Control Techniques M'Ax 403 User Manual Download

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User Guide

M’Ax

Compact, high-performance, single-axis servo

amplifier for brushless AC servo motors

Part Number: 0453-0015

Issue Number: 4

Summary of Contents for M'Ax 403

Page 1: ...www controltechniques com EF User Guide M Ax Compact high performance single axis servo amplifier for brushless AC servo motors Part Number 0453 0015 Issue Number 4...

Page 2: ...uide may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information storage or retrieval system without permission in writ...

Page 3: ...4 9 Changing the value of a parameter 23 4 10 Making new values take effect 26 4 11 Saving new parameter values 26 4 12 Flashing and non flashing digits 26 4 13 Negative values 26 4 14 Changing the se...

Page 4: ...90 C 9 Saving new parameter values 90 C 10 Restoring the Drive to a default state 90 C 11 M Ax Soft 90 C 12 MODBUS RTU protocol 91 Appendix D Optimising the Dynamic Performance 92 D 1 Speed loop param...

Page 5: ...nt Drive sofware version 8 59 Status line indicator 8 60 Status line output enable 11 65 SLM encoder mode select The following parameters are not available with the current Drive software version 3 56...

Page 6: ......

Page 7: ...he model number See Table 1 1 and Table 1 2 Table 1 1 Model sizes model numbers and current ratings For M Ax 412 A line reactor is required when the load duty cycle is 70 duty cycle and the overall cy...

Page 8: ...temperature of the motor windings If the value of the accumulator reaches a level that indicates the motor windings are at the specified maximum safe working temperature the output current is limited...

Page 9: ...Interfaces _AN _SL Encoder simulation output producing 1024 2048 4096 or 8192 counts per revolution EIA232 or EIA485 serial communications technology 2 wire EIA485 2 wire serial communications Two an...

Page 10: ...er in either of the following ways Reading parameter 10 17 via serial communications in this case make the appropriate signal connections shown in Example signal connections on page 7 and see Appendix...

Page 11: ...con trol of other equipment 24V user supply output generated in the Drive maintained by an SLM and user back up supply when the Drive is powered down STANDALONE 15 way high density male D type Freque...

Page 12: ...com com SLM Hardware enable Drive status supply com com MC MULTIDROP OUT 0V COMMON 24V loop supply Hardware enable Drive status output MULTIDROP IN PC 0V COMMON 232 TXD 232 RXD EIA232 24V loop input H...

Page 13: ...re that all external control circuits are separated from human contact by at least one layer of insulation rated for use at the ac supply voltage Incorrect connections Ensure that a plug carrying a 24...

Page 14: ...or normal use of keypad mode the RUN contact shown in grey should not be connected Product familiarisation The connections for Keypad mode are also used for product familiarisation Chapter 4 Programmi...

Page 15: ...are optional The RESET contact is required for version _SL but is optional for version _AN which can also be reset by use of the keypad Figure 2 4 Signal connections for high precision analog speed c...

Page 16: ...ion For connection details see Figure 2 7 Signal connections for remote control and setting up by serial communications PC running a dedicated application program or a PLC on page 12 these connections...

Page 17: ...nnections are made in addition to those shown below Connections shown in grey are optional The RESET contact is required for version _SL but is optional for version _AN which can also be reset by use...

Page 18: ...wing ways Closing the RESET contact PC or PLC Setting parameter 10 33 at 1 Version _AN Keypad Via serial communications Setting parameter 10 38 at 100 The Drive can be started and stopped by a RUN con...

Page 19: ...from device to device The M Ax Drives have an RS485 port that can be configured to operate using the Modbus RTU protocol Modbus is a multi drop protocol so that multiple Drives can be connected on the...

Page 20: ...ons for high precision speed control by motion controller supplying an analog speed reference Parameter Setting 1 14 0 30 1 Motion controller RUN DIGITAL I O AT ZERO SPEED Speed reference 10V SIM ENC...

Page 21: ...ication program or a PLC on page 12 Connections shown in grey are optional Figure 2 11 Signal connections for standard precision speed control by motion controller supplying an analog speed reference...

