HDT NTT 240 Installation And User Manual Download Page 74

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Installation and user guide

Rev: 4.0

NTT 240/460

Operation mode

Main units supported by drive are listed below:

Angular units

Linear units

Standard units

Position

radians, deg

cm, mm, μm, nm, inches, mils

counts

Speed

radians/s, deg/s

cm/s, mm/s, μm/s, nm/s, inches/s, mils/s

counts/s, RPM, RPS

Acceleration

radians/s

, deg/s

cm/s

, mm/s

, μm/s

, nm/s

, inches/s

, mils/s

counts/s

, RPM/s, RPS/s

NOTES:

•

There are other units, in the same drop-down menu, that allow to set tenths, cents and thousandth of

main units.

6.05.2 Custom Application

» In case of rotary motor, supported Custom Application can be selected by a drop-down menu and they are listed

below:

Disk axis (angular measurement)

: application with angular units reffered directy to a load represented by a rotary

disk downstream any reducer. Set parameters are:

•

units

•

reducer ratio

Disk axis (angular measurement)

: application with linear units reffered directy to a load represented by a rotary

disk downstream any reducer. Set parameters are:

•

units

•

reducer ratio

•

disk diameter

Axis conveyor belt (flat belt)

: application with linear units reffered directy to a load represented by an axis conveyor

belt downstream any reducer. Set parameters are:

•

units

•

reducer ratio

•

dragged disk diameter

Axis conveyor belt (toothed belt)

: application with linear units reffered directy to a load represented by an axis

conveyor belt downstream any reducer. Set parameters are:

•

units

•

reducer ratio

•

tooth number e tooth pitch

Transmission axis (flat belt)

: application with linear units reffered directy to a load represented by a transmission

axis downstream any reducer. Set parameters are:

•

units

•

reducer ratio

•

disks diameters

Transmission axis (toothed belt)

: application with linear units reffered directy to a load represented by a

transmission axis downstream any reducer. Set parameters are:

•

units

•

reducer ratio

•

toohtd disks number

Axis with worm

: application with linear units reffered directy to a load represented by an axis with worm

downstream any reducer. Set parameters are:

•

units

•

reducer ratio

•

screw pitch

Summary of Contents for NTT 240

Page 1: ...y linear and tubular brushless asynchronous and DC permanent magnets motors at 230Vac and 400Vac with resolver or incremental absolute encoder Operation mode via Ether cat CoE Profinet RT Profibus DPv0 Canopen ModbusRTU and I O INSTALLATION AND USER GUIDE ...

Page 2: ...in 16 24V supply for frequency output now available on request 4 02 4 08 4 09 4 10 4 11 0 1 External encoder loop management now added 4 05 4 12 4 13 Position software limit now added for Canopen operation mode 4 06 Pressure control topology now added Automatic convertion for IVT file from previous DGM series now added 4 07 4 15 Current offset for motor brake management now added 4 08 Current limi...

Page 3: ...he right to change features and specifications to manual and product without notice for the customer Any parts of this manual can not be reproduced in any way or transmitted without a write permission from the manufacturer Details of images contained here in may be different from real product All rights reserved Doc NTT 240 460 Rev N 4 0 Date 10 01 2019 All trademarks belong to their respective ow...

Page 4: ...dard wiring for quick start 23 4 02 Fuses 24 4 03 External braking resistor 24 4 04 EMC Filter 24 4 05 External DC link power supply 25 4 06 DC bus reforming 25 Ch 5 Wiring and connections 26 5 01 General description 26 5 02 J1 connector motor power connection 28 5 03 J2 connector drive power supply and braking resistor 30 5 04 J3 connector EC and PN option configuration 32 5 05 J3 connector CM op...

Page 5: ...3 6 05 1 Factor calculation procedure 73 6 05 2 Custom Application 74 6 05 3 Custom Label 75 6 06 Display and keyboard 76 6 06 1 Keybord access parameters 77 6 07 Motor autophasing 82 6 08 Digital I O 83 6 08 1 Digital I O functions 85 6 09 Drive references 87 6 09 1 Main reference 87 6 09 2 Auxiliary references 88 6 10 Speed ramps 89 6 11 Motor brake 90 6 12 Braking resistor 92 6 13 Motor cogging...

Page 6: ...etting speed current loop and motor parameters 111 6 17 2 Setting sensorless parameters 112 6 17 3 Sensorless loop tuning 113 Ch 7 S T O safety circuit 116 Ch 8 Drive status and diagnostics 120 8 01 Drive status 120 8 02 Fieldbus status signaling 120 8 03 Diagnostics 121 Ch 9 Accessories 126 ...

Page 7: ...nning is enabled in order to avoid unexpected start of the motor Fix up a separate emergency stop device It exists the risk of injury Do not touch the terminals of the drive the motor or the external braking resistance while the power is on Failure to observe this could lead to electrical or thermal shocks Before starting wiring ensure that all supplies are off and motor is stopped Always turn the...

Page 8: ... Do not use organic solvents Failure to observe this could lead to burns or damage For your safety it is very important that any software update or service have to be done by our company When you have to throw away the drive please dispose of this product as industrial waste so respect standards enforced by Country laws 1 03 Notes Qualified electrical staff must execute installation and maintenanc...

Page 9: ...an be set up with property software Caliper compatible with MicrosoftWindows operative systems that allows to enter all calibration settings parameters saving and alarm management and thanks to USB 2 0 comunication to perform debug with realtime scope up to 100μs on 4 simultaneous channels Head on display allows to check drive state and to verify alarms warnings leading to a fast failure diagnosti...

Page 10: ...stalled option I O operation mode analog frequency and I O commands Feedback1 from incremental encoder with without HALL and SSI absolute encoder ST R STANDARD R Feedback option installed I O operation mode analog frequency and I O commands Feedback1 from incremental encoder with without HALL and SSI absolute encoder Feedback2 from resolver CM CM Fieldbus option installed Canopen CiA402 or Modbus ...

Page 11: ...I O commands Feedback1 from incremental encoder with without HALL and SSI absolute encoder Feedback2 from resolver PB PB Fieldbus option installed PROFIBUS DPv0 operation mode I O operation mode analog frequency and I O commands Feedback1 from incremental encoder with without HALL and SSI absolute encoder PB R PB Fieldbus option R Feedback option installed PROFIBUS DPv0 operation mode I O operatio...

Page 12: ... cat C2 C3 Safety function STO SIL3 Safe Torque Off for cat 0 stop realized with IEC EN 61800 5 2 law conformal and IEC61508 safety level conformal law Weight Kg 1 8 2 4 2 7 H D T motors suitable with NTT 240 drive MS04M MS06M B05S B05M B05L B07S MS04M MS06M MS08L B07S B07M B07L MS08G B07L B07G B10S B10N B14K B10N B10M B10L B10G B14K B14S For information about additional optional see Ch 9 Accessor...

