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Emerson Digitax ST, User Manual

The Emerson Digitax ST is a cutting-edge device for precise and efficient motor control. To operate this advanced equipment seamlessly, access the comprehensive User Manual for free download at manualshive.com. Clear instructions, maintenance tips, and troubleshooting techniques are just clicks away, optimizing your experience with this outstanding product.

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Safety 

Information

Product 

information

Mechanical 

installation

Electrical 

installation

Getting 

started

Basic 

parameters

Running the 

motor

Optimization

EtherCAT 

interface

SMARTCARD 

Operation

Onboard 

PLC

Advanced 

parameters

Technical 

Data

Diagnostics

UL listing 

information

Digitax ST User Guide                                                                                                                                                                         

77

Issue: 5                                                                       

9.16.2     RxPDO mappings

Objects with indices from 0x1600 to 0x17FF specify receive PDO 
mappings. The mappings from DSP-402 are included as standard (the 
PDO mappings will have the following default values).

Table 9-13 RxPDO mappings

The RxPDO mapping objects are defined in the following tables. Each 
mapping object has the maximum number of sub-indices (each 
representing an object mapped to a PDO) defined in the XML 
configuration file (specified as “CF” in the following descriptions).

Table 9-14 RxPDO mapping 1

Table 9-15 RxPDO mapping 2

Table 9-16 RxPDO mapping 6

Table 9-17 RxPDO mapping 22

9.16.3     TxPDO mappings

Objects with the indices from 0x1A00 to 0x1BFF specify transmit PDO 
mappings. The following mappings from DSP-402 are included as 
standard.

Table 9-18 TxPDO mappings

The PDO mapping objects are defined below. Each mapping object has 
the maximum number of sub-indices (each representing an object 
mapped to a PDO) defined in the XML configuration file.

PDO number

Mapping object 

index

Mapping object name

1

0x6040

controlword

2

0x6040
0x6060

controlword

modes of operation

6

0x6040
0x6042

controlword

vl_target _velocity

0x1600

Receive PDO mapping 1

Sub-index 0: Number of mapped objects
Access: RW

Range: 0 to (CF) Size: 1 byte 

Unit: N/A

Default: 1
Description
:

The number of mapped objects in thie PDO

Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 
0xFFFFFFFF

Size: 4 bytes

Unit: N/A

Default: 

0x60400010 - the DSP-402 control word (0x6040)

Description
: 

A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.

0x1601

Receive PDO mapping 2

Sub-index 0: Number of mapped objects
Access: RW

Range: 0 to (CF) Size: 1 byte 

Unit: N/A

Default: 2
Description:  The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 
0xFFFFFFFF

Size: 4 bytes

Unit: N/A

Default: 

0x60400010 - the DSP-402 control word (0x6040)

Description: 

A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.

Sub-index 2: 2nd mapped object

Access: RW

Range: 0 to 
0xFFFFFFFF

Size: 4 bytes

Unit: N/A

Default: 

0x60600008 - the DSP-402 modes of operation object 
(0x6060)

Description: 

A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.

0x1605

Receive PDO mapping 6

Sub-index 0: Number of mapped objects
Access: RW

Range: 0 to (CF) Size: 1 byte 

Unit: N/A

Default: 2
Description:  The number of mapped objects in this PDO.
Sub-index 1: 1st mapped object

Access: RW

Range: 0 to 
0xFFFFFFFF

Size: 4 bytes

Unit: N/A

Default: 

0x60400010 - the DSP-402 control word (0x6040)

Description: 

A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.

Sub-index 2: 2nd mapped object

Access: RW

Range: 0 to 
0xFFFFFFFF

Size: 4 bytes

Unit: N/A

Default: 

0x60600008 - the DSP-402 modes of operation object 
(0x6060)

Description: 

A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.

0x1615

Receive PDO mapping 22

Sub-index 0: Number of mapped objects
Access: RW

Range: 0 to (CF) Size: 1 byte 

Unit: N/A

Default: 0
Description: The number of mapped objects in thie PDO
Sub-indices 1 to 255: 1st to 255th mapped objects in this PDO.

Access: RW

Range: 0 to 
0xFFFFFFFF

Size: 4 bytes

Unit: N/A

Default: 0

Description: 

A mapping to an object with the following format:

Bits 0 to 7: Length of the mapped object in bits, e.g. a 32-
bit parameter would have a length of 32 or 0x20.
Bits 8 to 15: Sub-index of the mapped object.
Bits 16 to 31: Index of the mapped object.

PDO number

Mapping object 

index

Mapping object name

1

0x6041

statusword

2

0x6041
0x6061

statusword

modes_of_operation_display

3

0x6041
0x6064

statusword

position_actual_value

6

0x6041
0x6044

statusword

vl_velocity_actual_value

Summary of Contents for Digitax ST

Page 1: ...User Guide AC variable speed drive for servo motors Part Number 0475 0001 05 Issue 5 ...

Page 2: ... impacts of product manufacture and end of life disposal Nevertheless when the products eventually reach the end of their useful life they must not be discarded but should instead be recycled by a specialist recycler of electronic equipment Recyclers will find the products easy to dismantle into their major component parts for efficient recycling Many parts snap together and can be separated witho...

Page 3: ...ge 6 contains general safety information It is essential that the warnings are observed and the information considered when working with or designing a system using the drive This map of the user guide helps to find the right sections for the task you wish to complete NOTE 1 Safety information 2 Product information 3 Mechanical installation 4 Electrical installation 5 Getting started 6 Basic param...

Page 4: ...nnections 37 4 16 Encoder terminals 38 4 17 Safe Torque Off 42 5 Getting started 43 5 1 User interfaces 43 5 2 CT Soft 43 5 3 SYPTPro Indexer Plus only 43 5 4 EZMotion PowerTools Pro 43 5 5 Keypad operation 44 5 6 Understanding the display 44 5 7 Displaying parameters with non default values only 47 5 8 Displaying destination parameters only 47 5 9 Communications 47 6 Basic parameters 49 6 1 Singl...

Page 5: ...52 12 14 Menu 14 User PID controller 156 12 15 Menus 15 and 16 Solutions Module set up 159 12 16 Menu 17 Motion processors 160 12 17 Menu 18 Application menu 1 163 12 18 Menu 19 Application menu 2 163 12 19 Menu 20 Application menu 3 163 12 20 Menu 21 Second motor parameters 164 12 21 Menu 22 Additional Menu 0 set up 165 12 22 Advanced features 166 13 Technical Data 173 13 1 Drive technical data 1...

Page 6: ...s regarding transport storage installation and use of the drive must be complied with including the specified environmental limits Drives must not be subjected to excessive physical force 1 5 Access Access must be restricted to authorized personnel only Safety regulations which apply at the place of use must be complied with 1 6 Fire protection The drive enclosure is not classified as a fire enclo...

Page 7: ...to go blank immediately it is possible the capacitors will not be discharged In this case consult Emerson Industrial Automation or their authorized distributor 1 11 5 Equipment supplied by plug and socket Special attention must be given if the drive is installed in equipment which is connected to the AC supply by a plug and socket The AC supply terminals of the drive are connected to the internal ...

Page 8: ...therCAT drive offers onboard EtherCAT allowing the product to be connected to an EtherCAT network as a slave device It can be used in a variety of applications including those requiring accurate synchronization and precise motion control All variants provide a Safe Torque Off function Four documentation guides are available for Digitax ST these cover all variants All guides are available for downl...

Page 9: ...cal drive label Model Digitax ST Frame size Voltage rating 2 4 200V to 240V 380V to 480V Current rating step Variant DST 1 2 01 B B I P Z E Base Indexer Plus EZMotion EtherCAT Model 3098 0010 2 2 5 1Apk 250ms S N 3000005001 Serial number Rating Please read the manual before connecting Electric Shock Risk Wait 10 mins between disconnecting supply and accessing terminals UL file E171230 Approvals Ap...

Page 10: ... removed the warranty for the drive will be void The drive is supplied with a SMARTCARD installed Do not remove until after first power up as defaults are stored on the SMARTCARD Solutions Module slot 2 cover Solutions Module slot 1 cover Buffered encoder output Encoder In connection Motor connections Line to ground varistor screw AC supply 48V connection for low voltage DC operation Braking resis...

Page 11: ...2 2 Solutions Module identification SM Keypad Plus SMARTCARD DST Keypad CT Comms cable External footprint bookcase EMC filter Internal braking resistor Grounding bracket 15 way D type converter I O Expansion Applications Automation Fieldbus Feedback Slot 2 Slot 1 Type Solutions Module Color Name Further Details Feedback Light Green SM Universal Encoder Plus Universal Feedback interface Feedback in...

Page 12: ...nded I O interface Increases the I O capability by adding the following to the existing I O in the drive Yellow SM I O 32 Extended I O interface Increase the I O capability by adding the following to the existing I O in the drive High speed digital I O x 32 24 V output Dark Yellow SM I O Lite Additional I O 1 x Analog input 10 V bi polar or current modes 1 x Analog output 0 10 V or current modes 3...

Page 13: ...RCOS option Class B compliant Torque velocity and position control modes supported with data rates bit sec 2 MB 4 MB 8 MB and 16 MB Minimum 250 μsec network cycle time Two digital high speed probe inputs 1 μsec for position capture Beige SM Ethernet Ethernet option 10 base T 100 base T Supports web pages SMTP mail and multiple protocols DHCP IP addressing Standard RJ45 connection Pale Green SM LON...

Page 14: ... integral EMC filter in areas of sensitive equipment Communications CT Comms cable Cable with isolation RS232 to RS485 converter For connecting PC Laptop to the drive when using the various interface software e g CTSoft CTSoft Software for PC or Laptop which allows the user to commission and store parameter settings SyPTLite Software for PC or Laptop which allows the user to program PLC functions ...

Page 15: ...s to be at least class V 2 The location and size of the bottom shall cover the area shown in Figure 3 1 Any part of the side which is within the area traced out by the 5 angle is also considered to be part of the bottom of the fire enclosure Figure 3 1 Fire enclosure bottom layout The bottom including the part of the side considered to be part of the bottom must be designed to prevent escape of bu...

Page 16: ...external EMC filter may be required at the drive inputs which must be located very close to the drives Space must be made available for the filters and allowance made for carefully segregated wiring Both levels of precautions are covered in section 4 10 EMC Electromagnetic compatibility on page 28 3 2 7 Hazardous areas The drive must not be located in a classified hazardous area unless it is insta...

Page 17: ...ower up Figure 3 7 Minimum mounting clearances 2 mm clearance between drives to allow for mechanical tolerance If Solutions Modules are installed a larger clearance between drives will be required if access to the modules is needed without removing the drive Enclosure The drive is intended to be mounted in an enclosure which prevents access except by trained and authorized personnel and which prev...

Page 18: ...ating Filter details for each drive rating are provided in the tables below Table 3 1 External EMC filter ratings The external EMC filters can be footprint or bookcase mounted see Figure 3 9 and Figure 3 10 Figure 3 9 Bookcase mounting Figure 3 10 Footprint mounting 47mm 1 85in 312 7mm 12 31in Used with Number of phases Filter part number Maximum continuous current Power losses at rated current IP...

