401 red on 3 9211 14 make contact 24 V 0 1 A 15 pulse enabling optocoupler input 24 V high active 16 controller enabling optocoupler input 24 V high active 17 rapid halt optocoupler input 24 V high active 18 MSP C axis optocoupler input 24 V C axis active 19 common ground M 24 V for optocoupler inputs 20 warning status class 3 21 position re...

Page 34: ...Nürnberg GmbH Interface RS 232 9 pin X 10 SUB D socket Pin no Assignment 1 not assigned 2 RS 232 txd signal 3 RS 232 rxd signal 4 not assigned 5 ground connection RS 232 6 supply voltage 5 V 5V 0 1A if R316 on 3 9130 is equipped with 0 Ω 7 not assigned 8 not assigned 9 not assigned ...

Page 35: ...tocoupler input 3 data set switching LOW byte 6 S1 optocoupler input 4 data set switching HIGH byte 7 not assigned 8 optocoupler output 1 LOW mot operation HIGH gen operation 9 optocoupler output 2 prog by Baumüller 10 not assigned 11 measuring channel 1 12 BSA 13 not assigned 14 measuring channel 2 15 not assigned 16 BSA 17 not assigned 18 not assigned 19 analog output 3 function programmable by ...

Page 36: ...s enabled the output X3 25 error status class 1 at the same time is high and the LED Error lights The ready for use LED goes out and the relay output X3 7 8 is opened not ready for use This reset action lasts approximately 4 s a The controller s status is error if it is switched on When the internal check was successfully the ready for use signal is given b If there is no error and the reset signa...

Page 37: ...it end Motor end View of mating side View of mating side 15 pin SUB D plug connector 12 pin metal round plug socket contact manufacturer Interconnectron Cable LiYCY 5x 2x0 14 2x0 5mm cores twisted in pairs total shielding via copper The cable shield is connected to the round plug housing and the SUB D plug connector shielding Pin no Connection Pin no 1 blue Æ 0 5mm 10 2 red Æ 0 5mm 12 3 purple 3 4...

Page 38: ...ect PC in control cabinet or via isolating transformer Refer to additional description operation software for explanation of operating program Refer to additional description of communication software for explanation of transmission procedure 9 pin PC connection interface cable PC part no 1901 8006 25 pin PC connection not available ...

Page 39: ...coder cable cable length available on request X1A resolver incremental encoder 1901 8001 SUB D plug X2 analog set value input 9 pin socket connector 1900 6131 housing 1901 2894 X3 X22 digital I O 25 pin socket connector 1900 6135 analog digital I O housing 1901 2895 sub unit terminal Phönix X28 motor temperature recording 3 pin RM 5 1901 7596 ...

Page 40: ...Commissioning 34 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH ...

Page 41: ...nd 5 4 3 2 2 Behaviour of the drive in the event of error Faulty or uncontrolled drive and machine element movement can not be ruled out during initial commissioning Hence setial care must be taken Prior to activation of the drive all safety features should be checked through in order to avoid personal injury Particular care should be taken with direct or indirect handling of the drive shaft This ...

Page 42: ...the machine On dismantling safety equipment during commissioning repair and maintenance the machine is to be shut down exactly according to instructions After completion of commissioning repair and maintenance work the safety equipment is to be reinstalled immediately This list does not cover all necessary measures for the safe operation of the unit If further information is required or if setial ...

Page 43: ...the command store ID no 32841 Change of a already programmed controller to another type of power unit Consequence If the new power unit type is recognized correctly all data except of Nominal current amplifier ID no 112 Maximum current amplifier ID no 110 Amplifier warning temperature ID no 200 Amplifier shut down temperature ID no 203 Maximum intermediate circuit voltage ID no 32831 are read from...

Page 44: ...starting initial commissioning in order to avoid uncontrolled starting of the motor It is assumed that the individual controllers are set to default values which guarantee a perhaps not optimum but controlled operation of the motor Subsequently the following parameters should be set or their values checked The description of the operation software is covered in a separate operation manual PC unit ...

