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Bosch Rexroth IndraDrive MPB-02, Functional Description

The Bosch Rexroth IndraDrive MPB-02 is a highly versatile and durable drive system. With our free user manual download, you can conveniently access the functional description of this exceptional product. Visit our website today for a hassle-free manual download, ensuring you harness the full potential of your Bosch Rexroth IndraDrive MPB-02.

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MPH-02, MPB-02, MPD-02

Motor, Mechanical Axis System, Measuring Systems 

5-83

DOK-INDRV*-MP*-02VRS**-FK01-EN-P           

linear motor

gear

 encoder1

motor enc.
(encoder1)

rotary motor

DF0047v1.fh7

P-0-0121
P-0-0122

motor

S-0-0115

S-0-0121
S-0-0122

motor encoder

(encoder1)

ext. encoder

(encoder2)

ext. encoder

(encoder2)

ext. enc.

(encoder2)

P-0-0124
P-0-0125

P-0-0124
P-0-0125

gear

 encoder2

gear

 encoder2

rotary
encoder

rotary
scaling

load gear

rotary
load

load gear

feed spindle

load gear

feed spindle

linear
load

linear
load

linear
scaling

linear
encoder

S-0-0051

S-0-0076

S-0-0121
S-0-0122

S-0-0121
S-0-0122

S-0-0123

S-0-0123

Fig. 5-96:

Mechanical transfer elements between motor, encoders and load

Note:

For linear motors the motor reference is the same as the load
reference because the point where the force is input and point
where the load takes effect are identical. There aren’t any
mechanical transfer elements!

The polarity of the position, velocity and torque/force data can be changed
from positive to negative polarity in the following parameters:

•

 

S-0-0055, Position polarities

•

 

S-0-0043, Velocity polarity parameter

•

 

S-0-0085, Torque/force polarity parameter

Depending on the mounting situation (especially of kit motors and their
respective motor encoder or external encoder), this allows determining
the appropriate polarity of the respective data for the machine axis.

Via the respective bit of parameter 

S-0-0076, Position data scaling type

it is possible to select, for the position data format, between

•

  absolute format and

•

 modulo 

format.

If the position data of an axis with infinite travel range (e.g. rotary axis,
spindle etc.) were processed in absolute format, the axis would risk to
move beyond the value range of the position data. This would lead to
invalid position data; operating modes with position control would not be
safe to operate.

The value range for modulo format is limited, only position data between
the value 0.00... and a maximum value to be determined in parameter

S-0-0103, Modulo value

 are possible.

When the measured actual position value exceeds the value range or
falls below it, the actual position value displayed in S-0-0051/S-0-0053
behaves unsteadily, i.e. it changes by the absolute value of the modulo
value range in such a way that the actual position value displayed always
remains within the modulo value range.

Polarity

Modulo Scaling

Courtesy 

of 

CMA/Flodyne/Hydradyne 

▪

 Motion 

Control 

▪

 Hydraulic 

▪

 Pneumatic 

▪

 Electrical 

▪

 Mechanical 

▪

 (800) 

426-5480 

▪

 www.cmafh.com

Summary of Contents for Rexroth IndraDrive MPB-02

Page 1: ... MPD 02 Functional Description Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 2: ...ghts are reserved in the event of the grant of a patent or the registration of a utility model or design DIN 34 1 The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract All rights are reserved with respect to the content of this documentation and the availability of the product Bosch Rexroth AG Bgm Dr Nebel Str ...

Page 3: ...al Packages 1 27 Additive Functional Packages 1 28 2 Important directions for use 2 1 2 1 Appropriate use 2 1 Introduction 2 1 Areas of use and application 2 2 2 2 Inappropriate use 2 2 3 Safety Instructions for Electric Drives and Controls 3 1 3 1 Introduction 3 1 3 2 Explanations 3 1 3 3 Hazards by Improper Use 3 2 3 4 General Information 3 3 3 5 Protection Against Contact with Electrical Parts ...

Page 4: ...agnostic Possibilities 4 39 Real Time Control Bits and Real Time Status Bits 4 40 4 5 PROFIBUS DP 4 41 Brief Description 4 41 Configuring the PROFIBUS DP Slave 4 43 Parameter Channel in the Cyclic Channel Device Specific 4 46 DPV1 Parameter Communication ProfiDrive 4 50 Cyclic Communication via Process Data Channel 4 52 Monitoring Functions and Diagnostic Functions 4 53 4 6 Parallel Interface 4 56...

Page 5: ...2 Relative Measuring Systems 5 66 5 5 Mechanical Axis System and Measuring Systems 5 70 Measuring Systems for Motor and Axis Control Arrangement 5 70 Scaling of Physical Data 5 77 6 Drive Control 6 1 6 1 Overview of Drive Control 6 1 Open Loop Axis Control Open Loop Operation 6 1 Closed Loop Axis Control Closed Loop Operation 6 2 6 2 Motor Control 6 2 General Information on Motor Control 6 2 Volta...

Page 6: ... Cyclic Command Value Input 7 16 Brief Description 7 16 Command Value Processing in Position Control 7 18 Position Controller 7 19 Diagnostic Messages and Monitoring Functions 7 20 7 5 Drive Internal Interpolation 7 21 Brief Description 7 21 Command Value Processing with Drive Internal Interpolation 7 23 Position Loop with Drive Internal Interpolation 7 24 Notes on Commissioning 7 24 Diagnostic Me...

Page 7: ...e Measuring Systems 8 31 8 3 Error Reactions 8 35 Overview of Error Reactions 8 35 Best Possible Deceleration 8 36 Package Reaction on Error 8 42 NC Reaction on Error 8 44 8 4 E Stop Function 8 45 Brief Description 8 45 Functional Description 8 45 Notes on Commissioning 8 46 Diagnostic and Status Messages 8 47 8 5 Compensation Functions Corrections 8 48 Friction Torque Compensation 8 48 Encoder Co...

Page 8: ... Incremental Encoder Emulation 9 21 Absolute Encoder Emulation 9 24 Notes on Commissioning 9 26 Diagnostic and Status Messages 9 28 9 4 Analog Inputs 9 28 Brief Description 9 28 Functional Description 9 30 Notes on Commissioning 9 34 Diagnostic Messages and Status Displays 9 35 9 5 Analog Outputs 9 36 Brief Description 9 36 Functional Description 9 37 Notes on Commissioning 9 41 9 6 Digital Inputs...

Page 9: ...0 43 General Information 10 43 Firmware Update with Dolfi Program 10 43 Firmware Update with MultiMediaCard MMC 10 43 10 7 Notes on How to Replace the Devices 10 44 Supply Units 10 44 Drive Controllers 10 44 10 8 Enabling of Functional Packages 10 49 Brief Description 10 49 Functional Description 10 50 Notes on Commissioning 10 53 Monitoring the Enabling of Functional Packages 10 54 10 9 Extended ...

Page 10: ...y 11 1 Initial Commissioning Serial Commissioning 11 1 Initial Start in Easy Startup Mode 11 4 Initial Start with DriveTop Commissioning Tool 11 10 11 2 Commissioning Machine Axes 11 14 Overview and Practical Tips 11 14 12 Index 12 1 13 Service Support 13 1 13 1 Helpdesk 13 1 13 2 Service Hotline 13 1 13 3 Internet 13 1 13 4 Vor der Kontaktaufnahme Before contacting us 13 1 13 5 Kundenbetreuungsst...

Page 11: ...l Applications with SERCOS interface drive profile according to SERCOS MP Multi Purpose Drives for General Automation Incl Machine Tool Applications with SERCOS interface Profibus as well as Parallel and Analog Interface drive profile according to SERCOS The third letter of the firmware designation identifies the hardware and performance and functionality of the firmware X includes H B and D H sin...

Page 12: ...if required The user write access to parameters depends on the properties of the respective parameter and the current communication phase Specific parameter values operating data are checked for validity by the drive firmware Data Storage and Parameter Handling Several non volatile data memories are available in an IndraDrive device in the controller in the motor encoder depending on motor type as...

Page 13: ...loading the parameter values by command or via the control panel during initial motor commissioning MMC loading the parameter values by command DriveTop commissioning tool loading the parameter values from external data carrier control master loading the parameter values from master side data carrier By means of checksum comparison the control master can determine whether the values of the applica...

Page 14: ... parameter by means of which the execution of the command can be controlled During the execution of the command the display of the control panel reads Cx C representing the diagnostic command message and x representing the number of the command Note Each command that was started must be actively cleared again All commands available in the drive are stored in the S 0 0025 IDN list of all procedure ...

Page 15: ...r See also chapter Operating Modes Warnings Depending on the active operating mode and the parameter settings many monitoring functions are carried out If a status is detected that still allows correct operation but in case this status persists will cause an error to occur and therefore cause the drive to be automatically switched off the drive firmware generates a warning message Note Warnings do...

Page 16: ...s are not displayed at the control panel with a diagnostic message number of the Fxxxx pattern but with a short text Boot errors and firmware download errors are separately described in the documentation Troubleshooting Guide If the drive controller is in control and an error status is detected the execution of a drive error reaction is automatically started The diagnostic message number Fxxxx fla...

Page 17: ... chapters according to their content The description of the respective firmware functionality is basically divided into the following sections Brief Description Functional Description Notes on Commissioning Diagnostic and Status Messages Monitoring Functions Within one subject these sections are always contained in the mentioned order but for practical and formal reasons they are not always existi...

Page 18: ...d remedies is contained in the separate documentation Rexroth IndraDrive Troubleshooting Guide description of diagnostic messages Markers and Terms The complete functionality of the IndraDrive firmware is divided into functional packages base packages and optional expansion packages The scope of the available functions does not only depend on the hardware design but in the majority of cases also o...

Page 19: ...entations follow this scheme references to sections in the same chapter by indicating title without chapter references to sections in a different chapter by indicating title of section and chapter References to another documentation are additionally marked by the info icon unless they are contained in a note or put in parentheses Further Documentations Firmware documentation Parameter Description ...

Page 20: ...nce scalable functionality safety technology Fig 1 2 Design and types of the IndraDrive controllers The following are connected to the power section power supply unit DC bus voltage 24 V control voltage motor Note Each of the two types of the control section is described in the separate documentation e g IndraDrive Drive Controllers Power Sections Project Planning Manual DOK INDRV HMS HMD PR EN P ...

Page 21: ...1 1N W036 IndraDrive C The following single axis converters can be operated with the FWA INDRV MPH02VRS and FWA INDRV MPB02VRS firmware HCS02 1 W0012 HCS02 1 W0028 HCS02 1 W0054 HCS02 1 W0070 HCS03 1 W0070 HCS03 1 W0100 HCS03 1 W0150 HCS03 1 W0210 Control Sections The following control sections can be operated with the FWA INDRV MP 02VRS firmware ADVANCED single axis type designation CSH01 1C BASI...

Page 22: ... lockout S1 module for safety technology Note The basic structure of the type codes of the individual types of IndraDrive control sections is described in the separate documentation IndraDrive Drive Controllers Control Sections Project Planning Manual DOK INDRV CSH PR EN P part no T911295012 Supported Control Section Configurations Note The lists below contain the theoretically possible configurat...

Page 23: ...alog I Os MD1 digital I Os MEM encoder emulator 5 safety option X41 NN not equipped L1 starting lockout S1 module for safety technology The firmware FWA INDRV MPB 02VRS for BASIC single axis control sections supports standard control sections not configurable with the following type designations CSB01 1N FC NNN NNN NN S NN FW BASIC OPENLOOP CSB01 1N SE ENS NNN NN S NN FW BASIC SERCOS CSB01 1N PB E...

Page 24: ...ls ENS encoder interface for Rexroth standard HIPERFACE 1Vpp 3 optional module 2 X8 1 axis 1 NNN not equipped EN1 encoder interface for HSF resolver EN2 encoder interface for EnDat 1Vpp sine TTL signals ENS encoder interface for Rexroth standard HIPERFACE 1Vpp MA1 analog I Os MEM encoder emulator 4 optional module 1 X4 2 axis 2 NNN not equipped EN1 encoder interface for HSF resolver EN2 encoder in...

Page 25: ... with sine signals 1 Vpp encoders with square wave signals TTL Hall sensor box and encoder with sine signals 1 Vpp Hall sensor box and encoder with square wave signals TTL encoders with sine signals and HIPERFACE interface 1 Vpp For measuring purposes the firmware can evaluate the following measuring systems measuring encoders no control encoders Bosch Rexroth GDS or GDM encoders single turn or mu...

Page 26: ... direction minimum cycle time of 250 µs parameter channel for parameterization and diagnosis via the field bus telegram contents can be freely configured large number of cyclically configurable parameter IDNs Parallel Interface not for MPD 02 complete control of the drive via digital inputs outputs 16 inputs and 16 outputs serial interface for parameterization and diagnosis free configuration of d...

Page 27: ...olation drive controlled positioning positioning block mode synchronization modes velocity synchronization with real virtual master axis phase synchronization with real virtual master axis electronic cam shaft with real virtual master axis Drive Functions The following list contains the most important drive functions of the IndraDrive firmware MP 02VRS Drive Halt friction torque compensation probe...

Page 28: ...g parameters depends on the available functions Scaling the Drive Functionality The control sections of the IndraDrive controllers have a maximum of 4 optional card slots and a master communication slot Depending on the available optional cards it is possible to activate certain functions incl corresponding parameters master communication SERCOS interface Profibus DP parallel or analog interface s...

Page 29: ...he desired scope of firmware functions should preferably be defined when the firmware is ordered This guarantees that the required functional packages have been enabled when the firmware is delivered In individual cases it is possible to provide access enable subsequently additional licensing or to reduce the activated scope of functions This procedure is described in section Enabling of Functiona...

Page 30: ...es of the IndraDrive firmware MPX02 Brief Description of the Functional Packages The overall functionality of an IndraDrive device is divided into groups of functions the so called functional packages The firmware FWA INDRV MPX 02VRS supports the functional packages listed below Note Each of the listed packages is available in basic or advanced characteristic which differ with regard to their perf...

Page 31: ...tive package The overview below illustrates how the individual functional packages are depending on the respective hardware and the firmware type Firmware type FWA INDRV MPB 02VRS FWA INDRV MPD 02VRS FWA INDRV MPH 02VRS Control section design CSB0 1 1 Basic single axis CDB0 1 1 Basic double axis CSH0 1 1 Advanced single axis performance without encoder open loop with encoder closed loop without en...

Page 32: ...rsion Release Language Open closed loop Alternative expansion packages Additive expansion packages Basic single axis FWA INDRV MPB 02 VRS D5 x xxx xx Basic double axis FWA INDRV MPD 02 VRS D5 x xxx xx Advanced single axis FWA INDRV MPH 02 VRS D5 x xxx xx Fig 1 5 Basic structure of the firmware type code Structure of the Firmware Type Designation Courtesy of CMA Flodyne Hydradyne Motion Control Hyd...

Page 33: ...INDRV MPH 02 VRS D5 0 SNC NN base package open loop synchronization FWA INDRV MPH 02 VRS D5 0 ALL NN base package open loop all altern functions FWA INDRV MPH 02 VRS D5 0 NNN ML base package open loop IndraMotion MLD S FWA INDRV MPH 02 VRS D5 0 SNC ML base package open loop synchronization IndraMotion MLD S FWA INDRV MPH 02 VRS D5 0 ALL ML base package open loop all altern functions IndraMotion ML...

Page 34: ...n the fundamental base functions of a digital drive available as firmware characteristics open loop and closed loop numerous diagnostic possibilities drive internal generation of diagnostic messages monitoring function analog output patch function status displays status classes oscilloscope feature code of optional card parameter value check operating hours meter logbook function error memory unde...

Page 35: ...er communi cation analog interface X X Rexroth housing motors synchronous with encoder data memory X X X Rexroth housing motors asynchronous with encoder data memory X X X X X X Rexroth kit motors synchronous without encoder data memory X X X Rexroth kit motors asynchronous without encoder data memory X X X X X X third party motors synchronous X X X third party motors asynchronous standard motors ...

Page 36: ...X X X X X X torque disable X X X X X X vcmd set to zero emergency halt X X X X X X Error reactions vcmd set to zero with ramp and filter quick stop X X X X X X analog I Os on basic device or optional module X1 X1 X1 X1 X1 X1 digital I Os on basic device or optional module X1 5 X1 5 X1 5 X1 5 X1 X1 encoder emulation X1 X1 X1 Expanded drive functions position switch points X X X MMC support X3 X3 X ...

Page 37: ...DRV MPD 02VRS Basic double axis FWA INDRV MPH 02VRS Advanced single axis Functions of the expansion package servo without encoder open loop with encoder closed loop without encoder open loop with encoder closed loop without encoder open loop with encoder closed loop quadrant error correction X friction torque compensation X X X set shift coordinate system X X X axis error correction X1 X1 X probe ...

Page 38: ...g 1 10 Overview expansion package synchronization Note For hardware design BASIC the probe input is only available for control sections BASIC SERCOS BASIC PROFIBUS and BASIC UNIVERSAL CSB01 1 Main Spindle Function The expansion package main spindle only possible with closed loop has the following scope of functions Firmware type FWA INDRV MPB 02VRS Basic single axis FWA INDRV MPD 02VRS Basic doubl...

Page 39: ... S is only available in conjunction with ADVANCED control sections CSH Drive Integrated Safety Technology Note The drive integrated safety technology is a functionality only scalable by means of the hardware and does not require any additional enabling of functions The requirement for using this function is the use of the optional safety module S1 depending on the control section configuration The...

Page 40: ...1 30 System Overview MPH 02 MPB 02 MPD 02 DOK INDRV MP 02VRS FK01 EN P Notes Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 41: ...ing from inappropriate use are forfeited The user alone carries all responsibility of the risks Before using Rexroth products make sure that all the pre requisites for an appropriate use of the products are satisfied Personnel that in any way shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use If the product takes the...

Page 42: ...are available with differing drive power and different interfaces Typical applications of drive controllers belonging to the IndraDrive family are handling and mounting systems packaging and foodstuff machines printing and paper processing machines and machine tools The drive controllers may only be operated under the assembly installation and ambient conditions as described here temperature syste...

Page 43: ...this equipment If the equipment is resold rented or transferred or passed on to others then these safety instructions must be delivered with the equipment WARNING Improper use of this equipment failure to follow the safety instructions in this document or tampering with the product including disabling of safety devices may result in material damage bodily harm electric shock or even death 3 2 Expl...

Page 44: ...s Danger to life or bodily harm by electric shock WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment CAUTION Surface of machine housing could be extremely hot Danger of injury Danger of burns CAUTION Risk of injury due to improper handling Bodily harm caused by crushing shearing cutting and mechanical shock or incorrect hand...

Page 45: ...safety regulations and requirements for the specific application as practiced in the country of use The equipment is designed for installation in industrial machinery The ambient conditions given in the product documentation must be observed Use only safety features and applications that are clearly and explicitly approved in the Project Planning Manual For example the following areas of use are n...

Page 46: ...ements can be found in the documentation EMC in Drive and Control Systems The machine or installation manufacturer is responsible for compliance with the limiting values as prescribed in the national regulations Technical data connections and operational conditions are specified in the product documentation and must be followed at all times Courtesy of CMA Flodyne Hydradyne Motion Control Hydrauli...

Page 47: ...s not permanently connected to the points of the components provided for this purpose Before working with electrical parts with voltage higher than 50 V the equipment must be disconnected from the mains voltage or power supply Make sure the equipment cannot be switched on again unintended The following should be observed with electrical drive and filter components Wait five 5 minutes after switchi...

Page 48: ...tests always connect the protective conductor or connect with ground wire Otherwise high voltages can occur on the housing that lead to electric shock 3 6 Protection Against Electric Shock by Protective Low Voltage PELV All connections and terminals with voltages between 0 and 50 Volts on Rexroth products are protective low voltages designed in accordance with international standards on electrical...

Page 49: ...n occur immediately after equipment is switched on or even after an unspecified time of trouble free operation The monitoring in the drive components will normally be sufficient to avoid faulty operation in the connected drives Regarding personal safety especially the danger of bodily injury and material damage this alone cannot be relied upon to ensure complete safety Until the integrated monitor...

Page 50: ...ssibility of loose parts flying off Mount the emergency stop switch in the immediate reach of the operator Verify that the emergency stop works before startup Don t operate the machine if the emergency stop is not working Isolate the drive power connection by means of an emergency stop circuit or use a starting lockout to prevent unintentional start Make sure that the drives are brought to a safe ...

Page 51: ...a serious health hazard to persons with heart pacemakers metal implants and hearing aids WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment Persons with heart pacemakers hearing aids and metal implants are not permitted to enter the following areas Areas in which electrical equipment and parts are mounted being operated or s...

Page 52: ...unting of parts and components may cause injuries CAUTION Risk of injury by incorrect handling Bodily harm caused by crushing shearing cutting and mechanical shock Observe general installation and safety instructions with regard to handling and mounting Use appropriate mounting and transport equipment Take precautions to avoid pinching and crushing Use only appropriate tools If specified by the pr...

Page 53: ...ect Planning Manual must be provided with pressurized media such as compressed air hydraulic oil cooling fluid and cooling lubricant supplied by external systems Incorrect handling of the supply and connections of pressurized systems can lead to injuries or accidents In these cases improper handling of external supply systems supply lines or connections can cause injuries or material damage CAUTIO...

Page 54: ...tructions for Electric Drives and Controls MPH 02 MPB 02 MPD 02 DOK INDRV MP 02VRS FK01 EN P Notes Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 55: ...Assignment Each drive is identified by its own address Multiple addressing is not allowed In the condition as supplied the address 99 is set Note The address entered in parameter P 0 4025 Drive address of master communication takes effect during the transition from P0 P1 The active device address is displayed in parameter S 0 0096 Slave arrangement SLKN Address Setting via Control Panel The drive ...

Page 56: ... button Esc button display 2 1 Adr drive address Y Y XXXXXXXX explanation 2 Comand commands settings Down button Up button Enter button Esc button 2 1 1 ZE display 2 1 2 ZE display Enter button Esc button accept with Enter button set units digit with Up Down buttons set tens digit with Up Down buttons ZE tens units Zehner Einer digit of drive address display changes flashes between Y Y and XXXXXXX...

Page 57: ...ng its execution Monitoring commands activate or deactivate monitors or functions in the drive Administration commands carry out administration tasks cannot be interrupted Command Input and Acknowledgment The command execution is controlled and monitored by command input and command acknowledgment In the input the drive is informed on whether the command is to be started interrupted or completed T...

Page 58: ... status word 1 t data status of command parameter acknow ledgment 3 0 0 7 command processed command completed without error command cleared t data of command parameter input 3 0 command started command cleared approx 2 ms approx 2 ms Fig 4 4 Input acknowledgment and command change bit in the case of correct execution approx 2 ms approx 2 ms DK000025v01_en fh7 t command change bit in drive status w...

Page 59: ... exited by defined events e g drive commands switching of operating modes Corresponding status transitions are assigned to the events The status transitions or the interaction of control and status bits are called status machine The figure below shows the schematic diagram of the device control status machine of an IndraDrive device Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneuma...

Page 60: ...2 0 100 P 0 0116 Bit 15 13 110 P 0 0116 Bit 15 13 111 error reaction depending on error class and parameterization C0500 S 0 0099 P 0 0116 Bit 15 13 x0x P 0 0116 Bit 15 13 01x drive ready Ab P 0 0115 Bit 15 13 100 Bit 4 3 00 S 0 0014 Bit 2 0 100 power OFF power ON ready for oper bb P 0 0115 Bit 15 13 010 Bit 4 3 00 S 0 0014 Bit 2 0 100 C0400 P 0 4023 not for SERCOS C0200 S 0 0128 communic phase 3 ...

Page 61: ... control word P 0 4068 Field bus control word IO P 0 4077 Field bus control word P 0 4078 Field bus status word P 0 4086 Master communication status Control Word and Status Word of Master Communication The control word and status word of the respective master communication are an essential part of the communication between the master communication master and the drive Depending on the master commu...

Page 62: ...0 0135 P 0 4028 P 0 0115 device status word P 0 0116 P 0 0115 IndraMotion MLD S 1 DF000125v01_en fh7 SERCOS field bus analog parallel Fig 4 7 Interaction of the available control and status words See also separate documentation IndraMotion MLD S Note The internal control and status words can only be directly reached via the PLC integrated in the drive functional package IndraMotion MLD S as option...

Page 63: ...bit 7 operating mode initialized output stage active S 0 0206 drive on delay time Fig 4 8 Bit sequence during switch on process standstill apply holding brake S 0 0207 DK000058v01_en fh7 t P 0 0115 bit 14 ready for operation S 0 0134 bit 15 drive ON S 0 0134 bit 14 drive enable P 0 0115 bit 15 ready for operation P 0 0115 bit 3 status of cmd value processing P 0 0115 bit 7 operating mode initializ...

Page 64: ... Bit sequence during error reaction initialization of operating mode DK000060v01_en fh7 t P 0 0115 bit 14 ready for operation S 0 0134 bit 15 drive ON S 0 0134 bit 14 drive enable P 0 0115 bit 15 ready for operation P 0 0115 bit 3 status of cmd value processing P 0 0115 bit 7 operating mode initialized S 0 0134 bit 8 9 cmd operating mode P 0 0115 bit 8 9 actual oper mode Fig 4 11 Bit sequence duri...

Page 65: ... drives there also is the parameter P 0 4078 Field bus status word bit 0 1 for this purpose The individual phases states have the following functions P 1 After it is switched on the drive goes to phase 1 and carries out a baud rate scan As soon as the drive receives valid SERCOS telegrams from the master it changes to phase 0 P0 The master checks the SERCOS ring by sending synchronization telegram...

Page 66: ...n the drive The supported communication phases as well as the handling of the switching between the communication phases e g parameterization and operating mode are depending on the master communication that is used The control information preset for master communication is displayed in parameter P 0 4086 Master communication status SERCOS interface For SERCOS devices all 5 communication phases as...

Page 67: ...ed Restart Checking the validity of the parameters required for switching to phase 3 If one of these parameters has never been written or the backup was carried out incorrectly the error message C0101 is generated The IDNs of the faulty parameters are listed in parameter S 0 0021 IDN list of invalid operating data for communication phase 2 These parameters have to be set valid by writing correct v...

Page 68: ...it of synchr motor with reluctance torque Checking the motor and encoder configuration and parameter contents C0119 Max travel range too large C0120 Error when reading encoder data motor encoder C0121 Incorrect parameterization of motor encoder hardware C0122 Incorr parameteriz of motor enc mechanical system C0123 Modulo value for motor encoder cannot be displayed C0124 Motor encoder unknown C0125...

Page 69: ...ut already assigned to another axis C0248 Dig input assigned differently to axes C0249 Dig I Os bit number too large C0250 Probe inputs incorrectly configured Limit value check interface configuration C0201 Invalid parameters S 0 0022 C0202 Parameter limit error S 0 0022 C0203 Parameter calculation error S 0 0022 C0242 Multiple configuration of a parameter S 0 0022 Checking the master communicatio...

Page 70: ... in this list defines which bit is assigned to which IDN targets in the signal control word For example the 1 st list element determines the parameter to which bit 0 of the signal control word is assigned Which bit of the selected parameters targets in parameter S 0 0027 is set or cleared by the signal control word has to be defined in parameter S 0 0329 Assign list signal control word Note If thi...

Page 71: ...status word S 0 0144 Signal status word S 0 0328 Assign list signal status word S 0 0398 IDN list of configurable data in the signal status word Notes on Commissioning the Signal Status Word In parameter S 0 0026 Configuration list signal status word the IDNs of those parameters are indicated that contain the original bits sources The parameters that can be entered in the configuration list are li...

Page 72: ...iguration list signal status word Diagnostic Messages and Error Messages The following check is run when inputting data in the parameters S 0 0328 Assign list signal status word and S 0 0026 Configuration list signal status word Check whether the IDN specified in S 0 0026 has variable data length list parameter or a so called online read function If yes the service channel error message 0x7008 Inv...

Page 73: ...of the bits in the signal status word can be freely defined via the configurable signal status word function Profile type freely configurable mode FFFEh PROFIBUS freely configurable operating mode without profile interpreter This profile type allows using the complete drive functionality by free configuration of the real time data and selection of the operating mode Control word and status word ha...

Page 74: ...O mode P 0 4084 0xFF82 the primary mode of operation active in the drive is defined Jogging or drive controlled positioning jog mode is automatically set as the 1 st secondary operating mode There are the following relationships between the parameters P 0 4084 Profile type and S 0 0032 Primary mode of operation I O mode with 16 bit status word and 16 bit control word P 0 4084 0xFF82 functionally c...

Page 75: ... of the field bus the data configured in P 0 4081 Field bus config list of cyclic command value data ch are transmitted from master to drive Parameters Format P 0 4068 Field bus control word IO u16 1 word In the real time channel of the field bus the data configured in P 0 4080 Field bus config list of cyclic actual value data ch are transmitted from drive to master Parameters Format S 0 0144 Sign...

Page 76: ...oint PSP 1 to the right of PSP 0 to the left of PSP S 0 0060 2 in reference 1 drive has been homed S 0 0403 3 in motion 0 in motion S 0 0331 4 in position 1 drive is in positioning window no sequential block P 0 4061 5 drive error error flag 1 error P 0 0115 0 no error 6 readiness for operation display bb 1 ready for operation P 0 0115 7 power switched on display Ab 1 power has been switched on P ...

Page 77: ...1 0 x S 0 0144 15 0 1 7 1 0 S 0 0144 1 15 0 1 7 0 0 S 0 0144 0 15 0 1 7 1 0 S 0 0144 0 P 0 4051 15 0 0 7 1 0 S 0 0144 0 15 0 0 7 0 0 S 0 0144 0 15 0 0 7 0 0 S 0 0144 0 15 0 1 7 1 0 S 0 0144 0 P 0 4051 negated drive enable AF Drive Halt AH positioning block mode error situation e g F8060 Fxxx error reaction depending on error class and parameterization drive ready Ab power OFF power ON ready for op...

Page 78: ...a ch The content of S 0 0144 Signal status word can be freely parameterized via S 0 0026 Configuration list signal status word and S 0 0328 Assign list signal status word Freely Configurable Mode Rexroth Profile Type Brief Description To use the extensive and numerous functions of a Rexroth drive with field bus interface it is necessary in addition to the I O mode downwards compatible to the DKC3 ...

Page 79: ... listed in S 0 0187 List of configurable data in the AT Data direction Word1 Word2 Word n master slave P 0 4077 command value 1 slave master P 0 4078 actual value 1 Status Machine in Freely Configurable Mode Rexroth Profile Type Each field bus drive of Bosch Rexroth regardless of the command communication interface is equipped with a uniform status machine This includes a continuous structure of t...

Page 80: ...0 0115 Device control status word are only used for diagnostic purposes The actual control and status information is contained in the parameters P 0 4077 Field bus control word and P 0 4078 Field bus status word These parameters are always inherent part of the real time channel See also Device Control in section Basic Functions of Master Communication Courtesy of CMA Flodyne Hydradyne Motion Contr...

Page 81: ...1 10 01 00 P 0 4077 Bit 1 0 1 edge P 0 4077 Bit 1 1 0 edge 15 0 1 7 0 1 P 0 4078 0 1 0 0 0 x 15 0 1 7 0 1 P 0 4078 0 0 1 0 0 x 15 0 1 7 0 0 P 0 4078 1 0 0 0 0 x 15 0 1 7 0 0 P 0 4078 0 0 0 0 0 x 15 0 1 7 0 1 P 0 4078 0 1 1 1 0 x 15 0 x 7 0 x P 0 4078 x 1 1 0 1 x drive enable AF Drive Halt AH P 0 4077 Bit 2 1 error situation e g F8060 Fxxx error reaction depending on error class and parameterizatio...

