Control Techniques M'Ax Advanced User'S Manual Download Page 1

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Advanced User Guide

M’Ax

Compact, high-performance, single-axis servo

amplifier for brushless AC servo motors

Part Number: 0453-0017-04

Issue Number: 4

Summary of Contents for M'Ax

Page 1: ...www controltechniques com EF Advanced User Guide M Ax Compact high performance single axis servo amplifier for brushless AC servo motors Part Number 0453 0017 04 Issue Number 4 ...

Page 2: ...ide may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information storage or retrieval system without permission in writing from the publisher Important Servo amplifier software version This product is supplied with the latest version of user interface and machine control software If this product is to be used with othe...

Page 3: ...u 5 Parameters Motor Control 34 8 Menu 6 Parameters Sequencer Functions AC Supply Loss Modes 38 9 Menu 7 Parameters Analog Input Output Settings Temperature Monitoring 42 10 Menu 8 Parameters Digital Input Output Settings and Indications 49 11 Menu 10 Parameters Status and Diagnostic Information Trip log Braking control 56 12 Menu 11 Parameters Scale factor Initial displayed parameter Serial commu...

Page 4: ...variable parameter Positive and negative values Txt Text variable parameter Alphanumeric code is displayed Bit Bit parameter Two digital states only R Parameters must be copied to the EEPROM saved or copied to the flash memory stored for a new value to take effect S A new value is normally copied to the EEPROM saved or copied to the flash memory stored at power down see parameter 0 50 Parameter tr...

Page 5: ... 0 20 Drive rated current FLC 00 00 99 99 RO Uni P 0 22 Torque mode selector 0 2 0 RW Bit P 0 23 Torque reference 200 00 0 Drive current limit RW Bi 0 24 Ramp enable 0 1 0 RW Bit 0 25 Acceleration rate 0 32 000 0 200s 1000rpm RW Uni 0 26 Deceleration rate 0 32 000 0 200s 1000rpm RW Uni 0 27 Fast ramp select 0 1 0 RW Bit 0 28 Feedback encoder revolution counter 0 65535 RO Uni 0 29 Feedback encoder ...

Page 6: ...n Setting AN no SL boot2 Save Copy main parameter values in the RAM to the EEPROM when an option module is fitted Retrieve Copy all parameter values from the EEPROM to the RAM when an option module is fitted Store Copy parameter values from the RAM to the flash memory in the drive Restore Copy parameter values from the flash memory to the RAM Main parameters All parameters other than those that ar...

Page 7: ...0 Parameter preset at 0 no 0 50 Parameter preset at save 1000 XX 00 Parameter values are immediately copied in the indicated direction Parameter values are copied in the indicated direction at the next power up Parameter values are copied in the indicated direction at power down Main parameter values are copied excluding the S parameter values S All parameter values are copied including the S para...

Page 8: ... P 1 14 0 30 Reference selector 0 5 1 RW Uni P 1 15 Preset reference selector 0 4 0 RW Uni P 1 17 0 34 Keypad reference 1 06 rpm RO Bi S P 1 21 0 33 Preset reference 1 1 06 rpm 1 RW Bi 1 22 Preset reference 2 1 06 rpm 10 RW Bi 1 23 Preset reference 3 1 06 rpm 100 RW Bi 1 24 Preset reference 4 1 06 rpm 1000 RW Bi 1 36 Analog reference 1 06 rpm RO Bi 1 42 Preset references selected indicator 0 1 RO ...

Page 9: ... M Ax Advanced User Guide 6 Issue Number 4 www controltechniques com ...

Page 10: ...04 Menu 7 1 44 1 43 1 42 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Reference selected Analog Preset Keypad Keypad Pulse Pulse Pulse Pulse 1 17 1 44 Pulse reference selected indicator Pulse reference 13 01 1 21 Preset reference 1 1 22 Preset reference 2 Preset reference 3 Preset reference 4 1 46 Preset reference select bit 1 indicator 1 45 Preset reference select bit 0 indicator 1 23 1 24 0 1...

Page 11: ... Reference enabled indicator x 1 Jog reference 1 05 Maximum reference clamp 1 06 1 03 Pre ramp reference Menu 2 Sequencer Menu 6 Menu 8 DIGITAL I O 13 11 Orientation enable 13 14 Orientation Orientation acceptance window 13 15 Orientation complete Limited by 13 12 3 29 Feedback encoder position 13 13 Orientation position reference _ ...

