KEB COMBIVERT F5-A Applications Manual Download Page 294

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Page 7.12 - 2

COMBIVERT F5-A, -E, -H

Posi- and synchronous operating

7.12.1

Limit switch ............................................................................................................................ 7.12 - 4

7.12.1.1

Hardware limit switch ........................................................................................... 7.12 - 4

7.12.1.2

Software limit switch ............................................................................................ 7.12 - 4

7.12.2

Approach to reference point ................................................................................................. 7.12 - 5

7.12.2.1

Approach to reference point / modes................................................................... 7.12 - 6

7.12.2.2

Approach to reference point / stopping point ....................................................... 7.12 - 8

7.12.2.3

Approach to reference point / stop at zero signal ................................................ 7.12 - 8

7.12.2.4

Approach to reference point / no driving free ...................................................... 7.12 - 9

7.12.2.5

Approach to reference point / limit switch ............................................................ 7.12 - 9

7.12.2.6

Reference point / manual setting ....................................................................... 7.12 - 10
7.12.2.6.1

Over PS.14 .................................................................................... 7.12 - 10

7.12.2.6.2

With input function "set reference point" ....................................... 7.12 - 11

7.12.2.7

Reference point / valid position.......................................................................... 7.12 - 11

7.12.2.8

Approach to reference point / stop at index 0 .................................................... 7.12 - 12

7.12.2.9

Approach to reference point with subsequent drive to zero signal .................... 7.12 - 13

7.12.2.10

Approach to reference point with overdriving of the reference limit switch ........ 7.12 - 13

7.12.2.11

Position reset in the encoder ............................................................................. 7.12 - 14

7.12.3

Synchronous mode.............................................................................................................. 7.12 - 14

7.12.3.1

Synchronous mode / principle ........................................................................... 7.12 - 14

7.12.3.2

Synchronous mode / premise ............................................................................ 7.12 - 15

7.12.3.3

Synchronous mode / position normalisation ...................................................... 7.12 - 17

7.12.3.4

Synchronous mode / selection of operating mode ............................................ 7.12 - 18

7.12.3.5

Synchronous mode / activation and synchronization ........................................ 7.12 - 19
7.12.3.5.1 Principle......................................................................................... 7.12 - 19
7.12.3.5.2

Synchronization at limit ................................................................. 7.12 - 19

7.12.3.5.3

Synchronization with constant path ............................................... 7.12 - 20

7.12.3.5.4

Synchronization with ramp ............................................................ 7.12 - 22

7.12.3.6

Gear factor ......................................................................................................... 7.12 - 24

7.12.3.7

Angular correction.............................................................................................. 7.12 - 25

7.12.3.8

Angular reset ..................................................................................................... 7.12 - 26

7.12.4

Posi mode ............................................................................................................................. 7.12 - 27

7.12.4.1

Selection of operating mode .............................................................................. 7.12 - 27

7.12.4.2

Posi mode / principle ......................................................................................... 7.12 - 27

7.12.4.3

Posi mode / premise .......................................................................................... 7.12 - 29

7.12.4.4

Position normalisation........................................................................................ 7.12 - 30
7.12.4.4.1

Position control by the motor encoder ........................................... 7.12 - 30

7.12.4.4.2

Positioning by the output ............................................................... 7.12 - 31

7.12.4.4.3

Speed and position control by motor encoder/ encoder mounting after
gear ............................................................................................... 7.12 - 32

7.12.4.5

Posi mode / actual position ................................................................................ 7.12 - 34

7.12.4.6

Posi mode / set and target position ................................................................... 7.12 - 35

7.12.4.7

Posi mode / single positioning ........................................................................... 7.12 - 35

7.12.4.8

Posi mode / sequential positioning .................................................................... 7.12 - 38

7.12.4.9

Posi mode / Positioning with set changeover .................................................... 7.12 - 52

7.12.4.10

Posi mode / rotary table ..................................................................................... 7.12 - 52
7.12.4.10.1 Rotary table with path optimization ............................................... 7.12 - 53
7.12.4.10.2 Rotary table without path optimization .......................................... 7.12 - 54

7.12.4.11 Posi mode / defined stop

................................................................................... 7.12 - 57

7.12.4.12

Posi mode / remaining distance positioning ...................................................... 7.12 - 58

7.12.4.13 Posi mode / flying referencing with correction

................................................... 7.12 - 59

7.12.4.14

Posi mode / start positioning.............................................................................. 7.12 - 64

7.12.4.15

Posi mode / inaccessible positions .................................................................... 7.12 - 68

Summary of Contents for COMBIVERT F5-A

Page 1: ...KEB COMBIVERT F5 A E H 4 4 APPLICATION MANUAL Mat No Rev 00F5AEA K440 1A...

Page 2: ...Page 1 1 2 COMBIVERT F5 A E H KEB 2008 02 Table of contents...

Page 3: ...the initial start up and shows possibilities and techniques for the optimization of the drive 7 Functions To make the programming easier all inverter functions and the parame ters belonging to it are...

Page 4: ...Page 1 1 4 COMBIVERT F5 A E H KEB 2008 02 Table of contents...

Page 5: ...4 1 3 4 1 Fundamentals 4 1 3 4 1 1 Parameters parameter groups parameter sets 4 1 3 4 1 2 Selection of a parameter 4 1 4 4 1 3 Adjustment of parameter value 4 1 4 4 1 4 ENTER Parameter 4 1 5 4 1 5 No...

Page 6: ...n 12 An 22 7 2 5 7 2 4 1 Input selection An 03 An 13 An 23 7 2 6 7 2 5 Zero clamp An 04 An 14 An 24 7 2 7 7 2 6 Amplifier of the input characteristic An 05 07 An 15 17 An 25 27 7 2 8 7 2 7 Lower and u...

Page 7: ...4 4 Acceleration of speed reversal 7 4 10 7 4 5 Step values oP 18 23 7 4 11 7 4 6 Setpoint limits 7 4 13 7 4 7 Setpoint calculation 7 4 15 7 4 8 Ramp generator 7 4 16 7 4 8 1 Acc dec mode 7 4 16 7 4 8...

Page 8: ...s 7 7 4 7 7 1 4 Operating state dependent control parameters 7 7 7 7 7 2 Determination of the mass moment of inertia 7 7 8 7 7 3 PT1 output filter 7 7 9 7 7 4 Acceleration dependent pre control 7 7 9...

Page 9: ...or analog setting 7 11 16 7 11 8 3 Gear factor set programming 7 11 16 7 11 9 Emulation mode 7 11 17 7 11 10 Absolute position encoder 1 7 11 18 7 11 10 1 Position values 7 11 18 7 11 10 2 System offs...

Page 10: ...10 Posi mode rotary table 7 12 52 7 12 4 11 Posi mode defined stop 7 12 57 7 12 4 12 Posi mode remaining distance positioning 7 12 58 7 12 4 13 Posi mode flying referencing with correction 7 12 59 7 1...

Page 11: ...stop ramp 7 13 21 7 13 5 5 Abnormal stopping via control word 7 13 21 7 13 6 Speed search 7 13 21 7 13 6 1 Speed search in open loop operation 7 13 22 7 13 6 2 Speed search in closed loop operation w...

Page 12: ...5 7 Diameter correction 7 15 20 7 15 8 Analog setting of parameter values 7 15 22 7 15 9 Register function 7 15 23 7 15 10 Technology control 7 15 26 7 15 10 1 The PID controller 7 15 26 7 15 10 2 PID...

Page 13: ...bus SY 11 10 1 9 10 1 9 4 Watchdog time Pn 06 10 1 9 10 1 9 5 Response to E bus Pn 05 10 1 9 10 1 9 6 HSP5 Watchdog time SY 09 10 1 10 10 1 9 7 Auto store ud 05 auto store state ud 04 10 1 10 10 1 9 8...

Page 14: ...Page 1 1 14 COMBIVERT F5 A E H KEB 2008 02 Table of contents...

Page 15: ...ERT F5 A E H Page 2 1 1 2 1 Introduction 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 6 Initial Start up 2 1 Product overview 7 Functions 8 Error Assistance 9 Project Design 10 Netwo...

Page 16: ...Page 2 1 2 COMBIVERT F5 A E H KEB 2012 10 Product Overview 2 1 1 Features of KEB COMBIVERT 2 1 3 2 1 2 Function principle 2 1 3 2 1 3 Application as directed 2 1 4 2 1 4 Type code 2 1 5...

Page 17: ...loaded the DC link is charged with a voltage of UZK 2 UN Since during the charging of the DC link capacitor very high currents flow for a short time which would lead to the tripping of the input fuses...

Page 18: ...ee phase AC motors The unit has been developed subject to the relevant safety standards and is manufactured with the highest demands on quality Condition for an unobjectionable operation is the functi...

Page 19: ...kHz 150 180 C 2 kHz 200 240 H 4 kHz 400 480 3 16 kHz 125 150 8 2 kHz 180 216 D 4 kHz 200 240 I 8 kHz 400 480 4 2 kHz 150 180 9 4 kHz 180 216 E 8 kHz 200 240 K 16 kHz 400 480 at servos Motor speed 1 1...

Page 20: ...Page 2 1 6 COMBIVERT F5 A E H KEB 2012 10 Product Overview...

Page 21: ...1 1 3 1 Introduction 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 6 Initial Start up 3 1 3 2 Control circuit F5 A E H Control circuit A servo 7 Functions 8 Error Assistance 9 Projec...

Page 22: ...strip X2A 3 1 3 3 1 2 Connection of the control 3 1 4 3 1 3 Digital inputs 3 1 4 3 1 4 Analog inputs 3 1 5 3 1 5 Aux function An 30 3 1 6 3 1 6 Voltage input external power supply 3 1 6 3 2 1 Termina...

Page 23: ...order 178 Hz 7 10 V output CRF Reference voltage output 10VDC 5 max 4mA for set value poten tiometer 8 9 Analog Mass Analog Mass COM COM Mass for analog in and outputs Mass for analog in and outputs 1...

Page 24: ...prevent a malfunction caused by interference voltage supply on the control inputs the following directions should be observed Use shielded drilled cables lay shield on one side of the inverter onto ea...

Page 25: ...nalog inputs Connect unused analog inputs to common to prevent set value fluctuation External analog setpoint setting Internal analog setpoint setting X2A 1 2 3 4 5 6 7 8 9 PE 0 10 VDC Ri 55 k X2A 1 2...

Page 26: ...d by the machine builder 7 10V output CRF Reference voltage output for set value potentiometer 10VDC max 4mA 8 Analog Mass COM Mass for analog in and outputs 10 Progr input 1 I1 The function of the pr...

Page 27: ...ng diode The control card must always be supplied with an external power source Thus the control remains in operation even when the power unit is switched off To prevent undefined conditions at extern...

Page 28: ...Page 3 1 8 COMBIVERT F5 A E H KEB 2012 10 Control Units...

Page 29: ...E H Page 4 1 1 4 1 Introduction 2 Summary 3 Hardware 4 Operation 4 1 Fundamentals 5 Selection of Operating Mode 4 2 Password input 6 Initial Start up 7 Functions 8 Error Assistance 9 Project Design 10...

Page 30: ...arameter sets 4 1 3 4 1 2 Selection of a parameter 4 1 4 4 1 3 Adjustment of parameter value 4 1 4 4 1 4 ENTER Parameter 4 1 5 4 1 5 Non programmable parameters 4 1 5 4 1 6 Resetting of error messages...

Page 31: ...the unit can be put into opera tion via operator with the exception of the control release no terminal wiring is needed 4 1 1 Parameters parameter groups parameter sets What are parameter parameter g...

Page 32: ...arameter number select Parameter number select for non programmable parameters see 4 1 5 a parameter set number is not displayed Changes between parameter value FUNC SPEED and parameter designation 4...

Page 33: ...4 1 6 Resetting of error messages If a malfunction occurs during operation the actual display is overwritten by a by a blinking error message The error message can be deleted by pressing the ENTER ke...

Page 34: ...Page 4 1 6 COMBIVERT F5 A E H KEB 2012 10 Fundamentals...

Page 35: ...H Page 4 2 1 4 1 Introduction 2 Summary 3 Hardware 4 Operation 4 1 Fundamentals 5 Selection of Operating Mode 4 2 Password structure 6 Initial Start up 7 Functions 8 Error Assistance 9 Project Design...

Page 36: ...Page 4 2 2 COMBIVERT F5 A E H KEB 2012 10 Password input 4 2 1 Password levels 4 2 3 4 2 2 Passwords 4 2 4 4 2 3 Changing of password level 4 2 5...

Page 37: ...ameter value of the above parameters shows the actual password level Following indications are possible CP read only Only the customer parameter group is visible ex cept for CP 0 all parameters are in...

Page 38: ...B 2012 10 Password input 4 2 2 Passwords By selecting one of the following passwords you can switch to the respective password level Passwords Password level Drive Mode To finish the drive mode press...

Page 39: ...2 3 Changing of password level Example 1 Switching from CP mode to the application mode With the exception of the service password all entered password levels are generally stored non volatile Example...

Page 40: ...Page 4 2 6 COMBIVERT F5 A E H KEB 2012 10 Password input...

Page 41: ...ERT F5 A E H Page 5 1 1 5 1 Introduction 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 5 1 Selection of Operating Mode 6 Initial Start up 7 Functions 8 Error Assistance 9 Project Desi...

Page 42: ...Page 5 1 2 COMBIVERT F5 A E H KEB 2012 10 Selection of Operating Mode...

Page 43: ...he speed controlled operation of asynchronous motors without speed feedback The measured speed is replaced by an estimated speed actual value which is formed by means of a mathematical model of the as...

Page 44: ...on the speed range of the control type S t a n dard Speed range Resolution Parameter 1 500 32000 1 rpm SY 52 SY 53 SY 54 64000 2 rpm 128000 4 rpm 2 500 1Nm dr 27 dr 33 dr 40 dr 42 dr 44 dr 46 4000 12...

Page 45: ...8000 2000 rpm 16000 4000 rpm 32000 8000 rpm 64000 16000 rpm 128000 32000 rpm Attention The description of single parameter adjustments provides unless otherwise mentioned a speed range of 4000 rpm ud...

Page 46: ...Page 5 1 6 COMBIVERT F5 A E H KEB 2012 10 Selection of Operating Mode...

Page 47: ...A E H Page 6 1 1 6 1 Introduction 2 Summary 3 Hardware 6 1 Preparatory measures 4 Operation 5 Selection of Operating Mode 6 Initial Start up 7 Functions 6 2 Start up 8 Error Assistance 9 Project Desi...

Page 48: ...Page 6 1 2 COMBIVERT F5 A E H KEB 2012 10 Preparatory Measures 6 1 1 After unpacking the goods 6 1 3 6 1 2 Installation and connection 6 1 3 6 1 3 Checklist prior to start up 6 1 4...

Page 49: ...return the unit with a corresponding report to KEB Check the voltage class Absolute check before assembly whether the supply voltage of the KEB COMBIVERT matches the applica tion 6 1 2 Installation an...

Page 50: ...Ensure that mains and motor cables are not interchanged as that will lead to the destruction of the inverter Is the motor connected in phase Check tacho initiator and encoder for firm attachment and...

