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Nidec Digitax HD M753 EtherCAT User Manual Download Page 99

Digitax HD M753 Control User Guide

99

Issue Number: 3

9.11

Process Data Objects (PDOs)

Cyclic data is implemented on EtherCAT networks by using "Process
Data Objects" or PDOs. Separate data objects are used for transmitting
(TxPDOs) and receiving (RxPDOs) data. PDO configuration objects are
usually pre-configured in the EtherCAT master controller and
downloaded to the EtherCAT interface at network Initialization using
SDOs.

9.12

Service Data Object (SDO) parameter
access

The service data object (SDO) provides access to all objects in the
EtherCAT object dictionary and the drive parameters are mapped into
the object dictionary as 0x2XXX objects in the following way:
Index: (0x100 x S) + menu number
Sub-index: 0x00 + parameter number
For example Pr

20.021

would be index 0x2014 and the sub-index would

be 0x15. The values are usually expressed in base 16 (hexadecimal),
so care must be taken to enter the correct parameter number.
All other supported entries in the EtherCAT interface object dictionary
can also be accessed using SDOs. Refer to the master controller
documentation for full details about implementing SDO transfers within
the particular master controller.

Bit parameter mapping

When mapping to drive bit parameters, the parameter is stored in the
drive as an 8-bit value, therefore for correct operation, the data type
SINT (short integer) should be used for mapping to these parameters.
The following table shows the drive bit parameter value for a given value
in the EtherCAT master.

This is contrary to other option modules where any value other than zero
will result in the parameter being set to a 1 (On).

Sub-index 0 for any menu will return the highest sub-index available for
the object (i.e. the highest parameter number).

The following SDO services are supported:
•

Initiate SDO Download (Write)

•

Initiate SDO Upload (Read)

•

Abort SDO Transfer (Error)

9.13

CANopen over EtherCAT (CoE)

The CoE protocol over EtherCAT uses a modified form of the CANopen
object dictionary. This is specified in Table 9-5

CoE object dictionary

.

Table 9-5 CoE object dictionary

The object description format describes object related information such
as size, range and descriptions and is detailed in Table 9-6

description format

.

Table 9-6 Object description format

For entries having sub-indices

Table 9-7 Object description format with sub-indices

Definitions:
•

<index>: A signed 16-bit number. This is the index of the object
dictionary entry specified in four hexadecimal characters.

•

<access>: A value describing how the object may be accessed
(RW = read/write, RO = read-only and WO = write-only).

•

<size>: The size of the object/sub-index in bytes.

•

<unit>: The physical unit (e.g. ms, counts per second etc.).

•

<type>: Data type:-

EtherCAT Value

Parameter Value

Decimal

Hex (0x)

-128 to 0

80 to 00

0 (Off)

1 to 127

01 to 7F

1 (On)

Index

Object dictionary area

0x0000 to 0x0FFF

Data type area

0x1000 to 0x1FFF

CoE communication area

0x2000 to 0x5FFF

Manufacturer specific area

0x6000 to 0x9FFF

Profile area

0xA000 to 0xFFFF

Reserved area

NOTE

NOTE

NOTE

<index>

<object name>

Sub-index 0
Access: <access>

Range: <range> Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>

<index>

<object name>

Sub-index 0
Access: <access>

Range: <range> Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>
Sub-index 1
Access: <access>

Range: <range> Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>
Sub-index …
Access: <access>

Range: <range> Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>
Sub-index n-1
Access: <access>

Range: <range> Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>
Sub-index n
Access: <access>

Range: <range> Size: <size>

Unit: <unit>

Default: <default>

Type:

<type>

Description: <description>

Data type

Size (bytes)

Range

Description

USINT

1

0 to 255

Unsigned short integer

SINT

1

-128 to 127

Signed short integer

UINT

2

0 to 65535

Unsigned integer

INT

2

-32768 to 32767 Signed integer

UDINT

4

0 to 2

32

Unsigned double integer

DINT

4

-2

31

to 2

31

-1

Signed double integer

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Summary of Contents for Digitax HD M753 EtherCAT

Page 1: ...Control User Guide Digitax HD M753 Variable Speed AC drive for Servo and Induction motors Part Number 0478 0461 03 Issue 3...

Page 2: ...he supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency ECHA to be a Substance of Very H...

Page 3: ...essential that the warnings are observed and the information considered when working with or designing a system using the drive This map of the user guide helps to find the right sections for the task...

Page 4: ...Low voltage operation 21 4 3 Control connections 22 4 4 Position feedback connections 24 4 5 Safe Torque Off STO 30 5 Getting started 32 5 1 Display and Keypad operation 32 5 2 KI Remote Keypad opera...

Page 5: ...rd PLC trips 135 12 Advanced parameters 136 12 1 Parameter ranges and Variable minimum maximums 139 12 2 Menu 1 Frequency speed reference 148 12 3 Menu 2 Ramps 152 12 4 Menu 3 Frequency slaving speed...

Page 6: ...category 257 14 10 Input current fuse ratings and cable sizes 257 14 11 Motor cable size and maximum length 257 14 12 Multiple wiring arrangements 257 14 13 External 24 V supply 257 14 14 Common DC b...

Page 7: ...heet is available giving detailed information The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used Nidec C...

Page 8: ...e requirements of the Machinery Directive and any other relevant legislation The use of a safety related drive in itself does not ensure the safety of the machine Compliance with safety and EMC regula...

Page 9: ...e drive Hazardous voltage may be present in any of the following locations AC and DC supply cables and connections Output cables and connections Many internal parts of the drive and external option un...

Page 10: ...an external brake with the drive While both hardware and software are designed to high standards of quality and robustness they are not intended for use as safety functions i e where a fault or failu...

Page 11: ...ter copying and data storage Dual channel Safe Torque Off STO input Simplified wiring and networking for multi axis arrangements Connect support for quick start commissioning start up downloadable fro...

Page 12: ...to the mechanical load The drive can improve the speed control of the motor by applying slip compensation The performance at low speed depends on whether V F mode or open loop vector mode is selected...

Page 13: ...VW commutation signals for absolute position for permanent magnet motors with or without marker pulse FR Servo 5 Frequency and direction incremental encoders with or without marker pulse FD 1 Frequenc...

Page 14: ...ed drive access global connectivity and integration with IT network technologies such as wireless networking Yellow Green SI PROFINET V2 PROFINET V2 option PROFINET V2 adapter for communications with...

Page 15: ...s Feedback Encoder breakout kit 82700000020200 Drive encoder breakout kit Provides screw terminal interface for encoder wiring Accessory KI Compact 485 adaptor 82700000020300 KI Compact 485 adaptor Th...

Page 16: ...mounting kit Installation 1a Insert a flat head terminal screwdriver underneath the option module slot covers and prise both out in the direction shown as highlighted 1b 2 Install the interface card i...

Page 17: ...mation Digitax HD M753 Control User Guide 17 Issue Number 3 Figure 3 2 SI Option module installation 1 Remove the protective interface card cover 2 Align and insert the option module tab into the slot...

Page 18: ...T interface SD Card Operation Onboard PLC Advanced parameters Diagnostics UL listing information 18 Digitax HD M753 Control User Guide Issue Number 3 3 2 KI Compact Display installation Figure 3 3 Ins...

Page 19: ...4 Additional options on page 15 Figure 3 4 Installing the KI Remote Keypad Adaptor without display fitted 1 Align the KI Remote Keypad Adaptor to the display housing and push on until it clicks into...

Page 20: ...tion of the 24 Vdc power supply should be floating The working voltage range of the drive 24 V power circuit is as follows Table 4 1 Working voltage range of the 24 Vdc supply Table 4 2 24 Vdc typical...