Page 12: ... Maximum reference clamp Adjustment resolution 1rpm Defines drive absolute maximum speed reference The range of this parameter is restricted by the mechanical speed limit of the motor Set by motor manufacturer These indicators are controlled by the drive sequencer defined in Menu 6 They indicate the appropriate reference as commanded by the drive logic 0 Reference disabled 1 Reference enabled This...

Page 13: ...ds on the state of bit parameter 1 45 to 1 46 These bits are for control by digital inputs such that presets can be selected by external control The preset selected depends on the binary code generated by these bits as follows Version _AN 0 34 or 1 17 indicates the value of the speed reference set by use of the keypad Version _SL 0 34 or 1 17 is not used If this parameter is selected as the freque...

Page 14: ...inputs for external preset reference selection See parameter 1 15 Indicates the reference currently being selected by parameter 1 14 See parameter 1 14 Reference selector description for further details 1 Analog reference 2 Analog reference 3 Preset reference selected 4 Keypad reference selected 5 Pulse reference selected Indicates the preset speed reference currently being selected by parameter 1...

Page 15: ...0rpm 0 200 RW Uni 2 20 Deceleration rate selector 0 5 0 RW Uni 2 21 0 26 Deceleration rate 1 0 32 000 s 1000rpm 0 200 RW Uni 2 22 Deceleration rate 2 0 32 000 s 1000rpm 0 200 RW Uni 2 23 Deceleration rate 3 0 32 000 s 1000rpm 0 200 RW Uni 2 24 Deceleration rate 4 0 32 000 s 1000rpm 0 200 RW Uni 2 25 Forward limit switch deceleration rate 0 32 000 s 1000rpm 0 200 RW Uni 2 26 Reverse limit switch de...

Page 16: ...0 1 0 1 0 0 1 1 1 2 3 4 Acceleration rate 2 21 Deceleration rate 1 2 22 Jog deceleration rate Jog selected indicator Deceleration rate 2 Deceleration rate 3 Deceleration rate 4 1 13 2 36 Deceleration rate select bit 1 indicator 2 35 Deceleration rate select bit 0 indicator 2 23 2 24 2 29 Deceleration rate selector 1 50 Preset reference selected indicator 2 20 0 1 0 1 0 0 1 1 1 2 3 4 Deceleration r...

Page 17: ...esistor overload alarm 10 12 Internal braking resistor overload accumulator 10 39 Sequencer Menu 6 1 03 Pre ramp speed reference 2 01 Post ramp reference Ramp enable 2 02 Menu 1 Menu 3 Ramp enable over ride Ramp hold enable 2 03 S ramp S ramp enable 2 06 S ramp acceleration limit 2 07 Sequencer Menu 6 Ramp control Braking control proportional gain 2 48 Braking control integral gain 2 49 2 05 Limit...

Page 18: ... alarm being set will cause a controller to operate the output of which changes the ramp rate As the controller regulates the DC link voltage the motor deceleration increases and when the motor deceleration rate reaches the programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate Controller gains can be adjusted using parameters 2 4...

Page 19: ...ected depends on the state of bit parameters 2 32 to 2 33 These bits are for control by digital inputs such that ramp rates can be selected by external control The ramp rate selected depends on the binary code generated by these bits as follows When parameter 2 10 is set to 5 the appropriate acceleration rate is automatically selected depending on the value of parameter 1 50 and so an acceleration...

Page 20: ...f parameter 1 50 and so a deceleration rate can be programmed to operate with each preset reference Since the new ramp rate is selected with the new reference the deceleration applies towards the selected preset if the motor needs to decelerate to reach the preset Refer to parameter 2 20 Refer to parameters 6 35 and 6 36 respectively The jog deceleration rate is only used when the drive is changin...

Page 21: ...lled stop When the motor is stopped the controller ceases to operate Controller gains can be adjusted using parameters 2 46 and 2 47 If the mains is re applied during the stop the controller still operates to zero speed the mains loss bit 6 48 remains set and can only be reset by giving a drive reset Used as a ramp rate controller for preventing braking resistor overload trip See parameter 2 04 fo...