Page 22: ...al load that the signal circuits will impose on this supply Table 2 1 Currents drawn from the internal 24V supply If the total exceeds 400mA check that the total at any one time does not exceed 400mA...

Page 23: ...ned Low current requirement 65mA for an SLM and control circuits The SLM and user back up supply can be at ground potential The SLM and user back up supply can supply one or more Drives their SLMs and...

Page 24: ...es of the alphanumeric display are visible through the tinted window On all versions a column of four leds give additional status information To gain access to the keypad use the finger tab at the top...

Page 25: ...arameter is selected the upper line of the alphanumeric display states the value as bit 0 or bit 1 Variable parameters analog settings Variable parameters are set at any numeric value within the speci...

Page 26: ...Chapter 6 Setting Up the Drive for Basic Applications on page 31 Menu 0 parameters are described in Chapter 8 Menu 0 Parameters on page 44 The advanced parameters are listed in Chapter 9 Advanced Par...

Page 27: ...security See Chapter 7 Security and Accesssing the Advanced Parameters on page 42 and Chapter 9 Advanced Parameters on page 51 for information on the advanced parameters 4 2 Summary of the keypad fun...

Page 28: ...ware enable is being applied rdY or run appears in this case open the Hardware enable contact or set parameter 6 15 Drive enable at 0 If the lower line shows any of the following trP hot Ibr ouL see A...

Page 29: ...he parameter number 1 Within eight seconds repeatedly press in order to display parameter number 0 18 4 8 Quick selection of the initially displayed parameter 1 While the display is in Parameter mode...

Page 30: ...re pressed within eight seconds the display enters Status mode Making large changes in value quickly So far you have changed the value by changing the least significant digit The speed of change can b...

Page 31: ...w a more significant digit the maximum permissible value flashes Quick selection from most to least significant digit To select the least significant digit when the most significant displayed digit is...

Page 32: ...ve operation Selecting a parameter to access Changing the value of a parameter These procedures are described earlier in this chapter 2 While the display is in Edit mode execute the save operation by...

Page 33: ...ion and during use parameters are over written If required these can be returned to their default values by restoring the Drive to the default state Restoring the Drive to the default state also cause...

Page 34: ...ress at the same time The value of parameter 0 05 Speed feedback the default initially displayed parameter is now displayed on the upper line of the display 6 The display indicates as follows 7 Close...

Page 35: ...deceleration time is sufficiently long The upper line of the display indicates the value of a parameter parameter 0 05 Speed feedback for indicating actual motor speed and 0 34 Keypad reference for in...

Page 36: ...as appropriate Version _AN Initiate the save operation by setting parameter XX 00 at 1000 Execute the operation by setting parameter 10 38 at 100 Version _SL Version _AN if required Ensure the Drive i...

Page 37: ...tine Select speed reference routine Ramps routine Starting routine Setting up requires you to adjust parameters information on these is given in Chapter 8 Menu 0 Parameters on page 44 and Chapter 9 Ad...

Page 38: ...ansfer selector 10 Perform the procedure in in Appendix D Specifying shaft stiffness and load inertia Optimising the Dynamic Performance 11 Drive to operate in SPEED mode Ensure parameter is set at 0...

Page 39: ...any value Set parameter at 0 30 11 66 0 Reference selector Host mode enable The motion controller now has full control of the Drive Set parameter at any value 0 30 Reference selector Set parameter at...

Page 40: ...he user defined rate YES Go to routine Starting 3 Set parameter Fast ramp select at 0 27 1 Set parameter at the required acceleration rate in s 1000RPM 0 25 Set parameter at the required deceleration...

Page 41: ...in Edit mode press at the same time and 5 To use the saved values after the next power up ensure parameter is set at 0 50 no After changing the setting and while the display is in Edit mode press at t...

Page 42: ...ndicator Ensure parameter is set at After changing the setting set parameter at 100 0 50 4 boot2 10 38 Parameter transfer selector 7 8 Perform the procedure in in Appendix D Specifying shaft stiffness...