Page 21: ...ltage operation The drive is able to operate from a low voltage DC supply with a range from 24 Vdc to the maximum DC volts It is possible for the drive to go from operating on a normal line power supp...

Page 22: ...nvert scaling 9 10 Digital input 2 Destination invert logic select 11 13 Digital output 2 Source invert logic select 14 16 Drive enable Safe Torque Off 2 2 6 24 V User output 1 Source invert 12 0V com...

Page 23: ...voltage Mode controlled by Pr 07 007 Operating in Voltage mode Full scale voltage range 10 V 2 Maximum offset 10 mV Absolute maximum voltage range 36 V relative to 0V Absolute maximum differential inp...

Page 24: ...t Type Positive logic voltage source outputs Operating as an output Nominal output current 1 A 1 3 A max Voltage range 0V to 24 V Sample Update period 2 ms output will only change at the update rate o...

Page 25: ...o a valid source for the encoder simulation output then the P2 position interface will not be available Depending on the device type used on the P1 position interface the encoder simulation output may...

Page 26: ...nals 11 and 12 are for Freeze input 2 P1 Position feedback interface Pr 03 038 Connections 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 AB 0 A A B B Z Z V 0V Th FD 1 F F D D Z Z FR 2 F F R R Z Z AB Servo 3 A A...

Page 27: ...7 Resolver 14 AB 1 Disabled 1 A A B B Z Z FD 2 F F D D Z Z FR 3 F F R R Z Z EnDat 4 SSI 5 BiSS 6 DATA DATA CLK CLK Freeze2 Freeze2 None 0 AB Asim Asim Bsim Bsim Zsim Zsim FD Fsim Fsim Dsim Dsim Zsim...

Page 28: ...ng common mode range 7 V to 12 V Resolver 14 Type 2 Vrms sinusoidal signal Operating Frequency 6 8 kHz Input voltage 0 6 Vrms Minimum impedance 85 Common to All Absolute maximum applied voltage relati...

Page 29: ...V 7 U C Not used Not used 8 U C Not used Not used AB Servo 3 FD Servo 4 FR Servo 5 SC Servo 12 Type EIA 485 differential receivers Maximum input frequency 512 kHz Line loading 1 unit load Line termin...

Page 30: ...orque Off a possible although highly unlikely failure mode is for two power devices in the inverter circuit to conduct incorrectly This fault cannot produce a steady rotating torque in any AC motor It...

Page 31: ...ctrical fault It may be grounded by any convenient method no special EMC precautions are required Note on response time of Safe Torque Off and use with safety controllers with self testing outputs Saf...

Page 32: ...ation Table 5 1 Single character status indication codes non tripped drive state The decimal point on the display is used to alert the user to either of two situations The SD card is being accessed Th...

Page 33: ...n be installed removed while the drive is powered A delay of 10 seconds should be maintained following power up or following a node address dial adjustment before the KI Compact Display can be removed...

Page 34: ...it mode Start forward button Use to provide a Run command if keypad mode is selected Start reverse button Used to control the drive if keypad mode is selected and the reverse button is activated If En...

Page 35: ...wed i e Pr 05 005 being viewed when the above buttons pressed together will jump to Pr 05 000 If the left and right keypad buttons are pressed together then the keypad display will jump to the last vi...

Page 36: ...ts of menus and parameters The drive initially powers up so that only Menu 0 can be viewed The up and down arrow buttons are used to navigate between parameters and once Pr 00 049 has been set to All...

Page 37: ...cape button on the keypad from status mode All the keypad parameters are saved to the keypad non volatile memory when exiting from the keypad set up menu To exit from the keypad set up menu press the...

Page 38: ...rive has reached 75 0 of the value at which the drive will trip and the load on the drive is 100 Ind Overload Regen inductor overload Inductor Protection Accumulator 04 019 in the drive has reached 75...

Page 39: ...lues in the drives memory User security status 00 049 and User security code 00 034 are not affected by this procedure Procedure 1 Ensure the drive is not enabled i e terminal 2 6 are open or Pr 06 01...

Page 40: ...ave to be unlocked each time the drive is powered up to allow read write access to the parameters 5 10 Displaying parameters with non default values only By selecting Show non default in Pr mm 000 Alt...

Page 41: ...7 Open loop Control Mode 05 014 Ur S 0 Ur 1 Fixed 2 Ur Auto 3 Ur I 4 Square 5 Ur I 4 RW Txt US Speed Controller Proportional Gain Kp1 03 010 0 0000 to 200 000 s rad 0 0300 s rad 0 0100 s rad RW Num US...

Page 42: ...16 kHz 6 8 kHz 4 RW Txt RA US 00 042 Number Of Motor Poles 05 011 Automatic 0 to 480 Poles 240 Automatic 0 6 Poles 3 RW Num US 00 043 Rated Power Factor 05 010 0 000 to 1 000 0 850 RW Num RA US Positi...

Page 43: ...allation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SD Card Operation Onboard PLC Advanced parameters Diagnostics UL listing information...

Page 44: ...X 00 XXX Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X The parameters are all shown in their default settings 00 024 00 025 00 026 00 027 Preset Reference...

Page 45: ...tor RatedVoltage Rated Speed Rated Current Rated Frequency 00 042 00 047 Motor parameters Power stage Open Loop Control Mode DynamicV f Select 00 007 00 008 00 009 OL Motor voltage control Estimated M...

Page 46: ...conditions 6001 2 Load file 1 Load the drive parameters or user program file from SD Card file 001 4001 3 Save to file 1 Transfer the drive parameters to parameter file 001 6002 4 Load file 2 Load th...

Page 47: ...parameters from parameter file xxx or the onboard user program from onboard user program file xxx 7yyy SD card Erase file xxx 8yyy SD card Compare the data in the drive with file xxx 9555 SD card Cle...

Page 48: ...uni polar or bi polar Txt Text the parameter uses text strings instead of numbers Bin Binary parameter IP IP Address parameter Mac Mac Address parameter Date Date parameter Time Time parameter Chr Ch...

Page 49: ...on setting up the speed controller gains refer to Chapter 8 Optimization on page 77 Open loop Set Pr 00 009 05 013 at 0 when the V f characteristic applied to the motor is to be fixed It is then based...

Page 50: ...ws the programmed deceleration rate subject to current limits This mode must be used if a braking resistor is connected to the drive 1 Standard ramp Standard ramp is used During deceleration if the vo...

Page 51: ...re detection is enabled a Thermistor 001 trip is initiated if P1 Thermistor Feedback 03 119 is above the level defined by P1 Thermistor Trip Threshold 03 120 The trip cannot be reset until P1 Thermist...

Page 52: ...ference When the drive is enabled when Pr 00 033 has a non zero value the drive performs a start up test to determine the motor speed and then sets the initial output frequency to the synchronous freq...

Page 53: ...be used when the motor is loaded and it is not possible to remove the load from the motor shaft The stationary test measures the Stator Resistance 05 017 Transient Inductance 05 024 Maximum Deadtime C...

Page 54: ...utions i e up to 2 mechanical revolutions in the required direction If sensorless mode is not selected then the Position Feedback Phase Angle 00 043 is set up for the position from the position feedba...

Page 55: ...or a hot machine Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate Slip compensation will operate correctly both below base spe...

Page 56: ...mum Comms Transmit Delay 11 026 or Silent Period 11 027 are modified the changes do not have an immediate effect on the serial communications system The new values are used after the next power up or...

Page 57: ...ed parameters Diagnostics UL listing information Digitax HD M753 Control User Guide 57 Issue Number 3 Pr 00 053 is the motor thermal time constant of the motor and is used along with the motor rated c...

Page 58: ...erating mode returns all parameters to their default value including the motor parameters User Security Status Pr 00 049 and User Security Code Pr 00 034 are not affected by this procedure Procedure U...