Page 22: ... 000 SLM RW Uni 3 15 Speed loop differential feedback gain Kd2 0 0000 0 1000 SLM RW Uni 3 16 0 12 Speed loop PID gains selector 0 3 1 RW Uni 3 18 Total inertia 0 1 6000 0 kgcm2 or 0 00001 0 6 kgm2 Jt RO Uni 3 19 0 09 Stiffness angle 0 0 30 0 6 0 RW Uni 3 20 0 10 Load inertia 0 1 6000 0 kgcm2 or 0 00001 0 6 kgm2 JL RW Uni 3 22 Hard speed reference 500 0 rpm 0 0 RW Bi 3 23 Hard speed reference selec...

Page 23: ...d 3 08 Absolute at speed detect mode select 3 09 10 03 At zero speed indicator 10 05 Below set speed indicator 10 06 At speed indicator 10 07 Above set speed indicator Speed detection and limits 1 2 6 7 13 14 A A B B Z Z SIM ENC Demand Feedback SLM PID buffer 1 F D mode select 3 56 Speed detection indicators Monitoring 3 28 Feedback encoder revolution counter 3 29 Feedback encoder position 3 32 Z ...

Page 24: ...trip due to overspeed When this parameter is set to a zero the limit is set by parameter 1 06 x 1 2 3 09 0 reference window mode The at speed band is from reference lower limit to reference upper limit The reference is the pre ramp reference parameter 1 03 The at speed indicator is active when the following is true 1 03 3 06 3 02 1 03 03 07 3 09 1 absolute window mode The at speed band is from the...

Page 25: ...r and so the integral gain can be changed when the controller is active without causing large torque demand transients Differential gain Kd The differential gain is provided in the feedback of the speed controller to give additional damping The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function Increasing the differentia...

Page 26: ...delay Torque reference calculation delay Torque controller delay Tdelay 62 5µs 47 5µs 600µs 710µs Description M Ax Parameter Symbol Motor rated current 5 07 IM rated Symmetrical current limit 4 07 Ilimit Motor torque constant 5 32 Kt Motor Inertia 5 33 Jm Load Inertia 3 20 JL Stiffness Angle 3 19 α Total inertia 3 18 J Description Symbol Value Units Motor rated current IM rated 9 5 A Symmetrical c...

Page 27: ...placement when the drive delivers a torque producing current equivalent to the drive rated 3 13 Speed loop proportional gain Kp2 ô 0 0000 0 3000 ð SLM RW Uni 3 14 Speed loop integral gain Ki2 ô 0 0000 30 000 ð SLM RW Uni 3 15 Speed loop derivative gain Kd2 ô 0 0000 0 1000 ð SLM RW Uni 3 16 Speed loop PID gain selector ô 0 3 ð 1 RW Uni 0 12 Pr 3 16 KP KI KD KC Current demand filter cut off 1 3 10 3...

Page 28: ...er up SLM uses single cycle Sin Cos output to find absolute shaft position The encoder has a marker channel and this is used to correct the absolute position with in a revolution after power Up After passing through the marker this bit is set and zero offset parameter 3 54 is updated with the difference between 0 of encoder position 3 29 and marker This is due to error on initial angle calculation...

Page 29: ...requency Directional differential outputs Including Marker pulses Allows the user to select which gain buffer is required Buffer selection x don t care conditions Refer to parameters 3 10 3 11 3 12 Used to indicate which PID buffer currently in use 3 52 Z marker pulse offset ô 0 65535 ð REV RO Uni 3 53 Shaft key offset ô 0 65535 ð SLM REV RO Uni 3 54 Zero offset ô 0 180 ð 0 o RW Uni 3 55 Number of...

Page 30: ...techniques com Issue Number 4 The speed feedback in counts 250µs taken from the SLM encoder This is used as source for analog output This can be used by a PLC for instantaneous speed measurements 3 64 Speed feedback unfiltered ô 2048 ð RO Bi ...

Page 31: ...ain 0 5000 rads s RW Uni 4 27 Current demand filter 3 cut off frequency 0 1200Hz 500 RW Uni 4 28 Symmetrical current limit Kc3 0 300 0 IM 200 0 RW Uni 4 51 Reserved for internal system purposes 4 52 Motor thermal overload trip level 0 125 IM 110 RW Uni 4 53 Symmetrical current limit after motor thermal overload trip 0 300 IM 105 RW Uni 4 54 Thermal overload time to trip 0 200s 10 RW Uni 4 55 SLM o...