Page 51: ...Page 6 2 1 6 1 Introduction 6 1 Preparatory measures 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 6 Initial start up 7 Functions 8 Error Assistance 9 Project Design 6 2 Start up 10...

Page 52: ...controlled operation with encoder feedback without motor model 6 2 6 6 2 1 3 Vector controlled operation with encoder feedback with motor model 6 2 8 6 2 1 4 Start up F5H M ASCL vector controlled wit...

Page 53: ...the motor Thus it represents a check list and not a complete parameter description The appropriate chapters of the application manual must be read carefully for exact information about the pa rameters...

Page 54: ...int speed in the application 3 Loading the default parameters Loading the default parameters KEB factory setting by Fr 01 copy parameter set 4 Attention Pre adjustments e g func tion of the digital in...

Page 55: ...lease X2A 16 after measurement 7 Calculation of motor dependent data Activation of SMM as well as the adaption of the v f characte ristic is made by the input of Fr 10 load motor dep parameter 3 8 Adj...

Page 56: ...ge e g 0 4000 rpm is selected in control type Ud 02 Ud 02 control type 4 7 The speed range should be selected at least 10 higher than the highest setpoint speed in the application Attention Changing t...

Page 57: ...Calculation of motor dependent data Adaption of the adjustments to the motor Fr 10 load motor dep parameter 2 actual DC link vol tage Note Since the equivalent circuit data are unknown at this contro...

Page 58: ...e surface of shield connection well grounding The motor temperature sensor must be connected A controlled start up U f characteristic of the drive can be executed for examination in case of insecurity...

Page 59: ...DASM cos phi dr 05 DASM rated frequency dr 06 DASM stator resistance dr 07 DASM sigma inductance dr 08 DASM rotor resistance dr 10 DASM head inductance Attention The interconnection of the mo tor mus...

Page 60: ...not necessary select small value for cS 09 KI speed The brake control mode must be activated corresponding to KEB factory setting After successful measurement ru 00 127 drive data cal culated Cddr is...

Page 61: ...eters can be calculated by the inverter for applications with constant inertia and rigidly cou pled load see chapter 7 7 The speed controller must be manually adapted if this ad justment is not workab...

Page 62: ...ent of the con trol type e g resolution of the speed etc see chapter 5 1 3 Loading the default parameters If the control type Ud 02 was not changed loading of the default parameters KEB factory settin...

Page 63: ...ters dr 06 dr 10 The default values can remain in dr 06 to dr 10 up to the identification if no equivalent circuit data are known 7 Parameterize flux rotor adaptation mode The operation with motor mo...

Page 64: ...KEB factory setting After successful measurement ru 00 127 drive data cal culated Cddr is displayed The identification is started with dr 48 8 complete auto identification with rotation Close control...

Page 65: ...pter 7 11 The speed controller must be manually adapted if this ad justment is not workable for the application or if the result is nonsatisfying The maximum voltage controller must be parameterized i...

Page 66: ...16 ru 00 inverter state nop no control release 2 Selection of the speed range The usable speed range is adjusted with Ud 02 Ud 02 control type 8 11 All data for the adjustment of the controller type...

Page 67: ...dependent data Fr 10 load motor dep parameter 2 act DC link voltage 9 Adjust system position Checking the direction of rotation ru 09 must display a positive speed at manual forward direction of rota...

Page 68: ...2 Selection of the speed range The usable speed range is adjusted with Ud 02 Ud 02 control type 8 11 See chapter 5 1 for all data of the adjustment 3 Loading the default parameters Fr 01 copy paramet...

Page 69: ...me minutes Noises in the mo tor can occur caused by high frequency test signals 8 Adjustment of specific data dS 02 current decoupling 1 on uF 15 hardw curr lim mode 0 off uF 18 deadtime comp mode 3 a...

Page 70: ...Page 6 2 20 COMBIVERT F5 A E H KEB 2012 10 Start up...

Page 71: ...ronous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torqu...

Page 72: ...Parameters 7 1 3 7 1 2 Overview of the In Parameters 7 1 4 7 1 3 Overview of the Sy Parameters 7 1 4 7 1 4 Explanation to parameter description 7 1 5 7 1 5 Description of the ru Parameters 7 1 5 7 1...

Page 73: ...lay ru 15 apparent current ru 53 AUX display ru 16 peak apparent current ru 54 actual position ru 17 active current ru 56 set position ru 18 actual DC voltage ru 58 angle difference ru 19 peak DC volt...

Page 74: ...rature mode In 22 user parameter 1 In 23 user parameter 2 In 24 Last error In 25 Error Assistance In 26 E OC error counter In 27 E OL error counter In 28 E OP error counter In 29 E OH error counter In...

Page 75: ...eady been reset with ENTER error LED on the operator is still blinking For more information about status messages as well as its cause and re moval refer to Chapter 8 Error Diagnosis Parameter Addr R...

Page 76: ...the actual torque Parameter Addr R PG E Min value Max value Res Default ru 13 actual utilization 020Dh RO 0 65535 1 Display of the current utilization referred to the rated current of the inverter Onl...

Page 77: ...19 The peak value memory can be deleted by pressing the keys UP DOWN or ENTER and by bus through writing any chosen value to the address of ru 19 The switch off of the inverter also clears the memory...

Page 78: ...are linked or inverted by programmable logic also see Chapt 7 3 Digital outputs According to following table a specific decimal value is given out for the switching conditions If several of the select...

Page 79: ...r set with which the inverter is operating currently Independent of it another parameter set can be edited by bus also see chapter 7 16 Parameter Addr R PG E Min value Max value Res Default ru 27 AN 1...

Page 80: ...to 400 also see chapt 7 2 Analog inputs Parameter Addr R PG E Min value Max value Res Default ru 33 ANOUT 1 pre amplifier display 0221h RO 400 400 0 1 This parameter shows the value of the analog sign...

Page 81: ...erating hours meter shows the time the inverter was switched on The indicated value comprises all operating phases On reaching the maximum value approx 7 5 years the display remains on the maximum val...

Page 82: ...E Min value Max value Res Default ru 48 Actual torque limit gene rator 0230h RO 10000 10000 0 01 Nm This parameter displays the currently adjusted set torque limit for generatoric operation Parameter...

Page 83: ...G E Min value Max value Res Default ru 59 rotor adaption factor 023Bh RO 0 100 1 This parameter displays the actual factor of the rotor adaption Parameter Addr R PG E Min value Max value Res Default r...

Page 84: ...value Max value Res Default ru 79 Absolute speed value EMC 024Fh RO 4000 000 4000 000 0 125 rpm In order to protect the inverter against overvoltage in the field weakening range an EMC dependent spee...

Page 85: ...ameter Addr R PG E Min value Max value Res Default ru 85 Peak encoder 1 speed 0255h RO 0 4095 875 0 125 rpm 0 The actual speed of encoder 1 is displayed with ru 85 Parameter Addr R PG E Min value Max...

Page 86: ...lue Res Default ru 93 Power loss 025Dh RO 10000 00 10000 00 0 01 kW 0 The power loss is displayed in ru 93 7 1 6 Description of the In Parameters Parameter Addr R PG E Min value Max value Res Default...

Page 87: ...PG E Min value Max value Res Default In 06 Software version 0E06h RO 0 00 9 99 1 Display of the software version number 1 and 2 digit Software version e g 2 1 3 digit Special version 0 standard Param...

Page 88: ...0 75 1 65k reset resistance T1 T2 closed 1 65 4k tripping resistance T1 T2 open x 4k T1 T2 open x 6xh PT100 on inquiry 1 The column is valid at factory setting and Ud 02 4 F5 Multi Servo At Ud 02 4 F...

Page 89: ...in value Max value Res Default In 26 E OC error counter 0E1Ah RO 0 65535 1 0 In 27 E OL error counter 0E1Bh RO 0 65535 1 0 In 28 E OP error counter 0E1Ch RO 0 65535 1 0 In 29 E OH error counter 0E1Dh...

Page 90: ...for identification of download lists Parameter Addr R PG E Min value Max value Res Default Sy 03 Power unit code 0003h RO 255 255 1 On the basis of the power circuit identification the control recogn...

Page 91: ...ata transmission choose a transfer rate of maximal 38400 baud Parameter Addr R PG E Min value Max value Res Default SY 08 Bus synchron time 0008h RW 0 off 65000 1 s 0 The time within which the control...

Page 92: ...1 SY 20 Proc read data 3 defi nition 0014h 1 7FFFh 1 hex 1 SY 22 Proc read data 4 defi nition 0016h 1 7FFFh 1 hex 1 rw via bus r via keyboard Parameter Addr R PG E Min value Max value Res Default SY 3...

Page 93: ...Default Sy 51 Control word low 0033h RO 0 65535 1 0 With the status word the current condition of the inverter can be readout via bus The status word long Sy 44 consists of the two 16 bit parameters s...

Page 94: ...128 1 hex 1 SY 61 Proc read data 6 set 003Dh 1 128 1 hex 1 SY 63 Proc read data 7 set 003Fh 1 128 1 hex 1 SY 65 Proc read data 8 set 0041h 1 128 1 hex 1 rw via bus r via keyboard Parameter Addr R PG E...

Page 95: ...rmit an easier replace of old S4 appli cations with F5 Mapping of the control word of the S4 30F software Bit Function 0 OUTA 1 OUTB 2 OUTC 3 OUTD 4 7 free 8 ST 9 RST 10 F 11 R 12 I1 13 I2 14 I3 15 fr...

Page 96: ...2 PROFI drive 0050h RO 0 7FFFFh 1 hex 0 Status word 2 All unlisted bits are set to 0 Bit No Description 3 Malfunction external 1 6 Warning i2 t inverter 7 Malfunction overtemperature inverter 8 Warni...

Page 97: ...us motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque co...

Page 98: ...n 04 An 14 An 24 7 2 7 7 2 6 Amplifier of the input characteristic An 05 07 An 15 17 An 25 27 7 2 8 7 2 7 Lower and upper limit An 08 An 09 An 18 An 19 An 28 An 29 7 2 9 7 2 8 Selection REFinput AUX f...

Page 99: ...log inputs AN1 X2A 1 AN1 X2A 2 AN2 X2A 3 AN2 X2A 4 AN3 opt AN3 opt 400 400 400 400 An 18 An 19 An 1 An 11 An 4 An 14 ru 29 An 10 An 5 An 6 An 7 An 15 An 16 An 17 An 8 An 9 ru 30 An 30 ru 27 ru 28 0 10...

Page 100: ...ential voltage inputs 0 10V DC Ri 55 kOhm X2A 1 2 3 4 5 6 7 8 9 PE 0 10 VDC SPS SPS 1 1 Connect equipotential bonding conductor only if a potential difference of 30 V exists between the con trols 30 V...

Page 101: ...alue is transferred then The noise filter adjustments preset the number of sampled values for the averaging An 01 11 21 Noise filter Value Function 0 off no averaging 1 double 2 4 fold 3 8 fold 4 16 f...

Page 102: ...l chtiger Speicher An 02 12 22 Bit 0 0 Direktmode 1 Speichermode vom Eingangsfilter zum Kennlinien verst rker 7 2 4 1Input selection An 03 An 13 An 23 The digital inputs for storing are selected with...

Page 103: ...s or voltage fluctuations of the signal source the motor connected to the inverter can still drift tremble during standstill in spite of the analog input filter It is the task of the zero point hyster...

Page 104: ...r of the input characteristic An 05 07 An 15 17 An 25 27 With these parameters the input signals can be adapted in X and Y direction as well as in the rise to the requirements In the case of factory s...

Page 105: ...nt of the amplification to 2 Fig 7 2 6 b X Offset An 06 50 amplification An 5 2 00 100 100 100 100 An 6 50 100 100 100 100 An 5 1 2 With these settings the entire speed range can be driven with 0 10V...

Page 106: ...it An 28 AN3 lower limit An 29 AN3 upper limit Fig 7 2 7 Limiting of the analog signal 400 400 400 400 An 9 An 19 An 29 An 8 An 18 An 28 7 2 8 Selection REFinput AUX function An 30 Assignment of the a...

Page 107: ...r 12288 Encoder value channel 1 ru 04 09 Source 2 ru 09 reference value x 100 14336 Encoder value channel 2 ru 05 10 Source 2 ru 10 reference value x 100 16384 Actual value ru 07 Frequency speed range...

Page 108: ...ru 02 Abs speed reference variable 20 ru 02 Angle difference 21 ru 58 AN1 pre amplifier 22 ru 27 AN1 post amplifier 23 ru 28 AN2 pre amplifier 24 ru 29 AN2 post amplifier 25 ru 30 Active power 26 ru...

Page 109: ...gnal pulse width modulation on a digital output The period T can be adjusted with parameter An 46 or An 52 ANOUT period of 1 240s Fig 7 2 10 a PWM output signal ANOUT 3 4 T An 46 52 t Input value 50 I...

Page 110: ...e ru 46 Motor temperature 14 Actual torque F5 M S Actual torque 0 3 x rated torque DASM dr 14 DSM dr 27 15 Absolute actual torque F5 M S Amount actual torque only in closed loop operation 16 Set torqu...

Page 111: ...4 Value range Resolution Default Amplifica tion An 33 An 38 An 43 An 49 20 00 0 01 1 00 X Offset An 34 An 39 An 44 An 50 100 0 0 1 0 0 Y Offset An 35 An 40 An 45 An 51 100 0 0 1 0 0 Fig 7 2 13 a Fact...

Page 112: ...small switching window Computation of the amplification Since the analog output always works firmly onto the values defined in 7 2 12 one can adjust the characteristic with the aid of the amplificatio...

Page 113: ...ous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque c...

Page 114: ...11 Assignment of the inputs 7 3 25 7 3 12 Software ST and locking of the control release 7 3 29 7 3 13 Deactivation of the digital control release 7 3 30 7 3 14 Short description digital outputs 7 3...

Page 115: ...inputs The inputs can be inverted with di 04 and with di 05 one can switch to edge triggering A strobe mode can be activated with parameters di 06 di 08 The input status ru 22 shows the inputs that a...

Page 116: ...pply Control voltage for digital inputs 13 30V DC 0 smoothed Fig 7 3 2 b Digital inputs in NPN control di 00 1 Internal supply 10 11 12 13 14 15 20 16 17 I1 I2 I3 I4 F R GND 24V out ST RST PE X2A 22 2...

Page 117: ...g input forward X2A 14 3 8 R prog input reverse X2A 15 4 16 I1 prog input 1 X2A 10 5 32 I2 prog input 2 X2A 11 6 64 I3 prog input 3 X2A 12 7 128 I4 prog input 4 X2A 13 8 256 IA internal input A no 9 5...

Page 118: ...it coded i e the value corresponding to the input mut be entered If several inputs shall be inverted then the sum is to be formed Exception An inversion of the control release remains without function...

Page 119: ...andard the inverter is controlled with static signals i e an input is set for as long as a signal is applied However practice has shown that a signal may be available for a limited time only but the i...

Page 120: ...ut is adjusted with parameter di 06 If several inputs are adjusted as strobe they are linked in OR operation Edge active or static strobe As a standard the strobe is edge active i e the input conditio...

