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102

AXOR Industries

Service Manual

NanoMack

ver.1 rev.11/'19

5.6 Velocity Loop

• Kp2:

If enabled (K2 Time different from 0), it is the proportional gain of the speed loop when the

speed is less then K2 Speed for K2 Time.

• K2 Speed:

Max Speed reference for switch from Kp to Kp2 after K2 Time.

• K2 Time:

When the motor speed drop under K2 Speed and the K2 Time has passed , the drive

switch from Kp to Kp2 ( the value 0 disable the function).

• Pid Filter:

It is a filter on the output of the speed regulator.

• Feedback Filter:

It is a filter on the feedback speed.

Содержание MACK NANO

Страница 1: ......

Страница 2: ......

Страница 3: ...hapter update THIS MANUAL CONTAINS A DESCRIPTION OF NANO MACK AND A GUIDELINES FOR THE DRIVE S INSTALLATION USING THE DRIVE INCORRECTLY CAN INJURE PEOPLE OR MANAGE THINGS FULLY RESPECT THE TECHNICAL D...

Страница 4: ...8 Power supply connections 33 2 9 Regen resistance connections 36 2 10 Motor Power connection 38 2 11 Motor Feedback connections 40 2 12 Digital inputs connection 43 2 13 Digital outputs connections...

Страница 5: ...92 5 2 System Overview 94 5 3 General Settings 95 5 4 Motor Feedback 96 5 5 Current Loop 100 5 6 Velocity Loop 101 5 7 Position Loop 103 5 8 Digital I 0 window 104 5 9 Analog I O window 107 5 10 Alarm...

Страница 6: ......

Страница 7: ...iption 1 1 General Description 8 1 2 Mechanical Dimensions 10 1 3 Technical Data 12 1 4 Connectors Guide CASE A 13 1 5 Connectors Guide CASE B 14 1 6 Connectors description 15 1 7 Product plate and Or...

Страница 8: ...sor and eventually the zero signal of the encoder GEARING It is possible to pilot the drive with the quadrature signals of an emulated encoder from a Master drive or with the quadrature signals of an...

Страница 9: ...nd Stepper ONLY CASE A motors COMMUTATION ENCODER Commutation encoder A B Z hall U V W for Brushless motor SENSORLESS for Brushless and Stepper ONLY CASE A motors ARMATURE for DC Brushed motor HALL On...

Страница 10: ...mm 74 x 42 5 x 22 80 x 45 x 16 Weight g 60 110 22 42 5 21 5 USB 4 1 2 3 4 5 6 2 8 1 17 1 7 2 18 65 74 BRUSHLESS D C MOTORS N A N O FEEDBACK 2 4 6 8 1 3 5 7 3 4 5 6 MOTOR PWR J 2 M 1 C O N T R O L 1 2...

Страница 11: ...Arms 16 50 Power Supply Vdc 20 140 9 min 182 max FOR CASE B EXTERNAL CAPACITOR IS MANDATORY Backup Logic Supply Vdc 12 24 9 min 30 max Ext Breaking Resistor Ohm 8 CASE Type B MKN 60 TECHNICAL DATA Siz...

Страница 12: ...ording to EN 60721 3 3 During transport Temperature From 25 C to 70 C Class 2K3 according to EN 60721 3 2 Humidity Relative humidity max 85 without condensation Class 2K3 according to EN 60721 3 2 Vib...

Страница 13: ...AT POWER SUPPLY 2 AT 3 U MOTOR 4 V 5 W 6 N C M BRUSHED 1 AT POWER SUPPLY 2 AT 3 N C 4 M MOTOR 5 M 6 N C M STEPPER 1 AT POWER SUPPLY 2 AT 3 A MOTOR 4 B 5 A 6 B J2 FEEDBACK 1 Ch A 2 Ch B 3 Ch Z Zs 4 Ha...

Страница 14: ...MKN60 25 B X CB Sxxx X000 X000 00000000 00000000 AT AT U V W RR RR USB 1 7 2 8 1 17 2 18 1 2 14 13 PE PE POWER SUPPLY MOTOR Micro USB Regen Resistor J3 1 CHA 2 CHA 3 CHB 4 CHB 5 CHZ 6 CHZ 7 AGND 8 9 S...

Страница 15: ...C J1 CONTROL DESCRIPTION 1 Bkup Supply Backup Supply 2 AGND Backup Supply 3 D IN 1 Digital Input 1 4 D IN 2 Digital Input 2 5 D IN 3 Digital Input 3 6 D IN 4 Digital Input 4 7 An D OUT 1 Analog Digita...