Page 32: ...overload detection Current demand 4 04 Menu 5 Current demand Motor current 2 Menu 3 4 59 4 58 4 57 Motor overload alarm U phase current loop offset correction V phase current loop offset correction 4 56 4 55 SLM overheat threshold Motor overload alarm level Torque compensation gain 4 15 Motor rated current Motor thermal time constant Drive rated current 11 32 5 07 4 23 Current demand filter 2 cut ...

Page 33: ...ameter 4 10 is set to one 0 Torque reference offset disable 1 Torque reference offset enable 0 Speed control mode The torque demand is equal to the speed loop output 1 or 2 Torque control The torque demand is given by the sum of the torque reference and the torque offset if enabled The speed is not limited in any way however the drive will trip at the over speed threshold if runaway occurs To acti...

Page 34: ...rom cold with constant motor current is given by Ttrip Par 4 15 x ln 1 4 52 100 x Par 5 07 Par 4 01 2 The thermal model accumulator is set to zero at power up and accumulates the temperature of the motor whilst the drive remains powered up Refer to parameter 4 12 Refer to parameter 4 07 and P I D calculation section in Menu 3 Not available in current software version Refer to parameter 4 12 Refer ...

Page 35: ...eded Typical Example 1 Set 4 53 Symmetrical current limit after motor thermal overload alarm at 200 the largest of the symmetrical current limit values 2 Set 4 54 Thermal overload time to trip at 12 process cycle time rounded up to nearest integer 3 Calculate the following 4 Calculate the following 5 Calculate the following 6 Enter the calculated value into 4 52 7 Perform the following as appropri...

Page 36: ...ndary protection trips the drive on motor overload I2t AC if Motor overload warning bit 10 17 is continuously set more than Motor overload time limit The value set in this parameter is the trip threshold level for the SLM thermistor Once this level has been exceeded the drive will trip Oht3 This bit parameter is set if the motor overload accumulator 10 58 rises above the motor overload alarm level...

Page 37: ...ted current 0 FLC A SLM RO Uni 5 08 Motor rated speed 0 7500rpm SLM RO Uni 5 09 Motor rated voltage 0 VS SLM RO Uni 5 11 Motor number of poles 0 255 SLM RO Uni 5 12 Flux alignment test enable 0 1 0 RW Bit 5 32 Motor torque constant 0 00 500 00Nm A SLM RO Uni 5 33 Motor inertia 0 1 6000 0 kgcm2 or 0 00001 0 6 kgm2 SLM RO Uni 5 34 0 11 Inertia units selected 0 1 SLM RO Bit 5 52 Reserved for internal...

Page 38: ...C bus voltage Current measurement Offset adjustment Motor rated speed Motor number of poles Motor rated current Menu 4 Motor parameters 5 07 5 08 5 11 Menu 4 Sine wave modulator Position information SLM IU IV Current loop Braking control Current demand Motor inertia 5 33 Feedback encoder phase offset 3 25 Phase advance MO Motor current Menu 10 technology ...

Page 39: ...If a RUN contact is connected ensure that it is open 4 Apply the AC supply or auxiliary back up supply to the drive 5 Ensure parameter 6 08 Hold zero speed select is set at 0 6 Close the Hardware enable contact 7 Check that the display shows rdY or that parameter 0 01 is set at 0 8 Set 5 12 Flux alignment test enable at 1 When the test is completed 5 12 automatically returns to 0 9 Re enter the re...

Page 40: ...settings of parameter 5 54 are as follows 0 Ranges are as shown for 3 18 and 3 20 1 Ranges are divided by 10 The value of this parameter needs to be known before programming 3 18 and 3 20 5 52 Reserved for internal system purposes 5 53 Reserved for internal system purposes 5 54 Inertia range select ô 0 1 ð SLM RW Bit ...

Page 41: ...p time years days 00 00 9 365 y d RO Uni S P 6 21 Powered up time hours minutes 00 00 23 59 h m RO Uni S P 6 31 Sequencing bit JOG FORWARD 0 1 0 RW Bit 6 32 Sequencing bit JOG REVERSE 0 1 0 RW Bit 6 33 Sequencing bit FORWARD REVERSE 0 1 0 RW Bit 6 34 Sequencing bit RUN 0 1 0 RW Bit 6 35 FORWARD LIMIT switch 0 1 0 RW Bit 6 36 REVERSE LIMIT switch 0 1 0 RW Bit 6 44 Active supply indicator 0 1 RO Bit...

Page 42: ... 39 M Ax Advanced User Guide www controltechniques com Issue Number 4 Figure 8 1 Menu 6 software diagram 13 15 Orientation complete Under volts warning threshold 6 50 10 16 UV warning flag ...