Page 59: ...r permanent magnet Induction motor 1 3 2 4 6 5 7 8 9 10 11 12 13 14 15 16 RUN FWD RUN REV Safe Torque Off 1 drive enable K e y p a d M o d e Marker pulse optional Thermal overload for braking resistor...

Page 60: ...coder Pulses Per Revolution in Pr 03 034 set according to encoder Drive encoder termination resistor setting in Pr 03 039 0 A A B B Z Z termination resistors disabled 1 A A B B termination resistors e...

Page 61: ...utotune should only be used if the motor is uncoupled The rotating autotune will rotate the motor by up to 2 mechanical revolutions in the direction selected regardless of the reference provided to ob...

Page 62: ...ne The drive is able to perform a stationary autotune The motor must be at a standstill before an autotune is enabled A stationary autotune will give moderate performance A stationary autotune is perf...

Page 63: ...ationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft A stationary autotune measures the stator resistance and the transient inductanc...

Page 64: ...rmistor can be selected in Pr 03 123 Refer to Pr 03 123 for further information Autotune The drive is able to perform either a stationary or a rotating autotune The motor must be at a standstill befor...

Page 65: ...AT interface SD Card Operation Onboard PLC Advanced parameters Diagnostics UL listing information Digitax HD M753 Control User Guide 65 Issue Number 3 Save parameters Select Save Parameters in Pr mm 0...

Page 66: ...e of Pr 05 040 is too large the motor may accelerate from standstill when the drive is enabled If the value of this parameter is too small the drive will detect the motor speed as zero even if the mot...

Page 67: ...osoft Net Frameworks 4 0 this is provided in the downloaded file Note that you must have administrator rights to install Connect Any previous copy of Connect should be uninstalled before proceeding wi...

Page 68: ...rs and permanent magnet motors Provision is also made to enter motor nameplate data Motor feedback set up This only needs to be performed in RFC S and RFC A with feedback modes Enter the encoder type...

Page 69: ...to be entered by the user Parameter can be set up automatically by the drive through auto configuration parameter Must be set by the user if auto configuration is disabled i e Pr 03 041 Disabled 0 Pr...

Page 70: ...oder with commutation signals SC SC 15 for a Sincos encoder with absolute position from single sin and cosine signals Supply Voltage 03 036 5 V 0 8 V 1 or 15 V 2 If output voltage from the encoder is...

Page 71: ...x x x 1 No action is taken unless marker flag is zero before marker event occurs x x 1 x Pr 03 028 and Pr 03 058 are set to zero x 1 x x Pr 03 028 Pr 03 029 Pr 03 030 and the related part of Pr 03 05...

Page 72: ...nary Mode 03 048 Off Gray Code On Binary Mode Rotary Turns Bits 03 033 Set to the number of turns bits for the encoder this is normally 12 bits for a SSI encoder Comms Bits 03 035 Total number of bits...

Page 73: ...FD or FR position feedback device types on the P2 position interface Table 7 4 shows a summary of the parameters required to set up each feedback device More detailed information follows Parameter AB...

Page 74: ...encoder simulation output on the drive For more information on the parameters listed here please refer to the Parameter Reference Guide Absolute EnDat communication only encoder Absolute BiSS coomuni...

Page 75: ...32 6 1 64 7 1 128 Encoder Simulation Hardware Marker Lock 03 090 0 The marker output is derived directly from the marker input 1 The incremental output signals are adjusted on each marker event so th...

Page 76: ...on source Pr 03 029 to use the P1 position interface on the drive as the source Pr 03 129 to use the P2 position interface on the drive as the source This parameter can be set to any other valid posit...

Page 77: ...terminal 2 6 and a run signal terminal 11 or 13 Mechanical load measurement test using signal injection The mechanical load measurement test using signal injection measures the mechanical characteris...

Page 78: ...r 00 007 to Pr 00 009 are used and if Pr 03 016 1 gains Kp2 Ki2 and Kd2 Pr 03 013 to Pr 03 015 are used Pr 03 016 may be changed when the drive is enabled or disabled If the load is predominantly a co...

Page 79: ...d inertia by performing a mechanical load measurement autotune see Autotune Pr 00 040 earlier in this table 3 Pr 03 017 2 Compliance angle set up If compliance angle based set up is required the drive...

Page 80: ...nertia measurement test a series of progressively larger torque levels are applied to the motor 20 40 100 of rated torque to accelerate the motor up to 3 4 x Rated Speed Pr 00 045 05 008 to determine...

Page 81: ...at does not introduce excessive noise normally associated with this type of function Increasing the differential term reduces the overshoot produced by under damping however for most applications the...

Page 82: ...uency Pr 00 047 and the motor rated speed Pr 00 045 Number of poles 120 x Rated Frequency 00 047 Rated Speed 00 045 rounded to the nearest even number Pr 00 043 05 010 Rated Power Factor Defines the a...

Page 83: ...sistance is not measured The user can enter the motor and cabling resistance into the Stator Resistance 05 017 However this will not include resistance effects within the drive inverter Therefore if t...

Page 84: ...must be set to a 1 this is the default setting and the motor rated speed must be entered in Pr 00 045 Pr 05 008 The motor rated speed parameter should be set to the synchronous speed of the motor min...

Page 85: ...of the motor which is used by the vector control algorithm Incorrect setting of this parameter has the following effects Reduced efficiency of motor operation Reduction of maximum torque available fr...

Page 86: ...selected ramps up to the currently selected speed reference and this speed is maintained for the duration of the test The Motor And Load Inertia 03 018 is set up To perform this autotune test set Pr...

Page 87: ...038 is the most critical value in controlling the performance The values for the current loop gains can be calculated by performing a stationary or rotating autotune see Autotune Pr 00 040 earlier in...

Page 88: ...ociated with this type of function Increasing the differential term reduces the overshoot produced by under damping however for most applications the proportional and integral gains alone are sufficie...

Page 89: ...p of the motor which is used by the vector control algorithm Incorrect setting of this parameter has the following effects Reduced efficiency of motor operation Reduction of maximum torque available f...

Page 90: ...t to the correct value for the motor or if standard ramp mode is active During the mechanical load measurement test a series of progressively larger torque levels are applied to the motor 20 40 100 of...

Page 91: ...normally associated with this type of function Increasing the differential term reduces the overshoot produced by under damping however for most applications the proportional and integral gains alone...

Page 92: ...f Pr 04 025 is 1 the characteristic is intended for motors where the cooling effect of motor fan reduces with reduced motor speed below 50 of base speed frequency The maximum value for K1 is 1 05 so t...

Page 93: ...oid damaging the drive The voltage produced by the permanent magnet motor magnets is proportional to speed For high speed operation the drive must apply currents to the motor to counter act the flux p...

Page 94: ...age approaches the rated voltage level If Pr 05 020 Quasi square wave enable is set to 1 the modulator will allow over modulation so that as the output frequency increases beyond the rated frequency t...

Page 95: ...3 2 Cabling considerations To ensure long term reliability it is recommended that any cables used to connect a system together be tested using a suitable Ethernet cable tester this is of particular i...

Page 96: ...at the LED on the front of the EtherCAT interface relating to the connector being used if this light is a solid green color then a link is established with the master if this light if off then check t...

Page 97: ...to sync manager 2 and one TxPDOs to sync manager 3 Figure 9 4 EtherCAT interface sync manager configuration Assigning RxPDO to the sync manager To assign RxPDO1 to sync manager 2 PDO assignment set t...

Page 98: ...setting is shown on the display Once the dials are set to the desired configurations the display will confirm the dial settings in hexadecimal followed by the station alias setting in decimal dial se...

