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Parker Hannifin S.p.A. - Divisione S.B.C.                                                                                LVD User’s Manual 

 

 

56

TRAPEZOIDAL POSITIONER

OPERATING MODE

9

Pr 57

+

-

+

+

Pr63:Pr62

motor position

Pr61:Pr60

target position

Pr 56

- 1

b70.5

servo error

window

servo error

reserved
reference

proportional

gain

V

A

IQ

profile generator

feed

forward

b70.6

Pr65:Pr64

incremental

position

Pr 51

ramps

Pr 52

steady time

speed

b70.7

in progress

b70.8

profile on

b70.10

target position = motor position = 0

b70.11

target position = motor position = shaft position

reset 1

reset 2

pulses

Pr 50

steps for pulse

b70.9

b70.12

target position = motor position

reset 3

b70.2

incremental position Pr 65:Pr 64 = 0

reset 4

b70.4

reverse/forward

Pr 6

resolver position

b70.1

encoder position

Pr 58

Pr 59

 

 
 
 
 
 

Pr 57

Pr 50

+

-

+

+

Pr 63:Pr62

motor position

Pr 61:Pr60

target position

encoder

master

Pr 51

ratio

feed

forward

proportional

gain

max regulator

speed

b70.8

Pr 55

master speed

Pr 52

ramp

d

dt

Pr 56

- 1

b70.5

servo error

window

servo error

DIGITAL LOCK

OPERATING MODE

Pr 58

slip

speed

b70.6

+

+

10

b70.10

target position = motor position = 0

reset 1

b70.2

locked

 Pr 6

reserved reference

Pr 53

 

 
 
 
 

Summary of Contents for LVD1

Page 1: ...Divisione S B C LVD LVD1 LVD2 LVD5 LVD10 LVD15 User s Manual Rev 1 7 November 2002 Software Rel 55...

Page 2: ...L ACCELERATION CONTROL SPINDLE ORIENTATION FOR TOOL CHANGING SOFTWARE TOOLS AVAILABLE RS 485 or RS 422 SERIAL LINK BUILT IN P L C CanBus interface ELECTRONIC CAM LVD everywhere for any application Par...

Page 3: ...he drive will automatically invalidate the warranty Warranty cover is otherwise provided for 1 one year This user manual is applicable to the standard version of the drive Parker Hannifin S p A Divisi...

Page 4: ...le connections 21 2 8 Signal cable connection diagram 21 2 9 Frequency input connection 21 2 10 Simulated encoder output 23 2 11 Serial line connection 23 2 12 Backup 24 2 13 Status LEDs 24 3 PARAMETE...

Page 5: ...f fields in real time mode 83 6 2 Description of fields in communication mode 87 Appendix A LVD mechanical dimensions 89 Appendix B MB series motor connectors 90 Appendix C hardware characteristics 91...

Page 6: ...with trapezoidal profile digital locking spindle orientation stepper motor simulation torque control and acceleration control the LVD drive also has an internal PLC The drive PLC adopts the most diffu...

Page 7: ...e most important identification data Please make a note of the information on this label before requesting technical information from Parker Hannifin S p A Divisione S B C An example of the identifica...

Page 8: ...power stage W 18 28 45 87 120 Ambient temperature oC 45 Internal braking resistor dissipation W 120 Feedback resolver speed 1 Power stage switching frequency kHz 16 Maximum basic output frequency Hz...

Page 9: ...PLC for advanced input output programming functions 1 6 Compliance with EMC standards Immunity EN50082 1 EN50082 2 Basic immunity specifications IEC1000 4 2 ex IEC 801 2 level 3 Electrostatic dischar...

Page 10: ...teed in all cases Wires connected to the drive by means of the terminal strip must not be soldered EN60065 art 15 3 5 Make sure drive and motor are properly earthed Make sure that the maximum voltage...

Page 11: ...ssion attention must be paid however to the entire installation as this is one of the most important precautions for obtaining efficient noise suppression High frequency interference takes the form of...