Page 43: ... drive status will be StP when the drive is at standstill rather than rdY 0 rdY 1 StP Setting this parameter to 0 will disable the drive It must be at 1 for the drive to run 0 Drive disable 1 Drive enable Hardware enable contact must also be closed to run the drive Refer to parameter 8 09 for hardware enable indicator Together with the next parameter the drive records the amount of time the drive ...

Page 44: ...d SLM module are using the main power terminals to derive their supplies The drive will operate normally Parameters that are saved at power down are saved when the supply is removed in this mode and a UU trip occurs 1 30V Control backup Auxiliary back up supply in operation The drive detects mains loss by comparing the DC bus voltage with the controlled stop enable DC bus level parameter 6 48 If t...

Page 45: ...ion selector is set at 1 36 or 3 22 and 7 57 Analog input scaling enable is set at 1 The scaling should be used for final adjustment only Keep the ratio of 7 55 over 7 56 below 1 1 Failure to do so will possibly end up in speed reversal The appropriate parameter as follows indicates the scaled speed demand 1 36 Analog reference 3 22 Hard speed reference Parameter Range ô Default ð Type 7 01 Analog...

Page 46: ...og output 2 represents 200 FLC Analog input destination in torque mode When the drive is in torque mode parameter 4 11 set to 1 or 2 and controlled by an analog input parameter 7 10 Analog input destination selector must be set to 4 08 parameter 1 14 Reference selector must be set to 3 to 5 Summary for torque mode with analog reference 1 Set 1 14 to 3 2 Set 4 11 to 1 or 2 3 Set 7 10 to 4 08 4 Set ...

Page 47: ... M Ax Advanced User Guide 44 Issue Number 4 www controltechniques com ...

Page 48: ... 45 M Ax Advanced User Guide www controltechniques com Issue Number 4 Figure 9 1 Menu 7 software diagram ...

Page 49: ... M Ax Advanced User Guide 46 Issue Number 4 www controltechniques com ...

Page 50: ...a non bit parameter can be programmed After modifications of this parameter the source is only changed when a reset is performed or the drive powered down This parameter is used to scale the output if so desired Automatic scaling is provided such that when the source parameter is at its maximum value the analog output will be at a maximum The parameter which is desired to be read via the analog ou...

Page 51: ...ale factor Counts 250µs for full analog input This scale factor is automatically adjusted by the calibrate routine parameter 7 25 Default value is 227 which is nominal counts with 10V input This is the output of the V F accumulator Updated every 250µs The above two parameters are used for analog input ratio when routed for Analog Reference input Parameter 1 36 to achieve the last niche of necessar...

Page 52: ...r JOG FORWARD 00 00 20 50 menu parameter 6 31 RW Uni P 8 24 Digital input 4 destination selector FORWARD LIMIT 00 00 20 50 menu parameter 6 35 RW Uni P 8 25 Digital input 5 destination selector REVERSE LIMIT 00 00 20 50 menu parameter 6 36 RW Uni P 8 26 Digital input 6 destination selector RESET 00 00 20 50 menu parameter 10 33 RW Uni P 8 27 Digital input 7 destination selector Preset reference se...

Page 53: ... PRESET SELECT BIT 1 Default destination parameter 6 34 6 33 6 31 6 35 6 36 10 33 1 45 1 46 Pin 10 9 8 7 1 6 13 12 Y 1 2 3 4 Default function M AX RUNNING AT ZERO SPEED ALARM AT SPEED Default source parameter 10 02 10 03 10 19 10 06 Pin 5 4 3 2 Digital output Y state indicator 8 5Y 8 7Y Digital output Y source selector 8 6Y Digital output Y invert Digital output Y Hardware enable 3 Hardware enable...

Page 54: ...ert parameter is used to change the sense of terminal 7 on the Digital I O port Setting this parameter to 1 causes the input sense to the destination parameter to be inverted 0 Not inverted 1 Inverted This invert parameter is used to change the sense of terminal 1 on the Digital I O port Setting this parameter to 1 causes the input sense to the destination parameter to be inverted 0 Not inverted 1...

Page 55: ...ter for terminal 9 on the Digital I O port Only bit parameters can be programmed into this parameter If a non valid parameter is programmed the input is not routed anywhere After modification of this parameter the destination is only changed when a reset or power down and back up again Defaulted to Reverse select This parameter should be programmed with the destination parameter for terminal 8 on ...