Page 99: ...vices are supported Initiate SDO Download Write Initiate SDO Upload Read Abort SDO Transfer Error 9 13 CANopen over EtherCAT CoE The CoE protocol over EtherCAT uses a modified form of the CANopen obje...

Page 100: ...rive product code Byte0 tt Drive type 2 M753 Byte1 vv Drive variant derivative derived from Pr 11 028 Byte2 mm Drive mode derived from Pr 11 084 Byte3 gg Drive generation 0 Unidrive SP 1 Unidrive M Su...

Page 101: ...d object in bits if a gap bit length of the gap Bits 8 to 15 Sub index of the mapped object if a gap zero Bits 16 to 31 Index of the mapped object if a gap zero Sub index 2 2nd mapped object Access RW...

Page 102: ...length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object 0x1A02 Transmit PDO mapping 3 Sub index 0 Number of mapped objects Access RW Range 0 to 12 Si...

Page 103: ...1st mapped object Access RW Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default 0x200A2810 Drive status word Pr 10 040 Type UDINT Description A mapping to an object with the following format A mappin...

Page 104: ...e number of RxPDOs assigned to this sync manager used for process data output Sub indices 1 to sub index 0 Access RW Range 0x1600 to 0x17FF Size 2 bytes Unit N A Default One of the defined RxPDO mappi...

Page 105: ...ated as cyclic data loss and what action should the drive take in the event of it In the event of the PDO data not being detected within the synchronisation cycle the drive will indicate a PDOs Lost a...

Page 106: ...ted after the motor has stopped In the state QUICK STOP ACTIVE the currently selected mode of operation indicates how a quick stop should be handled When the drive is stopped using the ramp defined in...

Page 107: ...FB0 0x000F Inhibit drive Drive Tripped Fault Reaction Complete Fault Reset Yes No Any Drive Trip Shutdown Yes Stay in Quick Stop state No Start disable operation mode specific Disable operation Disabl...

Page 108: ...chine transition and events on page 107 for more information Value Definition 0 Disable drive function 1 Slow down on slow down ramp and transit into Switch on disabled 2 Slow down on quick stop ramp...

Page 109: ...i e by mapping PDOs to them The position encoder resolution object 0x608F will be read only and its value will be derived from drive parameter values The numerator of 0x608F will be derived from the n...

Page 110: ...normalized position value of the position capture source interface passes through zero in either direction The following objects are supported Table 9 58 Touch probe function Table 9 59 Touch probe s...

Page 111: ...able bit s is cleared and reset Continuous this mode captures the position each time an event occurs from the trigger source The position stored bit will only set for the first trigger no further indi...

Page 112: ...he values in the position_control_parameter_set will be read in the background so they cannot be mapped cyclically i e including them in PDOs is not allowed 0x6062 Position_demand_value Sub index 0 Ac...

Page 113: ...6502 Supported drive modes Sub index 0 Access RO Range 0 to 0xFFFFFFFF Size 4 bytes Unit N A Default N A Type UDINT Description Provides information on the supported drive modes as shown below Index N...

Page 114: ...6046 vl_velocity_min_max_amount This object is used to configure the minimum and maximum velocity The value is given in rpm if the vl_dimension_factor has the value of 1 otherwise the value is in user...

Page 115: ...ttles min m s The purpose of the vl_dimension_factor is to convert this specific unit to the revolutions minute unit A value of 0 must not be used Velocity user defined unit Dimension factor rpm user...

Page 116: ...the home position There is no output data except for those bits in the statusword which return the status or result of the homing process and the demand to the position control loops Figure 9 9 Homing...

Page 117: ...These methods are similar to methods 3 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home transitions For example methods 19 and 20 are si...

Page 118: ...PERATIONAL state Cyclic sync position mode provides linear interpolation which will always insert a delay of one position command The time specified must always be an integer multiple of the control l...

Page 119: ...his object is used to specify the velocity offset value The value is given in user defined units Table 9 103 Velocity offset 0x607A Target position Sub index 0 Access RW Range 0x8000000 to 0x7FFFFFFF...

Page 120: ...Torque Offset 60C2 Interpolation_time_period 0x6071 Target torque Sub index 0 Access RW Range 32768 to 32767 Size 2 bytes Unit N A Default 0 Type INT Description Specifies the target torque value Val...

Page 121: ...lot 4 Hardware Fault 253 Slot 4 Not Fitted 254 Slot 4 Different 221 Stored HF 0x5400 Power section 111 Config P 220 Power Data 223 Rating Mismatch 0x5510 RAM 227 Sub Array RAM Allocation 0x5530 Data s...

Page 122: ...rted every operating mode cycle time in phase with the synchronisation events if synchronization is enabled the operating mode will not start execution until the first synchronization event occurs If...

Page 123: ...served 0x3007 In cyclic data configuration Sub index 0 Access RO Range N A Size 1 byte Unit N A Default 2 Type USINT Description The number of the last sub index in this object Sub index 1 Access RW R...

Page 124: ...ing 2 Mapped object 1 to si0 1 to si0 UDINT RW Y Y Y Y Y Y 1602 Receive PDO mapping 3 Number of objects 0 USINT RW Y Y Y Y Y Y Receive PDO mapping 3 Mapped object 1 to si0 1 to si0 UDINT RW Y Y Y Y Y...

Page 125: ...DOs 0 USINT RO Y Y Y Y Y Y 1C12 SM2 PDO assignment Number of PDOs 0 USINT RW Y Y Y Y Y Y SM2 PDO assignment Assigned PDO index 1 UINT RW Y Y Y Y Y Y 1C13 SM3 PDO assignment Number of PDOs 0 USINT RW Y...

Page 126: ...Y 6041 Status word 0 UINT RO Y Y Y Y Y Y 6042 vl_target_velocity 0 INT RW Y N N N N N 6043 vl_velocity_demand 0 INT RO Y N N N N N 6044 vl_velocity_actual_value 0 INT RO Y N N N N N 6046 vl_velocity_m...

Page 127: ...ed current 0 UDINT RO Y Y Y Y Y Y 6077 Torque actual value 0 INT RO Y Y Y Y Y Y 6078 Current actual value 0 INT RO Y Y Y Y Y Y 607A Target position 0 DINT RW N N N N N Y 607C Home offset 0 DINT RW N N...

Page 128: ...N N N N 60C2 Interpolation time period Number of last sub index 0 USINT RO N Y N Y Y Y Interpolation time period Number of time periods 1 USINT RW N Y N Y Y Y Interpolation time period Time period ex...

Page 129: ...ynchronous outputs Off 0 or On 1 Off 0 RO Bit US 3 00 041 Consistency trigger parameter for non synchronous outputs 0 to 999999 0 RO Num DE US 3 00 042 Consistency trigger for non synchronous inputs O...

Page 130: ...D Card 1 Installing the SD Card 2 SD Card installed 10 2 SD Card support The SD Card can be used to store drive parameter sets and or PLC programs set from the Digitax HD in data blocks 001 to 499 on...

Page 131: ...drive they will contain their default values Pr 02 008 Standard Ramp Voltage Pr 04 005 to Pr 04 007 and Pr 21 027 to Pr 21 029 Motoring Current Limits Pr 04 024 User Current Maximum Scaling Pr 05 007...

Page 132: ...e SD Card values Data can be erased from the SD Card one block at a time Setting 7yyy in Pr mm 000 will erase SD Card data block yyy 10 3 8 9666 9555 Setting and clearing the SD Card warning suppressi...

Page 133: ...urrently installed card NV Media Card Warning Suppression Flag 11 076 shows the state of the warning flag for the currently installed card The value of NV Media Card File Required Version 11 077 is us...

Page 134: ...nite period of time It is possible to select up to 10 parameters as fast access parameter which reduced the amount of time it takes for the user program to read from or write to a drive parameter This...