Page 121: ...atic strobe mode 1 di 07 1 input signal t t t Strobe signal Input status Fig 6 3 8 c Static strobe mode 2 di 07 2 input signal t t t Strobe signal Input status 7 3 10Reset input selection di 09 and re...

Page 122: ...ave trigger input selection oP 56 Motorpoti increase input selection An 23 AN3 save trigger input selection oP 57 Motorpoti decrease input selection cn 11 PID reset input selection oP 58 Motorpoti Res...

Page 123: ...re AN3 An 23 17 131072 Start timer 1 Start stop timer LE 17 18 262144 Reset timer 1 LE 19 19 524288 Start timer 2 LE 22 20 1048576 Reset timer 2 LE 24 21 2097152 Reset PID controller PID controller cn...

Page 124: ...input effects a locking of the software con trol release di 37 7 Reference point correction Connection of the switches for flying referencing at slip afflicted systems PS 43 8 Brake monitoring Betwee...

Page 125: ...T di 37 locking ST di 38 turn off ST delay time The function is switched off if no input is selected in di 36 ST can not be selected as software ST or input for locking With the locking function the c...

Page 126: ...ware Reglerfreigabe di 38 7 3 13Deactivation of the digital control release With the digital input selection di 01 di 02 or the control word SY 43 SY 50 the control release can be set digital e g via...

Page 127: ...24 16 25 32 26 64 27 128 1 20 1 8 8 1 8 8 1 8 8 1 8 8 1 8 8 1 8 8 do 41 8 8 8 8 1 1 21 2 22 4 23 8 24 16 25 32 26 64 27 128 8 8 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 z 1 z 1 do...

Page 128: ...dual flag can be inverted with do 25 32 do 41 adjusts the type of the linkage AND OR Parameter do 42 is used for inverting one or several outputs With do 51 the output signals are assigned to the term...

Page 129: ...prewarning dOH on tripping of the motor PTC connected to the termi nals T1 T2 After expiration of an adjustable switch off time Pn 13 0 120s the inverter switches off with E dOH The behaviour in case...

Page 130: ...evel actual value display ru 07 switching level 28 Set value level Amount set value ru 01 switching level only valid if the ramp generator is active 29 Approach to reference point fi nished Approach t...

Page 131: ...55 Current position level ru 54 actual position switching level observe scaling factor of the levels 1 00 100 increments 56 positioning active Positioning is active but the set position ru 56 has not...

Page 132: ...e last start positioning command is longer than the adju sted level If the positioning is completed the output is reset 68 Position to the target window level Posi The output is set if the distance to...

Page 133: ...of the acceleration 88 Warning Power unit and motor Prewarning level for an overload protection function which monitors the mo tor or the inverter is exceeded Warnings 7 OL 8 OH 9 dOH 11 OHI 10 OH2 5...

Page 134: ...ow control The switching condition is set if there is an error in the flow control or if there is no flow or constant flow for the adjusted deceleration time Pn 94 100 Combination of different condi t...

Page 135: ...ve for the selection of the 8 preassigned switching conditions The selection is done foreach flag separately where one can choose between no one and up to all 8 switching conditions The value of the s...

Page 136: ...7 3 22Selection of flags do 33 do 40 In the second logic step a selection of the flags of the first logic step can be made The selection is done for each output separately where one can choose between...

Page 137: ...8 16 32 64 128 1 1 1 1 do 41 7 3 24Output terminal state ru 25 and digital output state ru 80 Parameter ru 25 displays the logic condition of the digital outputs after the allocation by do 51 Paramet...

Page 138: ...ample Following conditions are required Condition 1 Output X2A 19 switches if the inverter accelerates Condition 2 Relais X2A 24 26 switches if the inverter load is 100 Condition 3 Relay X2A 27 29 Out...

Page 139: ...it means that the condition is fulfilled if the inverter does not accelerate Adjust do 41 to 1 the flags selected with do 33 are AND connected Output O2 terminal X2A 19 Adjust do 34 to 1 flag 1 is eva...

Page 140: ...Page 7 3 44 COMBIVERT F5 A E H KEB 2012 10 Digital in and outputs...

Page 141: ...nchronous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 To...

Page 142: ...4 11 7 4 6 Setpoint limits 7 4 13 7 4 7 Setpoint calculation 7 4 15 7 4 8 Ramp generator 7 4 16 7 4 8 1 Ramp mode 7 4 16 7 4 8 2 Ramp with constant ascent 7 4 17 7 4 8 2 1 Linear ramps 7 4 18 7 4 8 2...

Page 143: ...nt setpoint sources with the possible sources of rotation direction The signal thus obtained is used for further setpoint calculation Only after interrogation of the absolute setpoint limits all the d...

Page 144: ...The percentage value in oP 05 refe rence setting is used for the speed setpoint Calculation of the speed setpoints from the percentage value is done the same way as for the REF and AUX inputs 4 Motorp...

Page 145: ...me restrictions must be accepted The calculation formula of the analog setpoint value changes Parameters oP 06 oP 07 are without influence on the setpoint calculation percentage analog value analog va...

Page 146: ...P 64 ref value high resolution The maximum for the setpoint is twice the reference value The achievable high resolution is calculated as follows oP 64 230 High resolution If oP 64 is set to 2000rpm i...

Page 147: ...tal op02 absolute 2 Terminal F R 0 limited 3 Terminal F R absolute 4 Terminal start stop 0 limited 5 Terminal start stop absolute 6 Setpoint sign rotation direction release 7 only setpoint sign 8 Cont...

Page 148: ...minal strip The rotation selection via terminal strip allows the adjustment of the direction of rotation via switch or from a primary control Direction forward input selection Run Stop oP 60 direction...

Page 149: ...of rotation is dependent on the setpoint oP 01 10 The rotation direction release is done exclusively via the control word Run Stop oP01 11 Function is like at value 10 only without deceleration ramps...

Page 150: ...the new direction of rotation is blocked for the adjusted time at rotation change the inverter accelerates and changes if necessary to LS The the same direction of rotation is switched off and on the...

Page 151: ...of a fixed frequency has priority over the normal setpoint adjustment Figure 7 4 4 Fixed values oP 18 0 2 1 3 5 4 6 7 8 9 oP 19 Input selection Fixed value 1 0 4095 according to table oP 20 Input sele...

Page 152: ...3 Terminal block F R setpoint absolute 4 Terminal block Run Stop setpoint 0 limited 5 Terminal block Run Stop setpoint absolute 6 setpoint dependent with LS recognition 7 setpoint dependent without L...

Page 153: ...culation 0 min reference 100 max reference In case of digi tal setpoint adjustment or fixed value the minimal and maximal frequencies limit the setpoint Separate limits can be adjusted for both rotati...

Page 154: ...e of ru 79 abs speed EMC only for synchronous motors The user defines limits with oP 40 oP 41 that may not be exceeded by the application under any circumstances ru 79 shows the maximum speed for a sy...

Page 155: ...gh the absolute maximal values The setpoint sources are assigned as follows Setpoint adjustment in percent Absolute setpoint adjust ment Terminal strip analog setpoint Keyboard Bus absolute Keyboard b...

Page 156: ...hich is particulary suitable for lift and tra versing drives see chapter 7 4 7 4 The more exact explanation of each operation mode is done in the respective sub chapters oP 27 Acc dec mode Bit Ramp Va...

Page 157: ...re are the following restrictions for compatibility reasons Analog setting of oP 10 oP 10 or oP 11 as process write date The calculation of the ramp times is not executed with these settings even if i...

Page 158: ...for rotation direction reverse then the values of rotation direction forward oP 28 and oP 30 are valid oP 29 1 Acceleration time reverse oP 30 2 Deceleration time forward oP 31 1 Deceleration time re...

Page 159: ...acceleration deceleration is defined by the linear ramp times oP 28 oP 31 Figure 7 4 7 a S curve time oP 28 t s oP 32 oP 70 oP 30 oP 72 oP 34 oP 33 oP 29 oP 71 oP 73 oP 31 oP 35 1000 1000 0 n rpm n rp...

Page 160: ...t stop operation is independent from the setpoint In this operating mode s curves are not possible Example for the use of ramps with constant time Two conveyor belts run with different speeds Both of...

Page 161: ...com mand Minimum acceleration deceleration is limited programatically to n t reference speed 4800 s reference speed dep on ud 02 see chapter 5 That means the drive would not continue to run constantl...

Page 162: ...ion deceleration oP 62 The time factor extends the standard ramp time oP 28 31 by the adjusted value The s curve times do not change oP 62 Time factor acceleration deceleration Value Description 0 off...

Page 163: ...nts of the asynchronous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Fu...

Page 164: ...Initial settings 7 5 11 7 5 2 1 1 Motor rating plate data 7 5 12 7 5 2 1 2 Motor adaption 7 5 12 7 5 2 1 3 Speed feedback and selection of the speed direction 7 5 13 7 5 2 2 Vector controlled operati...

Page 165: ...c identification This operating mode always needs encoder feedback Vector controlled operation with motor model This operating mode can be used if the electrical parameters of the motor can be determi...

Page 166: ...ulation grade Figure 7 5 1 1a Rated frequency and boost uF 01 100 uF 00 110 200 uF 10 0 uF 10 1 uF 10 2 3 uF 00 0 00 400 Hz Default 50 Hz uF 01 0 0 25 5 Default LTK ru 03 Ac tual fre quency LTK power...

Page 167: ...th uF 02 and uF 03 uF 02 defines the frequency and uF 03 the voltage At uF 02 0 Hz the adjustment is ignored The parabolic characteristic is activated with uF 02 1 parabolic characteristic Then parame...

Page 168: ...ized UA at UN 190V unstabilisized UA at UN 190V stabilized UA at UN 250V stabilized UN Mains voltage UA Output voltage Figure 7 5 1 3b Example Acceleration with load with voltage stabilisation without...

Page 169: ...ed is maintained but energy is saved as a result of the voltage reduction uF 07 Energy saving factor 0 0 130 0 default 70 uF 08 Energy saving input selection 0 4095 Default 0 For the assignment of the...

Page 170: ...ollowing parameters can be taken from the corresponding data sheet or can be determined from measure ments dr 06 DASM stator resistance dr 09 breakdown factor 7 5 1 7 2 Determination of the stator res...

Page 171: ...started by writing value 3 on Fr 10 Thereby the inverter must be in status noP no control release Provided that only one motor is used the measurement can occur with direct set programming for all par...

Page 172: ...or closed loop operation 1 Encoder interface channel 2 only reasonable for closed loop operation 2 calculated rotor speed cS 04 Settings Limit 0 4000 rpm x resolution factor dependent on ud 02 Default...

Page 173: ...cause of the higher motor own losses a braking resistor is only necessary at higher energy recovery compared to 0 1 and 2 uF 17 Torque compensation amplification 0 00 2 50 default 1 20 With the energy...

Page 174: ...f uF 09 2 act DC link voltage F5 M S precharging dependent on the current DC link voltage of the inverter 3 Start motor adaption F5 G only for open loop V f characteristic operation The inverter must...

Page 175: ...pply input voltage is consi dered for the calculations at Fr 10 2 If the parameter voltage stabilisation uF 09 is not set to the default value 1120 off then the value in uF 09 is taken as reference vo...

Page 176: ...ion without motor model For motors that don t allow identification of the motor data e g no load operation of the motor not realisable vector controlled operation without motor model must be selected...

Page 177: ...average va lue of the modulation factor should not exceed 90 If this value is exceeded the factor factor flux adaption dr 19 should be reduced 7 5 2 3 Vector controlled operation with motor model with...

Page 178: ...um short time current limit The short time current limit is determined by the overload characteristics and can be taken from the power circuit manual or parameter In 18 hardware current The direction...

Page 179: ...ration automatic measurement of the dead time characteri stic and of all equivalent circuit data including main in ductance The motor accelerates to speed for Mmax dr 17 It is necessary for the ident...

Page 180: ...r Measurement of the rotor resistance 5 Model controller parameterisation Based on the equivalent circuit data the model parame ters and the setting of the controller are determined in the dS paramete...

Page 181: ...requency value 0 should be always selected for bits 5 7 Stator resistance measurement dr 48 3 Measurement of the stator resistance is done with DC current Rotor resistance measurement dr 48 4 Measurem...

Page 182: ...40 The calibrated dead time compensation characteristics are in force if uF 18 3 is set 7 5 2 3 2 Motor identification error state dr 66 In error case parameter motor identification error code dr 66 d...

Page 183: ...P parameters remain operative during this phase The calibrated no load torque is stored as correction characteristic During operation the display of the actual torque in ru 12 is corrected using this...

Page 184: ...ent dS 13 is carried out automatically by Fr 10 and after the motor identification dr 48 dS 04 Flux rotor adaption mode Bit Meaning Value Explanation 5 6 Flux control ASM 0 off Flux controller always...

Page 185: ...ncy 7 5 2 3 4 Magnetisation current adaption with motor model For large motors the automatic calculation of the magnetising current occasionally returns values that are too large This way the dynamic...

Page 186: ...uble modulation output An additional voltage vector can be output for 8 and16 kHz The current controller is calculated only all 12 s but the transformation angle is changed by 62 5 s dS 18 bit 6 on Sw...

Page 187: ...f 1 0 1 5 ds 01 ds 01_def 1 5 2 Control to model currents The motor model dS 04 bit 0 must be active for this Control to the model current dS 18 bit 3 has the advan tage that disturbances of the measu...

Page 188: ...t of inertia in the calculation for the controller parameter of the speed controller b Ramp time and s curve at deceleration Resolution mode Min OP 30 31 Min OP 34 35 4000 rpm 0 05 s 8000 rpm 0 1 s 16...

Page 189: ...can be increased to 100 110 must be adjusted additionally in ds 04 flux rotor adaption mode on This is possible from version V 2 1 ASCL because the max modulation factor is always limited to the setp...

Page 190: ...Anzeige Rampenausgang ru 02 Zeit 0 2 s Example ud 02 4 4000 rpm mode dS 21 200 rpm dS 22 1s ASCL model shutoff during deceleration dS 19 dS 20 If the drive is to be stopped the critical range of low...

Page 191: ...s set can be increased with parameter dS 20 ASCL model switch off current follow up time dS 19 Limit uf control decele ration Switching to the frequency controlled range dS 20 ASCL Model switch off Cu...

Page 192: ...speeds outside the critical range Alternatively too small setpoints may also be masked by parameter oP 65 oP 68 blocked setpoints 7 5 2 4 2 Switch to consecutive motor If the motor still rotates when...

Page 193: ...for high frequency applications 7 reserved 8 reserved 9 10 Estimation limit 0 off 512 1024 1536 Estimation limit off Estimation limit depending on the speed setpoint Estimation limit via oP 14 oP 15 t...

Page 194: ...ller are calculated automatically during the identification of the motor parameters and may not be changed Only the parameter dS 17 ASCL speed PT1 time can be adapted to a specific application In non...

Page 195: ...model 7 Wait for magnetisation see section Generally adjustments for operation with motor model 8 Energy saving function ASM 0 off 256 on 9 Mode always active ASM 0 off 512 on Bit 2 determines whether...