Page 13: ... 61800 3 cat C3 Safety function STO SIL3 Safe Torque Off for cat 0 stop realized with IEC EN 61800 5 2 law conformal and IEC61508 safety level conformal law Weight Kg 1 8 2 4 2 7 5 7 H D T motors suitable with NTT 460 B05S B05M B05L B07S B07M B07M B07L B07G B10S B10N B10N B10M B10L B10G B14K B14S B10L B10G B14S B14N B14M B20S B14M B20S B20M B20L For information about additional optional see Ch 9 A...

Page 14: ...unction STO SIL3 Safe Torque Off for cat 0 stop realized with IEC EN 61800 5 2 law conformal and IEC61508 safety level conformal law Weight Kg 12 20 H D T motors suitable with NTT 460 B20S B20M B20L B20G B26S B26M B20M B20L B20G B26S B26M B20M B20L B20G B26S B26M B26L B26G For information about additional optional see Ch 9 Accessories pag 126 For information about H D T AC brushless motors refer t...

Page 15: ...feedback Notch filter on current reference Iq filter on quadrature current to motor PB filter in analog and digital input Motor autophasing procedure available for all feedback Digital I O fully programmable Cogging motor compensation available for brushless motors DC braking procedure available for asynchronous inductive motors Motor mechanical brake management Drive setting via Caliper software ...

Page 16: ...12 Pressure control Modbus RTU up to 57 6Kbps 1 Speed Torque Control and Speed with Torque limit control 2 Electronic Gearbox CHA B CW CCW Pulse Direction 3 Position single analog 12 bit up to 64 target table via cyclic acyclic target via digital input selection via input start selection 4 Electronic Cam 576 points per cam up to 8 cams 5 Pressure control ETHERCAT CoE available only for EC or ECR o...

Page 17: ...C 12bit IN9 IN10 Impedence 400kΩ available only if not used as digital input Frequency input reference N 1 main optoinsulated input 2 x differential or single ended channels Line Driver 5V impedence 200Ω up to 500kHz for each channel NPN PNP 24V internal 1 8kΩ pull up resistor up to 200kHz for each channel Main Feedback 1 Incremental Encoder with without HALL sensors Supply VDC 5 9V adjustable wit...

Page 18: ...BZ Line Driver 12 24V external supply up to 30V IMAX LOAD 20mA only upon request contact our technical department GND and SHIELD connection Motor PTC N 2 PTC sensor one for main feedback and other one for R feedback PTC rated value 550Ω low temperature Overtemperature PTC value 1400Ω USB 2 0 USB 2 0 port for drive setting via Caliper software USB micro AB port Ethernet Standard Ethernet port not m...

Page 19: ...in places with presence of powders soil particles of iron Assemble in places with corrosive gas explosive gas or high grade of humidity Assemble in proximity of machines that generate vibrations Assemble in proximity or on inflammable matter as wood or not resistant to the heat 4 Insure yourself that the driver will be assembled in a position that guarantee a correct ventilation as shown in pictur...

Page 20: ... 4 0 NTT 240 460 Installation 3 02 Dimensions and side view T0 T0 side view T1 T2 T1 2 side view 231 5 216 5 241 5 67 2 33 7 Ø4 5 Ø4 5 Ø4 5 40 40 15 3 15 3 83 231 5 216 5 241 5 47 7 216 5 231 5 241 5 93 58 7 173 5 188 5 Dimensions in mm ...

Page 21: ...21 NTT 240 460 Installation Installation and user guide Rev 4 0 Dimensions in mm T3 T3 side view T4 T4 side view Ø4 5 Ø6 5 87 6 20 9 131 5 268 288 297 7 215 9 130 30 190 326 2 354 306 267 37 ...

Page 22: ...22 Installation and user guide Rev 4 0 NTT 240 460 Installation T5 T5 side view Ø6 5 329 352 379 183 6 249 6 34 5 286 9 Dimensions in mm ...

Page 23: ... Absolute SSI encoder Do not connect pin 2 if 24V from control is used Control digital Output Control digital Input Do not connect pin 12 if 24V from control is used External DC Link Caliper microUSB local service and firmware upgrade Caliper Ethernet local service Caliper Ethernet remote service J4 ETH J12 FB1 J5 FB2 J6 FIELDBUS IN OUT J3 Programmable relay clean contact for output 6 Programmable...

Page 24: ...g voltage to habitation Only NTT 240 single phase with internal EMC filter is suitable to C2 cat A class Cat C3 product is not suitable in public mains feeding voltage to habitation The drive may be source of radio frequency noise NTT 240 460 triphase with internal external EMC filter is suitable to C3 cat To ensure IEC61800 3 law compliance about line conducted emissions in C2 cat A class type 2 ...

Page 25: ...xternal H D T EMC filter depending on drive size could supply more NTT 240 460 parallel drive EMC input filter must be placed less than 300mm far from any drive and grounded to one point only The actual EMC level may be different depending on the actual system configuration wiring and other conditions For information about additional optional see Ch 9 Accessories pag 126 4 05 External DC link powe...

Page 26: ... size are shown below T0 T1 T2 T3 T4 T5 J1 J3 J4 J5 J6 J7 J8 J9 J10 J11 J2 optional optional J3 optional J3 optional J3 optional J1 J4 J5 J6 J7 J8 J11 J2 optional J1 J4 J5 J6 J7 J8 J11 J2 optional J1 J4 J5 J6 J7 J8 J11 J2 optional J3 optional J4 J5 J6 J7 J8 J9 J10 J11 J1 J2 J2 optional J3 optional J6 J1 optional J12 J4 J5 J7 J8 J9 J12 J9 J10 J12 J9 J10 J12 J9 J10 J12 J10 J11 J12 ...

Page 27: ... L3 J3 Fieldbus comunicazion connector optional NTT 240 460 all size J3 J4 USB Micro AB port for drive setting via Caliper on PC J4 J5 Feedback 1 from motor encoder HALL sensors J5 J6 Feedback 2 from motor resolver and encoder optional feedback R J6 J7 I O connector frequency input and encoder output buffered or emulated J7 J8 I O connector digital input and output and re lay clean contact J8 J9 I...

Page 28: ...B R EXT B R L3 L2 L1 OUT IN FEEDBACK 1 J1 J3 J4 J5 J2 J7 J8 20 11 10 1 16 9 8 1 18 10 9 1 MADE in IT AL Y FIELD BUS ENC OUT ENC FREQ IN DIGITAL IN DIGITAL OUT USB U V W DC BUS DC BUS INT B R EXT B R L3 L2 L1 OUT IN FEEDBACK 1 J1 J3 J4 J5 J2 J7 J8 20 11 10 1 16 9 8 1 18 10 9 1 DC BUS DC BUS INT B R EXT B R L3 L2 L1 J2 PE U V W DC DC RB PE PE L3 L2 L1 W V U DC DC RB PE PE L3 L2 L1 W V U PIN J1 conne...