Page 135: ...ispatch from the factory The drive is rated for one hundred program downloads This parameter is not altered when defaults are loaded This parameter shows the number of times the freewheeling task has...

Page 136: ...perature monitoring 8 Digital I O 9 Programmable logic motorized pot binary sum timers and scope 10 Status and trips 11 Drive set up and identification serial communications 12 Threshold detectors and...

Page 137: ...007 06 001 Deceleration rates 02 020 02 021 to 02 029 02 004 02 035 to 02 037 02 002 02 008 06 001 10 030 10 031 10 039 02 009 Defaults 11 043 11 046 Digital I O Menu 8 Digital I O read word 08 020 Di...

Page 138: ...g 10 010 10 011 10 030 10 031 06 001 02 004 02 002 10 012 10 039 10 040 Relative jog 13 017 to 13 019 Relay output 08 007 08 017 08 027 Reset 10 033 10 034 10 035 10 036 10 001 10 038 RFC mode encoder...

Page 139: ...ts V Range of MIN 0 Range of MAX 0 to 930 Definition VM_AC_VOLTAGE MAX is drive voltage rating dependent See Table 12 4 VM_AC_VOLTAGE MIN 0 VM_AC_VOLTAGE_SET Range applied to the AC voltage set up par...

Page 140: ...1 010 0 0 VM_AMC_POSITION_CAM MAX 1073741823 AMC Auto Resolution Scaling 31 016 AMC Roll Over Limit 31 010 1 VM_AMC_POSITION_CAM MIN 1073741824 AMC Auto Resolution Scaling 31 016 AMC Roll Over Limit 3...

Page 141: ...C_RATE_UNIPOLAR Unipolar version of VM_AMC_RATE Unit User units ms ms Range of MIN 0 Range of MAX 1073741 823 Definition VM_AMC_RATE_UNIPOLAR MAX 1073741 823 AMC Auto Resolution Scaling 31 016 VM_AMC_...

Page 142: ...ange of MIN 0 000 Range of MAX 0 000 to 99999 999 Definition VM_DRIVE_CURRENT_UNIPOLAR MAX VM_DRIVE_CURRENT MAX VM_DRIVE_CURRENT_UNIPOLAR MIN 0 000 VM_HIGH_DC_VOLTAGE Range applied to parameters showi...

Page 143: ...05 010 2 1 is calculated during an autotune See the variable minimum maximum calculations in the Parameter Reference Guide for more information regarding 2 IMaxRef is 0 9 x Pr 11 061 when the motor r...

Page 144: ...open loop mode VM_POSITIVE_REF_CLAMP1 MAX is fixed at 550 0 Hz In RFC mode a limit is applied to the speed reference of 550 x 60 Motor pole pairs Therefore with a 4 pole motor the limit for VM_POSITIV...

Page 145: ...the keypad reference Units Open loop Hz RFC A RFC S rpm or mm s Range of MIN Open loop 550 0 to 550 0 RFC A RFC S 50000 0 to 50000 0 Range of MAX Open loop 0 0 to 550 0 RFC A RFC S 0 0 to 50000 0 Defi...

Page 146: ...D_FREQ_USER_REFS VM_SPEED_FREQ_REF MAX If the second motor map is selected Pr 11 045 1 Pr 21 002 is used instead of Pr 01 007 Negative Reference Clamp Enable 01 008 Bipolar Reference Enable 01 010 VM_...

Page 147: ...Load 04 020 Torque Reference 04 008 and Torque Offset 04 009 This is useful when routing these parameters to an analog output as it allows the full scale output value to be defined by the user The max...

Page 148: ...Selector Reference Selected Indicator 01 049 01 014 01 009 01 004 Percentage Trim 01 038 01 001 0 1 2 3 4 5 10 9 Analog Reference Preset Reference Keypad Reference Precision Reference mm ppp mm ppp K...

Page 149: ...erence Pre Ramp Reference Maximum Reference Clamp Minimum Reference Clamp Negative Reference Clamp Enable Reference On Reverse Select Skip Reference 1 Reference In Rejection Zone Speed Feed forwards S...

Page 150: ..._SPEED_FREQ_REF 0 0 RW Num US 01 024 Preset Reference 4 VM_SPEED_FREQ_REF 0 0 RW Num US 01 025 Preset Reference 5 VM_SPEED_FREQ_REF 0 0 RW Num US 01 026 Preset Reference 6 VM_SPEED_FREQ_REF 0 0 RW Num...

Page 151: ...allation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SD Card Operation Onboard PLC Advanced parameters Diagnostics UL listing information...

Page 152: ...4 5 6 7 8 3 4 1 2 7 5 6 Preset Selected Indicator 0 1 2 3 4 5 6 7 8 9 02 019 Jog Acceleration Rate 0 1 01 013 Jog Select 01 003 Pre Ramp Speed Reference 02 003 Ramp Hold 02 004 Ramp Mode Select N t N...

Page 153: ...eration Rate 6 02 027 Deceleration Rate 7 02 028 Deceleration Rate 8 Deceleration Rates 1 8 1 2 3 4 5 6 7 8 3 4 1 2 7 8 5 6 0 1 2 3 4 5 6 7 8 9 02 037 01 050 Preset Selected Indicator 02 029 Jog Decel...

Page 154: ...eceleration Rate 1 0 0 to VM_ACCEL_RATE s 100 Hz 0 000 to VM_ACCEL_RATE s 1000 rpm 10 0 s 2 000 s 0 200 s RW Num US 02 022 Deceleration Rate 2 0 0 to VM_ACCEL_RATE s 100 Hz 0 000 to VM_ACCEL_RATE s 10...

Page 155: ...ence Clamp _ 03 006 10 005 Below Set Speed At Speed Lower Limit _ 03 007 10 007 Above Set Speed At Speed Upper Limit 10 006 At Speed 03 013 0 Enable Frequency Slaving 1 2048 03 014 03 015 Slaving Rati...

Page 156: ...02 001 Post Ramp Reference 0 1 0 1 03 023 01 011 Hard Speed Reference Select Reference On Final Speed Reference 03 022 Hard Speed Reference 0 1 02 005 Disable Ramp Output VM_SPEED_FREQ_REF MIN VM_SPEE...

Page 157: ...Speed Zero Speed Threshold _ 01 007 10 004 Running At Or Below Minimum Speed Min Reference Clamp 0 1 01 010 Bipolar Reference Enable 5min 1 20 Speed Controller Differential Feedback Gains 0 1 03 008 O...

Page 158: ...03 055 P1 Pole Pitch P1 Revolution Pole Pitch Counter 03 028 03 029 P1 Position 03 030 P1 Fine Position 03 031 P1 Marker Mode 03 032 P1 Marker Flag 03 057 P1 Normalization Turns 03 058 P1 Normalized P...

Page 159: ...itch P2 Revolution Pole Pitch Counter 03 128 03 129 P2 Position 03 130 P2 Fine Position 03 131 P2 Marker Mode 03 132 P2 Marker Flag 03 157 P2 Normalization Turns 03 158 P2 Normalized Position 03 159 P...

Page 160: ...Source 03 105 F2 Freeze Trigger Source F2 Normalized Freeze Position 03 109 F2 Freeze Flag 03 106 F2 Freeze Mode 03 107 1 0 P1 Position P2 Position F2 Freeze Position Source 03 113 Freeze Input State...

Page 161: ...re mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X The parameters are all shown in their default settings 0 1 2 3 03 088 Encoder Simulation Mo...

Page 162: ...RO Num ND NC PT RFC Speed Controller Gain Select Off 0 or On 1 Off 0 RW Bit US 03 017 Speed Controller Set up Method Disabled 0 Bandwidth 1 Comp Angle 2 Kp Gain Times 16 3 Low Performance 4 Std Perfor...