Page 82: ...ord and P 0 4078 Field bus status word are irrelevant with this configuration or operating mode The length of the cyclic data channel has been defined with P 0 4082 12 bytes P 0 4071 6 bytes In the real time channel of the field bus the velocity data configured in P 0 4081 Field bus config list of cyclic command value data ch are transmitted from master to drive Parameters Format P 0 4077 Field bu...

Page 83: ...s necessary to configure S 0 0282 Positioning command value instead of S 0 0258 Target position in the list parameter P 0 4081 In the real time channel of the field bus the positioning block data configured in P 0 4081 Field bus config list of cyclic command value data ch are transmitted from master to drive Parameters Format P 0 4077 Field bus control word u16 1 word S 0 0258 Target position i32 ...

Page 84: ...bus the positioning data configured in P 0 4080 Field bus config list of cyclic actual value data ch are transmitted from drive to master Parameters Format P 0 4078 Field bus status word u16 1 word S 0 0051 Position feedback 1 value i32 2 words S 0 0040 Velocity feedback value i32 2 words S 0 0390 Diagnostic message number u32 2 words Content and Order of Data in Real Time Channel Data direction W...

Page 85: ... drive Parameters Format P 0 4077 Field bus control word u16 1 word S 0 0282 Positioning command value i32 2 words S 0 0259 Positioning Velocity i32 2 words S 0 0145 Signal control word u16 1 word In the real time channel of the field bus the positioning data configured in P 0 4080 Field bus config list of cyclic actual value data ch are transmitted from drive to master Parameters Format P 0 4078 ...

Page 86: ...configurable data in the MDT 32 byte max number of configurable data in the AT 32 byte Note The number of configurable byte in the MDT AT depends on the relation of the position cycle time P 0 0556 bit 2 to the SERCOS cycle time SERCOS cycle time pos cycle time max length 16 byte SERCOS cycle time pos cycle time max length 32 byte For more detailed information please see the SERCOS specification P...

Page 87: ...0414 Bit number allocation of real time control bit 2 S 0 0415 Bit number allocation of real time status bit 1 S 0 0416 Bit number allocation of real time status bit 2 P 0 4027 Transmission length SERCOS interface P 0 4029 SCSB diagnostics P 0 4087 Baud rate SERCOS interface Pertinent Diagnostic Messages C0104 Config IDN for MDT not configurable C0105 Maximum length for MDT exceeded C0106 Config I...

Page 88: ...rface Settings of the SERCOS interface For settings or display for communication via SERCOS interface the following parameters are available P 0 4025 Drive address of master communication P 0 4027 Transmission length SERCOS interface P 0 4087 Baud rate SERCOS interface For information on these parameters see the following sections Note The settings must be made via the SERCOS ring before communica...

Page 89: ...t of the master Setting the Drive Address The drive address is set in the P 0 4025 Drive address of master communication parameter instead of using the address selector switch as so far A drive address set or changed in this parameter is only activated at the next change of communication phase from 0 to 1 The drive address is independent of the order of drive connections via the fiber optic cables...

Page 90: ...ion indicator is dark go to the next drive Do this up to the last drive and then at the master control unit Note The distortion indicator must not be lit nor glow The distortion indicator H20 will be lit in the following cases fiber optic cable leading to the preceding drive is defective transmission rate is not supported transmission length transmitting power is incorrectly set What to do when th...

Page 91: ...y means of the telegram settings The master data telegram is received by all drives in the ring at the same time In addition a separate drive telegram is sent once per SERCOS cycle time from every drive to the control unit The drive telegram contains the drive status word sections of the service channel and a configurable data block This data block mostly contains the actual and status values the ...

Page 92: ...legram It contains all important status information from the drive such as readiness for operation of the control and power sections drive error change bits class 2 and 3 diagnostics current operating mode real time status bits 1 and 2 status information for the service channel Note The drive status word is mapped to parameter S 0 0135 The exact structure of this parameter is described in the sepa...

Page 93: ...uch that the command velocity is zero Releasing the possibly available motor holding brake only takes place at the time drive enable is acknowledged positive edge of acknowledge of drive enable Transmission of Non Cyclical Data Non cyclical data are parameters that are not transmitted cyclically but via the service channel The service channel is therefore used for parameterization and diagnosis Th...

Page 94: ...r S 0 0029 is cleared when switching from communication phase 3 to 4 Real Time Control Bits and Real Time Status Bits Brief Description The master control word and the drive status word contain 2 configurable real time bits each To configure these binary signals there are the following parameters S 0 0301 Allocation of real time control bit 1 S 0 0303 Allocation of real time control bit 2 S 0 0305...

Page 95: ...aster communication module with PROFIBUS interface Via this module it is possible to exchange real time data with a PROFIBUS DP master The following communication channels are distinguished cyclic data channel PROFIBUS DP The field bus provides data containers in which useful data can be cyclically transmitted This section is called cyclic data channel The cyclic data channel is divided into a saf...

Page 96: ... detection configurable cyclical data up to 8 parameters incl field bus control word and field bus status word in both data directions max 30 bytes or 15 words additional optional parameter channel in the cyclic channel with up to 16 byte 8 words monitoring of the cyclical data exchange watchdog function LED for diagnosing the PROFIBUS interface supported DPV0 services Slave_Diag read diagnostic d...

Page 97: ...l control word S 0 0144 Signal status word S 0 0145 Signal control word S 0 0328 Assign list signal status word S 0 0329 Assign list signal control word S 0 0187 IDN list of configurable data in the AT S 0 0188 IDN list of configurable data in the MDT Pertinent Diagnostic Messages C0154 Field bus IDN for cycl command val not configurable C0155 Field bus max length for cycl command val exceeded C01...

Page 98: ...module is used to configure a safety related process data channel with the corresponding hardware and enabling of functional packages When the optional module is not used the blank module no F Modul has to be assigned to it These modules are marked with ParamCh and are of the input output module type If no parameter channel is required the module ParamCh 0 Words Off has to be selected For a parame...

Page 99: ...P 0 4071 length of cyclic data channel OUT master slave in bytes 2 10 P 0 4083 length of parameter channel in bytes 0 10 Fig 4 22 Parameters to configure the cyclic data channel For the profile types P 0 4084 0xFFFE freely configurable mode or P 0 4084 0xFF82 I O mode there is a default configuration that the user can change at any time See also section Profile Types The structure and therefore th...

Page 100: ... Field bus length of cyclic comm value data channel master Å slave P 0 4082 Field bus length of cyclic actual value data channel slave Å master The setting becomes effective with the initialization of the drive controller to the operating mode so it has to be set before Note Note that a change in the length of the process data channel also requires a change in the master configuration The length o...

Page 101: ...bits have the following significance 15 14 13 12 11 8 7 0 res G L T FL GL res reserved always 0 G no basic setting L load bit T toggle bit FL length of user data in fragment 4 bits GL length of data still to be transmitted including the data in the current fragment 8 bits Fig 4 23 Structure of control word in parameter channel Structure of Status Word in Parameter Channel The control word is sent ...

Page 102: ...ifier 2 bytes of the supported parameter channel format in this case with 01V00 Control word status word User data Res G F L T FL GL B2 B3 B4 B5 B6 B7 B8 B9 M S 0 1 1 0 1 0 0 S M 0 0 1 0 1 2 2 01h 00h Fig 4 25 Basic setting for parameter channel The control unit reads the operating data of parameter S 0 0057 It is a double word fragmentation therefore is not necessary The value is 100 Parameter ma...

Page 103: ...F L T FL GL B2 B3 B4 B5 B6 B7 B8 B9 M S 0 1 1 0 1 8 8 20h 39h 00h 07h 00h 00h 4Eh 20h S M 0 1 1 0 1 2 2 70h 06h Fig 4 28 Non fragmented writing with error message The control unit reads the operating data of parameter S 0 0016 It is a list of words In the example below it contains 40 28h 51 33h 53 36h 84 54h 95 5F 130 82h and 131 83h First the list pointer sub index 10 is set to zero Parameter map...

Page 104: ...transmission it is necessary to calculate GL with the data received from the control word status word receive receive transmit FL GL GL GL length of data still to be transmitted including the data in the current fragment 8 bits FL length of user data in fragment 4 bits Fig 4 31 GL calculation DPV1 Parameter Communication ProfiDrive Overview of Acyclic Communication An acyclic communication relatio...

Page 105: ...parameter requests are not supported ProfiDrive parameter request via DPV1 request reference 1 to 255 request ID 1 request parameter request header axis 0 number of parameters 1 attribute 16 value number of elements 1 parameter number parameter address sub index ProfiDrive parameter response request ref mirrored 1 to 255 response ID 1 positive acknowledgment 129 negative acknowledgm response heade...

Page 106: ... Cycle times of the interface basic design 1 ms to 65 ms in steps of 1 ms advanced design 500 µs to 65 ms in steps of 500 µs Processing the Cyclic Data The internal processing of the command values and actual values is carried out synchronously with the control clock As the communication via PROFIBUS DP is not carried out in a synchronous way this type of master communication is not suited for syn...

Page 107: ...ication in plain text The contents of parameter P 0 4073 have the following significance Text Significance OFFLINE initialization value of the diagnostic message Power On A PROFIBUS DP card has been recognized as master communication and the hardware is checked Baud Search The hardware is okay the PROFIBUS interface is monitored in order to recognize the baud rate used Wait Prm The baud rate has b...

Page 108: ... feature not supported 0x80 0xB0 0x00 No access to index 47 DPV1 access invalid index 0x80 0xB1 0x00 There isn t any DPV1 header available DPV1 access write length error 0x80 0xB2 0x00 No access to slot 0 DPV1 access invalid slot 0x80 0xB3 0x00 Access is only allowed to the value of the object DPV1 access type conflict 0x80 0xB5 0x00 Parameter request not yet received therefore response not yet av...

Page 109: ... combination 0x7009 Operation data write protected by a password 0x700A Operation data is write protected it is configured cyclically 0x700B Invalid indirect addressing e g data container list handling 0x700C Operation data is write protected due to other settings e g parameter operation mode drive enable drive on etc 0x7010 Procedure command already active 0x7011 Procedure command not interruptib...

Page 110: ... 0 0027 Configuration list signal control word S 0 0144 Signal status word S 0 0145 Signal control word S 0 0328 Assign list signal status word S 0 0329 Assign list signal control word S 0 0346 Positioning control word S 0 0398 IDN list of configurable data in signal status word S 0 0399 IDN list of configurable data in the signal control word S 0 0437 Positioning status word P 0 0115 Device contr...

Page 111: ...y signals the activation of Drive Halt If the Drive Halt signal is then deactivated P 0 4028 bit 13 1 the display of the control panel changes to AF and the diagnostic drive message then is A0206 A0207 A0210 or A0211 positioning block mode and thereby signals the activation of the operating mode Note The Drive Halt signal is status controlled and active when the signal 0 V A positive edge at the c...

Page 112: ...described in the separate documentation Project Planning Manual for Control Sections in chapter Interfaces Configurable Digital Outputs The signal status word for IndraDrive devices is cyclically generated or cyclically transmitted to the I O module cycle time Advanced T 250 µs cycle time Basic T 500 µs Note The bits of parameter S 0 0144 Signal status word are mapped to the digital outputs of the...

Page 113: ...0 4060 Positioning control word a positioning block is selected and started The inputs for the positioning block selection are mapped to parameter P 0 4026 Positioning block selection The block selection in parameter P 0 4051 is acknowledged as soon as the positioning block has been started The In Pos message is simultaneously updated Selecting the jogging inputs causes an internal switching to th...

Page 114: ...uts Bit number in signal status word Configured parameter Function significance 0 P 0 0115 bit 1 status of device control ready 1 S 0 0059 bit 0 position switch point 2 S 0 0403 bit 0 status reference encoder 3 S 0 0331 bit 0 nact 0 4 P 0 4061 bit 1 status end position reached 5 P 0 0115 bit 2 status of device control warning 6 S 0 0437 bit 12 status jog mode active 7 S 0 0437 bit 3 status interpo...

Page 115: ...command parameters are assigned to a digital input the main spindle messages are assigned to the digital outputs The following commands are relevant for main spindle drives C0900 Position spindle command S 0 0152 C0600 Drive controlled homing procedure command S 0 0148 Bit number in signal control word Configured parameter Function significance 0 1 S 0 0152 bit 0 position spindle command C0900 2 6...

Page 116: ... S 0 0336 bit 0 In position 10 S 0 0337 bit 0 P Px 11 15 Fig 4 41 Example of configuration for main spindle messages via digital outputs See also section Spindle Positioning in chapter Drive Functions Diagnostic and Status Messages Monitoring the Digital Inputs Outputs For the parallel interface different kinds of errors are monitored at the inputs and outputs or ports The following error situatio...

Page 117: ... incremental A D position analog output encoder input analog assignment encoder emulation vcmd DF000107v01_en fh7 Drive velocity control loop Master position loop Fig 4 42 Control loop structure control with analog command value input and SSI emulation The master communication interface with analog interface is optionally available for the following control sections single axis ADVANCED configurab...

Page 118: ...ute measuring resolution to be set only binary resolution incr motor rev or mm power failure bit available incremental encoder emulation emulation of the reference pulse reference pulse to be set dead time compensation resolution to be set incr motor rev or mm maximum frequency monitoring digital control and status information determined via configuration of the digital inputs of the control secti...

Page 119: ...e P 0 0215 Analog input assignment A signal value at 0V P 0 0216 Analog input assignment A dead zone P 0 0217 Analog input 1 time constant input filter P 0 0218 Analog input control parameter adjust P 0 0219 Analog input maximum value for adjust P 0 0220 C2800 Analog input adjust command P 0 0228 Analog input 3 P 0 0229 Analog input 4 P 0 0231 Analog input 2 time constant input filter only for MPB...

Page 120: ...the drive requires a positive edge of the drive enable signal connector pin assignment see section Interfaces in the separate documentation Project Planning Manual for Control Section Note The drive enable signal is mapped to the parameters P 0 4028 Device control word and P 0 0116 Device control control word See also Device Control in section Basic Functions of Master Communication The enable sig...

Page 121: ...ers set bit 0 for the element of S 0 0099 in parameter P 0 0302 Digital I Os direction set the data direction for the element of S 0 0099 to input value 0 See also Digital Inputs Outputs in chapter Extended Drive Functions Note By activating the command for error clearing all drive errors are cleared Analog Command Value Input The number of analog inputs which differs according to control section ...

Page 122: ...zed beat effects can occur during sampling in spite of the 8 fold oversampling Bosch Rexroth therefore recommends not to use the analog interface in high end applications but in these cases use digital interfaces such as SERCOS interface Main Spindle Drive with Analog Interface and Parallel Interface In the case of main spindle drives operating states that are important for the working cycle have ...

Page 123: ... 0 0330 0 n_actual n_command 2 S 0 0331 0 n_feedback 0 3 S 0 0332 0 nactual nx 4 S 0 0333 0 T Tx 5 S 0 0334 0 T Tlimit 6 S 0 0335 0 n command n limit 7 S 0 0336 0 In_Position 8 S 0 0337 0 P Px 9 10 11 12 13 14 15 Fig 4 43 Example of configuration for main spindle messages via digital outputs The following command is relevant for main spindle drives C0900 Position spindle command S 0 0152 Bit in si...

Page 124: ...lues can already be read via parameters before assignment to the internal drive parameters The following applies digital inputs outputs of the control module are mapped to parameter P 0 0303 analog inputs values are displayed in the following parameters P 0 0210 Analog input 1 P 0 0211 Analog input 2 only for MPB02 firmware P 0 0228 Analog input 3 P 0 0229 Analog input 4 See also in chapter Extend...

Page 125: ...o possible to evaluate temperature sensors not listed above but their specific characteristics have to be entered manually IndraDrive allows controlling and monitoring holding brakes that are mechanically connected to the motor electrically releasing brakes self holding electrically holding brakes self releasing The IndraDrive controllers are adjusted to the motor to be controlled by providing or ...

Page 126: ... Parameters P 0 0533 Flux loop proportional gain P 0 0534 Flux loop integral action time P 0 0535 Motor voltage at no load P 0 0536 Motor voltage max In connection with the motor there are other important parameters measuring system parameter motor holding brake parameter temperature sensor parameter default control loop parameter Hardware Data For the electrical connection of the motors to the co...

Page 127: ...or was not connected this is detected by the motor temperature monitor too The thermal motor monitor has the following states Thermal status Motor temperature Message or reaction Thermal range not allowed temperature sensor possibly not connected for 30 s 20 C Error F2021 Motor temperature monitor defective motor is immediately shut down error reaction and switched off allowed thermal range value ...

Page 128: ... also Third Party Motors at IndraDrive Controllers in the same chapter Notes on Commissioning For the following parameters it is necessary to replace the default value by an adjusted value during commissioning Rexroth motors with the characteristic temperature sensor number 1 MHD MKD LSF MBS motors or 4 MKE motors No temperature sensor relevant parameter setting required Rexroth motors with the ch...

Page 129: ...n the motor shaft e g in the case of Rexroth housing motors or directly connected to the mechanical axis system e g in the case of linear kit motors IndraDrive controllers include application specific holding brake controls in order to minimize wear of the brake in the case of error holding brake control for servo drives holding brake control for main drives If the braking torque of holding brakes...

Page 130: ...ing brake must be suited for the voltage that is output the holding brake current mustn t exceed the allowed maximum value of the respective device see documentation Project Planning Manual of controllers if necessary the holding brake has to be controlled separately Note The optionally available holding brakes of Rexroth motors can be directly controlled via the controller Functional Description ...

Page 131: ...different causes during normal operation in most of the cases there is a demand to quickly shut down the mechanical system for reasons of personnel and installation safety This is done if possible by actively braking the drive In the case of error it is decisive whether the drive is able by itself to decelerate This is the case when the drive comes to a standstill within an axis specific maximum b...

Page 132: ...ies in operation that often exceed the allowed energy absorption capacity of holding brakes integrated in the motor In the case of error situation 2 shutdown realized by the holding brake only could destroy the brake very easily Due to the unlimited travel distance there normally isn t any danger of damaging the machine The controller therefore when determined by the customer P 0 0525 prevents the...

Page 133: ... 0 AF from NC AF reset by NC or error e g with velocity command value to zero error reaction drive disables NC command values actual velocity value S 0 0273 10 min 1 or 10 mm min t Fig 5 3 Holding brake control with error situation 1 and braking time S 0 0273 velocity command value reset error reaction Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 4...

Page 134: ...ty value S 0 0273 bit 1 1 0 S 0 0013 bit 12 1 0 target pos reached vact S 0 0124 value of S 0 0124 t Fig 5 4 Holding brake control with error situation 1 and braking time S 0 0273 return motion error reaction If the drive cannot shut down the mechanical system within the time after occurrence of the error entered in parameter S 0 0273 the motor holding brake is controlled depending on the applicat...

Page 135: ...10v01_en fh7 bit 3 1 0 motor holding brake P 0 0115 bit 14 1 0 bit 15 1 0 AF from NC AF reset by NC or error e g with velocity command value to zero error reaction drive disables NC command values 10 min 1 bzw 10 mm min actual velocity value S 0 0273 t Fig 5 6 Holding brake control with error situation 1 and braking time S 0 0273 for main drives Note If the return motion error reaction has not yet...

Page 136: ...ain drive released applied 1 0 AF internal DK000011v01_en fh7 bit 3 1 0 motor holding brake P 0 0115 bit 14 1 0 bit 15 1 0 AF from NC F8 error or torque disable error reaction drive disables NC command values actual velocity value t Fig 5 7 Holding brake control with error situation 2 for servo drives released applied 1 0 AF internal DK000012v01_en fh7 bit 3 1 0 motor holding brake P 0 0115 bit 14...

Page 137: ... force is generated that mustn t yet set the motor in motion if the status of the holding brake is correct The value of this torque or force can be entered in parameter P 0 0547 Test torque with holding brake applied This value too is determined during initial commissioning see Notes on Commissioning If the motor does not move during this check the brake has the specified or required holding torqu...

Page 138: ... axis to a noncritical position Upon completion of the command the brake is applied again When drive enable is set and then reset with the command being active the holding brake is applied again when resetting AF drive enable In special cases it can be convenient to apply the holding brake if the drive is in an active state AF drive enable This is possible by activating P 0 0543 C2000 Command Appl...

Page 139: ...lues from the data base of the DriveTop commissioning tool in the case of Rexroth motors without encoder data memory Configure holding brake control in P 0 0525 Holding brake control word The holding brake control is linked with drive enable and does not have to be separately activated The control unit can activate the brake check by means of a command P 0 0541 C2100 Brake check command CAUTION Pr...

Page 140: ...se P 0 0547 could also be written with the value of P 0 0545 safety factor 1 P 0 0546 Note Due to dimensioning the required torque or force with the criterion fixing the axis is lower than the nominal torque or force of the holding brake This expands the tolerance range for detection of holding brake wear and therefore increases the service life of the holding brake With safety relevant dimensioni...

Page 141: ...0135 Drive status word E2069 Brake torque too low F2069 Error when releasing the motor holding brake F6024 Maximum braking time exceeded C2001 Command not enabled C2101 Brake check only possible with drive enable C2103 Brake torque too low C2104 Command execution impossible C3901 Abrasion of brake only possible with drive enable C3902 Error during abrasion of brake C3903 Command execution impossib...

Page 142: ...cted against overheating To do this the current motor temperature is determined by thermo sensors installed in the motor winding Depending on temperature thresholds that can be set the controller generates a warning or switches the motor off Note Rexroth motors by motor parameters made available and temperature evaluation adjusted in an optimum way guarantee easy commissioning full drive performan...

Page 143: ...3005 Torque force constant encoder memory P 0 3006 Kind of motor encoder memory P 0 3007 Stator resistance encoder memory P 0 3008 Commutation offset encoder memory P 0 3050 Motor inductance encoder memory Parameters for measuring system P 0 1000 Kind of encoder 1 encoder memory P 0 1001 Encoder 1 resolution encoder memory Only for absolute encoders multi turn P 0 1002 Absolute encoder offset 1 en...

Page 144: ...te Depending on the setting in P 0 4090 Index for C07 Load defaults procedure the following parameter values are loaded with the load defaults procedure command S 0 0262 default control loop parameter values default setting basic parameter values default parameter set of the firmware In the case of motors with integrated holding brake the type of motor holding brake and the activation of the brake...

Page 145: ... on the Motors to be Controlled are used for these motors Functional Description The Rexroth motors without encoder data memory 2AD ADF MAD and MAF series are asynchronous motors Therefore a value adjusted to the application has to be written to the P 0 0532 Premagnetization factor parameter The premagnetization factor influences the magnetizing current motor parameter effective magnetizing curren...

Page 146: ...lication Value of P 0 0532 in Effect servo drive 100 torque generation free of delay in the case of acceleration or sudden load variation main drive 50 less power dissipation in no load operation noise level reduced Fig 5 11 Recommended setting for parameter P 0 0532 With values between 50 and 100 it is possible to obtain a compromise between the mentioned effects It is therefore necessary to make...

Page 147: ...e maximum force Rexroth Kit Motors Synchronous Brief Description The following Rexroth kit motors are manufactured according to the synchronous motor functional principle LSF linear motors MBS and MBT rotary motors As the motor is assembled in the machine stator rotor and measuring system can only be put together on site The electric magnetic mechanical allocation of the synchronous motor is there...

Page 148: ...r angle acquisition P 0 0508 Commutation offset P 0 0521 Effective commutation offset P 0 0522 Control word for commutation setting P 0 0523 Commutation setting measured value P 0 0524 C1200 Commutation offset setting command P 0 3008 Commutation offset encoder memory C1200 Commutation offset setting command C1204 Error in offset calculation C1208 No adjustment with asynchronous motor C1209 Procee...

Page 149: ...ssioning tool from a data base A value adjusted to the application only has to be written to the P 0 0532 Premagnetization factor parameter See section Rexroth Housing Motors without Encoder Data Memory 5 3 Third Party Motors at IndraDrive Controllers General Information on Third Party Motors Why Third Party Motor Control Today machine axes are mainly moved with electric drives Motors of standard ...

Page 150: ...tinuous power of the supply must be greater than the sum of all average powers of the axes of the drive system First it is necessary to determine the motor parameter values see section Determining the Motor Parameter Values In addition the commissioning tool DriveTop supports the determination of motor parameter values of third party motors It is advisable to document the determined values in the ...

Page 151: ...urement one motor terminal remains open For asynchronous motors the measured value can only be used if the rotor doesn t have closed slots Controller Minimum required motor inductance HMS HMD at HVE HMV 3x400VAC HCS 3x400VAC LU V 80 4 2 IType PWM in mH HMS HMD at HVR HMS HMD at HVE HMV 3x480VAC HCS 3x480VAC LU V 116 4 IType PWM in mH IType type current of selected controller rms value PWM desired ...

Page 152: ...ure Evaluation Only such motors with incorporated temperature sensor should be operated together with IndraDrive controllers because only then can the motor be thermally monitored by the controller and protected against destruction by too high temperature rise The controller is informed on the temperature sensor type via parameter P 0 0512 Temperature sensor Standard sensor types are characterized...

Page 153: ...time constant P 0 4016 Direct axis inductance of motor P 0 4017 Quadrature axis inductance of motor Only for field weakening range P 0 4005 Flux generating current limit value Measuring system parameters motor encoder S 0 0116 Feedback 1 resolution S 0 0277 Position feedback 1 type P 0 0074 Encoder type 1 motor encoder Motor holding brake parameters S 0 0206 Drive on delay time S 0 0207 Drive off ...

Page 154: ...es can be controlled asynchronous motors rotary asynchronous motors linear synchronous motors rotary synchronous motors linear These motors can be operated within the scope of the technical data of the IndraDrive controller selected for motor control if these motors have been equipped with holding brakes Note For third party motors Bosch Rexroth as a matter of principle does not assume the guarant...

Page 155: ...stems Determining the Motor Parameter Values Before the commissioning procedure it is necessary to determine the motor parameter values for the respective third party motor For this purpose the motor manufacturer has to make available specific motor data see below Required Manufacturer Side Output Data for Third Party Motors The motor parameter values can be determined in different ways For motors...

Page 156: ... IndraDrive parameter values rive Diax EcoD rive Diax EcoD e IndraDriv 0051 0 P 0100 0 S 0100 0 S P 0 0051 Torque force constant Fig 5 19 Conversion to IndraDrive parameter values P 0 0538 Diax EcoDrive P 0 0045 IndraDrive 0 00000000 00000000 2 00000000 00000001 Fig 5 20 Conversion to IndraDrive parameter values 0 66 0106 0 S 0106 0 S rive Diax EcoD e IndraDriv Fig 5 21 Conversion to IndraDrive pa...

Page 157: ...ge at no load Diax EcoDrive in Fig 5 25 Conversion to IndraDrive parameter values in 4 4047 0 P 4040 0 P rive Diax EcoD e IndraDriv P 0 4047 Motor inductance Diax EcoDrive Fig 5 26 Conversion to IndraDrive parameter values in mH 2 4040 0 P 4039 0 P 4040 0 P 4039 0 P 4041 0 P 4040 0 P 4041 0 P 4039 0 P 4041 0 P 0 4 0528 0 P e IndraDriv P 0 4041 Motor magnetizing inductance see above IndraDrive P 0 ...

Page 158: ...irectly used for IndraDrive Determining the Motor Parameter Values by Entering the Type Plate Data For asynchronous motors it is possible to have the motor parameters calculated internally by means of the type plate data The calculation is carried out successfully when all required data with regard to an operating point in the ideal case at rated load are correctly entered Element Text Default val...

Page 159: ...s listed below are calculated from the type plate data of the asynchronous motor entered in list parameter P 0 4032 Internally calculated motor parameters for asynchronous motors with open loop operation and closed loop operation S 0 0106 Current loop proportional gain 1 S 0 0107 Current loop integral action time 1 S 0 0109 Motor peak current S 0 0111 Motor current at standstill P 0 0051 Torque fo...

Page 160: ...ng the usability Determining the Motor Parameter Values by Calculation by Means of Motor Output Data Based on the required motor specific data made available by the manufacturer the motor parameter values can also be manually determined Note The PC based commissioning tool DriveTop support the determination of the motor parameter values as of version FWA DTOP 16V DriveTop calculates the parameter ...

Page 161: ...er S 0 0113 Maximum motor speed The value mustn t be higher than the maximum allowed velocity speed The motor current at standstill is the rms value of the torque generating component of the continuous motor current The value entered in parameter S 0 0111 Motor current at standstill is the 100 reference value for the torque force limit parameters S 0 0092 and P 0 0109 with percentage based scaling...

Page 162: ...ting the value for S 0 0106 The factor K depends on the switching frequency that was set P 0 0001 and the control performance P 0 0556 bit 2 basic advanced performance The factor K can be taken from the following table Control performance P 0 0556 bit 2 Switching frequency in Hz P 0 0001 Factor K for determining current loop gain x 4000 1 4 0 basic 8000 2 2 1 advanced 8000 2 8 x 12000 3 3 x 16000 ...

Page 163: ...is used to control the motor voltage in the field weakening range For synchronous motors the value for P 0 0533 Voltage loop proportional gain is determined by 0106 0 S 1 0533 0 P P 0 0533 voltage loop proportional gain in V A S 0 0106 current loop proportional gain 1 in V A Fig 5 43 Calculating the value for P 0 0533 for synchronous motors For asynchronous motors the value for P 0 0533 is determi...

Page 164: ...t rms value in A Fig 5 47 Calculating the value for P 0 4004 If there hasn t any value been indicated in the output data of the asynchronous motor the following approximation can be used for calculation Nenn 2 I cos 1 4004 0 P ϕ P 0 4004 magnetizing current rms value in A INenn rated current of the motor rms value in A cos ϕ power factor at rated load Fig 5 48 Calculating the value for P 0 4004 by...

Page 165: ...ufacturer The desired data are referring to the single phase substitute connection diagram of asynchronous motors with star connection reference neutral point St outer conductor Al RS Al St RR Al St L 6 Al St L 5 Al St LH Al St RS Al St ohmic resistance of stator at 20 C RR Al St ohmic resistance of rotor at 20 C L 6 O 6W leakage inductance of stator L 5 O 6W leakage inductance of rotor LH Al St m...

Page 166: ...4041 in mH by means of approximation Note If the required rated data of the motor are not available the magnetizing inductance can also be determined by a no load test With this test the voltage current and frequency have to be determined and used for the above formula The value of the parameter P 0 0528 Flux control loop proportional gain is used for controlling the magnetic flux in the asynchron...

Page 167: ...is inductance of the motor LQ U V Note Correct values can only be determined when the motor is in standstill The value for the direct axis inductance of motor contained in the completed form Output Data for Synchronous Motors has to be used for calculation as follows 0 5 L 4016 0 P V L U LL U V value according to motor output data Fig 5 59 Value for P 0 4016 The value for the quadrature axis induc...

Page 168: ... Kl motor inductance min value LU V min mH p 5 28 motor inductance max value LU V max mH p 5 28 motor induct average value LU V mH p 5 28 stator leakage inductance L 6 O 6W mH p 5 41 rotor leakage inductance L 5 O 6W mH p 5 41 motor magnetizing inductance LH Al St mH p 5 41 stator resistance 20 C RS Al St ohm p 5 41 rotor resistance 20 C RR Al St ohm p 5 41 rotor time constant TR ms p 5 41 winding...