Page 29: ...ielded M6x16 exagonal screw 16 mm2 AWG5 NTT 460 45 90 45 150 4 x 10 mm2 AWG7 Shielded M6x16 exagonal screw NTT 460 75 150 4 x 25 mm2 AWG3 Shielded M6x16 exagonal screw 25 mm2 AWG3 NOTES It s mandatory to use shielded cables and to connect shield to PE terminal both drive and motor side To ensure a correct electric wiring and for electric safety use an adequate cap For cable lenght longer than 50me...

Page 30: ...NT B R EXT B R L3 L2 L1 OUT IN FEEDBACK 1 J1 J3 J4 J5 J2 J7 J8 20 11 10 1 16 9 8 1 18 10 9 1 DC BUS DC BUS INT B R EXT B R L3 L2 L1 J2 PE U V W DC DC RB PE PE L3 L2 L1 W V U DC DC RB PE PE L3 L2 L1 W V U PIN J2 connector description DC BUS DC link connection Monitored Voltage for information see 8 03 Diagnostics pag 121 DC BUS INT B R Internal braking resistor connection In order to use internal r...

Page 31: ... NTT 460 6 12 1 5 mm2 AWG15 NTT 460 10 20 2 5 mm2 AWG13 6 mm2 AWG9 NTT 460 20 40 4 mm2 AWG11 NTT 460 35 70 6 mm2 AWG9 M6x16 exagonal screw 16 mm2 AWG5 NTT 460 45 90 45 150 10 mm2 AWG7 M6x16 exagonal screw NTT 460 75 150 25 mm2 AWG3 M6x16 exagonal screw 25 mm2 AWG3 NOTES NTT 240 460 drives that include internal resistor are already equipped with bridge connection between INT B R and DC BUS pins If ...

Page 32: ... Act Link Act Act Link Act Bus Failure B A 1 8 1 8 B A 8 1 8 1 Connector TYPE Double RJ45 IN A and OUT B port with Link Act and fieldbus status led Utility Fieldbus comunication protocol Profinet RT Profidrive CA e CB with PN option N pins and LEDs 8 x 2 Ethernet standard according to EN50173 1 2011 4 x LED link activity and 1 x red LED for fieldbus status PIN J3 connector description EC and PN Op...

Page 33: ...odbus RTU In order to ensure a correct operation for Canopen Fieldbus comunication please follow instruction below connect external 120Ω termination resistor the table below shows Bus total lenght related to Baudrate Baudrate Bus total lenght 1 Mbit s 20m 500 kbit s 100m 250 kbit s 250m 125 kbit s 500m 50 kbit s 1000m 20 kbit s 2500m 10 kbit s 5000m NOTES Monitored Fieldbus for information see 8 0...

Page 34: ...n N pins 6 PIN J3 connector description PB Option 1 PROFI data for PROFIBUS comunication 2 PROFI data for PROFIBUS comunication 3 GND Common Ground for PROFIBUS comunication 4 PROFI data for PROFIBUS comunication 5 PROFI data for PROFIBUS comunication 6 SHIELD Cable shield This pin is connected to drive Power Earth PE NOTES Monitored Fieldbus for information see 8 03 Diagnostics pag 121 Keep comun...

Page 35: ...ween PC and NTT 240 460 drive using USB HUBs is shown below 3m 1m 1m 3m NOTES Not insulated connection USB comunication ground and 0L drive ground are equipotential Maximum permitted voltage against Power Earth PE is 50V It s strongly recommended to use USB shielded cables whose lenght is less than 3m for single drive or less than 1m for each drive connected to an USB HUB Keep USB comunication cab...

Page 36: ...al channel B 5 Z CK Differential line driver 5V input for channel Z of incremental encoder Differential line driver 5V output for CLOCK data for SSI absolute encoder 6 Z CK Z Single 5V Open Collector and Push Pull input for incremental channel Z 7 PTC Digital input for motor PTC If motor is devoid of PTC ensure to short pin 7 and 8 8 PTC 9 V_SENSE1 Supply voltage sensing input pin from encoder 10 ...

Page 37: ...ection Open Collector incremental Encoder connection with internal Pull up resistor Open Collector incremental Encoder connection with external Pull up resistor External resistor must be dimensioned according to main feedback encoder used Motor PTC Encoder Supply Motor Encoder Earth Connection NOTES Monitored Feedback for information see 8 03 Diagnostics pag 121 Maximum permitted voltage for 0L ag...

Page 38: ...LOW 7 4 B ORANGE PINK 8 5 CK PURPLE 14 6 CK WHITE GREEN 13 7 PTC WHITE YELLOW 17 8 PTC YELLOW BROWN 2 9 V_SENSE1 BROWN GREEN 16 10 V RED 3 11 0L BLACK 4 12 D RED BLUE 12 13 D GREY 11 14 15 16 PE Shield drain or braid 1 17 PE Shield 18 0L_SENSE1 GREY PINK 15 2 incremental encoder for Bxx motors cod 2 o 280 1024ppr with HALL sensors J5 DRIVE CONNECTOR FUNCTION EXTENTION CABLE COLOUR MOTORE CONNECTOR...

Page 39: ...PTC I motori della serie MS non prevedono il PTC Cortocircuitare il pin 7 e 8 sul connettore J5 8 PTC 9 V_SENSE1 10 V RED 1 RED 11 0L BLACK 2 BLACK 12 13 HA GREY 7 WHITE 14 HB PURPLE 5 GREY 15 HC GREY PINK 3 BROWN 16 PE Shield drain or braid 15 SHIELD 17 PE Shield 18 0V_SENSE1 NOTE incremental channels LD 5V also using the absolute encoder cod 480 can be sent to on PLC or CN via J8 connector in or...

Page 40: ...winding 2 EXC 3 COS COS input from Resolver feedback 4 COS COS input from Resolver feedback 5 SEN SEN input from Resolver feedback 6 SHIELD Encoder and signal cable shield This pin is connected to drive Power Earth PE 7 Do not use this connection 8 PTC Digital input for motor PTC If motor is devoid of PTC ensure to short pin 8 and 9 9 PTC 10 SEN SEN input from Resolver feedback 11 Do not use this ...

Page 41: ... and BSP BSD motor series with resolver cod 1 J6 DRIVE CONNECTOR FUNCTION EXTENTION CABLE COLOUR RESOLVER CONNECTOR B05 B07 BSP BSD B10 B14 B20 B26 BK20 1 EXC BIANCO 6 F 10 2 EXC MARRONE 4 D 7 3 COS GIALLO 2 B 5 4 COS VERDE 1 A 6 5 SEN ROSSO 3 C 4 6 SHIELD drenaggio o calza 7 8 PTC GRIGIO 7 H 9 9 PTC ROSA 8 G 8 10 SEN BLU 5 E 14 11 12 13 14 15 NOTES All pins of motor side and colours cable not men...