Page 45: ...Initial commissioning Commissioning Controller BUS 6 T 39 Baumüller Nürnberg GmbH 5 94017 06 PC unit ...

Page 46: ...Commissioning Initial commissioning 40 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH PC unit ...

Page 47: ...Initial commissioning Commissioning Controller BUS 6 T 41 Baumüller Nürnberg GmbH 5 94017 06 PC unit ...

Page 48: ...Commissioning Main spindle area 42 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 6 3 Optimisation in the main spindle area PC unit ...

Page 49: ...Main spindle area Commissioning Controller BUS 6 T 43 Baumüller Nürnberg GmbH 5 94017 06 PC unit ...

Page 50: ...Commissioning C axis mode 44 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 6 4 Optimisation in C axis mode PC unit ...

Page 51: ...ler Nürnberg GmbH 5 94017 06 6 5 Torque control NOTE The motor may overspeed even with low set values In this case the motor is automatically switched to speed control and decelerated on reaching the maximum speed value ID no 32829 of parameter set 0 PC unit ...

Page 52: ...Commissioning Torque control 46 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH PC unit ...

Page 53: ...n control Commissioning Controller BUS 6 T 47 Baumüller Nürnberg GmbH 5 94017 06 6 6 Position control Function can only be activated via PC At present not yet implemented with synchronous motors motor PC unit ...

Page 54: ...ing Spindle positioning 48 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 6 7 Spindle positioning Function can only be activated via PC At present not yet implemented with synchronous motors motor PC unit ...

Page 55: ...Function diagram Parameters Controller BUS 6 T 49 Baumüller Nürnberg GmbH 5 94017 06 7 PARAMETERS 7 1 Function diagram ...

Page 56: ...Parameters Basic settings 50 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 7 2 Basic settings ...

Page 57: ...rrent parameter set 32841 command save data in EEprom 0 3 speichern 0 32834 controller inhibit type 0 1 0 32828 controller inhibit braking time 0 200 20 000 s 5 32818 set value source 0 3 0 32819 control type 0 4 0 menu page 2 basic settings 32838 analog mode 0 4 32837 additive set value 0 1 0 32790 encoder type 0 2 1 116 Motorgeber Strichzahl 500 5000 Inc 1024 32791 number of motor encoder scale ...

Page 58: ...meter specifies which parameters can be modified by the respective operator Value Meaning 6 service 7 development parameter set preselection Preselection via switching inputs X22 5 and X22 6 command switch parameter set The drive switches to the parameter set programmed in the parameter preselection ID no 217 current parameter set The presently current parameter set in the drive can be interrogate...

Page 59: ...hibit after slowing down the motor Value Meaning 0 brake down pulse inhibit when n 0 1 brake down no pulse inhibit when n 0 NOTE In operation mode position control after pulse enabling and controller enabling is given the position control enabling signal must be given delayed a minimum time of tE 3 τR because the speed controller is enabled after this time ...

Page 60: ...tB After the preset time the pulses are automatically switched off the drive slows to a standstill Set value source Via this parameter the service personnel can specify a set value source Value Meaning 0 analog 1 digital value see ID no 2 random check generator value see ID no 3 square wave generator value see ID no ...

Page 61: ...osition control reference run and spindle positioning are not yet implemented with synchronous motors analog mode This parameter displays the analog mode Value Meaning 0 main spindle drive 1 C axis mode 2 main spindle mode with set correction value 3 C axis mode with set correction value 4 analog torque control set additive value A set correction value can only be entered in analog mode Input X3 1...

Page 62: ...r pole pairs p The number of motor pole pairs is set via this parameter nominal motor speed nN Via this parameter you specifiy the speed at which the motor reaches nominal power slip frequency at nominal speed f2N The slip frequency entry is only necessary for asynchronous motors maximum motor speed nmax The manufacturer specifies the maximum motor speed in the motor data sheet set EMF value EN Th...

Page 63: ...alue 0 0000 10 000 ms 2 menu page 4 motor specific values 32802 torque controller gain 0 10 3 00 32803 torque controller integral action time 1 000 6 000 ms 32811 flux controller gain 1 00 10 00 32813 flux controller integral action time 1 000 30 000 ms 32835 upper adaption limitation for current controller 0000 0000 12000 0000 min 1 32927 I controller phase compensation stat 0 00 3 00 32928 I con...