Page 43: ...rameter at any value Set parameter at 0 30 11 66 0 Reference selector Host mode enable The motion controller now has full control of the Drive external host mode Set parameter at any value 0 30 Refere...

Page 44: ...he user defined rate YES Go to routine Starting 3 Set parameter Fast ramp select at 0 27 1 Set parameter at the required acceleration rate in s 1000RPM 0 25 Set parameter at the required deceleration...

Page 45: ...S 3 4 Execute storing by setting parameter at 10 38 100 5 To use the stored values after the next power up ensure parameter is set at 0 50 4 boot2 After changing the setting set parameter at 10 38 100...

Page 46: ...1 is 0 4 Apply the required speed reference voltage not exceeding 10V for maximum speed as follows Version _AN STANDALONE connector pins 13 and 12 Version _SL SIM EMC connector pins 4 and 3 5 Set para...

Page 47: ...e following table 3 Use 11 21 to define the required scaling factor as follows 11 21 0 46 XX XX x M Where XX XX is the value of the parameter that is assigned to parameter 0 46 by parameter 11 20 4 Pe...

Page 48: ...edited except for parameter XX 00 in any menu Unlock User Security as follows 1 Select parameter XX 00 in any menu 2 Set the value at the User Security code number 3 Press Menu 0 read write parameter...

Page 49: ...Press 7 7 Selecting an advanced menu 1 Follow the instructions in Unlocking security earlier in this chapter 2 Within eight seconds of unlocking security press as many times as required in order to s...

Page 50: ...ally copied to the EEPROM saved or copied to the flash memory stored at power down see parameter 0 50 Parameter transfer selector P Protected The parameter cannot be controlled by an external signal c...

Page 51: ...d cause the Drive to deliver a torque producing current equivalent to the value of FLC without field weakening Enter a suitable value in 0 09 in order to define the dynamic performance of the system S...

Page 52: ...Maximum reference clamp the Drive will trip allowing the motor to coast See trip OU SPd in Appendix B Diagnostics ILIM Value of the current limit that is obtained from the setting of 0 18 Symmetrical...

Page 53: ...its position at the time the Drive was powered up After the first Z marker pulse has been received from the CT Coder 0 29 indicates the angular position of the motor shaft relative to the Z marker pul...

Page 54: ...will trip the lower line of the alphanumeric display version _AN then indicates O ht1 0 42 indicates the value of the of an I2t accumulator that monitors the power dissipated in the internal braking r...

Page 55: ...Indicates 0 Standard security is unlocked 1 Standard security is locked Digit 3 Value Indicates 0 User security is not set up 1 A User security number has been entered into 0 35 0 50 Parameter transfe...

Page 56: ...at 0 no 0 50 Parameter preset at save 1000 XX 00 Parameter values are immediately copied in the indicated direction Parameter values are copied in the indicated direction at the next power up Paramet...

Page 57: ...enu 0 parameter Value of a parameter Uni Unipolar variable parameter Positive values only Bi Bipolar variable parameter Positive and negative values Txt Text variable parameter Alphanumeric code is di...

Page 58: ...1 04 Menu 7 1 44 1 43 1 42 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 Reference selected Analog Preset Keypad Keypad Pulse Pulse Pulse Pulse 1 17 1 44 Pulse reference selected indicator Pulse re...

Page 59: ...ue Number 4 1 13 Jog selected indicator 1 12 Reverse selected indicator 1 11 Reference enabled indicator x 1 Jog reference 1 05 Maximum reference clamp 1 06 1 03 Pre ramp reference Menu 2 Sequencer Me...

Page 60: ...P 1 15 Preset reference selector 0 4 0 RW Uni P 1 17 0 34 Keypad reference 1 06 RPM RO Bi S P 1 21 0 33 Preset reference 1 1 06 RPM 1 RW Bi 1 22 Preset reference 2 1 06 RPM 10 RW Bi 1 23 Preset refer...

Page 61: ...M Ax User Guide 55 Issue Number 4 Use this page for notes...