Page 163: ...tion Feedback Signals 000000 to 111111 RO Bin ND NC PT 03 071 P1 Error Detected Off 0 or On 1 RO Bit ND NC PT 03 073 P1 Absolute Turns Recovery Enable Off 0 or On 1 Off 0 RW Bit US 03 074 P1 Additiona...

Page 164: ...RW Num US 03 135 P2 Comms Bits 0 to 48 0 RW Num US 03 137 P2 Comms Baud Rate 100k 0 200k 1 300k 2 400k 3 500k 4 1M 5 1 5M 6 2M 7 4M 8 Baud 300k 2 Baud RW Txt US 03 138 P2 Device type None 0 AB 1 FD 2...

Page 165: ...172 P2 Status None 0 AB 1 FD 2 FR 3 EnDat 4 SSI 5 EnDat Alt 7 SSI Alt 8 RO Txt ND NC PT 03 173 P2 Absolute Turns Recovery Enable Off 0 or On 1 Off 0 RW Bit US 03 174 P1 Additional Configuration 0 to 5...

Page 166: ...2 04 020 10 017 04 019 Motor Protection Accumulator Motor Overload Alarm 10 039 Braking Resistor Thermal Accumulator 04 004 Final Current Reference Torque to current conversion 05 006 Output Frequency...

Page 167: ...16 Speed Controller Gain Select Current Reference Filter 2 Time Constant mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X The parameters are al...

Page 168: ...Controller Gain Select 03 016 Current Reference Filter 2 Time Constant 05 007 05 008 Rated Speed Rated Current 04 004 mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input terminals...

Page 169: ...8 Final Current Limit VM_TORQUE_CURRENT RO Num ND NC PT 04 019 Motor Protection Accumulator 0 0 to 100 0 RO Num ND NC PT PS 04 020 Percentage Load VM_USER_CURRENT RO Num ND NC PT FI 04 021 Current Fee...

Page 170: ...gnetising Current Torque Producing Current Percentage Load Motormap 05 012 Autotune 05 024 05 014 Open Loop Control Mode 05 001 Output Frequency 05 004 Motor RPM 1 0 Slip compensation Enable Slip Comp...

Page 171: ...allation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SD Card Operation Onboard PLC Advanced parameters Diagnostics UL listing information...

Page 172: ...Feedback Flux Magnitude Current References Current feedback 05 001 Flux angle 05 012 05 015 05 026 05 031 Autotune Low frequency Voltage Boost High Dynamic Performance Enable Voltage Controller Gain O...

Page 173: ...aximum Switching Frequency Modulator 05 003 Power Calculation 3 x V x I 05 002 Output Voltage Output Power 05 005 Voltage reference U V W DC Bus Voltage Current Magnitude Magnetising Current Torque Pr...

Page 174: ...r Auto 3 Ur I 4 Square 5 Ur I 4 RW Txt US Phasing Test On Enable Disabled 0 Short 1 Short Once 2 Long 3 Long Once 4 Disabled 0 RW Txt US 05 015 Low Frequency Voltage Boost 0 0 to 25 0 1 RW Num US Mini...

Page 175: ...00 C 0 C RW Num US 05 053 Rotor Temperature 50 to 300 C RO Num ND NC PT 05 054 Rotor Temperature Coefficient 0 00000 to 0 10000 C 1 0 00390 C 1 0 00100 C 1 RW Num US 05 055 Rotor Base Temperature 50 t...

Page 176: ...Guide Issue Number 3 05 087 User Defined Rated Torque Angle 0 to 90 0 RW Num US 05 088 Estimated Lq 0 000 to 500 000 mH RO Num ND NC PT FI 05 089 Rated Torque Angle 0 to 90 RO Num ND NC PT RW Read Wr...

Page 177: ...o Speed Motor Pre Heat Enable Catch A Spinning Motor Enable Sequencer Latching 05 005 DC Bus Voltage Low voltage supply Drive power supply monitor 06 044 Active Supply 06 018 06 017 Time Day Of Week 0...

Page 178: ...ram Under voltage and power supply control Low Under Voltage Threshold 06 066 06 065 Standard Under Voltage Threshold Low Under Voltage Threshold Select 05 005 D C Bus Voltage 10 016 Under Voltage Act...

Page 179: ...ore Filter Change Due 0 to 30000 Hours RO Num ND NC PT PS 06 024 Reset Energy Meter Off 0 or On 1 Off 0 RW Bit 06 025 Energy Meter MWh 999 9 to 999 9 MWh RO Num ND NC PT PS 06 026 Energy Meter kWh 99...

Page 180: ...Braking IGBT Lower Threshold 0 to VM_DC_VOLTAGE_SET V 200 V drive 390 V 400 V drive 780 V RW Num RA US 06 074 Braking IGBT Upper Threshold 0 to VM_DC_VOLTAGE_SET V 200 V drive 390 V 400 V drive 780 V...

Page 181: ...log Ref 1 07 030 Analog Input 1 Offset 07 040 Analog Input 1 Minimum 07 043 Analog Input 1 Maximum mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X...

Page 182: ...RW Bit NC 07 026 Analog Input 1 Fast Update Active Off 0 or On 1 RO Bit ND NC PT 07 030 Analog Input 1 Offset 100 00 0 00 RW Num US 07 033 Power Output 100 0 RO Num ND NC PT 07 034 Inverter Temperatu...

Page 183: ...allation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SD Card Operation Onboard PLC Advanced parameters Diagnostics UL listing information...

Page 184: ...5 Digital Input 0 Invert 5 Digital Input 05 State 08 005 13 13 06 032 Run Reverse T Digital 13 Input 05 External Trip Generator 08 009 08 040 External Trip Mode 08 010 STO Input 02 State Combine with...

Page 185: ...Issue Number 3 Any unprotected bit parameter 08 028 24 V Supply Output Source x 1 08 018 24 V Supply Output Invert 24 V Supply Output State 08 008 00 000 12 12 T 24 V Output 12 Digital Output 3 Any b...

Page 186: ...041 2 1 0 Toggle Auxiliary Button 08 042 2 1 0 Toggle Keypad Auxiliary Button Destination 08 051 Run button x 1 x 1 Keypad Run Button Invert Toggle Keypad Run Button State 08 061 00 000 Keypad Run Bu...

Page 187: ...99 10 003 RW Num DE PT US 08 022 Digital I O 02 Source Destination 0 000 to 59 999 12 040 RW Num DE PT US 08 024 Digital Input 04 Destination 0 000 to 59 999 6 030 RW Num DE PT US 08 025 Digital Input...

Page 188: ...1 09 001 Any unprotected bit parameter 09 020 Any bit parameter x 1 09 014 09 015 Any bit parameter x 1 09 016 09 017 09 018 09 019 x 1 09 002 mm ppp mm ppp Key Read write RW parameter Read only RO p...

Page 189: ...nary Sum Output Any unprotected bit parameter 09 033 Binary Sum Destination S 09 024 Motorized Pot Scaling 09 025 Motorized Pot Destination 09 023 Motorized Pot Rate Any unprotected variable parameter...

Page 190: ...09 037 Timer 1 Stop Date 09 038 Timer 1 Stop Time 09 039 Timer 1 Repeat Function Timer 1 Enable Timer 1 Invert Timer 1 Output Timer 1 Destination Any unprotected bit parameter 09 053 09 051 x 1 09 052...

Page 191: ..._ Scope Trigger Scope Trigger Source Scope Trigger Threshold 09 063 Scope Mode 09 067 Scope Sample Time 09 068 Scope Trigger Delay 09 055 09 057 09 056 09 064 09 058 09 065 Scope Data Not Ready 09 066...

