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AKD PDMM User Guide | 12.3.6.2 Biquad Calculations

To specify a biquad filter, you must specify the frequency and Q for both the zero and the pole on anti-res-
onance filter 3. To do this, see the following example using the terminal commands that sets:

l

Filter Type = Biquad

l

Zero frequency = 100 Hz

l

Zero Q = 0.7

l

Pole frequency = 1000 Hz

l

Pole Q = 0.8

VL.ARTYPE3 0

VL.ARZF3 100

VL.ARZQ3 0.7

VL.ARPF3 1000

VL.ARPQ3 0.8

12.3.6.2 Biquad Calculations

In the s-domain, the linear biquad response is calculated:

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Summary of Contents for AKD PDMM series

Page 1: ...December 2012 Revision B Valid for Hardware Revision DB Patents Pending Part Number 903 200016 00 Keep all manuals as a product component during the life span of the product Pass all manuals to future...

Page 2: ...oject distributed under the terms of the GNU Lesser General Public License see also GPL terms l Zlib software library l Curl software library l Mongoose software distributed under the MIT License see...

Page 3: ...wer 33 6 1 Power 34 6 1 1 Drive Setup for Power and Bus 34 6 1 1 1 Operating Voltage 34 6 1 1 2 Direct DC Mains Operation 34 6 2 Regeneration 36 6 2 1 Overview 36 6 2 2 Regen Resistor Options 36 6 2 3...

Page 4: ...k 50 7 5 Brake 50 7 6 Using Position Capture 53 7 6 1 Overview 53 7 6 2 Configuring Position Capture 53 Setting the Capture Source CAP0 TRIGGER 53 Setting the Capture Mode CAP0 MODE 54 Arming and Retr...

Page 5: ...CSV file 78 11 2 4 Motion Profile Table Advanced 78 11 2 4 1 Example of a motion profile table 78 11 2 4 2 Motion Profile Table Restrictions 79 11 2 4 3 Different methods of motion table motion taskin...

Page 6: ...1 4 Y Axis Column 104 13 2 1 5 Filter and Filter Frequency Column 104 13 2 2 Scope Time base and Trigger Tab 104 13 2 2 1 Scope Time base and Trigger More View 105 13 2 2 2 Trigger Type 106 13 2 2 3...

Page 7: ...Mains Supply Connection X3 X4 170 17 11 1 Three Phase connection all AKD PDMM types 170 17 11 2 Single phase connection AKD PDMM x00106x00306 to AKD PDMM x01206 only 172 17 12 I O Connection 173 17 12...

Page 8: ...3 AOUT MODE 213 22 4 AOUT OFFSET 214 22 5 AOUT PSCALE 214 22 6 AOUT VALUE 215 22 7 AOUT VALUEU 216 22 8 AOUT VSCALE 216 23 AOUT2 Parameters 218 23 1 AOUT2 CUTOFF 219 23 2 AOUT2 MODE 219 23 3 AOUT2 OFF...

Page 9: ...PARAM AND DOUT2 PARAM 256 27 6 DOUT1 STATE AND DOUT2 STATE 257 27 7 DOUT1 STATEU AND DOUT2 STATEU 257 27 8 DOUT9 STATE to DOUT11 STATE 258 27 9 DOUT9 STATEU to DOUT11 STATEU 259 27 10 DOUT21 STATE to...

Page 10: ...8 DRV INFO 287 28 39 DRV IPEAK 288 28 40 DRV IZERO 289 28 41 DRV LIST 289 28 42 DRV LOGICVOLTS 289 28 43 DRV MEMADDR 290 28 44 DRV MEMDATA 291 28 45 DRV NAME 291 28 46 DRV NVCHECK 292 28 47 DRV NVLIST...

Page 11: ...315 31 13 FB1 P 316 31 14 FB1 PFIND 316 31 15 FB1 PFINDCMDU 317 31 16 FB1 POFFSET 317 31 17 FB1 POLES 318 31 18 FB1 PSCALE 318 31 19 FB1 PUNIT 319 31 20 FB1 RESKTR 319 31 21 FB1 RESREFPHASE 320 31 22...

Page 12: ...11 GUI PARAM10 345 35 HWLS Parameters 346 35 1 HWLS NEGSTATE 347 35 2 HWLS POSSTATE 347 36 IL Parameters 348 36 1 IL BUSFF 349 36 2 IL CMD 349 36 3 IL CMDU 349 36 4 IL DIFOLD 350 36 5 IL FB 351 36 6...

Page 13: ...38 1 LOAD INERTIA 375 39 MOTOR Parameters 376 39 1 MOTOR AUTOSET 377 39 2 MOTOR BRAKE 377 39 3 MOTOR BRAKEIMM 378 39 4 MOTOR BRAKERLS 378 39 5 MOTOR BRAKESTATE 379 39 6 MOTOR CTF0 380 39 7 MOTOR ICON...

Page 14: ...PL INTOUTMAX 406 40 10 PL KI 407 40 11 PL KP 407 41 REC Parameters 409 41 1 REC ACTIVE 410 41 2 REC CH1 to REC CH6 410 41 3 REC DONE 411 41 4 REC GAP 411 41 5 REC NUMPOINTS 411 41 6 REC OFF 412 41 7 R...

Page 15: ...440 46 1 SWLS EN 441 46 2 SWLS LIMIT0 441 46 3 SWLS LIMIT1 442 46 4 SWLS STATE 442 47 VBUS Parameters 444 47 1 VBUS HALFVOLT 445 47 2 VBUS OVFTHRESH 445 47 3 VBUS OVWTHRESH 446 47 4 VBUS RMSLIMIT 446...

Page 16: ...50 3 1 AL Control Address 0x0120 0x0121 478 50 3 2 AL Status Address 0x0130 0x0131 478 50 3 3 AL Status Code Address 0x0134 0x0135 479 50 3 4 EtherCAT communication phases 479 50 4 CANopen over Ether...

Page 17: ...ailbox Handling 493 50 13 1 Mailbox Output 494 50 13 2 Mailbox Input 495 50 13 3 Example Mailbox Access 496 50 14 Fieldbus Parameters 497 50 15 EEProm Content 497 Glossary 498 51 Index 508 Global Supp...

Page 18: ...the following Related documents for the AKD PDMM series include l AKD PDMM Quick Start also provided in hard copy This guide provides instructions for initial drive setup and connection to a network l...

Page 19: ...your model AKD PDMM is only available for EtherCAT field busses The figure below shows part number identification for drive features Features available in the AKD PDMM are marked bold green The custo...

Page 20: ...nch the program The KVB software used for developing an HMI display does not install with the KAS IDE and must be installed separately Begin a new project in the KAS IDE by selecting File New This wil...

Page 21: ...be added to the project view To associate the project with the IP address of the PDMM controller right click on the Controller option in the Project View Figure 5 3 Controller Selection Select Propert...

Page 22: ...Remote I O All drives including the drive in the PDMM itself and the Remote I O can be configured by the IDE In order to connect to an EtherCAT device you must first compile your project After the pro...

Page 23: ...ick on the EtherCAT item in the project tree and then click on the OnlIne Configuration Mode button next to Scan Devices Figure 5 10 Online Configuration Mode Online Configuration Mode is now active T...

Page 24: ...l For more information about the KAS IDE embedded WorkBench views see chapters Using Embedded Workbench Views pg 29 through Using Parameters and the Terminal Screen pg 114 l For more information abou...

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Page 26: ...AKD PDMM User Guide 4 Initial Drive Setup 4 Initial Drive Setup 4 1 Initial Drive Setup 27 4 2 AKD PDMM Setup Wizard 27 Kollmorgen December 2012 26...

Page 27: ...that your PC is linked to the AKD PDMM Software Installation and Drive Communication Setup 1 Install and start the interface software KAS IDE 2 Set the drive IP address using the S1 and S2 switches 3...

Page 28: ...of steps to quickly get your drive up and running With plug and play feedback devices several steps are skipped feedback brake because the drive automatically configures these settings For all systems...

Page 29: ...AKD PDMM User Guide 5 Using Embedded Workbench Views 5 Using Embedded Workbench Views 5 1 Drive Overview 30 Kollmorgen December 2012 29...

Page 30: ...rive and apply volt age to the motor This command may fail for many reasons see DRV EN p 281 for further details DRV EN pg 281 Disable Click Disable to turn off the power stage and remove the voltage...

Page 31: ...th The serial number is also shown on the label on the side of the drive DRV INFO pg 287 Firmware Version This text box displays the version of the firmware code running inside the drive DRV VER pg 30...

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Page 33: ...AKD PDMM User Guide 6 Configuring Drive Power 6 Configuring Drive Power 6 1 Power 34 6 2 Regeneration 36 Kollmorgen December 2012 33...

Page 34: ...regen REGEN POWER pg 423 External Regen Resistance Sets the external user defined regen resistor resistance only visible for external regen REGEN REXT pg 424 External Regen Heat Up Time Sets the exte...

Page 35: ...over voltage level is not possible because the drive does not have the capability to dissipate regenerated energy This practice can also be harmful to the regen circuit A good practice is not to excee...

Page 36: ...x When you select 1 External Regen the Select resistor box appears and contains the pre sized resistors for your drive Select the model regen resistor that you are using and the drive will populate th...

Page 37: ...Application Engine You can download this program here http www kollmorgen com website com eng support design_tools motioneering php After you install and set up this program highlight your application...

Page 38: ...D PDM M x 02407 BAFP 100 33 DE 201437 External Resistor 100 W 33 ohms x x x BAFP 200 33 DE 201438 External Resistor 200 W 33 ohms x x x BAR 250 33 DE 106254 External Resistor 250 W 33 ohms x x x x x x...

Page 39: ...and dissipate power appropriately for your system NA Part Number EU Part Number Resistor Type all resistors UL recognized Resistance ohms REGEN REX T Heat Up Time s REGEN TEX T Power Rating W REGEN W...

Page 40: ...REGEN WA TTEXT BAR 1000 15 DE 201440 External Resistor 1000 W 15 ohms 15 27 5 1 000 BAS 2000 15 DE 103871 External Resistor 2000 W 15 ohms 15 77 0 2 000 BAS 3000 15 DE 103872 External Resistor 3000 W...

Page 41: ...PDMM User Guide 7 Configuring Motor Settings 7 Configuring Motor Settings 7 1 Motor 42 7 2 Feedback 1 45 7 3 Non Plug and Play Feedback Devices 46 7 4 Foldback 47 7 5 Brake 50 Kollmorgen December 2012...

Page 42: ...play standard device such as an incremental encoder or resolver you can use this screen to enter the standard AKM Cartridge motor DDR or DDL motor Other motors can be entered using the Custom Motor se...

Page 43: ...tching motor as follows 1 KAS IDE first checks the motor name with custom motors for a match 2 If a match is not found then KAS IDE checks the name with the standard motors database for a match 3 If a...

Page 44: ...you to import a motor file motor from another location l Export Allows you to save the highlighted motor file motor to another location l Apply Accepts the values you have entered for the specific mo...

Page 45: ...h No Index Yes Yes Analog Sin Cos Encoder With Digital Halls Yes No With Digital Halls and Analog Index No No No Halls and No Index Yes No EnDAT 2 1 Single Multi Turn Yes No EnDAT 2 2 All Digital Yes...

Page 46: ...motor parameters in the AKD PDMM 7 2 2 6 Hiperface Hiperface is a plug and play device that will be supported in a future release 7 2 2 7 Resolver The resolver feedback option is not plug and play Wh...

Page 47: ...currently uses the following algorithm Input Motor Data The values for inertia Jm Kg cm2 and torque constant Kt Nm A are obtained from either the SFD or the motor model number that you select Constant...

Page 48: ...alues needed for foldback configuration The parameter entries required for the drive to apply motor foldback protection properly are coil thermal constant MOTOR CTFO peak current of the motor MOTOR IP...

Page 49: ...imum time the motor can sustain peak current The maximum time IL MFOLDD is displayed in the Foldback screen as shown below 7 4 5 Motor Foldback Ramp Once the maximum time for motor peak current has el...

Page 50: ...s current to continue driving the load but the recovery time for full maximum capacity is increased 7 4 7 Overall Foldback The overall limit is the momentary minimum value between the drive foldback a...

Page 51: ...ption Parameter Brake ControlState Does this motor have a brake MOTOR BRAKE Brake Release Delay The time between the drive being active and the brake being released MOTOR TBRAKERLS Brake Apply Delay T...

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Page 53: ...osition capture will capture the motor position or drive clock time when the capture trigger is activated The position capture or drive lock time capture will happen in less than 3 microseconds of the...

Page 54: ...retrieves the capture value Once you have configured the cap ture you must arm it before it will trigger Click Arm 1 to arm the capture Once the capture is armed when it triggers the captured value w...

Page 55: ...ve AKD T00306 NBAN 000 Motor AKM 21C Feedback Type Incremental type 2048 line encoder Digital Input used DIN1 high speed input DIN1 FILTER 0 very important to set this to zero so filtering does not de...

Page 56: ...ISMODE pg 273 the brake will be applied at the end of the controlled stop It is still important to setup the brake delays This can be done in the brake screen in EWV1 These brake delays are used to de...

Page 57: ...tion Fault CS Do not disable power stage or command other disables until CS completes and brake applies Fault Dynamic Brake N A N A Fault Power stage disable None MOTOR BRAKEIMM 1 Controlled stop when...

Page 58: ...l be listed in the documentation of the linear scale Connect Hall sensor Linear Scale and motor temperature cables through the ACI AKD PDMM cable assembly to the AKD PDMM s X10 Feedback Connector Conn...

Page 59: ...ated with the motor Using the resolution of the Linear Scale in Microns per cycle the Sine Cycles Magnet Pitch is deter mined Use the following 1 Take the reciprocal of resolution to get cycles per mi...

Page 60: ...of the cable exit think of pulling the coil by the cable the Position Feedback should increase positively in value and in the motor graphic the gray block should move to the right If the direction is...

Page 61: ...General Drive Settings 10 Configuring General Drive Settings 10 1 Limits 62 10 2 Enable Disable 63 10 3 Controlled Stop 65 10 4 Dynamic Braking 67 10 5 Emergency Stop 68 10 6 Under Voltage Fault Behav...

Page 62: ...creen see Foldback pg 47 10 1 1 Limits The limits screen covers most of the basic system limits including current velocity and position l Current Limits The current limits are set based on the drive r...