Page 169: ...pole pairs rotary or PPZ pole pair distance linear PWT N N pol mm insulation class Isol Kl direct axis inductance of motor LL U V mH p 5 43 quadrature axis inductance of motor LQ U V mH p 5 43 motor inductance min value LU V min mH p 5 28 motor inductance max value LU V max mH p 5 28 motor induct average value LU V mH p 5 28 winding resistance 20 C RU V ohm p 5 39 allowed periodic peak voltage ûma...

Page 170: ...eristics available Fig 5 63 Data of temperature sensor Kind standard Signal amplitude Signal shape Cycles revolution Division period µm Manufacturer type of construction Fig 5 64 Data of motor encoder ________________________________________________________ Name Date Signature Temperature Sensor Data Motor Encoder if Available Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic El...

Page 171: ...ms p 5 38 Field weakening range parameters P 0 0530 Slip increase 1 100K p 5 40 P 0 0529 Scaling of stall current limit p 5 41 P 0 0533 Voltage loop proportional gain A V p 5 39 P 0 0534 Voltage loop integral action time ms p 5 39 P 0 0535 Motor voltage at no load 80 0 p 5 40 P 0 0536 Motor voltage max 90 0 p 5 40 P 0 4036 Rated motor speed 1 min p 5 41 Motor data P 0 4039 Stator leakage inductanc...

Page 172: ... parameters P 0 4005 Flux generating current limit value A p 5 43 P 0 0533 Voltage loop proportional gain A V p 5 39 P 0 0534 Voltage loop integral action time ms p 5 39 P 0 0535 Motor voltage at no load 80 0 p 5 40 P 0 0536 Motor voltage max 90 0 p 5 40 Motor data P 0 4016 Direct axis inductance of motor mH p 5 43 P 0 4017 Quadrature axis inductance of motor mH p 5 43 P 0 4002 Charact of quadratu...

Page 173: ...oning tool DriveTop For standard asynchronous motors only the type plate data may be known In this case it is possible to determine the motor parameter values on the basis of the data on the type plate To do this the type plate data of the rotary asynchronous motor are entered in P 0 4032 Type plate list asynchronous motor The motor parameter values are calculated by the firmware in phase 2 by sta...

Page 174: ...aluating the position measuring system and time derivation position control loop actual value by evaluating the position measuring system The actual value of the torque force control loop is generated by means of the internal current measurement The measuring system is inaccessible for the user and has a fixed configuration For acquiring the actual values of the velocity and position control loop ...

Page 175: ...lue once at the initial commissioning The precision of the position measurement depends on the resolution of the measuring system division periods DP the absolute encoder precision the digitalization quality of the analog encoder signals the dimension of the travel range of the axis Correct position information is of fundamental importance for reliable drive behavior and motion according to contou...

Page 176: ...d the quality of its components The data for the absolute precision are indicated by the manufacturer of the encoder The resolution of the measuring system division periods is entered in the following parameters S 0 0116 Feedback 1 Resolution S 0 0117 Feedback 2 Resolution Note Generally the following applies feedback 1 means motor encoder feedback 2 means external or optional encoder The value of...

Page 177: ...st measurable distance Internally the value range of the encoder position data is 2 31 i e the encoder position range can be resolved to 2 32 data By digitalization a multitude of position data results from one division period By means of adjusted multiplication the range of encoder position data of 2 31 values referring to the travel range of the axis S 0 0278 is complied with The resulting drive...

Page 178: ... the formulas in Internal encoder resolution for rotary encoders or Internal encoder resolution for linear encoders characterizes the encoder dimensioning DC000015v01_en FH7 value 215 value 215 Ideal encoder resolution over the selected travel range Value of S 0 0116 S 0 0117 can be reduced cycles rotary encoder increased DPs linear encoder Value of S 0 0116 S 0 0117 can be increased cycles rotary...

Page 179: ...drive internal encoder resolution and maximum encoder resolution after digitalization is the real resolution of the position data of a linear encoder Note The maximum encoder resolution after digitalization is the maximum possible real encoder resolution It is limited on the hardware side If the number of encoder division periods over the travel distance of the axis is accordingly high the real en...

Page 180: ...of the optional encoder S 0 0053 Position feedback 2 value Position status of the connected encoders S 0 0403 Position feedback value status Multiplication of the motor encoder S 0 0256 Multiplication 1 Multiplication of the optional encoder S 0 0257 Multiplication 2 Resolution of the position data in the drive P 0 0129 Internal position data format Note When S 0 0256 and if available S 0 0257 hav...

Page 181: ... will signal this faulty status S 0 0391 Monitoring window feedback 2 P 0 0095 Absolute encoder monitoring window for motor encoder P 0 0096 Absolute encoder monitoring window for opt encoder P 0 0177 Absolute encoder buffer 1 motor encoder P 0 0178 Absolute encoder buffer 2 optional encoder P 0 0185 Function of encoder 2 optional encoder P 0 0391 Actual position value difference encoder1 encoder2...

Page 182: ... or switched to communication phase P2 Incorrect counts caused by injected noise and permanently reduced signal amplitudes caused by dirty code disks can be the reason why an error message for the motor encoder or the external encoder is generated F8022 Enc 1 enc signals incorr can be cleared in ph 2 F2042 Encoder 2 encoder signals incorrect The drive then reacts with the error reaction that has b...

Page 183: ...ion feedback difference error message is generated This monitoring function can be deactivated The position data reference of absolute encoders gets lost when the parameter values of the mechanical drive system have been changed the encoder resolutions have been changed the scalings of the physical data have been changed the maximum travel range of an axis has been changed hybrid position control ...

Page 184: ...on of Heidenhain 500 kHz 8 encoder with EnDat interface from Heidenhain 200 kHz Fig 5 77 Maximum frequency for troublefree encoder evaluation When the maximum encoder output frequency reaches or exceeds the maximum frequency stored in the firmware it makes sense to deactivate the spindle encoder monitor Note The maximum frequency stored in the firmware has a safety distance to the maximum input fr...

Page 185: ...pindle encoder monitor should be deactivated Therefor enter the respective value in the parameter P 0 0185 Control word of encoder 2 optional encoder If the position deviation of a motor encoder or external encoder with absolute position data reference exceeds the value in P 0 0095 or P 0 0096 between the points of time the control voltage is switched off and on again the drive generates the error...

Page 186: ...absolute encoders absolute value encoders if they have the required signal specification Rexroth position encoders and motor encoders of Rexroth housing motors are available as single turn encoders absolute actual position values over one encoder shaft revolution or multi turn encoders absolute actual position values over 4096 encoder shaft revolutions These encoders can be evaluated as absolute e...

Page 187: ...exroth encoders correspond to the required signal specification Functional Description Absolute encoders can only display a limited position range in absolute values For encoders that can be evaluated in absolute form the drive depending on the connection of the encoder or the encoders to the axis and on the position data scaling calculates the travel range of the axis that can be displayed in abs...

Page 188: ...al position value is only encoder related If the drive for example is only equipped with one measuring system motor encoder to be evaluated in absolute form the controller sets the actual position value to P 0 0019 Initial position value The initial position value can be determined by the user If the drive apart from the motor encoder is equipped with an external encoder and at least one encoder c...

Page 189: ...alues This is so even when the drive is switched off and on again Notes on Commissioning The commissioning guidelines with regard to Basics on Measuring Systems Resolution and Monitoring the Measuring Systems have to be observed too Enter the travel range of the axis S 0 0278 Maximum travel range Check the absolute encoder range of the respective control encoder S 0 0378 Absolute encoder range of ...

Page 190: ...hronous motors There are however advantages of relative encoders as opposed to encoders that can be evaluated in absolute form Longer travel distances are possible for linear encoders The costs of the encoder are mostly lower given equal absolute precision and number of lines or division period length Due to the above disadvantages relative measuring systems are not used as motor encoders for sync...

Page 191: ...0 0019 P 0 0019 Axis has not moved after switching on axis has not yet been homed 0b 000 absolute value motor encoder absolute value motor encoder Axis was homed via motor encoder at the home point S 0 0053 is set to the value of S 0 0051 0b 01x absolute value ext encoder absolute value ext encoder Axis was homed via external encoder at the home point S 0 0051 is set to the value of S 0 0053 0b 10...

Page 192: ...s a shorter distance and a longer distance between one reference mark and the mark after the next The controller is informed of these two distances via S 0 0165 Distance coded reference offset A and S 0 0166 Distance coded reference offset B 501 502 503 1001 1001 1000 1000 DF0029v1 fh7 shorter distance of the mark after the next reference mark S 0 0165 Distance coded reference offset A longer dist...

Page 193: ...stance difference longer distance shorter distance is indicated in the data sheet of the encoder 0117 0 S 0117 0 S n Xref 0166 0 S encoder ext 0116 0 S 0116 0 S n Xref 0166 0 S encoder motor DP DP n Xref 0166 0 S general S 0 0166 distance coded reference offset B in number of DP Xref travel distance for establishing the absolute reference point in mm n number of DP of the distance difference big s...

Page 194: ...rrangement Brief Description Controlled motor activation requires a position measuring system that measures the current rotor position or the position of the moving part as opposed to the static part of the motor This position measurement is required for the current control loop velocity control loop and if required position control loop The precision and resolution of the position measurement is ...

Page 195: ...ncoder of incremental encoder with sine signals compatible with signal specification of Heidenhain and Hall sensor box SHL01 1 Rexroth compatible signal specification encoder with EnDat interface from Heidenhain incremental encoder with square wave signals compatible with signal specification of Heidenhain combined encoder of incremental encoder with square wave signals compatible with signal spec...

Page 196: ... 0 0051 S 0 0116 S 0 0076 S 0 0121 S 0 0122 S 0 0121 S 0 0122 S 0 0123 S 0 0123 S 0 0277 S 0 0117 P 0 0075 P 0 0074 S 0 0051 S 0 0053 1 S 0 0051 S 0 0053 1 S 0 0051 S 0 0053 1 S 0 0051 S 0 0053 1 P 0 0123 P 0 0185 S 0 0116 P 0 0074 S 0 0117 P 0 0075 S 0 0117 P 0 0075 1 S 0 0051 S 0 0053 depending on scaling S 0 0076 S 0 0051 position feedback 1 value S 0 0053 position feedback 2 value S 0 0076 pos...

Page 197: ...ee also documentation Project Planning Manual for Control Sections Functional Description The motion type of the motor encoder can either be rotary or linear The controller is told this via parameter S 0 0277 Position feedback 1 type When linear motor encoder is set in S 0 0277 the encoder 1 gear parameters are inactive the actual position value reference S 0 0076 Position data scaling type has to...

Page 198: ...sition feedback 1 value S 0 0053 position feedback 2 value S 0 0076 position data scaling type S 0 0116 feedback 1 resolution S 0 0121 input revolutions of load gear S 0 0122 output revolutions of load gear S 0 0123 feed constant S 0 0277 position feedback 1 type P 0 0074 encoder type 1 motor encoder P 0 0121 gear 1 motor side motor encoder P 0 0122 gear 1 encoder side motor encoder Fig 5 87 Possi...

Page 199: ... 0053 1 S 0 0117 P 0 0075 1 S 0 0051 S 0 0053 depending on scaling S 0 0076 S 0 0051 position feedback 1 value S 0 0053 position feedback 2 value S 0 0076 position data scaling type S 0 0115 position feedback 2 type S 0 0116 feedback 1 resolution S 0 0117 feedback 2 resolution S 0 0121 input revolutions of load gear S 0 0122 output revolutions of load gear S 0 0123 feed constant S 0 0277 position ...

Page 200: ...0 0122 Output revolutions of load gear For linear axes enter the feed constant S 0 0123 Feed constant Set encoder type linear or rotary S 0 0115 Position feedback 2 type Enter encoder type hardware assignment and resolution P 0 0075 Encoder type 2 optional encoder P 0 0078 Assignment optional encoder optional slot S 0 0117 Feedback 2 Resolution Enter gear ratio for the external optional encoder P ...

Page 201: ...tive and quantitative way All data are stored in parameters and transmitted as parameter values for explanations on parameters see chapter Parameters Basics in chapter Handling Diagnostic and Service Functions The scaling of the parameters containing data of the following physical values can be defined by the customer position velocity acceleration torque force temperature To simplify the scaling ...

Page 202: ...5 Position polarities S 0 0076 Position data scaling type S 0 0077 Linear position data scaling factor position data S 0 0078 Linear position data scaling exponent S 0 0079 Rotational position resolution S 0 0085 Torque force polarity parameter S 0 0086 Torque force data scaling type S 0 0093 Torque force data scaling factor S 0 0094 Torque force data scaling exponent S 0 0103 Modulo value S 0 012...

Page 203: ...eleration data scaling The acceleration data can also be scaled with reference to a velocity ramp scaling preferred with ms 1 000 0446 0 S time reference ramp 0446 0 S ramp vel reference S 0 0446 ramp reference velocity for acceleration data Fig 5 91 Definition of the velocity reference ramp for scaling acceleration data in the case of preferred scaling The scaling types units and the selection of...

Page 204: ...010 1 6 6 Physical data Scaling type Unit S 0 0160 S 0 0161 scal factor S 0 0162 scal exp Attribute number of decimal places acceleration data linear mm s 2 0x00 0001 1 6 3 linear inch s 2 0x01 0001 1 5 5 rotary rad s 2 0x00 0010 1 3 3 ramp time s 0x00 0011 1 3 3 Fig 5 92 Overview of values of scaling parameters determined by preferred scaling and decimal places of the data Note For practical reas...

Page 205: ...0 the units are no longer angular degrees acc to S 0 0076 but only incremental control dependent unit reference Fig 5 93 Defining the least significant bit LSB for parameter scaling Note The jerk data scaling is derived from the acceleration data scaling Respective units of measurement and time defined in the parameters S 0 0076 Position data scaling type S 0 0044 Velocity data scaling type S 0 01...

Page 206: ...caling predefined scaling Preferred scaling Physical value Celsius Fahrenheit temperature 0 1 C 0 1 F Fig 5 95 Overview preferred scalings for temperature data The reference of position velocity acceleration jerk and torque force data can be selected for point where the motor force is input motor reference or point where the load takes effect load reference To do this it is necessary to transmit t...

Page 207: ...arameter Depending on the mounting situation especially of kit motors and their respective motor encoder or external encoder this allows determining the appropriate polarity of the respective data for the machine axis Via the respective bit of parameter S 0 0076 Position data scaling type it is possible to select for the position data format between absolute format and modulo format If the positio...

Page 208: ...ollowing restrictions and conditions have to be observed and complied with Due to the firmware internal conversion of absolute format to modulo format the allowed maximum velocity is as follows ms S v 2 0103 0 max vmax maximum velocity or maximum angular velocity S 0 0103 Modulo value Fig 5 98 Allowed maximum velocity for modulo format WARNING Possible property damage caused by errors when control...

Page 209: ...h 1 2 3 4 5 6 1 2 4 5 Conditions No 1 S 0 0079 S 0 0122 2 64 No 2 S 0 0079 P 0 0121 S 0 0122 2 64 No 3 S 0 0079 P 0 0124 S 0 0121 2 64 No 4 S 0 0103 P 0 0129 S 0 0121 2 64 No 5 S 0 0103 S 0 0116 P 0 0122 S 0 0121 2 64 No 6 S 0 0103 S 0 0117 P 0 0125 S 0 0122 2 64 S 0 0079 rotational position resolution S 0 0103 modulo value P 0 0129 internal position data format S 0 0116 feedback 1 Resolution S 0 ...

Page 210: ...k 2 Resolution S 0 0077 linear position data scaling position data S 0 0078 linear position data scaling position data S 0 0123 feed constant P 0 0121 gear 1 motor side motor encoder P 0 0122 gear 1 encoder side motor encoder S 0 0121 input revolutions of load gear S 0 0122 output revolutions of load gear P 0 0124 gear 2 load side optional encoder P 0 0125 gear 2 encoder side optional encoder Fig ...

Page 211: ...ling Make sure that the mechanical drive system with the drive switched off is as a maximum moved by a distance or angle corresponding to half the absolute encoder range S 0 0378 S 0 0379 Absolute encoder range of motor encoder optional encoder In addition make the scaling setting for temperature data in parameter S 0 0208 Temperature data scaling type Individual Settings for Parameter Scaling pos...

Page 212: ...eter conversion error S 0 0021 Example of Scaling Settings There are many possibilities to make settings for the scaling type The table below shows useful settings for which there aren t any command errors to be expected Mechanical system Encoder Useful scaling type settings Motor Load gear Feed spindle Motor encoder External encoder Motor reference Load reference Modulo available not available ro...

Page 213: ... open loop operation controlling the drive is only possible without encoder Consequently there are restrictions in the selection of operating modes no position control modes Motor control in this case takes place as open loop U f control see Voltage Controlled Operation Open Loop U f Control in section Motor Control master oper mode 2 oper mode 1 DF000090v01_en fh7 open loop drive control cmd valu...

Page 214: ...ue adjustment depending on oper mode drive controller Fig 6 2 Principle of drive control of closed loop operation See also section Closed Loop Axis Control Closed Loop Operation in the same chapter See also section Functional Packages in chapter System Overview 6 2 Motor Control General Information on Motor Control Open Loop Closed Loop Operation Apart from operation with encoder and field oriente...

Page 215: ...gards the MPH firmware for advanced control sections CSH01 1 you can either select basic or advanced performance via bit 2 of parameter P 0 0556 Control word of axis controller Voltage Controlled Operation Open Loop U f Control Brief Description The drive function voltage controlled operation of asynchronous motors without encoder in open loop U f control is made available in the base package open...

Page 216: ... preset rotational direction or both rotational directions acceptance of the limitation of the available peak current by current limitation loop user side torque force limitation via stall protection loop S 0 0040 Velocity feedback value S 0 0106 Current loop proportional gain 1 S 0 0107 Current loop integral action time 1 P 0 0043 Torque generating current actual value P 0 0044 Flux generating cu...

Page 217: ...e voltage value actual value P 0 0569 maximum stator frequency change Fig 6 5 Overview of open loop U f control The maximum change of velocity with which the drive can follow the command values is determined by the motor and the sampling time of the stall protection loop The limit value can be set in parameter P 0 0569 Maximum stator frequency change When the torque limits in the case of motive an...

Page 218: ...orque generating current actual value and P 0 0440 Actual output current value absolute value The controller is set via the parameters P 0 0570 Stall protection loop proportional gain P 0 0571 Stall protection loop integral action time The values of the parameters P 0 0442 Actual value torque limit positive stationary and P 0 0443 Actual value torque limit negative stationary are the torque limits...

Page 219: ...aracteristic The output signal of the slip compensation is used as the input value for the U f characteristic With a square characteristic the degree of lowering can be adjusted in the basic range of setting with the value in parameter P 0 0577 Square characteristic lowering factor The value of 100 corresponds to the original square curve This lowering factor is reduced as the percentage value dec...

Page 220: ... off P 0 0048 motor data P 0 0574 DF000119v01_en fh7 current commutation and PWM fout oscillation damping monitoring current limitation loop slip compen sation U f charac teristic IxR boost stall pro tection loop P 0 0048 effective velocity command value P 0 0574 oscillation damping factor Fig 6 10 Core function oscillation damping It is the task of the current limitation loop to limit the maximum...

Page 221: ...0091 Bipolar velocity limit value in the rotational direction given by S 0 0036 Velocity command value If the speed of the machine has not been found up to speed 0 there is another search with the rotational direction changed At the current speed of the coasting machine or at the latest at speed 0 the search mode function is completed and the normal command value processing starts In normal comman...

Page 222: ...urrent control is made available in the base package closed loop Note The current loop was preset for all Rexroth motors and normally does not have to be adjusted For notes on how to commission the current loop for third party motors see Third Party Motors in chapter Motor Mechanical Axis System Measuring Systems In the case of field oriented closed loop current control the internal control task c...

Page 223: ...ollowing features optimum torque linearity even in the field weakening range by permanent correction of the torque constant and the slip factor by means of the currently calculated rotor flux rotor flux model taking temperature and saturation behavior of the magnetizing inductance into account improved dynamic behavior by voltage and load dependent flux feedforward voltage loop for correcting the ...

Page 224: ...riented Closed Loop Current Control In contrast to the functional principle used in the torque force control mode this is actually is current control as the actual current value is measured and not the force or the motor torque This means that open loop control of torque force takes place the torque or the force being directly connected with the torque force generating current via the torque force...

Page 225: ...rrent limit in this range through vector control the current is maintained at an efficient and stable level The peak current is reduced in such a way that the point of maximum power is not exceeded Further increase in current would only lead to increased power dissipation and less shaft output The peak power in range 3 is proportional to the square of the DC bus voltage It is ensured that the maxi...

Page 226: ...mum motor voltage By generating a field counteracting the permanent field linked direct axis flux negative Id command value a reduction of the output voltage can be obtained Note The output value of the voltage loop is the command value for the field generating component of the subsequent current loop see figure above In the case of synchronous motors with field weakening a command value of Id_cmd...

Page 227: ...n fh7 nact Id_cmd current limitation Iq_act Id_act Iq loop Id loop Uq_act Ud_act P 0 4041 P 0 4042 flux feedforward P 0 0048 P 0 0536 velocity loop Iq_cmd P 0 4039 P 0 0535 P 0 0532 Id_cmd 1 Iq_cmd 1 ncmd 1 current command value after limitation Fig 6 14 Simplified schematic diagram of the current control loop for an asynchronous machine incl voltage loop and flux loop Note In the case of asynchro...

Page 228: ...the above motor data and the active value of the flux generating current Id the flux model calculates the actual value of the rotor flux This value is used as actual value for the flux loop see below and additionally determines the torque constants and the behavior of the slip frequency of the asynchronous machine required for generating the torque The slip frequency changes with the temperature o...

Page 229: ...rrent loop was preset for all Rexroth motors and normally does not have to be adjusted For notes on how to commission the current loop for third party motors see Third Party Motors in chapter Motor Mechanical Axis System Measuring Systems The current loop for the torque or force generating current Iq designed as a PI loop can be set via the following parameters S 0 0106 Current loop proportional g...

Page 230: ...DC bus power S 0 0158 Power threshold Px Simultaneously bit 7 is set in S 0 0013 class 3 diagnostics The DC bus voltage is measured in the current loop clock advanced T 62 5 µs basic T 125 µs and displayed in parameter S 0 0380 DC bus voltage The effective electric power produced by the controller taking the inverter losses into account is displayed in parameter S 0 0382 DC bus power Calculation a...

Page 231: ...F linear motors MBS and MBT rotary motors As the motor is assembled in the machine stator rotor and measuring system can only be put together on site The electric magnetic mechanical allocation of the synchronous motor is therefore only to be made on site This is done by determining and setting the commutation offset Absolute measuring systems should ideally be used for synchronous Rexroth kit mot...

Page 232: ...th square wave signals should be avoided See also Absolute Measuring Systems in chapter Motor Mechanical Axis System Measuring Systems Note In the case of absolute measuring systems the commutation offset only has to be determined once at initial commissioning manually via command start in the case of incremental measuring systems without SHL01 1 it is automatically determined again each time the ...

Page 233: ...rence point Max torque force until reference mark is passed can be reduced by approx 15 drives that can be in motion during the determination of the commutation offset e g coasting spindles printing roller drives etc Saturation method only possible for motors in standstill drives with low inertia and little friction Axis might move when current is supplied saturation method only successful for mot...

Page 234: ...09 Proceed to phase 4 C1211 Commutation offset could not be determined C1214 Command only possible with linear synchronous motor C1215 Command only possible in bb C1216 Commutation determination not selected C1217 Setting only possible in Ab C1218 Automatic commutation current too low C1219 Automatic commutation overcurrent C1220 Automatic commutation timeout C1221 Automatic commutation iteration ...

Page 235: ...is then immediately fully operational Note For rotary synchronous Rexroth kit motors the commutation offset can only be determined with methods with current saturation or sine wave method because there wasn t any measuring method defined To determine the commutation offset the relative position of the primary part electrically active part must be determined with regard to the secondary part electr...

Page 236: ...0 0523 commutation setting measured value in mm d distance reference point 1 front side of primary part in mm 1 e distance reference point 2 front side of primary part in mm 1 f distance reference point 3 front side of primary part in mm 1 g distance reference point 4 front side of primary part in mm 1 kmx motor constant for commutation setting in mm lp length of primary part in mm 1 see fig above...

Page 237: ...0 mm 75 5 mm encapsulated standard construction size 040 66 0 mm 104 0 mm encapsulated standard construction size 140 38 0 mm 75 5 mm encapsulated thermo construction sizes 080 120 160 200 240 38 0 mm 75 5 mm Fig 6 21 Motor constant kmx for commutation setting Example 1 reference point fig Measuring the relative position between primary and secondary part d 100 0 mm kmx 38 0 mm P 0 0523 d kmx 100 ...

Page 238: ...ing the respective bit in P 0 0522 Control word for commutation setting 4 Start the P 0 0524 C1200 Commutation offset setting command in order to carry out the calculation of the commutation offset 5 The controller enters the determined value in P 0 0521 Effective commutation offset If the commissioning mode was activated in P 0 0522 Commutation setting control word the value from P 0 0521 is acce...

Page 239: ...pecific value for P 0 0506 is stored and used for commutation setting for further operations Note If the test current does not cause any magnetic saturation effect in the motor the command C1200 can only be used for commutation setting with restrictions If the maximum current of the controller is not sufficient in order to cause magnetic saturation in the motor e g in the case of command error C12...

Page 240: ... bit The value in P 0 0508 resp P 0 3008 is now write protected Each time the drive is switched on again or the measuring system is initialized the value stored in P 0 0508 resp P 0 3008 is accepted in P 0 0521 and becomes effective as the commutation offset value In the case of synchronous kit motors with incremental measuring system the saturation method is automatically started when setting dri...

Page 241: ...r a distance between pole centers to generate and enter the average value of P 0 0521 Checking and optimizing P 0 0521 by force or torque measurement at the axis is recommended See also below Manually Optimizing Commut Offset Value 5 Now switch drive to parameter mode P2 After switching back to operating mode set AF and test function of drive This automatically start the determination of the commu...

Page 242: ...n offset is not desired it can be deactivated via P 0 0508 0 or P 0 3008 0 can be written in communication phase P2 This causes the automatically determined value to remain effective Parameters for input data P 0 0522 Control word for commutation setting Parameters for the saturation method P 0 0506 Voltage amplitude for angle acquisition P 0 0507 Test frequency for angle acquisition P 0 0517 Comm...

Page 243: ...d motor specific values for P 0 0506 and P 0 0507 are stored and used for commutation setting for further operations Carrying Out the Sine Wave Method Commissioning In the case of synchronous kit motors with absolute measuring system the sine wave method is only started by a command at the initial commissioning and the determined commutation offset value is stored in the controller or in the encod...

Page 244: ...522 Control word for commutation setting activate in communication phase P2 parameter mode initial commissioning mode and sine wave method 2 Make presettings for automatic determination of motor specific parameter values P 0 0506 P 0 0507 of the test signal required for determining the commutation offset enter value 0 in P 0 0506 Amplitude for angle acquisition 3 Switch drive to operating mode AB ...

Page 245: ...n P 0 0508 resp P 0 3008 is now write protected Parameters for input data P 0 0522 Control word for commutation setting Parameters for the sine wave method P 0 0506 Amplitude for angle acquisition P 0 0507 Test frequency for angle acquisition Command parameters P 0 0524 C1200 Commutation offset setting command Parameters for output data P 0 0508 Commutation offset P 0 0521 Effective commutation of...

Page 246: ...red it can be deactivated via P 0 0508 0 or P 0 3008 0 can be written in communication phase P2 This causes the automatically determined value to remain effective Manually Optimizing the Commutation Offset Value The automatically determined value for the commutation offset is stored in parameter P 0 0521 Effective commutation offset When the initial commissioning mode is active respective bit in P...

Page 247: ...orward of estimated slip of the machine by means of rotor time constant and slip compensation factor calculation of output voltage by means of a U f characteristic based on motor model data subsequent trimming of magnetization via premagnetization factor linear or square characteristic to be selected IxR boost adjustable load dependent feedforward of the output voltage due to the voltage drop on t...

Page 248: ...he following units velocity data rpm or mm min acceleration data rpm controller clock or mm min contr clock torque data Nm or N Note The fine interpolator can be activated via bit 0 in parameter P 0 0556 Control word of axis controller The output variable of the fine interpolator P 0 0048 is used as the input variable for the subsequent open loop U f control which is described in the section Motor...

Page 249: ... operating mode there are different control loop structures with different points of input and paths of the command values Depending on the active operating mode it is only possible to close the torque control loop the torque and velocity control loop or additionally the position control loop in the drive The overall structure of the control loops is illustrated below Courtesy of CMA Flodyne Hydra...

Page 250: ...back 1 2 P 0 1120 Velocity control loop filter filter type P 0 1121 Velocity control loop filter limit frequency low pass P 0 1122 Velocity control loop filter band stop filter of band width P 0 1123 Vel cont loop filter band stop filter of center frequen P 0 1125 Velocity control loop average value filter clock P 0 1126 Velocity control loop acceleration feedforward S 0 0032 bit 3 P 0 0004 S 0 01...

Page 251: ...forward degree can be set via parameter P 0 0040 Velocity feedforward evaluation 0 100 input value for parameter S 0 0348 Acceleration feedforward gain can directly be the respective inertia in kg m 2 for rotary motor or the mass in kg for linear motor Standardization of the output value at the velocity loop to Newton N or Newton meter Nm According to the motor type there are the following units f...

Page 252: ... S 0 0048 position command value additional S 0 0081 additive torque force command value S 0 0100 velocity loop proportional gain S 0 0101 velocity loop integral action time S 0 0104 position loop Kv factor Fig 6 27 Structural overview incl possibilities of access Command Value Processing Depending on Operating Mode In the case of the following operating modes the position control loop apart from ...

Page 253: ... S 0 0101 with the respective filters P 0 0004 and P 0 1120 P 0 1121 P 0 1122 P 0 1123 on the one hand depend on the motor parameters inertia and torque force constant on the other hand they strongly depend on the mechanical properties load inertia mass friction stiffness of the connection Therefore manual or automatic optimization is often required see section Control Loop Setting 3 Position cont...

Page 254: ...n feedforward gain P 0 1125 Velocity control loop average value filter clock Note In the majority of cases the controller settings stored in the motor encoder data memory provide a useful and reliable control loop setting In exceptional cases however it may be necessary to make the settings with regard to the specific application Automatic Setting of Axis Control Brief Description To facilitate dr...

Page 255: ...1 Start requires drive enable C1802 Motor feedback data not valid C1803 Inertia detection failed C1804 Automatic controller setting failed C1805 Travel range invalid C1806 Travel range exceeded C1807 Determining travel range only via travel distance E2047 Interpolation velocity 0 E2048 Interpolation acceleration 0 E2049 Positioning velocity S 0 0091 E2055 Feedrate override S 0 0108 0 F2039 Maximum...

Page 256: ...s from these two limit values If bit 15 of P 0 0165 has set value 1 the allowed travel range is defined by means of P 0 0169 Travel distance for autom controller adjust and start position actual position at the start of the command The resulting limit values for the travel distance are lower limit P 0 0166 start position 0 5 travel distance P 0 0169 upper limit P 0 0167 start position 0 5 travel d...