Page 42: ...d This pin is connected to drive Power Earth PE 9 OUT A Frequency encoder output Differential line driver 5V output for buffered encoder or emulated encoder channel A 24V available on request 10 OUT A 11 OUT B Differential line driver 5V output for buffered encoder or emulated encoder channel B 24V available on request 12 OUT B 13 OUT Z Differential line driver 5V output for buffered encoder or em...

Page 43: ...n see 6 08 1 Digital I O functions pag 85 4 IN1 5 IN2 6 IN3 7 IN4 8 IN5 9 IN6 10 IN7 11 0V I O Isolated Common Ground 0V_I O for I O signals 12 0V Common Ground 0V for 24V 13 OUT0 Optoinsulated PNP output also programmable For information see 6 08 1 Digital I O functions pag 85 14 OUT1 15 OUT2 16 OUT3 17 OUT4 18 OUT5 19 OUT6 relay Programmable clean contact relay output For information see 6 08 1 ...

Page 44: ...able as IN9 IN10 digital input single ended PNP For information see 6 09 2 Auxiliary references pag 88 4 AUX1 5 AUX2 IN10 6 AUX2 7 SHIELD Signal cable shield This pin is connected to drive Power Earth PE 8 0S Common Ground 0L for analog I O and stabilized 10V supply 9 AN0 Analog single ended 10V programmable output DAC 10bit 10 AN1 11 10V Stabilized internal supply output 10V 15mA usefull for feed...

Page 45: ...ge for 0V 0V_I O against Power Earth PE is 100V Do not use 24V pin 2 of J8 to directly engage motor brake Single ended PNP connection for analog references is to connect negative pins pin 2 4 6 of J9 to 0S ground pin 8 of J9 and to connect signal to positive pins pin1 3 5 of J9 this connection type is usefull if the external controller device has not differential analog output but 10V single ended...

Page 46: ...cts Safe Torque Off For further information about safety circuit please see Ch 7 S T O safety circuit pag 116 J11 24 IN IN 1 24 OUT IN 2 GND IN S T O LOGIC SUPPLY J9 12 7 ANALOG I O SHIELD MOD MOD GND MOD MOD MODBUS J10 J12 ETHERNET 5 4 3 2 1 6 1 6 5 4 3 2 1 1 8 Connector TYPE Pitch 5mm male connection Maximum cable section 2 5mm2 Utility 24VDC logic supply connection and safety function STO Safe ...

Page 47: ...l IEEE 802 3 Compliant Ethernet 10 100 Base T Not managed at the moment N pins 8 standard Ethernet secondo EN50173 1 2011 PIN J12 connector description Ethernet Cable 1 TD Transmit Data 8 1 2 TD Transmit Data 3 RD Receive Data 4 5 6 RD Receive Data 7 8 NOTES Keep comunication cables far from power and feedback cables It may be necessary to use a switch repeter for bus lenght grater than 1000m Use ...

Page 48: ...references or via fieldbus parameter Main drive status during operation are shown below and are visible on display device please see also Ch 8 Drive status and diagnostics pag 120 SWITCH OFF state drive will not provide torque to motor and shows Drive OK or FAULT condition SWITCH ON state drive will provide torque to motor in order to keep it stopped OPERATION ENABLED state drive will follow speed...

Page 49: ...ve alarms DC bus power supply voltage and firmware release for the connected drive 3 a Data Monitor located at the left column gives information about connected drive size actual drive operation mode Fieldbus or I O actual control topology Mode motor speed and position parameters and drive current and temperature Also actual digital I O function and state with a graphic view for state is displayed...

Page 50: ...lways to perform backup files for drive and motor parameters Load default parameters factory settings will reload into drive memory Ch 6 07 Motor autophasing a window is opened to perform motor autophasing that lets to verify poles and HALL sensors allignment Please ensure to set correct encoder pulse number before proceding Rotor must be free to rotate Local control via Caliper this key lets to e...

Page 51: ...rovided to motor A and Drive heat sink temperature C 3 Speed with fixed unit RPM rotary motor mm s linear or tubular motor 4 Position with fixed unit N of revolution counts per turn 16bit and total counts 32bit with 1bit for sign management rotary motor mm linear or tubular motor 5 Digital I O state Digital input are programmable and enabled depending on choosen operation mode and choosen control ...

Page 52: ...below 1 FIELD BUS operation mode selection 2 MOTOR DATA motor and feedback parameters settings 3 ADVANCED SETUP regulator filter limiters settings and alarms managing 4 The fourth Menu item depends on the desired operation mode and can be set in Control Set I O operatio Modbus Modbus RTU operation CanOpen CiA301 e CanOpen CiA402 Canopen operation Ethercat Canopen CiA301 and CiA402 over Ethercat op...

Page 53: ...d control topology Operation mode Modbus RTU This screen allows to set fieldbus Address up to 247 and comunication Baudrate up to 57 6KBit A Time out comunication alarm can be configure to report failure comunication after a time of inactivity Operation mode Canopen CiA301 and CiA402 This screen allows to set fieldbus Node up to 127 and comunication Baudrate up to 1Mbit A Time out comunication ala...

Page 54: ...for Profibus Profidrive DPv0 comunication Operation mode is settable only if drive is in SWITCH OFF state during Fieldbus operation to ensure witch drive and motor parameters are settable related to drive state please see related fieldbus user guide downloadable from enterprise web site www hdtlovato com during I O operation parameters can be modified only via software Caliper if parameter is not ...

Page 55: ...peed Nominal Current Peak Current Motor Poles up to 50poles I2T Time motor I2T default set to 10s All feedback supported are suitable for this motor type Other choke parameters usefull for sensorless control 6 03 2 b Brushless permanent magnet linear motor It s necessary to set correctly Nominal Speed Nominal Current Peak Current Pole Pitch in mm I2T Time motor I2T default set to 10s All feedback ...

Page 56: ...ps if necessary and V Hz function curve NOTES Nominal Speed parameter units depends on choosen motor type rotary and linear or tubular For further informations please see 6 05 Factors pag 73 I2T motor protection is settable and identifies a motor overload time limit default set to 10s setable from 1s a 3000s If stress is too high drive will provide an appropriate alarm warning FA 16 and will limit...

Page 57: ...nu If incremental encoder with HALL sensors is used it s mandatory to correctly set offset encoder parameter set to 0 for all H D T motors otherwise perform the autophasing procedure if third part motor is used 6 07 Motor autophasing pag 82 Motor cogging map is available only if encoder provides zero index Connection is located into J5 connector please see 5 08 J5 connector Feedback 1 pag 36 1 sup...