Page 63: ...n achieve a controlled stop as described in Mode 2 Mode 1 Dynamic Brake to a stop In this situation the drive will use the dynamic brake feature and stop motion quickly and then disable the power stag...

Page 64: ...lick More to see the details of how the control stop is executed displayed both logically and graphically 10 2 4 Controlled Stop The Controlled Stop area displays values for parameters associated with...

Page 65: ...lled manner The drive commands a zero velocity from the motor The motor decelerates at the prescribed deceleration value CS DEC pg 237 A controlled stop can occur in three ways l The user configures a...

Page 66: ...is not active 6 SW limit switch SWLS defines an active SW limit When the limit is met the CS mechanism starts running In this case the parameter DRV DISTO is not active Use the drive CS parameters to...

Page 67: ...in VL FB for CS TO consecutively within 0 CS VTHRESH The drive issues a fault FF703 pg 146 in case that the DRV DISTO counter expires during a controlled stop procedure Related Parameters and Commands...

Page 68: ...nergy initially drives the inter nal bus voltage upwards When the returned energy is high enough the regeneration control transfers the excess returned energy into the regeneration power resistor If t...

Page 69: ...y to the drive machinery this is an uncontrolled shut down With the approved safety function STO see page 1 the drive can be stopped using its inter nal electronics IEC 61508 SIL2 Stop Category 1 A co...

Page 70: ...hinery that could cause dangerous situations must be switched off as fast as possible without causing any further hazards Stop Category 0 or must be controlled in such a way that any movement that cau...

Page 71: ...n under voltage fault unless the drive is enabled and VBUS VALUE falls below VBUS UVFTHRESH VBUS UVMODE 0 The drive will report an under voltage condition any time VBUS VALUE falls below VBUS UVFTHRES...

Page 72: ...AKD PDMM User Guide 11 Creating Motion 11 Creating Motion 11 1 Service Motion 73 11 2 Motion Profile Table 74 Kollmorgen December 2012 72...

Page 73: ...otion The chart below identifies the commands available on the Sevice Motion view Button or Dialog Box Description Pulse Alternates between the commanded current or velocity and zero velocity You can...

Page 74: ...city Feedback Displays the present velocity of the motor Current Feedback Displays the present current of the motor Related Parameters SM I1 pg 431 SM I2 pg 431 SM I2 pg 431 SM MOVE pg 434 SM T1 pg 43...

Page 75: ...le tables from the grid and then change the profile table name by using the Name textbox l Size indicates the total count of the profile table data l Status indicates the current status of the profile...

Page 76: ...tion to either continue or not Up Down Moves profile table position either up or down in the grid list If a profile table is in use by a motion task and you attempt to delete the pro file table using...

Page 77: ...11 2 3 1 Import Table Data The Import button opens the Import Table Data screen shown below You have two options to provide inputs to the profile table l Preset Table l CSV File 11 2 3 2 Importing da...

Page 78: ...profile table data now loaded into the grid If an invalid source or invalid format is selected an Invalid Data Format message appears 11 2 4 Motion Profile Table Advanced A motion profile table is a...

Page 79: ...s a reasonable number of entries usually between 1 000 4 000 entries depending on the acceleration and deceleration time of a motion task If an accel eration or deceleration process takes more positio...

Page 80: ...on process of the motion task A symmetric motion pro file table means that Area 1 Area 2 Area 3 and Area 4 have the same size 11 2 4 3 Different methods of motion table motion tasking General motion p...

Page 81: ...stomer table 11 2 4 5 1 1 customer table motion task The 1 1 customer table motion task is basically very similar to the standard customer table motion task handling with just a few small differences...

Page 82: ...when the user has not specified enough movement in order to accel erate to the motion task target velocity and to decelerate to velocity 0 without exceeding the distance to travel 1 1 customer table...

Page 83: ...firmware for a change on the fly condition l A change on the fly in the same direction the target velocity of the previous and the following motion task have the same algebraic sign l A change on the...

Page 84: ...ring a change on the fly from v1 to v2 A crite rion that a change on the fly will be executed by the drive is if the total movement in negative direction of the following MT is larger than the area wh...

Page 85: ...different directions 1 The drives stops the first motion task with the assigned deceleration ramp 2 Afterwards the following motion task is triggered automatically by the drive starting from veloc it...

Page 86: ...AKD PDMM User Guide 12 Tuning Your System 12 Tuning Your System 12 1 Introduction 87 12 2 Slider Tuning 87 12 3 Tuning Guide 87 Kollmorgen December 2012 86...

Page 87: ...either the slider or the PST section to optimize your application performance 12 2 Slider Tuning This view allows you to vary the tuning of your drive using the slider 12 2 1 Gentle Medium and Stiff T...

Page 88: ...r motion when it will make long s curve motions in the real world Unless you test the machine with realistic motion there is no way to determine if it is ready for production l Determine some specific...

Page 89: ...nti resonant filters and observer is used Procedure for simple velocity loop tuning 1 Set DRV OPMODE to velocity or position as appropriate for your application If DRV O PMODE is set to position set V...

Page 90: ...mits above decrease VL KP to the value where there were no objec tionable noises or overshoot 8 Adjust VL KI Increase VL KI by a factor of 1 5 until you either l Hear or see objectionable noise or shu...

Page 91: ...u hear objectionable noises from the system l When you reach one of the limits above decrease PL KP to the value where there were no objec tionable noises or overshoot 12 3 5 Torque Feedforward Tuning...

Page 92: ...ormance of the system Differences l Forward path filters result in higher phase lag in closed loop system response l Forward path filters limit spectrum from reaching the motor feedback path filters o...

Page 93: ...that sets l Filter Type Biquad l Zero frequency 700 Hz This is the Lowpass cutoff frequency l Zero Q 0 707 l Pole frequency 5000 Hz l Pole Q 0 707 VL ARTYPE1 0 VL ARZF1 700 VL ARZQ1 0 707 VL ARPF1 500...

Page 94: ...Frequency and high frequency Gain dB To do this see the following example by clicking on the Velocity Loop Click on Velocity Loop tab 1 then select the AR1 Tab 2 using the Filter Type drop down selec...

Page 95: ...the cut occurs Q and how much the gain changes Notch Depth dB To specify a notch filter you must specify the Frequency Hz Depth dB and Width Q of the notch To do this see the following example by clic...

Page 96: ...must be spec ified for both the numerator and denominator Analyzing the numerator and denominator the frequency response calculation is simple If the numerator and denominator are plotted in dB the b...

Page 97: ...very flexible which allows custom filters to be designed Below is an example of a res onance filter using a biquad Notice how the high Q values affect the numerator and denominator This gives a biquad...

Page 98: ...inator frequency yielding a positive gain in high frequencies If the denominator frequency is lower than the numerator frequency then high frequencies will have a negative gain Below is an example whe...

Page 99: ...e filter 3 To do this see the following example using the terminal commands that sets l Filter Type Biquad l Zero frequency 100 Hz l Zero Q 0 7 l Pole frequency 1000 Hz l Pole Q 0 8 VL ARTYPE3 0 VL AR...

Page 100: ...quad Calculations To convert from idealized s domain behavior to a more realistic z domain behavior we convert using a pole zero transform To calculate the frequency response for an individual frequen...

Page 101: ...AKD PDMM User Guide 12 3 6 2 Biquad Calculations 101 Kollmorgen December 2012...

Page 102: ...t exciting high frequency resonances Low pass filters in the forward path This is a common way to limit high frequency energy from reaching a system that can not productively use energy at these high...

Page 103: ...ing gains in the drive and manually edit gains AR1 AR2 AR3 AR4 Adjust filter settings Save and Print Save the plot as a raw data file or as an image file email the plot print the plot open the data fi...

Page 104: ...frequency column to apply a low pass filter to the data collected The filter is applied when the data is collected It is not applied to data already collected if this is checked after the data is coll...

Page 105: ...e l Level sets the value of the source that triggers the recording to start l Position sets the amount of time that the scope displays before the trigger occurred l Slope sets whether the source data...

Page 106: ...rigger type lets you specify a trigger on the next telnet command received by the drive This is useful in a telnet session via Hyperterminal or a similar pro gram EWV1 is constantly sending telnet com...

Page 107: ...d in trigger type Parameter On Next Signal only The trigger value is not used in the boolean trigger type Use the trigger slope to set the polarity of the bool ean trigger When the trigger slope is po...

Page 108: ...act on the trig gering of the recorder When using pretriggering and a recording rate of less than 16 000 Hz the trigger only evaluates every N samples where N is the value of REC GAP Two effects resul...

Page 109: ...ere is no need to transition from 0 to 1 to trigger with the pos itive slope If the trigger source is 1 from the start the positive slope will immediately trigger On Next Signal Trigger Type The On Ne...

Page 110: ...13 3 2 Create a new preset 1 Modify any scope parameters 2 Select the Settings tab 3 Click Save As The following dialog is displayed 4 Enter the setting name and click OK The current settings are save...

Page 111: ...t button 3 All the scope presets will be displayed contained in the selected settings file 4 Select Deselect the presets and then click on Import 5 If preset name already exists in application the con...

Page 112: ...portion of the scope that you want to observe more in details and then come back to previous scaling Two different scaling modes are provided on each axis l Manual you can determine the minimum and ma...

Page 113: ...e explicitly set at next startup 13 3 7 Manual range per axis After recording data right click anywhere on the y axis and select Set Manual Scale to open a dialog box to set the range for the axis Ent...

Page 114: ...er Guide 14 Using Parameters and the Terminal Screen 14 Using Parameters and the Terminal Screen 14 1 Terminal 115 14 2 Parameter List 117 14 3 Summary of Parameters and Commands 119 Kollmorgen Decemb...

Page 115: ...y area to open a popup menu for editing commands and for clearing the screen The terminal also provides a macro editor that allows a series of commands to be executed via a single command called a mac...

Page 116: ...screen area When you select the button the com mand set tied to that macro will appear in the Terminal area and the commands will be executed If there are commands which are not entered correctly the...

Page 117: ...will be shown on the button in the terminal view Commands Displays the commands that are sent to the drive when you use this macro The response from the drive is displayed in the terminal Import Overw...

Page 118: ...ive and update the contents of the table Print Sends the data that you see on the screen to the printer eMail Opens an email message and attaches a comma separated file to the email message More Less...

Page 119: ...N MODE Password Pro tected NV Analog input mode AIN OFFSET NV Sets the analog input offset AIN PSCALE NV Sets the analog position scale factor AIN VALUE R O Reads the value of the analog input signal...

Page 120: ...BODE IFTHRESH pg 226 R W Sets the current fault threshold for the BODE MODE 5 stability test BODE INJECTPOINT pg 226 R W Sets whether the excitation uses current or velocity excitation type BODE MODE...

Page 121: ...b value DIN STATES PG 244 R O Reads the digital input states DIN1 FILTER TO DIN7 FILTER pg 244 R W Filter mode for digital inputs 1 to 7 DIN1 INV TO DIN7 INV R W Inverting the output voltage of the IO...

Page 122: ...es DRV DBILIMIT pg 268 NV Sets the maximum amplitude of the current for dynamic braking DRV DEC PG 269 NV Sets the deceleration value for the velocity loop DRV DIFVAR pg 270 R O Lists all parameters w...

Page 123: ...DRV IZERO pg 289 R W Sets the current that will be used during the DRV ZERO pro cedure DRV LIST PG 289 R O Reads the list of available parameters and commands DRV LOGICVOLTS pg 289 R O Reads the logic...

Page 124: ...fies the number of Biss Sensor Position Bits for the BiSS Mode C encoder in use FB1 ENCRES PG 309 NV Sets the resolution of the motor encoder FB1 HALLSTATE PG 310 R O Reads the Hall switch values enco...

Page 125: ...s 9 and 10 on X7 FB2 P R O Reads position from the secondary feedback FB2 PDIR R W Sets the counting direction for feedback channel 2 FB2 POFFSET NV Sets the offset for secondary feedback FB2 PUNIT NV...

Page 126: ...vel IL FOLDFTHRESHU pg 353 NV Sets the user value for the foldback fault level IL FOLDWTHRESH PG 353 NV Sets the foldback warning level IL IFOLD pg 355 R O Reads the overall foldback current limit IL...

Page 127: ...LOAD INERTIA pg 375 NV Sets the load inertia Motor Parameters MOTOR AUTOSET pg 377 NV Determines which drive parameters are calculated auto matically MOTOR BRAKE PG 377 NV Sets the presence or absence...

Page 128: ...locity not maximum velocity Position Loop PL PL CMD PG 398 NV Reads the position command directly from the entry to the posi tion loop PL ERR PG 398 NV Reads the position error present when the drive...

Page 129: ...ts the trigger position in the recording buffer REC TRIGPRMLIST pg 419 R O Reads the list of possible trigger parameters REC TRIGSLOPE PG 420 R W Sets the trigger slope REC TRIGTYPE PG 420 R W Sets th...

Page 130: ...O Reads the limit for the bus capacitors load VBUS UVFTHRESH pg 447 R O Sets the under voltage fault level VBUS UVMODE pg 447 NV Indicates undervoltage UV mode VBUS UVWTHRESH pg 448 NV Sets voltage l...

Page 131: ...n only VL KVFF pg 464 R W Sets the velocity loop velocity feedforward gain value active in opmodes 1 velocity and 2 position only VL LIMITN PG 464 NV Sets the velocity lower limit active in opmodes 1...

Page 132: ...s for wake and shake WS STATE R O Reads wake and shake status WS T R W Sets wake and shake current vector appliance time WS TDELAY1 NV Delay for wake and shake timing WS TDELAY2 NV Sets the delay for...

Page 133: ...This page intentionally left blank 133 Kollmorgen December 2012...

Page 134: ...gs 15 Faults and Warnings 15 1 Fault and Warning Messages 135 15 2 Additional Error and Alarm Messages AKD PDMM M 147 15 3 Clearing Faults 151 15 4 Parameter and Command Error Messages 151 15 5 Unknow...

Page 135: ...that is compatible with the oper ational firmware F102 Resident firmware failed Software failure detected Restart drive If issue persists contact technical support n102 Operational FPGA is not a defa...

Page 136: ...ency stop motion task Disconnect power from drive and check emergency stop pro cedure F128 MPOLES FPOLES not an integer Ratio of motor poles to feed back poles must be a whole number Change to a compa...