Page 12: ...neral the shield should be connected at each extremity In certain circumstances however control cable shields may be connected only at one end to eliminate mains hum that could interfere with the cont...

Page 13: ...Parker Hannifin S p A Divisione S B C LVD User s Manual 13 2 4 Connector layout 24V status X1 X3 X5 X7 X2 X4 X6 X9 X8 M X10 1 STUD...

Page 14: ...U 4 keypad 5 MOTOR PHASE V 5 6 MOTOR PHASE W 6 connector 7 8 9 DB9 male X2 CanBus DB9 female X3 Serial Link 1 NC 1 TX 2 CANBUS L 2 RX 3 0 V 3 TX 4 4 RX 5 0 V 5 6 0 V 6 BR 7 CANBUS H 7 BR 8 8 0 V 9 9 0...

Page 15: ...6 AUX ANALOG INPUT 7 AUX ANALOG OUTPUT 7 0 V 8 TACHO OUTPUT 8 ANALOG REFERENCE 9 DIGITAL OUTPUT 1 9 DIGITAL INPUT 1 10 DIGITAL OUTPUT 3 10 DIGITAL INPUT 3 11 DIGITAL OUTPUT 5 11 DIGITAL INPUT 5 12 DI...

Page 16: ...ble must be composed of 3 twisted pairs with individual screens and one common screen Conductor conductor capacitance for the length of cable utilised must not exceed 10 nF wire section must be at lea...

Page 17: ...ion to the length are shown in the adjacent table 2 6 Power connection diagrams transformer with electrostatic shield between primary and secondary windings MAINS L1 L2 L3 PE 1 2 3 4 5 6 A B C D MOTOR...

Page 18: ...rmer with electrostatic shield between primary and secondary windings MAINS L1 L2 L3 PE 1 2 3 4 5 6 A B C D MOTOR E M X9 Stud 1 5 6 9 a b f e d c g connector resolver X10 1 2 3 X8 Power Supply 24 V 1...

Page 19: ...Note The EMC filter can be connected up or down line of the autotransformer if connected up line it may prove necessary to use a screened cable between autotransformer and LVD if connected down line t...

Page 20: ...and in any event no longer than 50 cm In the case of single phase connections the power available from the LVD drive is derated the maximum power output of the LVD with a single phase supply is given...

Page 21: ...ignal cable connection diagram CONTROL LVD REF REF A A B B C C 8 7 X7 Reference in 15 1 2 3 4 5 6 7 X4 Encoder out 24Vdc x 1 5 X7 Inputs 1 X6 Outputs TO EARTH BUSBAR 4 AXIS Encoder in Enable Input Ref...

Page 22: ...4 5 6 7 8 9 24V X5 DIR CLOCK 3K9 3K9 470 470 2K2 2K2 Connecting the LVD drive in digital locking mode 1 2 3 4 7 X5 LVD X5 LVD master A A B B GND 1 2 3 4 7 X4 LVD See text for line end burden resistor...

Page 23: ...2 format TO program the number of pulses per revolution refer to the chapter Fundamental parameters bits b42 0 b42 1 and b42 2 the default setting is 1024 pulses rev 2 11 Serial line connection The LV...

Page 24: ...omatically when power is restored 2 13 Status LEDs When the programming keypad is not connected there are two LEDs visible on the drive panel the first indicates the presence of the electronics power...

Page 25: ...the drive The Block diagrams chapter contains a more detailed description of the general block diagram and the block diagrams illustrating specific functions operating modes The chapter Pico PLC desc...

Page 26: ...d or run drive enabled is displayed provided there are no active alarms this is also the position of parameter Pr0 Press or to scroll through the parameters If you want to check a parameter value pres...

Page 27: ...yed by pressing M Pb xx Indication of bit parameter xx bxx yy Indication of bit yy of parameter xx press M to display bit status In xx Indication of instruction xx of PLC program donE Displayed for ap...

Page 28: ...this does not occur check your wiring 8 Save your settings with b99 15 The drive is factory set with default values designed to meet the requirements of the majority of applications In default conditi...