Page 58: ...ffecting offered resolution limiting it to 16bit Istantaneous real value for encoder absolute position is always visible Motor cogging map is available Connection is located into J5 connector please see 5 08 J5 connector Feedback 1 pag 36 1 supply V power to the feedback of used motor V pin 10 and 0L pin 11 and sensing pin if available pin 9 18 otherwise leave them not connected for feedback at 5V...

Page 59: ...ast 4 times lower than 14bit Encoder resolution parameter sets number of pulse per mechanical round PPR performed by emulated encoder output with zero index It s possible to set only values equal to Feedback resolution or lower Besides monitoring for resolver funcionality is visible Some visualized parameters are reserved Motor cogging map is available Connection is located into J5 connector pleas...

Page 60: ... system is available for all supported feedback with exception for sensorless control It s useful to reduce motor noise keeping unchanged application bandwidth It s disabled for default condition but it s recommended when encoder feedbacks that provide resolution lower than 1000ppr or lower than 12bit is used HALL sensor feedbacks is used Observer function could lead to system instability so pleas...

Page 61: ...and encoder and encoder pulse number 4 Alarm Memory occured alarm history up to 16 maximum stored locations with description alarm list can be erased 5 Alarm Mode some alarm managment including Overvoltage Undervoltage Voltage phase lack and drive I2T they can be set as shown below Autoreset or Stored for voltage faults Rated current limit or Cyclic auto reset for drive I2T warning also it s possi...

Page 62: ...off For further information about fieldbus protocols please see related fieldbus user guide downloadable from enterprise web site www hdtlovato com 6 03 4 a Input Output operation mode Control Set items speed control and speed with torque limit torque control electronic gearbox control CHA B CW CCW Pulse Direction position control single target positioner analog positioner cyclic table selection p...

Page 63: ...p or S ramp JERK parameter 7 GearBox gearbox axis rate management and engage and disengage settings input type can be selected between CHA B CW CCW Pulse Direction input reference For turther information please see 6 09 Drive references pag 87 and 6 15 4 Position control electronic gearbox mode pag 103 Engaging engaging phase parameter set Disengaging disengaging phase parameter set Home position ...

Page 64: ...put setting in Modbus RTU operation mode For any other information about digital input functions please see 6 08 1 Digital I O functions pag 85 Filter Input input 1ST order filter parameters in ms unit 5 Factors multiplier factors associated with input reference in order to modify scale resolution Please see 6 05 Factors pag 73 6 Position Setting maximum admitted position error and maximum admitte...

Page 65: ...ctronic cam mode pag 105 Sync Shift isync parameter set and master slave position shift setting Data Engaging engaging phase parameter set Data Disengaging disengaging phase parameter set Home position HOMING procedures and parameters For further information please see Modbus user guide Cam JOG JOG setting 12 Press pressure reference accuracy setting and fullscale setting for speed and pressure re...

Page 66: ...during Fault Reaction HALT conditions and comunication timeout For further information please see 6 04 Emergency stop functions pag 71 Stop mode available are shown below selectable from dropdown menu Disable power motor inertia stop Ramp controlled stop and then disable power Ramp controlled stop keeping motor in standstill condition at power on Limit torque stop setting desired torque limit 4 Po...

Page 67: ...hreshold setting and enabling Pressure Reg pressure ring regulators setting Ramps pressure and speed ramps setting and enabling Output analog output fullscale setting and output setting for pressure reached condition related to pressure and time window parameter 6 03 4 d Ethercat operation mode Ethercat item Control type and state machine in picture Position Mode Velocity Mode Profile Velocity Mod...

Page 68: ...uring Fault Reaction HALT conditions and comunication timeout For further information please see 6 04 Emergency stop functions pag 71 Stop mode available are shown below selectable from dropdown menu Disable power motor inertia stop Ramp controlled stop and then disable power Limit torque stop setting desired torque limit 3 Active map active cyclic telegram structure and its number is displayed 4 ...

Page 69: ... output fullscale setting and output setting for pressure reached condition related to pressure and time window parameter 6 03 4 f Profibus operation mode ProfiDrive item Control type and state machine in picture Speed control PNU Position control Single target Speed control Analog reference Torque control PNU Torque control Analog reference Pressure control During fieldbus operation mode Caliper ...

Page 70: ...s Pos Input X index stop at relative position when event happens on INPUT X of drive I O connector 10 Torque torque reference PNU or analog input in percentage related to Nominal Current motor parameter speed visualization during operation For further information please see 6 09 Drive references pag 87 11 Press pressure reference accuracy setting and fullscale setting for speed and pressure refere...

Page 71: ...s active Drive operating conditions are shown below DRIVE OK or FAULT conditions drive provides high active output for DRIVE OK condition when no alarms occured If an alarm occurs drive goes into FAULT condition and output is low WARNING condition some alarms allow the drive to enter the WARNING condition where motor control is available but only with limit performance or simply showing that an un...

Page 72: ...s COMUNICATION TIMOUT for managing the emergency stop when fieldbus comunication timeout occures Some settings are not available depending on operation mode For further information about fieldbus emergency stop please see related manuals available at enterprise website www hdtlovato com 6 04 3 Safe Torque Off safety stop function SafeTorqueOffhardwaresafetyfunctionisrealizedwithIECEN61800 5 2lawre...

Page 73: ... shaft driven by drive can be selected by a drop down menu related to position speed and acceleration parameters 1b Custom Application only when units depends on application Custom Application it s necessary to set it in the Application submenu of Drive Data window please see 6 05 2 Custom Application pag 74 1c Custom Label only when units depends on a desired label Custom Label it s necessary to ...

Page 74: ...resentedbyarotary disk downstream any reducer Set parameters are units reducer ratio disk diameter 3 Axisconveyorbelt flatbelt applicationwithlinearunitsreffereddirectytoaloadrepresentedbyanaxisconveyor belt downstream any reducer Set parameters are units reducer ratio dragged disk diameter 4 Axis conveyor belt toothed belt application with linear units reffered directy to a load represented by an...

Page 75: ...Custom Label Custom Label allows user to set custom units related to a specified application To define units it s allow to set a ratio between number of desired revolutions to perform in order to reach target of specified application in case of rotary motor a ratio between number of desired pole pitch to perform in order to reach target of specified application in case of linear or tubular motor T...

Page 76: ...ware version for a few seconds then it displays main display visualizatrion menu for primary drive parameters d 0000 Drive status STOP ENA RUN F xx and FA xx d 0007 Absolute feedback position freezing when going out from Home sensor d 0001 Motor speed in RPM d 0008 Drive current size d 0002 Motor current in Ampere d 0009 Drive voltage size d 0003 DC link voltage in Volt d 000A Reserved d 0004 Driv...