Page 56: ... again Defaulted to Preset reference select bit 0 This parameter should be programmed with the destination parameter for terminal 12 on the Digital I O port Only bit parameters can be programmed into this parameter If a non valid parameter is programmed the input is not routed anywhere After modification of this parameter the destination is only changed when a reset or power down and back up again...

Page 57: ...lid parameter is programmed an output will assume the last valid state i e the value of previously programmed parameter After modification of this parameter the source is only changed when a reset is performed or a power down and back up again Defaulted to drive running This parameter should be programmed with the source parameter for terminal 4 on the Digital I O port Only bit parameters can be p...

Page 58: ...output will drive current After modification of this parameter the source is only changed when a reset is performed or a power down and back up again Defaulted to At speed This parameter should be programmed with the source parameter for the status relay on terminal 8 and 10 on the MC EIA485 connector Only bit parameters can be programmed into this parameter If a non valid parameter is programmed ...

Page 59: ...ourth last trip RO Txt S P 10 24 Fifth last trip RO Txt S P 10 25 Sixth last trip RO Txt S P 10 33 Drive reset 0 1 RO Bit 10 38 User defined trips 0 255 0 RW Uni 10 39 0 42 Internal braking resistor overload accumulator 0 100 0 RO Uni P 10 40 Status word 0 32767 RO Uni P 10 41 Trip 0 time years days 0 000 9 365 y d RO Uni P 10 42 Trip 0 time hours minutes 00 00 23 59 h m RO Uni S P 10 43 Trip 1 ti...

Page 60: ...peed feedback is above the at speed window as defined by parameters 3 07 and 3 09 Parameter is only set if drive is running 0 Outside above set speed threshold 1 Above set speed threshold reached This parameter is set when the power is being transferred from the motor to the braking resistor 0 Braking circuit inactive DC Bus level below 780V 1 Braking circuit active DC Bus level above 780V This pa...

Page 61: ...ip is lost off the bottom of the log Possible trips for M Ax are shown in the table below At time stamps are stored for each trip see parameters 10 41 to 10 47 UU trips are not stored unless the drive is running when the trip occurs Any trip can be initiated by the actions described or by writing the relevant trip number to parameter 10 38 If any trips shown as user trips are initiated the trip st...

Page 62: ... model see 10 56 22 O ht2 Drive over heat based on heat sink temperature see 7 04 23 O ht3 SLM over heat based on PCB temperature see 10 59 24 O ht4 SLM over heat based on PCB temperature see 10 59 25 tr25 User trips 26 OP Oul Digital output overload 27 29 tr27 tr29 User trips 31 EEF Internal drive EEPROM failure All the parameters are set to default The trip can only be removed by entering a load...

Page 63: ...maximum time difference that can be stored is 600 hours If this time is exceeded the value stored is 320 00 The value of parameter 10 52 indicates which of the following has caused this trip 10 38 User defined trips ô 0 255 ð 0 RW Uni 1 55 General drive trips that give trip strings 56 99 User trips that give string trXX where XX is the trip number 100 If the parameter is set to 100 the drive is re...

Page 64: ...e drive includes a thermal protection system The drive over temperature alarm bit is set if this parameter is greater than 75 The drive will trip on O ht1 if 10 56 100 Refer to parameter 10 53 10 52 Cause of trip 0 Dl Er trip has occurred before SL Er trip 1 Encoder object crc or checksum incorrect 2 Motor object crc checksum incorrect 4 Eze object crc checksum incorrect 8 Failure in encoder 16 In...

Page 65: ...r 4 54 Motor Overload time limit Refer to parameter 4 54 The drive will trip on O ht3 if 10 59 85 C This bit parameter is set to indicate that either the SL Er or dL Er trip condition has occurred 10 58 Motor I2 T accumulator ô 0 0 100 0 ð RO Uni P 0 40 10 59 SLM PCB temperature ô 0 100 ð C RO Uni 10 60 SLM technology fault warning ô 0 1 ð RO Bit ...

Page 66: ...ltage rating 200 480 V RO Uni P 11 34 0 47 Drive software build number 00 99 RO Uni P 11 39 SLM software version 00 99 99 99 RO Uni P 11 51 Hardware revision 0 15 RO Uni 11 52 SLM update enable 0 1 RW Bit 11 53 SLM address 1 128 RW Uni 11 54 SLM data command 0 65535 RW Uni 11 55 SLM instruction 0 65535 RW Uni 11 56 0 45 SLM communications integrity 0 100 RO Uni P 11 57 Number of errors on last ins...