Page 196: ...k Maximum voltage controller and field weakening Precontrol and decoupling isq controller isd controller Usq Usd Volt U Volt V Volt W iu iv iw Flux controller ASM 3ph ru02 ru07 isq ref Imr set Imr isq...

Page 197: ...ng isq controller isd controller Usq Usd Volt U Volt V Volt W iu iv iw Flux controller ASM 3ph ru02 ru07 isq ref Imr set Imr isd_ref isq model ru 03 ru 87 ru 17 ru 18 Motor model and Tr adaption Encod...

Page 198: ...ion ru 03 ru 02 F ramp F slip V f trans formation V out ru 20 ASM 3ph V f characteristic uf 00 uf 03 SMM motor model I act I app 2 V out last cycle I u I v transformation angle ru 06 calculated actual...

Page 199: ...10 COMBIVERT F5 A E H Page 7 5 37 7 Figure 7 5 3 d Field weakening dS 08 KP maximum voltage dS 09 Ki maximum voltage dS 04 KP maximum voltage controller dS 10 maximum voltage max 2 of max output volt...

Page 200: ...Page 7 5 38 COMBIVERT F5 A E H KEB 2012 10 Motor data and controller adjustments of the asynchronous motor...

Page 201: ...ents of the asynchronous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 F...

Page 202: ...asurement 7 6 9 7 6 3 Speed controlled operation without encoder feedback SCL 7 6 9 7 6 3 1 General 7 6 9 7 6 3 2 Initial settings for sensorless operation 7 6 9 7 6 3 3 Identification of the motor da...

Page 203: ...motor rating plate data is at the beginning of each start up dr 23 DSM rated current dr 24 DSM rated speed dr 25 DSM rated frequency dr 27 DSM rated torque dr 28 DSM rated motor current The following...

Page 204: ...ion Bit Description Value Function 0 3 Control mode 4 Speed control 5 Torque control description see chapter 7 7 6 Torque speed 7 6 1 3 Actual value source The actual value source for speed control mu...

Page 205: ...displays off standard adjustment then the voltage class of the frequency inverter 400V or 230V is used The current DC link voltage of the frequency inverter which is proportional to the supply input v...

Page 206: ...e max torque in dr 33 A reluctance torque can only be generated if there are differences in the inductance of the d q axis The in ductance dr 64 is indicated as Lsq and the inductance dr 31 as Lsd Thi...

Page 207: ...Motor data and controller adjustments of the synchronous motor KEB 2012 10 COMBIVERT F5 A E H Page 7 6 7 7...

Page 208: ...nged as defined in chapter 7 11 7 Attention has to be paid to in phase connection connect inverter terminals U V W on the motor terminal board with the appropriate contacts If the cabling is correct t...

Page 209: ...y means of a model This calculated speed can be used as feedback for the speed controller The necessary motor data for the model can be identified by the KEB COMBIVERT itselfs Static operation with sm...

Page 210: ...y the overload characteristics and can be taken from the power circuit manual or parameter In 18 hardware current The direction of rotation during identification of the EMC is always clockwise rotatio...

Page 211: ...16 kHz 14 Torque detection 2 kHz Detection of the no load torque at different swit ching frequencies During operation this torque is subtracted from torque display ru 12 15 Torque detection 4 kHz 16 T...

Page 212: ...e with value 7 automatic operation without rotation or as single identification as described in the following because the motor model is not active 7 6 3 3 2 Single identification As far as possible s...

Page 213: ...high frequencies Deadtime detection dr 48 9 13 The deadtime detection works only as single identification if the stator resistance is correct entered identified The measured values can be read out via...

Page 214: ...uf 18 The drive has also measured the dead time compensation characteristic during automatic identification The calibrated characteristic must be activated for the control with motor model by the set...

Page 215: ...genetising time see picture 7 6 3 4a The half current dependent load torque is acceptable as mechanical load e g of the rated torque at of rated current at standstill Picture 7 6 3 4a Current A Speed...

Page 216: ...active Condition start ramp is parameterized The current of nn 01 stabilisation current must be regarded as maximum active current The current ramp of nn 02and nn 03 must be parametrized by such way s...

Page 217: ...tage and cur rent Then this speed is admitted to the speed controller The calculated model currents can be used also for current control nn 00 Motor model select Bit Description Value Function 0 Stand...

Page 218: ...andstill current can be switched off with bit 0 of nn 00 The starting phase with activated currents runs more steady In such a way this adjustment should not be changed The values are limited to of th...

Page 219: ...resonance frequency with a band stop filter The resonance frequency of the sine wave filter and the corresponding filter parameters can be determined with the tool sine wave filter exe www keb de The...

Page 220: ...mal The current is internally limited to maximum In 01 rated inverter current For this the inductance in dr 31 must be correctly measured or adjusted COMBIVIS 5 Scope H CvKebData F5 SCL Identifikation...

Page 221: ...7 46 05 Dateidatum 28 11 2006 14 04 32 745 F5E S V2 21 8000rpm X us Teilung 5568 CH Parameter Satz Y Faktor n Teilung Y Null bei A AA51 int data 1 0 441 0 B AA52 int data 2 0 2 0 C AA53 int data 3 0 5...

Page 222: ...When falling below nn 02 the HF supply is switched on again The HF supply is advantageous only in lower speed range if there are problems with the motor model nn 14 HF supply amplitude The signal ampl...

Page 223: ...Precontrol and decoupling Maximum voltage control ler and field weakening SCL motor model isd_ref isq controller isd controller ru 17 ru 87 Usq Usd EC 40 Transformation and dead time compensation Tran...

Page 224: ...l isq nn 00 harmonic absorber Band stop filter fh 01 fh 09 nn 12 Pt1 deviation control time isq model nn 00 Current controller adaption isq nn 00 current control isq reg isd modell isd nn 00 harmonic...

Page 225: ...12 speed controller parameters KP factor KI factor cS 8 cS 6 cS 7 Xd n cS 9 cS 10 cs 9 cS 11 cS 12 act speed KP Ki Speed controller Torque limitation cS 15 cS 19 cS 23 isq_ref_int_b isq_ref_int_c isq_...

Page 226: ...re 7 6 4 d Torque limitation field weakening isq_ref_int_c ds 03 Torque mode off on isq_ref_int_c Torque characteristic for field weakening only further lowering of the limits nact DC link voltage M n...

Page 227: ...motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque cont...

Page 228: ...rating with motor model 7 7 3 7 7 1 3 Square influence of the controller parameters 7 7 3 7 7 1 4 7 7 1 3 Operating state dependent control parameters 7 7 7 7 7 2 Determination of the mass moment of i...

Page 229: ...ynchronous motor in cS 25 The value of cS 25 has the right dimension for 50Hz standard motors because at some applications the ratio of the load inertia is in a range of 0 5 2 x motor inertia Better r...

Page 230: ...K2 HiGain PKGain Speed 2 2 Speed MaxSpeed MaxSpeed 2 n 0 MaxSpeed Gain n if n Speed LowGain K1 n 2 hiGain K2 n MaxSpeed 2 Gain is internally limited to 0 800 KP cS 06 Gain 100 Ki cS 09 Gain 100 Parame...

Page 231: ...H Page 7 7 5 7 0 50 100 150 200 250 0 500 1000 1500 2000 n U min Verst rkung Picture 2 cS 07 200 cS 08 100 cS 12 500 cS 13 1000 0 20 40 60 80 100 120 0 500 1000 1500 2000 n U min Verst rkung Picture...

Page 232: ...2000 n U min Verst rkung Picture 4 cS 07 30 cS 08 30 cS 12 1300 cS 13 1800 0 20 40 60 80 100 120 140 160 0 500 1000 1500 2000 Gain Inv Imr 0 20 40 60 80 100 120 140 160 0 500 1000 1500 2000 Picture 5...

Page 233: ...nd in standstill cS 09 forms the base value the maximum value for the integral factor is cS 09 cS 10 the two corner speeds cS 11 and cS 12 determine the speed range in which the KI value is changed cS...

Page 234: ...his mass moment of inertia is unknown it can be determined by an acceleration test For this the system must be accelerated with defined constant torque It must be guaranteed that no significant and ac...

Page 235: ...acteristic and increased oscillation inclination An adaptation of the speed controller is required on changing the Pt1 time This filter is used e g for spindles in order to avoid jumps in the current...

Page 236: ...d setpoint setting e g by external control is made in steps so torque jumps can occur the analog speed setpoint setting is superimposed by a noise which must be damped for the pre control The influenc...

Page 237: ...rtvorgabe von externer Steuerung Drehzahlsollwert vor Rampe Vorsteuerwert f r das Beschleunigungsmoment Zeit ms Vorsteuerwert f r das Beschleunigungsmoment Sollwertvorgabe von externer Steuerung Drehz...

Page 238: ...Page 7 7 12 COMBIVERT F5 A E H KEB 2012 10 Speed control...

Page 239: ...hronous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torq...

Page 240: ...8 6 7 8 3 2 1 Determination of the magnetizing current limit dS 13 7 8 7 7 8 3 2 2 Definition of the limiting characteristic 7 8 8 7 8 3 2 3 Shifting of the limiting characteristic 7 8 10 7 8 3 2 4 In...

Page 241: ...er is limited to max positive Thus the control characteristic is calm down Example maximum modulation factor 100 ref modulation factor 97 limit 100 97 3 1024 on 11 Umax Stopp udCtrl in limi tation 0 o...

Page 242: ...sical torque limits of the synchronous motor about the influence and adjustment of dS 13 7 8 2 Physical torque limits ASM 7 8 2 1 Torque limits in base speed range The rated torque calculated from rat...

Page 243: ...st be activated if the motor shall be driven to its limits This is done with value 2 in point field weakening characteristic of parameter dS 03 current torque mode dS 03 Current torque mode Bit Meanin...

Page 244: ...f the inverter is displayed in dr 15 At activated hardware current limit uF 15 1 or 2 the maximum current is equal to the hardware current level In 18 less safety reserve of 5 of the inverter rated cu...

Page 245: ...Determination of the magnetizing current limit dS 13 There is a specific ideal magnetization current limit for each motor The available field weakening range is very small if the limit is too small Th...

Page 246: ...t a constant torque limit e g double the rated torque the motor is despite field weakening physically unable to provide this torque The set torque can not be adjusted anymore and the drive hangs in th...

Page 247: ...g characteristic the drive becomes uncontrolla ble All other torque values must be selected higher accordingly Parameters dr 33 40 42 44 46 contain the maximum torque for the speeds in dr 39 41 43 45...

Page 248: ...The value 0 off can be used if the limiting characteristic for the mains input voltage is programmed the ma chine is operated with it and this voltage is relatively constant The advantage e g during...

Page 249: ...total power of the motor in the field weakening range consists of active current and magnetizing current The maximum torque limits only the active current For some motors there is a maximum current s...

Page 250: ...ch is defined by maximum current and available voltage remains always active as superior limit If only one limit is required for all operating ranges forward reverse motorized and regenerative paramet...

Page 251: ...mits can be lowered by the limiting characteristic Different setting of the motor and regenerative torque limit via An 54 The parameter value of cS 19 cS 23 can be changed in 1ms step with An 54 and e...

Page 252: ...e torque i e in the base speed range the rated torque and the range higher than the rated speed the rated torque attenuated following a 1 x function is taken as 100 utilization of the motor The progra...

Page 253: ...eferenzpegel le 27 Istmoment ru 12 Bezugsmoment f r max Drehmoment ru 90 Feldschw drehzahl dr 18 Nenn drehzahl dr 01 then ru 90 is calculated as follows Figure 7 8 6 2b display ru 90 Drehzahl U min Mo...

Page 254: ...Page 7 8 16 COMBIVERT F5 A E H KEB 2012 10 Torque display and limiting...

Page 255: ...motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque cont...

Page 256: ...e source 7 9 3 7 9 2 Rate of change torque reference 7 9 3 7 9 3 Speed limiting 7 9 4 7 9 4 Control mode 7 9 4 7 9 4 1 Mode 1 Torque controlled operation with emergency changeover to speed control 7 9...

Page 257: ...18 is factor for cS 19 4 Motorpoti ru 37 the output value of the motorpoti function see chapter xx is the factor for the torque limits cS 19 cS 23 5 external PID output ru 57 the output value of the P...

Page 258: ...rgency changeover to speed control This mode is activated with cS 00 5 The speed controller is not active until the drive does not exceed the maximum speed for torque controlled operation set speed ru...

Page 259: ...imum speed is much better The disadvantage is that with an unfavorable parametrisation of the speed controller e g very small ampli fication chosen the torque reference can be further delayed by the c...

Page 260: ...Page 7 9 6 COMBIVERT F5 A E H KEB 2012 10 Torque control...

Page 261: ...of the asynchronous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functi...

Page 262: ...nd switching frequencies 7 10 1 Current control 7 10 3 7 10 2 Current limiting 7 10 4 7 10 3 Switching frequencies and derating 7 10 5 7 10 3 1 Switching frequencies uF 11 In 03 In 04 ru 45 7 10 5 7 1...

Page 263: ...partial current decoupling mode only for asynchronous motors with unsmooth DC link voltage 3 only Usq SM The decoupling of the S mode can be activated separately 4 only Usd SM Exception The controller...

Page 264: ...g torque without brake engage The only exception in speed controlled operation with encoder feedback without motor model current overshoots can occur during the start if the current controller are not...

Page 265: ...layed apparent current ru 15 or utilization value ru 13 is significant below this limit Picture 7 10 3 1 Carrier frequencies Base frequency of the phase current actual current base frequency with supe...

Page 266: ...ny applications 7 10 4 Voltage reserve for the non prioritized current controller Addr Parameter Name Default value Wet 1127h dS 39 reserved modulation factor 0 0 50 Introduction of a minimum voltage...

Page 267: ...s motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque con...

Page 268: ...r 7 11 14 7 11 8 1 Definition 7 11 14 7 11 8 2 Gear factor analog setting 7 11 16 7 11 8 3 Gear factor set programming 7 11 16 7 11 9 Emulation mode 7 11 17 7 11 10 Absolute position encoder 1 7 11 18...

Page 269: ...signals Encoder channel 2 X3B can support following interfaces 9pole incremental encoder input for rectangular signals Incremental encoder output Incremental encoder in output Further Interfaces descr...

Page 270: ...A 8 Signal input A _ A 3 Signal input A inverted B 9 Signal input B 4 Signal input B inverted n 15 Reference marking input N 14 Reference marking input N inverted Shield housing shielding Following sp...

Page 271: ...scription SIN 3 1 Sinus signal cable inverted SIN 8 10 Sinus signal cable REF 5 5 Reference signal inverted REF 10 7 Reference signal COS 4 2 Cosinus signal cable inverted COS 9 11 Cosinus signal cabl...

Page 272: ...10 7 11 3 1 Incremental encoder input In synchronous operation the second incremental encoder serves as input of the master drive A second posi tion encoder can be connected for positioning operation...

Page 273: ...B inverted n 3 Reference marking input N _ N 8 Reference marking input N inverted Shield housing shielding Encoder operating mode Ec 20 The function of the encoder interfaces is defined with parameter...