Page 192: ...eset Off 0 or On 1 Off 0 RW Bit NC 09 029 Binary Sum Ones Off 0 or On 1 Off 0 RW Bit NC 09 030 Binary Sum Twos Off 0 or On 1 Off 0 RW Bit NC 09 031 Binary Sum Fours Off 0 or On 1 Off 0 RW Bit NC 09 03...

Page 193: ...US 09 069 Scope Time Period 0 00 to 200000 00 ms RO Num ND NC PT 09 070 Scope Auto save Mode Disabled 0 Overwrite 1 Keep 2 Disabled 0 RW Txt US 09 071 Scope Auto save File Number 0 to 99 RO Num PS 09...

Page 194: ...10 026 Trip 6 0 to 255 RO Txt ND NC PT PS 10 027 Trip 7 0 to 255 RO Txt ND NC PT PS 10 028 Trip 8 0 to 255 RO Txt ND NC PT PS 10 029 Trip 9 0 to 255 RO Txt ND NC PT PS 10 030 Braking Resistor Rated Po...

Page 195: ...mber 0 to 65535 RO Num ND NC PT PS 10 077 Trip 7 Sub trip Number 0 to 65535 RO Num ND NC PT PS 10 078 Trip 8 Sub trip Number 0 to 65535 RO Num ND NC PT PS 10 079 Trip 9 Sub trip Number 0 to 65535 RO N...

Page 196: ...None 0 RW Txt NC US 11 043 Load Defaults None 0 Standard 1 US 2 None 0 RW Txt NC 11 044 User Security Status Menu 0 0 All Menus 1 Read only Menu 0 2 Read only 3 Status Only 4 No Access 5 Menu 0 0 RW T...

Page 197: ...rity Status None 0 Read only 1 Status only 2 No Access 3 RO Txt ND NC PT PS 11 086 Menu Access Status Menu 0 0 or All Menus 1 RO Txt ND NC PT PS 11 090 Keypad Port Serial Address 1 to 16 1 RW Num US 1...

Page 198: ...tput Invert 12 001 12 005 Threshold Detector 1 Hysteresis Any unprotected bit parameter 12 007 Threshold Detector Destination 1 Any variable parameter 12 023 Threshold Detector 2 Source 12 024 Thresho...

Page 199: ...tor 2 Source 2 Scaling Variable Selector 2 Output Variable Selector 2 Destination 12 012 12 011 Variable Selector 1 Variable Selector 1 Mode Variable Selector 1 Control 12 010 12 015 Any variable para...

Page 200: ...brake When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered as this may result in the brake being released inadvertently WARNING...

Page 201: ...Pr Output Frequency 05 001 Pr Reference On 01 011 Pr Brake Control Brake Release 12 040 Pr Ramp Hold 02 003 Pr Drive Active 10 002 Pr Current Magnitude 04 001 1 Wait for upper current threshold and b...

Page 202: ...ation is selected as an output to release a brake When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered as this may result in th...

Page 203: ...e Number 3 Figure 12 30 RFC A with position feedback brake sequence 1 2 3 5 4 Pr Speed Feedback 03 002 Pr Reference On 01 011 Pr Ramp Hold 02 003 Pr Current Magnitude 04 001 1 Wait for motor fluxed 2...

Page 204: ...lt configuration is selected as an output to release a brake When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered as this may r...

Page 205: ...ust also be incorporated WARNING Digital Output 2 in default configuration is selected as an output to release a brake When drive terminals are programmed to non default settings the result of incorre...

Page 206: ...2 Source 1 0 000 to 59 999 0 000 RW Num PT US 12 029 Variable Selector 2 Source 2 0 000 to 59 999 0 000 RW Num PT US 12 030 Variable Selector 2 Mode Input 1 0 Input 2 1 Add 2 Subtract 3 Multiply 4 Div...

Page 207: ...allation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SD Card Operation Onboard PLC Advanced parameters Diagnostics UL listing information...

Page 208: ...Motion Reference Source 03 027 P1 Speed Feedback 03 127 P1 Interface P2 Interface P2 Speed Feedback Option Slot 1 P1 Speed Feedback Option Slot 1 P2 Speed Feedback Option Slot 2 P1 Speed Feedback Opti...

Page 209: ...invalid 5 The position feedback initialized parameter Pr 03 048 is zero mm ppp mm ppp Key Read write RW parameter Read only RO parameter Input terminals Output terminals X X X X Orientation 13 014 13...

Page 210: ...d Spd FF 3 Non Rigid 4 Disabled 0 Rigid Spd FF 1 Rigid 2 Non rigid Spd FF 3 Non Rigid 4 Orientate Stop 5 Orientate 6 Disabled 0 RW Txt US 13 011 Standard Motion Absolute Mode Enable Off 0 or On 1 Off...

Page 211: ...allation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SD Card Operation Onboard PLC Advanced parameters Diagnostics UL listing information...

Page 212: ...1 Feed Forwards Reference Source PID1 Feed Forwards Reference 14 009 PID1 Enable Source 1 Source not used 14 008 Any bit parameter 0 1 Logic 1 14 021 PID1 Feedback 0 1 x 1 14 006 PID1 Feedback Invert...

Page 213: ...Menu 14 can also be used for PID2 as they are the same 14 010 14 011 14 012 14 017 14 013 14 014 14 018 14 001 14 015 14 016 Any unprotected variable parameter PID1 Differential Gain PID1 Integral Ga...

Page 214: ...Reference 100 00 0 00 RW Num US 14 026 PID1 Digital Feedback 100 00 0 00 RW Num US 14 027 PID1 Enable Source 2 0 000 to 59 999 0 000 RW Num PT US 14 028 PID1 Pre sleep Boost Level 0 00 to 100 00 0 00...

Page 215: ...3 Max Fbk 4 Av Fbk 5 Min Error 6 Max Error 7 Fbk1 0 RW Txt US 14 060 PID1 Feedback Square Root Enable 1 Off 0 or On 1 Off 0 RW Bit US 14 061 PID2 Feedback Square Root Enable Off 0 or On 1 Off 0 RW Bit...

Page 216: ...e corresponding slot See the relevant option module user guide for more information regarding the module 1 2 Parameter Range Default Type mm 001 Module ID 0 to 65535 RO Num ND NC PT mm 002 Software Ve...

Page 217: ...Off 0 RO Bit US 17 041 Consistency trigger parameter for non synchronous outputs 0 to 999999 0 RO Num DE US 17 042 Consistency trigger for non synchronous inputs Off 0 or On 1 Off 0 RW Bit US 17 043 C...

Page 218: ...Num US 21 018 M2 Speed Controller Integral Gain Ki1 0 00 to 655 35 s2 rad 0 10 s2 rad 1 00 s2 rad RW Num US 21 019 M2 Speed Controller Differential Feedback Gain Kd1 0 00000 to 0 65535 1 rad 0 00000...

Page 219: ...0 RW Num RA US 21 054 M2 Lq At Defined Iq Test Current 0 000 to 500 000 mH 0 000 mH RW Num RA US 21 058 M2 Id Test Current For Inductance Measurement 100 to 0 50 RW Num US 21 060 M2 Lq at the defined...

Page 220: ...US 22 025 Parameter 00 025 Set up 0 000 to 59 999 1 022 RW Num PT US 22 026 Parameter 00 026 Set up 0 000 to 59 999 1 023 3 008 RW Num PT US 22 027 Parameter 00 027 Set up 0 000 to 59 999 1 024 3 034...

Page 221: ...PT US 22 068 Parameter 00 068 Set up 0 000 to 59 999 0 000 RW Num PT US 22 069 Parameter 00 069 Set up 0 000 to 59 999 0 000 RW Num PT US 22 070 Parameter 00 070 Set up 0 000 to 59 999 0 000 RW Num P...