Страница 16: ...there are no malfunctions 14 STO OUT 1 1 6 Connectors description Motor and power supply connectors connection M BRUSHLESS DESCRIPTION 1 AT Power Supply 2 AT Power Supply 3 U MOTOR Motor phase U 4 V M...

Страница 17: ...ON AT P O W E R S U P P LY Power Supply AT Power Supply PE PE U MOTOR Motor phase U V Motor phase V W Motor phase W PE PE BRUSHED DESCRIPTION AT P O W E R S U P P LY Power Supply AT Power Supply PE PE...

Страница 18: ...CK X Standard R Resolver for case B only SPECIFIC NUMBER opt S xxx 001 999 MOTOR TYPE B Standard BL Brushless DC Brushed S Optional for case A only SM Stepper BL Brushless DC Brushed MODEL SIZE see ch...

Страница 19: ...c no VI Italia Tel 39 0444440441 Fax 39 0444440418 info axorindustries com Operatore C Q Quality test op Firma Signature N ID strumenti Instrument IDs N ID attrezzature di prod N ID prod equipment Mis...

Страница 20: ......

Страница 21: ...Power Backup common source 32 2 8 Power supply connections 33 2 9 Regen resistance connections 36 2 10 Motor Power connection 38 2 11 Motor Feedback connections 40 2 12 Digital inputs connection 43 2...

Страница 22: ...unused drives must be storage in an environment having the following characteristics Temperature from 25 C to 55 C Max relative humidity 85 without condensation Max time with the drive powered off wi...

Страница 23: ...necessary measures to avoid injuries to people and damage to things because of unpredictable movements The converters contains elements which are sensitive to electrostatic discharges These elements c...

Страница 24: ...signed to be utilized in an electrical box protected against the infiltration of polluting agents such as water oil conductive dust and others Notes The electrical box must have suitably filtered air...

Страница 25: ...Capacitance 800 1000Hz 90pF m Characteristic Impedance at 10MHz 110 10 External resistor 1 5mm2 15AWG If the cable length is longer than 20 30cm it must be twisted and shielded The shield must be conn...

Страница 26: ...A Stripping length Connector Article Code Wire cross section Max cross insulation section D A length J1 Crimp contact SPHD 001T P05 housing connector PHDR 18VS 26 22 AWG 0 13 0 33 mm2 1 5 mm 1 5 2 mm...

Страница 27: ...ve the outside sheath and affix the shield to the zinced panel by using an U clamp To reduce the capacitive and inductive coupling these cables must be run keeping a distance of more than 30cm from th...

Страница 28: ...THE GROUND MACHINE GROUND WITH TRANSFORMER DON T USE AUTOTRANSFORMER POWER SUPPLY BACKUP SUPPLY ALL ENCODER S CABLE INTERNAL SHIELDS NO EXTENAL SHIELD BRUSHLESS D C MOTORS N A N O FEEDBACK 2 4 6 8 1 3...

Страница 29: ...PANELTOTHE GROUND WITH TRANSFORMER DON T USE AUTOTRANSFORMER POWER SUPPLY BACKUP SUPPLY FUSE F1 PLACED AS FAR AS POSSIBLE ABOVE THE DRIVE OR OUT OFTHE PANEL FUSE F3 LENGHT MAX 10 cm LENGHT MAX 15 cm I...

Страница 30: ...the zinced panel of the electrical box 3 Connect the AGND pin of J1 connector pin 2 or pin 12 to ground bar of the electrical box 4 Connect the chassis of the drive to the ground bar of the electrica...

Страница 31: ...P SUPPLY Notes Accepted voltage 12 24VDC Max current required for the external supply 0 1A We suggest to insert the F2 see cap 1 3 Technical Data on page 11 fuse 1 F2 2 External supply 12 24VDC Nano M...

Страница 32: ...rom common source POWER SOURCE Nano Mack C D RS Bkup max 30VDC 12 30 VDC TWISTED Lenght max 15cm from C AT AT AGND 0V V F2 F1 C RS are optional for case A To calculate the capacitor C resistor RS and...

Страница 33: ...8 Power supply connections POWER SUPPLY from battery To calculate the capacitor C and resistor RS use the following formulas C uF In A 20 IRMS 10 khz Capacitor In 2 RS OHM 20 000 000 C uF POWER SOURC...