Page 137: ...on task profile and clear fault with DRV CLRFAULTS Or change the value of FAULT13 9 ACTION 1 to ignore this con dition n140 VBUS HALFVOLT has changed Save the parameters and reboot the drive The user...

Page 138: ...Following motion failed check motion parameters Activation of the following motion task failed due to incompatible parameters or motion task does not exist Activation of any new motion or using of DR...

Page 139: ...ed This warning appears with n160 This warning is triggered when you try to trigger a non initialized motion task Initialize the motion task first before starting the task Acti vation of any new motio...

Page 140: ...to clear the fault F247 Bus voltage exceed allowed thresholds Hardware problem in bus measurement Troubleshoot and repair hard ware problem F248 Option board EEPROM cor rupted EEPROM failure detected...

Page 141: ...the motor fits the driving rating F309 Motor I2t load reduce load Motor I2t load IL MI2T has exceeded the warning thresh old IL MI2TWTHRESH This warning can only be generated in the case that the moto...

Page 142: ...oblems persist contact customer support F421 SFD position sensor fault Sensor or sensor wiring failure inside motor Try resetting the fault If it reap pears return motor for repair F438 n439 Following...

Page 143: ...Reset the fault on the drive with DRV CLRFAULTS F463 Feedback overheat fault The temperature of the encoder substrate exceeds overheating detection tem perature during main power on Reset the fault o...

Page 144: ...ault Check mains voltage and check system brake capacity F524 n524 Drive foldback Maximum drive power has been exceeded The power has been limited to protect the drive Motion requires too much power C...

Page 145: ...does not have motor feedback memory or the motor feedback memory is not programmed properly so the parameters cannot be read Try to read parameters again by clicking the Disable and Clear Faults butto...

Page 146: ...change hand wheel source F701 Fieldbus runtime Runtime communication fault Check fieldbus connections X11 settings and control unit F702 n702 Fieldbus communication lost All fieldbus communication was...

Page 147: ...re and the history of events leading up to the failure From the log messages you can determine the specifics about the cause of the failure to correct the underlying problem 15 2 1 Errors Error Descri...

Page 148: ...tes or download firmware E21 Runtime plug in process or thread failed to respond during operation KAS runtime code failed dur ing normal operation Power off on If problem is recurrent check release no...

Page 149: ...ailed due to a mismatch between the discovered and expected devices Check the EtherCAT devices and wiring order Correct the device order wiring or re scan the network re compile and download the updat...

Page 150: ...de failed during normal operation and was automatically restarted If problem is recurrent power off on Check release notes for firmware updates A23 CPU is overloaded Reduce the sample rate simplify th...

Page 151: ...EN to enable the drive 3 Using an external digital signal First provide a disable command to the drive since this com mand is not automatically issued when the fault is cleared using an external digit...

Page 152: ...read only Check reference guide or KAS IDE help to determine if the parameter is read only read write or nonvolatile Some param eters that come from the Smart Feedback Device SFD Error Argument greate...

Page 153: ...ng Wait until action is finished and start again if needed Error Motor is cur rently in motion Action can only be performed if motor is not moving Stop motion and repeat action Motion tasks service mo...

Page 154: ...is function Error Invalid sine sweep Bode plot mode Error Bode plot start frequency greater than or equal to end frequency Error Function not available while a controlled stop is in process Error Not...

Page 155: ...rence Error Internal drive procedure active controlled stop burn in phase find or zero Error General motion fault 15 5 Unknown Fault This fault message occurs when an undefined fault condition is enco...

Page 156: ...ace feedback cable l join AGND to CNC GND Drive reports following error l Irms or Ipeak set too low l current or velocity limits apply l accel decel ramp is too long l verify motor drive sizing l veri...

Page 157: ...zzz07 163 17 6 Wiring Diagram 24A 230V and 3 to 24 A 480V 163 17 7 24 V Auxiliary Supply X1 165 17 8 Motor Connection 166 17 9 External Regen Resistor X3 167 17 10 DC Bus Link X3 169 17 11 Mains Suppl...

Page 158: ...AKD PDMM User Guide 17 Connection Diagrams Kollmorgen December 2012 158...

Page 159: ...AKD PDMM User Guide 17 1 Connection Diagram AKD PDMM x00306 AKD PDMM x00606 17 1 Connection Diagram AKD PDMM x00306 AKD PDMM x00606 17 2 Wiring Diagram 3 to 6A 230V 159 Kollmorgen December 2012...

Page 160: ...AKD PDMM User Guide 17 2 Wiring Diagram 3 to 6A 230V The I O option is available for AKD T drives only Kollmorgen December 2012 160...

Page 161: ...AKD PDMM User Guide 17 3 Connection Diagram AKD PDMM x01206 17 3 Connection Diagram AKD PDMM x01206 161 Kollmorgen December 2012...

Page 162: ...AKD PDMM User Guide 17 4 Wiring Diagram 12A 230V 17 4 Wiring Diagram 12A 230V The I O option is available for AKD T drives only Kollmorgen December 2012 162...

Page 163: ...User Guide 17 5 Connection Diagram AKD PDMM x02406 and AKD PDMM xzzz07 17 5 Connection Diagram AKD PDMM x02406 and AKD PDMM xzzz07 17 6 Wiring Diagram 24A 230V and 3 to 24 A 480V 163 Kollmorgen Decem...

Page 164: ...AKD PDMM User Guide 17 6 Wiring Diagram 24A 230V and 3 to 24 A 480V The I O option is available for AKD T drives only Kollmorgen December 2012 164...

Page 165: ...es external 24 Vdc power supply electrically isolated for example via an isolating transformer The required current rating depends on the use of motor brake and option card Pin Signal Description 1 24...

Page 166: ...s to flashovers in the motor winding l Only install motors with insulation class F acc to IEC60085 or above l Only install cables that meet the requirements Connector X2 AKD PDMM xzzz06 Pin Signal Des...

Page 167: ...to be provided by the user AKD PDMM x00106x00306 to AKD PDMM x00606 X3 Pin Signal Description 1 RB External Regen Resistor neg ative 3 RB External Regen Resistor pos itive AKD PDMM x01206 X3 Pin Signa...

Page 168: ...M User Guide 17 9 External Regen Resistor X3 AKD PDMM x02406 AKD PDMM xzzz07 X3 Pin Signal Description 2 RB External RegenResistor neg ative 4 RB External RegenResistor positive Kollmorgen December 20...

Page 169: ...an be destroyed if DC bus link voltages are different Only drives with mains supply from the same mains identical mains phases and voltage may be connected by the DC bus link Use unshielded sin gle co...

Page 170: ...ction X3 X4 17 11 1 Three Phase connection all AKD PDMM types l Directly to 3 phase supply network supply networks p 1 l Filtering for AKD PDMM xzzz06 to be provided by the user l Fusing such as fusib...

Page 171: ...D PDMM types AKD PDMM x01206 X3 Pin Signal Description 5 L1 Line 1 6 L2 Line 2 7 L3 Line 3 8 PE Protective Earth AKD PDMM x02406 AKD PDMM xzzz07 X4 Pin Signal Description 1 L1 Line 1 2 L2 Line 2 3 L3...

Page 172: ...120 V 10 to 240 V 10 with neutral line or Directly to two phase supply network 120 V 10 to 240 V 10 without neutral line l Supply networks l Leave L3 open circuit l Filtering to be provided by the use...

Page 173: ...7 1 Digital Common X7 DCOM7 Common line for X7 pins 2 3 4 9 10 S 1 X7 2 Digital Input 7 DIGITAL IN 7 Programmable X7 3 Digital Input 4 DIGITAL IN 4 Programmable X7 4 Digital Input 3 DIGITAL IN 3 Progr...

Page 174: ...5 Digital Input 6 DIGITAL IN 6 Programmable X8 6 Digital Input 5 DIGITAL IN 5 Programmable X8 7 Analog Ground AGND Analog GND p 178 X8 8 Analog Output Analog Out Actual velocity voltage X8 9 Analog In...

Page 175: ...mmon line for X21 pins 1 2 3 X21 5 Digital Input 24 DIGITAL IN 24 Programmable X21 6 Digital Input 25 DIGITAL IN 25 Programmable X21 7 Digital Input 26 DIGITAL IN 26 Programmable X21 8 Digital Common...

Page 176: ...24 DIGITAL OUT 24 Programmable X23 13 Relay Output 25 DIGITAL OUT 25 Programmable relay S 1 X23 14 Relay Output 25 DIGITAL OUT 25 Programmable relay X24 1 Analog Input 2 Analog In2 Programmable p 179...

Page 177: ...Programmable S 1 X35 8 Digital Output 21 DIGITAL OUT21 Programmable X36 1 Digital Common X36 DCOM36 Common line for X36 pins 2 3 4 S 1 X36 2 Digital Input 24 DIGITAL IN 24 Programmable X36 3 Digital I...

Page 178: ...re Technical characteristics l Output voltage range referring to AGND 10 V l Resolution 16 Bit and fully monotonic l Unadjusted offset 50 mV l Offset drift typ 250 V C l Gain or slope tolerance 3 l No...

Page 179: ...sted offset 50 mV l Offset drift typ 250 V C l Gain or slope tolerance 3 l Nonlinearity 0 1 of full scale or 12 5 mV l Common Mode Rejection Ratio 30 dB at 60 Hz l Input impedance 13k Ohms l Signal to...

Page 180: ...PDMM User Guide 17 14 Analog Input X8 X24 To reverse the direction of rotation swap the connections to terminals or change the DRV DIR param eter in the Feedback 1 screen page Kollmorgen December 2012...

Page 181: ...s input and used as a commander encoder dual loop feedback gearing or camming input Don t use for primary motor feedback connection Connection Diagram 17 15 2 Incremental encoder input 24 V X7 A 24 V...

Page 182: ...th EnDat 2 2 input 5 V X9 A single turn or multi turn encoder with EnDat 2 2 can be connected to this input and used as a com mander encoder dual loop feedback gearing or camming input Don t use for p...

Page 183: ...any stepper controller Speed profile and signal diagram 17 16 1 Pulse Direction input 5 V X9 Connection to 5 V signal level stepper motor controllers 17 16 2 Pulse Direction Input 5V X7 Connection ind...

Page 184: ...nection 17 17 1 Up Down input 5 V X9 The drive can be connected to a third party controller which delivers 5 V up down signals 17 17 2 Up Down input 24 V X7 The drive can be connected to a third party...

Page 185: ...E SENSE SENSE SENSE 6 COM R1 Ref DATA DATA DATA DATA DATA Zero SD Zero 7 COM R2 Ref DATA DATA DATA DATA DATA Zero SD Zero 8 Thermal control PTC 9 Thermal control PTC GND 10 5 V 5 V 5 V 5 V 5 V 8 to 9...

Page 186: ...ck Connector X10 Pin SFD BiSS C digital EnDAT 2 2 Tamagawa Smart Abs Incremental Encoder Hall 8 Thermal control PTC 9 Thermal control PTC 10 5 V 5 V 5 V 5 V 5 V 11 0 V 0 V 0 V 0 V 0 V 12 A 13 A 14 B 1...

Page 187: ...AKD PDMM User Guide 18 Block Diagrams 18 Block Diagrams 18 1 Block Diagram for Current Loop 188 18 2 Block Diagram for Position Velocity Loop 188 Kollmorgen December 2012 187...

Page 188: ...AKD PDMM User Guide 18 1 Block Diagram for Current Loop 18 1 Block Diagram for Current Loop 18 2 Block Diagram for Position Velocity Loop 188 Kollmorgen December 2012...

Page 189: ...n the EtherCAT Devices summary window deactivate the Online Configuration Mode 2 Select the drives to be updated with the same firmware Note that the FW download is limited to 16 drives at a time 3 Cl...

Page 190: ...e to the drive During the download process the drive LED displays dL Additional codes may appear during the down load see 3 2 Display Codes for a description of codes related to the firmware download...

Page 191: ...erence guide presents the following tables of information fol lowed by a description of the command examples and links to related information in the User Guide as appropriate General Information Type...

Page 192: ...rs S64 64 x signed numbers 20 1 Parameter and Command Naming Conventions Abbreviation Term ACC Acceleration APP Apply CLR Clear CS Controlled Stop I Current D Current d component DEC Deceleration DIR...

Page 193: ...nput AIN AIN CUTOFF NV Sets the analog input low pass filter cutoff frequency AIN DEADBAND NV Sets the analog input signal deadband AIN DEADBANDMODE NV Sets the analog input deadband mode AIN ISCALE N...

Page 194: ...log output 2 value Bode plot BODE BODE EXCITEGAP pg 223 R W Controls how often the excitation is updated BODE FREQ pg 223 R W Sets the frequency of the sine excitation source BODE IAMP pg 224 R W Sets...

Page 195: ...38 CS VTHRESH pg 240 NV Sets the velocity threshold for the controlled stop Digital Input DIN DIN HCMD1 TO DIN HCMD4 pg 242 NV A buffer of commands to be used in digital input command buffer mode DIN...

Page 196: ...V CLRFAULTHIST PG 265 Command Clears the fault history log in the NV DRV CLRFAULTS PG 266 Command Tries to clear all active faults in the drive DRV CMDDELAY pg 266 R W Issues a delay before next comma...

Page 197: ...ues for all available parameters and commands DRV HWENABLE pg 285 R O Status of the hardware enable DRV HWENDELAY pg 285 NV Delay time between inactive Hardware Enable input and drive disable DRV HWEN...

Page 198: ...302 R W Sets the zero mode The procedure is activated when the drive is enabled EtherNet IP EIP EIP CONNECTED pg 304 R O Returns state of EtherNet IP connection EIP POSUNIT pg 304 R W Unit scaling fo...

Page 199: ...SERDWORD0 to FB1 USERWORD1 pg 324 R W Reads and writes data stored in two 32 bit words in the Endat feedback device FB1 USERWORD1 to FB1 USERWORD3 pg 325 R W Reads and writes data stored in two 32 bit...

Page 200: ...eads the value of the q component current command IL CMDU PG 349 R W Sets the user current command IL DIFOLD PG 350 R O Reads the drive foldback current limit IL FB PG 351 R O Reads the actual value o...