Page 19: ...ing resistor shield 4 Install the optional internal braking resistor in the slot provided note the angle 5 Electrically connect the braking resistor and thermistor connections shown in Figure 4 1 Power terminal connections on page 22 6 Re install the grill and mounting screws by reversing the procedure in points 1 and 2 3 6 2 Optional external braking resistor If using an external braking resistor...

Page 20: ... 1 lb in Control terminals 0 2 N m 1 7 lb in Status relay terminals 0 5 N m 4 5 lb in Ground terminals 4 N m 35 lb in Small ground terminal screws 2 N m 17 7 lb in Model size Terminal block description Max cable size All 11 way control connectors 1 5 mm2 16 AWG All 2 way relay connector 2 5 mm2 12 AWG Environment Ambient temperature Ensure the enclosure temperature remains at or below maximum spec...

Page 21: ...l option units Stored charge The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected If the drive has been energized the AC supply must be isolated at least ten minutes before work may continue Normally the capacitors are discharged by an internal resistor Under certain unusual fault conditions it is possible that the capacitors m...

Page 22: ...ply Supply ground AC connections _ DC DC High current DC connections _ Low voltage DC 48V DST12XX 200 to 240V 10 DST14XX 380 to 480V 10 Connectors specification Maximum size of power cable 4 0mm 10AWG Torque setting 1 N m 2 PE It is essential that the braking resistor be protected against overload caused by a failure of the brake control Unless the resistor has in built protection a circuit like t...

Page 23: ...ative phase sequence equivalent to 5 voltage imbalance between phases Severe disturbances may be caused by the following factors for example Power factor correction equipment connected close to the drive Large DC drives having no or inadequate line reactors connected to the supply Direct on line started motor s connected to the supply such that when any of these motors are started the voltage dip ...

Page 24: ... three main functions It can be used as a back up power supply to keep the control circuits of the drive powered up when the line power supply is removed This allows any fieldbus modules or serial communications to continue to operate It can be used to supplement the drive s own internal 24 V when multiple SM I O Plus modules are being used and the current drawn by these modules is greater than th...

Page 25: ... bus system the maximum AC input fusing is shown in Table 4 8 below Table 4 8 Maximum AC input fusing Refer to the supplier of your drive for further information regarding DC bus paralleling 4 7 Output circuit and motor protection The output circuit has fast acting electronic short circuit protection which limits the fault current to typically no more than five times the rated output current and i...

Page 26: ... with a good quality insulation system there is no need for any special precautions In case of doubt the motor supplier should be consulted Special precautions are recommended under the following conditions but only if the motor cable length exceeds 10 m AC supply voltage exceeds 500 V DC supply voltage exceeds 670 V Operation of 400 V drive with continuous or very frequent sustained braking For t...

Page 27: ...e 3 B detects AC pulsating DC and smooth DC fault currents Type AC should never be used with drives Type A can only be used with single phase drives Type B must be used with three phase drives If an external EMC filter is used a delay of at least 50ms should be incorporated to ensure spurious trips are not seen The leakage current is likely to exceed the trip level if all of the phases are not ene...

Page 28: ...on level and when used with any length of shielded cable up to the limit for the drive it is unlikely that nearby industrial equipment will be disturbed It is recommended that the filter be used in all applications unless the ground leakage current is unacceptable or the above conditions are true Figure 4 4 Removing the internal EMC filter and line to ground varistors 1 Internal EMC filter Remove ...

Page 29: ...bles Plan for all signal cables to be routed at least 300mm 12in from the drive and any power cable Optional braking resistor Locate optional braking resistor and overload external to cubicle preferably near to or on top of the cubicle Note For EMC compliance 1 When using an external EMC filter one filter is required for each drive 2 Ensure direct metal contact at drive and filter mounting points ...

Page 30: ... enclosure Level 3 industrial IEC61000 4 3 EN61000 4 3 Radio frequency radiated field 10V m prior to modulation 80 1000 MHz 80 AM 1 kHz modulation Module enclosure Level 3 industrial IEC61000 4 4 EN61000 4 4 Fast transient burst 5 50 ns 2 kV transient at 5 kHz repetition frequency via coupling clamp Control lines Level 4 industrial harsh 5 50 ns 2 kV transient at 5 kHz repetition frequency by dire...

Page 31: ...the rated current of the PDS must exceed 400 A or the supply voltage exceed 1000 V for the complete PDS N Where the drive is incorporated into a system with rated input current exceeding 100 A the higher emission limits of EN 61800 3 2004 for the second environment are applicable and no filter is then required N Operation without an external filter is a practical cost effective possibility in an i...

Page 32: ...nable should be connected on all drives and pin 4 24 V should be linked to at least 1 drive to supply power to the converter in the cable Only one CT Comms Cable can be used on a network 4 13 Control connections 4 13 1 General Table 4 18 The control connections consist of Key All analog terminal functions can be programmed in menu 7 All digital terminal functions including the relay can be program...

Page 33: ...ogic select N The common 0V from analog signals should wherever possible not be connected to the same 0V terminal as the common 0V from digital signals Terminals 3 and 11 should be used for connecting the 0V common of analog signals and terminals 21 23 and 30 for digital signals This is to prevent small voltage drops in the terminal connections causing inaccuracies in the analog signals If any of ...

Page 34: ...al control circuits are insulated from human contact by at least one layer of insulation supplementary insulation rated for use at the AC supply voltage WARNING 0V common External 24V supply 0V common Analog speed reference 1 Connections for single ended input signal Connections for differential input signal 0V common 0V common 0V common Analog input 2 Analog input 1 0V common 1 2 5 6 3 21 22 23 2...

Page 35: ...0V Maximum offset 700 μV Maximum non linearity 0 3 of input Maximum gain asymmetry 0 5 Input filter bandwidth single pole 1 kHz Sampling period 250 μs with destinations as Pr 1 36 Pr 1 37 or Pr 3 22 7 Analog input 2 Default function Speed reference Type of input Bipolar single ended analog voltage or unipolar current Mode controlled by Pr 7 11 Operating in Voltage mode Full scale voltage range 9 8...

Page 36: ...ing all digital I O Protection Current limit and trip 23 0V common Function Common connection for all external devices 24 Digital I O 1 25 Digital I O 2 26 Digital I O 3 Terminal 24 default function AT ZERO SPEED output Terminal 25 default function DRIVE RESET input Terminal 26 default function RUN FORWARD input Type Positive or negative logic digital inputs positive or negative logic push pull ou...

Page 37: ...ed voltage 30 V LogicThreshold 15 5 V 2 5 V Low state maximum voltage for SIL3 and EN954 1 category 3 2 V or open circuit Response time Nominal 8 ms Maximum 20 ms Safe Torque Off function has been approved by IFA as meeting the requirements of the following standards for the prevention of unexpected starting of the drive EN 61800 5 2 2007 SIL 3 EN ISO 13849 1 2006 PL e EN 954 1 1997 Category 3 Thi...

Page 38: ...round clamp or grounding bracket on shield Shield connection to 0V Shield connection to 0V Setting of Pr 3 38 Description Ab 0 Quadrature incremental encoder with or without marker pulse Fd 1 Incremental encoder with frequency pulses and direction with or without marker pulse Fr 2 Incremental encoder with forward pulses and reverse pulses with or without marker pulse Ab SErVO 3 Quadrature incremen...

Page 39: ... SSI 10 SC SSI 11 1 A F F A F F Cos Cos Cos 2 A F F A F F Cosref Cosref Cosref 3 B D R B D R Sin Sin Sin 4 B D R B D R Sinref Sinref Sinref 5 Z Encoder input Data input output 6 Z Encoder input Data input output 7 U 8 U 9 V 10 V 11 W Encoder input Clock output 12 W Encoder input Clock output 13 V 14 0V common 15 th Shell 0V common Term Setting of Pr 3 54 Ab 0 Fd 1 Fr 2 Ab L 3 Fd L 4 1 A F F A F 2 ...

Page 40: ...eak waveform biased at 2 5 Vdc Encoders are available which have a 1 V peak to peak voltage on Sin Sinref Cos and Cosref This results in a 2 V peak to peak voltage seen at the drive s encoder terminals It is not recommended that encoders of this type are used with Digitax ST and that the encoder feedback signals should meet the above parameters 1 V peak to peak Resolution The sinewave frequency ca...

Page 41: ...ng 6 Fieldbus Type A Fieldbus Type data line 7 Fieldbus Type Shield Shield connection for Fieldbus Type 8 Fieldbus Type B Fieldbus Type data line 9 0V 0V connection for digital I O 10 DI0 Digital input 0 11 DI1 Digital input 1 12 DO0 Digital output 0 13 DO1 Digital output 1 1 13 Connector specification Maximum size cable 1 5 mm2 Torque 0 2 N m 1 8 lb in 1 7 Connector specification Maximum size cab...

Page 42: ...The Motor To Be Driven Therefore It Is Not Necessary To Have A Second Channel To Interrupt The Power Connection Nor A Fault Detection Circuit It Is Important To Note That A Single Short circuit From The Safe Torque Off Input To A Dc Supply Of Approximately 24 V Would Cause The Drive To Be Enabled This Can Be Excluded Under En Iso 13849 2 By The Use Of Protected Wiring The Wiring Can Be Protected B...

Page 43: ...e drive s parameters the relevant pages from the drive and Solutions Module Advanced User Guides can also be displayed by simply clicking any parameter on any displayed list or block diagram view For the Digitax ST Indexer and Digitax ST Plus variants CTSoft allows users to specify and execute motion sequences using sequential function chart style diagrams Refer to the on line set up wizard and he...

Page 44: ... status or the current menu and parameter number being viewed The lower display shows the parameter value or the specific trip type 5 6 2 SM Keypad Plus LCD The display consists of three lines of text The top line shows the drive status or the current menu and parameter number being viewed on the left and the parameter value or the specific trip type on the right The lower two lines show the param...

Page 45: ...or further information refer to section 5 6 7 Parameter access level and security on page 46 Figure 5 5 Parameter navigation The menus and parameters roll over in both directions i e if the last parameter is displayed a further press will cause the display to rollover and show the first parameter When changing between menus the drive remembers which parameter was last viewed in a particular menu a...

Page 46: ... all the advanced menus menus 1 to 22 in addition to menu 0 The User Security determines whether the access to the user is read only or read write Both the User Security and Parameter Access Level can operate independently of each other as shown in the table below RW Read write access RO Read only access The default settings of the drive are Parameter Access Level L1 and user Security Open i e rea...

Page 47: ... user will be destination parameters This function does not require a drive reset to become active In order to deactivate this function return to Pr xx 00 and enter a value of 0 Please note that this function can be affected by the access level enabled refer to section 5 6 7 Parameter access level and security for further information regarding access level 5 9 Communications 5 9 1 Introduction The...

Page 48: ...plicable to Modbus RTU mode This parameter can be changed via the drive keypad via a Solutions Module or via the comms interface itself If it is changed via the comms interface the response to the command uses the original baud rate The master should wait at least 20 ms before sending a new message using the new baud rate When using the CT EIA232 Comms cable the available baud rate is limited to 1...