Страница 34: ...riangle connected Voltage The primary voltage depends on the available net voltage while the secondary voltage will be calculated according to the motor s characteristics and according to the voltage...

Страница 35: ...his fuse must be the slow type Fp P VA trafo x 1 1 V primary ac The Fs fuse mounted on the secondary also protects the transformer and that fuse must be the slow type Fs P VA trafo x 1 1 V1 secondary...

Страница 36: ...t is not possibly inside the panel but as far as possible above the drive Insert the fuse F3 see cap 1 3 Technical Data on page 11 Do not mount the resistor on surfaces which can be damaged by heat If...

Страница 37: ...e connections EXTERNAL REGEN RESISTANCE configuration Notes To deactivate the BRAKING function setup the Resistance value Absorbed energy and Power to 0 Save to Eeprom and power off and on the drive i...

Страница 38: ...s shield must be made on the zinc coated panel using a U clamp near the drive 0 2 m Motor side the shield is connected to connector s metal ring so it is connected to ground through motor s carcass AT...

Страница 39: ...drive to the SpeederOne 2 then navigate to the Motor Feedback and select the type of Motor and if brushless the number of poles Navigate to the Current Loop insert the motor current I Rms and motor p...

Страница 40: ...U clamp near the drive 0 2 m COMMUTATION ENCODER Motor side AGND 5V J2 8 7 Nano Mack AGND 5V Ch A Ch B Ch Z HALL U HALL V HALL W 1 2 3 4 5 6 See Note CW CLOCK WISE MOTOR S FRONT SIDE CHA CHB CHZ HALL...

Страница 41: ...a U clamp near the drive 0 2 m 2 11 Motor Feedback connections INCREMENTAL ENCODER Motor side AGND 5V J2 8 7 Nano Mack AGND 5V Ch A Ch B Ch Z 1 2 3 See Note SERIAL INCREMENTAL ENCODER FEEDBACK connect...

Страница 42: ...ust be made on the zinc coated panel using a U clamp near the drive 0 2 m FEEDBACK Configuration In the software interface under Motor Feedback it s possible to setup the correct feedback with the rel...

Страница 43: ...C the drive is enabled without active alarms and if start up sequence is respected If J1 1 is LOW 0V the drive is disabled and the motor is without torque ATTENTION THE DRIVE S ENABLE DISABLE BY USING...

Страница 44: ...07 for detail Under FUNCTIONS is possible to assign a function from the list see cap 5 8 Digital I 0 window on page 104 for the supported options to the analog digital output if required form the func...

Страница 45: ...ply the positive voltage reference to J1 10 or change the Rotary Direction parameter in the Velocity Loop window from Positive to Negative ANALOG DIFFERENTIAL INPUTS An IN 1 configuration ANALOG INPUT...

Страница 46: ...Torque The technical characteristics of these inputs are as follows Voltage 10V Max ANALOG DIFFERENTIAL INPUTS An IN Ref Torque configuration ANALOG INPUTS window allow to setup some filters on the a...

Страница 47: ...ration with PStop NStop HARDWARE STATUS SOFTWARE STATUS ENABLED DISABLED LIMIT SWITCH connection with PStop NStop PStop NStop 24VDC 0 VDC AGND Nano Mack J1 12 DGT IN3 5 DGT IN2 4 LIMIT SWITCH connecti...

Страница 48: ...7 Gearing on page 72 6 Pulse Dir Mode see cap 4 8 Pulse Dir Mode on page 74 or 8 CW CCW see cap 4 12 CW CCW on page 83 and the relative setting with the software Interface 2 16 Clock Dir inputs connec...

Страница 49: ...0000000 00000000 BRUSHLESS D C MOTORS N A N O FEEDBACK 2 4 6 8 1 3 5 7 3 4 5 6 MOTOR PWR J 2 M 1 C O N T R O L 1 2 17 18 J 1 U S B 1 2 MKN48 8 B X CB Sxxx X000 X000 00000000 00000000 1 17 2 18 J1 J1 M...

Страница 50: ...00000000 BRUSHLESS D C MOTORS N A N O FEEDBACK 2 4 6 8 1 3 5 7 3 4 5 6 MOTOR PWR J 2 M 1 C O N T R O L 1 2 17 18 J 1 U S B 1 2 MKN48 8 B X CB Sxxx X000 X000 00000000 00000000 BRUSHLESS D C MOTORS N A...