Page 62: ...14 2 19 Acceleration rate selector 1 50 Preset reference selected indicator 2 10 0 1 0 1 0 0 1 1 1 2 3 4 Acceleration rate 2 21 Deceleration rate 1 2 22 Jog deceleration rate Jog selected indicator De...

Page 63: ...5 05 Internal braking resistor overload alarm 10 12 Internal braking resistor overload accumulator 10 39 Sequencer Menu 6 1 03 Pre ramp speed reference 2 01 Post ramp reference Ramp enable 2 02 Menu 1...

Page 64: ...e 0 32 000 s 1000RPM 0 200 RW Uni 2 20 Deceleration rate selector 0 5 0 RW Uni 2 21 0 26 Deceleration rate 1 0 32 000 s 1000RPM 0 200 RW Uni 2 22 Deceleration rate 2 0 32 000 s 1000RPM 0 200 RW Uni 2...

Page 65: ...d 3 08 Absolute at speed detect mode select 3 09 10 03 At zero speed indicator 10 05 Below set speed indicator 10 06 At speed indicator 10 07 Above set speed indicator Speed detection and limits 1 2 6...

Page 66: ...selector 0 3 1 RW Uni 3 18 Total inertia 0 1 6000 0 kgcm2 or 0 00001 0 6 kgm2 Jt RO Uni 3 19 0 09 Stiffness angle 0 0 30 0 6 0 RW Uni 3 20 0 10 Load inertia 0 1 6000 0 kgcm2 or 0 00001 0 6 kgm2 JL RW...

Page 67: ...ain 10 17 Motor I t overload alarm indicator Motor overload detection Current demand 4 04 4 15 Motor rated current Motor thermal time constant Drive rated current 11 32 Menu 5 Current demand Motor cur...

Page 68: ...26 Torque compensation gain 0 5000 rads s RW Uni 4 27 Current demand filter 3 cut off frequency 0 1200 Hz 500 RW Uni 4 28 Symmetrical current limit Kc3 0 300 0 IM 200 0 RW Uni 4 52 Motor thermal overl...

Page 69: ...s voltage Current measurement Offset adjustment Motor rated speed Motor number of poles Motor rated current Menu 4 Motor parameters 5 07 5 08 5 11 Menu 4 Sine wave modulator Position information SLM I...

Page 70: ...or rated current 0 FLC A SLM RO Uni 5 08 Motor rated speed 0 7500RPM SLM RO Uni 5 09 Motor rated voltage 0 VS SLM RO Uni 5 11 Motor number of poles 0 255 SLM RO Uni 5 12 Flux alignment test enable 0 1...

Page 71: ...M Ax User Guide 65 Issue Number 4 9 6 Menu 6 parameters Sequencer functions AC supply loss modes Software diagram for Menu 6...

Page 72: ...y d RO Uni S P 6 21 Powered up time hours minutes 00 00 23 59 h m RO Uni S P 6 31 Sequencing bit JOG FORWARD 0 1 0 RW Bit 6 32 Sequencing bit JOG REVERSE 0 1 0 RW Bit 6 33 Sequencing bit FORWARD REVER...

Page 73: ...M Ax User Guide 67 Issue Number 4 Use this page for notes...

Page 74: ...68 M Ax User Guide Issue Number 4 9 7 Menu 7 parameters Analog I O settings Temperature monitoring Software diagram for Menu 7...

Page 75: ...M Ax User Guide 69 Issue Number 4...

Page 76: ...ard speed reference Analog output scaling When parameter 3 64 is selected and parameter 7 20 is set at 1 10V at Analog output 1 represents 7500RPM When parameter 4 04 is selected and parameter 7 23 is...

Page 77: ...T BIT 0 PRESET SELECT BIT 1 Default destination parameter 6 34 6 33 6 31 6 35 6 36 10 33 1 45 1 46 Pin 10 9 8 7 1 6 13 12 Y 1 2 3 4 Default function M AX RUNNING AT ZERO SPEED ALARM AT SPEED Default s...