Page 257: ...es of the automatic control loop setting Chronological Sequence of Automatic Control Loop Setting The automatic control loop setting is carried out in the following steps 8 start command and make check for possible command errors 9 determine total and extrinsic inertia by evaluating acceleration and deceleration processes 10 calculate and activate controller parameters in drive taking P 0 0163 Dam...

Page 258: ...s step 6 Successfully optimized step 7 Fig 6 29 Steps of automatic control loop setting Result of Automatic Control Loop Setting Note The current control loop is not affected during the automatic control loop setting as its setting is load independent and optimum current controller parameters were already stored in the motor encoder data memory at the factory See also Notes on Commissioning for Co...

Page 259: ... Notes on Commissioning CAUTION Carrying out the automatic control loop setting is connected with a drive motion Select the travel range defined with the parameters P 0 0166 and P 0 0167 or P 0 0169 such that danger to man and machine resulting from drive motion is excluded Note The parameter settings required to execute the command automatic control loop setting must be made prior to command star...

Page 260: ... chart for motion by command start INBWG moving drive enable t v Ab AH AH standstill window SV5010D2 fh7 t AF C1800 start of automat controller setting velocity profile AH START diagnostic display start of automatic controller setting via command C1800 P 0 0162 duration of autom controller setting Fig 6 32 Signal flow chart for motion by drive start Triggering the Motion by Starting Command C1800 ...

Page 261: ...Travel range invalid is displayed If drive enable is missing at command start the command error C1801 Start requires drive enable is generated In order to ensure correct setting of the controller parameters the inertia detection required to do this is monitored Incorrect detection of the inertia would cause incorrect controller settings and therefore is signaled by the error message C1803 Inertia ...

Page 262: ...0 0045 Control word of current controller bit 14 The use of this function requires the firmware package for closed loop operation see Functional Packages in chapter System Overview P 0 1125 P 0 0004 P 0 1126 P 0 0180 P 0 1120 P 0 1121 P 0 1122 P 0 1123 S 0 0100 S 0 0101 motor control vact_motor encoder vact_ext encoder S 0 0040 P 0 0049 S 0 0347 P 0 0048 DF000064v01_en fh7 feedforward actual veloc...

Page 263: ...ity S 0 0037 Additive velocity command value S 0 0040 Velocity feedback value S 0 0081 Additive torque force command value S 0 0091 Bipolar velocity limit value S 0 0100 Velocity loop proportional gain S 0 0101 Velocity loop integral action time S 0 0149 C1300 Positive stop drive procedure command S 0 0155 Friction compensation S 0 0347 Velocity error P 0 0451 Actual acceleration torque force valu...

Page 264: ...e Note The fine interpolator can be activated via bit 0 in parameter P 0 0556 Control word of axis controller The physical data in the velocity control loop have the following units velocity data rpm or mm min acceleration data rpm controller clock or mm min controller clock torque data Nm or N The velocity loop designed as a PI loop can be set via the following parameters S 0 0100 Velocity loop p...

Page 265: ...nt is directly derived from the velocity command value The velocity loop will then only be required for correcting disturbances The figure below illustrates controller feedforward P 0 1126 P 0 0180 P 0 0048 DF000065v01_en fh7 feedforward filters torque force and current limitation vact motor control velocity loop P 0 0048 effective velocity command value P 0 0180 acceleration feedforward smoothing...

Page 266: ...s within the range of 20 Hz 1000 Hz according to stiffness of connection and mass relations gear play bad arrangement of the load side encoder possible resonances within the range of 1 kHz 2 kHz according to arrangement of encoder This two mass oscillation or multiple mass oscillation mostly has one or several distinctive resonance frequency frequencies that can be selectively suppressed by the re...

Page 267: ...is each of the 4 elements in parameter P 0 1120 Velocity control loop filter filter type is set to the value 1 or 0 see Parameter Description of P 0 1120 Instead of the rejection filter there are smoothing filters activated in the control loop the smoothing time constants Tgl of which are contained in parameter P 0 1121 Velocity control loop filter limit frequency of low pass Together with the PT1...

Page 268: ... The drive controller must have been correctly connected The operatability of the safety limit switches if available must have been checked The velocity control mode must have been selected in the drive For parameterizing the controller make the start setting as follows S 0 0100 Velocity loop proportional gain standard value of the connected motor S 0 0101 Velocity loop integral action time 0 ms n...

Page 269: ...until instable behavior continuous oscillation occurs 3 Increase value in parameter S 0 0101 Velocity loop integral action time until continuous oscillation decreases automatically The value thus determined is the critical integral action time Usual values are within the range from 5 to 20 ms From the determined critical values see above it is possible to derive a controller setting with the follo...

Page 270: ... the frequency response This requires the use of the DriveTop commissioning tool 2 In reversing duty increase the value in parameter S 0 0100 Velocity loop proportional gain until distinctive oscillation is noticed resonant oscillation 3 Record the time behavior of the oscillation with the oscilloscope feature alternatively with external oscilloscope and analyze it with regard to clearly distincti...

Page 271: ...feedback value 1 It is displayed in parameter P 0 0451 Actual acceleration torque force value The current process torque is determined from the current total torque in parameter S 0 0084 Torque force feedback value and the determined P 0 0451 Actual acceleration torque force value It is displayed in P 0 0452 Actual process torque force value The output signal of the velocity loop is limited to a m...

Page 272: ... operation S 0 0104 Position loop Kv factor S 0 0189 Following distance S 0 0348 Acceleration feedforward gain P 0 0040 Velocity feedforward evaluation P 0 0556 Control word of axis controller Parameters for command value processing filtering P 0 0042 Current position command average value filter order P 0 0099 Position command smoothing time constant P 0 0187 Position command processing mode F202...

Page 273: ...rward operating principle of acceleration feedforward with P 0 0040 100 acceleration phase Fig 6 41 Operating principle of the velocity and acceleration feedforward Notes on Commissioning The cascade structure of the loops requires the optimization of the position loop to be only carried out after all outer control loops velocity and current have been optimized because in the case of a cascade loo...

Page 274: ...he position command values preset by the master are monitored in the drive with regard to the following limit values The position command value difference of the incoming position command values within a SERCOS cycle must be smaller than the bipolar velocity limit value S 0 0091 If this position command value difference between two successive position command values is greater than the value in pa...

Page 275: ...therefore has an effect on the sum of the different command values 6 5 Limitations Overview Limitations in Open Loop Operation U f Operation To protect the device or motor the following parameterizable limitations have been implemented in open loop operation current and torque limitation current limitation torque force limitation stall protection loop for current limitation current limitation loop...

Page 276: ...force limitation current limitation P 0 0442 P 0 0443 S 0 0040 velocity feedback value P 0 0048 effective velocity command value P 0 0442 actual value torque limit positive stationary P 0 0443 actual value torque limit negative stationary P 0 4046 effective peak current Fig 6 42 Principle of current and torque limitation open loop Operating Principle of Stall Current Loop and Current Limitation Lo...

Page 277: ...e amplifier temperature model E8057 E2061 stall current protection for asynchronous motors display parameter P 0 0440 Actual output current value absolute value separate status word for torque force limit P 0 0445 resulting limitations displayed in P 0 0444 Actual value peak torque limit P 0 4046 Effective peak current P 0 4045 Maximum possible continuous current depending on pulse width modulatio...

Page 278: ...ent P 0 4046 Effective peak current P 0 4058 Amplifier type data P 0 4059 Electric type data of power section E2050 Device overtemp Prewarning E2051 Motor overtemp prewarning E2056 Torque limit 0 E2061 Device overload prewarning E8055 Motor overload current limit active 8057 Device overload current limit active F2018 Device overtemperature shutdown F2019 Motor overtemperature shutdown F2021 Motor ...

Page 279: ...e limit Current Limitation Note The current limitation cannot be parameterized by the user but is automatically configured by the drive to protect the motor and the amplifier We basically distinguish the following principles of current limitation absolute current limitation depending on maximum possible peak currents and continuous currents of motor and drive controller dynamic peak current limita...

Page 280: ...lifier temperature model based on the amplifier type data is therefor stored in the controller Note The amplifier type data are determined at the factory and stored in parameter P 0 4058 on the power section Motor current limitation Used to protect the motor in the case of peak load and short time overload operation A motor temperature model based on the motor current data is therefor stored in th...

Page 281: ...alue preset in P 0 4045 Maximum possible continuous current DK000061v01_en fh7 t max peak current P 0 4046 max contin current t1 t2 0 S 0 0109 S 0 0110 S 0 0111 max KB current S 0 0111 P 0 4037 1 15 S 0 0111 cooling type factor S 0 0109 motor peak current S 0 0110 amplifier peak current S 0 0111 motor current at standstill P 0 4045 maximum possible continuous current P 0 4046 effective peak curren...

Page 282: ...tor controller combination the thermal preloading of the drive the load cycle Note The physical data of motor controller combinations can be retrieved via the selection list program DriveSelect Intranet Notes on Commissioning The user cannot parameterize the current limitation because the limit values are resulting from the amplifier and motor data taken as a basis or the application specific load...

Page 283: ...arnings E2051 Motor overtemp prewarning E2056 Torque limit 0 E8055 Motor overload current limit active Device specific error messages F2018 Device overtemperature shutdown F2022 Device temperature monitor defective Motor specific error messages F2019 Motor overtemperature shutdown F2021 Motor temperature monitor defective Velocity Limitation Brief Description A velocity limitation was implemented ...

Page 284: ...ity command value limit S 0 0091 Parameter S 0 0036 Velocity command value is limited to the value of parameter S 0 0091 Bipolar velocity limit value if the value in S 0 0036 is higher than the value in S 0 0091 In this case the warning E2063 is generated F8079 Velocity limit S 0 0091 exceeded The value of parameter S 0 0040 Velocity feedback value is monitored If it exceeds the 1 125 fold value p...

Page 285: ...s monitored for validity when limit switch activated travel range limit switches evaluated and position limit value monitor activated in 2 ms clock 2 position limit values software limit switch that can be parameterized only operational when axis has been homed reaction error warning when exceeding position limit values can be set position limit values activated via parameter automatic reference t...

Page 286: ...e behavior After the velocity command value has been reset the drive switches off the internal drive enable and thus is torque free The ready for operation contact opens See also Velocity Command Value Reset in section Error Reactions Best Possible Deceleration in chapter Drive Functions When 1 is entered in bit 2 of P 0 0090 exceeding the travel range is handled as a warning with the reaction vel...

Page 287: ...n be determined via bit 2 of P 0 0090 Travel range limit parameter When 0 is entered in bit 2 of P 0 0090 exceeding the position limit value is handled as an error with the reaction velocity command value reset see also Speed Command Value Reset Drive behavior After the speed command value has been reset the drive switches off the internal drive enable and thus is torque free The ready for operati...

Page 288: ...dependent thereof is the function of the travel range limit switches that always causes the drive to be switched off when the defined limit is exceeded and therefore avoids collision machine protection machine table DF0013v2 fh7 working range realization of working range limit working range limits operating prin ciple of working range limit software limitation via drive controller switch evaluatio...

Page 289: ...C0500 Reset class 1 diagnostics command or by pressing the Esc button on the standard control panel Activate the drive with a positive edge of the drive enable signal If the error condition is still present i e if the limit switch is still activated or if the position limit values are still exceeded only such command values are accepted that lead back to the allowed range Checking the command valu...

Page 290: ...et in P 0 0090 Travel range limit parameter bit 2 Handling Display Diagnostic message as error bit 2 0 F6042 F6042 Both travel range limit switches activated F6043 F6043 Positive travel range limit switch activated F6044 F6044 Negative travel range limit switch activated as warning bit 2 1 E8042 E8042 Both travel range limit switches activated E8043 E8043 Positive travel range limit switch activat...

Page 291: ...809 Properties of charging circuit P 0 0810 Minimum mains crest value P 0 0815 Nominal mains voltage crest value P 0 0833 Braking resistor threshold P 0 0844 Braking resistor load P 0 0858 Data of external braking resistor P 0 0859 Data of internal braking resistor P 0 0860 Control word of power section P 0 0861 Status word of power section E2026 Undervoltage in power section E2040 Device overtemp...

Page 292: ...mains F2833 Ground fault in motor line F2834 Contactor control error F2836 DC bus balancing monitor error F2838 Overcurrent external braking resistor F2840 Error supply shutdown F2860 Overcurrent in mains side power section F8838 Overcurrent external braking resistor Possible Device Combinations and Mains Connection Note The possible device combinations are only described in principle for the purp...

Page 293: ...ltage power voltage DC bus converter inverter inverter converter Fig 6 55 Mains supply via converter Note The following possibilities and restrictions have to be observed IndraDrive M inverters can be connected to IndraDrive C converters Take DC bus power into account Further HCS02 1 converters that are operated as inverters may be connected to IndraDrive C devices converter HCS02 1 Exception Ther...

Page 294: ...nly as inverter on a DC bus only for HCS02 1 In the case of regenerative operation e g braking operation of the motors connected to a drive controller the regenerated energy is first absorbed by the DC bus Depending on the supply unit or supply section the absorbed energy is regenerated to the supply mains or converted to heat via a braking resistor The braking resistor is connected on the DC bus ...

Page 295: ...Status information SU CV IV Priority in hierarchy resetting of supply errors X X supply units or converters not ready for operation supply error X X X 1 inverters or converters not ready for operation inverter error X 2 X 2 failure of DC bus supply DC bus not ok in operation X X prewarning supply overload X X DC bus ready for power output DC bus ok after switching power voltage on X X all module b...

Page 296: ...s has exceeded the minimum value the charging process has been completed and there is readiness for power output DC bus ok In the case of load the voltage in the DC bus has fallen below the minimum value or there is mains failure DC bus not ok When the voltage in the DC bus has fallen below the minimum value DC bus not ok this is displayed via the inverters or converters connected to the module bu...

Page 297: ...or operation respective bit in P 0 0861 Status word of power section has to be assigned to the Rel1 contact of the control section for converters no other signal may be assigned to this contact Otherwise it is possible to switch power on although an error condition is present Note Recommendations on the hardware side control of supply units or converters are contained in the documentation of the r...

Page 298: ...erefor the status information supply ready for operation respective bit in P 0 0861 Status word of power section has to be assigned to the Rel1 contact of the control section for converters no other signal may be assigned to this contact Otherwise power is not switched off automatically Depending on the hardware side design and control of the supply unit or converter DC bus short circuit for decel...

Page 299: ... the mains voltage fails permanently the DC bus voltage is continuously decreasing the voltage value falls below the minimum voltage for power output see above The following reactions are then triggered In the case of supply units the integrated mains contactor is switched off The converter opens the Rel1 contact via which the external mains contactor has to be switched off The error message F2819...

Page 300: ...e detects undervoltage when the supply unit signals DC bus not ok via the module bus P 0 0114 0 determination and activation of undervoltage threshold active in the drive greater 75 of nominal mains voltage crest value Depending on the configuration of the power supply P 0 0118 undervoltage is handle as an error error reaction according to P 0 0119 or non fatal warning no reaction Information on C...

Page 301: ...evice Information on the Braking Resistor Converters of the HSC02 1 type are equipped with an integrated braking resistor For the devices with higher maximum current it is possible to connect an external braking resistor as an alternative to the internal braking resistor device option The presetting for whether an internal or external braking resistor becomes active is made in parameter P 0 0860 C...

Page 302: ...load Infeeding supply unit HMV01 1E Via an interface input the customer can choose between mains oriented threshold and fixed threshold Default open circuited interface is mains oriented The basic switch on threshold then is 80 V above the mains voltage crest value measured at the first power on In the fixed threshold mode the basic switch on threshold is 820 V In both operating modes there always...

Page 303: ...vices In the case of converters the threshold value for the message mains undervoltage can be set in parameter P 0 0810 Minimum mains crest value If there isn t any value entered the default setting remains active see Parameter Description for P 0 0810 For certain converters of the HCS02 1 type it is possible to determine whether the internal braking resistor is to be switched off and an externall...

Page 304: ...e Mains voltage warnings E2814 Undervoltage in mains E2818 Phase failure E2819 Mains failure Mains voltage error messages F2814 Undervoltage in mains F2816 Softstart fault power supply unit F2818 Phase failure F2819 Mains failure F2834 Contactor control error F2840 Error supply shutdown F2860 Overcurrent in mains side power section DC bus diagnosis S 0 0380 DC bus voltage DC bus warnings E2026 Und...

Page 305: ...too low F8838 Overcurrent external braking resistor Power section warnings E8028 Overcurrent in power section 8057 Device overload current limit active Power section error message F8060 Overcurrent in power section Reaction to signaled errors of other drives in the drive system E8058 Drive system not ready for operation Supply in this case signals E2810 Drive system not ready for operation Error m...

Page 306: ...6 94 Drive Control MPH 02 MPB 02 MPD 02 DOK INDRV MP 02VRS FK01 EN P Notes Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 307: ...g the Operating Mode It is possible to configure up to 4 different operating modes see also S 0 0292 in the drive Assignment and configuration are made via the following parameters S 0 0032 Primary mode of operation S 0 0033 Secondary operation mode 1 S 0 0034 Secondary operation mode 2 S 0 0035 Secondary operation mode 3 Note If the value 0 was entered in one of these parameters the F2007 Switchi...

Page 308: ...dge whether the drive is running in the preset operating mode or not In parameter P 0 0115 Device control status word bits 8 and 9 acknowledgment of operating mode are used to signal the operating mode presently active Note The status bits contained in P 0 0115 3 8 and 9 are also contained in the status words depending on the master communication S 0 0135 P 0 4078 and can therefore be read in the ...

Page 309: ...f the operating modes torque force control velocity control position control with cyclic command value input drive internal interpolation synchronization modes velocity synchronization with real virtual master axis phase synchronization with real virtual master axis electronic cam shaft with real virtual master axis In the positioning modes drive controlled positioning positioning block mode howev...

Page 310: ... The drive acknowledges the command value acceptance by displaying the effective positioning block in P 0 4051 Positioning block acknowledgment Note In the positioning block mode too the acceptance of a new positioning block causes bit 0 of S 0 0419 to be toggled because in this case the internal processing of the positioning command values is identical to the drive controlled positioning mode 7 2...

Page 311: ...tandstill P 0 0001 Switching frequency of the power output stage P 0 0038 Torque generating current command value P 0 0049 Effective torque force command value P 0 0051 Torque force constant P 0 0109 Torque force peak limit P 0 0176 Torque force command smoothing time constant P 0 4046 Effective peak current Pertinent Diagnostic Messages A0100 Drive in TORQUE control F8079 Velocity limit S 0 0091 ...

Page 312: ...rent command value P 0 0038 P 0 0051 1 KM P 0 0049 Effective torque force command value P 0 0038 Torque generating current command value P 0 0444 Actual value peak torque limit P 0 4045 Max possible continuous current DF0007v2 fh7 P 0 4046 Effective peak current P 0 0443 Actual value torque limit negative stationary P 0 0442 Actual value torque limit positive stationary Fig 7 3 Display of the acti...

Page 313: ...ote In fact the torque is not closed loop controlled but open loop controlled Given the linear relation between torque and current cf P 0 0051 it is possible however to assume closed loop torque force control Just the absolute torque precision is limited due to manufacturing tolerances of the motor max 10 According to the available hardware basic or advanced design the current control loop is clos...

Page 314: ...ue sum of S 0 0036 Velocity command value and S 0 0037 Additive velocity command value is preset via analog inputs or master communication interface SERCOS field bus selection of predefined and internally stored velocity command value steps fixed values via digital inputs e g jogging forward backward feeding setting up window comparator for masking critical velocity ranges in the command value cha...

Page 315: ... gain S 0 0101 Velocity loop integral action time P 0 0004 Velocity loop smoothing time constant P 0 0048 Effective velocity command value P 0 0556 Control word of axis controller P 0 1119 Velocity mix factor feedback 1 2 P 0 1120 Velocity control loop filter filter type P 0 1125 Velocity control loop average value filter clock P 0 1126 Velocity control loop acceleration feed forward P 0 1200 Cont...

Page 316: ... Information on the status of the ramp generator is contained in parameter P 0 1210 See Parameter Description P 0 1210 Status word of velocity control mode Command Value Input In the velocity control mode velocity command values can be input in the following ways cyclic command value input by means of parameter S 0 0036 Velocity command value via the master communication analog interface SERCOS fi...

Page 317: ...masking window Fig 7 6 Function velocity masking window with hysteresis See also Parameter Descriptions P 0 1207 Lower limit of velocity masking window and P 0 1208 Upper limit of velocity masking window The subsequent ramp generator passes the range of the velocity window the values indicated in P 0 1209 Acceleration factors for velocity masking window have a multiplying effect on the acceleratio...

Page 318: ...ction run up stop via the respective bits of P 0 1200 activation of the function without additional condition triggering of torque limitation E2060 triggering of command value limitation cf S 0 0091 triggering of command value or torque limitation Note While a speed masking window is passed the function run up stop is deactivated Jerk Limitation The velocity command value the increase and maximum ...

Page 319: ...p integral action time 1 P 0 0001 Switching frequency of the power output stage See also Current Loop in section Torque Force Control Possibilities of Filtering To filter noise components possibly present in the actual velocity value or to attenuate resonance frequencies the following filter settings can be made Via parameter P 0 0004 Velocity loop smoothing time constant the low pass filter that ...

Page 320: ...ocity command value P 0 1200 control word of velocity control mode P 0 1206 memory of velocity command values Fig 7 8 Selecting the internally stored velocity command values Note If one of the bits 0 4 has been set in P 0 1200 the cyclically preset velocity command value S 0 0036 is no longer transmitted but the fixed command value activated via the bit takes effect Velocity Mixing Via P 0 1119 Ve...

Page 321: ...e velocity command value at the output of command value adjustment that is preset for the velocity loop via the fine interpolation is mapped to parameter P 0 0048 Effective velocity command value Frequency converter applications require several status messages that are contained in parameter P 0 1210 Status word of velocity control mode Bit 0 1 command value reached The output of the ramp generato...

Page 322: ...The value of parameter S 0 0040 Velocity feedback value is monitored If it exceeds the 1 125 fold value parameterized in S 0 0091 Bipolar velocity limit value the F8079 Velocity limit S 0 0091 exceeded error message is generated 7 4 Position Control with Cyclic Command Value Input Brief Description In the position control mode a cyclic position command value is preset for the drive in NC cycle tim...

Page 323: ...t 100 acceleration monitor for position command value can be switched on P 0 0556 bit 15 Note The condition for this operating mode is synchronous communication between the control unit and the drive as it is the case with SERCOS interface for example Pertinent Parameters P 0 0010 Excessive position command value P 0 0011 Last valid position command value P 0 0041 Position command average value fi...

Page 324: ...filter for jerk limitation that can be parameterized via P 0 0099 Position command smoothing time constant only takes effect for linear fine interpolation The position command value cyclically transmitted in the NC cycle time by the control unit can be fine interpolated in the drive if necessary Via P 0 0187 Position command processing mode it is possible to switch between cubic fine interpolator ...

Page 325: ... µs advanced or 500 µs basic see P 0 0556 bit 2 According to the application it is possible to set via bit 3 of the operating mode parameters S 0 0032 to S 0 0035 lagless operation with velocity feedforward operation with lag error without velocity feedforward The lag error is the difference between position command value and actual position value The current value is stored in parameter S 0 0189 ...

Page 326: ...ycle The difference between the current and the last position command value is determined and checked for plausibility Reasons why the monitoring function triggers incorrect command values by control unit command value transmission error Note In the case of single command value failure the position command value is extrapolated Excessive Position Command Difference When the position control mode w...

Page 327: ...tion limit value When the value of S 0 0138 is exceeded the F2039 Maximum acceleration exceeded error message is generated 7 5 Drive Internal Interpolation Brief Description The operating modes drive internal interpolation and drive controlled positioning allow time optimized positioning of a single axis The drive internal interpolation mode is the basis for the more comprehensive functionality of...

Page 328: ...taining position limit values command value mode in modulo format shortest distance only positive or only negative direction can be set in S 0 0393 Command value mode position control with regard to S 0 0051 Position feedback 1 value motor encoder or S 0 0053 Position feedback 2 value external load side encoder acceleration and deceleration ramps can be set separately no change in direction of mov...

Page 329: ...ssing with Drive Internal Interpolation The target position can be cyclically preset via parameter S 0 0258 Target position The drive generates the position command value profile necessary to move to the target position considering the requirements defined in the following parameters S 0 0259 Positioning Velocity S 0 0260 Positioning Acceleration S 0 0359 Positioning Deceleration S 0 0193 Position...

Page 330: ...0259 0 S Vmax Effective Acceleration and Deceleration The maximum deceleration is defined in parameter S 0 0359 Positioning Deceleration If the value in parameter S 0 0359 Positioning Deceleration equals zero the drive uses the parameter value of S 0 0260 Positioning Acceleration for deceleration as well CAUTION Property damage caused by incorrect parameterization If the values for positioning dec...

Page 331: ...ortest path See also Parameter Description S 0 0393 Command value mode The following special cases apply for evaluating the settings for parameter S 0 0393 If the absolute value of the current actual velocity is greater than the velocity threshold for positioning S 0 0417 Velocity threshold for positioning in modulo format the drive always moves in the last active direction of rotation If the targ...

Page 332: ...sitioning Velocity equals zero the E2047 Interpolation velocity 0 warning is generated If the positioning velocity preset in S 0 0260 Positioning Acceleration equals zero the E2048 Interpolation acceleration 0 warning is generated If the preset positioning velocity S 0 0259 Positioning Velocity exceeds the maximum allowed limit value S 0 0091 Bipolar velocity limit value the E2049 Positioning velo...

Page 333: ... preset The result is the following time diagram v x x 0 1 0 1 0 1 0 DK000056v01_en fh7 pos cmd val act pos val target position starting position lag error drawing magnified S 0 0013 bit 12 target position attained S 0 0437 bit 1 in target position actual velocity value S 0 0437 bit 2 IZP t t t t t t t positioning window positioning window positioning window standstill window Fig 7 15 Generating t...

Page 334: ...ng block diagram processing of an absolute target position or a relative travel distance drive internal generation of a position command value profile for moving to the target position S 0 0258 specified by parameter S 0 0282 Positioning command value complying with the adjustable positioning velocity S 0 0259 and positioning acceleration S 0 0260 or positioning deceleration S 0 0359 can be set se...

Page 335: ...g command value S 0 0342 Target position reached S 0 0343 Status Interpolator halted S 0 0346 Positioning control word S 0 0359 Positioning deceleration S 0 0393 Command value mode S 0 0417 Velocity threshold for positioning in modulo format S 0 0418 Target position window in modulo format S 0 0419 Positioning command acknowledge S 0 0430 Effective target position S 0 0437 Positioning status word ...

Page 336: ...Positioning command value interpolator S 0 0430 Effective target position oper mode interpolation S 0 0258 Target position S 0 0437 Positioning status word Fig 7 17 Parameters of command value adjustment with drive controlled positioning S 0 0430 S 0 0282 S 0 0346 S 0 0419 F2050 E2064 E2053 S 0 0260 S 0 0359 S 0 0259 S 0 0108 S 0 0193 S 0 0260 S 0 0359 P 0 0434 E2049 E2055 S 0 0393 S 0 0342 S 0 03...

Page 337: ...new positioning process A residual path possibly present is cleared i e the status of bit 4 of S 0 0346 is automatically interpreted as 1 during the next positioning process The drive acknowledges the acceptance of the positioning command value via S 0 0419 Positioning command acknowledge bit 0 This allows realizing a data handshake for monitoring the command value acceptance between master and dr...

Page 338: ... value is accepted from the intermediate memory into parameter S 0 0430 Effective target position and thus into the position command value generator k S 0 0346 Positioning control word S 0 0419 Positioning command acknowledge command value accepted k 1 k 2 message target position attained S 0 0013 Bit 12 drive internal position command value taccept S 0 0282 Positioning command value Fig 7 20 Ackn...

Page 339: ...the reference of the active target position bit 4 0 reference for positioning is the old target position i e a residual path that possibly hasn t been traveled yet is traveled before the drive moves to the new target incremental dimension is maintained in the case of successive positioning procedures bit 4 1 reference for positioning is the current actual position value a possibly existing residua...

Page 340: ... actual velocity is greater than the velocity threshold for positioning S 0 0417 Velocity threshold for positioning in modulo format the drive always moves in the last active direction of rotation If the target position is within the target position window S 0 0418 positioning is always carried out according to the shortest distance mode Note If the velocity threshold for positioning behavior was ...

Page 341: ...0259 0 S Vmax Effective Acceleration and Deceleration The maximum deceleration is defined in parameter S 0 0359 Positioning Deceleration If the value in parameter S 0 0359 Positioning Deceleration equals zero the drive uses the parameter value of S 0 0260 Positioning Acceleration for deceleration as well CAUTION Property damage caused by incorrect parameterization If the values for positioning dec...

Page 342: ...ties in the positive direction mode and target position outside the target position window S 0 0418 Case 1 current velocity positive and braking distance greater than the distance between starting position and next target position drive moves to next possible target position Case 2 current velocity positive and braking distance smaller than the distance between starting position and next target po...

Page 343: ...sitive direction The following applies to the braking procedure starting pos braking distance negative target position S 0 0418 drive brakes to zero and positions positively at next target position Note As a matter of principle the braking distance is calculated before starting the positioning movement the result of the calculation influences the subsequent positioning procedure In the shortest di...

Page 344: ...ng pos braking distance now negative target position S 0 0418 drive positions negatively at next target position Note As a matter of principle the braking distance is calculated before starting the positioning movement the result of the calculation influences the subsequent positioning procedure Case 12 current velocity positive S 0 0417 braking distance greater than the distance between starting ...

Page 345: ... move to the new target position with the velocity from parameter S 0 0091 Bipolar velocity limit value If the factor of the positioning velocity S 0 0108 Feedrate override equals zero the E2055 Feedrate override S 0 0108 0 warning is generated If the internal numeric range of the position data is exceeded due to continuous relative positioning the warning E2064 Target position out of num range is...

Page 346: ...ning Block Mode Brief Description In the positioning block mode it is possible to run up to 64 programmed positioning blocks The drive moves to the target position in position control while maintaining velocity acceleration deceleration and jerk limits as defined in the respective positioning block torque force cmd value velocity cmd value effective pos cmd value positioning block positioning gene...

Page 347: ...locity override to be set Fields of Application Sequential block processing allows executing several positioning blocks processed in direct sequence without having to give a new start signal each time Typical fields of application are There is none or only a very simple higher level control unit available and control is realized via digital I Os only or a field bus control word I O mode with field...

Page 348: ...block deceleration Note Parameter S 0 0259 is used in positioning block mode to reduce positioning velocity see also P 0 4060 Positioning block control word Pertinent Diagnostic Messages A0206 Positioning block mode encoder 1 A0207 Positioning block mode lagless encoder 1 A0210 Positioning block mode encoder 2 A0211 Positioning block mode lagless encoder 2 E2047 Interpolation velocity 0 E2048 Inte...

Page 349: ...ription of Basic Function A positioning block is defined by the values of the following list parameters P 0 4006 Positioning block target position P 0 4007 Positioning block velocity P 0 4008 Positioning block acceleration P 0 4009 Positioning block jerk P 0 4019 Positioning block mode P 0 4063 Positioning block deceleration Note Each parameter contains 64 elements elements of the same number gene...

Page 350: ...of the positioning generator The filter order of the moving average filter available to do this cf P 0 0041 and P 0 0042 is calculated on the basis of the preset positioning acceleration or the positioning jerk This means that the parameterized acceleration or deceleration only become effective after t P 0 0042 TA position Note In this case TA position is the cycle time of the position loop or the...