Page 49: ...ode 7 11 0 20 0 20 0 1 4 20tr 2 20 4tr 3 4 20 4 20 4 5 VOLt 6 VOLt 6 RW Txt US 0 20 Analog input 2 destination 7 14 Pr 0 00 to Pr 21 51 Pr 1 37 RW Uni DE PT US 0 21 Analog input 3 mode 7 15 0 20 0 20 0 1 4 20tr 2 20 4tr 3 4 20 4 20 4 5 VOLt 6 th SC 7 th 8 th diSp 9 th 8 RW Txt PT US 0 22 Bipolar reference select 1 10 OFF 0 or On 1 OFF 0 RW Bit US 0 23 Jog reference 1 05 0 to 4000 0 rpm 0 0 RW Uni ...

Page 50: ...ich can have rapidly changing values are filtered when displayed on the drive keypad for easy viewing DE Destination This parameter selects the destination of an input or logic function RA Rating dependent this parameter is likely to have different values and ranges with drives of different voltage and current ratings Parameters with this attribute will not be transferred to the destination drive ...

Page 51: ...nstallation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL listing information Digitax ST User Guide 51 Issue 5 ...

Page 52: ... all shown in their default settings 0 24 0 25 Preset reference 1 Preset reference 2 Preset speed reference Analog reference 2 1 37 0 20 Any unprotected variable parameter Analog input 2 destination 0 13 28 29 The function of the two digital inputs are controlled by the setting of Pr reference selector See table below for details 0 05 0 1 2 3 4 5 OR Precision reference 0 05 Reference selector Anal...

Page 53: ...op PID gains 9 10 15 way sub D connector 24 AT ZERO SPEED Current limit No of poles Rated voltage Rated speed Rated current 0 42 0 46 Motor parameters Power stage _ L1 L2 L3 _ U V W Resistor optional Drive RUN FORWARD RUN REVERSE RESET Minimum reference speed clamp 0 01 0 02 26 27 25 Ramps Acceleration rate Deceleration rate Ramp mode selector 0 03 0 04 0 15 0 16 Maximum reference speed clamp Ramp...

Page 54: ...MARTCARD block number yyy 4yyy Transfer drive data as difference from defaults to SMARTCARD block number yyy 5yyy Transfer drive ladder program to SMARTCARD block number yyy 6yyy Transfer SMARTCARD data block number yyy to the drive 7yyy Erase SMARTCARD data block number yyy 8yyy Compare drive parameters with SMARTCARD data block number yyy 15yyy Transfer the user program in the applications modul...

Page 55: ...nt current vector as shown in the following diagram The active current is the torque producing current and the reactive current is the magnetising or flux producing current Pr 0 13 can be used to trim out any offset in the user signal to analog input 1 6 2 4 Jog reference Ramp mode selector Stop and torque mode selectors Pr 0 14 is used to select the required control mode of the drive as follows P...

Page 56: ...nt loop loss trip is generated if the current falls below 3 mA In modes 2 4 the analog input level goes to 0 0 if the input current falls below 4 mA Pr 0 20 sets the destination of analog input 2 In modes 2 3 a current loop loss trip is generated if the current falls below 3 mA In modes 2 4 the analog input level goes to 0 0 if the input current falls below 4 mA Pr 0 22 determines whether the refe...

Page 57: ...the comms interface itself If it is changed via the comms interface the response to the command uses the original protocol The master should wait at least 20 ms before send a new message using the new protocol Note ANSI uses 7 data bits 1 stop bit and even parity Modbus RTU uses 8 data bits 2 stops bits and no parity ANSIx3 28 protocol Full details of the CT ANSI communications protocol are the Ad...

Page 58: ... loaded with a constant torque load and still give an accurate result however non linear loads and loads that change with speed will cause measurement errors The stationary test only measures the motor resistance and inductance and updates the current loop gain parameters This test does not measure the encoder phase angle so this test needs to be done in conjunction with either the short low speed...

Page 59: ...s when a non important trip occurs Non important trips are th ths Old1 cL2 cL3 SCL If bit 0 is set to one the drive will stop before tripping when one of these trips is initiated except in Regen mode where the drive trips immediately Disable braking IGBT trips For details of braking IGBT trip mode see Pr 10 31 Disable phase loss trip The user can disable the phase loss trip in 200 V drives as thes...

Page 60: ...ce EnDat or SSI communications protocols EnDat absolute encoder For Solutions Module terminal information see section 12 15 Menus 15 and 16 Solutions Module set up on page 159 or the appropriate Solutions Module Option User Guide Ensure that no damage or safety hazard could arise from the motor starting unexpectedly The values of the motor parameters affect the protection of the motor The default ...

Page 61: ... A A B B U U V V W W Z Z Encoder connector 15 way D type 5 10 15 1 6 11 Serial communications port External braking resistor optional L3 N L2 L1 L2 L1 Fuses Serial Comms User Interface Isolated serial comms lead DST12XX 200 to 240V 10 DST14XX 380 to 480V 10 Part number Description CT EIA232 Comms cable CT USB Comms cable 4500 0087 4500 0096 Internal braking resistor optional Thermal overload prote...

Page 62: ... 28 29 26 27 24 25 23 21 22 24V U V W A A B B U U V V W W Z Z Encoder connector 15 way D type 5 10 15 1 6 11 L3 N L2 L1 L2 L1 Fuses DST12XX 200 to 240V 10 DST14XX 380 to 480V 10 Internal braking resistor optional External braking resistor optional Thermal overload protection device Polarized signal connections SAFE TORQUE OFF drive enable T31 Terminals Torque setting Power terminals 1 0 N m 12 1 l...

Page 63: ...24V U V W A A B B U U V V W W Z Z Encoder connector 15 way D type 5 10 15 1 6 11 L3 N L2 L1 L2 L1 Fuses DST12XX 200 to 240V 10 DST14XX 380 to 480V 10 Internal braking resistor optional 10 11 8 9 6 7 4 5 3 1 2 Speed reference input 0V 10V External braking resistor optional Thermal overload protection device Run reverse Run forward Polarized signal connections SAFE TORQUE OFF drive enable T31 Termin...

Page 64: ...ne The motor must be at a standstill before an autotune is enabled A normal low speed autotune will measure the encoder phase offset angle and calculate the current gains The motor must not be loaded when attempting an autotune The short low speed and normal low speed tests will rotate the motor by up to 2 rotations in the direction selected and the drive measures the encoder phase angle and updat...

Page 65: ...gh auto configuration Pr 3 36 If A B 5 V then disable termination resistors Table 7 3 shows a summary of the parameters required to set up each feedback device More detailed information follows 7 3 2 Detailed feedback device set up information Standard quadrature encoder with or without commutation signals A B Z or A B Z U V W or Sincos encoder without serial communications Encoder type Pr 3 38 Ab...

Page 66: ...disable 1 Wire break detection on F D or CW CCW and Z inputs enabled 2 Phase error detection Fd SErVO and Fr SErVO only 3 Wire break detection on F D or CW CCW and Z inputs and Phase error detection Fd SErVO and Fr SErVO only Termination resistors must be enabled for wire break detection to operate NOTE Absolute Sincos encoder with Hiperface or EnDat serial communications or Absolute EnDat communi...

Page 67: ...only encoder SC SSI 11 for a Sincos encoder with SSI Encoder power supply voltage Pr 3 36 5 V 0 8 V 1 or 15 V 2 If Ab encoder voltage is greater than 5 V then the termination resistors must be disabled Pr 3 39 to 0 Encoder number of lines per revolution SC SSI only Pr 3 34 Set to the number of sine waves per revolution of the encoder SSI binary format select Pr 3 41 OFF 0 for gray code or On 1 for...

Page 68: ...nd does not include interpolated information The buffered encoder output provides an output with minimal delay from the drive encoder input maximum delay is 0 5 µs If the source encoder does not have a marker pulse then no marker pulse can be obtained from the buffered encoder output This section shows the parameter settings required for the buffered Encoder output Pr 3 54 selects the type of buff...

Page 69: ...or that produces flux that opposes the flux produced by the magnets The maximum current applied is a quarter of rated current Pr 0 46 This current is unlikely to affect the motor magnets however if this level of current could permanently de magnetise the magnets the rated current should be set to a lower level for the tests to avoid this To perform a normal low speed autotune set Pr 0 40 to 2 and ...

Page 70: ...ns can be calculated by one of the following During a stationary or rotating autotune see Autotune Pr 0 40 earlier in this table the drive measures the stator resistance Pr 5 17 and transient inductance Pr 5 24 of the motor and calculates the current loop gains By setting Pr 0 40 to 6 the drive will calculate the current loop gains from the values of stator resistance Pr 5 17 and transient inducta...

Page 71: ... a given integral gain the damping can be improved by increasing the proportional gain A compromise must be reached where the system response stiffness and damping are all adequate for the application Differential gain Kd Pr 0 09 3 12 and Pr 3 15 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 d...

Page 72: ... does not generally offer the same degree of noise immunity as equipment intended for industrial use 9 3 4 Maximum network length The main restriction imposed on Ethernet cabling is the length of a single segment of cable The EtherCAT interface has two 100BASE TX Ethernet ports which support segment lengths of up to 100 m This means that the maximum cable length which can be used between one Ether...

Page 73: ...lic data is implemented on CoE networks by using Process Data Objects or PDOs Separate data objects are used for receiving TxPDOs from the slave to the master and transmitting RxPDOs from the master to the slave data These PDOs contain the cyclic data objects and or parameters the RxPDOs available are 1 2 6 and 22 the TxPDOs available are 1 2 3 6 and 22 for more information on these PDOs including...

Page 74: ...es that two TxPDOs will be assigned to the sync manager 3 assignment Index 0x1C13 Sub index 0x01 Size 2 Value 0x1A00 Index 0x1C13 Sub index 0x02 Size 2 Value 0x1A05 Setting object 0x1C13 sub index 1 to a value of 0x1A00 and sub index 2 to a value of 0x1A05 as above maps TxPDO1 and TxPDO6 to the process data input sync Download the configuration to the master After downloading the configuration to ...

Page 75: ...1 Set Pr 17 32 to ON 2 When the sequence has been completed Pr 17 32 will be reset to OFF 3 The EtherCAT interface will re initialize using the updated configuration The above sequence does NOT store the EtherCAT interface configuration parameters in the drive or the EtherCAT interface s internal FLASH memory This parameter will change back to OFF immediately and as such the change may not be visi...

Page 76: ...Range range Size size Unit unit Default default Description description Sub index 1 Access access Range range Size size Unit unit Default default Description description Access access Range range Size size Unit unit Default default Description description Sub index n 1 Access access Range range Size size Unit unit Default default Description description Sub index n Access access Range range Size s...

Page 77: ...N A Default 0x60400010 the DSP 402 control word 0x6040 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Sub index 2 2nd mapped object Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0x...

Page 78: ...r would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object 0x1A02 Transmit PDO mapping 3 Sub index 0 Number of mapped objects Access RW Range 0 to CF Size 1 byte Unit N A Default 2 Description The number of mapped objects in this PDO Sub index 1 1st mapped object Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0x60410010 t...

Page 79: ...nager 0 Access RO Range N A Size 1 byte Unit N A Default 1 Description Sync manager 0 is used by CoE as the mailbox receive channel master to slave Sub index 2 Usage of sync manager 1 Access RO Range N A Size 1 byte Unit N A Default 2 Description Sync manager 1 is used by CoE as the mailbox send channel slave to master Sub index 3 Usage of sync manager 2 Access RO Range N A Size 1 byte Unit N A De...