Page 222: ...drive status information and drive trip indication for fault diagnosis 13 1 Status modes KI Compact Display KI Remote Keypad and drive LED status Figure 13 1 KI Compact Display status modes 1 Drive OK...

Page 223: ...wn on the drive display Alternatively the drive status can be read in Pr 10 001 Drive OK using communication protocols The most recent trip can be read in Pr 10 020 providing a trip number It must be...

Page 224: ...trip can be interpreted as an over temperature has been detected the trip was generated by fault in the control module the control board thermistor 2 over temperature For further information on indivi...

Page 225: ...ded actions 1 The position feedback did not change when position feedback is being used during rotating auto tune Ensure that the motor is free to turn i e mechanical brake is released Check that the...

Page 226: ...used i e AB Servo FD Servo FR Servo SC Servo or Commutations only encoder and the W commutation signal did not change during a rotating autotune Recommended actions Check feedback device W commutatio...

Page 227: ...dicates that an attempt has been made to access a file on SD Card but the SD Card is already being accessed by an Option Module such as one of the Applications modules No data is transferred Recommend...

Page 228: ...ttempted between the data block and the drive Recommended actions Ensure the correct option modules are installed Ensure the option modules are in the same option module slot as the parameter set stor...

Page 229: ...sub trip indicating the option module slot number Recommended actions Ensure the source destination option module is installed on the correct slot Control Word Trip initiated from the Control Word 06...

Page 230: ...The Drive Size trip indicates that the control PCB has not recognized the drive size of the power circuit to which it is connected Recommended action Ensure the drive is programmed to the latest firm...

Page 231: ...of 200 mA 15 V or 300 mA 8 V and 5 V Recommended actions Check encoder power supply wiring Disable the termination resistors Pr 03 039 set to 0 to reduce current consumption For 5 V encoders with long...

Page 232: ...evice which has caused the trip can be identified by the sub trip number Recommended actions Ensure the encoder power supply setting Pr 03 036 is correct Complete encoder auto configuration Pr 03 041...

Page 233: ...ded actions Check the setting of Pr 03 026 or Pr 21 021 if the second motor parameters have been enabled Ensure that the option slot selected in Pr 03 026 has a feedback option module installed Encode...

Page 234: ...the supplier of the drive HF03 Data processing error Illegal instruction The HF03 trip indicates that an illegal instruction has occurred This trip indicates that the control PCB on the drive has fai...

Page 235: ...he drive HF13 Data processing error Firmware incompatible with hardware The HF13 trip indicates that the drive firmware is not compatible with the hardware This trip indicates that the control PCB on...

Page 236: ...rive HF19 Data processing error CRC check on the firmware has failed The HF19 trip indicates that the CRC check on the drive firmware has failed Recommended actions Re program the drive Hardware fault...

Page 237: ...The I O Overload trip indicates that the total current drawn from 24 V user supply or from the digital output has exceeded the limit A trip is initiated if one or more of the following conditions Maxi...

Page 238: ...actions Ensure that the device encoder memory has at least 128 bytes to store the nameplate data When writing the motor object Pr mm 000 11000 ensure that the device encoder memory has at least 256 by...

Page 239: ...r 05 010 Pr 05 011 All Modes Disable slip compensation Pr 05 027 0 Open loop Disable dynamic V to F operation Pr 05 013 0 Open loop Select fixed boost Pr 05 014 Fixed Open loop Select high stability s...

Page 240: ...power rating OI ac Instantaneous output over current detected 3 The instantaneous drive output current has exceeded VM_DRIVE_CURRENT MAX This trip cannot be reset until 10 s after the trip was initiat...

Page 241: ...hich rectifier has detected the fault Recommended actions Ensure the internal EMC Filter is installed Ensure the motor cable length does not exceed the maximum for selected switching frequency Check f...

Page 242: ...resistor value staying above the minimum value Check nominal AC supply level Check for supply disturbances which could cause the DC bus to rise Check motor insulation using an insulation tester Phase...

Page 243: ...ected the fault Recommended actions Hardware fault Contact the supplier of the drive Power Data Power system configuration data error 220 The Power Data trip indicates that there is an error in the co...

Page 244: ...ximum value that can be used in the control algorithms If the value exceeds VFS v2 Full Scale Current Kc 11 061 where VFS is the full scale DC bus voltage then this trip is initiated If the value is t...

Page 245: ...t X cannot operate The possible causes of the trip can be identified by the sub trip number Recommended actions Ensure the option module is installed correctly Replace the option module Replace the dr...

Page 246: ...own 221 The Stored HF trip indicates that a hardware trip HF01 HF20 has occurred and the drive has been power cycled The sub trip number identifies the HF trip i e stored HF 17 Recommended actions Ent...

Page 247: ...ip indicates that the motor thermistor connected to the drive is short circuit or low impedance i e 50 The location of the trip can be identified by the sub trip number Recommended actions Check therm...

Page 248: ...ction called i e a function in the host system vector table that has not been assigned As 40 52 Customized menu table CRC check failed As 30 53 Customized menu table changed Occurs when the drive powe...

Page 249: ...If the power to the drive was removed when the user parameters were being saved Recommended actions Perform a user save in Pr mm 000 to ensure that the trip doesn t occur the next time the drive is p...

Page 250: ...e 5 161 User Trip 161 208 Slot2 Not Fitted 16 Autotune 6 162 Encoder 12 209 Slot2 Different 17 Autotune 7 163 Encoder 13 210 Slot3 HF 18 Autotune Stopped 164 168 Reserved 164 168 211 Slot3 Watchdog 19...

Page 251: ...HFxx These indicate internal problems and cannot be reset All drive features are inactive after any of these trips occur If an KI Keypad is installed it will show the trip but the keypad will not func...

Page 252: ...d in Regen mode and is trying to synchronize to the supply Enabled Supply Loss Supply loss condition has been detected Enabled Deceleration The motor is being decelerated to zero speed frequency becau...

Page 253: ...erCAT interface ID code This parameter is useful for checking the EtherCAT interface is of the correct type 13 11 2 EtherCAT interface firmware version Table 13 12 EtherCAT interface firmware version...

Page 254: ...utotune 6 24 Thermistor 25 Th Short Circuit 33 Resistance 0x7300 Sensor 17 Autotune 7 162 to 163 Encoder 12 to Encoder 13 176 Name Plate 189 to 198 Encoder 1 to Encoder 10 218 Temp Feedback 0x7310 Spe...

Page 255: ...th the correct file for device 0016 Invalid mailbox configuration Slave device changed but network configuration is unchanged Replace previous network description of old slave with the one of the new...

Page 256: ...ror block mode only 0x05040005 Out of memory 0x06010000 Unsupported access to an object 0x06010001 Attempt to read a write only object 0x06010002 Attempt to write a read only object 0x06020000 Object...

Page 257: ...tal fuses as specified in the Digitax HD M75X Series Installation and Technical Guide 14 9 Overvoltage category The Over Voltage Category is OVC III OVC III applies to equipment permanently connected...

Page 258: ...drives are provided with user terminals that can be connected to a motor thermistor to protect the motor from high temperature in the event of a motor cooling fan failure 14 18 Enclosure rating All d...

Page 259: ...ontrol 166 Menu 05 Motor control 170 Menu 06 Sequencer and clock 177 Menu 07 Analog I O 181 Menu 08 Digital I O 184 Menu 09 Programmable logic motorized pot and binary sum 188 Menu 10 Status and trips...

Page 260: ...ormation 9 Saving parameters 39 SD card operation 130 Serial communications connections 22 Serial communications look up table 225 Single line descriptions 41 Speed feedback 58 Speed loop gains 78 79...

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Page 262: ...0478 0461 03...

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