Page 64: ...ure correction Value Meaning 0 inactive 1 active application speed for motor nominal speed The constant torque of machine tools can be increased from 0 nN to 0 nmax The selected application speed must however not be smaller than the nominal motor speed rotor time constant τ τ τ τR Asynchronous motor τ σ R h L L R 2 2 L2σ inductance Lh main inductance R2 resistance Synchronous motor typical value 1...

Page 65: ...on Iβ β β βG The active current limitation is entered via this parameter Asynchronous motors 1 2 x set active current value ID no 32804 time constant of actual torque value This parameter specifies the time constant of the actual torque value Typical value 1 ms 3 ms set apparent current value IN apparent current limitation ING This parameter displays the set value and the limitation of the apparen...

Page 66: ...u can choose between torque limitation for low speeds and torque limitation for high speeds Value Meaning 0 on 1 off application speed for torque limitation The lower application speed for torque limitation is set via these parameters n Hz p 60 10 rpm maximum torque at rest It is possible to limit the torque when the motor is at rest ...

Page 67: ...h speeds Via these parameters you can choose torque limitation for high speeds Value Meaning 0 on 1 off application speed for torque limitation The upper application speed for torque limitation is set via these parameters torque at maximum speed The torque value at maximum speed is entered via this parameter ...

Page 68: ...r torque limitation This parameter specifies whether torque limitation in generator mode is desired Value Meaning 0 on 1 off generator torque limitation 1 MGen1 generator torque limitation 2 MGen2 The value of upper and lower torque limitation in generator mode can be set via these parameters ...

Page 69: ...yed value must correspond to the value on the motor s rating plate This parameter should be set on the same value as apparent set current value ID no 32816 displayed peak motor current This parameter is used as a memory for the maximum current of the motor This parameter should be set on the same value as apparent set current value ID no 32817 displayed nominal amplifier current This parameter ser...

Page 70: ...2 15 000 3600 000 s 32822 random check generator nset max 0 000 12000 000 s 32900 set velocity value V1 12000 0000 12000 0000 rpm 32901 set velocity value G2 12000 0000 12000 0000 rpm 32902 time for set velocity value V1 0 002 60 000 s 32903 time for set velocity value V2 0 002 60 000 s Parameter description random check generator time t1 random check generator time t2 The random check generator c...

Page 71: ...bH 5 94017 06 set velocity value V1 set velocity value V2 This parameter specifies the set velocity values of the square wave generator time for set velocity value V1 time for set velocity value V2 The appropriate time for the respective set velocity values is entered via these parameters ...

Page 72: ...0 rpm 6000 32880 N_9 0 0000 10000 0000 rpm 7200 32881 N_10 0 0000 10000 0000 rpm 9600 32882 N_11 0 0000 10000 0000 rpm 12000 32883 N_12 0 0000 14400 0000 rpm 14400 characteristic curve of magnetisation 32884 P_1 0 00 140 00 100 00 32885 P_2 0 00 100 00 83 00 32886 P_3 0 00 100 00 70 00 32887 P_4 0 00 100 00 54 50 32888 P_5 0 00 100 00 46 00 32889 P_6 0 00 100 00 38 00 32890 P_7 0 00 100 00 31 00 3...

Page 73: ...e 0 160 0 C 150 Parameter description actaul circuitry housing temperature value This parameter displays the temperature in the circuitry housing actual amplifier temperature value This parameter displays the power unit temperature actual motor temperature value Display of motor temperature cooling error warning temperature If the temperature inside the circuitry housing exceeds the cooling error ...

Page 74: ... sets the bit amplifier shutdown temperature in Class 1 Diagnostics see ID no 11 NOTE Exceeding the temperature causes controller inhibit motor warning temperature If the motor temperature exceeds the motor warning temperature the drive sets the bit excess motor temperature warning in Class 2 Diagnostics see ID no 12 With DS motors this function is not evaluated NOTE Exceeding the temperature does...