Page 80: ...k format Table 9 34 EoE Subnet mask Wsubnet This is the most significant octet of the EtherCAT interface EoE Subnet mask Table 9 35 EoE Subnet mask Xsubnet This is the second most significant octet of the EtherCAT interface EoE Subnet mask Table 9 36 EoE Subnet mask Ysubnet This is the third most significant octet of the EtherCAT interface EoE Subnet mask Table 9 37 EoE Subnet mask Zsubnet This is...

Page 81: ...rface If the drive is able to transfer control then the following restrictions will be imposed 1 The drives serial interface will only be able to handle messages that are 32 bytes or less A Remote LCD keypad would continue to work although SM Application parameters would not be visible If a message is received that is too long for the drive to handle no reply will be sent 2 Any LCD keypad installe...

Page 82: ...he SWITCH ON DISABLED state to the READY TO SWITCH ON state If the master leaves the operational state while the state machine is in the SWITCH ON OPERATION ENABLE QUICK STOP ACTIVE or READY TO SWITCH ON state then the EtherCAT interface will transition to the SWITCH ON DISABLED state This implies that the drive will be inhibited and the motor will coast Figure 9 9 CoE state machine diagram On the...

Page 83: ... internal set points 5 Disable operation command received from control device or local signal Drive function shall be disabled 6 Shutdown command received from control device or local signal The high power shall be switched off immediately and the motor shall be free to rotate if not braked additional action depends on the shutdown option code 7 Quick stop or disable voltage command from control d...

Page 84: ...ormed in the event of a quick stop function See Table 9 49 CoE state machine transition and events on page 83 for more information Value Definition 0 Disable drive function 1 Slow down on slow down ramp and transit into Switch on disabled 2 Slow down on quick stop ramp and transit into Switch on disabled 5 Slow down on slow down ramp and stay in Quick stop active 6 Slow down on quick stop ramp and...

Page 85: ...ent velocity values and when used with a limit round up or down It is possible to change these values non cyclically i e using SDOs in which case the scaling numerator and denominator is recalculated in the background It is also necessary to re scale velocity limit values with the new factor It is not possible to change these values cyclically i e by mapping PDOs to them 9 18 13 0x608F Position_en...

Page 86: ...on mode in user units It is updated every control loop cycle This object can be mapped as cyclic data 0x6092 Feed_constant Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description Sub index 1 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit N A Default 1 Description Feed Sub index 2 Access RW Range 0 to 0xFFFFFFFF Size Unsigned 32 Unit N A Default 1 Description Shaft rev...

Page 87: ... one position in profile defined units The buffer is a FIFO buffer On each interpolator time period a value is read from this buffer The correct number of data points for a specific interpolation mode are stored internally When a new position command is loaded in the oldest position command in the data set is discarded Index Name 0x60C0 interpolation_submode_select 0x60C1 interpolation_data_record...

Page 88: ... Table 9 84 0x6047 vl_velocity_min_max Index Name 0x6042 vl_target_velocity 0x6043 vl_velocity_demand 0x6044 vl_velocity_actual_value 0x6046 vl_velocity_min_max_amount 0x6047 vl_velocity_min_max 0x6048 vl_velocity_accleration 0x6049 vl_velocity_deceleration 0x604A vl_velocity_quick_stop 0x604B vl_setpoint_factor 0x604C vl_dimension_factor 0x6042 vl_target_velocity Access RW Range 32768 to 32767 Si...

Page 89: ... as a specific unit of time e g 1 s bottles min m s The purpose of the vl_dimension_factor is to convert this specific unit to the revolutions minute unit A value of 0 must not be used Velocity user defined unit Dimension factor rpm user defined unit Velocity rpm 0x6048 vl_velocity_acceleration Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of sub indices...

Page 90: ...the event of a quick stop also for quick stop option codes 2 and 6 the 0x6049 vl_velocity_deceleration object will be used Table 9 90 shows the objects that are supported Table 9 90 Profile torque mode supported objects 9 21 1 0x6071 Target_torque This object indicates the configured input value for the torque controller in profile torque mode The value of this object is given per thousand of rate...

Page 91: ...ive limit switch and index pulse Using this method as shown in Figure 9 11 the initial direction of movement shall be leftward if the negative limit switch is inactive here low The home position shall be at the first index pulse to the right of the position where the negative limit switch becomes inactive Figure 9 11 Homing on negative limit switch and index pulse Method 2 Homing on positive limit...

Page 92: ...These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions For example methods 19 and 20 are similar to methods 3 and 4 as shown in Figure 9 17 Figure 9 17 Homing on positive home switch Method 31 and 32 Reserved These methods are reserved Method 33 and 34 Homing on index pulse U...

Page 93: ...ation units Table 9 103 specifies the object description 0x2803 Homing source Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of the last sub index in this object Sub index 1 Access RW Range 1 to 8 Size Unsigned 8 Unit N A Default 5 Description The source of the homing switch This will specify a digital input as follows 1 to 6 The number of a drive digital...

Page 94: ...ed When the EtherCAT interface is connected to a drive which can take a time synchronization signal the EtherCAT Distributed Clocks facility can be used to provide this signal so the drive speed and current tasks are synchronized to the network The position controller and appropriate motion features will also be synchronized to the drive speed task In CoE interpolated position mode the position co...

Page 95: ...r EtherCAT CoE Ethernet over EtherCAT EoE CMP protocol through Modbus RTU 9 24 4 Menu 61 General The EtherCAT interface Set up Parameter 1 00 shortcut Table 9 108 Parameter 1 00 shortcut This Parameter can be used as a shortcut to Pr 1 00 as DSP 402 objects do not permit access to parameter zero 9 24 5 Drive synchronization control Table 9 109 Drive synchronization control Table 9 110 Synchronizat...

Page 96: ... cyclic data handling to be modified specifically it will allow the tasks in which cyclic data is handled to be changed Table 9 123 Out cyclic data configuration Option slot indicator Pr 61 07 Default 0 Range 0 to 3 Access RO Option hardware issue Pr 61 40 Default 0 Range 0 to 255 Access RO 500 ms Task free Pr 61 42 Default 0 Range 0 to 100 Access RO External memory free Pr 61 43 Default 0 Range 0...

Page 97: ...that commences 90μs after the critical task start and finishes before the next critical task 2 Sync Manager task default This is the AL event task which occurs upon a sync manager access Sub index 2 Access RW Range 0 to 2 Size Unsigned 8 Unit N A Default 1 Description Intermediate buffer copy task Selects the task in which the high priority in slave to master cyclic data is copied into the interme...

Page 98: ...9 22 2 on page 93 0x2804 Freeze object Used to configure the freeze function that can be used within the Homing mode profile 0x2813 Network loss behavior object Used to configure the network loss trip behavior watchdog Section 14 5 on page 200 0x2820 Out cyclic data configuration The number of the last sub index in this object Section 9 25 on page 96 0x2821 In cyclic data configuration The number ...

Page 99: ...e 90 0x607A Target_position Indicates the command positions that the drive should move to in cyclic sync position mode Section 9 23 2 on page 94 0x607C Home offset this object indicates the configured difference between the zero position for the application and the machine home position found during homing Section 9 20 7 on page 89 0x6080 Max motor speed This object indicated the configured maximu...

Page 100: ... minor version N A 00 00 to 99 99 Section 14 4 2 on page 199 Pr 17 03 Node address 0 0 to 65535 Section 9 11 on page 75 Pr 17 04 EtherCAT interface RUN 1 1 to 8 Section 9 12 on page 75 Pr 17 06 EtherCAT interface operating status N A 9999 to 9999 Section 14 6 on page 200 Pr 17 10 EoE IP address Wip 0 0 to 255 Table 9 30 on page 80 Pr 17 11 EoE IP address Xip Table 9 31 on page 80 Pr 17 12 EoE IP a...

Page 101: ...LC programs Automatically saving all user parameter changes for maintenance purposes Loading complete motor map parameters The SMARTCARD is located at the top of the module under the drive display if installed on the left hand side Ensure the SMARTCARD is inserted as shown on the SMARTCARD The drive only communicates with the SMARTCARD when commanded to read or write meaning the card may be hot sw...

Page 102: ... data Data transfer erasing and protecting the information is performed by entering a code in Pr xx 00 and then resetting the drive as shown in Table 10 2 Table 10 2 SMARTCARD codes Where yyy indicates the block number 001 to 999 See Table 10 1 for restrictions on block numbers N If the read only flag is set then only codes 6yyy or 9777 are effective 10 2 1 Writing to the SMARTCARD 3yyy Transfer d...

Page 103: ...24 Stator inductance Pr 6 06 DC injection braking current Pr 6 48 Line power supply loss ride through detection level Reading a parameter set from the SMARTCARD Pr 11 42 rEAd 1 Setting Pr 11 42 to rEAd 1 and resetting the drive will transfer the parameters from the card into the drive parameter set and the drive EEPROM i e this is equivalent to writing 6001 to Pr xx 00 All SMARTCARD trips apply On...

Page 104: ...ule or rating dependent parameters will not be transferred Setting 9666 in Pr xx 00 will set the warning suppression flag Setting 9555 in Pr xx 00 will clear the warning suppression flag 10 2 10 9888 9777 Setting and clearing the SMARTCARD read only flag The SMARTCARD may be protected from writing or erasing by setting the read only flag If an attempt is made to write or erase a data block when th...

Page 105: ...s transferred nonE 0 Inactive rEAd 1 Read parameter set from the SMARTCARD Prog 2 Programming a parameter set to the SMARTCARD Auto 3 Auto save boot 4 Boot mode 11 38 SMARTCARD data type mode RO Txt NC PT Ú 0 to 18 Ö Pr 11 38 String Type mode Data stored 0 FrEE Value when Pr 11 37 0 1000 to 1003 1 Reserved 2 3OpEn LP Open loop mode parameters Data from EEPROM 6 to 8 3Un Unused 9 Reserved 10 4OpEn ...

Page 106: ...nish accessing the SMARTCARD and then re attempt the required function C Chg SMARTCARD trip Data location already contains data 179 Erase data in data location Write data to an alternative data location C Cpr SMARTCARD trip The values stored in the drive and the values in the data block on the SMARTCARD are different 188 Press the red reset button C dat SMARTCARD trip Data location specified does ...

Page 107: ...ir default values C Typ SMARTCARD trip SMARTCARD parameter set not compatible with drive 187 Press the red reset button Ensure destination drive type is the same as the source parameter file drive type Table 10 4 Trip conditions Trip Diagnosis Parameter Function 2 08 Standard ramp voltage 4 05 6 7 21 27 8 9 Current limits 4 24 User current maximum scaling 5 07 21 07 Motor rated current 5 09 21 09 ...

Page 108: ...m cannot be downloaded or monitored over CTNet The program is only accessible via the drives RJ45 serial communications port There are no real time tasks i e the scheduling rate of the program cannot be guaranteed SM Applications tasks such as Clock Event Pos0 or Speed are not available The Onboard PLC should not be used for time critical applications The program runs at a low priority The Digitax...

Page 109: ... program from a drive to the SMARTCARD when the drive contains no program the block is still created on the SMARTCARD but it will contain no data If this data block is then transferred to a drive the destination drive will then have no Onboard PLC program The smallest SMARTCARD compatible with Digitax ST has a capacity of 4064 bytes and each block can be up to 4064 bytes in size The maximum size o...