Page 351: ...ection sequential block processing See Parameter Description P 0 4019 Positioning block mode Note It is possible to define an individual positioning mode for each positioning block The parameter S 0 0393 Command value mode controls the drive behavior in case modulo format was determined as processing format of the position data See also Parameter Description S 0 0393 Command value mode The followi...

Page 352: ...n I O mode The positioning command value is thereby copied to the effective target position S 0 0430 absolute target position or added relative position target travel distance Note The block acceptance is confirmed by updating P 0 4051 Positioning block acknowledgment and S 0 0419 Positioning command acknowledge In addition bit 0 of parameter S 0 0346 is toggled internally too in the case of a 0 1...

Page 353: ... digital inputs X X X via serial interface X X X via field bus control word X Fig 7 27 Possibilities of writing parameter P 0 4026 depending on the master communication Note The assignment of P 0 4026 to digital inputs requires among other things the parameters S 0 0144 Signal status word and S 0 0145 Signal control word Absolute Positioning P 0 4019 Positioning block mode 1h In an absolute positi...

Page 354: ...ty profile S 0 0124 Standstill window x 200 x 700 positioning block 01 tR positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs positioning block 01 Drive HALT AH S 0 0134 Master control word bit 13 Fig 7 28 Absolute positioning block Note A...

Page 355: ...residual path storage is interrupted the incremental dimension reference gets lost If the positioning block is completed i e the drive reaches target position and message end position reached is active positioning is possible without losing the incremental dimension reference Note If infinite positioning in either a forward or backward direction is achieved by sequencing relative positioning block...

Page 356: ...ion velocity profile S 0 0124 Standstill window x 200 x 900 positioning block 01 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs positioning block 01 tR Drive HALT AH S 0 0134 Master control word bit 13 Fig 7 29 Relative positioning bl...

Page 357: ...oning block selection velocity profile S 0 0124 Standstill window x 200 x 350 pos block 01 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs positioning block 01 x 1050 01 tR interruption tR Drive HALT AH S 0 0134 Master control word bit...

Page 358: ...orage are also carried out if the drive has not been homed By sequencing relative positioning blocks it is possible to position with incremental dimension If a relative positioning block with residual path storage is interrupted the incremental dimension reference is retained Note If another positioning block is started while such a positioning block is being carried out the residual path is rejec...

Page 359: ... bit 4 P 0 4051 Positioning block acknowledgment P 0 4026 Positioning block selection velocity profile S 0 0124 Standstill window x 180 x 900 positioning block 01 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs positioning block 01 tR ...

Page 360: ...path storage after activation of drive enable with travel distance 400 current position 200 target position 800 The position command value at the last end position reached position 200 message is used as the reference position Note The incremental dimension reference is guaranteed Reference Position Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 ...

Page 361: ...ndow x 200 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs positioning block 02 x 800 02 drive enable S 0 0134 Master control word bit 15 tR tR Fig 7 32 Relative positioning block with residual path storage after activating drive enabl...

Page 362: ...target position 600 without overrunning the target position while jogging Positioning is always continued at the current actual position value An interruption by means of jogging or positioning stop clears the residual path memory Note The incremental dimension reference is no longer ensured Example Reference Position Behavior Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic El...

Page 363: ...x 100 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs positioning block 02 x 700 x 900 jogging S 0 0346 Positioning control word bit 1 2 positioning block 02 tR tR Fig 7 33 Relative positioning block with residual path storage after jo...

Page 364: ...used as the reference position Note If a positioning block is not accepted the drive behaves as if the positioning block had not been started Infinite Travel in Positive Negative Direction If an axis is to be moved with defined velocity acceleration and jerk without a specific target position the travel block mode Travelling in positive direction or Travelling in negative direction must be specifi...

Page 365: ... 01 status of positive inputs irrelevant positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs 01 tR XXX Drive HALT AH S 0 0134 Master control word bit 13 Fig 7 34 Example infinite travel in positive negative direction Note According to mast...

Page 366: ...dvance With position dependent block advance switching to the sequential block is carried out at the target position of the start block There are three different types of block transition a Block transition with old positioning velocity mode 1 P 0 4019 Positioning block mode 11h absolute block with sequential block P 0 4019 Positioning block mode 12h relative block with sequential block P 0 4019 P...

Page 367: ...cknowledgment P 0 4026 Positioning block selection velocity profile positioning block 02 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs tR positioning block 01 target position block 1 target position block 2 01 Drive HALT AH S 0 0134 ...

Page 368: ... at the positioning velocity of the sequential block The deceleration or acceleration processes required to adjust the velocity are already carried out in the start block The drive moves in the direction of the target position xn with infinite blocks in the preset direction set in current positioning block n In due time before that the acceleration is used to accelerate or decelerate to the next p...

Page 369: ...trol word bit 13 Fig 7 36 Example position dependent block advance mode 2 Note According to master communication positioning block acceptance takes place by toggling bit 0 in S 0 0346 or by a 0 1 edge of bit 0 in P 0 4060 c Block transition with intermediate stop P 0 4019 Positioning block mode 41h absolute block with sequential block P 0 4019 Positioning block mode 42h relative block with sequent...

Page 370: ... velocity profile positioning block 02 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs tR positioning block 01 target position block 1 target position block 2 S 0 0124 Standstill window in standstill S 0 0013 Class 3 diagnostics bit 1 ...

Page 371: ...arameter P 0 4057 Positioning block input linked blocks The drive switches to the next travel block n 1 as soon as the input for the sequential block cam 1 changes from 0 to 1 If the target position is not reached switching to the new positioning block is carried out while traveling The drive switches to the travel block after the next one n 2 as soon as the input for the sequential block cam 2 ch...

Page 372: ...show non inverted status of positioning inputs tR positioning block 01 target position block 1 target position block 2 S 0 0124 Standstill window in standstill S 0 0013 Class 3 diagnostics bit 1 positioning block 01 cam 1 P 0 4057 Pos block input linked blocks bit 0 cam 2 P 0 4057 Pos block input linked blocks bit 1 target position block 3 02 Drive HALT AH S 0 0134 Master control word bit 13 Fig 7...

Page 373: ...edgment P 0 4026 Positioning block selection velocity profile 02 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs tR positioning block 02 S 0 0124 Standstill window positioning block 01 cam 1 P 0 4057 Pos block input linked blocks bit 0...

Page 374: ... dimension reference gets lost 2 residual path is maintained when interruption by removing drive enable removing the drive start signal changing the operating mode Depending on the block type of the sequential block chain that was interrupted and the events occurring during this interruption the sequential block chain is processed differently after a restart Note In sequential block mode relative ...

Page 375: ... after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs tR positioning block 01 restart S 0 0124 Standstill window in standstill S 0 0013 Class 3 diagnostics bit 1 positioning block 01 x 100 x 500 x 700 01 tR Drive HALT AH S 0 0134 Master control word bit 13 Fig 7 41 Example sequential block interruption with same block selected Note Accordin...

Page 376: ...e interruption of sequential blocks also apply after the control voltage is switched off if an absolute encoder is used An interruption with absolute positioning blocks represents no problem as the position data reference is always guaranteed When a new block number is selected in the case of an interruption the sequential block interrupted before is not completed when toggling bit 0 in S 0 0346 P...

Page 377: ...y of block n vn 1 velocity of block n 1 Fig 7 42 Minimum acceleration value with sequential block mode linear Note The above relationship applies to an infinitely large jerk which corresponds to a jerk filter that has been switched off 0 If a jerk filter is used the calculated values have to be doubled in first approximation The distance to be run with a block and the respective velocity are gener...

Page 378: ...owledgment P 0 4026 Positioning block selection velocity profile 03 positioning inputs valid positioning acknowledgment outputs show negated status of positioning inputs after valid block acceptance positioning acknowledgment outputs show non inverted status of positioning inputs tR positioning block 01 S 0 0124 Standstill window in standstill S 0 0013 Class 3 diagnostics bit 1 positioning block 0...

Page 379: ...detected at the start of a positioning block the faulty positioning block is acknowledged with the complement of the block number The drive generates a warning and stops If Drive Halt is active the complement of the block number of the selected positioning block is output in parameter P 0 4051 Positioning block acknowledgment The acknowledgment is not affected by secondary operating modes error re...

Page 380: ...erted status of positioning inputs 01 tR XXX positioning block 01 drive enable S 0 0134 Master control word bit 15 01 positioning block 01 XXX 01 01 01 t2 Drive HALT AH S 0 0134 Master control word bit 13 Fig 7 44 Acknowledge and message end position reached after drive enable switched off Note According to master communication positioning block acceptance takes place by toggling bit 0 in S 0 0346...

Page 381: ...al interpolation mode the end position reached status message is generated in the positioning block mode bit 4 1 in P 0 4061 Positioning block status word if the following applies S 0 0430 S 0 0051 S 0 0053 S 0 0057 In Position and no sequential block has been selected See also Status Messages in section Drive Internal Interpolation See also Parameter Description P 0 4061 Positioning block status ...

Page 382: ... Synchronization Modes Basic Functions of the Synchronization Modes Brief Description The synchronization modes allow the drive to run synchronously with regard to a real or virtual master axis The synchronization modes are divided into the following two groups velocity synchronization with real virtual master axis synchronous position control modes phase synchronization with real virtual master a...

Page 383: ...General S 0 0037 Additive velocity command value P 0 0048 Effective velocity command value P 0 0088 Control word for synchronous operation modes P 0 0089 Status word for synchronous operating modes P 0 0434 Position command value of controller Master Axis Evaluation P 0 0052 Actual position value of measuring encoder P 0 0053 Master axis position P 0 0054 Additive master axis position P 0 0750 Mas...

Page 384: ...nchronization mode P 0 0751 Synchronization divisions per command cycle slave axis P 0 0753 Position actual value in actual value cycle General C0244 Act modulo value cycle greater than max travel range C3100 Recalculate actual value cycle C3101 Act modulo value cycle greater than max travel range C3102 Drive is still in drive enable E2049 Positioning velocity S 0 0091 E2063 Velocity command value...

Page 385: ...ynam synchron ization DF000097v01_en fh7 evaluation real master axis encoder virtual master axis position fine interpolator master axis evaluation and adjustment cmd value processing specific to oper mode internal command value P 0 0775 P 0 0750 P 0 0764 P 0 0750 P 0 0054 P 0 0054 P 0 0764 Fig 7 47 Function block master axis evaluation for real virtual master axis The command value input in the sy...

Page 386: ...s position in the NC clock and displayed in parameter P 0 0764 Master axis velocity The modulo limited and fine interpolated with virtual master axis master axis position is displayed in parameter P 0 0775 Resulting master axis position Electronic Gear Function with Fine Adjust The input value for the electronic gear is the resulting master axis position P 0 0775 dynam synchron ization DF000098v01...

Page 387: ...n value in the command value cycle or a division of it is deduced from the actual position value in the actual value cycle by means of modulo division In order to always have unequivocal values the actual value cycle has to be an integer multiple of the command value cycle This has to be taken into account when determining the actual value cycle Note In order to fulfill this requirement by paramet...

Page 388: ...4 when a parameter that was used for calculating the actual value cycle was changed in phase 4 Note At the start of command C3100 the status bits in S 0 0403 Position feedback value status and the status bit in P 0 0089 Status word for synchronous operating modes bit 4 are cleared After the position data reference has been successfully established the bits are set again The actual value cycle is c...

Page 389: ...e Note The actual position value used for calculating the distance must be unequivocal in the range in which synchronization is to take place The actual value cycle P 0 0752 from which the actual position value is derived must therefore be determined in such a way that is a multiple of the synchronization range By setting P 0 0750 Master axis revolutions per master axis cycle 0 it is possible to s...

Page 390: ...ng The active value is displayed in parameter P 0 0754 Command value cycle The command value cycle describes the range containing the calculated synchronous position command values For modulo division the number of command value cycles per actual value cycle is used The number is calculated with the following formula cycle value command cycle value actual cycles value command of number Fig 7 60 Nu...

Page 391: ...ndow for modulo format is taken into account Note The setting in parameter P 0 0154 Synchronization direction will only take effect if the shortest distance absolute value 0 5 synchronization range is greater than the synchronization window In this case the synchronization direction according to parameter P 0 0154 positive or negative or shortest distance is used If the shortest distance is smalle...

Page 392: ... of parameter P 0 0155 P 0 0155 Synchronization mode bit 5 0 synchronization only takes place when the operating mode is activated bit 5 1 synchronization is always active By generating velocity command values the drive accelerates or decelerates during synchronization until the synchronous velocity has been reached The velocity command values are generated in consideration of P 0 0142 Synchroniza...

Page 393: ...ig 7 66 Function block dynamic synchronization for synchronous position control modes synchronization takes place in 2 steps velocity and position adjustment absolute position and velocity adjustment or relative only velocity adjustment synchronization ranges to be set for synchronization modulo range S 0 0103 command value cycle for slave axis division for command value cycle can be set in parame...

Page 394: ...ronous velocity is generated by differentiating the synchronous position command value The synchronous position command value xsync is determined from the master axis position P 0 0052 Actual position value of measuring encoder or P 0 0053 Master axis position according to the operating mode Velocity adjustment already takes place in position control When accelerating or decelerating the drive tak...

Page 395: ...n to a virtual master axis the master axis being in standstill when the operating mode is activated DK000041v01_en fh7 t t 0 0 t master axis velocity 0 master axis position operating mode activated 1 t 0 synchronization completed P 0 0152 bit 0 1 Fig 7 68 Example relative synchronization out of standstill When the operating mode is activated the synchronous velocity 0 Upon activation of the operat...

Page 396: ...relative synchronization in running operation When the operating mode is activated the master axis moves at constant velocity Based on its current position the slave axis accelerates to the synchronous velocity While doing this the synchronization acceleration P 0 0142 is effective Upon reaching the synchronous velocity the bits for synchronization completed P 0 0152 Bit 0 1 and slave axis has bee...

Page 397: ...ent master axis position differs from the synchronous position The synchronization status signals synchronization running P 0 0152 bit 0 0 The absolute angle reference between slave axis and master axis position is established The master axis is turning with the parameterized synchronization velocity P 0 0143 During acceleration and deceleration the synchronization acceleration P 0 0142 is effecti...

Page 398: ... synchronization status signals synchronization running P 0 0152 bit 0 0 Based on its current position the slave axis accelerates to the synchronous velocity While doing this the synchronization acceleration P 0 0142 is effective After velocity adjustment the absolute position reference is established Position adjustment takes place with parameterized synchronization acceleration P 0 0142 and sync...

Page 399: ...status bit synchronization completed is only set when the condition P 0 0434 S 0 0048 xsync has been fulfilled DK000045v01_en fh7 t t 0 0 velocity of slave axis operating mode activated 1 t 0 1 0 P 0 0142 step 1 step 2 P 0 0143 change of additive position command value S 0 0048 P 0 0142 P 0 0142 P 0 0143 synchronization reaction to change of additive pos cmd value synchronization completed P 0 015...

Page 400: ... activated 1 t 0 1 0 P 0 0142 step 1 step 2 P 0 0143 change of additive position command value S 0 0048 P 0 0142 synchronization reaction to change of additive pos cmd value P 0 0060 synchronization completed P 0 0152 bit 0 Fig 7 73 Register controller synchronization mode During synchronization in the register controller mode the command values are monitored with regard to S 0 0091 Bipolar veloci...

Page 401: ...ether a synchronization process is active or has been completed is mapped to bit 0 of parameter P 0 0152 Synchronization completed P 0 0152 Synchronization completed bit 0 0 synchronization running bit 0 1 synchronization completed As regards the generation of bit 0 in parameter P 0 0152 the following cases have to be distinguished for the operating modes phase synchronization and electronic cam s...

Page 402: ...r axis position P 0 0053 or measuring encoder position P 0 0052 and additive master axis position P 0 0054 multiplied via master axis gear and fine adjustment adjustable master axis polarity synchronization mode to be selected velocity adjustment always via synchronization acceleration P 0 0142 velocity adjustment via synchronization acceleration P 0 0142 only at first synchronization display para...

Page 403: ...chronization with real virtual master axis Velocity synchronization is used for example for simple transport rolls of printing machines The drive runs with a velocity synchronous to the master axis The track speed at the circumference of the transport roll or the winder is preset by the electric gear A defined tension can be set by the fine adjustment of the gear S 0 0037 Additive velocity command...

Page 404: ...ode consists of the following basic functions master axis evaluation and adjustment real or virtual master axis electronic gear with fine adjust command value processing specific to operating mode dynamic synchronization See also section Basic Functions of the Synchronization Modes P 0 0052 P 0 0053 dynam synchron ization command value processing specific to operating mode internal cmd value adjus...

Page 405: ...ard one master axis revolution is fixed at 2 20 increments This means that the LSB of the master axis position corresponds to 2 20 master axis revolutions Synchronization with Velocity Synchronization The synchronization process is a drive controlled motion with the aim of synchronizing the axis to the master axis velocity The slave axis is velocity synchronous when the following condition has bee...

Page 406: ...7 78 Command value processing and command value adjustment specific to velocity synchronization Notes on Commissioning Parameterization For general parameterization it is necessary to make machine specific presettings scaling of parameter data linear or rotary S 0 0076 S 0 0077 S 0 0078 and S 0 0079 for position data S 0 0044 S 0 0045 and S 0 0046 for velocity data S 0 0160 S 0 0161 and S 0 0162 f...

Page 407: ...chronization acceleration synchronization mode for velocity synchronization P 0 0155 bit 5 Diagnostic and Status Messages The following diagnostic status messages are displayed in normal operation of the operating mode drive enabled AF A0110 Velocity synchronization virtual master axis A0111 Velocity synchronization real master axis Different drive errors can occur in operation that cause error me...

Page 408: ...ter controller PT1 filter additive master axis position absolute and modulo processing of the master axis absolute or relative phase synchronization synchronization range to be selected modulo range command value cycle part of command value cycle additive position command value There are the following variants of the operating mode to be selected phase synchronization with real master axis encoder...

Page 409: ...der electric gear fine interpolator DF000085v01_en fh7 dynam synchro nization P 0 0775 P 0 0750 P 0 0764 P 0 0750 P 0 0054 P 0 0054 P 0 0764 IWZ modulo actual value cycle Fig 7 79 Block diagram phase synchronization with real virtual master axis For machining processes that require absolute phase synchronization e g printing punching or perforating in printing machines the absolute position refere...

Page 410: ...ntrol word for synchronous operation modes P 0 0089 Status word for synchronous operating modes P 0 0108 Master drive polarity P 0 0142 Synchronization acceleration P 0 0143 Synchronization velocity P 0 0151 Synchronization init window for modulo format P 0 0154 Synchronization direction P 0 0155 Synchronization mode P 0 0156 Master drive gear input revolutions P 0 0157 Master drive gear output re...

Page 411: ...djustment Command value adjustment in the phase synchronization mode consists of the following basic functions master axis evaluation and adjustment real or virtual master axis electronic gear with fine adjust command value processing specific to operating mode dynamic synchronization See also section Basic Functions of the Synchronization Modes P 0 0052 P 0 0053 dynam synchron ization cmd value p...

Page 412: ...nized status P 0 0089 bit 8 1 the following applies P 0 0434 xsync S 0 0048 because xsync_process S 0 0048 The synchronous position command value xsync is calculated in terms of the selected master axis polarity P 0 0108 Master drive polarity and the scaling type that was set S 0 0076 Position data scaling type using the following equation IWZ 2 0103 0 S 0083 0 P 1 0156 0 P 0157 0 P 0775 0 P Xsync...

Page 413: ... processing and command value adjustment specific to operating mode with phase synchronization Notes on Commissioning Parameterization General Parameterization During general parameterization it is necessary to make machine specific presettings scaling of parameter data linear or rotary S 0 0076 S 0 0077 S 0 0078 and S 0 0079 for position data S 0 0044 S 0 0045 and S 0 0046 for velocity data S 0 0...

Page 414: ...aster axis the master axis positions of which are within the master axis cycle determined by parameter P 0 0750 Master axis revolutions per master axis cycle The master axis positions may overflow or underflow infinitely turning master axis 5 The distance that the slave axis covers per master axis revolution is determined in parameter P 0 0159 Slave drive feed travel 6 Settings for the electronic ...

Page 415: ...per master axis cycle The master axis positions mustn t overflow or underflow If the master axis does overflow this causes an unwanted jump in position Note Incorrect parameterization can cause unwanted jumps in position It is recommended that you activate the position limit value monitor See section Limitations Position Limit in chapter Drive Control 4 The distance that the slave axis covers per ...

Page 416: ...travel of slave axis determine electronic gear modulo synchronization select synchronization mode relative or absolute synchronization select synchronization range generation of actual value cycle parameterize actual value cycle establish position data reference scaling S 0 0076 Fig 7 86 Overview of commissioning steps for phase synchronization Diagnostic and Status Messages The following diagnost...

Page 417: ...nerated The error messages listed below are only the messages specific to operating mode F2039 Maximum acceleration exceeded The preset acceleration value of two successive command values was greater than the value parameterized in S 0 0138 Bipolar acceleration limit value F2037 Excessive position command difference The velocity preset for the drive by two successive command values is greater than...

Page 418: ... additive master axis position and additive position command value absolute or relative phase synchronization synchronization mode to be selected standard trapezoidal register controller PT1 filter synchronization range to be selected modulo range command value cycle part of command value cycle change of format on the fly cross cutter function clocked pull roll adjustable master axis polarity Ther...

Page 419: ...00086v01_en fh7 P 0 0061 P 0 0158 P 0 0088 P 0 0094 x cmd S 0 0076 P 0 0072 P 0 0092 P 0 0780 P 0 0781 P 0 0083 P 0 0156 P 0 0157 evaluation of real master axis encoder virtual master axis position electric gear fine interpolator P 0 0093 P 0 0144 P 0 0088 P 0 0073 S 0 0103 2 20 P 0 0159 2 20 360 2 20 S 0 0048 P 0 0060 generation of position command addit actual value dynam synchro nization P 0 07...

Page 420: ...ce switch angle P 0 0151 Synchronization init window for modulo format P 0 0152 Synchronization completed P 0 0154 Synchronization direction P 0 0156 Master drive gear input revolutions P 0 0157 Master drive gear output revolutions P 0 0158 Angle offset change rate P 0 0159 Slave drive feed travel P 0 0227 Cam shaft profile access angle P 0 0750 Master axis revolutions per master axis cycle P 0 07...

Page 421: ... adjustment in the electronic cam shaft mode consists of the following basic functions master axis evaluation and adjustment real or virtual master axis electronic gear with fine adjust command value processing specific to operating mode cam shaft profiles incl access adjustment of position format dynamic synchronization See also section Basic Functions of the Synchronization Modes P 0 0052 P 0 00...

Page 422: ... 0434 xsync S 0 0048 because xsync_process S 0 0048 electronic gear with fine adjust P 0 0776 P 0 0777 P 0 0085 P 0 0089 P 0 0778 P 0 0779 dynam angle offset selection of cam shaft profile master axis evaluation and processing internal cmd value dynam synchron ization cmd value processing specific to operating mode P 0 0227 adjustment position format P 0 0755 gear reduction cam shaft distance proc...

Page 423: ...iles P 0072 P 0 0092 P 0 0780 P 0 0781 Xv position command value additional S 0 0048 Ga master drive gear output revolutions P 0 0157 Ge master drive gear input revolutions P 0 0156 F fine adjust P 0 0083 U gear reduction P 0 0755 IWZ modulo actual value cycle Fig 7 91 Initializing the position command value Note With the operating mode activated differences that later on will be added again are p...

Page 424: ...ϕV angle offset begin of profile P 0 0061 h cam shaft distance P 0 0093 or P 0 0073 tab ϕ cam shaft profiles P 0072 P 0 0092 P 0 0780 P 0 0781 Xv position command value additional S 0 0048 Ga master drive gear output revolutions P 0 0157 Ge master drive gear input revolutions P 0 0156 F fine adjust P 0 0083 U gear reduction P 0 0755 IWZ modulo actual value cycle Fig 7 92 Cyclically generating the ...

Page 425: ...e is maintained in the case of a change In parameter P 0 0088 Control word for synchronous operation modes select with bits 3 and 4 whether new values for cam shaft distance P 0 0093 and for the electronic gear P 0 0156 P 0 0157 take effect immediately or only when the cam shaft distance switch angle is passed or when the cam shaft profile is switched In bit 6 you can determine which reference is ...

Page 426: ...e electronic gear With an electronic gear 1 1 the format corresponds to the circumference of the cutting cylinder with number of knives 1 Smaller formats are realized by an electronic gear output input 1 The slave axis cutting cylinder then turns faster than the master axis In this case the cutting cylinder in the cutting range has to be decelerated to the transport velocity of the material After ...

Page 427: ...ycle The master axis positions may overflow or underflow infinitely turning master axis 5 The distance that the slave axis covers per master axis revolution is determined in parameter P 0 0159 Slave drive feed travel 6 Settings for the electronic gear are made in the following parameters P 0 0083 Gear ratio fine adjust P 0 0108 Master drive polarity P 0 0156 Master drive gear input revolutions P 0...

Page 428: ...the master axis cycle determined by parameter P 0 0750 Master axis revolutions per master axis cycle The master axis positions may overflow or underflow infinitely turning master axis This master axis is used in conjunction with a finite cam shaft initial value final value and when there is no gear reduction P 0 0755 0 If you select a gear reduction the drive with infinitely turning master axis wi...

Page 429: ...axis determine electronic gear modulo synchronization select synchronization mode relative or absolute synchronization select synchronization range generation of actual value cycle parameterize actual value cycle establish position data reference parameterization of cam shaft select cam shaft active cam shaft switch angle parameterize cam shaft distance value change angle activation parameterize a...

Page 430: ...travel range S 0 0278 C3102 Drive is still in drive enable This command error is generated when the command P 0 0071 C3100 Recalculate actual value cycle is started with the drive having been enabled Different drive errors can occur in operation that cause error messages or warnings to be generated The error messages listed below are only the messages specific to operating mode F2005 Cam shaft inv...

Page 431: ...ctual position value in the actual value cycle P 0 0753 P 0 0089 Status word for synchronous operating modes bit 4 0 not homed bit 4 1 homed absolute synchronization can take place Bit 5 in parameter P 0 0089 indicates the status of the cam shaft distance switching P 0 0089 Status word for synchronous operating modes bit 5 0 current distance value not active bit 5 1 current distance value active F...

Page 432: ...7 126 Operating Modes MPH 02 MPB 02 MPD 02 DOK INDRV MP 02VRS FK01 EN P Notes Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 433: ...parameter P 0 0115 Pertinent Parameters S 0 0124 Standstill window S 0 0134 Master control word S 0 0135 Drive status word S 0 0349 Jerk limit bipolar S 0 0372 Drive Halt acceleration bipolar P 0 0115 Device control status word Functional Description When the Drive Halt function is activated the drive no longer follows the command values of the active operating mode but automatically shuts down wh...

Page 434: ...rk limit bipolar S 0 0372 Drive Halt acceleration bipolar Fig 8 1 Principle of Drive Halt with position control mode active before Note Position controlled shutdown is carried out with position control with lag error if an operating mode that also contained position control with lag error was active before If not the function is carried out with lagless position control If the value in parameter S...

Page 435: ...y at the front of the device A0010 entered in parameter S 0 0390 Diagnostic message number A0010 Drive HALT entered in parameter S 0 0095 Diagnostic message in bit status of command value processing in status word of master communication e g with SERCOS bit 3 0 in S 0 0135 Drive status word An acknowledgment is carried out when the actual velocity falls below the threshold defined in parameter S 0...

Page 436: ...esponding to the kind of measuring system the drive automatically establishes the position data reference according to the following sequence In the case of a relative measuring system without distance coded reference marks the axis moves to the reference point and then automatically switches to axis related actual position values In the case of a relative measuring system with distance coded refe...

Page 437: ...Encoder type 1 motor encoder P 0 0075 Encoder type 2 optional encoder The kind of encoder and the travel range that has been set S 0 0278 determine whether absolute evaluation is possible for this encoder This is displayed by the respective bits of the following parameters S 0 0277 Position feedback 1 type motor encoder S 0 0115 Position feedback 2 type external encoder Depending on relative or ab...

Page 438: ...commissioning status relative absolute relative absolute 0b 01x absolute value motor encoder absolute value motor encoder Position data reference only established for motor encoder relative absolute relative absolute 0b 10x absolute value ext encoder absolute value ext encoder Position data reference only established for external encoder relative absolute relative absolute 0b 11x absolute value mo...

Page 439: ...ce for Relative Measuring Systems Brief Description See also General Information on Establishing the Position Data Reference After the drive is switched on the actual position values signaled by relative measuring systems do not yet have any reference to the machine axis Measuring systems can be installed at the motor motor encoder and directly at the mechanical axis system external or optional en...

Page 440: ...axes is indispensable for detecting the axis end position If only one reference mark occurs over the travel range in the case of rotary axes the home switch in most cases is not required The dedicated point identified by an encoder reference mark and if necessary by a home switch in most cases is not identical with the reference point of the axis The distance between reference point and zero point...

Page 441: ...ies apply to single turn motor encoders of Rexroth motors of the MHD MKD MKE MSK MSH MAD and MAF series GDS measuring system from Rexroth single turn encoder from Heidenhain with EnDat interface Group 2 incremental rotary measuring systems with one reference mark per encoder revolution such as the ROD or RON types from Heidenhain Group 3 incremental linear measuring systems with one or several ref...

Page 442: ...ccurring over the travel range one signal several signals Relative encoder of rotary axis linear axis rotary axis linear axis group 1 2 rotary encoder HS no HS yes HS yes HS yes group 3 linear encoder HS yes HS yes group 4 rotary linear encoder HS no HS yes Fig 8 4 Recommendation for using a home switch HS In S 0 0147 Homing parameter select which signals are to be evaluated by the controller for ...

Page 443: ...ence distance available for both encoders S 0 0052 Reference distance 1 motor encoder S 0 0054 Reference distance 2 external encoder For distance coded measuring systems of group 4 the axis side reference point is not used The controller can calculate the position of the dedicated point in this case the encoder zero point on the basis of the detected position difference of two neighboring distance...

Page 444: ...led homing see section Functional Sequence Drive Controlled Homing Procedure For information on the actual position value after establishing the position data reference for motor encoder and external encoder see section General Information on Establishing the Position Data Reference in the same chapter Information on the Home Switch A home switch possibly required has to be connected to the assign...

Page 445: ...home switch signal is monitored by the controller to detect the end of the travel range The edge reversal definition doesn t have any influence in this case Depending on the home switch signal there are the following drive actions when the C0600 homing command is started Determined edge reversal bit in S 0 0147 Signal status of home switch bit in S 0 0400 Drive action positive or negative 0 not ac...

Page 446: ...e reference travel direction was appropriately selected The travel range limit is not passed during the homing procedure when the activated range of the home switch signal begins with sufficient distance to the travel range limit The distance between dedicated point first reference mark after home switch signal and travel range limit is sufficient if the drive can safely shutdown the axis out of m...

Page 447: ... any encoder reference mark because reliably reproducible detection of the dedicated point is impossible within this range DF0076v1 fh7 reference travel direction range of inaccuracy detection home switch signal reference marks reference marks selected by home switch signal 1 motor revolution Fig 8 12 Ambiguous detection of reference marks in range of inaccuracy of home switch detection Due to the...