Page 201: ...winding of the motor IP Internet Protocol Parameters IP ADDRESS pg 369 NV Gets Sets the IP address of the drive IP GATEWAY pg 370 NV Gets Sets the gateway IP of the drive IP MODE pg 371 NV Sets metho...

Page 202: ...R VMAX PG 393 NV Sets the maximum motor speed MOTOR VOLTMAX PG 393 NV Sets the motor maximum voltage MOTOR VOLTMIN pg 394 NV Sets the minimum voltage for V f control MOTOR VOLTRATED pg 395 NV Sets the...

Page 203: ...SIZE pg 416 R W Sets the number of samples that REC RETRIEVEDATA returns REC STOPTYPE pg 416 R W Sets the recorder stop type REC TRIG PG 417 Command Triggers the recorder REC TRIGPARAM pg 417 R W Sets...

Page 204: ...l limit switch 0 SWLS STATE pg 442 R O Reads the actual status of software limit switches Bus Volatage VBUS VBUS HALFVOLT pg 445 NV Changing voltage thresholds for HV and MV Drives VBUS OVFTHRESH pg 4...

Page 205: ...cceleration feedforward gain value active in opmodes 1 velocity and 2 position only VL KI pg 461 NV Sets the velocity loop integral gain for the PI controller active in opmodes 1 velocity and 2 positi...

Page 206: ...imum current used for wake and shake WS MODE R W Sets the method used for wake and shake WS NUMLOOPS R W Sets the number of repetitions for wake and shake WS STATE R O Reads wake and shake status WS T...

Page 207: ...AKD PDMM User Guide 21 AIO Parameters 21 AIO Parameters This section describes the AIO parameters 21 1 AIO ISCALE 208 21 2 AIO PSCALE 208 21 3 AIO VSCALE 209 Kollmorgen December 2012 207...

Page 208: ...215 for AOUT MODE pg 213 5 or 6 The value entered is the motor current per 1 V of analog input or output This value may be either higher or lower than 100 but the actual analog I O will be limited by...

Page 209: ...E pg 267 3 analog position mode 2 The analog output AOUT VALUE pg 215 for AOUT MODE pg 213 6 or 7 actual posi tion or position error per 10 V of analog input or output 21 3 AIO VSCALE General Informat...

Page 210: ...00 000 M_01 01 01 000 Variants Supported Description AIO VSCALE is an analog velocity scale factor that scales l The analog input AIN VALUE for DRV OPMODE 2 analog velocity mode l The analog output AO...

Page 211: ...Parameters This section describes the AOUT parameters 22 1 AOUT CUTOFF 212 22 2 AOUT ISCALE 212 22 3 AOUT MODE 213 22 4 AOUT OFFSET 214 22 5 AOUT PSCALE 214 22 6 AOUT VALUE 215 22 7 AOUT VALUEU 216 22...

Page 212: ...Analog Output Related Topics Analog Output pg 1 22 2 AOUT ISCALE General Information Type NV Parameter Description Sets the analog current scale fac tor Units A V Range 0 001 to 22 4 A V Default Value...

Page 213: ...FB 2 Velocity error The analog signal describes the velocity error value 3 Velocity command The analog signal describes the velocity command value 4 Actual current The analog signal describes the actu...

Page 214: ...s the analog output offset Related Topics Analog Output pg 1 22 5 AOUT PSCALE General Information Type NV Parameter Description Sets the analog position scale factor Units Rotary counts V rad V deg V...

Page 215: ...T PSCALE is an analog position scale factor that scales the analog output AOUT VALUE pg 215 for AOUT MODE pg 213 6 or 7 actual position or position error per 10 V of analog input or output Related Top...

Page 216: ...ex Subindex Object Start Version EtherCAT COE and CAN open 3470h 3 M_01 00 00 000 Description AOUT VALUEU reads writes the analog output value when AOUT MODE pg 213 0 analog output signal is determine...

Page 217: ...01 MOTOR PITCH mm s V 0 998 MOTOR PITCH m s V 0 005 custom units s V Data Type Float See Also AOUT VALUE Start Version M_01 00 00 000 Variants Supported Fieldbus Information Fieldbus Index Subindex Ob...

Page 218: ...23 AOUT2 Parameters 23 AOUT2 Parameters This section describes the AOUT2 parameters 23 1 AOUT2 CUTOFF 219 23 2 AOUT2 MODE 219 23 3 AOUT2 OFFSET 220 23 4 AOUT2 VALUE 220 23 5 AOUT VALUEU 220 Kollmorge...

Page 219: ...frequencies to pass through The filter can be used with all modes of Analog Output 2 Related Topics 1 Analog Output 23 2 AOUT2 MODE General Information Type NV Parameter Description Sets the analog ou...

Page 220: ...utput 2 offset Related Topics 1 Analog Output 23 4 AOUT2 VALUE General Information Type R O Parameter Description Reads the analog output 2 value Units V Range 10 to 10 V Default Value 0 Data Type Flo...

Page 221: ...t Value 0 Data Type Float See Also N A Start Version M_01 06 03 000 Description AOUT2 VALUEU reads writes the analog output 2 value when AOUT2 MODE pg 219 0 analog output signal is determined by the u...

Page 222: ...rs 24 1 BODE EXCITEGAP 223 24 2 BODE FREQ 223 24 3 BODE IAMP 224 24 4 BODE IFLIMIT 225 24 5 BODE IFTHRESH 226 24 6 BODE INJECTPOINT 226 24 7 BODE MODE 227 24 8 BODE MODETIMER 230 24 9 BODE PRBDEPTH 23...

Page 223: ...system update the excitation only as often as the data is recorded Example Set excitation update rate to 8 000 Hz BODE EXCITEGAP 2 Set excitation update rate to 4 000 Hz BODE EXCITEGAP 4 Get excitatio...

Page 224: ...ode plot mode for this function pg 154 and others 24 3 BODE IAMP General Information Type R W Parameter Description Sets current command value used during the Bode pro cedure Units A Range Combined dr...

Page 225: ...LIMIT pg 233 BODE VFTHRESH pg 234 Start Ver sion M_01 02 10 000 Description When BODE MODE is set to 5 the firmware monitors the drive current IL CMD pg 349 When IL CMD goes above BODE IFTHRESH pg 226...

Page 226: ...th of time IL CMD was above BODE IFTHRESH If the internal counter reaches BODE IFLIMIT pg 225 Fault 133 Instability during Autotune is generated Example Set BODE IFTHRESH to 6 Amps BODE IFTHRESH 6 Set...

Page 227: ...art Version M_01 00 00 000 Description BODE MODE sets the mode of the excitation The excitation can be set to the modes shown in the table below BODE MODE is always set to None when Ethernet communica...

Page 228: ...ich can help minimize friction in a frequency response test PRB excitation repeats every 2 BODE PRBDEPTH BODE EXCITEGAP drive samples This repetition can be used to reveal the effects of friction 2 Si...

Page 229: ...AKD PDMM User Guide 24 7 BODE MODE Noise excitation Related Topics Using the PST Using the Autotuner Advanced 229 Kollmorgen December 2012...

Page 230: ...ts The EWV Performance Servo Tuner and Bode tool automatically use these values requiring no action from you If the BODE MODETIMER is a nonzero value the Bode watchdog is enabled BODE MODE will be set...

Page 231: ...watchdog to 2 5 seconds BODE MODE 1 Set Bode mode to PRB BODE MODE Observe Bode mode state is the same after 1 5 seconds 1 BODE MODE 1 Set Bode mode to PRB resetting the watchdog timer to the original...

Page 232: ...when BODE MODE PRB The PRB excitation will repeat after 2 BODE PRBDEPTH BODE E XCITEGAP drive samples Example Set BODE PRBDEPTH to 19 BODE PRBDEPTH 19 Get BODE PRBDEPTH already set to 19 BODE PRBDEPTH...

Page 233: ...BODE VAMP sets the amplitude of the excitation when in velocity mode as set in BODE I NJECTPOINT Example Set the excitation velocity to 100 RPM BODE VAMP 100 Get the excitation velocity already set to...

Page 234: ...ESH If the internal counter reaches BODE VFLIMIT Fault 133 Instability during Autotune will be generated The smaller BODE VFLIMIT the quicker Fault 133 will be generated when VL FB exceeds BODE VFLIMI...

Page 235: ...ion Description When BODE MODE is set to 5 the firmware monitors the drive feedback velocity VL FB When VL FB goes above BODE VFTHRESH an internal counter records the length of time VL FB was above BO...

Page 236: ...Guide 25 CS Parameters 25 CS Parameters Controlled stop CS parameters set the values for the controlled stop process 25 1 CS DEC 237 25 2 CS STATE 238 25 3 CS TO 238 25 4 CS VTHRESH 240 Kollmorgen Dec...

Page 237: ...6 669 rps s 10 000 000 rpm s 60 000 000 deg s 1 047 2 rad s Linear 715 840 000 000 counts s 166 714 MOTOR PITCH pg 387 MOTOR PITCH pg 387 mm s 166 714 191 MOTOR PITCH pg 387 MOTOR PITCH pg 387 m s Dat...

Page 238: ...d stop is not occurring 1 controlled stop is occurring Related Topics Controlled Stop pg 65 1 Digital Inputs and Outputs Digital input mode 13 Fault and Warning Messages pg 135 this table indicates fa...

Page 239: ...CS VTHRESH pg 240 before the drive disables Example Set time value to 100 ms CS TO 100 Related Topics Controlled Stop pg 65 1 Digital Inputs and Outputs Digital input mode 13 Fault and Warning Messag...

Page 240: ...CS DEC pg 237 CS TO pg 238 CS STATE pg 238 DRV DIS pg 272 DIN1 MODE TO DIN24 MODE pg 247 DRV DISMODE pg 273 DRV DISSOURCES pg 274 Start Ver sion M_01 00 00 000 Fieldbus Index Subindex Object Start Ve...

Page 241: ...D4 242 26 3 DIN ROTARY 243 26 4 DIN STATES 244 26 5 DIN1 FILTER TO DIN7 FILTER 244 26 6 DIN1 INV to DIN7 INV 245 26 7 DIN1 MODE TO DIN24 MODE 247 26 8 DIN1 PARAM TO DIN7 PARAM 248 26 9 DIN1 STATE TO D...

Page 242: ...put l Low buffer Executes upon a falling edge of a digital input DIN HCMDx sets the string for the four high buffers depending on x Example Set the command buffer mode to digital input 1 DIN1 MODE 9 S...

Page 243: ...four low buffers depending on x Example Set the command buffer mode to digital input 1 DIN1 MODE 9 Set the first sets of buffers to digital input 1 DIN1 PARAM 1 Set the command DRV OPMODE 0 to the low...

Page 244: ...ata Type String See Also N A Start Version M_01 00 00 000 Description DIN STATES reads the states of the seven digital inputs The leftmost bit represents digital input 1 DIN1 and the rightmost bit rep...

Page 245: ...gnals with an input pulse width of 10 24 s 0 64 s fast filter applied DINX FILTER 2 The drive digital input channel detects all input signals with an input pulse width of 163 s 10 24 s standard filter...

Page 246: ...AKD PDMM User Guide 26 6 DIN1 INV to DIN7 INV Digital Inputs and Outputs 246 Kollmorgen December 2012...

Page 247: ...h 0 DIN5 MODE 36F9h 0 DIN6 MODE 36FCh 0 DIN7 MODE 60FDh 0 DIN1 MODE TO DIN7 MODE Description This parameter sets the functionality of the digital inputs 1 through 7 Digital inputs and cor responding X...

Page 248: ...uffer 1 Digital Inputs and Outputs 1 3 Digital Inputs includes detailed description of each input mode and examples Controlled Stop pg 65 Clearing Faults pg 151 F245 pg 140 CS Parameters pg 236 26 8 D...

Page 249: ...32 See Digital Input Mode 22 for details 23 0 2056 See Digital Input Mode 23 for details Dependency on DINx MODE Typically the user can set DINx PARAM before the corresponding DINx MODE is set How eve...

Page 250: ...Range 0 to 1 Default Value 0 Data Type U8 See Also N A Start Ver sion M_01 05 00 000 Description This parameter allows the user to see the actual level of the input signal when the IO is set to input...

Page 251: ...n input pulse width of 40 ns no filtering applied DINX FILTER 1 The drive digital input channel detects all input signals with an input pulse width of 10 24 s 0 64 s fast filter applied DINX FILTER 2...

Page 252: ...26 12 DIN21 STATE to DIN32 STATE DIN21 STATE to DIN32 STATE reads the state of one digital input according to the number identified in the command Related Topics 1 Digital Inputs and Outputs 252 Kollm...

Page 253: ...DOUT STATES 255 27 4 DOUT1 MODE to DOUT19 MODE 255 27 5 DOUT1 PARAM AND DOUT2 PARAM 256 27 6 DOUT1 STATE AND DOUT2 STATE 257 27 7 DOUT1 STATEU AND DOUT2 STATEU 257 27 8 DOUT9 STATE to DOUT11 STATE 258...

Page 254: ...tal Outputs 27 2 DOUT RELAYMODE General Information Type R W Parameter Description Indicates faults relay mode Units N A Range 0 to 1 Default Value 0 Data Type Integer See Also N A Start Version M_01...

Page 255: ...ted Topics 1 4 Digital Outputs 27 4 DOUT1 MODE to DOUT19 MODE General Information Type NV Parameter Description Sets the digital output mode Units N A Range 0 to 19 Default Value 0 Data Type Integer S...

Page 256: ...AND DOUT2 PARAM General Information Type NV Parameter Description Sets extra parameters for the digital outputs Units N A Range 0 Note Range changes based on Digital Output Mode See below Default Valu...

Page 257: ...o enter a value DOUTx MODE must be set to a mode which uses DOUTx PARAM before a value can be set Each time DOUTx MODE is changed DOUTx PARAM is automatically set to zero to prevent unintended interac...

Page 258: ...arameter Description Shows on selected pin if signal is high or low Units N A Range 0 to 1 Default Value 0 Data Type U8 See Also N A Start Version M_01 05 00 000 Description This parameter allows the...

Page 259: ...INV can affect the sig nals driven onto the X9 connector This parameter can be written at any time The value is only guaranteed to correspond to the output on the X9 connector when DRV EMUEMODE is set...

Page 260: ...ng to the value stated in the com mand Related Topics 1 4 Digital Outputs 27 11 DOUT21 STATEU to DOUT32 STATEU General Information Type R W Parameter Description Sets the state of the digital output n...