Page 110: ...1 Speed reference 2 Ramps 3 Speed feedback and control 4 Torque and current control 5 Motor control 6 Sequencer and clock 7 Analog I O 8 Digital I O 9 Programmable logic motorized pot and binary sum 10 Status and trips 11 General drive set up 12 Threshold detectors and variable selectors 13 Position control 14 User PID controller 15 16 Solutions Module slots 17 Digitax ST indexer plus parameters 1...

Page 111: ... 4 06 4 07 4 18 4 15 4 19 4 16 5 07 10 08 10 09 10 17 DC bus voltage 5 05 2 08 Deceleration rates 2 20 2 21 to 2 29 2 04 2 35 to 2 37 2 02 2 04 2 08 6 01 10 30 10 31 10 39 Defaults 11 43 11 46 Digital I O Menu 8 Digital I O read word 8 20 Digital I O T24 8 01 8 11 8 21 8 31 Digital I O T25 8 02 8 12 8 22 8 32 Digital I O T26 8 03 8 13 8 23 8 33 Digital input T27 8 04 8 14 8 24 Digital input T28 8 ...

Page 112: ...e jog 13 17 to 13 19 Relay output 8 07 8 17 8 27 Reset 10 33 8 02 8 22 10 34 10 35 10 36 10 01 S ramp 2 06 2 07 Safe Torque Off input 8 09 8 10 Sample rates 5 18 Security code 11 30 11 44 Serial comms 11 23 to 11 26 Skip speeds 1 29 1 30 1 31 1 32 1 33 1 34 1 35 SMARTCARD 11 36 to 11 40 11 42 Software version 11 29 11 34 Speed controller 3 10 to 3 17 3 19 3 20 3 21 Speed feedback 3 02 3 03 3 04 Sp...

Page 113: ...ack device SPEED_MAX 40000 0rpm Maximum speed This maximum is used for some speed related parameters in menu 3 To allow headroom for overshoot etc the maximum speed is twice the maximum speed reference SPEED_MAX 2 x SPEED_REF_MAX DRIVE_CURRENT_MAX 9999 99A Maximum drive current The maximum drive current is the current at the over current trip level and is given by DRIVE_CURRENT_MAX KC 0 45 AC_VOLT...

Page 114: ...d Pr 4 20 percentage load to give suitable scaling for analog I O with Pr 4 24 This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is currently active USER_CURRENT_MAX Pr 4 24 POWER_MAX 9999 99kW Maximum power in kW The maximum power has been chosen to allow for the maximum power that can be output by the drive with maximum AC out...

Page 115: ...llation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL listing information Digitax ST User Guide 115 Issue Number 5 ...

Page 116: ... 17 1 20 1 18 Precision reference trim 1 19 Preset reference select Keypad reference select Precision reference select LOCAL REMOTE Menu 8 Level of reference selected Reference offset Reference offset mode select Reference selector Reference selected indicator 1 49 1 14 1 09 1 04 Reference percentage trim 1 38 1 01 Analog reference Preset reference Keypad reference Precision reference 0 XX 0 XX Ke...

Page 117: ... 05 1 13 Pre filter reference Pre ramp reference Maximum speed clamp Minimum speed clamp Maximum reverse speed Negative minimum speed select Reference enabled indicator Reverse selected indicator Skip speed 1 Reference in skip speed band indicator Velocity feed forward reference Feed forward selected indicator 1 12 x 1 1 39 1 40 1 08 1 06 1 07 1 07 1 06 1 06 1 06 1 06 1 07 1 06 1 07 1 11 Sequencer...

Page 118: ...et reference 2 0 25 SPEED_REF_MAX rpm 0 0 RW Bi US 1 23 Preset reference 3 SPEED_REF_MAX rpm 0 0 RW Bi US 1 24 Preset reference 4 SPEED_REF_MAX rpm 0 0 RW Bi US 1 25 Preset reference 5 SPEED_REF_MAX rpm 0 0 RW Bi US 1 26 Preset reference 6 SPEED_REF_MAX rpm 0 0 RW Bi US 1 27 Preset reference 7 SPEED_REF_MAX rpm 0 0 RW Bi US 1 28 Preset reference 8 SPEED_REF_MAX rpm 0 0 RW Bi US 1 29 Skip reference...

Page 119: ...llation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL listing information Digitax ST User Guide 119 Issue Number 5 ...

Page 120: ...leration rate 4 2 15 Acceleration rate 5 2 16 Acceleration rate 6 2 17 Acceleration rate 7 2 18 Acceleration rate 8 Acceleration rates 1 8 1 50 3 4 1 2 7 5 6 Preset reference selected indicator 2 19 Jog acceleration rate 1 13 Jog selected indicator 1 03 Pre ramp speed reference 2 03 Ramp hold 2 04 Ramp mode select N t N t Acceleration Reverse accel rate Forward accel rate Ramp control 2 10 Acceler...

Page 121: ... ramp voltage Ramp control N t N t Deceleration Forward Decel rate Reverse Decel rate 2 01 Post ramp reference 2 02 Ramp enable Deceleration rate select bits 2 21 Deceleration rate 1 2 22 Deceleration rate 2 2 23 Deceleration rate 3 2 24 Deceleration rate 4 2 25 Deceleration rate 5 2 26 Deceleration rate 6 2 27 Deceleration rate 7 2 28 Deceleration rate 8 Deceleration rates 1 8 3 4 1 2 7 8 5 6 2 3...

Page 122: ...00 to 3 200 000 s 1 000 rpm 0 200 RW Uni US 2 18 Acceleration rate 8 0 000 to 3 200 000 s 1 000 rpm 0 200 RW Uni US 2 19 Jog acceleration rate 0 000 to 3 200 000 s 1 000 rpm 0 000 RW Uni US 2 20 Deceleration rate selector 0 to 9 0 RW Uni US 2 21 Deceleration rate 1 0 04 0 000 to 3 200 000 s 1 000 rpm 0 200 RW Uni US 2 22 Deceleration rate 2 0 000 to 3 200 000 s 1 000 rpm 0 200 RW Uni US 2 23 Decel...

Page 123: ...llation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL listing information Digitax ST User Guide 123 Issue Number 5 ...

Page 124: ...coder revolution counter 3 29 Drive encoder position 3 30 Drive encoder fine position 2 01 Post ramp reference 0 1 0 1 3 23 1 11 Hard speed reference selector Reference enabled indicator 3 01 Final speed reference 3 22 Hard speed reference 3 50 Position feedback lock 15 03 Speed feedback from option module in slot 1 16 03 Speed feedback from option module in slot 2 Feedback from the option modules...

Page 125: ...d lower limit _ 3 07 10 07 Above at speed window indicator At speed upper limit 10 06 At speed indicator NOR _ 3 05 10 03 At zero speed indicator Zero speed threshold _ 1 07 10 04 At or below min speed indicator Minimum speed 0 1 1 10 Bipolar reference select 5min 1 20 1 03 Pre ramp reference 3 09 Absolute at speed detect mode 0 1 Speed controller differential feedback gains 0 XX 0 XX Key Read wri...

Page 126: ...535 revolutions RO Uni FI NC PT 3 29 Drive encoder position 0 11 0 to 65 535 1 216 ths of a revolution RO Uni FI NC PT 3 30 Drive encoder fine position 0 to 65 535 1 232 nds of a revolution RO Uni FI NC PT 3 31 Drive encoder marker position reset disable OFF 0 or On 1 OFF 0 RW Bit US 3 32 Drive encoder marker flag OFF 0 or On 1 OFF 0 RW Bit NC 3 33 Drive encoder turn bits Linear encoder comms to s...

Page 127: ...d Torque reference offset Torque reference Speed over ride level Coiler uncoiler speed over ride level At 100 load indicator Current limit active indicator Motor active current 4 02 10 17 4 19 Motor overload accumulator Motor current overload alarm indicator 10 39 Braking energy overload indicator Torque mode selector 4 11 4 10 Torque reference offset enable 0 1 2 3 4 4 03 Torque demand 0 XX 0 XX ...

Page 128: ...que offset select OFF 0 or On 1 OFF 0 RW Bit US 4 11 Torque mode selector 0 14 0 to 4 0 RW Uni US 4 12 Current demand filter 1 0 17 0 0 to 25 0 ms 0 0 RW Uni US 4 13 Current controller Kp gain 0 38 0 to 30 000 200V drive 75 400V drive 150 RW Uni US 4 14 Current controller Ki gain 0 39 0 to 30 000 200V drive 1000 400V drive 2000 RW Uni US 4 15 Thermal filter 0 45 0 0 to 3000 0 20 0 RW Uni US 4 16 T...

Page 129: ...llation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL listing information Digitax ST User Guide 129 Issue Number 5 ...

Page 130: ...09 Motor rated voltage 5 07 Motor rated current 5 11 Motor number of poles 5 17 Motor stator resistance 5 24 Motor transient inductance Flux Calculator Current limits Current control Overload detection Current loop gains Torque reference Current demand filter Menu 4 Reference frame transformation 3 02 Speed feedback Speed loop controller output Position feedback Flux magnitude Current references C...

Page 131: ...nostics UL listing information Digitax ST User Guide 131 Issue Number 5 4 02 4 17 4 01 5 09 Motor rated voltage 5 21 Field gain reduction Flux Controller 5 18 Maximum switching frequency Modulator 5 03 Power calculation V x 1 5 02 Output voltage Output power 5 05 Voltage reference U V W DC bus voltage Motor current magnitude Reactive current Motor active current 5 35 Disable auto switching frequen...

Page 132: ...le nonE 0 Ph EnL 1 Ph Init 2 nonE 0 RW Txt US 5 17 Motor stator resistance 0 000 to 65 000 x 10 Ω 0 0 RW Uni RA US 5 18 Maximum switching frequency 0 41 0 to 4 3 4 6 8 12 kHz 2 6 kHz RW Txt RA US 5 21 Field gain reduction OFF 0 or On 1 OFF 0 RW Bit US 5 22 High speed servo mode enable OFF 0 or On 1 0 RW Bit US 5 24 Transient inductance σLs 0 000 to 500 000 mH 0 000 RW Uni RA US 5 26 High dynamic p...

Page 133: ...6 16 Electricity cost per kWh Clock control 6 24 6 25 Power meter 6 26 Running cost 6 27 Time before filter change due Inverter enable Menu 2 Menu 3 Ramp Hard speed reference enable enable 6 20 6 21 Power up time 6 22 6 23 Run time 5 03 Total motor power 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals The parameters are all shown at their default setti...

Page 134: ...r kWh 99 99 kWh RO Bi NC PT PS 6 26 Running cost 32 000 RO Bi NC PT 6 27 Time before filter change due 0 to 30 000 hrs RO Uni NC PT PS 6 28 Select clock for trip log time sampling OFF 0 or On 1 OFF 0 RW Bit US 6 29 Hardware enable OFF 0 or On 1 RO Bit NC PT 6 30 Sequencing bit Run forward OFF 0 or On 1 OFF 0 RW Bit NC 6 31 Sequencing bit Jog forward OFF 0 or On 1 OFF 0 RW Bit NC 6 32 Sequencing bi...