Page 274: ...COMBIVERT De pending on the unit size and the load it can be 15 30V DC Uvar can be loaded at X3A and X3B altogether with max 170mA If higher currents are required for the supply of the incremental en...

Page 275: ...es no no 6 high ENDAT very high yes yes no yes 10 high EnDat Low cost high yes yes no yes 10 high Endat Multiturn very high yes yes yes yes 10 Standard EnDat 2 2 BISS very high yes yes no yes 6 Standa...

Page 276: ...TL 13 Incremental encoder input TTL with error detection 14 SinCos encoder input 15 Incremental encoder input 24V HTL with error detection push pull 16 ENDAT 17 Incremental encoder input 24V HTL with...

Page 277: ...also the increments per revolution for emulation on channel 2 changes Due to the high resolution the maximum speed is limited at channel 1 The following limit values are valid Resolution bit Maximum s...

Page 278: ...pm 9 256 ms 0 0234375 rpm When using other line numbers Specified speed resolution x2500 Line number Speed resolution Rotation change Ec 06 Ec 16 A rotation change for encoder input 1 can be executed...

Page 279: ...control The position value is written to parameter Ec 28 via bus Rotary encoder The control detects the whole revolutions and outputs a continuous position value to Ec 28 Linear encoder The controller...

Page 280: ...1000 Ec 14 Gear factor channel 2 counter 30000 30000 1000 Ec 15 gear 2 determinator 0 30000 1000 Ec 58 Gear 2 numerator long 1073741824 off 1073741823 Off Ec 59 Gear 2 denominator long 0 1073741823 1...

Page 281: ...atio gear factor denominator to gear factor numerator must be equal to the pole pair number Ec 05 Gear 1 denominator 3000 Ec 04 Gear 1 numerator 1000 Ec 39 Encoder 1 over transmission 1 Parameter Ec 3...

Page 282: ...9 to 1 1 can be set with an Aux value of 100 100 7 11 8 3 Gear factor set programming The gear factor is generally not set programmable There is a workaround in case the application needs a set depend...

Page 283: ...ere is no encoder interface with encoder emulation available via channel 1 2 Actual va lue ru 07 The displayed speed in ru 07 actual value is output via the emula tion It does not matter whether this...

Page 284: ...ro signal is not divided It is output once per revolution Also the pulse duration of the zero signal is not changed compared to the direct output Thus it is shorter than the divided trace A and B sign...

Page 285: ...lue 0 Value range 0 1 0 binary used data format of the encoder 1 Gray Ec 54 Encoder 1 SSI mode Default value 0 Value range 0 3 0 Standard 1 Singleturn 25 bit SSI singleturn encoder which shall be read...

Page 286: ...7 11 11 3 SSI position standardization channel 1 and 2 Ec 41 Ec 41 Mode display multiturn Default value 0 Value range 0 15 bit 0 mode channel 1 0 full 32 bit range Value range of the positioning 231...

Page 287: ...necessary for evaluation That means the most important motor and encoder data can be stored in the encoder Then this data can be read out and accepted by the inverter at the start up for more details...

Page 288: ...ce identification Interface type is unknown Interface was not identified E EncC Ec 37 enc 1 encoder status Value Explanation Error 75 encoder temperature Encoder temperature too high message from enco...

Page 289: ...c name plate can be stored for the motor encoder system If an inverter is connected the first time with an encoder which contains an electronic name plate this is auto matically read out if data load...

Page 290: ...o error is released if the reading is successful The data are not read out again as long as the encoder serial number does not change If another encoder other serial number is connected to the same in...

Page 291: ...factor ec 04 05 enters the speed measurement 2 Ec 01 x Ec 05 1 zero pulse revolution The increments per revolution of the encoder is greater than the para meter in ec 01 allows The zero signal is onc...

Page 292: ...Page 7 11 26 COMBIVERT F5 A E H KEB 2012 10 Speed measurement...

Page 293: ...nchronous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 To...

Page 294: ...erating mode 7 12 18 7 12 3 5 Synchronous mode activation and synchronization 7 12 19 7 12 3 5 1 Principle 7 12 19 7 12 3 5 2 Synchronization at limit 7 12 19 7 12 3 5 3 Synchronization with constant...

Page 295: ...72 7 12 4 22 Teach function 7 12 72 7 12 4 23 Functions and displays for the positioning mode 7 12 74 7 12 5 Contouring control mode 7 12 77 7 12 5 1 Contouring control mode premises 7 12 77 7 12 5 2...

Page 296: ...o ready for positioning again even if the drive is still in the direction of the limit switch The error warning message is set again only at the next start positioning command 7 12 1 2 Software limit...

Page 297: ...active If the reference switch is connected to its own input it is one active Define an input for the start of the approach to reference point with PS 19 only necessary in mode 1 approach to reference...

Page 298: ...power off Encoder with single turn absolute position information e g resolver After power on the position is read out by the encoder within one revolution the count of whole revolutions is taken from...

Page 299: ...ndow reached Approach to reference point completed ru 54 actual position ru 02 Set speed 1 PS 21 positive i e the drive accelerates with the ramp from PS 20 and seeks in forward direction for the refe...

Page 300: ...error if no zero signal and bit 8 Verify zero signal These are only active if stop at null signal yes is programmed PS 14 Mode of position reference Bit Meaning Value Explanation 2 Stop at zero signa...

Page 301: ...erses and begins searching the reference point in the other direction of rotation If no reference point switch is found the drive continuously shuttles between the two hardware limit switches Note Dur...

Page 302: ...1 PS 22 6 Stopping of the drive with the ramp from PS 20 Setting of the signal target window reached Wait for the damping period of 100ms 7 Overwriting the current actual position ru 54 with the refer...

Page 303: ...the inverter continues the interrupted positioning 7 12 2 7 Reference point valid position In order for the software limit switch function to be useable an approach to reference point must be executed...

Page 304: ...at the reference point 32 on after approach to reference point the position from Index 0 is driven to The following figure shows an approach to reference point with stop at the null signal left of the...

Page 305: ...o the zero signal drive in negative direction to the zero signal PS 14 bit12 must be deactivated after the calculation The position of the reference switch to the zero signal can be monitored with par...

Page 306: ...er drive can be connected directly to the slave The speed ratios are adjustable individually The gear ratio is adjusted via the numerator denominator ratio If the direc tions of rotation have to be di...

Page 307: ...ed there are two different variations for assembling the master slave chain direct transfer of the signals from the output of the master encoder interface to all slaves START STOP FUNC SPEED ENTER F R...

Page 308: ...B X3A X3B X3B X3A X3A 3 3 3 3 speed closed loop master drive speed closed loop slave drive1 speed closed loop slave drive 2 speed closed loop slave drive X MS Repeater MS Repeater MS Repeater Ec 20 en...

Page 309: ...case for e g printing ma chines or rolling machines The slave position i e the number of increments of the slave motor is displayed in parameter ru 54 actual position In ru 54 one revolution of the sl...

Page 310: ...d for the slave drive before starting synchronous running in order to get the reference between position display of the slave drive and the mechanics of the application The reference between master an...

Page 311: ...y not be exe cuted during the synchronisation The synchronous module is not deactivated by switching of the modulation The angle difference is continuous ly calculated and after again switching on the...

Page 312: ...ronisation within a constant path the starting ramp must be deactivated PS 00 Posi synchronous mode Bit Meaning Value Explanation 10 Synchronous running starting ramp oP 28 0 off No starting ramp for...

Page 313: ...synchronous running 0 PS 05 Startoffset 3000 2000 1000 1 2 3 5 4 6 7 t The master position set position is set to 0 at the activation of the synchronous module When the master has completed the path...

Page 314: ...n slave position Actual speed master converted with the gear ratio Actual speed slave Angle difference level Drive runs synchro nously activate posi syn chronous running time At the start of the synch...

Page 315: ...mains at a defined resting position 20 cm The hole should be drilled 5cm from the front edge while the conveyor is running The slave must run absolutely angular synchronously to the master during the...

Page 316: ...factor 2 denominator gear factor of the master The gear factor is not set programmable If it is to be adjusted set dependently this can be implemented by ap propriately setting the analog parameters s...

Page 317: ...arameter PS 10 shift slave inv input selection The value of PS 04 is subtracted from the master position i e ru 56 set position corrected ru 56 set position PS 04 The value of PS 04 can be positive or...

Page 318: ...of rotation Example of a printing press An F5 S serves as master shaft X3B of the master is incremental encoder output The incremental encoder analogue provides 2048 increments per revolution The mast...

Page 319: ...odule must be activated by an input The input is selected in parameter PS 02 Posi Sync input selection 7 12 4 2 Posi mode principle In the posi mode the drive can approach a single position or sequenc...

Page 320: ...dependent on PS 00 bit 4 The speed limits oP 10 oP 11 max reference do not act as setpoint limits anymore oP 14 oP 15 abs max reference remains operative The error speed limit exceeded is triggered w...

Page 321: ...rdware limit switches are to be used two inputs must be programmed with the functions 32 forward and 64 backward and wired with the hardware limit switches Additionally the protec tion function in Pn...

Page 322: ...er Position control is based on the motor position encoder I e the position values refer to the motor position The number of increments per motor revolution amounts to encoder increments per revolutio...

Page 323: ...the motor speed The speed limits and the values for maximum profile speed PS 25 and maximum position control effect PS 09 refer to the motor speed Example Encoder channel 1 Incremental encoder with 2...

Page 324: ...is not possible for mechanical reasons Referencing the load position is not possible KEB COMBIVERT F5A S or F5A S X3B Encoder channel 2 X3A Encoder channel 1 M 3 Output encoder Last Gear Application...

Page 325: ...alog tracks Ec 04 Gear 1 numerator 1000 Gear factor 0 333 Ec 05 Gear 1 denominator 3000 Ec 39 Encoder 1 over gear 1 Encoder mounting via gear The motor shall travel 5 5 revolutions 32 x 29 x 3000 1000...

Page 326: ...nel The source for the master position is defined in PS 01 bit1 3 Positioning is not possible in torque operation actual position source remains active If cs 01 ps01 in posi mode the gear ratio is bri...

Page 327: ...position ru 54 is displayed in parameter ru 58 angle difference 7 12 4 7 Posi mode single positioning To carry out a single positioning the following initial settings must be met Operating mode Posi m...

Page 328: ...s acquired The drive runs in compliance with the acceleration deceleration and jolt setpoints to the new target speed The maximum profile speed can be changed by way during running positioning by writ...

Page 329: ...7 12 1 2 the po sition setpoint is assumed as the new target position Corresponding to the predefined profile the set point position runs to the target position During Status ru 00 122 positioning ac...

Page 330: ...tively traverse these with a defined speed Sequential positioning is meant if several target positions are defined in the inverter which are to be processed in a fixed sequence A possible example for...

Page 331: ...ine the maximum profile speed PS 00 Posi synchronous mode Bit Meaning Value Explanation 4 Positioning target speed 0 PS 25 PS 25 Each block has its own maximum profile speed The maximum profile speed...

Page 332: ...the setting of the profile speed by PS 31 is selected then the target is crossed with the speed set in the current block in PS 25 The switching condition target win dow reached is not set since this i...

Page 333: ...PS 56 and 57 it is possible to reach all 32 posi indices via the terminal or IA IB IC ID Settings 31 are limited to 31 without error PS 56 Position target source Value Meaning Explanation 0 PS 28 Targ...

Page 334: ...inition of the profile speed by PS 25 Settings Let the position at which the positioning process starts have the value 0 Driving to this position whether after power on after error or as part of the p...

Page 335: ...ing process i e continuation of the profile processing 1 yes and Position setting 0 absolute PS 27 1 yes absolute block 2 PS 23 Index selection 2 Position end of penetration PS 24 Index position 100 0...

Page 336: ...ration block is block 2 The speedduring penetration positioning speed is the value of PS 25 in block 2 250 rpm The drilling is to continue with 500 rpm so the drive already accelerates at the end of t...

Page 337: ...ro nous mode 5 Posi mode Activation of the positioning mode 4 Positioning target speed 0 PS 25 PS 25 The maximum profile speed is set via PS 25 Index speed All other bits can remain at the factory set...

Page 338: ...f the profile speed by PS 31 oP 10 Settings The drive shall stop at each position to allow processing of the workpiece until the external control gives the signal to continue i e start positioning The...

Page 339: ...source 0 AUX input ru 53 factory setting An 54 Analog para setting destina tion 131Fh bus address PS 31 An 55 Analog para setting offset 0 factory setting An 56 Analog para setting max value 1000 100...

Page 340: ...second stopping point PS 24 Index position 200000 Drive stops at the target PS 25 0 rpm next positioning step back to start PS 26 0 Wait for start positioning PS 27 0 no absolute time I3 X2A 12 start...

Page 341: ...an accuracy of 10 increments so that the processing can begin The second stop shall be at position 200 000 The profile speed up to that position shall again be 1000 rpm The stop shall last 1200 ms and...

Page 342: ...get reached do 16 Condition selection for flag 0 1 SB0 do 01 Condition 1 72 act position index level SB1 Index 1 LE 01 Comparison level 1 1 00 do 02 Condition 2 72 act position index level SB2 Index 2...

Page 343: ...0 speed up to the first stopping point PS 25 1000 rpm next positioning step defined in block 2 PS 26 2 Wait for start positioning command PS 27 0 no absolute block 2 PS 23 Index selection 2 Position s...

Page 344: ...eration and S curve times are programmed In each set a different index is parametrised as the starting index 7 12 4 10 Posi mode rotary table The round table positioning allows positioning within 360...

Page 345: ...re created for different applications 7 12 4 10 1 Rotary table with path optimization inverter F5A S or F5A M control terminal block X2A X3B Encoder channel 2 X3A Encoder channel 1 M 3 Motor position...

Page 346: ...en the motor and the round table can cause the position of the round table to be different for identical motor positions depending on the direction of rotation from which the position was approached T...

Page 347: ...er problem If the gear factor x increments per revolution does not result in an integer value the value for PS 39 cannot be set exactly Example The gear ratio between motor and rotary table is 50 3 en...

Page 348: ...position ru 65 Set position ru 54 actual position clockwise rotation positive edge For the positioning for which corrections are made the value of PS 24 index position therefore does not match ru 61 t...

Page 349: ...iving the reference switch 7 12 4 11 Posi mode defined stop In some applications a drive shall stop within one revolution at a defined position during vector controlled ope ration For such application...

Page 350: ...alue 2 relative must be set in PS 27 PS 27 Index mode Bit Meaning Value Explanation 1 3 Position setting 2 relative The value of PS 24 index position defines the path that still has to be travelled st...

Page 351: ...l carried out within one active positioning to reach the target at the predefined position To be able to approach the target from both directions two reference markers that can be located at different...

Page 352: ...to the target position not being reachable anymore This is possible every time the reference marker shows that the drive is already nearer the target than expected To be able to directly drive to the...

Page 353: ...s more sharply after the adjustment Thereby the adjustment can be still be carried out during the running positioning and the target position can still be reached If no successful adjustment can be ex...