Page 67: ... M For example when 3 02 1500rpm 0 46 is as follows 0 46 1500 x 0 1 x 1 150 Approximate indication of torque 1 Set parameter 11 20 at 4 01 or 0 07 motor current magnitude 2 Two decimal places are used in the value therefore M 10 3 Set parameter 11 21 at 0 16 1 6 10 0 16 to represent the KT of the motor Here KT is divided by 10 due to M 10 4 Parameter 0 46 will indicate as follows 0 46 4 01 x 0 16 ...

Page 68: ...etting this security code protects all parameters from being adjusted except this one until the correct code has been entered in parameter xx 00 Setting a security code of zero does not set security but disables the function that requires 149 to be entered into parameter xx 00 to exit Menu 0 after power up This parameter indicates the maximum continuous current rating of the drive in amps This par...

Page 69: ...struction 2 SLM data read from the specified address in parameter 11 53 by the execution of SLM instruction 1 11 55 0 Reserved 1 Read SLM Parameter Read SLM Address specified on menu 11 53 and update menu 11 54 with the read data 2 Write SLM Parameter Write to SLM Address specified on menu 11 53 with the Data specified on menu 11 54 3 Issue Commands to SLM Issue specified Command on menu 11 54 to ...

Page 70: ...o 1 to indicate while an SLM instruction is in progress and returns to 0 on execution accomplished This parameter enables disables the background SLM status polling 1 Continuous poll for status using SLM instruction 8 SLM Background read enabled 0 Continuous poll for status using SLM instruction 8 SLM Background read disabled Reserved This parameter specifies the time delay in between the drive po...

Page 71: ...le for SL_ option Reserved This parameter defines the mode of operation of the drive 1 Standalone operation as a speed controller 0 Drivelink compatible controller M Ax operation as a current amplifier Update flash memory parameter store Refer to 0 50 information This parameter identifies for the user which flash device is fitted to the drive 11 63 SLM buffer update ô 0 1 ð 0 RW Bit 11 64 SLM on l...

Page 72: ...00 rpm RO Bi P 13 02 Revolutions error 0 65535 RW Uni 13 03 Position error 0 65535 RW Uni 13 10 Pulse position control select 0 2 0 RW Uni 13 11 Orientation enable 0 1 0 RW Uni 13 12 Orientation speed 0 250 rpm 50 RW Uni 13 13 Orientation position reference 0 65535 0 RW Uni 13 14 Orientation acceptance window 0 2000 200 RW Uni 13 15 Orientation complete 0 1 RW Bit 13 20 Pulse reference selector 0 ...

Page 73: ... M Ax Advanced User Guide 70 Issue Number 4 www controltechniques com ...

Page 74: ... 71 M Ax Advanced User Guide www controltechniques com Issue Number 4 Figure 13 1 Menu 13 software diagram 2 02 Ramp enable ...

Page 75: ...Reference position most significant word Reference position least significant word _ Feedback position 3 28 3 29 Feedback encoder revolution counter Feedback encoder position Position error 13 02 13 03 Revolutions error Position error Menu 3 13 10 Pulse position control select See parameter table for settings ...

Page 76: ...ssed 0 Pulse reference without position control 1 Pulse reference with position control 2 Digital reference control via serial communications Setting this parameter enables the orientation function This function allows the motor to be stopped at a pre defined position under analog or digital speed reference control The orientation position for the shaft is set in Orientation position reference par...

Page 77: ...een the banks with a bit parameter Each Bank is comprised of a numerator and denominator The sampled pulse counts every 250µs are multiplied by the corresponding numerator and divided by the corresponding denominator to obtain the required ratio of Speed Position of the slave following the pulse reference input 13 20 Pulse reference selector ô 0 2 ð 1 RW Uni 13 21 Reference encoder Number of lines...

Page 78: ...ing the offset user enables the bit Move to Offset 13 30 to change the position The drive then moves to the new relative position with the programmed Maximum Rate of change 13 31 Pulses 125µs Drive clears 13 30 after reaching to the new position The absolute offset angle in encoder counts 65535 counts rev When this bit is set to 1 with a non zero value of Pulse Reference Offset 13 29 the slave wil...

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