Page 135: ... Any unprotected variable parameter 7 18 Any variable parameter 7 19 Analog output 1 source parameter 7 20 Analog output 1 scaling 7 21 Analog output 1 mode selector Analog output 1 Any variable parameter 7 22 Analog output 2 source parameter 7 23 Analog output 2 scaling 7 24 Analog output 2 mode selector 7 09 Analog input 1 invert x 1 7 01 Analog input 1 7 02 Analog input 2 x 1 7 17 Analog input ...

Page 136: ...4 20 4 5 VOLt 6 th SC 7 th 8 th diSP 9 th 8 RW Txt US 7 16 T8 analog input 3 scaling 0 to 4 000 1 000 RW Uni US 7 17 T8 analog input 3 invert OFF 0 or On 1 OFF 0 RW Bit US 7 18 T8 analog input 3 destination Pr 0 00 to 21 51 Pr 0 00 RW Uni DE PT US 7 19 T9 analog output 1 source Pr 0 00 to 21 51 Pr 3 02 RW Uni PT US 7 20 T9 analog output 1 scaling 0 000 to 4 000 1 000 RW Uni US 7 21 T9 analog outpu...

Page 137: ...llation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL listing information Digitax ST User Guide 137 Issue Number 5 ...

Page 138: ...r Any bit parameter 8 23 x 1 x 1 8 13 8 03 8 29 Open collector output 8 30 8 29 Open collector output 8 30 10 33 Drive reset 6 30 Run forward I O polarity select I O polarity select T24 digital I O 1 T24 digital I O 1 state 8 31 T24 output select Any unprotected bit parameter Any bit parameter 8 21 T24 digital I O 1 source destination x 1 x 1 8 11 T24 digital I O 1 invert 8 01 8 29 I O polarity se...

Page 139: ...s logic diagram applies only when all parameters are at their default settings 8 25 T28 digital input 5 destination Any unprotected bit parameter x 1 8 15 T28 digital input 5 invert T28 digital input 5 state 8 05 8 29 28 1 41 Analog input 1 input 2 select I O polarity select T28 digital input 5 8 10 Drive enable mode select Drive enable 10 32 External trip Drive enable Drive enable indicator 8 09 ...

Page 140: ... 0 or On 1 OFF 0 RW Bit US 8 17 Relay source invert OFF 0 or On 1 OFF 0 RW Bit US 8 18 T22 24V output source invert OFF 0 or On 1 On 1 RW Bit US 8 20 Digital I O read word 0 to 511 RO Uni NC PT 8 21 T24 digital I O 1 source destination Pr 0 00 to 21 51 Pr 10 03 RW Uni DE PT US 8 22 T25 digital I O 2 source destination Pr 0 00 to 21 51 Pr 10 33 RW Uni DE PT US 8 23 T26 digital I O 3 source destinat...

Page 141: ...n 1 input 1 source parameter 9 05 Function 1 input 1 invert Any bit parameter x 1 9 06 Function 1 input 2 source parameter 9 07 Function 1 input 2 invert 9 08 Function 1 output invert 9 09 Function 1 delay x 1 Function 1 output indicator 9 01 Any unprotected bit parameter 9 20 Function 2 destination parameter Any bit parameter x 1 9 14 Function 2 input 1 source parameter 9 15 Function 2 input 1 in...

Page 142: ...es LSB 9 31 Binary sum logic fours MSB 9 32 Binary sum logic output value Any unprotected bit parameter 9 33 Binary sum logic destination parameter Σ 9 24 Motorized pot output scale 9 25 Motorized pot destination parameter 9 23 Motorized pot rate Any unprotected variable parameter 9 27 Motorized pot down 9 26 Motorized pot up M 9 03 Motorized pot output indicator 9 22 Motorized pot bipolar select ...

Page 143: ...t US 9 16 Logic function 2 source 2 Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 9 17 Logic function 2 source 2 invert OFF 0 or On 1 OFF 0 RW Bit US 9 18 Logic function 2 output invert OFF 0 or On 1 OFF 0 RW Bit US 9 19 Logic function 2 delay 25 0 s 0 0 RW Bi US 9 20 Logic function 2 destination Pr 0 00 to 21 51 Pr 0 00 RW Uni DE PT US 9 21 Motorized pot mode 0 to 3 2 RW Uni US 9 22 Motorized pot bipolar...

Page 144: ...30 RO Txt NC PT PS 10 26 Trip 6 0 to 230 RO Txt NC PT PS 10 27 Trip 7 0 to 230 RO Txt NC PT PS 10 28 Trip 8 0 to 230 RO Txt NC PT PS 10 29 Trip 9 0 to 230 RO Txt NC PT PS 10 30 Full power braking time 0 00 to 400 00 s See Table 12 5 RW Uni US 10 31 Full power braking period 0 0 to 1500 0 s See Table 12 5 RW Uni US 10 32 External trip OFF 0 or On 1 OFF 0 RW Bit NC 10 33 Drive reset OFF 0 or On 1 OF...

Page 145: ...on function for a braking resistor On Digitax ST this function is enabled at default to protect the internally mounted resistor Below are the parameter settings For more information on the braking resistor software overload protection see Pr 10 30 and Pr 10 31 full descriptions in the Advanced User Guide If the internally mounted braking resistor is to be used at more than half of its average powe...

Page 146: ...9200 6 38400 7 57600 8 115200 9 Modbus RTU only 19200 6 RW Txt US 11 26 Minimum comms transmit delay 0 to 250ms 2 RW Uni US 11 28 Drive derivative 0 to 16 RO Uni NC PT 11 29 Software version 0 50 1 00 to 99 99 RO Uni NC PT 11 30 User security code 0 34 0 to 999 0 RW Uni NC PT PS 11 32 Maximum current rating 0 32 0 00 to 9999 99 A RO Uni NC PT 11 33 Drive voltage rating 0 31 200 0 400 1 575 2 690 3...

Page 147: ...tor 1 x 1 12 06 Threshold Detector 1 output invert 12 01 Threshold Detector 1 output indicator 12 05 Threshold Detector 1 hysteresis Any unprotected bit parameter 12 07 Threshold Detector output destination parameter 1 Any variable parameter 12 23 Threshold Detector 2 input source 12 24 Threshold Detector 2 threshold level Threshold Detector 2 Threshold Detector 2 x 1 12 26 Threshold Detector 2 ou...

Page 148: ...2 34 Variable selector 2 input 2 source Variable selector 2 input 2 scaling Variable selector 2 output indicator Variable selector 2 output destination 12 12 12 11 Variable Selector 1 Variable selector 1 mode Variable selector 1 control 12 10 12 15 Any variable parameter 12 08 12 13 Variable selector 1 input 1 source Variable selector 1 input 1 scaling 12 09 12 14 Variable selector 1 input 2 sourc...

Page 149: ... set up in this manner and a drive replacement takes place prior to programming the drive on initial power up the brake may be released When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered The use of a Smartcard in boot mode or an SM Applications module can ensure drive parameters are immediately programmed to avoid this situ...

Page 150: ... Diagnostics UL listing information 150 Digitax ST User Guide Issue Number 5 Figure 12 14 Brake sequence 1 2 4 3 Pr Speed feedback 3 02 Pr Reference on 1 11 Pr Brake release 12 40 Pr Ramp hold 2 03 Pr Position control mode 13 10 Pr Drive active 10 02 1 Post brake release delay 2 Wait for speed threshold 3 Wait for brake apply speed delay 4 Brake apply delay Pr Hold zero speed 6 08 Pr Brake apply s...

Page 151: ... 1 OFF 0 RW Bit US 12 27 Threshold detector 2 destination Pr 0 00 to 21 51 Pr 0 00 RW Uni DE PT US 12 28 Variable selector 2 source 1 Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 12 29 Variable selector 2 source 2 Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 12 30 Variable selector 2 mode Select input 1 0 select input 2 1 add 2 subtract 3 multiply 4 divide 5 filter 6 linear ramp 7 absolute value 8 powers 9 sect...

Page 152: ... 15 06 Slot 1 16 04 16 05 16 06 Slot 2 13 20 13 21 13 22 Local reference 13 23 Local reference disable 13 04 Position controller reference source x 1 13 06 Position reference invert 13 07 13 08 Ratio x 1 13 19 Relative jog reverse 13 18 Relative jog enable 13 17 Relative jog reference Δ Position 13 16 Position error reset 13 05 Position controller feedback source _ 13 13 Orientation position refer...

Page 153: ...roller is disabled transiently to reset the error integrator 4 One of the position sources is invalid 5 The position feedback initialised parameter Pr 3 48 is zero 0 XX 0 XX Key Read write RW parameter Read only RO parameter Input terminals Output terminals Orientation 13 14 13 15 Orientation acceptance window Orientation position complete 13 01 13 02 13 03 Position loop error Position loop enable...

Page 154: ...Rigid position control 2 Non rigid position control feed fwd 3 Non rigid position control 4 Orientation on stop 5 Orientation on stop and when drive enabled 6 Position controller disabled 0 RW Uni US 13 11 Absolute mode enable OFF 0 or On 1 OFF 0 RW Bit US 13 12 Position controller speed clamp 0 to 250 150 RW Uni US 13 13 Orientation position reference 0 to 65 535 0 RW Uni US 13 14 Orientation acc...

Page 155: ...llation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL listing information Digitax ST User Guide 155 Issue Number 5 ...

Page 156: ...ller Figure 12 16 Menu 14 Logic diagram 14 19 14 02 14 20 14 03 14 21 14 04 14 07 _ 14 22 14 09 10 01 14 08 Any variable parameter Any variable parameter Any variable parameter Any bit parameter Main reference source parameter PID Main reference PID reference source parameter PID reference PID feedback source parameter PID feedback PID enable Drive normal indicator Optional PID enable source param...

Page 157: ...r 14 16 is set to a non Pr xx 00 and unprotected destination parameter 14 10 14 11 14 12 14 17 14 13 14 14 14 18 14 01 14 15 14 16 Any unprotected variable parameter PID derivative gain PID integral gain PID proportional gain PID hold integrator enable PID output high limit PID output low limit PID symmetrical limits enable PID controller output PID output scale factor PID output destination param...

Page 158: ...PID enable OFF 0 or On 1 OFF 0 RW Bit US 14 09 PID optional enable source Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 14 10 PID proportional gain 0 000 to 4 000 1 000 RW Uni US 14 11 PID integral gain 0 000 to 4 000 0 500 RW Uni US 14 12 PID derivative gain 0 000 to 4 000 0 000 RW Uni US 14 13 PID upper limit 0 00 to 100 00 100 00 RW Uni US 14 14 PID lower limit 100 00 100 00 RW Bi US 14 15 PID output s...

Page 159: ...isplays xx yy and Pr x 51 displays zz I e for software version 01 01 00 Pr x 02 would display 1 01 and Pr x 51 would display 0 The SM Resolver SM Encoder Plus SM Encoder Output Plus and SM I O Plus modules do not contain any software For further information relating to Solution Modules refer to the appropriate Solutions Module User Guide Solutions Module ID Module Category 0 No module installed 10...