Page 448: ...us For default values of P 0 0153 for distance monitoring home switch reference mark see separate documentation Parameter Description for IndraDrive Drive Controllers During each homing procedure with home switch evaluation the difference between actual distance and optimum distance is monitored by home switch edge and reference mark The difference is stored in parameter S 0 0298 Reference cam shi...

Page 449: ...ifferent values in P 0 0153 the parameter P 0 0153 has to be adjusted to the respective encoder by the control master before the C0600 command is started Motion Range for Homing Encoders with Distance Coded Reference Marks For the homing procedure relative measuring systems with distance coded reference marks require a motion range corresponding to the distance of two neighboring reference marks T...

Page 450: ...Marks distance of neighboring reference marks sRefmax maximum motion range Fig 8 18 Maximum motion range for homing encoders with distance coded reference marks in case of stop S 0 0147 Note The motion range in the case of stop depends on the initial position of the axis at the start of C0600 and is between the single and double reference mark distance plus the braking distance or to the double re...

Page 451: ...hing the dedicated point when the home switch is detected to be not activated In the case of distance coded encoders the search of dedicated point is carried out against the reference travel direction In the case of rotary axes a home switch can be required when several encoder reference marks occur over the travel range The behavior during the homing procedure regarding the home switch status cor...

Page 452: ... 0 0042 S 0 0108 S 0 0041 v 0 x starting position reference point S 0 0041 homing velocity S 0 0042 homing acceleration S 0 0108 feedrate override Abb 8 20 Command value profile for drive controlled homing with constant feedrate factor and positioning shutdown Note If parameter S 0 0108 Feedrate override starts with zero the E2055 Feedrate override S 0 0108 0 warning is output Actions of the Contr...

Page 453: ...f home switch signal Encoder specific values for monitoring the reference mark signals during the homing procedure have to be entered in parameter P 0 0153 Optimum distance home switch reference mark see parameter description WARNING Property damage at the installation caused by home switch edge incorrectly set Make sure the home switch edge was correctly set and is within the travel range For hom...

Page 454: ... beyond the next end of travel range because otherwise axis end position detection is impossible Notes on Commissioning for Relative Encoders Reference Marks not Distance Coded To establish the position data reference of an encoder of groups 1 2 3 to the axis the distance between the dedicated point identified on the drive side and the reference point of the axis as well as the position of the ref...

Page 455: ... of the dedicated point Jog axis to determined reference point and enter actual position value displayed at the reference point in parameter S 0 0150 Reference offset 1 or S 0 0151 Reference offset 2 with same preceding sign In order to establish the position reference to the real axis zero point enter the desired axis related actual position value of the reference point in parameter S 0 0052 Refe...

Page 456: ...fset 1 motor encoder S 0 0178 Absolute offset 2 external encoder To do this the following steps have to be carried out 1 First set parameters for absolute offset to value 0 S 0 0177 Absolute offset 1 S 0 0178 Absolute offset 2 2 For initial commissioning set parameters for homing procedure to low values S 0 0041 Homing velocity e g 10 rpm S 0 0042 Homing acceleration e g 10 rad s 3 Execution of C0...

Page 457: ...stems can be against the reference travel direction selected in parameter S 0 0147 if the axis is in the activated range of the home switch If the setting stop default setting was made in S 0 0147 Homing parameter the drive stops the axis as soon the controller has detected two neighboring reference marks The motion range of the axis depending on the initial position is the single to double refere...

Page 458: ...ossible C0606 Reference mark not detected C0607 Reference cam input not assigned Establishing Position Data Reference for Absolute Measuring Systems Brief Description See also General Information on Establishing the Position Data Reference The position data reference of an absolute measuring system to the axis has to be established once during initial commissioning after replacing the motor or enc...

Page 459: ...n related to the coordinate system of the machine The reference position is defined by the current axis position or the positioning of the axis at a striking axis position e g value 0 The required assignments and configurations for setting absolute measuring are realized via parameter settings S 0 0052 Reference distance 1 S 0 0054 Reference distance 2 S 0 0269 Parameter buffer mode P 0 0012 C0300...

Page 460: ...P 0 0177 P 0 0178 Note Storing the absolute encoder offset in the encoder data memory and in the parameter memory allows recognizing whether the absolute encoder that was homed was replaced If the set absolute measuring command is cyclically used in the operational sequence possibly in conjunction with external setting of reference position it makes sense to store the absolute encoder offset tempo...

Page 461: ... position command value S 0 0051 S 0 0053 is set according to the preselected reference position see Fig Actual position values after set absolute measuring and the drive controlled homing procedure command is reported by the drive to have been executed The master now has to synchronize to the new actual position value of the encoder used in the active operating mode After the master cleared the d...

Page 462: ... controlled homing procedure S 0 0269 parameter buffer mode store do not store Fig 8 22 Sequence of set absolute measuring command execution Notes on Commissioning See also Notes on Commissioning in section General Information on Establishing the Position Data Reference The possibility of absolute evaluation of motor encoder and external encoder is displayed by the respective bits of S 0 0277 Posi...

Page 463: ...sible via S 0 0403 Position feedback value status have been executed the commands started have to be cleared again in reverse order If an absolute encoder was replaced the following error message is generated F2074 Actual pos value 1 outside absolute encoder window or F2075 Actual pos value 2 outside absolute encoder window The position data reference has to be established again Shifting the Posit...

Page 464: ... been switched to communication phase 2 the shifted values act in an additive way The total offset with regard to the original actual position value is stored in parameter S 0 0283 Current coordinate offset The offset of the position data reference is reset by switching the drive to communication phase 2 Therefore there cannot be any active offset of position data reference when the drive is switc...

Page 465: ... shifting they refer to the shifted measuring system When measured before the shifting they refer to the original measuring system Command values cyclic command values target position spindle angle position etc have to refer to the current actual position value system i e to the possibly shifted position data reference Travel range limit values S 0 0049 or S 0 0050 and position correction values e...

Page 466: ...alue With shift coordinate system procedure it is recommended to control the axis on the master side with velocity command value 0 or with very low velocity But first read S 0 0283 Current coordinate offset When the shifting of the position data reference has not yet been carried out after the transition from P2 to AF the value has to be 0 After that start C3400 Shift coordinate system procedure c...

Page 467: ...rview See also Diagnostic System in chapter Handling Diagnostic and Service Functions If the drive controller is in control drive enable was set and an error occurs the drive controller automatically starts a drive error reaction This drive error reaction depends on the error class of the error occurred and the settings of the following parameters P 0 0117 Activation of NC reaction on error P 0 01...

Page 468: ...able Fig 8 23 Error classes and drive reaction Note The error class can be recognized by the diagnostic message number and defines the drive behavior in the case of error Best Possible Deceleration Brief Description The drive reaction defined in parameter P 0 0119 Best possible deceleration is automatically carried out in the case of the following states non fatal errors F2xxx non fatal safety tec...

Page 469: ...Parameter Description P 0 0119 Best possible deceleration Velocity Command Value Reset Emergency Halt In the case of error the closed loop controlled servo drive in velocity control is shut down with command value 0 The drive then brakes with its maximum allowed torque see also Limitations Current and Torque Limitation in chapter Drive Control Note In the case of open loop controlled U f operation...

Page 470: ...Motor Holding Brake Error Situation 1 in chapter Motor Mechanical Axis System Measuring Systems Note The activation and function of the motor holding brake depends on the setting in parameter P 0 0525 Holding brake control word See Parameter Description P 0 0525 Holding brake control word See also General Information on the Operation of Motors with IndraDrive Motor Holding Brake in chapter Motor M...

Page 471: ...ive in this case is only braked by the friction torque it coasts to stop The time until standstill can be considerable especially with spindles Note The torque disable error reaction is inevitable with fatal errors F8xxx because braking e g with a defective output stage is no longer possible DANGER Drive continues to move unbraked in the case of error Danger to life from parts in motion when the s...

Page 472: ... the coordinate system selected Note The value of P 0 0055 Return distance can be configured and transmitted in the cyclic telegram MDT The velocity profile is generated with the parameters P 0 0056 Return velocity and P 0 0057 Return acceleration In addition the position command values can be smoothed by the position command value average value filter the order of the average value filter being c...

Page 473: ...55 Position polarities and the encoder selected via S 0 0147 Homing parameter bit 3 is in reference S 0 0403 Position feedback value status 1 it is ensured that the drive does not leave the defined allowed travel range by executing the return motion error reaction Note When the drive is in a position in which the execution of the return motion would exceed a position limit value the drive in this ...

Page 474: ...ly configuration This allows activating the package reaction only for individual axes The behavior of the axes for which the package reaction has not been activated has to be taken into account for the case of errors and must be controlled on the master side if necessary Note The supply unit switches off power supply only in the case of its own errors and in the case of fatal drive errors F8 if th...

Page 475: ...short circuit drive with F8 error does not decelerate drive reaction power off shutdown servo drives synchronous motors shutdown spindle drive asynchronous motors NC reaction not active package reaction signaling of drive errors signaling of F8 errors to supply power off only with F8 error otherwise via NC master with DC bus short circuit Fig 8 27 Examples of settings in P 0 0117 and P 0 0118 depe...

Page 476: ...eaction on error the axis reporting the error still is provided with the command values preset by the master and follows them even in the case of error for another 30 s To achieve this the function has to be activated so that the defined time delay of 30 s becomes effective between the detection of the error and the drive side reaction The function is activated in parameter P 0 0117 Activation of ...

Page 477: ...op input Pertinent Diagnostic Messages E8034 Emergency Stop F4034 Emergency Stop F6034 Emergency Stop Functional Description By activating the E Stop input P 0 0008 bit 0 1 and assigning bit 0 of P 0 0223 to a digital input the drive is caused to carry out with 0 V at the E Stop input the reaction defined via P 0 0008 for shutting the drive down This reaction first of all depends on the setting of...

Page 478: ...e diagnostic message upon activating the E Stop input then reads F4034 Emergency Stop If bit 1 1 was set in parameter P 0 0008 the drive when the E Stop triggers is braked with maximum torque to speed 0 independent of the error reaction defined in parameter P 0 0119 This setting corresponds to the best possible deceleration velocity command value reset The diagnostic message upon activating the E ...

Page 479: ...g the E Stop Input See documentation Project Planning Manual for Control Section Note The polarity of the input cannot be selected It is always 0 active i e 0 V on the digital input causes the E Stop to trigger Diagnostic and Status Messages Diagnostic Warning and Error Messages There are the following diagnostic messages for the E Stop function E8034 Emergency Stop warning E Stop with best possib...

Page 480: ...o reduce the path errors caused by static friction This applies particularly to circular errors at the quadrant transitions Pertinent Parameters S 0 0092 Bipolar torque force limit value S 0 0124 Standstill window S 0 0155 Friction compensation Operating Principle The principle of friction torque compensation is that the known friction component is pre controlled compensated via an added torque fo...

Page 481: ... function the following preparations must be made Velocity and position control loops must have been set according to the notes on commissioning See Commissioning and Parameterizing the Control Loops in chapter Operating Modes The master must have been connected and allow moving the drive e g jog function The travel range limits of the axis must have been set and activated cf P 0 0090 S 0 0049 S 0...

Page 482: ...a measuring system can identify the position of an axis or shaft IndraDrive controllers provide the possibility of improving inaccuracy inherent in position measuring systems with sinusoidal signals This improves the ability of a drive or an axis to follow the position and velocity command values The bandwidth of the control loops can also be improved in many cases by the possibility of setting th...

Page 483: ...l the drive in the velocity control mode with a constant velocity command value The following applies to the maximum velocity for determining the correction values 03125 0 0040 0 rev DP T S Vloop rotary encoder Vloop T DP S 03125 0 0040 0 linear encoder S 0 0040 velocity feedback value TVloop sampling time of the velocity loop DP rev division periods per encoder revolution number of lines of the r...

Page 484: ...orrection Determine the velocity that mustn t be exceeded for acquiring the encoder signals Estimate the travel range of the axis for a motion time of at least 4 s with the maximum acquisition velocity and make sure that the travel range is sufficient start position direction of motion Activate the velocity control mode During initial commissioning the encoder correction has to be carried out once...

Page 485: ...ording to increasing priority If several correction functions are activated simultaneously only the one of highest priority takes effect In addition it is possible to activate the temperature error correction IndraDrive controllers provide two possibilities of correcting temperature errors independent of axis position depending on axis position The two possibilities of temperature error correction...

Page 486: ... and on actual position value position independent temperature error compensation depending on current temperature control side axis error correction current cyclic position correction value from control unit Note All position dependent correction functions only take effect after the position data reference was established for the respective encoder see Establishing the Position Data Reference in ...

Page 487: ...detected when in the case of position control the time related change of position command value corresponding to velocity feedforward value in the case of lagless position control in the case of velocity control the velocity command value S 0 0036 has exceeded the absolute value of the standstill window S 0 0124 in positive or negative direction The standstill window acts as hysteresis Sv5173f1 fh...

Page 488: ...lash on reversal correction The following procedure is recommended for determining the value for parameter S 0 0058 Reversal clearance by means of jog mode move axis in positive direction place dial gauge at appropriate spot of mechanical axis system and set it to zero jog axis in negative direction until change in pointer deflection of dial gauge is visible The reversal clearance then is determin...

Page 489: ...e correction support points are registered are determined via the parameters P 0 0410 Axis correction support point distance and P 0 0408 Axis correction start position Between the correction support points the correction values are calculated by cubic spline interpolation The actual position values of the encoder selected via P 0 0413 are corrected with the interpolated values of correction table...

Page 490: ...2 2 correction value support point 3 correction value support point 3 3 correction value support point 4 correction value support point 4 498 correction value support point 499 correction value support point 499 499 0 0 Fig 8 38 Assignment of support point correction values to table index of correction tables P 0 0411 and P 0 0412 Note It is not necessary to use all 500 table values It is recommen...

Page 491: ...0 0053 Fig 8 40 Determining correction value for precision axis error correction The correction values relate to support point are entered in the tables P 0 0411 and P 0 0412 The required length of the correction range and the maximum value of the number of support points determine the minimum support point distance If a lower number of support points is selected a bigger support point distance is...

Page 492: ...perature correction is used to correct actual position value errors that can occur due to temperature dependent linear expansion at servo axes According to the mechanical configuration of the axis and the arrangement of the workpiece or tool the actual position value errors caused by the influence of temperature can only depend on temperature or depend on temperature and on axis position IndraDriv...

Page 493: ...epends on the temperature difference compared to a reference temperature the resulting actual position value error is the same at each position of the axis Pertinent parameters P 0 0402 Axis correction reference temperature P 0 0405 Axis correction actual temperature pos independent P 0 0407 Axis correction temperature factor pos independent Ap5046f2 fh7 servo drive Lref temp tool slide Lref temp ...

Page 494: ...ical system the correction factor can be calculated ref temp L 0407 0 P α P 0 0407 axis correction temperature factor pos independent α Linear expansion coefficient of the material Lref temp material length the temperature expansion of which has to be compensated at reference temperature Fig 8 46 Calculating P 0 0407 mm 0 1K 0 00018 mm 100 1 K 0 000018 L 0407 0 P ref temp α α e g 0 000018 1 K if t...

Page 495: ...e series of measurements The position independent temperature correction is activated when the value of P 0 0407 Axis correction temperature factor pos independent is greater than zero Note With the value zero in parameter P 0 0407 the function of position independent temperature correction is deactivated This correction function does not require position data reference for the measuring system to...

Page 496: ... dependent position error when Jaxis Jreference Fig 8 50 Example of application for position dependent temperature correction Note The actual position value system to be corrected is selected via the respective bit of P 0 0413 Axis correction control word Operating principle of position dependent temperature correction act pos val correction value internal act pos val corrected refer position temp...

Page 497: ... if the arrangement of the mechanical transmission elements allows unequivocally recognizing the reference position or a series of measurements with which the actual position value error is measured at axis positions clearly different from the reference position at constant temperature that is clearly different from the reference temperature P 0 0402 As in the majority of cases it is impossible to...

Page 498: ...ermining reference point Measured errors at Tact 45 C reference temperature T0 23 C n Xact_n actual position val 1 in mm xkn error in mm 1 10 0000 0 0300 2 70 0000 0 0100 3 105 0000 0 0250 Fig 8 57 Example of a series of measurements for temperature correction Resulting measuring points P X Xact_n X xkn P1 10 0mm 0 03mm P2 70 0mm 0 01mm P3 105 0mm 0 025mm n 3 Partial sums for auxiliary equations 2...

Page 499: ... at different temperatures at an identical axis position To determine the position dependent temperature factor it is necessary to record a series of measurements of correction values at different temperatures at least at one position that clearly differs from the reference position Depending on the temperature difference a straight line can be approximated through the measuring points correction ...

Page 500: ...ter P 0 0406 the function of position dependent temperature correction is deactivated This correction function requires position data reference for the measuring system to the corrected Quadrant Error Correction Brief Description In the case of axis drives that are controlled for example in circular interpolation static friction at the reversal points of the direction of motion can cause distortio...

Page 501: ...c position command values The settings for quadrant error correction are made when a reference circle is processed radius of reference circle in P 0 0436 Reference radius for quadrant error correction e g the circle that is demanded for the reference piece The amplitude of the velocity pulse of quadrant error correction is preset depending on the circular velocity The pulse is added abruptly and d...

Page 502: ...ed position command value P 0 0100 Position command value extension in the cyclic master communication This extends the decimal places of the position command value Note When using the quadrant error correction it is basically useful to use the extended position command value on the control side and integrate it in the cyclic master communication The quadrant error correction is activated by the c...

Page 503: ... 50 of maximum circular velocity check quality of circular form with measuring equipment for circular form testing 3 Set quadrant error correction active in P 0 0435 Control word of position controller 4 Write approx 1 of current path velocity to list line 2 of P 0 0439 Table of velocity pulse for quadrant error correction 5 Increase P 0 0437 Velocity time range for quadrant error correction start...

Page 504: ...C1400 Command Get marker position the following actions are carried out The diagnostic message C1400 Command Get marker position is generated If an incremental measuring system was selected the search for reference marks is activated and the drive waits for reaching the next reference mark When a reference mark is detected i e the drive passes the position of a reference mark the actual position v...

Page 505: ... motor encoder and measuring wheel encoder possible slip between motor and material does not cause incorrect measured values of material length Note The measuring wheel mode may only be activated when contact has been established between measuring wheel and material surface actual position value 1 motor encoder actual position value 2 optional encoder is measuring wheel encoder Fs5007f1 fh7 Fig 8 ...

Page 506: ...iption In the measuring wheel mode the position control loop is closed via motor encoder and measuring wheel encoder The measuring wheel mode is activated via P 0 0240 C1700 Command measuring wheel mode and completed when the command is cleared For compensating possible slip between drive motor and material the position difference of motor encoder and measuring wheel encoder is included in the act...

Page 507: ...117 feedback 2 resolution S 0 0121 input revolutions of load gear S 0 0122 output revolutions of load gear S 0 0123 feed constant P 0 0074 encoder type 1 motor encoder P 0 0075 encoder type 2 optional encoder P 0 0121 gear 1 motor side motor encoder P 0 0122 gear 1 encoder side motor encoder P 0 0124 gear 2 load side optional encoder P 0 0125 gear 2 encoder side optional encoder P 0 0123 feed cons...

Page 508: ...ing wheel mode to lift the feed rolls off the material discharge the feed rolls for example Due to the measuring wheel mode slip that can occur between material and drive motor is compensated via the position control But slip also implies wear in the mechanical drive system and at the material The controller supports reducing wear by allowing the monitoring of the occurring slip with regard to a m...

Page 509: ... only takes effect in position controlled operating modes but can already be activated in non position controlled operating modes For information on the actual position values in the case of measuring wheel mode and switching of operating modes see above The measuring wheel mode can be deactivated by resetting the command C1700 measuring wheel mode switching to communication phase P2 switching the...

Page 510: ...ow of slip in If the value in P 0 0242 Current actual slip value in exceeds the value of P 0 0244 the controller generates the error message F2036 Excessive position feedback difference and the drive reacts with the error reaction that has been set 8 8 Positive Stop Drive Procedure Brief Description For special applications it is required to move machine axes operated in position or velocity contr...

Page 511: ...ation velocity command value monitor F2037 Excessive position command difference acceleration command value monitor F2039 Maximum acceleration exceeded velocity control loop monitor F8078 Speed loop error The command is acknowledged on the following conditions The axis has stopped i e the actual velocity value S 0 0040 has fallen below the velocity threshold in parameter S 0 0124 Standstill window...

Page 512: ...tioning Brief Description With the drive function spindle positioning the drive at a command of the master aligns the spindle independently with regard to the spindle zero position The command position is transmitted to the drive controller via parameter and can be preset as absolute or relative position By means of the position spindle command the spindle can be positioned in a position controlle...

Page 513: ...ion When absolute target position was set the value from parameter S 0 0153 Spindle angle position is accepted at the start of spindle positioning as the target position effective in the drive S 0 0430 Effective target position When relative target position was set the target position S 0 0430 effective in the drive at the start of spindle positioning is generated by addition of the current actual...

Page 514: ...ncoder has position data reference v detecting the spindle reference signal target position decelerating with ramp P 0 1201 to P 0 1203 or filter P 0 1222 if necessary S 0 0041 Homing velocity S 0 0222 Spindle positioning speed S 0 0042 Homing acceleration accelerating and decelerating with S 0 0372 Drive Halt acceleration bipolar Fig 8 69 Basic sequence of spindle positioning including establishi...

Page 515: ...rmined in S 0 0154 Spindle position parameter with the selected direction of motion clockwise or counter clockwise or with the direction of motion in which the target position can be reached over the shortest possible distance shortest distance Apart from the determined direction of motion in S 0 0154 decelerating and positioning the spindle out of motion depends on the absolute value of the curre...

Page 516: ...he positioning process on the start position with determined direction of positioning movement clockwise or counter clockwise Current velocity at start of spindle positioning higher than value of S 0 0417 Positioning velocity threshold in modulo mode lower than value of S 0 0417 Positioning velocity threshold in modulo mode Positioning takes place at next target position to be reached while mainta...

Page 517: ...ndle command is thereby acknowledged as having been completed without error Diagnostic Messages The execution of spindle positioning required drive enable AF Diagnostic message in the case of error C0902 Spindle positioning requires drive enable If an absolute encoder is used as control encoder the position data reference of the encoder must have been established before the first time start of spi...

Page 518: ...ction block per libraries cyclic parameters available as direct variables system wide variables library administration basis for technology functions examples following on cutting devices pick place process controller register controller winding computation etc preventive maintenance free function block combination synchronous consistent data exchange with drive control configurable cyclical data ...

Page 519: ...am memory without MMC 512 kByte data memory 250 bytes retain or 32 kbytes on MD1 digital I Os 7 11 digital inputs 0 4 digital outputs on X3 CSH01 1 control section PLC and drive are sharing the inputs 12 digital inputs 8 digital outputs on MD1 optional 16 digital inputs 16 digital outputs on PL as parallel master communication 1 relay output on X3 CSH01 1 control section PLC and drive are sharing ...

Page 520: ...documentation Rexroth IndraMotion MLD S Notes on Installation System Configuration Installation For installing IndraMotion MLD S on the PC it is necessary to install the current version of the DriveTop commissioning tool on the PC By doing this the SCP communication platform that is contained on the DriveTop CD ROM is installed on the PC too After successful installation the IndraLogic PLC program...

Page 521: ...future library CommonTypes lib global registers for data exchange of variables via master communication Additionally for drive internal functions not user relevant library Internal_MPH02 lib The Base_MPH02 lib library contains important data types basic firmware modules and cyclic parameters as direct variables system wide variables General functions ATAN2 MX_fGetFreeTicks MX_fGetHighResTime MX_fH...

Page 522: ...addressing e g FP_P_0_0008 Activation_Estop_function FP_P_0_0009 Error_number FP_P_0_0019 Initial_position_value Axis addressing e g Axis1 AXIS_REF The DSP MPH02 lib library contains globally defined real time variables and a control block list RTCR_VariablenIdents list RTCW_VariablenIdents MX_SynchronControl The MXMotion lib library contains IEC blocks according to PLC Open MX_MoveAbsolute MX_Mov...

Page 523: ...op category 0 according to EN 60204 1 The power supply to the drive is safely interrupted using two channels The selection is made via two channels using either an N C N O or an N C N C combination The safe status is acknowledged by an N C N O contact For dynamization of the selection the function must be activated at least every 168 hours For this reason the value since the last time that the sta...

Page 524: ... Safety related motion by actuating the enabling control device is not possible Safety switches S1 S2 are used to select Safety related standstill Safety related operational stop Separate switches ASP1 ASP2 are used to select the starting lockout Safety related motion Safety related reduced speed 2 channel monitoring for exceeding a velocity threshold Safety related direction of motion 2 channel m...

Page 525: ... 3217 I O status channel 2 optional safety technology module P 0 3218 Manually unlocking the safety door P 0 3219 Diagnostic safety technology message P 0 3220 Tolerance time transition from normal operation P 0 3221 Max tolerance time for different channel states P 0 3222 Max activation time of enabling control P 0 3223 Time interval for dynamization of safety function selection P 0 3224 Duration...

Page 526: ...fety related limited increment 4 P 0 3274 Safety related reduced speed 4 P 0 3275 Safety related deceleration acceleration ramp 4 P 0 3280 Actual position value channel 2 P 0 3281 Actual velocity value channel 2 Pertinent Diagnostic Messages A0014 Drive interlock active A0015 Safety related standstill active A0016 Safety related operational stop active A0017 Special mode motion active C0255 Safety...

Page 527: ...or channel 2 F3150 Safety command for system start incorrect F3151 Safety command for system halt incorrect F7010 Safety related limited increment exceeded F7011 Safety rel position limit val exc in pos dir F7012 Safety rel position limit val exc in neg dir F7013 Velocity threshold exceeded F7014 Acceleration threshold exceeded F7030 Pos window for safety rel operational stop exceeded F7031 Incorr...

Page 528: ...8 96 Drive Functions MPH 02 MPB 02 MPD 02 DOK INDRV MP 02VRS FK01 EN P Notes Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 529: ...mpling time for probe signals approx 0 05 µs For sufficient noise immunity signal edge change must last for at least 4 0 µs in order to be detected Hardware Requirements The probe signals can only be evaluated as measured value trigger by rapid digital inputs The hardware design of the control section determines the number of available rapid digital inputs The following control section designs are...

Page 530: ...lures P 0 0226 Probe extended control word P 0 0300 Digital I Os assignment list P 0 0301 Digital I Os bit numbers P 0 0302 Digital I Os direction Pertinent Diagnostic Messages C0250 Probe inputs incorrectly configured Functional Description The probe input evaluates the voltage level of the probe signal in digital form i e only the signal states high 1 or low 0 With confirmation by the probe the ...

Page 531: ... new probe value difference probing cycle procedure command t in ms probe enable probe negative latched detecting the selected signal at this point of time in probe value negative generating new probe value difference probe probe positive latched Fig 9 1 Evaluating the probe signal edges with evaluation of positive and negative edges in S 0 0169 switched on In parameter S 0 0169 Probe control para...

Page 532: ... extended control word the signal selection made for this probe is inactive Note The time measurement is only relative The generation of the measured value difference therefore is especially advantageous for the time measurement Depending on the available hardware and firmware and the performance setting in P 0 0556 Control word of axis controller time differences can be measured with a precision ...

Page 533: ...ing 1 0 and repeated setting 0 1 of the parameters for the probe enable S 0 0405 Probe 1 enable S 0 0406 Probe 2 enable When doing this the following data are cleared the measured values S 0 0130 S 0 0131 or S 0 0132 S 0 0133 the measured value differences P 0 0202 or P 0 0203 the information of the measured value trigger status S 0 0409 S 0 0410 or S 0 0411 S 0 0412 and the counter P 0 0224 Probe...

Page 534: ...performance see P 0 0556 Fig 9 2 Determining the minimum value for the expectation window In the case of modulo scaling of the position data a maximum value for the expectation window mustn t be exceeded as otherwise it exceeds the modulo value range and therefore is without effect min max 0103 0 s S s smax maximum value of expectation window smin minimum value of expectation window S 0 0103 modul...

Page 535: ...egative edge In addition after detection of a new measured value the difference from the measured values of the positive and negative edges is automatically generated and the absolute value is stored P 0 0202 Difference probe values 1 S 0 0130 S 0 0131 P 0 0203 Difference probe values 2 S 0 0130 S 0 0131 Note The differences from the measured values of the positive and negative edges are always ge...

Page 536: ... during initial commissioning to once adjust the actual position value to the axis or shaft set absolute measuring The precision of the position measurement depends on the resolution of the measuring system division periods DP the absolute encoder precision the digitalization quality of the analog encoder signals the size of the selected modulo range of the encoder The correct position information...

Page 537: ...n encoder for measuring encoder P 0 0329 Smoothing of actual position value 3 of measuring encoder P 0 0330 Control word of measuring encoder P 0 0331 Status of measuring encoder P 0 0332 Actual velocity value of measuring encoder P 0 0334 Absolute encoder range of measuring encoder P 0 0347 Encoder 3 cosine signal P 0 0348 Encoder 3 sine signal P 0 0765 Modulo factor measuring encoder P 0 1020 Ki...

Page 538: ...solute precision is a feature of the encoder and is determined by its construction and the quality of its components The data for the absolute precision are indicated by the manufacturer The resolution of the measuring system division periods or cycles per encoder revolution is input in P 0 0327 Encoder resolution of measuring encoder The analog encoder signals are converted to digital position da...

Page 539: ... at axis or shaft Fig 9 7 Drive internal measuring encoder resolution Note The multiplication of the measuring encoder P 0 0326 is determined automatically and drive internally The multiplication value P 0 0326 calculated according to the formulas drive internal measuring encoder resolution characterizes the encoder dimensioning DC000015v02_en fh7 value 215 value 215 ideal encoder resolution over ...

Page 540: ...s in chapter Motor Mechanical Axis System Measuring Systems For signal monitoring of sine encoders as measuring encoders the following diagnostic messages can be generated E2076 Measuring encoder encoder signals disturbed F2043 Measuring encoder encoder signals incorrect When the drive is switched off the current encoder data of an absolute measuring encoder are stored in P 0 0179 Absolute encoder...

Page 541: ...ere are the following possibilities set absolute measuring for measuring encoders to be evaluated in absolute form homing for measuring encoders to be evaluated in relative form Note After having successfully established the position data reference the actual position value refers to the axis or shaft The measuring encoder then is in reference or has been homed CAUTION When the position data refer...

Page 542: ...does not affect the service life of the encoder data memory and the parameter memory In parameter S 0 0269 Parameter buffer mode it is possible to select whether parameter values are to be stored permanently or temporarily Note When the absolute encoder offset is stored temporarily the measuring encoder loses the position data reference to the axis when the controller is switched off or when the p...

Page 543: ...er gear is used the occurrence of the reference mark of the encoder with reference to the actual position value of the axis or shaft to be measured mostly isn t unequivocal On the control side it is necessary to make sure that the reference mark evaluation is activated at the appropriate axis or shaft position identification via initiator or the like Shifting the Position Data Reference Shifting t...

Page 544: ... Position When Drive Switched On Checking absolute encoder range of measuring encoder P 0 0334 Absolute encoder range of measuring encoder Note The scaling of parameter P 0 0334 is incremental When the value range modulo is smaller than the absolute encoder range of the measuring encoder it can be evaluated as absolute encoder This is displayed in the respective bit of the parameter P 0 0328 Type ...