Page 75: ...er enabled 0 65535 Parameter description measuring channel 1 Any parameter can be assigned to measuring channel 1 Output 10 V 10 V plug X22 11 ground X22 12 offset of measuring channel 1 This value serves for the offset compensation of the converters and differential amplifiers scaling exponent of measuring channel 1 Via this parameter exponential alteration of the gain is possible The output is l...

Page 76: ...meaning Value Meaning 0 without resolver angle pre control 0 without resolver angle pre control Example value 1 60 000 60 value 2 16 bit value Bedeutung 0001 controlling not changed with torque controller boot data set setting 0000 controlling without torque controller pulse enabled controller enabled Value Meaning 0 pulse inhibit or controller inhibit 65535 pulse enabling or controller enabling ...

Page 77: ...7 32869 actual speed value 12000 0000 12000 0000 rpm 32776 actual slip frequency value 1000 0000 1000 0000 Hz 32859 P gain speed controller 2147483648 2147483647 32860 integral action time speed controller 2147483648 2147483647 32850 P gain torque controller 2147483648 2147483647 32851 integral action time torque controller 2147483648 2147483647 32852 P gain flux controller 2147483648 2147483647 3...

Page 78: ...are version compatible software version Incompatible software version means the new software isn t able to read the data sets in the EEprom Before the software is changed the data from the EEprom has to be stored on disk or noted by hand An incompatible software e g originates from a new ID no additionally the file PCBASS CFG must be supplemented by this number see manual operation software Compat...

Page 79: ...Parameter set 0 Parameters Controller BUS 6 T 73 Baumüller Nürnberg GmbH 5 94017 06 7 4 Parameter set 0 ...

Page 80: ...Parameters Parameter set 0 74 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 7 4 1 Velocity and ramp function generator ...

Page 81: ...Switching of set value via ID no 32818 Clockwise rotation of the motor shaft seen from the front takes place if the set velocity value and the polarity are positive In the case of analog set value input this parameter serves for display purposes only Analog set value input I O option board 3 9211 MSP 10 V 10 V at X2 2 and X2 1 C axis 10 V 10 V at X2 5 and X2 4 additional nset 10 V 10 V at X3 2 and...

Page 82: ...ctions If the limit value is exceeded the message in Class 3 Diagnostics is displayed actual velocity value This parameter displays the current actual velocity value ramp function generator This parameter activates the ramp ramp up time ramp down time in the main spindle area ramp up time The acceleration of the machine can be set via the ramp up time The selected time refers to a set value altera...

Page 83: ...e limit value 100 0 0 100 92 bipolar torque limit value 0 0 100 0 100 84 actual torque value 100 0 100 0 Parameter description rounding generator The rounding generator prevents abrupt set value changes in the main spindle area rounding generator time This parameter indicates the degree of rounding The value must not exceed 20 of ramp up time or ramp down time set torque value for M control In the...

Page 84: ...2 1 0 10V on PCB 3 9211 between X3 5 und X3 6 4 15 reserved positive torque limit value negative torque limit value bipolar torque limit value Display of torque limitation With M control a value 1 should be set The torque limit values limit torque either in positive or negative direction or symmetrically With analog set value input I O option board 3 9211 a X2 7 10 V or 10 V X2 8 0 V ID no 32926 0...

Page 85: ...Parameter set 0 Parameters Controller BUS 6 T 79 Baumüller Nürnberg GmbH 5 94017 06 7 4 3 Speed controller ...

Page 86: ... integral action time integral action component of the speed controller Is this parameter set to 0 the controller works as a P controller lower adaptation limit for speed controller upper adaptation limit for speed controller Below the lower adaptation limit and above the upper adaptation limit the adaptation of the proportional gain ID no 211 and the adaptation of the integral action time ID no 2...

Page 87: ...ction time and the current speed into account set velocity window KI counter N_I_component The KI counter is set at a preset difference between set speed value and actual speed value If this parameter is set to 1000 rpm the speed controller s integral action component is not deleted delete velocity window N_I_component This parameter specifies the difference between set speed value and actual spee...