Page 160: ...p cleared OFF 0 or On 1 OFF 0 RW Bit US 17 16 Encoder data update rate 0 to 3 0 RW Uni US 17 17 Enable parameter over range trips OFF 0 or On 1 OFF 0 RW Bit US 17 18 Watchdog enable OFF 0 or On 1 OFF 0 RW Bit US 17 19 Save request OFF 0 or On 1 OFF 0 RW Bit NC 17 20 Enable power down save OFF 0 or On 1 OFF 0 RW Bit US 17 21 Enable menu 20 save and restore OFF 0 or On 1 OFF 0 RW Bit US 17 37 Reject...

Page 161: ...et baud rate 5 000 0 2 500 1 1 250 2 0 625 3 2 500 1 RW Txt US 17 25 CTNet sync setup 0 000 to 9 999 0 000 RW Uni US 17 26 CTNet easy mode first cyclic parameter destination node 0 to 25 503 0 RW Uni US 17 27 CTNet easy mode first cyclic source parameter 0 to 9 999 0 RW Uni US 17 28 CTNet easy mode second cyclic parameter destination node 0 to 25 503 0 RW Uni US 17 29 CTNet easy mode second cyclic...

Page 162: ... RUN 1 to 8 1 RW Num US 17 06 EtherCAT interface operating status 9999 to 9999 N A RO Num ND NC PT 17 10 EoE IP address Wip 0 to 255 0 RW IP US 17 11 EoE IP address Xip 0 to 255 0 RW IP US 17 12 EoE IP address Yip 0 to 255 0 RW IP US 17 13 EoE IP address Zip 0 to 255 0 RW IP US 17 14 EoE Subnet mask Wsubnet 0 to 255 0 RW Num US 17 15 EoE Subnet mask Xsubnet 0 to 255 0 RW Num US 17 16 EoE Subnet ma...

Page 163: ...only integer 32 768 to 32 767 0 RO Bi NC 18 11 to 18 30 Application menu 1 read write integer 32 768 to 32 767 0 RW Bi US 18 31to 18 50 Application menu 1 read write bit OFF 0 or On 1 0 RW Bit US Parameter Range Ú Default Ö Type 19 01 Application menu 2 power down saved integer 32 768 to 32 767 0 RW Bi NC PS 19 02 to 19 10 Application menu 2 read only integer 32 768 to 32 767 0 RO Bi NC 19 11 to 1...

Page 164: ...00V rating drive 230V 400V rating drive EUR 400V USA 460V RW Uni RA US 21 11 Number of motor poles 0 42 Auto to 120 pole 0 to 60 6 POLE 3 RW Txt US 21 12 Stator resistance 0 000 to 65 000 x 10 Ω 0 0 RW Uni RA US 21 14 Transient inductance σLs 0 000 to 500 000mH 0 000 RW Uni RA US 21 15 Motor 2 active OFF 0 or On 1 RO Bit NC PT 21 16 Thermal filter 0 45 0 0 to 3000 0 20 0 RW Uni US 21 17 Speed cont...

Page 165: ...rameter 0 40 set up Pr 1 00 to Pr 21 51 Pr 5 12 RW Uni PT US 22 11 Parameter 0 41 set up Pr 1 00 to Pr 21 51 Pr 5 18 RW Uni PT US 22 18 Parameter 0 48 set up Pr 1 00 to Pr 21 51 Pr 11 31 RW Uni PT US 22 20 Parameter 0 50 set up Pr 1 00 to Pr 21 51 Pr 11 29 RW Uni PT US 22 21 Parameter 0 51 set up Pr 1 00 to Pr 21 51 Pr 10 37 RW Uni PT US 22 22 Parameter 0 52 set up Pr 1 00 to Pr 21 51 Pr 0 00 RW U...

Page 166: ... Pr 6 48 Pr 4 13 and Pr 4 14 Start stop logic modes Pr 6 04 and Pr 6 40 Position loop modes Pr 13 10 Fast disable Pr 6 29 1 14 Reference selector RW Txt NC US Ú A1 A2 0 A1 Pr 2 A2 Pr 2 Pr 3 PAd 4 Prc 5 Ö A1 A2 0 1 15 Preset reference selector RW Uni NC US Ú 0 to 9 Ö 0 8 39 T28 and T29 auto selection disable RW Bit US Ú OFF 0 or On 1 Ö OFF 0 Table 12 10 Active reference Pr 1 14 Pr 1 15 Digital Inpu...

Page 167: ...motor but it will coast to rest The output of the ramp controller when active is a current demand that is fed to the torque producing current controller modes The gain of these controllers can be modified with Pr 4 13 and Pr 4 14 2 Standard ramp with motor voltage boost This mode is the same as normal standard ramp mode except that the motor voltage is boosted by 20 This increases the losses in th...

Page 168: ...n shown below are possible This mode of operation can be used where torque control is required but the maximum speed must be limited by the drive 3 Coiler uncoiler mode Positive final speed demand A positive resultant torque will give torque control with a positive speed limit defined by the final speed demand A negative resultant torque will give torque control with a negative speed limit of 5 rp...

Page 169: ...d into the current control system and therefore the gain Pr 4 13 and Pr 4 14 must be set up for optimum control See parameters Pr 4 13 and Pr 4 14 for set up details The following table shows the voltage levels used by drives with each voltage rating Vml1 is defined by Pr 6 48 The values in the table above are the default values The line power supply loss detection level can be adjusted using this...

Page 170: ...3 is selected the drive processor continuously updates the destination parameters for digital I O T25 T26 and T27 and the enable sequencer latching bit Pr 6 40 When a value of 4 is selected the destination parameters for these digital I O and Pr 6 40 can be modified by the user If Pr 6 04 is changed then a drive reset is required before the function of T25 T26 or T27 will become active If Pr 6 04 ...

Page 171: ... only has a proportional gain it is necessary to use velocity feed forward to prevent a constant position error that would be proportional to the speed of the reference position If for any reason the user wishes to provide the velocity feed forward from a source other than the reference position the feed forward system can be made inactive i e Pr 13 10 2 or 4 The external feed forward can be provi...

Page 172: ...ever if a digital I O is set up to provide the fast disable function it is possible to disable the drive within 600 μs of de activating the input To do this an enable signal should be given to both the Safe Torque Off input T31 and to the digital I O selected for the fast disable function The state of the digital I O including the effect of its associated invert parameter is ANDed with the Safe To...

Page 173: ...ratio between accelerating decelerating period Tpeak and the total profile period Tduty is always 1 10 The profile shows the level of current that can be provided during the running stopped period when the maximum peak current is used for accelerating decelerating Ibase is the drive output current during the constant speed segment of the profile Table 13 1 Repetitive profile with defined level of ...

Page 174: ... 7 0 4 0 8 0 4 0 10 0 4 0 12 0 DST1404 5 9 5 9 8 9 5 7 10 3 5 9 11 8 5 9 14 8 5 9 17 7 DST1405 8 0 4 1 12 0 4 3 14 0 8 0 16 0 8 0 20 0 7 8 24 0 Model In Overloads 1 5 x In for 60 s 1 75 x In for 40 s 2 0 x In for 10 s 2 5 x In for 2 s 3 0 x In for 0 25 s Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak A DST1201 1 7 1 7 2 6 1 7 3 0 1 7 3 4 1 7 4 3 1 7 5 1 DST1202 3 8 3 8 5 7 3 8 6 7 3 8...

Page 175: ...upply for DST140X Model In Overloads 1 5 x Ibase for 60 s 1 75 x Ibase for 40 s 2 0 x Ibase for 10 s 2 5 x Ibase for 2 s 3 0 x Ibase for 0 25 s Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak A DST1201 1 7 1 7 2 6 1 7 3 0 1 7 3 4 1 7 4 3 1 7 5 1 DST1202 3 8 3 8 5 7 3 8 6 7 3 8 7 6 3 8 9 5 3 8 11 4 DST1203 5 4 5 4 8 1 5 4 9 5 5 4 10 8 5 4 13 5 5 4 16 2 DST1204 7 6 7 6 11 4 7 6 13 3 7 6 ...

Page 176: ... 7 1 7 2 6 1 7 3 0 1 7 3 4 1 7 4 3 1 7 5 1 DST1202 3 8 3 8 5 7 3 8 6 7 3 8 7 6 3 8 9 5 3 8 11 4 DST1203 5 4 5 4 8 1 5 4 9 5 5 4 10 8 5 4 13 5 5 4 16 2 DST1204 7 6 7 6 11 4 7 6 13 3 7 6 15 2 7 6 19 0 7 6 22 8 DST1401 1 5 1 5 2 3 1 5 2 6 1 5 3 0 1 5 3 8 1 5 4 5 DST1402 2 7 2 7 4 1 2 7 4 7 2 7 5 4 2 7 6 8 2 7 8 1 DST1403 4 0 4 0 6 0 4 0 7 0 4 0 8 0 4 0 10 0 4 0 12 0 DST1404 5 9 5 9 8 9 5 9 10 3 5 9 1...

Page 177: ...tor correction equipment connected close to the drive Large DC drives having no or inadequate line reactors connected to the supply Direct on line started motor s connected to the supply such that when any of these motors are started the voltage dip exceeds 20 Such disturbances may cause excessive peak currents to flow in the input power circuit of the drive This may cause nuisance tripping or in ...

Page 178: ...icate the degree of protection provided as shown in Table 13 15 Table 13 15 IP Rating degrees of protection Table 13 16 UL enclosure ratings 13 1 16 Corrosive gasses Concentrations of corrosive gases must not exceed the levels given in Table A2 of EN 50178 1998 Class 3C2 of IEC 60721 3 3 This corresponds to the levels typical of urban areas with industrial activities and or heavy traffic but not i...

Page 179: ...Fan at high speed 65 dB Fan at low speed 53 dB 13 1 24 Overall dimensions H Height including surface mounting brackets W Width D Projection forward of panel when surface mounted Table 13 17 Overall drive dimensions 13 1 25 Weight 2 1 kg 4 6 Ib 13 1 26 Input current fuse and cable size ratings The input current is affected by the supply voltage and impedance Typical input current The values of typi...

Page 180: ... 18 A peak DST140X 35 A peak The inrush current for all drives after a brown out can be larger than the power up inrush 13 1 27 Motor cable size and maximum lengths Since capacitance in the motor cable causes loading on the output of the drive ensure the cable length does not exceed the values given in Table 13 21 Use 105 C 221 F UL 60 75 C temp rise PVC insulated cable with copper conductors havi...

Page 181: ...e EMC requirements of the application of drives Terminals Torque setting Power terminals 1 0 N m 12 1 lb in Control terminals 0 2 N m 1 7 lb in Status relay terminals 0 5 N m 4 5 lb in Ground terminals 4 N m 35 lb in Small ground terminal screws 2 N m 17 7 lb in Model size Terminal block description Max cable size All 11 way control connectors 1 5 mm2 16 AWG All 2 way relay connector 2 5 mm2 12 AW...

Page 182: ... Category Definition Corresponding code used above C1 Intended for use in the first or second environments R C2 Not a plug in or movable device and intended for use in the first environment only when installed by a professional or in the second environment I C3 Intended for use in the second environment not the first environment E2U C4 Rated at over 1000 V or over 400 A intended for use in complex...