Page 78: ...0 menu parameter 6 35 RW Uni P 8 25 Digital input 5 destination selector REVERSE LIMIT 00 00 20 50 menu parameter 6 36 RW Uni P 8 26 Digital input 6 destination selector RESET 00 00 20 50 menu paramet...

Page 79: ...st trip RO Txt S P 10 33 Drive reset 0 1 RO Bit 10 38 User defined trips 0 255 0 RW Uni 10 39 0 42 Internal braking resistor overload accumulator 0 100 0 RO Uni P 10 40 Status word 0 32767 RO Uni P 10...

Page 80: ...3 Drive voltage rating 200 400 V RO Uni P 11 34 0 47 Drive software build number 00 99 RO Uni P 11 39 SLM software version 00 99 99 99 RO Uni P 11 51 Hardware revision 0 15 4 RO Uni 11 52 SLM update e...

Page 81: ...erence selector 0 2 0 F D 1 Quad 2 Pulse Pulse 1 RW Uni 13 21 Reference encoder pulses per revolution 0 32767 4096 RW Uni 13 22 Reference position most significant word 0 65536 RO Uni 13 23 Reference...

Page 82: ...Stewart Connectors 36 series Connect the pins in pairs as shown Comb out the braided shield fold the strands back and trap them under the cable clamp to ensure good electrical contact with the clamp...

Page 83: ...ctors on the Drive SIM ENC MC EIA485 DIGITAL I O STANDALONE use the following Cables Multi core cables having tinned copper stranded conductors overall braided shield and braided outer sheath Maximum...

Page 84: ...4 5 6 7 8 9 10 11 12 VIN V IIN mA ON region Transition region OFF region NOTE Name Pin I O Function Specification Digital input 1 10 I RUN See Digital inputs earlier in this Appendix Digital input 2 9...

Page 85: ...3 5 Line termination resistor see below Line bias resistors 12 Direction input Quadrature B input Reverse Frequency 9 Frequency input Quadrature A input Forward Frequency 10 I Tri function input used...

Page 86: ...puts Connecting cable Three shielded twisted pairs inside an overall shield Simulated encoder quadrature A output Frequency output 2 Simulated encoder quadrature B output Direction output 6 Dual funct...

Page 87: ...SLM and user back up supply EIA485 ports 24V user supply 0V COMMON must not be interchanged with 0V SLM and user back up supply 5 I 24V input See 24V user supply on page 77 4 0V 0V COMMON must not be...

Page 88: ...st not be interchanged with 0V No connections 7 8 Do not use Cable shield Shell Connect the cable shield to the connector shell Name Pin I O Function Specification com 1 I O technology port for commun...

Page 89: ...the I O on this connector 0V COMMON must not be interchanged with 0V No connections 7 8 Do not use Cable shield Shell Connect the cable shield to the connector shell CAUTION Name Pin I O Function Spe...

Page 90: ...rm indications appear on the lower line of the display Version _SL The number given in brackets under each alarm indication in the following list is the number of the parameter that is correspondingly...

Page 91: ...rrent has not been sufficiently reduced within the specified time after a motor thermal overload alarm OuL has been produced by the thermal overload accumulator in the SLM see Adjusting the threshold...

Page 92: ...ng the Drive C 3 EIA232 interface An EIA232 serial communications link allows a single Drive to be controlled and monitored by a host PC and can be used only for setting up purposes Serial communicati...

Page 93: ...meter 0 37 at the required address for the Drive The value entered in this parameter must take the form G U where G is the group number 1 to 9 and U is the unit number 1 to 9 in the specified group Th...

Page 94: ...u ASCII code 08 Keys Ctrl H Addressing the devices Addressing device s is performed by specifying an address number immediately after the start bit in a message This address number is the same as the...

Page 95: ...RPM in a Drive whose address is 1 2 The message to be calculated is as follows The first character of the BCC calculation is 0 The ASCII code for this character 48 is 0011 0000 in binary format This b...

Page 96: ...If any continue to be required ensure that you have a note of them before following this procedure 1 Open the Hardware enable contact or set parameter 6 15 at 0 to disable the Drive 2 Send a write com...