Page 29: ...ferent settings use parameters Pr9 Pr10 and Pr11 which are available only in the extended menu Pr16 Integral gain of speed control loop Pr17 Speed control loop damping Pr19 Peak current delivered to d...

Page 30: ...Pr7 will be identical to Pr5 Pr6 Reserved read only speed reference Unit rpm range 9000 If b40 2 1 Pr6 is only utilised as a speed reference for the control loop The active operating mode will enter...

Page 31: ...ge 0 1000 default 1 Use Pr 18 to set the time constant of a first order filter located on the digital torque demand signal The filter cut off frequency will be 310 Pr18 Hertz Pr19 Peak current Unit ra...

Page 32: ...of reference temperature This read only parameter indicates an estimation of the heat on the innermost windings of the motor If the value reaches 100 0 which is equal to the nominal value b41 11 switc...

Page 33: ...the ramp set in Pr 12 b40 7 Absolute relative speed window selection Default 0 If set to 0 speed windows Pr 14 Pr 15 b 41 1 will operate in relative mode if set to 1 the speed windows will operate in...

Page 34: ...configure encoder simulation Default 0 Pr32 up to 9000 rpm Pr32 up to 3500 rpm ENCODER OUT 4096 2048 1024 512 256 128 b42 0 0 1 0 1 0 1 b42 1 1 1 0 0 1 1 b42 2 0 0 1 1 1 1 The double lines show the a...

Page 35: ...ction 2 see heading Other useful functions b99 10 Alarm reset This command resets Pr23 and Pr24 if the alarm persists it will appear on the display This command is not accepted in the presence of chec...

Page 36: ...ent to supply to the motor TORQUE current flowing through the motor windings is converted into torque which allows the motor to accelerate and decelerate GAIN in consideration of the typical applicati...

Page 37: ...n is rigid not flexible and there is no transmission backlash the optimal stiffness angle could be around 4 degrees If the transmission is not sufficiently rigid it may be necessary to reduce gain If...

Page 38: ...visione S B C LVD User s Manual 38 Fig 2 For higher values of Pr17 system response will resemble the situation of figure 3 below Fig 3 The optimal value of Pr 17 can be considered when system response...

Page 39: ...ithout vibration and noise you can deduce that system calibration procedures are terminated Otherwise repeat all the previous steps using lower values for Pr16 In certain applications you can reduce s...

Page 40: ...he driven mechanical system is prone to oscillation we recommend using very low values for Pr16 in this configuration the LVD drive will smooth out motor torque requests to prevent the generation of m...

Page 41: ...16 J Nm tot peak where Jtot is total inertia motor load in kgm2 Nmpeak is available torque at drive peak current C Start the drive and moving the axis with an external control change Pr17 to seek the...

Page 42: ...t values with command b99 11 Now set Pr2 1000 10 V 100 0 torque b40 0 0 b40 12 0 and b40 2 1 to program the reserved reference and Pr50 to limit maximum motor speed OPERATING MODE 1 PARAMETERS Pr50 Ma...

Page 43: ...Pr57 you can get further useful information for installation and maintenance see table in block diagrams OPERATING MODE 8 PARAMETERS Pr50 Manual speed Unit rpm default 100 This is the speed at which...

Page 44: ...0 Positioner Operating mode 9 executes a simple trapezoidal profile For this profile the user must define acceleration with Pr51 steady speed time with Pr52 and displacement using the double word form...

Page 45: ...n request b70 8 the motor will perform Pr64 65 steps in the direction programmed in b70 4 Pr68 69 Final position Unit steps read only parameter When a new positioning is required Pr68 69 is updated wi...

Page 46: ...lt 1 range 32000 32000 With this parameter and with Pr53 it is possible to program the required ratio for the input reference frequency Pr52 Acceleration and deceleration ramp Unit s krpm default 500...

Page 47: ...hapter Frequency input connection OPERATING MODE 11 PARAMETERS Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to restrict maximum motor speed Pr51 Reference mul...

Page 48: ...Positioner Operating mode 13 is a digital locking plus a dynamic positioner plus a slip speed that can be used at the same time About the digital lock the ratio between master and slave can be progra...