Page 354: ...approach Adjustment of the position is executed but po sitioning to the target position is not possible anymore With the beginning of the lower S curve the drive signals position inaccessible via a di...

Page 355: ...ioning to the starting point For the drive to target 2 marker 1 must be ignored For that purpose the parameter PS 40 reference point window is used Only an initiator pulse within the position window o...

Page 356: ...The parameter PS 45 adjustment index selection is identical to parameter PS 23 index selection It has been inserted here a second time only to simplify the operation 7 12 4 14 Posi mode start position...

Page 357: ...hange automatically generates a start positioning command 512 on 12 Start posi PS 24 0 off For start posi PS 24 on a start positioning command is generated each time by writing on parameter PS 24 inde...

Page 358: ...position ru 54 at the time of the start positioning pulse to be accessible with the programmed ramp and S curve times ru 84 ru 84 Start positioning ru 54 actual position ru 84 accessible rel position...

Page 359: ...ts mode of action PS 44 however works only for ramp changes necessitated by flying referencing with adjustment PS 32 on the other hand is responsible for adjustments based on new target settings Furth...

Page 360: ...command and a rotation change is required for the positioning I e every time the drive is running at the time of the start positioning command inaccessible positions can occur Also if a new start pos...

Page 361: ...rsed even if the target speed preset in PS 25 cannot be reached This permits che cking where the positioning sequence has to be changed or adjusted so that target position and target speed can be reac...

Page 362: ...e sequential positioning An active positioning can also be interrupted by setting bit 11 in control word Sy 43 or Sy 50 field 2048 activate interruption In contrast to a termination due to abnormal st...

Page 363: ...nt position ru 56 the following adjustments must be made for an analog output ANOUT1 or 2 choose actual position An 31 An 36 27 or setpoint position An 31 An 36 28 as the output value configure the co...

Page 364: ...can be set dependent on the scanned position Switching condition 75 amount actual position scan position level must be selected for this Switching level 0 Switching condition 0 Scan position position...

Page 365: ...e position that is to be used later as the target of the positioning i e the storage location in a shelf The drive is in speed controlled mode i e the input activating the posi mode is not set Since s...

Page 366: ...ted in PS 01 ru 56 Set position The position that the drive is supposed to have reached currently according to the calculated profile in contrast to ru 61 target posi tion to be reached at the end of...

Page 367: ...ter PS 26 index next 67 Distance level Distance since the last start positioning command is longer than the switching level 68 Position to the target window level Distance still to be travelled until...

Page 368: ...ot indicated by this display Missing limit switch signals also do not affect the status display 122 positioning active Positioning profile position speed profile is being calculated The set position r...

Page 369: ...Encoder channel 2 X3A Encoder channel 1 COMBICONTROL C5 digital I O optional fieldbus interface RS232 Parametrisation Ethernet Parametrisation Visualisation Drive interface KEB inver ter F5A S or F5A...

Page 370: ...he set point position for each individual cycle The inverter calculates the speed required to reach the position setpoint in one bus cycle The setting of the position setpoint can be done via PS 24 in...

Page 371: ...low them with the maxi mum permissible speed Only oP 14 absolute maximum reference for and oP 15 absolute maximum refe rence rev function as speed limits 7 12 5 5 Contouring control mode watchdog A br...

Page 372: ...nt sign if the contouring control mode is not activated Settings for the position control in contouring control mode PS 00 Posi synchro nous mode 7 via control word Activation of the contouring mode v...

Page 373: ...read parameter defined SY 24 Proc write data 1 defin 1322h write PS 34 Contouring mode position Sy 25 Proc write data 1 set 255 Value immaterial since parameter is not set programmable SY 26 Proc wri...

Page 374: ...hanical distur bances e g welds in the linear rails or similar The base value of the controller is set in PS 06 KP for positioning synchronous Parameter PS 08 limit speed for PS 07 determines the limi...

Page 375: ...us motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque co...

Page 376: ...14 7 13 3 Automatic restart 7 13 17 7 13 3 1 Undervoltage error E UP 7 13 17 7 13 3 2 Overvoltage error E OP 7 13 18 7 13 3 3 Overcurrent error E OC 7 13 18 7 13 3 4 Malfunction messages and pre warn...

Page 377: ...ower off function 7 13 31 7 13 11 GTR7 control 7 13 38 7 13 11 1 Activation via digital input 7 13 38 7 13 11 2 Adjustment of the activation threshold 7 13 38 7 13 11 3 Activation conditions 7 13 39 7...

Page 378: ...xample 3 operating condition programmed as malfunction Hitting a hardware limit switch shall be treated as a malfunction Desired response Abnormal stopping modu lation switch off after reaching stands...

Page 379: ...il reset Reset is only possible at activated control release if the DC link is high enough and or the signal LT_OK is active If the control release is deactivated status ERROR is deactivated with a re...

Page 380: ...oad protection functions one for the range of standstill and low frequencies overload at standstill OL2 and one for the remaining frequency range overload OL With Pn 09 Overload warning level a value...

Page 381: ...HI is triggered When the interior temperature has dropped again the inverter state changes again to 7 interior temperature back to normal E nOHI The error can now be reset 7 13 1 6 External fault With...

Page 382: ...tware limit switches can lose their protective function by e g a faulty approach to reference point Their advantage is that they cannot be overrun The permissible range of the actual position ru 54 is...

Page 383: ...erently for asynchronous and synchronous motors Emulation of an electronic motor protection relay The functional description times current level etc are found in chapter 7 13 9 electronic motor protec...

Page 384: ...track is identified for an incremental encoder interface with monitoring of the incremental tracks for resolver interfaces signals outside of the specifications are identified for encoder types that...

Page 385: ...BN Speed controller limit A SCL or to trigger an error Status 25 ERROR speed controller limit E SCL 7 13 1 15 Maximum acceleration exceeded The maximum permissible acceleration is defined with Pn 79 A...

Page 386: ...of the response Abnormal stopping i e automatic shutdown of the drive is possible for all errors that do not enforce immediate shutdown of the modulation or for which pre warnings can be generated If...

Page 387: ...auto restart Deceleration at the abnormal stopping ramp or the torque and current limit respectively holding torque after reaching speed 0 restart only after RESET 3 Modulation off auto restart Immedi...

Page 388: ...ure there are 2 response options as well Pn 16 Internal overtemperature Value Explanation 6 Warning via digital output The monitoring of the internal temperature is active but the drive does not execu...

Page 389: ...ontrol is given the opportunity to respond to the malfunction as is appropriate for the application To issue the warning message a digital output must be programmed with the corresponding switching co...

Page 390: ...mrichternennstrom In 01 Schnellhalt Pegel Pn 59 1 Schnellhalt Rampenzeit Pn 60 Schnellhalt Modus Pn 58 Bit 0 0 1 aktuelle Rampenzeit Time monitoring abnormal stopping For safety a maximum time for the...

Page 391: ...eset Therefore it must be selected after which errors an automatic restart should be executed Because of the independent starting of the machine safety measures must be provided for operating personne...

Page 392: ...lays the status motor de excitation and the display shows bbL respectively If ru 42 modulation grade is below uF 13 base block voltage level when switching off the modulation there is no base block ti...

Page 393: ...amp generator The deceleration time is Pn 60 1 Differential con troller The deceleration time is dependent on the difference current limit Pn 59 actual current The time constant of the controller is a...

Page 394: ...For the abnormal stopping the normal torque limitations of the application often do not apply since the auto matic shutdown is always a malfunction response To permit a quicker deceleration with a gr...

Page 395: ...stopping StOP The behaviour for abnormal stopping via control word can be defined in parameter Pn 58 quick stop mode Abnormal stopping mode determines the behaviour for abnormal stopping via control...

Page 396: ...or model For special motors e g high frequency spindles or applications e g operation in very high field weakening range this estimate for the engagement onto a running motor may not work The speed is...

Page 397: ...25 LAD load level Value Explanation 0 200 Current level at which the ramp is stopped If the acceleration stop in speed controlled operation is active in order to use the interruption of the ramp via...

Page 398: ...elow the maximal constant current the inverter accelerates decelerates again with the normal ramp times The stall function is active until the original setpoint speed is reached This protection functi...

Page 399: ...hether the current limit that activates the stall function should be decreased above the rated point The decrease is then done according to the following formula Rated point uf 00 Actual frequency ru...

Page 400: ...ristic operation overcurrent errors can occur due to short ramps Therefore a current limit can be programmed with Pn 24 LAD load level that is hold on exceeding the ramp generator output value ru 02 I...

Page 401: ...controller due to a sudden termination of the ramp can also lead to further energy recovery in the DC link Generally the deceleration process is slowed down by this protection function The use of a b...

Page 402: ...er set selection see chapter 6 8 Pn 14 Motor protect function response 0 6 see Chapt 6 7 6 Motor protection mode dr 11 With this parameter the cooling mode of the motor is set dr 11 Motor protection m...

Page 403: ...imes with underload are subtracted After triggering the motor protection function the new tripping time is reduced to 1 4 of the specified value if the motor has not been operated for an appropriate t...

Page 404: ...tio of apparent current ru 15 to continuous current Is Id exceeds the value of dr 50 motor protection min Is Id The release time for this point is set in dr 34 motor protection time min Is Id The rele...

Page 405: ...rent flow The error triggered by the motor protection function can already be reset before the recovery time expires 7 13 10 Power off function The Power Off function has to provide a controlled decel...

Page 406: ...r off restart delay yes yes yes Pn 53 Power off KP yes No function hidden Pn 54 Power off KI yes No function hidden Pn 55 Power off KD yes No function hidden Pn 56 Power off jump factor yes No functio...

Page 407: ...wer recovery above Pn 48 power off restart level Setpoint increase from initial voltage to voltage setpoint below Pn 48 192 Brake torque Pn 47 Emergency stop with braking module Restart possible only...

Page 408: ...inverter Figure 7 13 10 b Initial jump for generator operation in 1 cycle Pn 56 jump factor 0 800 Frequency jump Motor data Utilisation Channel 1 Channel 2 Slip calculation Slip calculation by the ac...

Page 409: ...Pn 44 bit 8 1 and uF 09 rated voltage is adjusted the voltage is not very high and the deceleration is more evenly Setpoint voltage setpoint Pn 50 Pn 44 Bit 6 7 1 or 2 only v f characteristic operatio...

Page 410: ...current control without speed detection the control parameters of the active current control are reduced linearly with the output value At power recove ry a restart is only possible after reaching th...

Page 411: ...simultaneously the setpoint of the DC link voltage controller In v f characteristic operation the set value is the setpoint of the active current controller and in vector controlled operation the torq...

Page 412: ...pplies no more energy In this case the control must be very soft to prevent fall back It is possible to adjust the restart value Pn 48 The controller parameters of the active current controller are lo...

Page 413: ...also available if the inverter is in an error state Exception On opening of the hardware control release terminal X2A 16 and for an unpowered power circuit status 13 power circuit not ready the GTR7...

Page 414: ...7 function shall be available in status 0 no control release nop the software control release must be used can be activated via di 36 The GTR7 can then be activated for the status no control release w...

Page 415: ...nected to the DC link that absorbs recovered energy when the motor is working as a generator By default the GTR7 is off when the modulation is switched off For some applications e g synchronous motor...

Page 416: ...function is not active Pn 91 bit 0 0 no error and warning is triggered There are two adjustments for the status drive active operation The drive is active if the modulation is released ready ST The dr...

Page 417: ...I2 prog input 2 X2A 11 6 64 I3 prog input 3 X2A 12 7 128 I4 prog input 4 X2A 13 8 256 IA internal input A no 9 512 IB internal input B no 10 1024 IC internal input C no 11 2048 ID internal input D no...

Page 418: ...f Pn 92 or Pn 93 0 ru 38 Pn 95 1 1 E FLC Pn 92 or Pn 93 0 Pn 91 Pn 94 Pn 94 ready ST operation Drive state 0 not active 1 active Valve state 0 closed 1 open Flow state 0 no flow 1 Flow Temperature sta...

Page 419: ...s motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque con...

Page 420: ...7 14 3 System parameters 7 14 3 7 14 4 Indirect and direct set addressing 7 14 4 7 14 5 Copying of parameter sets via keyboard Fr 01 7 14 4 7 14 6 Copying of parameter sets via bus Fr 01 Fr 09 7 14 5...

Page 421: ...entification For all non programmable parameters the same value is valid independent of the selected parameter set Following parameters are non programmable Sy Parameter Pn 00 18 23 27 29 42 44 60 62...

Page 422: ...Fr 1 5 Fr 1 6 Fr 1 7 Fr 1 DOWN UP Adjust target set A Fr 1 with Func to the source with Funct 1 2 3 4 5 6 7 DOWN UP Adjust source set 0 dEF_S ini_A ini_S dEF_A With the keys UP Down and at flashing p...

Page 423: ...parameters of the target set with the exception of Security parameters All 4 ini_A Default values are copied into all parameters of all sets with the exception of Security parameters By loading the fa...

Page 424: ...r of valid values of the indicator 36 byte are reserved for ud 16 and ud 17 ud 15 1 36 16 byte are reserved for ps 24 27 ps 23 0 15 The custom specific default values are stored in the sequence of the...

Page 425: ...ource table in byte and the length of the memory area of the customer default values in byte are stored in one word at the end of the external RAM The source table for the custom specific default valu...

Page 426: ...e valency at Fr 2 2 4 is generally ID IC ST The sequence above refers to the priority Fr 02 Source parameter set As shown in Fig 7 14 7 it is defined with Fr 02 whether the parameter set selection is...

Page 427: ...X2A 10 5 32 I2 prog input 2 X2A 11 6 64 I3 prog input 3 X2A 12 7 128 I4 prog input 4 X2A 13 8 256 IA internal input A no 9 512 IB internal input B no 10 1024 IC internal input C no 11 2048 ID internal...

Page 428: ...5 4 2 0 6 4 2 1 7 Input coded set selection With input coded set selection maximally 7 of the internal or external inputs may be programmed to set selection 0 7 sets to avoid set selection errors the...

Page 429: ...with edge triggered inputs set 0 is always activated with the 1st edge With the 2 nd edge the set activa ted by the other inputs is selected again Set change mode modulation on Fr 12 Parameter Fr 12 a...

Page 430: ...rror E SEt Value Locked set Example set 2 and 5 inhibited 1 0 2 1 4 2 4 8 3 16 4 32 5 32 64 6 128 7 Sum 36 7 14 9 Set activation deactivation delay Fr 05 Fr 06 With these parameters the time is adjust...

Page 431: ...for set 3 of 2s on off 2 OFF delay for set 3 of 2s set Fr 5 Fr 6 3 OFF delay for set 2 of 1s 0 0s 0s ON delay for set 1 of 2 s 1 2s 0s 4 immediate changeover as no delay is adjusted 2 0s 1s 5 OFF del...

Page 432: ...Page 7 14 14 COMBIVERT F5 A E H KEB 2012 10 Parameter sets...

Page 433: ...us motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque co...

Page 434: ...rake control 7 15 13 7 15 5 2 Monitoring of the brake control 7 15 14 7 15 5 3 Sequence of the brake control 7 15 14 7 15 5 4 Brake control vector controlled 7 15 16 7 15 5 5 V F characteristic contro...