Page 77: ...d 0005 Position rounds 32767 32767 cnts R d 0006 Position offset 0 65535 cnts R d 0007 H P freezing 0 65535 cnts R d 0008 Drive current size Drive current size R d 0009 Drive voltage size 240 460 R d 000A Reserved d 000b Pressure reference 0 1000 0Bar R d 000C Measured pressure 0 1000 0Bar R m MOTOR DATA m1 MOTOR MAIN PARAMETERS m 1000 Motor type 0 S r Synchronous rotative 1 S L Synchronous linear...

Page 78: ...Enable reference On Off W U3 RAMPS U30 ENABLE U 3005 Enable S ramps On Off W U 3006 Enable linear ramps On Off W C TORQUE CONTROL C0 CHOICE C 0000 Choose reference type 0 AnL Analog 1 Int Inside S C1 ANALOG REFERENCE C 1000 Fullscale 0 0 250 0 W C 1001 Offset 100 0 100 0 W C2 INTERNAL REFERENCE C 2000 Target torque 250 0 250 0 W P POSITION CONTROL POSITIONER P0 CHOICE P 1000 Choose reference type ...

Page 79: ...F 7003 Ramp enable ON OFF S SPEED RAMPS ON REFERENCE F 7004 Acceleration 1 60000 RPM s W F 7005 Deceleration 1 60000 RPM s W F 7006 Ramp enable ON OFF S S ADVANCED SETUP S1 PID REGULATORS S10 PID SPEED S 1000 KP speed 1 65535 W S 1001 KI speed 0 65535 W S 1002 KD speed 0 65535 W S11 PID CORRENTE S 1100 KP current 1 65535 W S 1101 KI current 0 65535 W S 1102 KD current 0 65535 W S12 PID ASINCRONO D...

Page 80: ...imeout 10 4000 ms S S 7104 Timout enable ON OFF S S72 CANOPEN S 7200 CANOPEN address 1 127 S S 7201 CANOPEN baudrate 10 20 50 100 125 250 500 800 1000 S S 7202 Timeout 10 4000 ms S S 7203 Timout enable ON OFF S S73 PROFIBUS S 7300 PROFIBUS address 1 125 S S74 ETHERCAT S 7400 ETHERCAT alias 1 65535 S S75 PROFINET S 7500 192 168 1 10 ADDRESS Profinet IP address fields W S 7501 S 7502 S 7503 S 7510 2...

Page 81: ...hold 1 0 200 0 C W H 1006 Fan enable threshold 0 0 200 0 C W H 1007 Stop fan hysteresis 1 0 200 0 C W H3 H 3000 DC braking threshold 15 960 V W H 3001 Hysteresis for H 3000 1 125 V W H 3002 DC max threshold 15 960 V W H 3003 Hysteresis for H 3002 1 125 V W H 3004 DC min threshold 5 560 V W H 3005 Hysteresis for H 3004 1 125 V W H4 I2T LIMIT FREQUENCY H 4000 I2T limit threshold 0 00 10 00 Hz W H5 A...

Page 82: ...ssage appears and lets to enter correct data also a free rotor message appears as shown in the image below NOTES Modifing current data and encoder pulse number before performing autophasing it lets to auto update related into Motor Data item as shown in previous image H D T motors are normally phased at drive default value so during first start up it is not necessary to perform autophasing Caliper...

Page 83: ...alarms and torque standstill condition joint command 3 Power Operat torque standstill condition and reference enabled joint command 4 Power Operat Reset reset torque standstill reference enabled joint command 5 Enable Reference o Enable Operation reference enabled command 6 Start Reference Start position command 7 Halt Halt command 8 Position Abs Rel target conversion between absolute and relative...

Page 84: ...nt offset parameter for vertical axis To learn more about this function please see 6 11 Motor brake pag 90 6 Drive OK high active logic signal for Drive OK status output is disabled if any alarms occur 7 Secure Power disable this function provides an high active output if both SPD contacts are correctly opened please see Ch 7 S T O safety circuit pag 116 8 Pos Freq Out this output provides a squar...

Page 85: ...8 IN 9 IN 10 DIR CHA CCW DIR CHA CCW DIR CHA DIR PULSE CHB CW PULSE CHB CW PULSE CHB PULSE Available functions during Modbus RTU operation mode and related control type are shown in table below MODBUS RTU Operation mode Speed Torque Elect Axis Position Elect Cam Press IN 0 Switch ON Power Operation Pow Op Reset Enable Operation Fault Reset Halt Meas pos Input X Limit Switch CW Limit Switch CCW Hom...

Page 86: ...E CHB CW PULSE only for Electronic Gearbox NOTES Drive considers that an I O port is activated when high level logic state is detected For any information about logic state levels please see 2 06 Technical data pag 15 For further information about wiring please see 5 10 J7 8 9 connectors Frequency digital and analog I O pag 42 Input 8 9 and 10 are same hardware analog input to use them as digital ...

Page 87: ...ifferential port pin 1 2 of J9 connector In speed control this signal feeds main speed reference related to settable parameters In torque control this signal feeds percentage torque reference according to rated motor current data Nominal Current in Motor Data item In position control if single target positioner or analog positioner is used this signal feeds main speed reference related to settable...

Page 88: ...get position equivalent 10V parameters drive performs positioning between this two values following the 12 bit analog auxiliary reference range 10V In pressure control this signal feeds pressure reference related to settable parameters into press sub menu 2 Inside auxiliary reference is generated internally by drive and it s constant By the way it can be modified via Caliper software during operat...

Page 89: ... control is shown in picture below NOTES please pay attention to any activated digital input set for torque limit function 6 10 Speed ramps Acceleration and deceleration ramps management is enabled only with speed control in any operation mode Drive performs ramps at any reference change Acceleration and deceleration ramps enabling and setting are shown below After ramps enabling acceleration and ...

Page 90: ...les more or less pronounced depending on the rotor position in that moment It s recommended NOT to connect OUT x output directly to motor brake command contact Please use a mechanical contact as a relay or any other proper mechanical electric contact as long as OUT x current consumption is lower than limit imposed by drive electrical features Time brake enable and time brake disable must be approp...

Page 91: ... below 1 2 3 3 1 2 Enable Time Stop ramp External Speed Reference Target Speed Output for motor brake OUT x Enable engage condition for motor brake 1 SWITCH OFF command and stop ramp perform 2 Enable motor blake and drive in SWITCH ON 3 Drive in SWITCH OFF Disable Time Speed Reference Output for motor brake OUT x Disable disengage for motor brake 1 Command for SWITCH ON brake disable 2 Disable tim...