Page 88: ... actual velocity value is inside the zero speed window the drive sets the message nact 0 ID no 331 Display via LED H403 yellow or via relay contacts X3 9 and X3 10 on printed circuit board 3 9211 velocity window The drive sets the velocity dependent messages whenever the measured velocity value exceeds or falls below the respective velocity comparison value and is inside the velocity window veloci...

Page 89: ...4 on printed circuit board 3 9211 response time Pzkx Mdx The response time specifies for how long the torque threshold must be exceeded before a message is displayed voltage failure time After a voltage failure that lasts not longer than the set voltage failure time the drive starts independently if the power supply of the controller isn t disturbed and the pulse enable and controller enable is gi...

Page 90: ...ity limit value 0 0000 12000 0000 rpm 40 actual velocity value 12000 0000 12000 0000 rpm 36921 ramp function generator 0 1 0 36922 ramp up time 0 010 60 000 s 0 01 36923 ramp down time 0 010 60 000 s 0 01 6 5 2 Rounding generator and torque Parameter overview ID no Name Range min max Unit Standard value Display only rounding generator and torque 36919 rounding generator 0 1 0 36920 rounding genera...

Page 91: ... 37025 set velocity window KI counter N_I_component 1 0000 600 0000 rpm 37026 delete velocity window N_I_component 1 0000 600 0000 rpm 37028 actual speed value time constant 0 0 60 0 ms 0 7 5 4 Messages monitoring Parameter overview ID no Name Range min max Unit Standard value Display only messages monitoring 4220 speed threshold nmin 6 0000 600 0000 rpm 100 4253 velocity window 6 0000 600 0000 rp...

Page 92: ...ity limit value 0 0000 12000 0000 rpm 40 actual velocity value 12000 0000 12000 0000 rpm 41017 ramp function generator 0 1 0 41018 ramp up time 0 010 60 000 s 0 01 41019 ramp down time 0 010 60 000 s 0 01 7 6 2 Rounding generator and torque Parameter overview ID no Name Range min max Unit Standard value Display only rounding generator and torque 41015 rounding generator 0 1 0 41016 rounding genera...

Page 93: ... 41121 set velocity window KI counter N_I_component 1 0000 600 0000 rpm 41122 delete velocity window N_I_component 1 0000 600 0000 rpm 41124 actual speed value time constant 0 0 60 0 ms 0 7 6 4 Messages monitoring Parameter overview ID no Name Range min max Unit Standard value Display only messages monitoring 8316 speed threshold nmin 6 0000 600 0000 rpm 100 8349 velocity window 6 0000 600 0000 rp...

Page 94: ...ity limit value 0 0000 12000 0000 rpm 40 actual velocity value 12000 0000 12000 0000 rpm 45113 ramp function generator 0 1 0 45114 ramp up time 0 010 60 000 s 0 01 45115 ramp down time 0 010 60 000 s 0 01 7 7 2 Rounding generator and torque Parameter overview ID no Name Range min max Unit Standard value Display only rounding generator and torque 45111 rounding generator 0 1 0 45112 rounding genera...

Page 95: ...0 45217 set velocity window KI counter N_I_component 1 0000 600 0000 rpm 45218 delete velocity window N_I_component 1 0000 600 0000 rpm 45220 actual speed value time constant 0 0 60 0 ms 0 7 7 4 Messages monitoring Parameter overview ID no Name Range min max Unit Standard value Display only messages monitoring 12412 speed threshold nmin 6 0000 600 0000 rpm 100 12445 velocity window 6 0000 600 0000...

Page 96: ... resolution 0 9 2 32920 resolver position correction 360 0000 360 0000 degree 32921 application speed M generator 1000 0000 12000 0000 rpm 32934 slip frequency at motor temperature 1 0 0100 6 5000 Hz 32935 temperature 1 0 0 200 0 C 32936 temperature 2 0 0 200 0 C Parameter description motor data saved Value Meaning 0 the selected motor data have not been confirmed 1 the motor data have been select...