Page 435: ...lue and at v f characteristic control cS 00 control mode 4 During the DC braking the motor is not decelerated over the ramp The braking is done with a DC voltage and a DC current respectively that is...

Page 436: ...C bra king 5 Deceleration and actual value Pn 32 DC braking if the actual frequency ru 03 1 is lower than Pn 32 DC braking start level and the rotation setting is missing The braking time is dependent...

Page 437: ...ority 7 15 1 1 V F characteristic control In v f characteristic control a DC voltage is applied to the motor The max braking voltage is set with Pn 31 DC braking max voltage The current is limited onl...

Page 438: ...ad phase the speed is maintained but energy is saved as a result of the voltage reduction uF 7 t uf 07 Energy saving factor 0 0 130 0 default 70 uf 06 Energy saving mode Bit 0 3 Energy saving function...

Page 439: ...ection oP 57 Decrease motor poti va lue input selection oP 58 Reset on oP 55 input selection oP 52 Motor poti Value input selection Setting via parameter 100 oP 59 is ignored ru 37 Motor poti act valu...

Page 440: ...of the motorpoti is defined with oP 50 The parameter is bit coded oP 50 Motorpoti function Bit Meaning Value Explanation 0 Target set of the motorpoti value 0 act set ru 26 Motorpoti value is changed...

Page 441: ...setting The parameter value is limited by oP 53 oP 54 If a digital input is set for increasing or decreasing the motorpoti value the value of oP 52 changes 7 15 4 Timer counter programming Two timers...

Page 442: ...clock source and the counting direction of timer 1 and 2 Clock pulse source can be the time counter in 0 01s or 0 01h grid pulses from a digital input or revolutions of the encoder on encoder channel...

Page 443: ...ble The individual conditions are OR operated with the timer start input selection LE 17 LE 22 LE 18 LE 23 Timer Starting condition Bit Va lue Timer Starting condition 0 1 Modulation on 1 2 Modulation...

Page 444: ...e table Timer start input selection LE 17 LE 22 Timer reset condition LE 20 LE 25 According to the following table one can define the conditions to reset the timer additionally to the inputs The indiv...

Page 445: ...put phases can be powered If one phase is missing 56 ERROR Brake control E br is triggered 4 with phase check without display Brake control activated No brake specific status messages Check whether al...

Page 446: ...rol is defined by five times two for the opening and three for the closing of the brake open brake The opening of the brake is started when the control release is closed and the command to start the d...

Page 447: ...brake closing time Pn 40 the fadeout time expires During this time the current is lowered to 0 After expiration of the fadeout time the modulation remains switched on for another 100 ms Thereby the no...

Page 448: ...enormous speed rigidity is often required for hoists or lifts so that the opening of the brake and the transfer of the load by the inverter is not felt This rigidity can be achieved by a very large K...

Page 449: ...reference Pn 37 stop reference Pn 41 In v f characteristic controlled operation start and stop values must be set to hold the load in standstill respec tively reach standstill after deceleration in o...

Page 450: ...th process of the setpoint It is acti vated with the parameter oP 44 Bit 0 3 1 7 15 6 a Additional funktion Sweep generator 0 1 2 3 oP 44 Bit 4 7 AN1 ru 28 AN2 ru 30 AN3 ru 32 digital oP 45 oP 46 oP 4...

Page 451: ...ximum rate of change of the sweep amplitude is limited with parameter oP 46 ext function acc dec time Parameter oP 46 defines a time between 0 00 20 00s inside the sweep amplitude can increase or decr...

Page 452: ...e of the wobble function n t nset oP 47 oP 48 Ampl nset 2 Ampl nset 2 7 15 7 Diameter correction Through the use of the diameter correction the tool path feedrate of a winding product can be kept cons...

Page 453: ...1 Sweep gen function 2 Diameter correction 3 15 off Determination of the diameter signal oP 44 determines the source where the diameter correction is output oP 44 Ext function mode source Bit Meaning...

Page 454: ...signal 0 100 0 1 oP 49 dmin dmax Rate of change of the diameter signal The rate of change of the diameter signal can be limited by a ramp generator Parameter oP 46 ext funct acc dec time defines a ti...

Page 455: ...7 An 57 determines the parameter set which edited the selected parameter If a programmable parameter is ad justed as target parameter the adjusted set in An 57 is edited An 57 Analog parameter setting...

Page 456: ...ve rG 15 number of increments from main pulse to main pulse numerator gear factor channel1 ec 56 or channel2 ec 58 denominator gear factor channel1 ec 57 or channel2 ec 59 i slave difference master di...

Page 457: ...the main pulses of master and slave rG 17 Reg Register time master 0 100 000ms 0 125 res rG 18 Reg Register time slave 0 100 000ms 0 125 res rG 19 Reg master slave Period difference 0 100 000ms 0 125...

Page 458: ...ped with an universal programmable technology controller which is able to create pressure control temperature or dancer position control 7 15 10 1 The PID controller The technology controller consists...

Page 459: ...If 0 01 is adjusted fade in is calculated in accordance with the following formula Fade in factor fsetting ru 02 max setpoint oP 10 11 The function is only active if the technology controller is used...

Page 460: ...A no 9 512 IB internal input B no 10 1024 IC internal input C no 11 2048 ID internal input D no PID output frequency at 100 cn 14 This block converts the proportional controller output value to frequ...

Page 461: ...et in percentage with cn 01 within the range of 400 0 400 0 The parameter is set programmable PID reference source cn 00 Parameter cn 00 determines which input supplies the additional setpoint The fol...

Page 462: ...l Following signals are available cn 02 PID actual value source Va lue Signal Explanation 0 AN1 Signal of the analog input 1 see chapter 7 2 1 AN2 Signal of the analog input 2 see chapter 7 2 2 AN3 Si...

Page 463: ...PID controller without precontrol e g for pressure temperature liquid level closed loop control Digital reference Analog reference Actual value PID controller Characteristic amplifier Characteristic a...

Page 464: ...04 06 cn 10 cn 07 cn 08 ru 52 ru 02 Ramp output value An Parameter Ramp generator oP Parameter oP 00 1 ru 01 ru 53 An 30 8200 PID controller to the analog output Digital reference Analog reference Ac...

Page 465: ...u 27 PID controller cn 04 06 cn 10 Ramp generator cn 07 cn 08 ru 01 ru 52 ru 02 oP 00 6 PID controller as active current torque control with precontrol Characteristic amplifier An Parameter PID contro...

Page 466: ...Page 7 15 34 COMBIVERT F5 A E H KEB 2012 10 Special functions...

Page 467: ...onous motor 7 6 Motor data and controller adjustments of the synchronous motor 5 Selection of Operating Mode 7 7 Speed control 6 Initial Start up 7 8 Torque display and limiting 7 Functions 7 9 Torque...

Page 468: ...7 16 2 COMBIVERT F5 A E H KEB 2012 10 CP Parameter definition 7 16 1 Overview 7 16 3 7 16 2 Assignment of CP Parameters 7 16 4 7 16 3 Example 7 16 5 7 16 4 Display norm 7 16 6 7 16 5 Variable norm 7...

Page 469: ...0 330 200 100 500 ud 16 1 2 36 Application Mode Service Mode Read Write Read only Drive Mode Password CP Mode Address Set Norm Address Address Set Norm Set Norm With ud 15 the CP Parameter that is to...

Page 470: ...ws Determination for direct set addressing Bit 0 7 determines the set selection for direct set programming i e all selected sets contain the same value which is defined by the CP parameter If direct s...

Page 471: ...quency fixed value oP 21 in set 3 4 Acceleration and deceleration time oP 28 oP 30 for set 2 and 3 5 Energy saving factor uF 7 shall be displayed in set 0 with display standardization 4 1 ud 15 1 CP 1...

Page 472: ...isplay flags 0 1791 CP xx selected parameter ud 20 x ud 19 x unit ud 18 ud 19 numerator 32767 ud 20 offset 32767 ud 18 denominator 32767 CP xx ud 19 x unit selected parameter ud 20 x ud 18 Inverted Th...

Page 473: ...Value unit Value unit Value unit 0 no 16 km h 32 K 48 lbin 1 mm 17 rpm 33 mW 49 in s 2 cm 18 Hz 34 W 50 ft s 3 M 19 kHz 35 kW 51 ft min 4 km 20 mV 36 inc 52 ft s 5 g 21 V 37 53 ft s 6 kg 22 kV 38 KWh...

Page 474: ...024 4 decimal places 1280 variable decimal places 1536 Hexadecimal free Example The actual frequency shall be displayed in CP 1 in rpm Display standardization from set 4 ud 15 1 CP 1 ud 16 0203h Actua...

Page 475: ...he following settings can be made in the characteristics bit 0 7 Target source set with direct addressing bit 8 11 Mode of set addressing 0 Target source set of bit 0 7 1 Target source set current set...

Page 476: ...layed otherwise data invalid is displayed If no source parameter is defined data invalid is displayed Writing of the prog parameters The write value is written into all selected sets of the target par...

Page 477: ...modulation in active set The set definition of the process date is always valid as set source for process data e g sy 17 for process read date 1 The adjustment in ud 24 is without meaning Prog Parame...

Page 478: ...Page 7 16 12 COMBIVERT F5 A E H KEB 2012 10 CP Parameter definition...

Page 479: ...ERT F5 A E H Page 8 1 1 8 1 Introduction 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 6 Initial Start up 7 Functions 8 Error Assistance 8 1 Troubleshooting 9 Project Design 10 Networ...

Page 480: ...Page 8 1 2 COMBIVERT F5 A E H KEB 2012 10 Troubleshooting 8 1 1 General 8 1 3 8 1 2 Error Messages and their Cause 8 1 3...

Page 481: ...ensation takes place 8 1 2 Error Messages and their Cause At KEB COMBIVERT error messages are always represented with an E and the appropriate error in the display Error messages cause the immediate d...

Page 482: ...This message is displayed during a positioning process PLS low speed power off 84 No modulation after Power Off PnA position not reachable 123 The specified position cannot be reached within the pre s...

Page 483: ...r E dri Error driver relay 51 Error Driver relay Relay for driver voltage on power circuit has not picked up even though control release was given E EEP Error EEPROM defective 21 After reset the opera...

Page 484: ...n switched on during the cooling phase E nOL2 no ERROR overload 2 20 The cooling time has elapsed The error can be reset E OC Error overcurrent 4 Occurs if the specified peak current is exceeded Cause...

Page 485: ...rror During the initialization the power circuit could not be recognized or was identified as invalid E Puch Error power unit changed 50 Error Power circuit identification was changed the error can be...

Page 486: ...below the adjusted warning level The switch off time is stopped A nOH no ABN STOP overheat pow mod 88 The heat sink temperature is again below the adjusted warning level A nOHI no ABN STOP overheat i...

Page 487: ...Sychronization over sercos bus not possible The response to this warning can be programmed A SEt Warning set 102 It has been attempted to select a locked parameter set The response to this warning can...

Page 488: ...Page 8 1 10 COMBIVERT F5 A E H KEB 2012 10 Troubleshooting...

Page 489: ...ERT F5 A E H Page 9 1 1 9 1 Introduction 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 6 Initial Start up 7 Functions 9 1 General designs 8 Error Assistance 9 Project Design 10 Networ...

Page 490: ...Page 9 1 2 COMBIVERT F5 A E H KEB 2012 10 General design 9 1 1 Control cabinet design calculation 9 1 3 9 1 2 Design of braking resistors 9 1 4 9 1 3 Cables and fuses 9 1 7...

Page 491: ...F5 F5 Minimum distances KEB COMBIVERT Warm air outlet Cool air inlet Control cabinet surface Calculation of control cabinet surface Air flow rate with fan cooling PV T K 3 1 PV T A m2 V m3 h A Control...

Page 492: ...ower PB The peak braking power must always be calculated for the worst case nmax to standstill 6 Selection of braking resistor a PR PB b PN is to be selected according to the cycle time ED The braking...

Page 493: ...ge n1 nN PR 9 55 n1 n2 Condition MN 1 5 K f 70 Hz PB PR K 0 25 for motors upto 1 5 kW JM mass moment of inertia motor kgm2 0 20 for motors 2 2 upto 4 kW JL mass moment of inertia load kgm2 0 15 for mo...

Page 494: ...6 COMBIVERT F5 A E H KEB 2012 10 General design Cyclic duration factor cdf Cyclic duration factor for cycle time tZ 120 s Cyclic duration factor for cycle time tZ 120 s tB tZ tB 120 s ED 100 ED 100 t...

Page 495: ...38 37 31 10 mm2 2 x 4 mm2 61 53 51 43 16 mm2 2 x 6 mm2 82 71 69 58 25 mm2 2 x 10 mm2 108 94 91 77 35 mm2 2 x 16 mm2 135 117 113 96 50 mm2 2 x 16 mm2 168 146 141 119 70 mm2 2 x 25 mm2 207 180 174 147...

Page 496: ...Page 9 1 8 COMBIVERT F5 A E H KEB 2012 10 General design...

Page 497: ...RT F5 A E H Page 10 1 1 10 1 Introduction 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 6 Initial Start up 10 1 Network components 7 Functions 8 Error Assistance 9 Project Design 10 N...

Page 498: ...F5 00 F5 060 4000 4001 10 1 6 10 1 7 CanOpen operator F5 00 F5 060 5010 5011 10 1 7 10 1 8 Sercos operator 00 F5 060 6000 10 1 8 10 1 9 Bus parameter 10 1 9 10 1 9 1 Inverter address SY 06 10 1 9 10 1...

Page 499: ...000 serial networks in RS232 or RS485 standard F5 Profibus DP operator Part No 00 F5 060 3000 F5 InterBus operator Part No 00 F5 060 4000 InterBus Remote bus interface connection Part No 00 B0 0BK K00...

Page 500: ...2000 A potential separated RS232 RS484 interface is integrated in the interface operator 00 F5 060 2000 The telegram structure is compatible to protocol DIN 66019 and ANSI X3 28 as well as to protocol...

Page 501: ...sible DP master must first parameterize and then configure his slaves If these two functions are successfully completed the cyclic exchange of user data begins Fig 11 1 5 Profibus DP operator ANTRIEBS...

Page 502: ...red On Ready for operation Blinking Inverter failure Off No supply voltage RC green On Remote bus ready for operation Off Remote bus cable not available or defective host not in operation or defective...

Page 503: ...thout repeating the first part All other nodes go into receiving status and stop sending their telegram Thus it is determined that lower telegram numbers have automatically priority The available tele...

Page 504: ...display keyboard and an additional serial interface for diagno sis parameterization KEB COMBIVIS is possible parallel to SERCOS operation depending on the operation mode it may be disabled SERCOS oper...

Page 505: ...baud rate is changed via the serial interface it can be changed again only via keyboard or after adapting the baud rate of the master because no communication is possible with different baud rates of...

Page 506: ...itch off the unit after download ensure that any changes are stored in the EEPROM This follow ing procedure is necessary Following the download switch ud 05 to off Then read about 2 seconds status ud...