Page 92: ...l it s possible to provide to braking resistor a power 10 times grater than rated one NOTES To ensure operation during braking conditions please enter correct parameters related to suitable resistor please pay attention to enter correct value to the Overload Time Drive will provide alarm if theoretical calculation for thermal behaviour has detected an overheating of resistor due to an heavy brakin...

Page 93: ...witch the procedure was performed in case of motor replacement or encoder rephasing a new procedure launch is required Mapping procedure must be performed only via Caliper software then the enabling and disabling function can be reached also via fieladbus operation before starting procedure rotor must be free to rotate so ensure to disconnect the load Mapping procedure is shown below NOTES Advise ...

Page 94: ... depending on sampling time It allows graphic zoom by selecting the interested area with the PC mouse 4 a setting window located at the right of display divided into 3 different item allows to enable misure cursor for timebase axis X axis and for amplitude axis Y axis and to check the realtime value define visualized variables amplitude resolution automatic or manual setting set desired trigger to...

Page 95: ...ata or during monitoring it restarts acquiring Stored data will be lost Refresh graph restart data acquiring Scopechannelsetting it opens a new window to set 4 channels to monitor choosed from a preset list It aalows to set channels desired sampling time too PID setting it opens a new window to set PID regulator cefficients in realtime and to enable Wave Generator function TEST it opens a new wind...

Page 96: ...target postion values that drive has to cyclically reach so this function performs a cyclic positioner simulator It allows to set operation speed to reach during positioning and to set CW CCW acceleration and deceleration ramps It allows to set up to 5 target position values following position profile that can be set as standard ramps with related acceleration and deceleration parameters and as S ...

Page 97: ... Dinamic allows to visualize data in realtime during acquiring Buffer bar shown at the low of trigger menu allows to set total or partial data related to time axis up to maximum admitted acquiring time Decreasing visualization time only a part of acquired data is shown in Scope while the resolution is unchanged It s recommended to set buffer bar correctly in order to view periodic signals in realt...

Page 98: ...se torque and helps to match inertia between motor and load The electronic gearbox function compared to mechanical reduction gearbox only regulates the speed but with the advantage of allowing to freely change and to eliminate backlash and deterioration typical of mechanical systems It is possible to connect different slave axes to a single master axis with different electrial gear ratio When mana...

Page 99: ...this mode allows to synchronize the starting of an axis with the position reached condition of another axis without the necessity to use a PLC It is different from the previous one because the input that selects the target or the group of linked targets also becomes the start command of the target itself The reached position signal can be activated on each of the digital output of the drive Theref...

Page 100: ...in case of I O and Modbus mode or fieldbus prameters in the case shown in picture the reference of torque is analog the setting of full scale for the analog inputs optimal PID regulators for application desired digital I O In order to obtain a correct operation please ensure to perform Factors calculation procedure please see 6 05 Factors pag 73 See Ch 5 Wiring and connections pag 26 for more deta...

Page 101: ...se shown in picture speed and torque reference are analog full scale for analog analog inputs optimal PID regulators for application desired digital I O In order to obtain a correct operation please ensure to perform Factors calculation procedure please see 6 05 Factors pag 73 See Ch 5 Wiring and connections pag 26 for more details about connectors J5 6 connector for feedback connection see 1 6 03...

Page 102: ...RTU mode or internal mode in case of fieldbus in the case shown in picture speed and torque reference are analog full scale for analog analog inputs optimal standard and sensorless PID regulators for application desired digital I O In order to obtain a correct operation please ensure to perform Factors calculation procedure please see 6 05 Factors pag 73 See Ch 5 Wiring and connections pag 26 for ...

Page 103: ...tal I O Therefore number per turn performed by slave device depending on frequency signal received is shown below Ratio between pulse number read by slave drive PULSEinput and set master pulse number PULSEmaster provides information about axis position of master device whereas ratio between NUM and DEN provides information about percentage axis position in turn of slave device related to master po...

Page 104: ... motor type and with any supported feedback except for sensorless also Hall sensor feedback is not recommended about regulation position speed current regulators are available brake motor management is available trapezoidal ramps and S ramps are available The following image shows an example of I O setting then you can set desired position application type and position profile type between trapezo...

Page 105: ...ut to Lenght and more The Master module indicates master encoder pulse number used to calculate shape of cam profile The result of the division of Master module and Number of table points gives the space range between two consecutive points of the table The profile of the cam between two points is calculated using a cubic interpolation The Slave module represent the excursion of the cam measured i...

Page 106: ...ponential 2 multiplier parameter useful during the tuning of the pressure loop regulation to appreciate visible variations Default parameter set is a good compromise for the most servo press applications In order to obtain a correct operation please ensure to perform Factors calculation procedure please see 6 05 Factors pag 73 See Ch 5 Wiring and connections pag 26 for more details about connector...

Page 107: ...r autophasing pag 82 Please use an appropriate mechanical brake in the case of vertical axis load safety condition required during current loop tuning due to automatic 90 motor phase autoshifting in order to avoid providing torque To perform tuning please do the following 1 generate a square wave current reference use Wave Generator function into Caliper software to create desired reference see 6 ...

Page 108: ...ny case it s recommended to set KP 1800 6 16 2 Speed loop tuning Speed loop tuning must be performed with load connected because time constants depend on dinamic system to control Speed loop tuning must be performed after current loop tuning and execution step are similar It s recommended to perform motor autophasing before speed loop tuning see 6 07 Motor autophasing pag 82 To perform tuning plea...

Page 109: ...e halve KP value halving KP system avoids oscillation in transient conditions increase gradually KI increase until misured speed variable accurately follows the desired speed reference In any case KI parameter should not be greater than 40 of KP previously set When observing the behavior of the load corresponding to the reference changes please keep a waveform responce as possible without overshoo...

Page 110: ...ent value 6 16 3 Position observer tuning Observer function allows to filter motor position information in order to reduce application noise due to speed loop ruggedness while maintaining sufficiently static and dinamic performances This function is very usefull when motor provide a low resolution feedback lower than 1000ppr or with Hall sensor only applications Observer function is available with...

Page 111: ...into Motor Data menu Motor PHASE resistor value in Ω ATTENTION If motor datasheet provides PHASE to PHASE resistor please enter that halved parameter Motor PHASE Inductance Synchrony in mH ATTENTION If motor datasheet provides PHASE to PHASE inductance please enter that halved parameter Magnetic flux Magnet Flow in Wb using the following formula In the previous formula Ke is motor e m f parameter ...

Page 112: ...nitial speed speed parameter in RPM beyond which drive changes control algorithm from V F to sensorless Speed Hysteresis it s reffered to initial speed this parameter is shown in RPM Speed ramp ramp in RPM s to reach initial speed from zero speed Initial delay time parameter beyond which drive starts to follow speed reference the delay is necessary to let the motor shaft to reach the corrrect star...