Page 261: ...12 DRV DIFVAR 270 28 13 DRV DIR 271 28 14 DRV DIS 272 28 15 DRV DISMODE 273 28 16 DRV DISSOURCES 274 28 17 DRV DISSOURCESMASK 275 28 18 DRV DISTO 275 28 19 DRV EMUECHECKSPEED 276 28 20 DRV EMUEDIR 276...

Page 262: ...8 47 DRV NVLIST 292 28 48 DRV NVLOAD 293 28 49 DRV NVSAVE 293 28 50 DRV ONTIME 293 28 51 DRV OPMODE 294 28 52 DRV READFORMAT 295 28 53 DRV RSTVAR 295 28 54 DRV RUNTIME 296 28 55 DRV SETUPREQBITS 296 2...

Page 263: ...ITCH pg 387 to 833 333 333 MOTOR PITCH pg 387 mm s 30 995 MOTOR PITCH pg 387 to 2 147 483 647 MOTOR PITCH pg 387 m s 0 155 to 2 147 483 647 custom units s Default Value Note The range and default valu...

Page 264: ...here is no state 2 When the drive is in state 3 the drive display shows a blinking decimal point If an axis is not enabled DRV ACTIVE is 0 but DRV EN pg 281 is 1 and the hardware ena ble is high read...

Page 265: ...time from all previous sessions This keyword can be used with DRV RUNTIME to determine the length of time the drive has been running since it was last power cycled Session Time DRV RUNTIME DRV BOOTTIM...

Page 266: ...riggered the fault is still present the fault condition will remain SeeFault and Warning Messages pg 135 for details regarding the behavior of individual faults Note that executing a drive disable DRV...

Page 267: ...5 Description DRV CMDSOURCE specifies the source of the command to the drive DRV OPMODE pg 294 sets the operation mode to the relevant control loop DRV CMDSOURCE values can be set as follows Value De...

Page 268: ...r further support If the drive crashes display flashes an F and three bars it saves the diagnostic information to a specific block of the drive NV memory The DRV CRASHDUMP command then prints the diag...

Page 269: ...m s deg s custom units s rad s Linear counts s mm s m s custom units s Range Rotary 0 002 to 833 333 333 rps s 0 112 to 50 000 000 000 rpm s 0 009 to 300 000 000 000 deg s 0 155 to 4 166 666 752 custo...

Page 270: ...its 28 12 DRV DIFVAR General Information Type R O Description Lists all parameters which differ from their default value Units N A Range N A Default Value N A Data Type N A Start Version M_01 05 01 00...

Page 271: ...ion of the motor by changing the algebraic sign of the current com mand and position feedback value according to the figure below Note the following when using DRV DIR l You can only change the DRV DI...

Page 272: ...alue Analog drive software enabled All other types of drive software disabled Data Type N A See Also DRV EN pg 281 DRV DISSOURCES pg 274 DRV ACTIVE pg 264 DRV DISMODE pg 273 DRV DISTO pg 275 Start Ver...

Page 273: ...diately or stop and then disable options Units N A Range 0 to 3 Default Value 0 Data Type Integer See Also DRV DBILIMIT pg 268 DRV DISTO pg 275 CS VTHRESH pg 240 Start Version M_01 00 00 000 Fieldbus...

Page 274: ...ble Units N A Range N A Default Value N A Data Type Integer See Also DRV ACTIVE DRV FAULTS DRV EN DRV DIS Start Version M_01 00 00 000 Description DRV DISSOURCES is a bitwise parameter that returns th...

Page 275: ...2 Hardware Enable input inactive 3 In rush relay state prevents enable 4 Initialization not complete 5 Controlled stop requested from digital input 6 Field bus requested disable 7 AKD C requested disa...

Page 276: ...sable the timeout Related Topics 10 3 Controlled Stop 28 19 DRV EMUECHECKSPEED General Information Type TBD Description Enable disable motor velocity vs maximum emulated encoder velocity mon itoring f...

Page 277: ...DIR is set to 1 meaning an increase in the motor feedback will result in a decrease of the encoder emulation output and vice versa 28 21 DRV EMUEMODE General Information Type R W Parameter Description...

Page 278: ...e FB3 MODE pg 328 to select the feedback type Modes 3 to 5 are backwards compatible but deprecated Refer to and instead If you are using multi turn or single tune absolute feedback devices the Z pulse...

Page 279: ...V EMUEPULSEWIDTH General Information Type TBD Description Sets the encoder output pulse width for modes 6 to 7 Units us microseconds Range 4 08 us to 2621 48 us Default Value 4 08 us Data Type Float S...

Page 280: ...the primary feedback when this port is con figured as an output or how many lines will be considered a full revolution of the handwheel when this port is configured as an input Related Topics 28 25 DR...

Page 281: ...EN General Information Type Command Description Enables the axis software Units N A Range N A Default Value Analog drive software is enabled All other types of drive software are disabled Data Type N...

Page 282: ...ral Information Type R O Parameter Description Reads the last 10 faults from NV memory Units N A Range N A Default Value N A Data Type N A See Also DRV FAULTS pg 283 DRV CLRFAULTHIST pg 265 Start Vers...

Page 283: ...AKD BASIC users have easier access to the details of the faults in the drive l Warnings are not shown in the registers only faults Related Topics DRV ACTIVE DRV WARNING1 to DRV WARNING10 pg 301 28 30...

Page 284: ...2 DRV HELP General Information Type R O Parameter Description Reads the minimum maximum and default values for a specific parameter or command Units N A Range N A Default Value N A Data Type N A See A...

Page 285: ...mands such as DRV VER pg 300 Related Topics Terminal pg 115 28 34 DRV HWENABLE General Information Type R O Description Status of the hardware enable Units N A Range 0 to 1 Default Value N A Data Type...

Page 286: ...VTHRESH or MOTOR TBRAKETO expired Starting with 01 05 08 000 the brake will now apply immediately when the Hardware Ena ble Input line is deactivated Related Topics DRV DISMODE pg 273 CS DEC pg 237 CS...

Page 287: ...rated current in Arms 28 38 DRV INFO General Information Type R O Parameter Description Reads general information about the drive Units N A Range N A Default Value N A Data Type String See Also N A St...

Page 288: ...1600 Control board serial number 4 0921 00196 Part number 0 Revision 7 Board ID Standard Power board serial number 4 0922 00156 Part number 0 TCP IP IP address 169 254 250 241 Subnet mask 255 255 0 0...

Page 289: ...Type R O Parameter Description Reads the list of available parameters and com mands Units N A Range N A Default Value N A Data Type String See Also N A Start Version M_01 00 00 000 Description DRV LIS...

Page 290: ...Information Type R W Parameter Description Sets the read and write address Units N A Range N A Default Value U8 Data Type N A See Also DRV MEMDATA pg 291 Start Version M_01 00 00 000 Description DRV...

Page 291: ...ternal address DRV MEMDATA 01 Write a hexadecimal value to an internal address DRV MEMADDR 0x01 28 45 DRV NAME General Information Type NV Parameter Description Sets and reads the name of the drive Un...

Page 292: ...ecking all the drive parameters individually is viable but this would be a long process involving many reads over the network DRV NVCHECK is a checksum on all the NV parameters and this parameter can...

Page 293: ...a Type N A See Also DRV RSTVAR pg 295 Start Version M_01 00 00 000 Fieldbus Index Subindex Object Start Version EtherCAT COE and CAN open 0 M_01 00 00 000 Description DRV NVSAVE saves the current driv...

Page 294: ...rCAT COE and CAN open 0 M_01 00 00 000 Description DRV OPMODE specifies the operation mode of the drive You must also use DRV CMDSOURCE to set the source of the command to the drive The operation mode...

Page 295: ...N A Start Version M_01 00 00 000 Description DRV READFORMAT sets the return values type to either decimal or hexadecimal Format Description 10 Sets the read values to decimal format 16 Sets the read...

Page 296: ...g since it was first acti vated This time includes the current session and the total amount of time from all previous ses sions 28 55 DRV SETUPREQBITS General Information Type R O Parameter Descriptio...

Page 297: ...000 Description This parameter returns the list of parameters that must be set before the drive can be enabled and also whether or not each one of those parameters is set Only when all commands have v...

Page 298: ...rCAT COE and CAN open 0 0 M_01 00 00 000 Description DRV TEMPERATURES reads the temperature in different parts of the drive power and control boards The temperature is read from temperature sensors lo...

Page 299: ...nly on the analog EtherCAT and CANopen drive mod els To change the operational fieldbus of your drive 1 Set DRV TYPE to one of the following values 0 Analog no EtherCAT or CANopen with no position ind...

Page 300: ...d Danaher Motion Digital Servo Drive FPGA version FP0004_0001_00_07 Firmware Version M_0 0 15_T_2009 01 19_10 36 28_IR 28 62 DRV VERIMAGE General Information Type R O Parameter Description Returns the...

Page 301: ...c warning codes in the drive see fault and warning messages The registers are populated in the order of when the warning occurs DRV WARNING1 DRV WARNING2 DRV WARNING3 and so on Notes l If DRV WARNING1...

Page 302: ...ivated when the drive is ena bled Units N A Range 0 to 1 Default Value 0 Data Type Integer See Also DRV IZERO pg 289 Start Version M_01 00 00 000 Description The zero procedure is a sequence in which...

Page 303: ...AKD PDMM User Guide 29 EIP Parameters 29 EIP Parameters This section describes the EIP parameters 29 1 EIP CONNECTED 304 29 2 EIP POSUNIT 304 29 3 EIP PROFUNIT 305 Kollmorgen December 2012 303...

Page 304: ...ype Integer Start Ver sion M_01 05 00 000 Description Position values are scaled according to the Ethernet IP Position Controller Device standard One Position Units scaling value is defined which give...

Page 305: ...number of actual position feedback counts at 32 bits per revolution per second equal to one velocity unit For acceleration values Profile Units gives the number of actual position feedback counts at...

Page 306: ...AKD PDMM User Guide 30 FAULT Parameters 30 FAULT Parameters This section describes the FAULT parameters 30 1 FAULTx ACTION 307 Kollmorgen December 2012 306...

Page 307: ...32 134 139 451 and 702 Units N A Range 0 to 1 Default Value 0 Data Type Integer Start Ver sion M_01 04 16 000 Description This Parameter determines the action the drive should take when Fault 130 131...

Page 308: ...313 31 9 FB1 MECHPOS 313 31 10 FB1 MEMVER 314 31 11 FB1 OFFSET 314 31 12 FB1 ORIGIN 315 31 13 FB1 P 316 31 14 FB1 PFIND 316 31 15 FB1 PFINDCMDU 317 31 16 FB1 POFFSET 317 31 17 FB1 POLES 318 31 18 FB1...

Page 309: ...45 31 2 FB1 ENCRES General Information Type Depends on FB1 IDENTIFIED See table in description below Description Sets the resolution of the motor encoder Units Encoder counts Range 0 to 232 1 Default...

Page 310: ...10 Incremental encoder R W 11 Incremental encoder no halls R W 20 Sine encoder R W 21 Sine encoder no halls R W 30 Endat 2 1 R O 31 Endat 2 2 R O 32 biSS R O 33 hiperface R O 34 biSS Mode C R W 40 Res...

Page 311: ...switch U Related Topics Feedback 1 pg 45 31 5 FB1 HALLSTATEV General Information Type R O Parameter Description Reads the state of Hall switch V Units N A Range 0 and 1 Default Value 1 Data Type Inte...

Page 312: ...Also FB1 SELECT Start Version M_01 00 00 000 Description This parameter is set according to FB1 SELECT on drive power up if FB1 SELECT is not 1 otherwise the parameter value is read from the drive mem...

Page 313: ...the feedback initialization is as follows 1 Reads the position feedback 2 Adds the origin to the feedback 3 Determines modulo from Step 2 by the actual feedback bits 4 Sets the position feedback sign...

Page 314: ...Units Rotary counts rad deg 16 bit counts Linear counts mm m 16 bit counts Range Rotary 5 123 372 000 000 005 000 to 5 123 372 000 000 005 000 counts 7495 067 to 7495 067 rad 429 436 096 to 429 436 0...

Page 315: ...ar 0 000 to 5 123 372 000 000 000 counts 0 000 to 1 192 878 mm 0 000 to 1 192 877 952 m 0 000 to 5 964 390 custom units 0 000 to 78 176 452 636 counts16 Bit Default Value 0 counts Data Type Float See...

Page 316: ...FB1 P General Information Type R O Parameter Description Reads position from the primary feedback Units Depends on FB1 UNIT counts or custom units Range N A Default Value N A Data Type S64 Start Versi...

Page 317: ...IPEAK Default Value 0 Data Type Float See Also PFB PFIND Start Version M_01 00 00 000 Description FB1 PFINDCMDU sets the current value used during the phase finding procedure Related Topics Feedback 1...

Page 318: ...ck poles FB1 POLES must be an integer when moving drive to enable otherwise a fault is issued Related Topics Feedback 1 pg 45 31 18 FB1 PSCALE General Information Type R W Parameter Description Sets p...

Page 319: ...ion is 0x00231234 Related Topics Feedback 1 pg 45 31 19 FB1 PUNIT General Information Type NV Parameter Description Sets the unit for FB1 P Units N A Range 0 3 Default Value 0 Data Type U8 See Also N...

Page 320: ...s electrical degrees Range 180 to 180 Default Value 2 Data Type Float See Also N A Start Version M_01 00 00 000 Description This parameter sets the electrical degrees of phase lag in the resolver See...

Page 321: ...value of FB1 ID ENTIFIED to 10 If the feedback setting fails FB1 IDENTIFIED is automatically set to 0 no feedback identified 20 Manually sets the type to sine encoder This input sets the value of FB1...

Page 322: ...and Hall 11 Incremental encoder with A B Quad marker pulse and no Hall 20 Sine Encoder with marker pulse and Hall 21 Sine encoder with marker pulse No Halls 30 EnDat 2 1 with Sine Cosine 31 EnDat 2 2...

Page 323: ...ines each parameters function The values are automatically stored non volatile in the feedback device Parameter Bits Attributes FB1 USERBYTE0 to FB1 USERBYTE7 8 bit signed or unsigned char FB1 USERWOR...