Page 545: ...ng After its execution the command has to be cleared again See also Basic Functions of Master Communication Command Processing in chapter Master Communication The position status of the measuring encoder is displayed in P 0 0331 Status of measuring encoder If the position data reference of the measuring encoder evaluated in absolute form got lost the following message appears F2176 Loss of measuri...

Page 546: ...nvert available encoder signals encoder 1 encoder 2 or measuring encoder or internal position command values into one of the following two formats 5V TTL signal of an incremental encoder in the case of incremental encoder emulation serial 24 bit position of an absolute encoder SSI format in the case of absolute encoder emulation This allows for example evaluating the signals in a higher level mast...

Page 547: ... not configurable CSB01 1N AN In addition it is possible to use the following configurable control sections if they have been designed with the optional module MEM single axis BASIC UNIVERSAL CSB01 1C single axis ADVANCED CSH01 1C double axis BASIC UNIVERSAL CDB01 1C Note Encoder emulation is always related to the device i e with a double axis device CDB01 1C emulation can only be used for one of ...

Page 548: ... encoder emulation IGS activated 10 absolute encoder emulation SSI activated Note The settings in parameter P 0 0902 only take effect after progression to the operating mode See also Parameter Description P 0 0902 Encoder emulation control parameter Selecting the Signal to be Emulated The input of the signals that the drive supports for emulation is depending on the following factors firmware vers...

Page 549: ...l for the next output interval is calculated depending on the input in parameter P 0 0903 Encoder emulation resolution Incremental Encoder Signals in TTL Format By outputting two signals offset by 90 degrees track A and track B the resolution is increased by the factor 4 when the two tracks are evaluated in differential form One line is then corresponding to 4 increments In addition the incrementa...

Page 550: ...coders in lines revolution or mm or inch Reference of the Emulated Position Zero Pulse Output The zero pulses are output immediately after the drive was run up to the operating mode in the distance of the lines entered in P 0 0905 resp mm or inch Depending on the setting of bit 7 in P 0 0902 Encoder emulation control parameter the zero pulses are output in different ways P 0 0902 bit 7 0 The zero ...

Page 551: ...re travel range at the machine zero point can be obtained with P 0 0905 0 Outputting several zero pulses per revolution is possible with the parameterization 0 P 0 0905 P 0 0903 Outputting one zero pulse per n revolutions is possible with the parameterization P 0 0903 P 0 0905 Note For cyclical output you have to take into consideration that a maximum of one zero pulse can be output per output cyc...

Page 552: ...e absolute encoder emulation 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0 25 PFB 0 1 1 1 clock T data 1 2 G23 G22 1 Tp G23 G22 G0 PFB T m tv clock break 20 µs G0 G23 m T Tp tv PFB SV0202F1 FH7 resolution for 4096 revolutions resolution for 1 revolution 1 2 25 24 data clock Tp least significant b...

Page 553: ...sition command value are synchronous This simplifies among other things emulation control e g with the commissioning tool DriveTop If motor reference is parameterized in S 0 0076 encoder related emulation is possible If load reference is parameterized in S 0 0076 the feed constant and gear ratio must be additionally entered according to the application Note The values for position feedback value 3...

Page 554: ...he maximum number of lines Note The max output frequency of 1024 kHz always i e independent of the selected number of lines has to be taken into account for dimensioning the evaluation electronics Between the position detection and output of the emulated pulses there is a delay dead time between real and emulated position value Solution When incremental encoder emulation has been activated cf P 0 ...

Page 555: ...ition jump S 0 0052 Reference distance 1 home point Fig 9 14 Display limits with absolute encoder emulation This effect can be avoided by shifting the home point by executing P 0 0012 C0300 Command Set absolute measuring Note By the respective setting in parameter S 0 0052 Reference distance 1 shift the reference position to the middle of the display range This allows moving 2048 revolutions to th...

Page 556: ... has to be parameterized accordingly 9 4 Analog Inputs Brief Description In their basic configuration without optional modules all IndraDrive controllers already have analog inputs The number and function of the analog inputs differ according to the type and configuration of control section See documentation Project Planning Manual for Control Sections analog input assignment B every 2 ms P 0 0233...

Page 557: ...2 bits shared by both axes The input can however be used by both axes at the same time 8 fold oversampling for both analog channels low pass filtering to be activated for both analog channels analog inputs designed as differential input input voltage range of 10 V Analog Inputs 3 and 4 on Optional Module MA1 The optional module MA1 was developed according to VDE 0411 part 500 programmable logic co...

Page 558: ...ut assignment B scaling per 10V full scale P 0 0238 Analog input assignment B signal value at 0V P 0 0239 Analog input assignment B dead zone Pertinent Diagnostic Messages C2800 Analog input adjust command C2802 Oscillations of input signal outside tolerance range C2803 Measured values at zero point and max value identical C2804 Automatic adjust failed Functional Description VZ1 A D time constant ...

Page 559: ...gn P 0 0211 Analog input 2 Note These parameters can be for example transmitted to the higher level master or directly processed in the drive integrated PLC IndraMotion MLD S During the adjust of the control module or the optional module MA1 at the factory the adjust values among other things for offset and amplification of the analog inputs are stored in the following parameters P 0 3901 Adjust v...

Page 560: ... filter Fig 9 18 Functional principle of analog input example for assignment A The processing of the analog input values in the two channels assignment A and B only differs in the cycle time assignment A the position loop clock advanced T 250µs basic T 500µs is used assignment B a clock of T 2 ms is used Settings in parameter P 0 0218 Analog input control parameter control the internal processing ...

Page 561: ...er For scaling the analog input value to the desired range of values it is possible to use the automatic amplification adjust To do this command C2800 is started With scaling however there are different starting conditions cf P 0 0218 and P 0 0219 and the following parameters are relevant P 0 0218 Analog input control parameter bit 0 defines the step of adjust bit 0 1 amplification adjust bit 1 de...

Page 562: ...tivated when a value unequal S 0 0000 S 0 0000 corresponding to off was parameterized in P 0 0213 or P 0 0236 Notes on Commissioning Carrying Out the Automatic Scaling or Adjust Automatic adjust takes place in 2 steps that have to be carried out one after the other in order to achieve reliable execution of the function step 1 zero point shifting or reference point shifting because reference is not...

Page 563: ...081 or to access one of the above parameters directly from a PLC program Specific Features of Double Axis Design MPD02VRS Every analog input 1 3 or 4 can be parameterized without restrictions for both axes of a double axis Only the provided input voltage is used in common The respective evaluation and interpretation depends on how the individual axes have been parameterized cf assignment A and B N...

Page 564: ...assignment A signal value at 0V P 0 0419 Analog output assignment B signal value at 0V P 0 0420 Analog output assignment A signal selection P 0 0422 Analog output assignment A scaling 1 V P 0 0423 Analog output assignment B signal selection P 0 0425 Analog output assignment B scaling 1 V P 0 0426 Analog output IDN list of assignable parameters P 0 0427 Control parameter of analog output Hardware D...

Page 565: ...ing to the resolution in the preset output voltage range indicated in the technical data The output clock can be set in parameter P 0 0427 Control parameter of analog output Due to the limited voltage range of the analog outputs the signals to be output can be scaled or can be set in a limited or overflowing way or are reference defined Uout_min Uout_max e g speed scaling 50min 1 V e g speed scali...

Page 566: ...flow signal value at 0V 300 min 1 2000 min 1 0 min 1 2000 min 1 0 min 1 e g speed scaling 200min 1 V with overflow signal value at 0V 700 min 1 Fig 9 21 Example of reference defined analog output Note In the case of overflowing analog output the assignment of a signal value to the output voltage is ambiguous due to the overflow The output of 0 V for example can be signal value at 0 V n output volt...

Page 567: ...efinition is made for each of the four possible analog outputs to determine whether it outputs voltage according to assignment A or B or voltage signals independent of drive transmitted by master communication Outputting Predefined Standard Parameters All status variables and signals of the drive that can be output via analog outputs are listed in parameter P 0 0426 Analog output IDN list of assig...

Page 568: ...t Extended Output of Parameters with Binary Format For the output of binary parameters such as S 0 0403 Position feedback value status the following parameters are irrelevant and write protected P 0 0422 Analog output assignment A scaling 1 V P 0 0425 Analog output assignment B scaling 1 V Which bit of the respective parameter is to be output is determined in the following parameters P 0 0418 Anal...

Page 569: ...he Parameters for the Respective Analog Output P 0 0139 Analog output 1 P 0 0418 Analog output assignment A signal value at 0V P 0 0420 Analog output assignment A signal selection P 0 0422 Analog output assignment A scaling 1 V P 0 0140 Analog output 2 P 0 0419 Analog output assignment B signal value at 0V P 0 0423 Analog output assignment B signal selection P 0 0425 Analog output assignment B sca...

Page 570: ...solated relay switch contact can be configured basic control sections 10 pins with firmware MPB02 3 digital inputs outputs 4 digital inputs no analog input 1 rapid input as probe input in steps of µs 1 isolated relay switch contact can be configured double axis control sections 24 pins with firmware MPD02 4 digital inputs outputs 6 digital inputs 2 inputs can alternatively be used as analog input ...

Page 571: ... Os for external control unit enabling input output of drive parameters making available digital I Os for drive integrated PLC IndraMotion MLD S extension of memory 32 kB non volatile memory for drive integrated PLC Note Utilization of digital I O extension by using the optional module MD1 is only possible for advanced control sections connection via 25 pin D Sub connector all inputs outputs excep...

Page 572: ... or the target when configured as input The IDNs entered in the list parameter P 0 0300 can have two different functions 1 Input In the case of an input the bit configured in P 0 0301 Digital I Os bit numbers of a parameter defined via P 0 0300 is written with the logic value 0 or 1 provided at the input 2 Output In the case of an output the content of the bit configured in P 0 0301 is taken from ...

Page 573: ...a the list parameter P 0 0302 Digital I Os direction The following applies entry 0 digital input default setting entry 1 digital output Note When determining the operating principle direction of the inputs outputs the hardware requirements have to be taken into consideration The bb relay pins for example can only be operated as output See also section X31 X32 Digital and Analog Inputs Outputs in d...

Page 574: ... no of list line terminal slot 15 0 P 0 0222 11 0 11 0 P 0 0303 11 0 DF000059v01_en fh7 P 0 0300 digital I Os assignment list P 0 0301 digital I Os bit numbers P 0 0302 digital I Os direction P 0 0303 digital I Os status display Fig 9 23 Configuring the digital inputs outputs configuration for advanced control section with default settings Note The status of the digital I Os is contained in parame...

Page 575: ...3 to phase 4 cf C2000 In the case of conflict the corresponding diagnostic message is generated Special Cases and Exceptions In some special cases there is no direct bit transfer because the function assigned to the input output is more complex An example is the probe function In this case the entry in P 0 0301 is irrelevant it is only a valid value that has to be contained e g 0 All special funct...

Page 576: ...tant functions might be deactivated e g E Stop Direct Access to Digital I Os of Control Section via Master Communication In order to transmit data to the digital I Os of the control section directly via the master communication the following steps are required By means of configuration assign relevant bits of parameter S 0 0145 Signal control word to digital I Os of control section P 0 0300 assign...

Page 577: ...9 26 Access to digital I Os of the control section via SERCOS master communication Notes on Commissioning for Digital I Os of Optional Module MD1 Overview To map the digital inputs and outputs of the optional module MD1 the following parameters are available P 0 0081 Parallel output 1 contains the bits that are output via the digital outputs of the MD1 module P 0 0082 Parallel input 1 contains the...

Page 578: ... exchanging data between drive and master configuration of P 0 0081 and P 0 0082 in the cyclic data including parameter P 0 0081 in the group of cyclic command values SERCOS S 0 0024 field bus P 0 4081 including parameter P 0 0082 in the group of cyclic actual values SERCOS S 0 0016 field bus P 0 4080 The figure below illustrates the access to the digital I Os of the optional module MD1 via the ma...

Page 579: ... means of the mechanism of the freely configurable signal control word and signal status word see also Parameter Description for signal control word and signal status word configure parameter S 0 0144 via S 0 0026 and S 0 0328 see also S 0 0398 IDN list of configurable data in signal status word configure parameter S 0 0145 via S 0 0027 and S 0 0329 see also S 0 0399 IDN list of configurable data ...

Page 580: ... S to the digital I Os the respective assignments to the drive integrated PLC have to be made via P 0 0681 and P 0 0682 inputs cf P 0 1390 to P 0 1397 outputs cf P 0 1410 to P 0 1417 register cf P 0 1370 to P 0 1385 Note P 0 0081 and P 0 0082 are used as mere display parameters that are mapping the status of the digital I Os of the optional module MD1 The digital inputs of the MD1 are to be used a...

Page 581: ...rs between 0 and 15 allowed 4 byte parameter only bit numbers between 0 and 31 allowed Note In the case of invalid inputs or inputs outputs that haven t been configured yet 1 is displayed as bit number The following monitoring functions are used for guaranteeing an efficient configuration of the digital I Os and preventing invalid configurations If the limit switch function Limit was activated in ...

Page 582: ... input output a HIGH level 24 V is provided bit not set 0 At the assigned input output a LOW level 0 V is provided Note There is no additional configuration check as the restriction of the IDN selection lists already prevents invalid configurations Hardware Requirements The assignment and number of digital inputs outputs depends on the respective control section and is contained in the respective ...

Page 583: ... parameter and the current communication phase Specific parameter values operating data are checked for validity by the drive firmware Functional Description Each parameter consists of seven data block elements Element No Designation Notes 1 identification number IDN parameter identification reading of data status 2 name can be changed by means of language selection 3 attribute contains decimal pl...

Page 584: ... of operating data for communication phase 3 are checked for validity The control master can query the IDNs of the parameters with invalid operating data parameter values via S 0 0021 IDN list of invalid operating data for communication phase 2 S 0 0022 IDN list of invalid operating data for communication phase 3 The data status is signaled when the control master carries out a write command to th...

Page 585: ... specific parameter values The motor encoder memory contains the encoder specific and depending on the motor type the motor specific parameter values The MMC contains the drive firmware The application specific parameter values are stored in the controller Due to the limited number of writing cycles of non volatile storage media application specific parameter values can be stored in the working me...

Page 586: ... By means of checksum comparison the control master can determine whether the values of the application specific parameter values currently active in the drive correspond to the values saved on the master side S 0 0017 IDN list of all operation data S 0 0192 IDN list of backup operation data S 0 0262 C07_x Load defaults procedure command S 0 0263 C2300 Load working memory procedure command S 0 026...

Page 587: ...ng memory C2300 Load working memory procedure command C2301 Error when reading non volatile memory C2302 Error when converting parameters Selectively backup working memory procedure C2400 Selectively backup working memory procedure command C2401 Parameter conversion error C2402 Error when saving parameters Copy parameters from MMC to flash C2500 Copy IDN from optional memory to internal memory C25...

Page 588: ... this purpose on the front of the drive controller The MMC is not obligatory The MMC can be used as permanently plugged medium for saving the firmware and the application specific parameter values or temporarily plugged medium for updating the firmware or temporarily plugged medium for transmitting application specific parameter values Parameters the operating data of which can be changed can be w...

Page 589: ...2400 Selectively backup working memory procedure command has to be activated As long as the parameter buffer mode S 0 0269 is not changed the values once saved in the flash memory via the commands C2200 or C2400 remain unchanged By means of S 0 0263 C2300 Load working memory procedure command the values from the non volatile flash memory are copied to the volatile working memory Note This only mak...

Page 590: ...he parameter values currently active in the drive to a checksum value stored at the time of parameter saving it is possible to determine whether the active application specific parameter values are correct By default there haven t any IDNs been entered in parameter S 0 0327 Notes on Commissioning At the beginning of the initial commissioning of a motor or a machine axis first make sure the desired...

Page 591: ...le The values can be loaded from a data base of the DriveTop commissioning tool Respective diagnostic command message C07_0 Load defaults procedure com load controller param Respective diagnostic messages in the case of possible command errors C0702 Default parameters not available C0703 Default parameters invalid C0704 Parameters not copyable C0706 Error when reading the controller parameters See...

Page 592: ...er conversion error C2402 Error when saving parameters See also MultiMediaCard MMC in chapter Handling Diagnostic and Service Functions An appropriate master communication interface or the serial interface can be used for loading and saving parameter values via the control master or DriveTop Loading saved parameter values acc to list parameter S 0 0192 to reestablish the original status after init...

Page 593: ...so called IDN lists enable the master or a commissioning software to handle drive parameters in a specific way S 0 0017 IDN list of all operation data The parameter S 0 0017 IDN list of all operation data contains the IDNs of all parameters available in the drive S 0 0192 IDN list of backup operation data The parameter S 0 0192 IDN list of backup operation data contains the IDNs of all parameters ...

Page 594: ...rating data the checksum is stored together with the operating data in a non volatile memory MultiMediaCard MMC flash memory amplifier or motor encoder data memory or their operating data is outside of the minimum or maximum input limits or their operating data violates specific plausibility rules Parameters are detected as being unduly configured if they were configured more than once for writing...

Page 595: ...ted By default there haven t been any IDNs entered in this parameter P 0 0013 List of all IDNs not corresponding to default value All parameters the operating data of which was changed with regard to the default value are stored in parameter P 0 0013 List of all IDNs not corresponding to default value Using a Password Brief Description IndraDrive controllers provide the possibility to protect para...

Page 596: ...efined by the customer the parameters of a parameter group to be defined can be protected against unauthorized or accidental write access The customer password has to comply with the following conditions at least 3 characters long a maximum of 10 characters long may only include the characters a z A Z and the numbers 0 9 The group of parameters the values of which can be protected by the customer ...

Page 597: ... off input string 007_Kpassw_Kpassw Kpassw customer password input string Kpassw_007_007 customer password active and unlocked parameter can be written content S 0 0267 no customer password active parameter can be written content S 0 0267 007 default status customer password active and locked parameter write protected content S 0 0267 Fig 10 2 Activating and deactivating the write protection by me...

Page 598: ...Note Observe the conditions for defining the customer password If the active write protection for the parameters defined in S 0 0279 is to be deactivated on the master side or without knowledge of the customer password enter the control password in S 0 0267 Password Note Ask the manufacturer for the control password The current status of the write protection can be queried via P 0 4064 Password le...

Page 599: ... section basic circuit board control section optional card 1 optional card 2 optional card 3 optional card MK MK master communication Fig 10 3 Example of design including device modules and circuit boards for IndraDrive controllers At present the following control and power sections are supported by the firmware control sections CSH01 1C PB CSH01 1C SE power sections HMS01 1N W0020 A 07 NNNN HMS01...

Page 600: ...module 1 P 0 1506 optional module master communication P 0 1509 optional module 2 P 0 1507 optional module 3 P 0 1508 power section drive controller S 0 0140 S 0 0140 controller type P 0 1506 circuit board code optional module 1 P 0 1507 circuit board code optional module 2 P 0 1508 circuit board code optional module 3 P 0 1509 circuit board code master communication P 0 1510 circuit board code po...

Page 601: ...documentation Project Planning Manual for Control Section F8118 Invalid power section firmware combination F8120 Invalid control section firmware combination Hours Run Meter Brief Description There are hours run meters available in the drive that separately record the operating time for control section and power section The respective operating time is displayed in the parameters P 0 0190 or P 0 0...

Page 602: ...ction Note The contents of the parameters P 0 0192 and P 0 0193 are stored on the control section The content of parameter P 0 0194 is stored on the power section Functional Description When the drive detects a class 1 diagnostics error a bit is set in parameter S 0 0011 Class 1 diagnostics and bit 13 for error in class 1 diagnostics is set in the drive status word In order to allow a more detaile...

Page 603: ...es that are basically divided into two groups recognizing and displaying the current drive status by means of drive internal priority dependent generation of diagnostic messages collective messages for diverse status messages Additionally there are parameters for all important operating data the values of which can be transmitted both via master communication e g SERCOS and a parameterization inte...

Page 604: ... display is stored in this parameter When a diagnostic message of the error category occurs the corresponding diagnostic message number is stored in the P 0 0009 Error number parameter When there isn t any error present the value of parameter P 0 0009 equals zero In the S 0 0375 List of diagnostic numbers parameter the last 50 diagnostic message numbers of parameter S 0 0390 are recorded in chrono...

Page 605: ...r 2028 dec is written to the P 0 0009 Error number parameter because it is an error diagnosis Diagnostic Message on the Control Panel Display The diagnostic message number appears on the 8 digit display of the standard control panel This allows recognizing the current operating status of the drive quickly and without using a communication interface As a matter of principle the following applies st...

Page 606: ...t 4 digits of the diagnostic message number For example the F2028 Excessive deviation error with the diagnostic message number 0x F2028 would produce the error number 2028 List of Diagnostic Numbers The last 50 diagnostic message numbers displayed are stored in chronological order in the S 0 0375 List of diagnostic numbers parameter Every change in the content of S 0 0390 Diagnostic message number...

Page 607: ...munication e g S 0 0135 in the case of SERCOS to suppress individual bits or status messages S 0 0011 Class 1 diagnostics S 0 0012 Class 2 diagnostics S 0 0013 Class 3 diagnostics S 0 0097 Mask class 2 diagnostics S 0 0098 Mask class 3 diagnostics S 0 0135 Drive status word Functional Description S 0 0011 Class 1 diagnostics status parameter for drive errors In case a drive error occurs the bit as...

Page 608: ...o Parameter Description S 0 0013 Class 3 diagnostics In the case of a drive message bit 11 change bit class 3 diagnostics is simultaneously set in the status word of the field bus S 0 0135 in the case of SERCOS Note Each of these messages is stored in a separate parameter S 0 0330 to S 0 0342 The bits in parameter S 0 0013 are automatically cleared when the message disappears The change bit in the...

Page 609: ...ing by means of an example 1 S 0 0012 Class 2 diagnostics S 0 0012 at last read access S 0 0097 Mask class 2 diagnostics unequal 0 yes setting change bit in drive status word Fig 10 8 Generating the change bit of class 2 diagnostics Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 610: ... Diagn message no yes reading S 0 0013 Class 3 diagnostics no drive error S 0 0135 bit 13 1 change bit class 3 diagnostics S 0 0135 bit 11 1 drive message interpreting class diagnostics information and starting error clearing command if necessary manufacturer specif error S 0 0011 bit 15 1 Fig 10 9 Handling the change bits and status class parameters Fixed Status Displays Function Related Status P...

Page 611: ... of the travel range limit switch inputs see also Travel Range Limit Switches P 0 0223 E Stop input This parameter displays the status of the E Stop input see also E Stop Function P 0 0445 Status word torque current limit This parameter contains status bits to display the activation of torque current limitation see also Torque Current Limit P 0 0539 Holding brake status word This parameter contain...

Page 612: ...427 Control parameter of analog output P 0 0522 Commutation setting control word P 0 0556 Control word of axis controller P 0 0612 Control word for setting absolute measuring P 0 4028 Device control word 10 4 Control Panel of the IndraDrive Controllers Brief Description The standard design of IndraDrive controllers includes a control panel with an 8 digit display and four buttons located underneat...

Page 613: ... communication operating status activated commands and command diagnoses warnings and error diagnoses The displays have priorities because it is impossible to have various displays at the same time 1 P 1 number of the drive in the bus system of the master communication phase 1 8 digit display 1 P0 1 P1 1 P2 1 P3 phase 0 phase 1 phase 2 phase 3 Fig 10 11 Displays during phase progression of the mas...

Page 614: ...0101 number of the drive in the bus system of the master communication display of the currently active command display of the command error number 8 digit display Fig 10 13 Explanation of command error displays 1 F4002 number of the drive in the bus system of the master communication display of the error or warning class display of the error or warning number 8 digit display 1 E2051 Fig 10 14 Expl...

Page 615: ...and input 1 Er Anz 1 F2002 standard display press Enter and Esc buttons for 8 seconds extended display 2 Comand Up button commands settings e g Fig 10 16 Activating the extended display and the command input By means of the extended displays it is possible to additionally call up the contents of certain parameters error memory diagnostic message memory operating hours counter control section opera...

Page 616: ... control section operating hours counter power section Y Y XXXXXXXX explanation browse list lines with Up Down buttons browse list lines with Up Down buttons Down button Up button e g display changes flashes between Y Y and XXXXXXXX Down button Up button 1 5 S 0 0030 FWA INDRV Enter button Esc button type designation of firmware Down button Up button Fig 10 17 Activating the extended display For m...

Page 617: ... activate the analog mode master communication C07_x load defaults procedure command loading controller parameters resp base parameters other commands like C2200 Backup working memory procedure command C2300 Load working memory command C2500 Copy IDN from optional memory to internal memory C2600 Copy IDN from internal memory to optional memory C2900 Firmware update from MMC Command Inputs Courtesy...

Page 618: ...lay changes flashes between Y Y and XXXXXXXX 2 Comand commands settings Down button Up button Enter button Esc button 2 1 1 ZE display 2 1 2 ZE display Enter button Esc button accept with Enter button set units digit with Up Down buttons set tens digit with Up Down buttons ZE tens units Zehner Einer digit of drive address 2 3 Easy Enter button Enter button Easy ON automatic return 1 Nmax Up button...

Page 619: ...lugged storage medium the MMC can be used as programming module as active non volatile memory containing the current axis specific parameter values and the firmware active in the drive As a temporarily plugged storage medium the MMC can be used for updating firmware via command transmitting drive parameter sets and firmware to other drives for serial commissioning via command saving the parameter ...

Page 620: ...ure The MMC is a non volatile storage medium that can be read and written both by the controller and via a PC with the appropriate adapter When being used in IndraDrive devices the MMC has to have the following folder structure Fig 10 19 Required folder structure of the MMC The folders on the MMC are provided for the following contents The file with the drive firmware has to be filed in this folde...

Page 621: ... the MMC the basic parameters for the firmware contained on the MMC are included in the folder parameters At delivery of the MMC this folder does not contain any files The customer can store any data in this folder that are useful for handling the firmware or the axis The MMC with the latest release of the drive firmware can be ordered with the type designation PFM02 1 0016 FW with firmware depend...

Page 622: ... the MMC and activated the P 0 4072 C2900 Firmware update from MMC command the drive automatically carries out the firmware update Note The C2900 command can be started via the control panel See Control Panel of the IndraDrive Controllers in the same chapter The MMC allows saving application specific parameter values in a quick and uncomplicated way and or loading values saved on the MMC to the dr...

Page 623: ...2500 in non volatile memory of controller 2 Switch control voltage of drive off and remove previously active MMC from controller 3 Switch drive on again without MMC plugged During boot phase display shows message Load new Param Acknowledge this message by pressing the Enter button control panel 4 After boot phase is over plug new MMC delivered for firmware update into controller then with command ...

Page 624: ...C Put MMC into controller after boot phase hot plug In communication phase P2 via control panel or appropriate master communication activate P 0 4092 C2600 Copy IDN from internal memory to optional memory Respective diagnostic command message C2600 Copy IDN from internal memory to optional memory The following error diagnoses can be signaled C2602 Error when accessing the MMC C2604 Error when read...

Page 625: ...chnology module and of the controller If the controller firmware detects a version on the optional safety technology module that is not suitable the supplied version is loaded When the firmware is replaced the values of all parameters normally are retained If values of the safety technology parameters should nevertheless get lost proceed according to the instructions contained in the separate docu...

Page 626: ...he respective supply unit Please copy this fault report fill it out carefully and completely and enclose it to the defective device The fault report filled out completely supports quick handling of repair and helps recognizing application related failure causes De energize drive system wait for DC bus to discharge DANGER Live conductor bars higher than 50 V even if mains voltage switched off Elect...

Page 627: ... particular instructions have to be observed for replacing a device See separate documentation Integrated Safety Technology How to Replace Controllers Identify defective controller by means of type plates procure controller of same type from Bosch Rexroth The following type designations have to match type designation of power section type designation of control section Note Ideally the firmware ty...

Page 628: ...ing to machine manufacturer s instructions then switch on control voltage Depending on the previous configuration of the replacement device the following messages can appear during the booting phase Firmware update Acknowledge this message by pressing the Enter button of the control panel The firmware download is then running the respective messages are appearing The drive then is in the booting p...

Page 629: ...y plugged in the controller Note If the MMC does not remain stationarily permanently plugged in the device it may be temporarily plugged in the switched on device after the booting phase and removed again hot plug or hot unplug See also Control Panel of the IndraDrive Controllers in chapter Handling Diagnostic and Service Functions DriveTop commissioning tool By selecting the respective menu item ...

Page 630: ... Diagnostic and Service Functions Service program Dolfi By selecting the respective menu item the firmware stored on an external data carrier hard disk floppy disk or the like is loaded to the controller serial communication with the controller The axis specific parameter values saved before replacing the device can be loaded via Control panel of the controller with temporarily plugged MMC hot plu...

Page 631: ...al Packages Brief Description The scope of functionality of the IndraDrive firmware can be scaled by the user This allows adjusting the scope of firmware functions to the respective requirements and if necessary reducing its complexity The drive functionality is scaled by licensing enabling optional expansion packages that are available in addition to the standard base package of the respective In...

Page 632: ...dy licensed scope of functions in order to reduce the complexity of the firmware expanding the scope of functions originally ordered additional licensing Note Non licensed functional packages mustn t be used Enabling functional packages which aren t part of the originally ordered scope of functions requires additional licensing that is not free of charge If you use a non licensed function any guar...

Page 633: ...it 4 1 for the expansion package servo P 0 2003 0x0012 These settings are displayed in parameter P 0 2004 in case parameter P 0 2003 is changed they are only displayed after repeated booting process The figure below illustrates the interaction of the parameters involved in enabling of functional packages booting the drive firmware The information is transferred from P 0 2003 P 0 2004 active enable...

Page 634: ...d by the drive after repeated booting process Reducing the Active Functional Packages The user can at any time reduce the scope of functions of the firmware by deactivating individual functional packages To do this the functional packages that are not required are reset deactivated in parameter P 0 2003 Selection of functional packages Subsequent Expansion Additional Licensing The required functio...

Page 635: ... DriveTop commissioning tool The time of change is registered by an entry in P 0 2002 Oper hours of contr sect at change of functional packages Note A change in parameter P 0 2003 only takes effect after repeated booting process The active functional packages are displayed in P 0 2004 Additional Licensing Expansion of Functionality If the firmware originally ordered and delivered does not contain ...

Page 636: ...ware Types That Can Be Ordered in chapter System Overview Functional Packages Note For handling the purchase order please contact your Bosch Rexroth sales representative The scope of supply consists of ordered new firmware type as FWA file incl parameter file as files or on MMC adjusted firmware type plate to stick on Monitoring the Enabling of Functional Packages As regards the enabling of functi...

Page 637: ...issioning Operation Connection to the drive is realized via the serial interface The setting has to be made in accordance with the parameterization of the serial interface in the drive parameters P 0 4021 P 0 4025 P 0 4095 Default settings of the serial interface 9600 baud 8 data bits no parity 1 stop bit hardware protocol After starting the terminal Windows hyper terminal and the drive there isn ...

Page 638: ...drive firmware in order to obtain a detailed diagnostic error message in the case of error The information provided by the logbook function allows reproducing the internal firmware sequence if required Pertinent Parameters P 0 0478 Logbook event P 0 0479 Logbook time stamp Functional Description The list parameters P 0 0478 Logbook event and P 0 0479 Logbook time stamp are organized as ring buffer...

Page 639: ...riting any storage location or internal variable as a data object via the master communication the analog output or the oscilloscope feature the patch function can be used In conjunction with the analog output or the oscilloscope feature this functionality can be used for locating errors Note As it is a function for exclusive use by the development staff the patch display parameters P 0 0485 and P...