Page 113: ...at motor rotate in clockwise viewing it from shaft otherwise turn off the drive and invert two phases of motor then re execute 1 2 3 instruction points MIDDLE PHASE tuning with no load 4 set an internal speed reference whose value must be a bit higher than default initial speed so for example 500RPM In this condition motor could rotate in a discontinuous way or even NOT rotate 5 enable the OPERATI...

Page 114: ...st cases for motor with a PHASE resistor lower than 0 8Ω and a PHASE inductance lower than 0 8mH parameter should be increased When target is reached please do not exceed beyond with the parameter setting formotorwithaPHASEresistorhigherthan0 8ΩandaPHASEinductancehigherthan0 8mH parameter should be decreased When target is reached please do not exceed beyond with the parameter setting 10 if necess...

Page 115: ...ntrol tuning with load connected agire ulteriormente sui parametri precedentemente descritti per ottenere un tuning ottimale in condizione di carico In most cases the excellent parameters with load are not much different to parameters get with no load if the following conditions are met drive must be able to provide motor rated current load inertia is 6 times grater than motor maximum speed ramps ...

Page 116: ...re isn t a drive equipped with STO to secure the system interrupting the power supply using a contactor of adequate capacity Using a STO it is possible to eliminate the contactor allowing economical advantage space saving in the cabinet and achieving an higher level of integrity Principle diagram for drive without STO safety circuit is shown below Hardware enable Interface µP PWM Control Opto 6 Po...

Page 117: ... State In order to use correctly the Safety Function STO please take off all bridge cables and wire external contacts Secure Power Disable is used in exactly the same way as a conventional enable input so all existing applications remain the same In addition it disables the drive with a very high integrity so that it can be used in safety related applications 1 24V IN 2 GND IN 3 STO IN1 24V OUT 24...

Page 118: ...N 1 channel SPD IN 2 channel SPD output OUT1 2 SPD IN 1 channel SPD IN 2 channel SPD output OUT1 2 5ms 100ms 100ms FA08 Safe State Drive not OK Drive OK Drive not OK FA08 Safe State FA18 o FA23 Avaria Hardware De energize condition for SPD IN 1 e SPD IN 2 channels Drive not OK Drive OK Drive OK 5ms 100ms FA08 Safe State FA08 Safe State FA18 o FA23 Avaria Hardware Energize condition for SPD IN 1 e ...

Page 119: ...EL DRIVE STATUS MOTOR BEHAVIOUR HOW TO INTERVENT DISPLAY SIGNALING STO OUTPUT OUTx STO IN1 OPERATION ENABLED Stop by inertia Repair needed FA18 0 SWITCH ON Free Repair needed FA18 0 SWITCH OFF Free Repair needed FA18 0 STO IN2 OPERATION ENABLED Stop by inertia Repair needed FA23 0 SWITCH ON Free Repair needed FA23 0 SWITCH OFF Free Repair needed FA23 0 For further information about drive status an...

Page 120: ... to motor following references and shows Warning condition 8 02 Fieldbus status signaling During Ethercat CoE and Profinet operation modes other LEDs provide following bus status LINK and ACTIVITY Green andYellow LEDs on each port of J3 connector show status for ethernet comunication state machine identification during Ethercat operation mode with green LED or Bus Failure identification during Pro...

Page 121: ...rrent sen sors has failed A repair from technical and designa ting person is required NO NO OVER CURRENT FA03 Drive has detected an overcurrent condition in inverter current rea ding signals Drive stops providing current and Drive OK condition is disabled Please remove U V W cable from dri ve wirings and try OPERATION ENA BLED status in this condition If alarms still occures a repair from technica...

Page 122: ...our has detected an overheating of resistor Drive stops providing current and Drive OK condition is disabled Number of cycle during braking con dition is too much heavy for used re sistor Ensure that braking work cycle is not much heavy for used resistor or use an higher power resistor set ting correct parameters into Caliper software vedi 6 12 Braking resistor pag 92 YES NO 24V I O FAULT FA11 I O...

Page 123: ...G F17 Maximum velocity value set in Advanced Setup Limiter section via Caliper exceeded threshold Drive continuous to operate nor mally showing warning condition Please ensure that Speed Limit pa rameter is at least 10 upper than maximum reachable speed Ensure that speed loop parameters do not generate high speed over shoot YES NO CH1 STO FA18 Redundant n 1 channel of safety circuit is broken If e...

Page 124: ...ED ERROR FA26 In Canopen mode in profile velo city mode drive detected a speed error depending on velocity win dow and velocity window time parameters Drive stops providing current and Drive OK condition is disabled Recommended solutions increase velocity window and velocity window time parameters if application allows decrease acceleration and deceleration ramp parameters ensure that there are no...

Page 125: ...rameter set into drive are correct Ensure via Caliper that analog input reads correctly otherwise a repair from technical and designating per son is required YES NO UNDER PRESSURE FA31 Drive detected hydraulic under pressure condition from pressure transducer Drive stops providing current and Drive OK condition is disabled Ensure that transducer cable is whole and correct Ensure also that transduc...

Page 126: ... shielded for USB 2 0 Poles 5pin standard Total lenght 3m Termination resistors for Canopen and Modbus CODE CNTETH00 Description Termination resistors connection for Canopen and Modbus network Type RJ45 Termination value 120Ω between CAN H to CAN L 120Ω between MODBUS to MODBUS Total lenght 40mm Multiple drives fieldbus wiring patch cable CODE CNTETH01 Description Multiple NTT 240 460 drives wirin...

Page 127: ... 10A 40 C TDC20 20A 40 C EMC filters for NTT 460 Description PE Terminals Type 3 x 3xCM Note dimension in mm and terminal connection Rated current L1 L2 L3 L4 B1 B2 H1 Connection CODE CNW207 35 35A 40 C 335 320 305 400 60 35 150 4 CNW207 50 50A 40 C 500 5 CNW207 65 65A 40 C CNW207 80 80A 40 C 380 364 350 178 130 220 6 CNW207 100 100A 40 C 7 CNW207 150 150A 40 C 8 CNW207 200 200A 40 C ...

Page 128: ...or NTT 460 20 40 e 35 70 CODE RF39R1300W Description 30 215 60 197 500 Value 39Ω Note dimension in mm For 35 70 size it s recommended to use two same resistor parallel connected Rated peak power 300W 1300W Please contact H D T technical sales department for further resistance and power values ...

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Page 130: ...VICENZA EST VICENZA OVEST VICENZA NORD DUEVILLE THIENE SCHIO PIOVENE A4 A31 VALDAGNO Priabona MONTE DI MALO SCHIO VICENZA Via Sile MALO SCHIO HDT HDT H D T s r l www hdtlovato com via Sile 8 36030 Monte di Malo VI Tel 39 0 445 602744 r a Fax 39 0 445 602668 ...

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