Page 324: ...e two 32bit words The table below defines each parameters function The values are automatically stored non volatile in the feedback device Parameter Bits Attributes FB1 USERBYTE0 to FB1 USERBYTE7 8 bi...

Page 325: ...32bit words The table below defines each parameters function The values are automatically stored non volatile in the feedback device Parameter Bits Attributes FB1 USERBYTE0 to FB1 USERBYTE7 8 bit sig...

Page 326: ...AKD PDMM User Guide 31 26 FB1 USERWORD1 to FB1 USERWORD3 Feedback 1 pg 45 FB1 USERBYTE0 to FB1 USERBYTE7 pg 323 FB1 USERDWORD0 to FB1 USERWORD1 pg 324 Kollmorgen December 2012 326...

Page 327: ...User Guide 32 FB3 Parameters 32 FB3 Parameters This section describes the FB3 parameters 32 1 FB3 MODE 328 32 2 FB3 P 328 32 3 FB3 PDIR 329 32 4 FB3 POFFSET 329 32 5 FB3 PUNIT 329 Kollmorgen December...

Page 328: ...tertiary feedback Units Depends on FB3 UNIT counts or custom units Range N A Default Value N A Data Type S64 See Also N A Start Version M_01 04 15 000 Description This parameter reads the position ba...

Page 329: ...POFFSET General Information Type NV Parameter Description Sets the offset for tertiary feedback Units counts custom units Range 5 123 372 000 000 005 000 to 5 123 372 000 000 005 000 counts or 10 485...

Page 330: ...Range 0 3 Default Value 0 Data Type U8 See Also N A Start Version M_01 05 11 000 Description FB3 UNIT sets the position unit for FB3 P Value Description 0 Counts 32 32 format 3 FB3 PIN FB3 POUT per re...

Page 331: ...ers 33 1 FBUS PARAM1 TO FBUS PARAM10 332 33 2 FBUS PLLSTATE 333 33 3 FBUS PLLTHRESH 334 33 4 FBUS PROTECTION 335 33 5 FBUS REMOTE 337 33 6 FBUS SAMPLEPERIOD 337 33 7 FBUS STATE 338 33 8 FBUS SYNCACT 3...

Page 332: ...0 FBUS PARAM03 36ECh 0 FBUS PARAM08 36E8h 0 FBUS PARAM04 36EDh 0 FBUS PARAM09 36E9h 0 FBUS PARAM05 36EEh 0 FBUS PARAM10 Parameter Range EtherCAT COE CANopen FBUS PARAM01 N A 125 250 500 1000 FBUS PAR...

Page 333: ...te Operation Enable l Bit 1 0 If the state Operation Enable or Switched on is active it falls back to the state switched On Disabled if the Hardware enable goes to 0 l Bit 2 1 Workbench Telnet can sof...

Page 334: ...vated but unlocked The PLL is activated but has not yet been locked successfully This state is related to the fieldbus master as well as to the fieldbus mode of operation PLL acti vated and locked PL...

Page 335: ...eral options on how you would like the AKD PDMM to respond to commands from each of the channels When the fieldbus is operational the AKD PDMM uses the FBUS PROTECTION parameter to allow the user to s...

Page 336: ...CTION will not block the read function of any parameter When the fieldbus is operational FBUS PROTECTION is always blocked but can be edited through the fieldbus This ensures that the protection level...

Page 337: ...Parameter Description Sets fieldbus sample period Units Whole multiples of MTS 250 s Range 4 to 128 and value must be a power of 4 Default Value 32 2 ms Data Type U8 See Also Appendix B Fieldbus Manu...

Page 338: ...n over CAN CANopen over EtherCAT 1 Not connected Not connected 0 Init 1 N A Init 2 N A Pre operational 3 Boot 4 Stopped Safe operational 5 Operational 8 Operational 127 Pre operational 33 8 FBUS SYNCA...

Page 339: ...ally arranged window around the desired sync dis tance Units ns Range 0 to 1 000 000 ns Default Value 50 000 ns Data Type Integer U2 See Also Appendix B Fieldbus Manuals Start Version M_01 00 00 000 D...

Page 340: ...AKD PDMM User Guide 33 11 FBUS TYPE 2 EtherCAT 3 CANopen 4 EthernetIP 5 Profinet 340 Kollmorgen December 2012...

Page 341: ...ng and data storage 34 1 GUI DISPLAY 342 34 2 GUI PARAM01 342 34 3 GUI PARAM02 342 34 4 GUI PARAM03 343 34 5 GUI PARAM04 343 34 6 GUI PARAM05 343 34 7 GUI PARAM06 344 34 8 GUI PARAM07 344 34 9 GUI PAR...

Page 342: ...the user 34 2 GUI PARAM01 General Information Type NV Parameter Description Used by the GUI to store data Units N A Range 2 147 483 648 to 2 147 483 647 Default Value 0 Data Type Integer See Also N A...

Page 343: ...GUI can modify this data not the user 34 5 GUI PARAM04 General Information Type NV Parameter Description Used by the GUI to store data Units N A Range 2 147 483 648 to 2 147 483 647 Default Value 0 D...

Page 344: ...eter to store data Only the GUI can modify this data not the user 34 8 GUI PARAM07 General Information Type NV Parameter Description Used by the GUI to store data Units N A Range 2 147 483 648 to 2 14...

Page 345: ...483 647 Default Value 0 Data Type Integer See Also N A Start Version M_01 00 00 000 Description The GUI uses this parameter to store data Only the GUI can modify this data not the user 34 11 GUI PARA...

Page 346: ...AKD PDMM User Guide 35 HWLS Parameters 35 HWLS Parameters This section describes the HWLS parameters 35 1 HWLS NEGSTATE 347 35 2 HWLS POSSTATE 347 Kollmorgen December 2012 346...

Page 347: ...HWLS NEGSTATE reads the status of the negative HW limit switch as follows 0 Low 1 High Related Topics 35 2 HWLS POSSTATE General Information Type R O Parameter Description Reads the status of the posi...

Page 348: ...L FRICTION 354 36 12 IL IFOLD 355 36 13 IL IUFB 355 36 14 IL IVFB 356 36 15 IL KACCFF 356 36 16 IL KBUSFF 357 36 17 IL KP 357 36 18 IL KPDRATIO 358 36 19 IL KPLOOKUPINDEX 358 36 20 IL KPLOOKUPVALUE 35...

Page 349: ...s 1 Current Loop 36 2 IL CMD General Information Type R O Parameter Description Reads the value of the q component current command Units Arms Range Drive peak current DRV IPEAK Default Value N A Data...

Page 350: ...pics 1 Current Loop 36 4 IL DIFOLD General Information Type R O Parameter Description Reads the drive foldback current limit Units Arms Range 0 to 2 147 483 647 Arms Default Value N A Data Type Float...

Page 351: ...s the current resolution applied is 9 20130 447 mA For a 48 amp peak current drive the resolution is 48 20130 2 38 mA The current scaling is hard coded and cannot be changed by decreasing the peak cur...

Page 352: ...pg 360 IL OFFSET pg 365 IL FRICTION pg 354 IL KACCFF pg 356 Start Ver sion M_01 00 00 000 Description This parameter displays the current loop overall feedforward value Related Topics 1 Current Loop 3...

Page 353: ...IL FOLDFTHRESHU General Information Type NV Parameter Description Sets the user value for the foldback fault level Units Arms Range 0 to 500 Arms Default Value Drive peak current DRV IPEAK Data Type F...

Page 354: ...n also set the IL FOLDFTHRESH pg 352 value to zero Related Topics 1 Current Loop 36 11 IL FRICTION General Information Type R W Parameter Description Sets friction compensation value Units A Range 0 t...

Page 355: ...FOLD and IL MIFOLD The overall fold back current limit is the minimum of the two at any given moment IL IFOLD min IL DIFOLD IL MIFOLD IL DIFOLD is an artificial current which can be higher or lower th...

Page 356: ...the drive calculates the average value of the measured current and uses this value for the offset value Related Topics 1 Current Loop 36 15 IL KACCFF General Information Type R W Parameter Description...

Page 357: ...e This parameter is only used in the position mode DRV OPMODE 2 Related Topics 1 Current Loop 36 17 IL KP General Information Type NV Parameter Description Sets the proportional gain of the q componen...

Page 358: ...he d component of the current Related Topics 1 Current Loop 36 19 IL KPLOOKUPINDEX General Information Type R W Parameter Description Sets the index into the Current Loop Gain Scheduling Table Units N...

Page 359: ...ange from 0 to 100 and determines what percentage of IL KP will be applied to the current loop To determine what level of current corresponds to a table index use the following equation IL CMD Table I...

Page 360: ...neral Information Type R W Description Current loop velocity feed forward gain Units N A Range 0 to 2 Default Value 0 Data Type Float See Also IL FF pg 352 Start Version M_01 00 00 000 Description Thi...

Page 361: ...motor current protection Related Topics 1 Current Loop 36 24 IL LIMITP General Information Type NV Parameter Description Sets the positive user application specific current limit Units A Range 0 A to...

Page 362: ...to reduce the current Related Topics 1 Current Loop 36 26 IL MFOLDR General Information Type R O Parameter Description Sets the motor foldback recovery time Units s Range 0 1 to 65 535 s Default Valu...

Page 363: ...al Information Type R O parameter Description Motor I2t load Units Range 0 to 100 Default Value N A Data Type Float See Also IL MIMODE IL MI2TWTHRESH pg 363 Start Version M_01 04 01 000 Description Th...

Page 364: ...ge 0 to 2147483 647 A Default Value N A Data Type Float See Also Foldback Start Version M_01 00 00 000 Fieldbus Index Subindex Object Start Version EtherCAT COE and CAN open 0 M_01 00 00 000 Descripti...

Page 365: ...sponsible for protecting the motor from overload Related Topics Foldback pg 47 36 32 IL OFFSET General Information Type RW Parameter Description A constant current command added to compensate for grav...

Page 366: ...eneral Information Type R O Parameter Description Reads the measured voltage on the u winding of the motor Units V Range 1200 VBusScale to 1200 VBusScale Default Value N A Data Type Integer See Also I...

Page 367: ...e for this parameter depends on whether the drive model is an MV 240 Vac or an HV 480 Vac The VBusScale parameter sets the drive model MV 240 Vac VBusScale 1 HV 480 Vac VBusScale 2 VBusScale is used f...

Page 368: ...User Guide 37 IP Parameters 37 IP Parameters This section describes the IP parameters 37 1 IP ADDRESS 369 37 2 IP GATEWAY 370 37 3 IP MODE 371 37 4 IP RESET 372 37 5 IP SUBNET 372 Kollmorgen December...

Page 369: ...r the IP RESET command is issued the new IP settings will be active only if IP MODE has been set to 1 Recovering communications with a drive on an un reachable IP address Sometimes a drive may be conf...

Page 370: ...up After the IP RESET pg 372 command is issued the new IP settings will be active only if IP MODE pg 371 has been set to 1 Recovering communications with a drive on an un reachable IP address Sometim...

Page 371: ...communications with a drive on an un reachable IP address Sometimes a drive may be configured for an IP Address and the drive needs to be taken off line and bench tested or otherwise used outside of i...

Page 372: ...ith a drive on an un reachable IP address Sometimes a drive may be configured for an IP Address and the drive needs to be taken off line and bench tested or otherwise used outside of its saved IP Sett...

Page 373: ...P RESET command is issued the new IP settings will be active only if IP MODE has been set to 1 Recovering communications with a drive on an un reachable IP address Sometimes a drive may be configured...

Page 374: ...AKD PDMM User Guide 38 LOAD Parameter 38 LOAD Parameter This section describes the LOAD parameters 38 1 LOAD INERTIA 375 Kollmorgen December 2012 374...

Page 375: ...iption Sets the load inertia Units kgcm for rotary motors kg for linear motors Range 1 to 1 000 000 kgcm or kg Default Value 0 kgcm or kg Data Type Float See Also N A Start Version M_01 03 06 000 Desc...

Page 376: ...OR INERTIA 383 39 12 MOTOR IPEAK 383 39 13 MOTOR KE 384 39 14 MOTOR KT 385 39 15 MOTOR LQLL 385 39 16 MOTOR NAME 386 39 17 MOTOR PHASE 386 39 18 MOTOR PITCH 387 39 19 MOTOR POLES 387 39 20 MOTOR R 388...

Page 377: ...parameters to be auto matically calculated from the motor ID data read from memory supporting feedback devices such as SFD Endat and BISS Automatically calculated parameters are read only A value of...

Page 378: ...Information Type NV Parameter Description Brake Immediately in the case of a drive disable apply the brake in all sit uations Units N A Range 0 to 1 Default Value 0 Inactive Data Type Boolean See Also...

Page 379: ...The CANopen object 0x345A sub 1 2 can be used to control the brake state See CANopen manual on kollmorgen com Functionality starts with firmware 1 7 4 0 Related Topics Motor pg 42 39 5 MOTOR BRAKESTA...

Page 380: ...del of the thermal dynamics of the motor coil This parameter together with MOTOR IPEAK pg 383 and MOTOR ICONT pg 380 deter mine the motor foldback parameters IL MFOLDD pg 362 IL MFOLDT pg 362 and IL M...

Page 381: ...e valid values for this keyword are the following Value Description 0 Error in identification 1 Success in identification 2 Identification in process 3 Identification not started yet 4 Success recogni...

Page 382: ...d Topics Motor pg 42 39 10 MOTOR IMTR General Information Type R W Description Rotor time constant Units Ms Range 1 to 16 000 Default Value 100 Data Type Integer Start Version M_01 08 00 000 Descripti...

Page 383: ...Type NV Parameter Description Sets the motor inertia Units kgcm for rotary motors kg for linear motors Range 1 to 200 000 kgcm or kg Default Value 100 kgcm or kg Data Type Float See Also N A Start Ver...

Page 384: ...Topics 7 1 Motor 39 13 MOTOR KE General Information Type NV Parameter Description Sets the motor back EMF con stant Units Vpeak krpm for Rotary Motors Vpeak m s for Linear Motors Range 0 0 to 100 000...

Page 385: ...n This parameter is the torque constant of the motor in Nm A The value can be online checked according to the following equation Kt 60 3 Ui 2 n Where Ui induced voltage of the motor n actual rotor vel...