Страница 51: ...NBUS configuration In the software interface under GENERAL SETTINGS set the operative mode 7 Can Open ID and the CanBus baud rate Save always in Eeprom to save the settings Notes Ensure that each driv...

Страница 52: ...ing READY green fixed RUN red blinking I2t red fixed ALARM green red alternate ONLY BACKUP VOLTAGE In the Nano Mack there is a LED red or green fixed or blinking that visualizes the system s status LE...

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Страница 55: ...Chapter 3 Diagnostic 3 1 Alarms 56 3 2 Problem solving 58...

Страница 56: ...ower supply under the minimum limit voltage 10 Pre Alarm Recovery 80 of the I2t energy recovery has been reached 11 USB Mack Link Malfunctions in the drive s communication 12 Reserved 13 Overvoltage P...

Страница 57: ...o be restarted save in Eeprom then power off and on the drive 32 Speed Following Error The motor rotates at a different speed then the reference 3 1 Alarms ALARM RESET 22 YES 24 YES 26 YES 31 NO 32 YE...

Страница 58: ...equal cable If you don t have a replacement disconnect the cable form the motor and the drive with a multimeter or multitester check if there any short circuit between two wire of the cable Check if t...

Страница 59: ...RM 9 Min Voltage Disable the drive Verify the power supply connection on the drive see cap 2 8 Power supply connections on page 33 Verify the voltage level on the power input see cap 1 3 Technical Dat...

Страница 60: ...J3 connector Verify the correct sequence of application of the STO signals and the Enable signal If the Alarm appears then contact for assistance SOLUTION FOR ALARM 24 CanBus Verify cable connection V...

Страница 61: ...vel on the backup input see cap 1 3 Technical Data on page 11 Verify the backup supply connection on the drive see cap 2 6 Backup Supply connections on page 31 backup supply is required to startup the...

Страница 62: ......

Страница 63: ...Speed 67 4 4 Analog Torque 68 4 5 Digital Torque 70 4 6 Position Mode 71 4 7 Gearing 72 4 8 Pulse Dir Mode 74 4 9 Homing Settings 77 4 10 Homing Example 80 4 11 CanBus Settings 82 4 12 CW CCW 83 4 13...

Страница 64: ...h the quadrature signals of an incremental encoder from a Master motor Electrical Axis or Gearing PULSE DIR MODE It is possible to connect the drive to a motor piloting it with the CLOCK and DIR signa...

Страница 65: ...pes of analog reference outputs Differential analog output in this case connect the positive speed reference to An IN 1 and the negative speed reference to An IN 1 Common mode reference analog output...

Страница 66: ...An IN 1 or change the Rotary Direction parameter in the Speed window from Positive to Negative 4 Enable analog speed control via software interface a Set the operative mode 0 Analog Speed b It is poss...

Страница 67: ...ng the of Imax by the value Torque Sat the value 0 0 disable this function d Save data to Eeprom e Enable disable the drive by using the Enable Disable buttons or giving 24V to the D IN1 ENABLE input...

Страница 68: ...Common mode reference analog output The formula for determining the voltage value to be applied in An IN Ref Torque in order to obtain the necessary current is as follows VREF 10 I desired I peak 3 Ex...

Страница 69: ...f 10 20 10A rated current 20A peak current insert in the window Torque Sat the value 25 in fact 5x100 20 25 The value 0 0 disable the function 4 4 Analog Torque c Save data to Eeprom d Enable disable...

Страница 70: ...ative mode 3 Digital Torque b Insert the desired torque reference in the window Torque Sat c Save data to Eeprom d Enable disable the drive by using the Enable Disable buttons or giving 24V to the D I...

Страница 71: ...nt to blend the following profiles having the origin 0 pulses as refer ence point 0 2000 1000 3000 4000 5000 6000 7000 PULSES RPM Position Task N 1 Position Task N 2 Position Task N 3 Notes It is nece...

Страница 72: ...atio the ratio that allows you to obtain the desired Slave speed in regards to the encoder Example For 4096 pulses revolution set as in figure 1 4096 6 Save Data to Eeprom 7 Enable disable the drive b...

Страница 73: ...IR Signal Max allowable input frequency Minimum required time width s t Line Driver 500kHz 2 Open Collector 200kHz 5 Phase A Phase B t t t t t t t t Phase B advanced by 90 deg from phase A Phase B del...

Страница 74: ...nsert into the numerator and denominator of the Gear Ratio the ratio that allows you to obtain the desired speed in regards to the encoder Example For 4096 pulses revolution set as in figure 1 4096 d...