Page 97: ...e write command subsequent parameter s will also remain unchanged but the value s of the preceding parameter s will have been changed The Drive does not send an exception code in reply only confirmati...

Page 98: ...rs held in the Drive eg 3 10 0 13 3 11 0 14 3 12 0 15 and updating the SLM either concurrently or subsequently In addition to the set of PID gains already described and which are duplicated in Menu 0...

Page 99: ...the following as appropriate Version _AN Initiate the save operation by setting parameter XX 00 at 1000 Execute the operation by performing either of the following While the display is in Edit mode p...

Page 100: ...y setting parameter XX 00 at 1000 Execute the operation by performing either of the following While the display is in Edit mode press at the same time Set parameter 10 38 at 100 via serial communicati...

Page 101: ...l gain Kp3 3 60 Speed loop integral gain Ki3 3 61 Speed loop derivative gain Kd3 3 62 PID gains 3 Current demand filter 1 cut off frequency Current demand filter 2 cut off frequency 4 23 Current deman...

Page 102: ...take effect only after the motor shaft has passed through the zero position of the feedback encoder When the motor is running or stopped a PID buffer in the SLM and the related PID gains set in the Dr...

Page 103: ...While the display is in Edit mode press at the same time Set parameter 10 38 at 100 via serial communications Version _SL Version _AN if required Ensure the Drive is disabled by checking that the Har...

Page 104: ...be connected Failure to observe any of these requirements will result in damage to the Drive s and auxiliary back up supply supplies E 1 Functions Maintains the DC supply to the control circuits of th...

Page 105: ...is also to power the motor the diode to be current rated according to the model of Drive being used 13 Fuse required when the auxiliary back up supply is also to power the motor the fuse to be rated...

Page 106: ...in step 5 8 If the auxiliary back up supply is to supply power to the motor for low speed positioning for commissioning connect a 1000V blocking diode and a fuse between the positive output of the bac...

Page 107: ...next power up ensure parameter 0 50 is set at no 0 If you have to change the setting immediately afterwards execute the operation as described in step 9 11 To use the stored values after the next powe...

Page 108: ...51 3 The motor will be decelerated to rest and the display version _AN will show trip UU under voltage trip 4 The control circuits remain active 5 While the Drive is tripped it will not be possible t...

Page 109: ...t the related selection parameter at 10 17 4 By default the output state will become logic 1 24V when the alarm occurs If this needs inverting set the related invert parameter at 1 5 Perform the follo...

Page 110: ...thermal overload alarm has been produced by the Drive Enter the value of time in seconds in 4 54 Thermal overload time to trip Note the value that is entered 3 Read and note the value of 4 15 Motor th...

Page 111: ...ess at the same time Set parameter 10 38 at 100 via serial communications Version _SL Version _AN if required Ensure the Drive is disabled by checking that the Hardware enable contact is open or that...

Page 112: ...he AC supply or auxiliary back up supply to the Drive 5 Ensure parameter 6 08 Hold zero speed select is set at 0 6 Close the Hardware enable contact 7 Check that the display shows rdY or that paramete...

Page 113: ...t 4 0 50 boot2 Parameter preset at 0 no 0 50 Parameter preset at 0 no 0 50 Parameter preset at save 1000 XX 00 Parameter values are immediately copied in the indicated direction Parameter values are c...

Page 114: ...rring parameter values 7 Power up the Drive 8 Set parameter XX 00 at 1000 in order to initiate a save operation copy the main parameter values in the RAM to the EEPROM 9 Execute the operation by perfo...

Page 115: ...e and returning to Status mode 22 F Features of the M Ax 2 Fieldbus 13 Flashing and non flashing digits 26 Flux Alignment 106 Functions of the signal connectors 5 Functions of the terminals 78 Fundame...

Page 116: ...in Keypad mode 8 Signal connections for remote control by a system controller or PLC supplying quadrature AB F D signals or directional pulse inputs 11 Signal connections for remote control by motion...

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