Page 97: ...only 1024 increments resolver resolution with synchronous motors only This parameter specifies the resolution or speed dependent dynamic switching between different resolutions Value Meaning 0 interlocks 16 bit resolution nact 500 rpm 1 interlocks 14 bit resolution nact 2500 rpm 2 dynamic switching between 14 bit and 16 bit 3 interlocks 12 bit resolution nact 10000 rpm 4 dynamic switching between ...

Page 98: ...oller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH slip frequency at motor temperature 1 fϑ ϑ ϑ ϑM1 temperature 1 ϑ ϑ ϑ ϑM1 temperature 2 ϑ ϑ ϑ ϑM2 These parameters are only effective with asynchronous controlling Temperature 2 temperature 1 ...

Page 99: ...e input these parameters serve for offset correction nset max MSP This parameter sets the maximum speed by 10 V at X2 1 2 10 V nsoll max MSP rpm min value 100 rpm max value nmax ID no 113 200 rpm M limitation analog This parameter sets the torque threshold ID no 32818 0 Value Meaning 0 symmetric limitation of both torque directions X2 7 10 V or 10 V torque limitation positive 100 torque limitation...

Page 100: ...0 Position control asynchronous motors The functions position control reference run and spindle positioning are currently implemented for the operation of asynchronous motors only 7 10 1 Position control and reference run Can only be activated via PC Not implemented with synchronous motors ...

Page 101: ...on control mode the set position values are transmitted from the NC to the drive in the timing code of the NC cycle time position polarity parameter This parameter serves to switch the polarities of the set position data according to the application The polarities are not switched inside a closed loop system They are only switched outside at the input and output Clockwise rotation of the motor sha...

Page 102: ...KV factor sets the position control circuit s gain throughout the whole velocity range actual position value 1 The actual position value 1 is transmitted from the drive to the NC in order to enable record stepping and position display if necessary The actual position value 1 always refers to the motor encoder reference run parameter Value Meaning 0 clockwise reference run of 360 search for motor e...

Page 103: ...Position control Parameters Controller BUS 6 T 97 Baumüller Nürnberg GmbH 5 94017 06 7 10 2 Spindle positioning Can only be activated via PC Not implemented with synchronous motors ...

Page 104: ...drive either slows down to the spindle positioning speed or retains the set speed If the command spindle positioning from standstill is given the drive accelerates to the spindle positioning speed positioning window If the absolute value difference between final position value and actual position value becomes smaller than the positioning window this is signalled to the NC for continued processing...

Page 105: ...nt during commissioning repair and maintenance the machine is to be shut down exactly according to instructions After completion of commissioning repair and maintenance work the safety equipment is to be reinstalled immediately After all work on the drive the machine operator must inspect the machine and document all work in the machine log chronologically irrespective of whether it was on the mot...

Page 106: ...Maintenance Status messages 100 Controller BUS 6 T 5 94017 06 Baumüller Nürnberg GmbH 8 2 Status messages ...

Page 107: ...ics Display of drive interlocking A Class 1 Diagnostics error situation detected by the drive leads to controller inhibit with brake down or pulse inhibit output X3 25 switches to high setting of error bit Delete the error bit after remedying the fault with the reset command ID no 99 When switching on again a reset signal is automatically generated Bit no Meaning 0 always 0 1 1 amplifier shutdown ...

Page 108: ... the reset command ID no 99 When switching on again a reset signal is automatically generated command reset Class 1 Diagnostics If the drive receives this command via the service channel Class 1 Diagnostics Manufacturer Class 1 Diagnostics and drive interlocking are deleted provided no more errors are present The current error messages are deleted via the command and If an error in the BUG supply ...

Page 109: ...dy for use PI 15 1 actual speed limit speed CI BUS hardware error According to the error type a hardware error of the servo unit either leads to pulse inhibit PI or to controller inhibit CI Bit no Meaning 0 1 error of internal RAM 1 1 error of external RAM 2 1 memory submodule EPROM not available 3 1 memory submodule EEPROM faulty 4 1 memory submodule EEPROM not available 5 1 timeout at upper A D ...