Page 49: ...be utilised during the positioning profile Pr60 61 Position loop reference Unit steps It is the positioner reference plus the digital lock reference Pr62 63 Motor position Unit steps increases by 409...

Page 50: ...E 15 PARAMETERS Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to limit the maximum motor speed requested by the position loop The limit does not however affect...

Page 51: ...mpling If b70 7 is 0 the position sent back on receiving SYNC frame has been frozen at previous sampling time of the position loop if b70 7 is 1 the position will be frozen on the SYNC received b70 8...

Page 52: ...spect of the value of binary parameter bx y If A is less than B C 1 true otherwise C 0 false The value of G is the lowest among A B C D E and F C 1 only if A 1 and B 1 otherwise C 0 C 1 if A or B is 1...

Page 53: ...nd width limitator over voltage under voltage over current resolver break power stage over temp Pr 23 b41 12 present trip code last b41 4 drive ok b41 5 hardware enable b40 9 software enable LVD MAIN...

Page 54: ...S H Pr 1 full scale ref 1 full scale ref 2 max fq ref internal reference reserved reference Pr 7 b40 0 b40 2 b40 3 Pr 8 Pr 9 Pr 10 Pr 11 ramps values b40 13 b40 12 REFERENCE SELECTION Pr 50 max speed...

Page 55: ...test speed Pr 52 test stroke Pr 53 starting point Pr 54 delay Pr 50 manual speed b70 0 start stop b70 1 b70 2 wiring test error code motor poles resolver phase reference input aux analog input digita...

Page 56: ...position motor position shaft position reset 1 reset 2 pulses Pr 50 steps for pulse b70 9 b70 12 target position motor position reset 3 b70 2 incremental position Pr 65 Pr 64 0 reset 4 b70 4 reverse f...

Page 57: ...k mul Pr 50 max regulator speed b70 6 11 b70 10 target position motor position 0 b70 11 target position motor position shaft position reset 1 reset 2 b70 12 target position motor position reset 3 Pr 6...

Page 58: ...forward positioner feed forward Pr 50 encoder master Pr 51 ratio max regulator speed b70 8 Pr 55 master speed Pr 52 ramp d dt Pr 58 slip speed Pr 53 Pr 57 Pr 63 Pr62 resolver position Pr 61 Pr60 posit...

Page 59: ...next scan of pico PLC if pico PLC has to write a table value first set Pr43 and then Pr44 only one change is allowed in the same scan cycle In the same way in order to read a table value via serial li...

Page 60: ...phase If the homing sensor is already engaged when the procedure is activated the axis moves at the speed programmed in Pr4 but in the opposite direction until the homing sensor is freed At this poin...

Page 61: ...ion Virtual axis is enabled on the connector X4 will be available a virtual encoder whose speed will be set in the parameter Pr3 its resolution is 1 r p m and its value range is between 3500 and 3500...

Page 62: ...10 Double word Pr76 Constant value 100 Double word Pr77 Constant value 1000 Double word Pr78 Constant value 1024 Double word Pr79 Constant value 4096 Double word Pr80 Free parameter Parameter with sto...

Page 63: ...bit y of parameter Pa in the stack LDN Pa y load inverted bit y of parameter Pa in the stack OUT Pa y set bit y of parameter Pa to the value loaded in the stack OUTN Pa y set bit y of parameter Pa to...

Page 64: ...ith their relative signs If a double word operation is necessary parameter b94 0 must be set to 1 before the operation after the operation the PLC will automatically set the bit to zero Parameters Pr6...

Page 65: ...To use the first timer simply load the time in terms of number of samplings 6 144 mS in parameter Pr92 for example Pr92 100 is equivalent to 614 milliseconds Pr92 automatically decreases through time...

Page 66: ...ed for LVD parameters and the pico PLC program The program is shown in ladder diagrams and instruction lists Example 1 two inputs for on off functions Example 2 changing a parameter value with the up...