Page 183: ...oss referenced and then diagnosed using Table 14 1 Example 1 Trip code 3 is read from Pr 10 20 via serial communications 2 Checking Table 14 2 shows Trip 3 is an OI AC trip 3 Look up OI AC in Table 14 1 Perform checks detailed under Diagnosis Figure 14 1 Keypad status modes Figure 14 2 Location of the status LED Users must not attempt to repair a drive if it is faulty nor carry out fault diagnosis...

Page 184: ... to finish accessing the SMARTCARD and then re attempt the required function C Chg SMARTCARD trip Data location already contains data 179 Erase data in data location Write data to an alternative data location C cPr SMARTCARD trip The values stored in the drive and the values in the data block on the SMARTCARD are different 188 Press the red reset button C dAt SMARTCARD trip Data location specified...

Page 185: ...tion EEF EEPROM data corrupted Serial comms will timeout with remote keypad on the drive RS485 comms port 31 This trip can only be cleared by loading default parameters and saving parameters EnC1 Drive encoder trip Encoder power supply overload 189 Check encoder power supply wiring and encoder current requirement Maximum current 200 mA 15 V or 300 mA 8 V and 5 V EnC2 Drive encoder trip Wire break ...

Page 186: ...sed in setting the over speed threshold level as a value which is too large may mean that an encoder fault will not be detected Enc11 Drive encoder trip A failure has occurred during the alignment of the analog signals of a SINCOS encoder with the digital count derived from the sine and cosine waveforms and the comms position if applicable This fault is usually due to noise on the sine and cosine ...

Page 187: ...08 Data processing error Level 4 crash Hardware fault return drive to supplier HF09 Data processing error Heap overflow Hardware fault return drive to supplier HF10 Data processing error Router error Hardware fault return drive to supplier HF11 Data processing error Access to EEPROM failed Hardware fault return drive to supplier HF12 Data processing error Main program stack overflow Hardware fault...

Page 188: ...heck the feedback device mechanical coupling It br Braking resistor overload timed out I2 t accumulator value can be seen in Pr 10 39 19 Ensure the values entered in Pr 10 30 and Pr 10 31 are correct Increase the power rating of the braking resistor and change Pr 10 30 and Pr 10 31 If an external thermal protection device is being used and the braking resistor software overload is not required set...

Page 189: ...inal AC supply level Check for supply disturbances which could cause the DC bus to rise voltage overshoot after supply recovery from a notch induced by DC drives Check motor insulation Drive voltage rating Peak voltage Maximum continuous voltage level 15 s 200 415 400 400 830 800 If the drive is operating in low voltage DC mode the overvoltage trip level is 1 45 x Pr 6 46 PAd Keypad has been remov...

Page 190: ...eters in the EEPROM are corrupt 36 Indicates that the power was removed when user parameters were being saved The drive will revert back to the user parameter set that was last saved successfully Perform a user save Pr xx 00 to 1000 or 1001 and reset the drive to ensure this trip does not occur the next time the drive is powered up SCL Drive RS485 serial comms loss to remote keypad 30 Re instal th...

Page 191: ...niversal Encoder Plus Initialisation failed Check the correct encoder type is entered into Pr 15 16 17 15 Check encoder wiring Check supply voltage level Replace feedback device 8 SM Universal Encoder Plus Auto configuration on power up has been requested and failed Change the setting of Pr 15 16 17 18 and manually enter the number of turns Pr 15 16 17 09 and the equivalent number of lines per rev...

Page 192: ...onfiguration 50 Maths error divide by zero or overflow 51 Array index out of range 52 Control word user trip 53 DPL program incompatible with target 54 DPL task overrun 55 Unused 56 Invalid timer unit configuration 57 Function block does not exist 58 Flash PLC Storage corrupt 59 Drive rejected application module as Sync master 60 CTNet hardware failure Please contact your supplier 61 CTNet invalid...

Page 193: ...105 Travel limit plus 106 Travel limit minus 107 No program error 108 Motion trajectory error 109 Trajectory update overrun error 120 File corruption error Consult factory 121 122 123 Program error Buffer overrun 124 Program error Call stack overflow 125 File corruption error Consult factory 126 127 Flash error 128 File corruption error Consult factory 129 Program error illegal command 130 File co...

Page 194: ...M I O 24V Protected Digital input overload 3 SM I O PELV SM I O 24V Protected Analog input 1 current input too low 3 mA SM I O 24V Protected Communications error 4 SM I O PELV User power supply absent 5 SM I O Timer Real time clock communication error 74 All Module over temperature Error code Module Trip Description 0 All No trip 52 SM PROFIBUS DP V1 SM Interbus SM DeviceNet SM CANOpen User contro...

Page 195: ...utions Module code 10 SM Applications program must be interrogated to find the cause of this trip t038 User trip defined in 2nd processor Solutions Module code 38 SM Applications program must be interrogated to find the cause of this trip t040 to t089 User trip defined in 2nd processor Solutions Module code 40 to 89 SM Applications program must be interrogated to find the cause of this trip t099 U...

Page 196: ...rtia test see Pr 5 12 12 Check motor cable wiring is correct Check feedback device wiring is correct Swap any two motor phases tunE3 Drive encoder commutation signals connected incorrectly or measured inertia out of range see Pr 5 12 13 Check motor cable wiring is correct Check feedback device U V and W commutation signal wiring is correct tunE4 Drive encoder U commutation signal fail during an au...

Page 197: ... 175 215 400 330 425 Trip Diagnosis No Trip No Trip No Trip 1 UV 90 UP div0 181 C Rdo 2 OV 91 UP PAr 182 C Err 3 OI AC 92 UP ro 183 C dAt 4 OI br 93 UP So 184 C FULL 5 PS 94 UP ovr 185 C Acc 6 Et 95 UP OFL 186 C rtg 7 O SPd 96 UP uSEr 187 C TyP 8 PS 10V 97 UP udF 188 C cPr 9 PS 24V 98 UP ACC 189 EnC1 10 br th 99 t099 190 EnC2 11 tunE1 100 Reserved 191 EnC3 12 tunE2 101 t101 192 EnC4 13 tunE3 102 R...

Page 198: ...ows HFxx 2 Non resetable trips HF17 to HF32 SL1 HF SL2 HF SL3 HF Cannot be reset 3 EEF trip EEF Cannot be reset unless a code to load defaults is first entered in Pr x 00 or Pr 11 43 4 SMARTCARD trips C Boot C Busy C Chg C Optn C Rdo C Err C dat C FULL C Acc C rtg C Typ C cpr C Prod SMARTCARD trips have priority 5 during power up 4 Encoder power supply trips PS 24V EnC1 These trips can only overri...

Page 199: ...oftware version 01 01 00 Pr 17 02 will display 1 01 and Pr 17 51 will display 0 The full version of the EtherCAT interface firmware can be assembled by combining the major version xx yy and the minor version zz as follows xx yy zz Model Upper threshold Lower threshold DST1201 to DST1204 DST1401 to DST1404 120 ºC 75 ºC DST1405 145 ºC 90 ºC Upper display Description Drive output stage ACUU AC Supply...

Page 200: ...ll occur Sub index 2 Trip type Access RW Range 0 to 2 Size 1 byte Unit N A Default 0 Description Network loss trip type If this value is set to 0 a network loss trip will never occur however a network loss will still be handled by stopping the drive and indicating a warning as previously described If this value is set to 1 the network loss trip will occur only after the motor has been stopped acco...

Page 201: ... N A Range 0 16777215 Access RO EtherCAT interface error codes Pr 17 50 Default N A Range 0 to 255 Access RO Error code Fault 1 No fieldbus mode has been selected 2 Critical task over run 3 Invalid feedback source 4 Unknown drive type 5 Unsupported drive type 10 Invalid or missing application 62 Database Initialization error 63 File system Initialization error 64 Error initializing fieldbus stack ...

Page 202: ...P 105 Oht2 P 0x5000 Device hardware 200 SL1 HF 201 SL1 t0 202 SL1 Er 203 SL1 nF 204 SL1 dF 205 SL2 HF 206 SL2 t0 207 SL2 Er 208 SL2 nF 209 SL2 dF 210 SL3 HF 211 SL3 t0 212 SL3 Er 213 SL3 nF 214 SL3 dF 215 SL rtd 217 HF17 218 HF18 219 HF19 220 232 HF20 HF32 0x5530 Data Storage Non volatile data memory 31 EEF 36 SAVE Er 37 PSAVE Er 0x6200 Device Software User Software 10 t010 32 t038 40 to 89 t040 t...

Page 203: ...mand specifier not valid or unknown 0x05040002 Invalid block size block mode only 0x05040003 Invalid sequence number block mode only 0x05040004 CRC error block mode only 0x05040005 Out of memory 0x06010000 Unsupported access to an object 0x06010001 Attempt to read a write only object 0x06010002 Attempt to write a read only object 0x06020000 Object does not exist in the object dictionary 0x06040041...

Page 204: ...uire the use of an external or remote overload protection device Overload protection is provided at 105 the FLA of the device The duration of the overload is dependent on the motor s thermal filter a value up to 3000 seconds that is able to be entered into the drive default value is 89 seconds Refer to Menu 4 advanced parameter descriptions in the Digitax ST Advanced User Guide for further informa...

Page 205: ... 32 Ferraz 6 9xx CP GRC 32 Siba URZ14x51 gR 690 40 DST1203 340 40 Ferraz 6 9xx CP GRC 40 Siba URZ14x51 gR 690 40 DST1204 340 50 Ferraz 6 9xx CP GRC 50 Siba URZ14x51 gR 690 50 DST1401 680 25 Ferraz 6 9xx CP GRC 25 Siba URZ14x51 gR 690 25 DST1402 680 25 Ferraz 6 9xx CP GRC 25 Siba URZ14x51 gR 690 25 DST1403 680 25 Ferraz 6 9xx CP GRC 25 Siba URZ14x51 gR 690 25 DST1404 680 25 Ferraz 6 9xx CP GRC 25 S...

Page 206: ...73 Cyclic sync position mode 94 D DC bus design 24 DC bus voltage 55 113 167 169 170 DC drive voltage levels 24 DC Supplied drive 205 Deceleration 49 54 55 64 122 164 167 Default terminal functions 34 Defaults restoring parameter 46 Derating 173 Destination parameter 32 Diagnostics 183 204 Digital I O 1 36 Digital I O 2 36 Digital I O 3 36 Digital Input 1 36 Digital input 2 36 Digital input 3 36 D...

Page 207: ...177 Mechanical installation 15 Menu 01 Speed reference 116 Menu 02 Ramps 120 Menu 03 Speed feedback and control 124 Menu 04 Torque and current control 127 Menu 05 Motor control 130 Menu 06 Sequencer and clock 133 Menu 07 Analog I O 135 Menu 08 Digital I O 138 Menu 09 Programmable logic motorized pot and binary sum 141 Menu 10 Status and trips 144 Menu 11 General drive set up 146 Menu 12 Threshold ...

Page 208: ...table 197 Serial communications port isolation 32 Single line descriptions 49 SMARTCARD codes 102 SMARTCARD data blocks 102 SMARTCARD Operation 101 SMARTCARD parameters 104 SMARTCARD trips 106 Solution module identification 72 Solutions Module 11 Solutions Module keypad installation removal 16 Source parameter 32 Speed and position feedback 60 Speed limits 54 Speed loop gains 71 Speed reference se...

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