Page 386: ...is parameter is used to set the motor name Related Topics Motor pg 42 39 17 MOTOR PHASE General Information Type NV Parameter Description Sets the motor phase Units Electrical degrees Range 0 to 360 D...

Page 387: ...ption Sets the number of motor poles Units N A Range 0 to 128 Default Value 6 Data Type Integer See Also FB1 POLES pg 318 Start Version M_01 00 00 000 Fieldbus Index Subindex Object Start Version Ethe...

Page 388: ...M_01 00 00 000 Description MOTOR R sets the stator winding resistance phase to phase in ohms Related Topics 7 1 Motor 39 21 MOTOR RTYPE General Information Type NV Parameter Description Defines the ty...

Page 389: ...until the time that the drive is disabled This feature allows you to disable the drive and apply the brake on a vertical application without the load falling Without this time delay if you immediately...

Page 390: ...w CS VTHRESH pg 240 In some instances such as a vertical axis it may desirable to apply the brake regardless of velocity MOTOR TBRAKETO sets the maximum time allowed to pass between drive disable and...

Page 391: ...ndex Subindex Object Start Version EtherCAT COE and CAN open 0 M_01 00 00 000 Description This parameter is used to configure the motor temperature fault level as a resistance threshold of the motor P...

Page 392: ...llows 0 Rotary motor 1 Linear motor 2 Induction Motor V f Open Loop Control 4 Induction Motor Closed Loop Control The following table shows which MOTOR parameters must be configured for either permane...

Page 393: ...4 No Yes No Related Topics Motor pg 42 39 29 MOTOR VMAX General Information Type NV Parameter Description Sets the maximum motor speed Units rpm Range 100 to 40 000 rpm Default Value 3 000 rpm Data Ty...

Page 394: ...windings are not damaged Related Topics 7 1 Motor 39 31 MOTOR VOLTMIN General Information Type NV Parameter Description Sets the minimum voltage for V f control Units Range 0 to 100 Default Value 2 Da...

Page 395: ...plate MOTOR VOLTRATED is used to calculate the constant Volts per Hertz characteristics of the drive and motor Related Topics Motor pg 42 39 33 MOTOR VRATED General Information Type NV Parameter Descr...

Page 396: ...s Index Subindex Object Start Version EtherCAT COE and CAN open 1 M_01 03 00 000 Description This parameter configures the drive for the rated velocity of the induction motor as indicated on the namep...

Page 397: ...describes the PL parameters 40 1 PL CMD 398 40 2 PL ERR 398 40 3 PL ERRFTHRESH 399 40 4 PL ERRMODE 400 40 5 PL ERRWTHRESH 401 40 6 PL FB 403 40 7 PL FBSOURCE 403 40 8 PL INTINMAX 404 40 9 PL INTOUTMA...

Page 398: ...PL CMD reads the position command as it is received in the position loop entry Related Topics PL ERR pg 398 PL ERRFTHRESH pg 399 PL ERRMODE pg 400 PL ERRWTHRESH pg 401 1 Position Loop 40 2 PL ERR Gen...

Page 399: ...position error interrupt is generated instead Related Topics PL ERRFTHRESH pg 399 PL ERRMODE pg 400 PL ERRWTHRESH pg 401 1 Position Loop 40 3 PL ERRFTHRESH General Information Type NV Parameter Descri...

Page 400: ...This parameter sets the maximum position error If the position error PL ERR pg 398 is larger than PL ERRFTHRESH the drive generates a fault If PL ERRFTHRESH is set to 0 the max imum position error is...

Page 401: ...lute value of error is larger than PL ERRWTHRESH for a consecutive period of 100 ms then a warning is generated If the absolute value of error is larger than PL ERR FTHRESH for a consecutive period of...

Page 402: ...6 452 636 718 16 bit counts Default Value 0 000 deg Data Type Float See Also PL ERR pg 398 Start Version M_01 00 00 000 AKD BASIC Information Data Type Integer Fieldbus Index Subindex Object Start Ver...

Page 403: ...read from the feedback device but also includes the value of the FB1 OFFSET and an internal offset set automatically by the FW when a homing switch is actuated AKD BASIC Note Note that this value is n...

Page 404: ...mode should be set as 0 A B signals A B signals are the only supported feedback type as secondary feed back into the position loop Other settings for FB2 MODE are intended as pulse inputs or a gear in...

Page 405: ...counts Linear 3 999 989 760 000 counts 0MOTOR PITCH pg 387 mm 9MOTOR PITCH pg 387 m 4 657 custom units 61 035 000 16 bit counts Data Type Float See Also PL FB Start Version M_01 00 00 000 Fieldbus In...

Page 406: ...836 custom units 0 000 to 281 474 976 710 16 bit counts Default Value Rotary 3 999 989 760 000 counts 5 852 rad 335 275 deg 4 657 custom units 61 035 000 16 bit counts Linear 3 999 989 760 000 counts...

Page 407: ...on PL KI sets the integral gain of the position regulator PID loop Related Topics PL ERR pg 398 PL ERRFTHRESH pg 399 PL ERRMODE pg 400 PL ERRWTHRESH pg 401 1 Position Loop 40 11 PL KP General Informat...

Page 408: ...AKD PDMM User Guide 40 11 PL KP Related Topics PL ERR pg 398 PL ERRFTHRESH pg 399 PL ERRMODE pg 400 PL ERRWTHRESH pg 401 1 Position Loop 408 Kollmorgen December 2012...

Page 409: ...MPOINTS 411 41 6 REC OFF 412 41 7 REC RECPRMLIST 412 41 8 REC RETRIEVE 413 41 9 REC RETRIEVEDATA 414 41 10 REC RETRIEVEFRMT 415 41 11 REC RETRIEVEHDR 415 41 12 REC RETRIEVESIZE 416 41 13 REC STOPTYPE...

Page 410: ...CH1 to REC CH6 General Information Type R W Parameter Description Sets recording channels 1 to 6 Units N A Range N A Default Value CH1 IL FB CH2 IL CMD CH3 VL FB CH4 Empty CH5 Empty CH6 Empty Data Typ...

Page 411: ...drive also resets this value when the recording has finished or when REC OFF is executed Related Topics Scope pg 103 41 4 REC GAP General Information Type R W Parameter Description Specifies the gap...

Page 412: ...6 REC OFF General Information Type R W Parameter Description Turns the recorder OFF Units N A Range N A Default Value N A Data Type N A See Also REC ACTIVE REC DONE Start Version M_01 00 00 000 Descr...

Page 413: ...list Related Topics Scope pg 103 41 8 REC RETRIEVE General Information Type R O Parameter Description Transfers all the recorded data to the communication chan nel Units N A Range N A Default Value N...

Page 414: ...it simply returns the whole buffer no error l If the index is received the data will be continuously returned starting from the given index default starting index is 0 l If the index is out of the bou...

Page 415: ...he standard slower format cannot be used for continuous recording but is more easily read The high speed format allows continuous data recording needed for auto tuning EWV1 supports both formats Examp...

Page 416: ...number of samples that REC RETRIEVEDATA returns Units recorder samples Range 0 to 65 535 recorder samples Default Value 1 000 recorder samples Data Type Integer See Also REC RETRIEVEDATA pg 414 REC R...

Page 417: ...formation Type Command Description Triggers the recorder Units N A Range N A Default Value N A Data Type N A See Also REC RETRIEVE REC OFF Start Version M_01 00 00 000 Description REC TRIG starts the...

Page 418: ...teger See Also REC TRIG pg 417 REC NUMPOINTS pg 411 Start Version M_01 00 00 000 Description REC TRIGPOS sets the trigger position in the recording buffer The recording buffer size is defined by REC N...

Page 419: ...Description Reads the list of possible trigger param eters Units N A Range N A Default Value N A Data Type N A See Also REC TRIGPARAM Start Version M_01 00 00 000 Description This command returns the...

Page 420: ...cope pg 103 41 19 REC TRIGTYPE General Information Type R W Parameter Description Sets the trigger type Units 0 immediate 1 command 2 parameter 3 boolean Range 0 to 2 Default Value 0 Data Type Integer...

Page 421: ...tion Type R W Parameter Description Sets the trigger value Units The units of the parameter are chosen according to the unit type Range 0 to 2 Default Value 0 Data Type Integer See Also REC TRIG pg 41...

Page 422: ...meters 42 REGEN Parameters This section describes the REGEN parameters 42 1 REGEN POWER 423 42 2 REGEN POWERFILTERED 423 42 3 REGEN REXT 424 42 4 REGEN TEXT 424 42 5 REGEN TYPE 425 42 6 REGEN WATTEXT...

Page 423: ...2 REGEN POWERFILTERED General Information Type R O parameter Description Returns a filtered version of REGEN POWER Units Watt Range 0 to REGEN WATTEXT Default Value 0 Data Type Integer Start Ver sion...

Page 424: ...istor temperature estimation algorithm Related Topics 6 2 Regeneration 42 4 REGEN TEXT General Information Type R W Parameter Description Sets the external regen resistor thermal protection time con s...

Page 425: ...1 joule limit REGEN WATTEXT Example The external regen resistor is rated for 250 W continuous is 33 ohm and has a joule rating of 500 joules To use this resistor the drive settings become REGEN TYPE...

Page 426: ...en resistor s power fault level for an external regen resistor Units W Range 0 to 62 000 W Default Value 1000 W Data Type Integer See Also N A Start Version M_01 00 00 000 Fieldbus Index Subindex Obje...

Page 427: ...AKD PDMM User Guide 43 SD Commands 43 SD Commands This section describes commands for SD Card functions 43 1 SD LOAD 428 43 2 SD SAVE 428 43 3 SD STATUS 429 Kollmorgen December 2012 427...

Page 428: ...idle state i e a program is not running and the drive is disabled If a computer is not connected to the drive the SD LOAD command can also be issued using the rotary switches S1 and S2 To load the SD...

Page 429: ...n also be issued using the rotary switches S1 and S2 To save the drive state onto the SD card using rotary switches 1 Set S1 to position 1 2 Set S2 to position 1 3 Hold down the B1 button on the top o...

Page 430: ...M Parameters 44 SM Parameters This section describes the SM parameters 44 1 SM I1 431 44 2 SM I2 431 44 3 SM MODE 431 44 4 SM MOVE 434 44 5 SM T1 434 44 6 SM T2 434 44 7 SM V1 435 44 8 SM V2 436 Kollm...

Page 431: ...ee SM MODE pg 431 Related Topics Service Motion pg 73 44 2 SM I2 General Information Type NV Parameter Description Sets service motion current 2 active in opmode 0 torque only Units A Range Drive peak...

Page 432: ...value SM V1 for a certain amount of time if SM T1 0 or end less if SM T1 0 The drive generates acceleration and deceleration ramps according to the DRV ACC and DRV DEC setting in this mode of operatio...

Page 433: ...ive uses DRV ACC and DRV DEC for the ramps in DRV OPMODE 1 closed velocity and 2 closed position The drive does not generate any ramps in service motion mode 0 and 1 Service Motion for DRV OPMODE 0 an...

Page 434: ...V Parameter Description Sets the service motion time 1 Units ms Range 0 to 65 535 ms Default Value 500 ms Data Type Integer See Also SM I1 SM I2 SM MODE SM MOVE SM T2 SM V1 SM V2 SM VPM1 SM VPM2 Start...

Page 435: ...otary rpm rps deg s custom units s rad s Linear Counts s mm s m s custom units s Range Rotary 15 000 000 to 15 000 000 rpm 250 000 to 250 000 rps 90 000 000 to 90 000 000 deg s 1 250 000 to 1 250 000...

Page 436: ...unts s mm s m s custom units s Range Rotary 15 000 000 to 15 000 000 rpm 250 000 to 250 000 rps 90 000 000 to 90 000 000 deg s 1 250 000 to 1 250 000 custom units s 1 570 796 to 1 570 796 rad s Linear...

Page 437: ...44 8 SM V2 Description SM V2 defines the velocity that is used in service motion mode 1 see SM MODE in the closed velocity and position mode of operation Related Topics 11 1 Service Motion 437 Kollmo...

Page 438: ...AKD PDMM User Guide 45 STO Parameters 45 STO Parameters This section describes the STO parameters 45 1 STO STATE 439 Kollmorgen December 2012 438...

Page 439: ...the safe torque off Units N A Range 0 to 1 Default Value N A Data Type Integer See Also N A Start Version M_01 00 00 000 Description STO STATE returns the status of the safe torque off 1 Safe torque o...

Page 440: ...PDMM User Guide 46 SWLS Parameters 46 SWLS Parameters This section describes the SWLS parameters 46 1 SWLS EN 441 46 2 SWLS LIMIT0 441 46 3 SWLS LIMIT1 442 46 4 SWLS STATE 442 Kollmorgen December 2012...

Page 441: ...neral Information Type NV Parameter Description Sets the position of the software travel limit switch 0 Units Position units Range 9 007 199 254 740 992 to 9 007 199 254 740 991 Default Value 0 Data T...

Page 442: ...CAT COE and CAN open 2 M_01 00 00 000 Description This parameter sets the compare register for the software limit switch 1 This value can be either the lower or the upper software limit switch registe...

Page 443: ...compare between the software limit switch compare register and the actual position of the position loop Example Bit 0 0 SWLS LIMIT0 pg 441 is not active Bit 0 1 SWLS LIMIT0 is active Bit 1 0 SWLS LIM...

Page 444: ...s This section describes the VBUS parameters 47 1 VBUS HALFVOLT 445 47 2 VBUS OVFTHRESH 445 47 3 VBUS OVWTHRESH 446 47 4 VBUS RMSLIMIT 446 47 5 VBUS UVFTHRESH 447 47 6 VBUS UVMODE 447 47 7 VBUS UVWTHR...

Page 445: ...bove are read during the boot sequence of the Drive The VBUS HALFVOLT command takes only effect for a HV or MV Drive VBUS HALFVOLT 0 The original voltage thresholds are used for the functions mentione...

Page 446: ...ral Information Type NV Parameter Description Sets voltage level for over voltage warn ing Units Vdc Range 0 to 900 Vdc Default Value 0 Vdc warning disabled Data Type U16 See Also N A Start Version M_...

Page 447: ...ion VBUS UVFTHRESH sets the undervoltage fault level of the DC bus The default value is read from the EEPROM but can by modified by the user and stored on the NV RAM This value varies according to dri...