Page 67: ...igital input 1 is high for 60 msec b99 0 will be set to 1 and b90 11 1 if digital input 1 is high load 60 msec on counter if digital input 1 is low for 60 msec b99 0 1 and b90 11 0 b90 11 is the statu...

Page 68: ...m must be entered in the pico PLC SUB ADD DIV 99 13 81 15 60 60 60 35 60 60 60 76 81 ADD 92 76 92 MUL 81 71 81 99 0 LD 99 13 ADD 35 60 60 LD 99 0 DIV 60 76 81 SUB 60 60 60 ADD 92 76 92 LD 81 15 MUL 81...

Page 69: ...ntial it is extremely simple to connect two LVD drives in a loop via the serial ports and a short program on the internal PLC will suffice to start transmission at power on and restore it in the event...

Page 70: ...ition to be reached while a pulse on digital input 6 makes it possible to perform positioning by means of a trapezoidal profile the binary selection code for the profile must be set at least 13 msec b...

Page 71: ...OR 70 8 OR 70 5 OUTN 91 1 RST 70 5 LD 41 4 OUT 91 6 END If homing 2 concluded set digital output 0 If digital output 6 execute homing 2 if not yet executed program Pr43 with the code of the required...

Page 72: ...3 81 LD 91 2 MUL 80 75 81 LD 91 3 MUL 80 76 81 LD 91 4 MUL 80 77 81 LD 99 13 ADD 81 82 82 LD 91 4 ADD 82 72 83 SUB 82 82 82 LD 91 3 OUT 91 4 LD 91 2 OUT 91 3 LD 91 1 OUT 91 2 LDN 91 2 ANDN 91 3 ANDN 9...

Page 73: ...Parker Hannifin S p A Divisione S B C LVD User s Manual 73 1 2 4 8 C 1 2 4 8 C 1 2 4 8 C 1 2 4 8 C M C D U 9 2 10 3 9 2 3 10 X7 X6 CONNECTION OF 4 DIGIT PRESELECTOR...

Page 74: ...previously stored speed control loop and position loop simulation auto tuning oscilloscope function easy commissioning PC LVD connection diagram LVD serial kit To create line load burden resistances...

Page 75: ...unication between two LVD drives Refer to the heading Serial line connection for connection diagrams 5 1 Communications protocol The right hand column in the table shows the time out value in millisec...

Page 76: ...d datum CHK 256 modulus sum of all fields excluding STX checksum Message types CMD1 is the drive s answer to a data request the answer message has the following format STX 001 ADDR LUN PAR D0 Dn CHK c...

Page 77: ...sage is received correctly if the message contains an error no answer will be transmitted The only exception is message type 7 with which a datum is transmitted with a single message addressed to all...

Page 78: ...instruction contains the value of y If FIN instructions are used they must be the first of the program and there must be no more than 3 so they will occupy addresses from 0h to 5h If a FIN instruction...

Page 79: ...u want to set rated current at 25 3 Pr33 assume also that the drive serial address is The message to transmit is 7E A3 02 C6 FD 00 68 The drive answers with 7E 23 Case 5 setting a bit to 1 Assume you...

Page 80: ...onstant Pr19 0BEh 2 user current limit Pr20 04Ah 2 bus voltage Pr21 04Ch 2 reserved torque limit Pr22 04Eh 2 auxiliary reference Pr23 051h 1 current alarm code Pr24 052h 1 last alarm code Pr25 053h 1...

Page 81: ...by operating mode Pr80 0CEh 2 Pr81 0D0h 2 Pr82 0D2h 2 Pr83 0D4h 2 Pr84 0D6h 2 Pr85 0D8h 2 Pr86 0DAh 2 Pr87 0DCh 2 Pr88 0DEh 2 Pr89 0E0h 2 Pb90 0E2h 2 inputs Pb91 08Ch 2 outputs Pr92 08Eh 2 timer numb...

Page 82: ...s length is 40m at 1Mbps or 100m at 500kbps The second mode communication mode makes it possible to write or read each parameter of each LVD connected to the bus maximum 15 this facility is invaluable...