Page 110: ...BUS I O components An initialisation error of the servo unit leads to pulse inhibit of the controller Bit no Meaning 0 1 error data D502 digital motherboard 1 1 error command data D502 digital motherboard 2 1 error data D504 digital motherboard 3 1 error command data D504 digital motherboard 4 1 error data D503 digital motherboard 5 1 error command data D503 digital motherboard 6 1 error data D101...

Page 111: ...ntroller inhibit NOTE This ID no can only be read by activation of key F4 on PC Only the LED s Power green and controller inhibit red light on the unit Bit no Meaning 0 1 error of internal RAM 1 1 error of external RAM 2 1 memory submodule EPROM not available 3 1 memory submodule EEPROM faulty 4 1 memory submodule EEPROM not available 5 1 timeout at upper A D converter 6 1 timeout at lower A D con...

Page 112: ... D502 D802 digital motherboard 1 1 error command data D502 D802 digital motherboard 2 1 error data D504 digital motherboard 3 1 error command data D504 digital motherboard 4 1 error data D503 digital motherboard 5 1 error command data D503 digital motherboard 6 1 error data D101 analog motherboard 7 1 error command data D101 analog motherboard 8 1 error data D102 analog motherboard 9 1 error comma...

Page 113: ...es not lead to controller inhibit or pulse inhibit Bit no Meaning 0 reserved 1 1 amplifier warning temperature exceeded 2 1 motor warning temperature exceeded 3 1 cooling error warning temperature exceeded 4 14 reserved 15 bit set in Manufacturer Class 2 Diagnostics Class 2 Diagnostics is read via the service channel Output X3 20 switches to high Manufacturer Class 2 Diagnostics In Manufacturer Cl...

Page 114: ...ct nset 1 1 nact nmin 2 1 nact nx 3 1 Md Mdx 4 1 Md Mdlimit 5 1 nsoll Nlimit 6 1 in position 7 1 P Px 8 14 reserved 15 1 bit set in Manufacturer Class 3 Diagnostics Manufacturer Class 3 Diagnostics In Manufacturer Class 3 Diagnostics the manufacturer of the drive can define additional shutdown advance warnings If a warning is set or deleted in Manufacturer Class 3 Diagnostics this leads to the set...

Page 115: ...S pulse inhibit 1 1 BUS controller inhibit 2 15 reserved BUS hardware message Bit no Meaning 0 1 encoder module 2 not available 1 1 option board 1 not available 2 1 option board 2 not available 3 1 encoder module 3 not available 4 15 reserved supply operating message This parameter is not used since it is evaluated in the program ...

Page 116: ...and regulation electronic Base material EPOXY resin filled with GRP Copperplated on both sides and with interconnected channels Various electronic components such as capacitors resistors relays and semi conductor components etc The electronic components can on account of technical demands contain dangerous materials In normal use the various components da not represent a danger to humans or enviro...

Page 117: ...s delivery includes the following specified machine component and that its putting into operation is prohibited until the declaration is made that the machine in which this component is built in complies with the regulations of the EC machine guideline 89 392 EWG appendix II B Specification of the machine component Type Controller BUS 6 T Signature of the Manufacturer Information regarding the Und...

Page 118: ...coder evaluation 90 Error bar of I O component boot 71 105 Error messages 101 F Function diagram 49 G Generator torque limitation 57 62 H Hardware version 71 72 I Identification power unit 37 Incremental encoder emulation 25 Incremental encoder emulation 90 91 Initialisation error of BUS I O components 104 Inputs 7 Installation 17 M Magnetising current limitation 57 59 Maintenance 99 Manufacturer ...

Page 119: ...1 Set active current value 57 59 Set magnetising current value 57 59 Set torque value 77 Set adaptation value 93 Set source value 51 Set velocity value 75 Slip frequency at nominal speed 51 56 Software version 71 72 Speed controller 79 Speed controller cycle rate 7 Spindle positioning 48 97 Sqare wave generator 64 Status message 100 T Technical data 5 7 Temperature monitoring 67 Terminal diagram 2...

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Baumuller BUS 6-T Series, Technical Description And Operations Manual

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