Page 448: ...lue of VBUS UVFTHRESH is hardware dependent Data Type U16 See Also VBUS UVFTHRESH pg 447 Start Ver sion M_01 00 00 000 Description If VBUS VALUE value drops below VBUS UVWTHRESH then a warning is gene...

Page 449: ...453 48 6 VL BUSFF 454 48 7 VL CMD 455 48 8 VL CMDU 455 48 9 VL ERR 456 48 10 VL FB 457 48 11 VL FBFILTER 457 48 12 VL FBSOURCE 458 48 13 VL FBUNFILTERED 458 48 14 VL FF 459 48 15 VL GENMODE 459 48 16...

Page 450: ...406h 4 VL ARPF4 Description VL ARPF1 sets the natural frequency of the pole denominator of AR filter 1 This value is FP in the approximate transfer function of the filter ARx s s 2 FZ s QZ 2 FZ 1 s 2...

Page 451: ...or of the pole denominator of AR filter 1 This value is QP in the approximate transfer function of the filter ARx s s 2 FZ s QZ 2 FZ 1 s 2 FP s QP 2 FP 1 The following block diagram describes the AR f...

Page 452: ...ndicates that the coefficients are set directly This parameter has no effect on the filter itself but is only used to determine the orig inal design parameters Currently only the value of 0 is support...

Page 453: ...ete time system func tion on the DSP The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping s 1 z 1 t where t 62 5 s The poles are prewarped to FP a...

Page 454: ...me system func tion on the DSP The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping s 1 z 1 t where t 62 5 s The poles are prewarped to FP and the...

Page 455: ...L LIMITN pg 464 Start Ver sion M_01 00 00 000 Fieldbus Index Subindex Object Start Version EtherCAT COE and CAN open 0 M_01 00 00 000 Description VL CMD returns the actual velocity command as it is re...

Page 456: ...dbus Index Subindex Object Start Version EtherCAT COE and CAN open 0 M_01 00 00 000 Description VL CMDU sets the user velocity command When DRV OPMODE pg 294 is set to 1 velocity loop and DRV CMDSOURC...

Page 457: ...nits s rad s Linear counts s mm s m s custom units s Range N A Default Value N A Data Type Float See Also VL CMDU pg 455 Start Ver sion M_01 00 00 000 Fieldbus Index Subindex Object Start Version Ethe...

Page 458: ...General Information Type NV Parameter Description Sets feedback source for the velocity loop active in opmodes 1 velocity and 2 position only Units N A Range 0 to 1 Default Value 0 Data Type Integer...

Page 459: ...tion Type R O Parameter Description Displays the velocity loop overall feedforward value active in opmodes 1 veloc ity and 2 position only Units Depends on or Rotary rpm rps deg s custom units s rad s...

Page 460: ...ts the velocity loop acceleration feedforward gain value active in opmodes 1 velocity and 2 position only Units NA Range 0 0 to 2 0 Default Value 0 0 Data Type Float See Also VL BUSFF pg 454 Start Ver...

Page 461: ...Version EtherCAT COE and CAN open 354Dh 0 M_01 00 00 000 Description VL KI sets the integral gain of the velocity loop A factor of 2 is included in the time calculation therefore a PI velocity loop wi...

Page 462: ...Related Topics 1 Velocity Loop 48 19 VL KP General Information Type NV Parameter Description Sets velocity loop proportional gain for the PI controller active in opmodes 1 velocity and 2 position onl...

Page 463: ...ow shows how linear motors are implemented at the control loop level The red blocks are automatically handled at the drive level 2 radians is the linear equivalent of one full mechanical revolution of...

Page 464: ...The nominal feedforward value can be mul tiplied by this gain value This parameter is only used in the position mode DRV OPMODE pg 294 2 Related Topics 1 Velocity Loop 48 21 VL LIMITN General Informa...

Page 465: ...units s Data Type Float See Also VL LIMITP pg 466 VL CMD pg 455 Start Ver sion M_01 00 00 000 Fieldbus Index Subindex Object Start Version EtherCAT COE and CAN open 0 M_01 00 00 000 Description VL LI...

Page 466: ...000 000 MOTOR PITCH pg 387 m s 0 000 to 1 250 000 custom units s Default Value Rotary 3 000 000 rpm 50 000 rps 18 000 002 deg s 250 000 custom units s 314 159 rad s Linear 0 050 counts s 50 000 MOTOR...

Page 467: ...Topics 1 Velocity Loop 48 24 VL MODEL General Information Type R O Parameter Description Reads the observer velocity signal active in opmodes 1 velocity and 2 posi tion only Units Depends on UNIT VROT...

Page 468: ...Related Topics 1 Velocity Loop 48 26 VL OBSMODE General Information Type NV Parameter Description Sets the observer operating mode Units N A Range 0 to 1 Default Value 0 Data Type Integer See Also N...

Page 469: ...custom units s Default Value Rotary 3 600 rpm 60 rps 21 600 000 deg s 300 000 custom units s 376 991 rad s Linear 0 060 counts s 60 000 MOTOR PITCH pg 387 mm s 60 000 04 MOTOR PITCHMOTOR PITCH pg 387...

Page 470: ...AKD PDMM User Guide 48 27 VL THRESH 1 Velocity Loop 470 Kollmorgen December 2012...

Page 471: ...AKD PDMM User Guide 49 Safety 49 Safety 49 1 Safety Instructions 472 49 2 Use as directed 472 49 3 Prohibited use 472 Kollmorgen December 2012 471...

Page 472: ...re not a substitute for the hardware limit switches in the machine Install the drive as described in the Installation Manual Never break any of the electrical connections to the drive while it is live...

Page 473: ...D PDMM User Guide 49 3 Prohibited use The connectors X5 and X6 of the AKD PDMM EtherCAT drive may not be used for any ethernet protocol except EtherCAT CoE Can over EtherCAT Kollmorgen December 2012 4...

Page 474: ...PDO Mappings 483 50 6 Flexible PDO Mappings 484 50 7 Supported Cyclical Setpoint and Actual Values 489 50 8 Supported Operation Modes 489 50 9 Adjusting EtherCAT Cycle Time 490 50 10 Maximum Cycle Tim...

Page 475: ...ager 0 Mail Out Con trol Register R W R O 0x0808 8 Sync Manager 1 Mail In Con trol Register R W R O 0x0810 8 Sync Manager 2 Process data Output Control Register R W R O 0x0818 8 Sync Manager 3 Process...

Page 476: ...dress 0x0204 0x0205 Parameter Addres s Bit ZA Drive ZA ECAT Description AL Control Event 0x204 0 R W R O Activation of AL control event for phase run up 0x204 1 R W R O Reserved Sync0 DC Distributed C...

Page 477: ...cti vation register change 0x220 4 R O R W The content of the SyncManager activation register has been changed EEPROM emu lation event 0x220 5 R O R W Processing of an EEPROM emulation event in order...

Page 478: ...rive 50 3 1 AL Control Address 0x0120 0x0121 Parameter Addre ss Bit ZA Driv e ZA ECA T Description Status 0x120 3 to 0 R O W O 0x01 Init Request 0x02 PreOperational Request 0x03 Bootstrap Mode Request...

Page 479: ...m eters SAVE OP Cyclical actual values are transferred and the drive tries to synchronize OPERATIONAL Cyclical setpoints are processed torque enable can be acti vated and the drive must be synchronize...

Page 480: ...tus the amplifier cannot be enabled via the EtherCAT interface because for example there is no connection to a power source Ready to Switch On In Ready to Switch On status the drive can be enabled via...

Page 481: ...individual bits Mode dependent bits in the control word The following table shows the mode dependent bits in the control word Only manufacturer specific modes are supported at present The individual...

Page 482: ...ady to switch on 0 1 0 0 0 1 Switched on 0 1 0 0 1 1 Operation enabled 0 1 0 1 1 1 Fault 0 X 1 0 0 0 Fault reaction active 0 X 1 1 1 1 Quick stop active 0 0 0 1 1 1 Bits labeled X are irrelevant 0 and...

Page 483: ...ode 4 bytes Control word 2 byte Torque feed forward 2 bytes 0x1B01 Position actual value 4 bytes Status word 2 bytes total 6 bytes 0x1B20 Position actual internal value 4 bytes 2nd position feedback p...

Page 484: ...to the subindex 0 3 SDO write access to object 0x1C12 sub 1 4 with the PDOs 0x1600 0x1603 that should be used in receive direction of the AKD PDMM set point values 4 SDO write access to object 0x1C13...

Page 485: ...instead The maximum number of bytes for each of these PDOs is 8 After that the default mapping of e g the PDO 0x1600 can be extended A list of possible objects for the mapping will be shown and a new...

Page 486: ...ee mapped configuration The meaning of the data for example 0x60410010 in the mapping of 0x1A00 sub 1 is as follows l 0x6041 is the index of the DS402 status word l 0x00 is the subindex of the DS402 s...

Page 487: ...AKD PDMM User Guide 50 6 1 Example Free PDO Mapping If this shall be used in the NC the interpolation set point position has to be linked from the axis to the NC axis Kollmorgen December 2012 487...

Page 488: ...ivated as seen before in this document Now the NC screen should show a position in the online window which changes a bit in the last digits After enabling the power stage with the All button the drive...

Page 489: ...Second position feedback 2050 sub 0 INT32 Digital inputs 60FD sub 0 UINT32 Following error actual value 60F4 sub 0 INT32 Latch position positive edge 20a0 sub 0 INT32 Torque actual value 6077 sub 0 I...

Page 490: ...ex 1 known as interpolation time units gives the number of units e g 4 means 4 units You can run a 2 ms cycle using various combinations For example Index 3 Units 2 or Index 4 Units 20 etc The FBUS SA...

Page 491: ...SYNCACT Actual time delay of the AKD PDMM PLL code to the DC event 3 FBUS PLLTHRESH Number of consecutive successful synchronized PLL cycles of the AKD PDMM before the Drive is considered as synchron...

Page 492: ...ative rise 13 15 Reserve Latch Status word 2 Byte Bit Value bin Value hex Description 0 00000000 00000001 zz01 External latch 1 valid positive rise 1 00000000 00000010 zz02 External latch 1 valid nega...

Page 493: ...1 The EtherCAT master writes the mailbox request to the mail out buffer 2 On the next interrupt the EtherCAT interface activates a Sync Manager 0 event mailbox out put event in the AL event register 3...

Page 494: ...ype 1 Reserved ADS over EtherCAT 2 Reserved Ethernet over EtherCAT 3 Can over EtherCAT Bit 4 to 7 Reserved Byte 6 PDO Number with PDO transmissions only Bit 0 LSB of the PDO number see Byte 7 for MSB...

Page 495: ...B of the PDO number see Byte 7 for MSB Byte 7 Bit 0 MSB of the PDO number see Byte 6 Bit 1 to 3 Reserved Bit 4 to 7 CoE specific type 0 Reserved 1 Emergency message 2 SDO request 3 SDO answer 4 TXPDO...

Page 496: ...Byte 11 0x01 Subindex 1 Byte 12 0x04 Data value 0x00001704 Byte 13 0x17 Data value 0x00001704 Byte 14 0x00 Data value 0x00001704 Byte 15 0x00 Data value 0x00001704 The drive returns the following mes...

Page 497: ...he synchronization supervision of the CANOpen or EtherCAT fieldbus Default values for this parameter are as follows CANopen drive disabled 0 EtherCAT drive enabled 1 Synchronization supervision is act...

Page 498: ...lligent agent In virtual instrumentation actuators and sensors are the hardware com plements of virtual instruments Computer programs of virtual instruments use actuators to act upon real world object...

Page 499: ...d load Any load not symmetrically mounted on a stage Such loads exert torque moments upon the ways and the resulting deformations can degrade accuracy Caret The term caret is also sometimes used in gr...

Page 500: ...cations which require short data update times also called cycle times with low communication jitter for syn chronization purposes and low hardware costs Ethernet Ethernet is a large diverse family of...

Page 501: ...horizontal straightness is a horizontal deviation from the straight line of travel A horizontal straightness deviation in the travel of the X axis will cause a positioning error in the Y direction Hys...

Page 502: ...fectively increases the resolution from 200 steps per revolution to 2 000 10 or 10 000 50 micro steps per revolution Modbus Modbus is a serial communications protocol and is now the most commonly avai...

Page 503: ...motor that operates syn chronously with the periodicity of the source which supplies the electrical energy The period of execution of a pipe is the time spent between two successive computations of s...

Page 504: ...uring equipment via a process control system in process engineering This PROFIBUS variant is ideal for explosion hazardous areas Ex zone 0 and 1 Here a weak current flows through bus lines in an intri...

Page 505: ...be achieved by a system It can be defined at the electronics encoder and mechanics level The distance a stage can be commanded to move in a single step For servo systems the basic increment produced b...

Page 506: ...mpling frequency must be higher than 2 times the highest frequency in the input signal This is called the Nyquist frequency Theoretically it is pos sible to reconstruct the input signal with more than...

Page 507: ...rs can be stored in a more compact format and later converted to a dif ferent format enabling operations not previously possible such as division with several decimal places worth of accuracy There ar...

Page 508: ...CAT 480 Capture 53 Command source 267 Connection Diagrams 157 B P T Variants 159 Control Word Commands 481 Controlled Stop 65 copyrights 2 Cycle Time Adjust 490 Max Values 490 Cyclical Values 489 D DC...

Page 509: ...imits 62 M Macros 116 Mailbox 493 Mains supply interface 170 Motor 42 Motor interface 166 N Non Plug and Play Feedback Devices 46 O Operating mode parameters and commands active in 119 193 Operation M...

Page 510: ...sets 110 time base 103 Service Motion 73 Slave Register 475 Slider Tuning 87 Status Machine 480 Status Word 482 Stop Function 68 Synchronization 491 T Terminal 115 trademarks 2 Trouble Shooting 156 Tu...

Page 511: ...This page intentionally left blank 511 Kollmorgen December 2012...

Page 512: ...1 540 633 3545 Fax 1 540 639 4162 Europe KOLLMORGEN Europe GmbH Pempelfurtstra e 1 40880 Ratingen Germany Web www kollmorgen com Mail technik kollmorgen com Tel 49 2102 9394 0 Fax 49 2102 9394 3155 As...

Page 513: ...This page intentionally left blank 513 Kollmorgen December 2012...

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