Page 83: ...ta length 3 bytes Field Name Sync no meaning Contents Sync type 8 bits no meaning 16 bits Identifier ID2 ID1 ID0 ID10 ID9 ID8 ID7 ID6 ID5 ID4 ID3 0 0 0 X X X X X 0 0 0 0 0 0 0 0 Synchronism message ty...

Page 84: ...he mask of the bits to be modified In the case of a parameter read request this field is insignificant Data Address This is the address of the parameter involved in the operation see the table in the...

Page 85: ...parameter lengths Cmd Len Sub field Value Significance Cmd 0 4 0 not used 1 Write 2 SET bit Pr Pr OR Data 3 RESET bit Pr Pr AND NOT Data 4 TOGGLE bit Pr Pr XOR Data 5 31 not used Len 5 7 0 4 Number of...

Page 86: ...c msg to LVD 2 cyclic msg to LVD 3 cyclic msg to LVD 4 TX reference Sync RX feedback feedback from LVD 1 feedback from LVD 2 feedback from LVD 3 feedback from LVD 4 Change Pr of LVD X Require Pr of LV...

Page 87: ...f one or more bits contains the mask of the bits to be modified In the event of a parameter read request this field is insignificant Data Address Address of the parameter involved in the operation see...

Page 88: ...0 0 1 1 Data In the case of parameter writing this portion contains the value of the parameter In the case of modification of one or more bits contains the mask of the bits to be modified Data Address...

Page 89: ...Parker Hannifin S p A Divisione S B C LVD User s Manual 89 Appendix A LVD mechanical dimensions A B C D drive type A B C D weight kg LVD 360 300 85 225 4 6...

Page 90: ...5 24V FAN MOTOR CONNECTOR for MBmax 145 and 205 or C B A CONNECTOR Male C B A CONNECTOR Female 220V C B A F G BRAKE A white red EXCT B white yellow EXCT A B C D Ground E Ground F Brake E black SIN F r...

Page 91: ...00 mA maximum total current 500 mA maximum voltage free contact voltage outputs 6A and 6B 110 V maximum voltage free contact current outputs 6A and 6B 600 mA analog reference type differential impedan...

Page 92: ...auxiliary input Pr22 positive Pr38 positive Positive auxiliary analog output Encoder In A Counter increment B Appendix E software timer intervals Interval Task 256 s torque vector generator 512 s spee...

Page 93: ...R 90 11 OUT 40 12 END digital input 1 for left hand limit switch enabled only if b90 10 1 digital input 2 for right hand limit switch enabled only if b90 10 1 digital input 3 for emergency stop enable...

Page 94: ...ET TO 0 CAUTION BEFORE CHANGING Pr31 ENSURE b40 2 0 SPEED REFERENCE WILL BE LIMITED TO VALUE OF Pr32 WHEN USING TORQUE CONTROL Pr2 AND Pr3 MUST BE SET TO 1000 TO USE THE ACTIVE OPERATING MODE b40 2 MU...

Page 95: ...ot connector to the motor Resolver alarm Check the resolver connections and the connectors on both sides drive motor Drive overtemperature alarm Check the cooling fans and ensure that the air flow is...

Page 96: ...tor spins slowly when the drive is enabled The drive is not governed by the Axis Controller Check the cable between the encoder output and the Axis Controller Check the analog reference connecting cab...

Page 97: ...and read the status of the outputs from the drive addressed with 0 Pr27 0 in Pr91 8 Pr91 15 performing physically the output operation On IOBOX are present two led for a easy diagnostic the red one i...

Page 98: ...Parker Hannifin S p A Divisione S B C LVD User s Manual 98 IOBOX LVD 9 8 7 5 X2 Can bus 2 24Vcc 2 1 X8 Power supply Can bus 7 4 3 0V 120ohm Mechanical dimensions mm 105 70 32 17 21 15 8 35...

Page 99: ...n control with CanBus or electronic Cam added b70 6 Chapter 3 16 Block diagrams modified operating mode 9 added operating mode 13 Chapter 3 17 Other useful functions last paragraph of table function h...

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