Page 507: ...the values 8 or 9 the direction of rotation is preset via this bit 8 Counter clock wise rotation 4 6 Parameter set 0 Set 0 Selection of the active parameter set if in Fr 02 parameter set source the va...

Page 508: ...nd before they are switched to the hardware outputs with do 51 hardware output allocation 25 O2 512 O2 26 R1 1024 R1 27 R2 2048 R2 28 31 reserved Control word long SY 43 The control word long 32 Bit c...

Page 509: ...is programmed 4096 Synchronous running 8192 positioning 12288 Contouring control 14 Posi or approach to reference point active Positioning or approach to reference point is active 15 internal limit T...

Page 510: ...Set speed value SY 52 Setting of the set speed value in the range of 16000 rpm The rotation source is determined via oP 01 like other absolute setpoint sources The setpoint source oP 0 must be adjuste...

Page 511: ...F5 A E H Page 11 1 1 10 11 1 Introduction 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 6 Initial Start up 11 1 Parameter 7 Functions 8 error assistance 9 Project Design 10 Networks...

Page 512: ...1 Parameter Groups 11 1 3 11 1 2 Characteristics of the F5 S in A housing 11 1 4 11 1 2 1 The following parameters are not available at A Servo 11 1 4 11 1 2 2 The following parameters are available a...

Page 513: ...Keyboard Configuration CP Parameter User defined Parameters Terminal strip An Parameter Analog inputs di Parameter Digital inputs do Parameter Digital outputs LE Parameter Switching level oP Paramete...

Page 514: ...stics of the F5 S in A housing 11 1 2 1 The following parameters are not available at A Servo ru 29 30 31 32 35 36 An 10 29 36 52 di 19 21 32 34 do 28 36 LE 31 33 cS 36 38 41 43 45 Ec 53 55 11 1 2 2 T...

Page 515: ...A07h appl P 100 0 100 0 0 0 0 1 7 2 3 7 2 8 7 2 9 7 4 5 An 08 AN1 lower limit 0A08h appl P 400 0 400 0 400 0 0 1 7 2 3 7 2 9 An 09 AN1 upper limit 0A09h appl P 400 0 400 0 400 0 0 1 7 2 3 7 2 9 An 10...

Page 516: ...n 57 an para set set pointer 0A39h appl np E 1 act set 7 0 1 7 15 23 cn 00 PID reference source 0700h appl P 0 4 0 1 7 15 28 7 15 30 7 15 31 7 15 32 cn 01 PID abs reference 0701h appl P 400 0 400 0 0...

Page 517: ...0F22h appl np 32000 32000 0 1 7 6 6 cs 35 ref torque isd table 0F23h appl np 32000 32000 0 1 7 6 6 di 00 PNP NPN selection 0B00h appl np E 0 PNP SHR 0 PNP 1 3 1 4 7 3 4 di 01 select signal source 0B0...

Page 518: ...7 0C0Fh appl P E 0 255 0 1 7 3 16 7 3 22 do 16 cond select for flag 0 0C10h appl P E 0 255 1 1 7 3 16 7 3 23 7 3 26 7 12 48 do 17 cond select for flag 1 0C11h appl P E 0 255 2 1 7 3 26 7 12 49 do 18 c...

Page 519: ...P 0 01 32000 00 0 01 Motdat 0 01 Nm 7 8 5 7 8 6 7 8 7 7 8 15 7 9 3 7 13 29 dr 16 DASM Mmax at dr 18 0610h appl P 0 01 32000 00 0 01 Adpt 0 01 Nm 7 5 12 7 5 25 7 5 26 7 8 5 7 8 6 7 13 13 7 13 20 dr 17...

Page 520: ...dent acc dec time 0631h appl np 0 00 300 00 5 00 0 01 s 5 1 5 6 2 11 6 2 15 7 5 17 7 5 20 7 5 21 7 6 11 7 6 12 dr 50 mot prot min Is Id 0632h appl np 100 500 150 1 7 13 29 7 13 30 dr 51 motortemp for...

Page 521: ...6 18 dS 34 diff Ld Lq Level 1122h appl np 0 1000 200 1 dS 35 diff saturation Level 1123h appl np 0 1000 50 1 dS 36 diff actual saturation 1124h appl np 0 1000 0 1 dS 37 usd max modulation ref 1125h ap...

Page 522: ...l np E 0 5 0 1 7 11 4 7 11 15 7 11 25 7 12 33 7 12 34 Ec 39 enc 1 over transmission 1027h appl np E 0 4 0 1 Ec 40 act absolute pos el 1028h RO np 0 65535 0 1 7 5 34 7 5 35 Ec 41 mode disp multiturn 10...

Page 523: ...er parameter 1 0E16h appl np 0 65535 0 1 7 1 4 7 1 18 In 23 user parameter 2 0E17h appl np 0 65535 0 1 7 1 4 7 1 18 In 24 last error 0E18h sup P E 0 255 0 1 7 1 4 7 1 18 In 25 error assistance 0E19h R...

Page 524: ...ed calculation 1404h appl np 0 000 4095 938 0 125 0 063 ms 7 6 17 nn 05 filter speed calculation 1405h appl np 0 000 4095 938 1 000 0 063 ms 7 6 17 nn 06 RS adaption factor 1406h appl np 0 32767 100 1...

Page 525: ...pl P 0 01 For 5 00 0 01 For 0 01 s 7 4 17 7 4 19 7 12 28 oP 40 max output val for 0328h appl P 0 n 4000 n 4000 n 0 125 rpm 7 4 14 7 6 17 7 12 28 7 13 10 7 13 24 oP 41 max output val rev 0329h appl P n...

Page 526: ...1 In Offset 0112h appl P E 0 15 0 1 Pd 19 PD1 In Type 0113h appl P E 0 3 0 1 Pd 20 PD1 In Count 0114h appl np E 0 8 0 1 Pd 21 PD2 Out Index 0115h appl P E 0 32767 0 1 Pd 22 PD2 Out Subindex 0116h appl...

Page 527: ...34 brake control mode 0422h appl P E 0 4 2 1 7 6 8 7 15 13 Pn 35 premagnetizing time 0423h appl P 0 00 100 00 0 25 0 01 s 7 6 13 7 15 14 7 15 15 7 15 16 7 15 17 7 15 18 Pn 36 brake release time 0424h...

Page 528: ...78 USV operation input selection 044Eh appl np E 0 4095 0 1 7 3 12 Pn 79 acceleration limit 1 s s 044Fh appl np 0 01 10737418 23 0 01 0 01 7 3 21 7 13 10 Pn 80 acc scan time 0450h appl np 0 60000 0 1...

Page 529: ...g Parameter 47 332Fh appl np ud 31 ud 30 0 1 PS 00 posi synchronous mode 1300h appl P E 0 8127 0 1 7 12 11 7 12 18 7 12 19 7 12 20 7 12 22 7 12 24 7 12 26 7 12 27 7 12 28 7 12 30 7 12 31 7 12 34 7 12...

Page 530: ...np 2 31 2 31 1 0 1 inc 7 3 12 7 12 29 7 12 35 7 12 36 7 12 38 7 12 39 7 12 41 7 12 42 7 12 44 7 12 45 7 12 46 7 12 47 7 12 49 7 12 50 7 12 51 7 12 52 7 12 54 7 12 55 7 12 56 7 12 57 7 12 58 7 12 62 7...

Page 531: ...PS 52 Automatically execution posi tioning after STOP 1334h appl np 0 off 1 on 0 off 1 7 12 69 PS 53 distance for no abort 1335h appl P 0 2 30 1 0 1 inc 7 12 66 PS 55 play of gear 1337h appl P E 2 31...

Page 532: ...5 10 1 12 ru 09 encoder 1 speed 0209h RO np n 4000 n 4000 0 n 0 125 rpm 5 1 4 7 1 3 7 1 6 7 2 10 7 3 21 7 6 6 ru 10 encoder 2 speed 020Ah RO np n 4000 n 4000 0 n 0 125 rpm 5 1 4 7 1 3 7 1 6 7 2 10 7 3...

Page 533: ...RO np 115 0 115 0 0 0 1 7 1 3 7 1 10 7 2 10 7 2 12 7 3 20 ru 35 ANOUT2 pre ampl disp 0223h RO np 400 0 400 0 0 0 1 7 1 3 7 1 10 7 2 12 ru 36 ANOUT2 post ampl disp 0224h RO np 115 0 115 0 0 0 1 7 1 3...

Page 534: ...13 7 2 11 7 2 13 7 3 18 7 12 35 7 12 7 4 7 12 75 7 12 81 ru 59 factor rotor adaption 023Bh RO np 0 200 0 1 7 1 3 7 1 13 7 5 4 7 5 33 7 12 13 ru 60 actual position index 023Ch RO np 0 255 0 1 7 1 3 7...

Page 535: ...10 Sy 10 F5 B F5 G F5 M 000Ah RO np 0 0 0 1 Sy 11 baud rate int bus 000Bh cp ro np E 3 11 5 1 7 1 4 7 1 20 10 1 9 Sy 12 message para 1 defin 000Ch cp ro np 1 off 7FFFH 1 off 1 hex Sy 13 message param...

Page 536: ...003Eh appl np E 1 7FFFH 1 1 hex SY 63 proc read data 7 set 003Fh appl np E 1 128 1 1 SY 64 proc read data 8 defin 0040h appl np E 1 7FFFH 1 1 hex Sy 65 proc read data 8 set 0041h appl np E 1 128 1 1...

Page 537: ...0 0 0 1 7 5 4 uF 05 Delta boost time 0505h appl P 0 00 10 00 0 00 0 01 s 7 5 4 uf 06 energy saving mode 0506h appl P 0 79 0 1 7 5 7 7 5 11 7 15 6 uf 06 energy saving mode 0506h appl P 0 127 0 1 uf 07...

Page 538: ...Page 11 1 28 COMBIVERT F5 A E H KEB 2012 10 Parameter...

Page 539: ...A E H Page 12 1 1 12 1 Introduction 2 Summary 3 Hardware 4 Operation 5 Selection of Operating Mode 6 Initial Start up 7 Functions 12 1 Search and Find 8 Error Assistance 9 Project Design 10 Networks...

Page 540: ...Page 12 1 2 COMBIVERT F5 A E H KEB 2008 02 Annex 12 1 1 Index 12 1 3...

Page 541: ...7 2 15 An 41 7 2 11 7 2 14 An 42 7 2 16 An 43 7 2 15 An 44 7 2 15 An 45 7 2 15 An 46 7 2 12 7 2 13 7 3 34 An 47 7 2 14 An 48 7 2 16 An 49 7 2 15 An 50 7 2 15 An 51 7 2 15 An 52 7 2 13 7 3 34 An 53 7 1...

Page 542: ...14 7 9 3 cS 20 7 6 5 7 8 12 7 8 13 cS 21 7 8 13 cs 22 7 8 13 cS 23 7 8 12 7 8 13 7 9 3 cS 25 7 7 3 7 7 8 7 7 9 cS 26 7 7 3 cS 27 7 7 9 7 7 10 cS 28 7 7 9 7 7 10 cS 29 7 7 9 cS 29 7 6 25 current 7 5 2...

Page 543: ...7 6 2 18 7 6 3 7 6 13 dr 31 6 2 17 6 2 18 7 6 3 7 6 12 dr 32 7 2 14 7 8 8 7 8 9 dr 33 5 1 4 6 2 18 6 2 19 7 6 5 7 8 8 7 8 9 7 13 30 7 6 26 dr 34 7 13 30 dr 35 7 13 30 dr 36 7 13 31 dr 37 7 8 11 7 8 14...

Page 544: ...6 7 5 7 7 5 10 7 5 11 7 5 14 7 5 23 7 5 26 7 5 31 7 5 32 7 5 33 7 11 3 7 11 7 7 11 8 7 11 17 7 11 19 7 11 20 7 11 25 Fundamentals 4 1 3 G Gear factor 7 11 2 7 11 14 7 11 15 7 11 16 7 11 17 generator...

Page 545: ...2 41 7 12 53 7 12 54 7 12 57 7 12 72 Motor 7 5 1 7 5 2 7 5 3 7 5 6 7 5 8 7 5 9 7 5 12 7 5 15 7 5 20 7 5 31 7 5 34 7 5 35 7 11 1 7 11 9 7 11 14 7 11 16 7 11 17 7 11 23 7 11 25 poti function 7 15 7 rise...

Page 546: ...11 digital 2 1 3 6 2 7 6 2 11 6 2 15 7 2 12 7 3 19 7 3 20 7 3 22 7 3 30 7 4 4 7 4 11 7 13 41 7 15 19 7 15 21 7 15 26 7 15 27 10 1 11 10 1 12 Terminal status 7 3 21 over 7 5 22 7 5 29 7 5 32 7 11 2 7 1...

Page 547: ...Pn 79 7 3 37 7 13 11 Pn 80 7 3 37 7 13 11 Pn 81 7 13 11 7 13 12 7 13 13 PNP NPN 7 3 20 Posi mode 7 12 27 Power Factor Control 2 1 5 PP Parameter PP 00 7 16 11 Product description 2 1 3 Profibus DP op...

Page 548: ...18 reduction 7 5 2 7 5 7 7 5 14 7 5 15 Reference sources 7 15 29 Register function 7 15 23 reset 7 5 13 7 5 29 7 11 11 7 11 22 7 11 23 7 11 24 7 11 25 Error messages 4 1 5 6 2 3 6 2 8 6 2 11 6 2 15 6...

Page 549: ...ru 52 7 2 11 7 1 12 7 2 11 7 2 12 7 2 13 7 2 14 7 4 4 7 15 26 7 1 3 7 15 31 7 15 32 7 15 33 ru 53 7 1 13 7 12 47 7 12 46 7 1 3 7 15 21 7 15 29 7 15 30 7 15 32 ru 54 7 2 12 7 1 13 7 2 13 7 2 14 7 3 28...

Page 550: ...09 7 1 21 7 3 37 7 13 7 7 13 6 7 1 4 Sy 11 7 1 4 7 1 22 7 1 24 7 1 24 SY 16 7 12 79 7 12 81 Sy 17 7 12 81 SY 17 7 16 11 SY 18 7 12 79 7 12 81 SY 19 7 12 81 SY 20 7 12 81 SY 21 7 12 81 SY 24 7 12 81 Sy...

Page 551: ...7 5 5 7 5 6 7 5 9 7 5 12 7 5 13 7 6 5 7 13 33 7 13 35 uF 10 7 5 2 7 5 4 7 5 5 uF 11 7 10 5 7 10 6 uF 12 7 13 18 uF 13 7 13 18 uF 15 6 2 10 6 2 14 6 2 18 6 2 19 7 8 4 7 8 6 7 10 4 7 13 6 uF 16 7 5 2 7...

Page 552: ...o keb fr KEB UK Ltd 6 Chieftain Buisiness Park Morris Close Park Farm Wellingborough GB Northants NN8 6 XF fon 44 1933 402220 fax 44 1933 400724 net www keb uk co uk mail info keb uk co uk KEB Italia...

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Summary of Contents for COMBIVERT F5-A

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Summary of Contents for COMBIVERT F5-A

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