Page 640: ... reads an 8 byte floating point value DOUBLE FLOAT4 reads 4 bytes accordingly FLOAT Due to the processor architecture the possible memory accesses are subject to certain restrictions A 4 byte access for example is only allowed for storage locations the address of which can be divided by 4 The table below contains a complete overview of the allowed and prohibited memory accesses Note If you want to...

Page 641: ...te storage location A bit mask possibly set P 0 0482 P 0 0488 is taken into account ANDed as is a preset patch exponent P 0 0483 P 0 0489 Note Please observe that in the BOOL display mode it is impossible to write the storage location because it is impossible to assign an unequivocal numeric value to the value TRUE displayed as 1 Any value unequal zero is interpreted as TRUE Note As in the case of...

Page 642: ...ce TYPE INT 4 INT 2 INT 1 FLOAT 4 FLOAT 8 sign correct cast sign correct cast DoubleToFLOAT data address P 0 0485 P 0 0491 integer float display type BIN HEX DEZoVZ FLOAT DEZmVZ 10 exponent P 0 0483 P 0 0489 float MK long BOOL Fig 10 25 Sequence diagram of the patch function read storage location Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 548...

Page 643: ...loatToDouble 10 exponent P 0 0483 P 0 0489 ushort float MK data address P 0 0485 P 0 0491 integer float display type BIN HEX DEZoVZ FLOAT DEZmVZ BOOL source TYPE INT 4 INT 2 INT 1 FLOAT 4 FLOAT 8 transfer without type 4 byte transfer Fig 10 26 Sequence diagram of the patch function write storage location Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800...

Page 644: ...er function Besides extensive trigger functions the drive provides the possibility of triggering at different signals and events in the drive Features The oscilloscope function is characterized by the following features recording measured values 4 channels each with a maximum of 8192 measuring values time resolution to be freely selected in steps of the position loop clock Advanced T 250 µs Basic ...

Page 645: ...pe signal selection 2 P 0 0145 Oscilloscope list of measured values 3 P 0 0146 Oscilloscope list of measured values 4 P 0 0147 Oscilloscope signal selection 3 P 0 0148 Oscilloscope signal selection 4 P 0 0025 Oscilloscope trigger mask P 0 0026 Oscilloscope trigger signal selection P 0 0027 Oscilloscope trigger level P 0 0030 Oscilloscope trigger edge P 0 0033 Oscilloscope number of measured values...

Page 646: ...bit 0 0 delay function active P 0 0029 bit 4 0 P 0 0037 bit 0 1 NO YES recording active P 0 0029 bit 0 1 P 0 0029 bit 2 3 7 0 setting trigger bits P 0 0029 bit 2 3 1 setting trigger bit P 0 0029 bit 3 1 delay function completed P 0 0029 bit 4 1 recording completely terminated P 0 0028 bit 0 0 internal trigger signal P 0 0037 bit 0 0 YES YES start of recording P 0 0028 bit 0 0 1 valid trigger signa...

Page 647: ...e contained in the list Example of the signal selection of the oscilloscope function S 0 0051 Position feedback 1 value is selected as signal to be recorded actual position value of encoder 1 S 0 0051 is written to parameter P 0 0023 Oscilloscope signal selection 1 when the limiting conditions occur actual position value of axis 1 is recorded in the oscilloscope and transmitted to the master actua...

Page 648: ... the measured values keep being written to the measured value memory until the number of measured values defined in parameter P 0 0033 Oscilloscope number of measured values after trigger event has been reached delay function After the defined number of measured values has been recorded the bit delay function completed bit 4 is set in parameter P 0 0029 Oscilloscope status word The recording is co...

Page 649: ...set measurement bit 1 1 external trigger with offset measurement The trigger event is the point of time at which trigger signal P 0 0026 and trigger level P 0 0027 are matching taking the determined trigger edge into account P 0 0030 When the trigger event occurs the internal trigger is released When internal trigger is selected P 0 0028 bit 1 0 the external trigger source P 0 0036 bit 0 is not ta...

Page 650: ...pe trigger signal selection it is possible to release the internal trigger function by the external trigger input When the kind of trigger external trigger with offset measurement P 0 0028 bit 1 1 has been selected the internal and external trigger are used for the master axis When external trigger has been selected the behavior until the internal trigger event has been reached corresponds to the ...

Page 651: ...ntrol offset P 0 0035 external trigger signal P 0 0036 Fig 10 30 External trigger with offset measurement P 0 0028 bit 1 1 Note The use of the external trigger source with trigger offset determination is described in the section Synchronizing the Measuring Signals of Several Axes see below Selecting the Trigger Edges In parameter P 0 0030 Oscilloscope trigger edge it is possible to set at which ed...

Page 652: ...red val after trigger event P 0 0033 t t Fig 10 31 Trigger delay number of measured values after trigger event Expanded Trigger Function Parameter P 0 0025 Oscilloscope trigger mask provides the possibility of triggering at certain events For trigger signals with the display formats Bin and Hex it is possible to mask the trigger signal and the trigger level See Parameter Description P 0 0025 Oscil...

Page 653: ... signal P 0 0036 External trigger signal drive 2 drive n DF000112v01_en fh7 drive 1 master drive P 0 0035 Trigger control offset step 1 step 2 step 3 Fig 10 32 Application for trigger source external with determination of trigger offset Note The value in parameter P 0 0035 can be used by the master for synchronizing the measuring signals of several axes with the internal trigger event of the maste...

Page 654: ...ion it is possible to select 4 signals that are defined by the IDNs of their respective parameters and assigned to the following parameters P 0 0023 Oscilloscope signal selection 1 P 0 0024 Oscilloscope signal selection 2 P 0 0147 Oscilloscope signal selection 3 P 0 0148 Oscilloscope signal selection 4 Only such parameter IDNs are allowed that are contained in the list parameter P 0 0149 Oscillosc...

Page 655: ...tart end of recording trigger function status of trigger signal delay function See also Parameter Description P 0 0029 Oscilloscope status word Via parameter P 0 0037 Oscilloscope internal trigger signal the master is informed of the status of the internal trigger As real time control information this parameter can be parameterized both in the real time channel of the interface and as hardware out...

Page 656: ...ommissioning tool DriveTop in parallel with the existing master communication connecting a control terminal BTV04 downloading firmware via the Dolfi program The maximum baud rate is 115 kB Pertinent Parameters P 0 4021 Baud rate RS 232 485 P 0 4022 Drive address of serial interface P 0 4050 Delay answer RS 232 485 P 0 4095 RS 232 485 Parity General Information on the Parameter Structure All parame...

Page 657: ...ia the serial interface A soon as either a valid ASCII start sequence or a valid SIS telegram was received the drive internally switches to the respective kind of protocol transmission rates of 9600 and 19200 baud 8 bit ASCII protocol no parity bit one stop bit Note There isn t any telegram frame used but the transmitted ASCII signs are converted and interpreted It is only necessary to comply with...

Page 658: ...means of the standard control panel or the DriveTop commissioning tool Exception If the value 256 default value was entered in parameter P 0 4022 the device address set in parameter P 0 4025 Drive address of master communication is used for serial communication In this mode it is not obligatory to set the drive address because only one node is connected peer to peer connection Note When communicat...

Page 659: ...ransmission distance 15 m ASCII protocol or SIS protocol 8 bit each parity bit according to parameter P 0 4095 RS 232 485 Parity one stop bit PC with DriveTop PLC drive controller n drive controller n 1 drive controller n 2 drive controller n 3 RS232 master communication e g parallel I O or field bus DF0020v1 fh7 Fig 10 36 Communication via RS232 interface example DriveTop Features Courtesy of CMA...

Page 660: ...tion with an external RS232 485 converter Operating Several Drives with DriveTop commissioning several drive controllers without plugging the interface cable into a different connection central parameterization and diagnosis connection realizing a central PC based visualization unit PC with DriveTop PLC drive controller n drive controller n 1 drive controller n 2 drive controller n 3 RS232 RS485 b...

Page 661: ...0 38 Parameterization and Diagnosis via a PLC Parameterization and Diagnosis of Drive Groups by an Operator Unit realizing a central visualization unit PLC drive controller n drive controller n 1 drive controller n 2 drive controller n 3 RS485 bus master communication e g parallel I O or field bus RS232 RS485 converter RS232 RS485 converter RS232 RS485 converter RS232 RS485 converter DF0023v1 fh7 ...

Page 662: ...sion too short 0x5003 minimum input value transmission too long 0x5004 minimum input value cannot be changed read only 0x5005 minimum input value is write protected at this time 0x6001 no maximum input value 0x6002 maximum input value transmission too short 0x6003 maximum input value transmission too long 0x6004 maximum input value cannot be changed read only 0x6005 maximum input value is write pr...

Page 663: ...ith the activated drive continues until another CD command causes the switching to another drive Step 1 Send request e g BCD 01 CR with address 1 Step 2 Drive received character drive sends prompt if address is the same Character sequence found in receiver buffer Pattern found Transmission error Drive is open ready for communication Step 3 Check receiver buffer for pattern E01 yes yes no Contents ...

Page 664: ...are ok Transmission error Step 4 Delete request in receiver buffer All characters to 1st CR inclusive Step 3 To check transmission compare request with receiver buffer string compare yes yes no Next character in receiver buffer Parameter succesfully written no yes Contents of receiver buffer P 0 4037 7 w 1000 CR xxxx CR E01 Error occurred during parameter access Error code xxxx Communication with ...

Page 665: ... in receiver buffer Compare ok Transmission error Step 4 Delete request in receiver buffer All characters up to 1st CR inclusive Data or error number now contained in the receiver buffer Step 3 To check transmission compare request with receiver buffer string compare yes yes no Next character in receiver buffer Evaluate parameter data Read access completed no contents of receiver buffer P 0 4040 7...

Page 666: ...xx CR E01 Communication with drive not possible check address check setting check connection Timeout no no yes Step 5 Drive received character Drive repeats request echo Character or found in receiver buffer Compare ok Transmission error Step 7 Delete request in receiver buffer All characters up to 1st CR inclusive Step 6 To check transmission compare character string from step 4 with receiver buf...

Page 667: ...D5006B1 WMF part 1 B previous page Error occurred during parameter access Error code xxxx yes Next character in receiver buffer A More elements part 1 A previous page no Error occurred during parameter access Error code xxxx yes no yes Contents of receiver buffer CR xxxx CR E01 Fig 10 45 Write access to list parameters part 2 Note It is important to complete the input with the character because on...

Page 668: ...ments seperated by CR or an error number now contained in receiver buffer Step 3 To check transmission compare request with receiver buffer string compare yes no Next character in receiver buffer Evaluate list element Contents of receiver buffer P 0 4006 7 r CR element 1 CR element 2 CR element n CR E01 or P 0 4006 7 r CR xxxx CR E01 End of list reached Set string pointer to 1st character after ne...

Page 669: ...3 transition check S 0 0128 C0200 Communication phase 4 transition check P 0 4023 C0400 Communication phase 2 transition S 0 0262 C07_x Load defaults procedure command S 0 0099 C0500 Reset class 1 diagnostics S 0 0148 C0600 Drive controlled homing procedure command P 0 0012 C0300 Command Set absolute measuring Via the serial interface it is possible to start interrupt and complete the execution of...

Page 670: ...epted command Command being processed Contents of receiver buffer P 0 0162 7 w 11b CR xxxx CR E01 communication with drive not possible check address check setting check connection Time out no no yes FD5003B1 WMF Error occured during parameter access Error code xxxx Step 6 Drive received character Drive repeats request echo Character sequence found in receiver buffer Communication with drive not p...

Page 671: ...C completes the command The command status is interrogated as follows IDN of the command 1 w 0 Carriage Return After the IDN of the command parameter was written the drive signals the current command status 0 h Command not set in the drive 1 h Command set in the drive 3 h Command set enabled and correctly executed 5 h Command set and enabled in the drive 7 h Command set and enabled but not yet exe...

Page 672: ...The address of the drive we consider is 01 Establishing the communication with the respective axis BCD 01 CR Command for switching to drive A01 echo of the connected drive All other drives are passive Note The drive does not send an echo after each character but it is only after having received the CR that the drive returns the complete sequence that was input Writing the assign list for the signa...

Page 673: ...invalid data block number 0x9004 input cannot be identified 0x9005 data element number not defined 0x9006 error in the write read identifier r w 0x9007 invalid character in the data Fig 10 51 Error messages in the case of ASCII communication Communication with SIS Protocol Telegram Structure Telegram Frame An SIS telegram is basically divided into 3 blocks telegram header useful data header useful...

Page 674: ...mber byte 0 without package number 1 with package number bit 4 determining the telegram type 0 command telegram 1 reaction telegram bit 5 reserved bit 6 reserved in command telegrams in reaction telegrams bit 6 signals a system warning in the slave bit 7 reserved in command telegrams in reaction telegrams bit 7 signals a system error in the slave 6 Dienst SIS service The byte specifies the SIS ser...

Page 675: ...ketN Package number when bit 3 was set in Ctrl byte At the first request with a package number 0 the request is processed The reaction telegram is stored and sent by the slave When the request is repeated with the same package number it is not processed The slave sends the stored reaction telegram When there is another request with a new package number 0 or when there is a changed request static t...

Page 676: ... the kind of request The control byte indicates the parameter element data name that is to be read or written In addition the control byte indicates whether other telegrams sequential telegrams are required for reading or writing In this byte the device address set at the address switches has to be entered The parameter number has the format defined in the specification for SERCOS interface In ord...

Page 677: ...g which data block element of a parameter is accessed Bit 2 controls the transmission of sequential telegrams writing lists in several steps In this byte the device address set at in the P 0 4022 Drive address of serial interface parameter has to be entered In the useful data bytes it is possible to enter any value that is interpreted in a different way according to the service For flash programmi...

Page 678: ...eter is occupied by the sequential telegram channel 9002h 02h firmware was deleted 9004h 02h shutdown not allowed in phase IV in FWA MT01VRS instead of 9010h 9010h 02h shutdown not allowed in operating mode as of FWA MP02VRS 9102h 02h firmware was deleted 9104h 02h reboot not allowed in phase IV in FWA MT01VRS instead of 9110h 9110h 02h reboot not allowed in operating mode as of FWA MP02VRS 9200h ...

Page 679: ...it 2 current last transmission is kept at 0 in the control byte of the reaction telegram until the last reaction telegram is sent In the last reaction telegram bit 2 is set to 1 The sending of a sequential reaction telegram is activated by the repeated sending of the unchanged command telegram When the writing or reading of a parameter with sequential telegrams was started in the drive it is neces...

Page 680: ...9F error reset in the slave clears error in loading mode 0x01 determining TrS initializes max reaction time in the slave 0x02 determining TzA initializes max character interval on the bus 0x03 determining Tmas subservice is implemented but not active 0x07 determining the baud rate initializes the baud rate of the serial transmission 0x08 time controlled baud rate test allows temporary change of th...

Page 681: ... the case of error Note When there wasn t any sequential telegram processed and this service was transmitted nevertheless there isn t any error reaction telegram transmitted Service 0x80 Reading a Parameter A one time read access is completed with one transmission step The master enters the following information in the command telegram In the control byte the desired element is selected in the bit...

Page 682: ...vailable commands can be started in the drive Enter 0x8F in the service of the telegram header Enter the parameter to be written in the parameter type and parameter no bytes of the useful data header Enter the value to be written in the useful data Note By means of this service all available commands can be started in the drive A one time write access is completed with one transmission step The ma...

Page 683: ...to the parameter Command Telegram tel header control byte device address param type parameter no LSB MSB useful data header 3C 03 00 2C 00 Ta0009f1 fh7 useful data 42 00 Fig 10 66 Writing the S 0 0044 parameter command telegram Reaction Telegram Ta0010f1 fh7 tel header status byte control byte device address useful data header 00 3C 03 Fig 10 67 Writing the S 0 0044 parameter reaction telegram Sta...

Page 684: ...ervice 0x8E Writing a List Segment Enter 0x8E in the service of the telegram header Enter the parameter type and parameter no of the parameter to be read in the useful data header Enter the offset in the useful data bytes 0 and 1 within the list as a word 16 bit Enter the number of words to be written in the useful data bytes 2 and 3 A possible error is entered in the useful data in the reaction t...

Page 685: ...ntrol byte device address param type useful data header 38 243 data bytes parameter no LSB MSB Fig 10 69 Writing with sequential command telegram step1 Ta0012f1 fh7 tel header status byte control byte device address useful data header 38 Fig 10 70 Writing with sequential reaction telegram step1 2 nd step Ta0011 f1 fh7 useful data tel header control byte device address param type useful data header...

Page 686: ...ngth of which exceeds the max data field length of 245 byte are read in several steps Bit 2 in the control byte of the reaction telegram marks the current transmission step as the current or last transmission The figures below illustrate the control word for a transmission in several steps 1 st step tel header control byte device address param type parameter no LSB MSB useful data header 3C Ta0007...

Page 687: ...e address useful data header 38 245 data bytes Fig 10 78 Sequential reaction telegram2 Last step tel header control byte device address param type parameter no LSB MSB useful data header 3C Ta0007f1 fh7 Fig 10 79 Sequential command telegram3 Ta0015f1 fh7 useful data tel header status byte control byte device address useful data header 3C 245 data bytes Fig 10 80 Sequential reaction telegram3 Court...

Page 688: ...d access service channel still active A new request is started before the last transmission was completed Fig 10 81 Error messages in the serial protocol Execution and Protocol Acknowledgment With each reaction telegram a status byte is transmitted The status byte provides the result of a transmission in the form of a code number In general the following applies Result of the transmission Code num...

Page 689: ...ssage Command Telegram tel header control byte device address param type parameter no LSB MSB useful data header 3C 00 04 0B 00 Ta0003f1 fh7 useful data 00 00 Fig 10 85 Writing the S 0 0106 parameter command telegram Reaction Telegram Ta0004f1 fh7 tel header status byte control byte device address useful data header 01 3C 00 useful data 04 70 Fig 10 86 Reading the S 0 0106 parameter reaction teleg...

Page 690: ...dling Diagnostic and Service Functions MPH 02 MPB 02 MPD 02 DOK INDRV MP 02VRS FK01 EN P Notes Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 691: ...establishing the operatability of the drive including the required measuring systems adjusting the drive behavior to the requirements of the application adjusting the master communication interface between master and drive integrating drive functionalities in the machine processes In each of the mentioned steps values of relevant parameters are adjusted to the requirements The result of the initia...

Page 692: ...ssioning the motor start controller is prepared for initial commissioning commissioning the machine axis 1st objective initial start of the motor 2nd objective providing drive functions Fig 11 1 Two step drive commissioning schematic In the first step the two step procedure ensures the operatability of the drive 1 st objective during initial commissioning and serial commissioning In the second ste...

Page 693: ...ter set for saving the parameter values after initial commissioning by means of a list of S 0 0270 Selected IDN list of operation data to backup modified by the customer so that there cannot occur any actual position value error when the saved parameter values are loaded to the same axis drive again Note This is only possible via a control master MMC and DriveTop are only working with the list fro...

Page 694: ...ves of a model machine After the application specific parameter set of an axis drive has been loaded only some more adjustments are required setting the drive address see Basic Functions of Master Communication Address Assignment in chapter Master Communication establishing the position data reference for axes with measuring systems to be evaluated in absolute form see Establishing the Position Da...

Page 695: ...sing the easy startup mode the digital inputs and outputs X31 X32 must be connected as follows connect 24V 0V power supply to respective terminal connectors X31 4 24 V for activating drive enable X32 7 and X32 8 0V 24V for activating the positive or negative rotational direction Control sections BASIC OPENLOOP and BASIC ANALOG For drives with these control section the easy startup mode is not avai...

Page 696: ...ation of volatile storage of parameters i e the changes in the parameter values required for the easy startup mode are not stored and get lost by switching the control voltage off Note Do not trigger the commands for backup of working memory C2200 Backup working memory procedure command and C2400 Selectively backup working memory procedure command becuase otherwise the settings of the easy startup...

Page 697: ...trol Panel of the IndraDrive Controllers To do this the drive first has to be switched to the parameterization mode P2 communication phase 2 1 Er Anz 3 P3 standard display Enter button extended display 2 Comand Up button commands settings Enter button 2 8 CP2 2 1 Adr Adr 3 Enter button automatic return to standard display 3 P2 switching on control voltage It is possible to load base parameters Y Y...

Page 698: ...artup mode during initial commissioning is not allowed because the automatic adjustment of the controller to the motor is impossible During initial commissioning the initial start in the easy startup mode is only allowed for motors with encoder data memory For serial commissioning parameter values determined by initial commissioning are already stored in the controller the initial start in the eas...

Page 699: ...bled and is in velocity control Display reads AF CAUTION Property damage caused by errors when controlling motors Caution when applying the digital input signals 5 Drive can now be moved with 24 V input signal at EA9 X32 7 with positive command value with 0 V at EA9 X32 7 and 24 V at EA10 X32 8 with negative command value The maximum speed corresponds to the value of S 0 0091 the effective command...

Page 700: ...RS485 DriveTop offers the following possibilities and advantages The functions and features made available by the drive are structurally visualized the respective parameter values are displayed in their functional context Parameter values can be directly changed and thereby adjusted to the respective requirements The parameter values available in the drive can be saved drive externally as a group ...

Page 701: ...ia DriveTop changing to operating mode check motorg encoder function move motor manually release holding brake if necessary position evaluation ok yes no yes see Third Party Motors with IndraDrive switch power on synchronous motor set commutation offset initial start of motor yes no switch power on Target initial start of motor DC0007v1 fh7 changing to operating mode motor with encoder data memory...

Page 702: ...missioned can now be addressed via DriveTop 6 First prepare loading of basic firmware parameters write value 0x001 to parameter P 0 4090 Select dialog Drive commands under menu item Extras Press right mouse key select Single parameters with cursor call p4090 and write data 7 Now load basic firmware parameters start C0700 Load defaults procedure command select command S 0 0262 C07_x Load defaults p...

Page 703: ... mode press right mouse key select with cursor Drive now is ready for operation display of drive addressed by DriveTop reads bb 15 Now check function of motor encoder To do this manually move motor shaft or linear motor slide in pos direction see requirements regarding direction of movement in Project Planning Manual of respective motor to do this select Drive status in Overview menu item with cur...

Page 704: ... Correctly moving the drive according to command values preset by DriveTop confirms operatability of drive If drive does not follow command values shut it down fast as can activate Drives OFF button with cursor or press E Stop pushbutton If drive follows command values this is the basis for further commissioning steps regarding master communication via NC and further machine axis related functions...

Page 705: ...data reference configuring the error reaction E Stop configurations with regard to control master configurations for diagnosis of status variables configuring further drive functions The required drive functions for the machine axis are available Fig 11 6 Steps of machine axis related commissioning Notes on the Commissioning Steps The subjects of the individual commissioning steps are treated in d...

Page 706: ...or Mechanical Axis System Measuring Systems Set position monitors axis position monitor position at time drive is switched on for absolute encoders position difference monitor of motor encoder and external encoder configure spindle encoder monitor See Monitoring the Measuring Systems Notes on Commissioning in chapter Motor Mechanical Axis System Measuring Systems Configuring the Mechanical Axis Sy...

Page 707: ...ity command value position command values and actual position values On the user side limitations are available for maximum allowed torque force S 0 0092 P 0 0109 motive and generating load at stationary velocity S 0 0082 S 0 0083 The limit values currently effective due to the user side limit settings are displayed in P 0 0444 Actual value peak torque limit P 0 0442 Actual value torque limit posi...

Page 708: ...e Measuring Systems Notes on Commissioning in chapter Drive Functions For relative measuring systems all settings have to be made in such a way that the position data reference can be established internally and automatically after switching on the machine at a command of the control master to the respective axis drive See Establishing Position Data Reference for Relative Measuring Systems Notes on...

Page 709: ... whether a threshold value of the status variable was exceeded via S 0 0144 Signal status word See Possibilities of Control Additional Functions Configurable Signal Status Word in chapter Master Communication drive internal oscilloscope feature See also Oscilloscope Feature in chapter Handling Diagnostic and Service Functions Diagnostic possibilities independent of the master communication interfa...

Page 710: ...11 20 Commissioning MPH 02 MPB 02 MPD 02 DOK INDRV MP 02VRS FK01 EN P Notes Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 711: ...ration 6 37 axis error correction 8 53 B backlash on reversal correction 8 55 basic state after applying the control voltage 10 76 best possible deceleration 8 36 drive error reactions 1 6 SERCOS interface error 4 39 brake See motor holding brake braking resistor 6 89 C checking the installation assembly 11 1 checksum 10 8 checksum of parameter values 1 3 10 4 circuit board code 10 18 clearing err...

Page 712: ...on data reference corrections see compensation functions corrections current and torque limitation closed loop 6 64 current and torque limitation open loop 6 64 current limitation loop 6 8 current loop 7 7 customer password 10 14 D data block structure 10 1 data status 10 2 data storage 1 2 deceleration best possible 8 36 definitions of terms 1 2 detecting marker position 8 72 detecting reference ...

Page 713: ...0 E easy startup mode 11 4 electronic cam shaft with real virtual master axis 7 112 electronic gear function 7 80 emergency halt See velocity command value reset enabling of functional packages 10 49 encoder correction 8 50 encoder emulation 9 18 error classes 1 6 8 36 error memory 1 7 power section and control section 10 20 error messages during drive controlled homing 8 26 in the case of serial ...

Page 714: ...r emulation 9 25 with incremental encoder emulation 9 23 hours run meter 10 19 how to use this documentation 1 7 hybrid position control see measuring wheel mode hybrid position control I I O mode 4 21 IDN list of checksum parameter 10 13 IDN list of invalid operating data for communication phase 2 10 11 IDN list of invalid operating data for communication phase 3 10 12 IDN list of operating data ...

Page 715: ...tection 6 87 master axis encoder see measuring encoder master axis evaluation 7 78 master communication 4 1 analog interface 4 63 basic functions 4 1 overview 1 16 parallel interface 4 56 PROFIBUS DP 4 41 SERCOS interface 4 32 master control word structure 4 37 master password 10 14 measuring encoder 9 8 measuring systems 5 50 absolute measuring systems 5 62 arrangement 5 70 monitoring 5 56 relati...

Page 716: ...ontrol 7 16 positioning block mode 7 40 selecting the operating mode 7 1 torque force control 7 4 velocity control 7 8 velocity synchronization with real virtual master axis 7 96 optic signal level distortion indicator 4 36 oscillation damping 6 8 oscilloscope function 10 62 offset measurement 10 68 trigger event 10 67 trigger function 10 66 overall structure of control loop illustration 6 38 P pa...

Page 717: ... 21 status machine 4 20 Q quadrant error correction 8 68 quick stop See velocity command value reset with filter and ramp R ramp generator in velocity control 7 12 read access to a parameter 10 83 read access to list parameters 10 86 read access with sequential telegrams service 0x01 10 104 real time control bits 4 40 real time status bits 4 40 reference temperature 8 60 relative positioning witho...

Page 718: ...elegram structure 10 91 slip compensation 6 6 soft start 6 85 software limit switch 6 75 spindle positioning 8 80 SSI format 9 24 stall protection loop 6 5 starting a command via SIS protocol 10 101 status classes 10 25 status displays 10 28 status machine 4 5 structure of diagnostic message 10 23 structure of the telegram header 10 92 structure of the useful data field 10 95 structure of the usef...

Page 719: ...rol block diagram 7 8 diagnostic messages and monitoring functions 7 15 masking the command value 7 15 velocity control loop 7 13 velocity limitation 6 71 velocity loop 6 50 7 13 velocity mixing 7 14 velocity search mode 6 9 velocity synchronization with real virtual master axis 7 96 W warning classes 1 5 warnings 1 5 write access 10 7 write access to data block elements of a parameter 10 2 write ...

Page 720: ...12 10 Index MPH 02 MPB 02 MPD 02 DOK INDRV MP 02VRS FK01 EN P Notes Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 721: ...legenen Ansprechpartner auf Die Angaben in der vorliegenden Dokumentation können seit Drucklegung überholt sein At www boschrexroth com you may find additional notes about service repairs and training in the Internet as well as the actual addresses of our sales and service facilities figuring on the following pages sales agencies offices providing service Please contact our sales service office in...

Page 722: ... 80637 München Tel 49 0 89 127 14 0 Fax 49 0 89 127 14 490 Vertriebsgebiet West Germany West Bosch Rexroth AG Regionalzentrum West Borsigstrasse 15 40880 Ratingen Tel 49 0 2102 409 0 Fax 49 0 2102 409 406 49 0 2102 409 430 Gebiet Südwest Germany South West Bosch Rexroth AG Service Regionalzentrum Süd West Siemensstr 1 70736 Fellbach Tel 49 0 711 51046 0 Fax 49 0 711 51046 248 Vertriebsgebiet Nord ...

Page 723: ... 011 224 88 30 Italy Italien Bosch Rexroth S p A Via del Progresso 16 Zona Ind 35020 Padova Tel 39 049 8 70 13 70 Fax 39 049 8 70 13 77 Italy Italien Bosch Rexroth S p A Via Mascia 1 80053 Castellamare di Stabia NA Tel 39 081 8 71 57 00 Fax 39 081 8 71 68 85 Italy Italien Bosch Rexroth S p A Via Isonzo 61 40033 Casalecchio di Reno Bo Tel 39 051 29 86 430 Fax 39 051 29 86 490 Netherlands Niederland...

Page 724: ...061 847 64 02 Romania Rumänien East Electric S R L Bdul Basarabia no 250 sector 3 73429 Bucuresti Tel Fax 40 0 21 255 35 07 40 0 21 255 77 13 Fax 40 0 21 725 61 21 eastel rdsnet ro Romania Rumänien Bosch Rexroth Sp zo o Str Drobety nr 4 10 app 14 70258 Bucuresti Sector 2 Tel 40 0 1 210 48 25 40 0 1 210 29 50 Fax 40 0 1 210 29 52 Russia Russland Bosch Rexroth OOO Wjatskaja ul 27 15 127015 Moskau Te...

Page 725: ...use II Floor Ark Industrial Compound Narol Naka Makwana Road Andheri East Mumbai 400 059 Tel 91 22 28 56 32 90 91 22 28 56 33 18 Fax 91 22 28 56 32 93 singh op boschrexroth co in India Indien Bosch Rexroth India Ltd S 10 Green Park Extension New Delhi 110016 Tel 91 11 26 56 65 25 91 11 26 56 65 27 Fax 91 11 26 56 68 87 koul rp boschrexroth co in Indonesia Indonesien PT Bosch Rexroth Building 202 C...

Page 726: ...oth ca Canada West Kanada West Bosch Rexroth Canada Corporation 5345 Goring St Burnaby British Columbia Canada V7J 1R1 Tel 1 604 205 5777 Fax 1 604 205 6944 david gunby boschrexroth ca Mexico Bosch Rexroth Mexico S A de C V Calle Neptuno 72 Unidad Ind Vallejo 07700 Mexico D F Tel 52 55 57 54 17 11 Fax 52 55 57 54 50 73 mariofelipe hernandez boschrexroth com mx Mexico Bosch Rexroth S A de C V Calle...

Page 727: ...Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 728: ...nd Controls P O Box 13 57 97803 Lohr Germany Bgm Dr Nebel Str 2 97816 Lohr Germany Phone 49 93 52 40 50 60 Fax 49 93 52 40 49 41 service svc boschrexroth de www boschrexroth com Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

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