Страница 75: ...sition loop by using an adequate procedure 4 For enabling the Pulse Dir Mode follow this procedure a Enable the drive giving 24V to the ENABLE input D IN1 The motor will remain locked in torque with t...

Страница 76: ...uts time requirements CK DIR Signal Max allowable input frequency Minimum required time width s t1 t2 t3 Line Driver 500kHz 1 1 1 Open Collector 200kHz 2 5 2 5 2 5 4 8 Pulse Dir Command Signal CK DIR...

Страница 77: ...ing formula where K is the value in mechanical degrees of the maximum accepted error The maximum selectable position error is 180 32767 pulses Example If the maximum mechanical accepted error is 45 1...

Страница 78: ...the actual acceleration time can be found utilizing the following formula Where T_acc_homing real acceleration time during the homing search process Speed_homing speed set for the homing process Speed...

Страница 79: ...4 25 to refer to the fraction of turn above 360 Now it is possible to calculate utilizing the following operation 4 25 65536 278528 This bold number is the value that must be inserted in the Homing Of...

Страница 80: ...Enable the DGT IN1 Enable digital input the motor will be on torque b Enable the DGT IN2 Start Homing digital input the motor moves to search the home po sition using the homing parameters saved on t...

Страница 81: ...homing procedure causes the interruption of homing process In this case no homing position is saved and the motor is left free deceleration is depending of inertia and friction A new homing process ca...

Страница 82: ...performance of the system All drives connected to the network must have the same baud rate c For each drive on the same network set a different CanBus ID d Save always in Eeprom to save the settings...

Страница 83: ...e numerator and denominator of the Gear Ratio the ratio that allows you to obtain the desired speed in regards to the encoder Example For 4096 pulses revolution set as in figure 1 4096 d Save data to...

Страница 84: ...ocedure a Enable the drive giving 24V to the ENABLE input D IN1 The motor will remain locked in torque with the position loop inserted and waiting to move See 1 b When the pulses arrive at the DIR inp...

Страница 85: ...1 rev 11 19 Inputs time requirements CK DIR Signal Max allowable input frequency Minimum required time width s t1 t2 Line Driver 500kHz 1 1 Open Collector 200kHz 2 5 2 5 4 12 CW CCW Signal CK DIR Pos...

Страница 86: ...leration in the Velocity Loop window e It is possible to limit the torque by setting the of Imax by the value Torque Sat the value 0 0 disable this function f Save data to Eeprom g Enable disable the...

Страница 87: ...outputs Differential analog output in this case connect the positive speed reference to An IN 1 and the negative speed reference to An IN 1 Note To change the sense of rotation apply the positive vol...

Страница 88: ...e interface a set the operative mode 11 Analog to Position and keep the Torque Sat box to 0 0 b in Digital Speed box set the desired speed during movements c in Position 1 and Position 2 set the desir...

Страница 89: ...e to set the ramp of acceleration and deceleration in the Velocity Loop window e It is possible to limit the torque by setting the of Imax by the value Torque Sat the value 0 0 disable this function f...

Страница 90: ......

Страница 91: ...4 Motor Feedback 96 5 5 Current Loop 100 5 6 Velocity Loop 101 5 7 Position Loop 103 5 8 Digital I 0 window 104 5 9 Analog I O window 107 5 10 Alarms window 109 5 11 Homing window 110 5 12 Braking Res...

Страница 92: ...eederOne 2_Setup_X XX XXXXXXXX exe 2 At the end of the installation to start the interface click on the link SpeederOne 2 on your desktop if created or on the SpeederOne 2 exe file that you find on th...

Страница 93: ...le the Expert Mode to permit the user to write in the Diagnostic page Connection By clicking on Connection it is possible to select Automatic to connect all the drive connected to the PC only for seri...

Страница 94: ...the drive Drive Version Drive Line Size Nominal size in Ampere Firmware Version Drive s current firmware Firmware Date Drive s current firmware release date Hardware Version Drive s motherboard versi...

Страница 95: ...sing an Analog Input Operating Frequency Select the drive operating frequency 16KHz 24KHz with derating of drive performances The Operative Mode menu allows you to select the operation mode of the dri...

Страница 96: ...Type Select the type of motor N Of Poles If the motor type is brushless then select the number of motor s pole Feedback Settings Feedback Type Set the type of the motor feedback Revolution pulses rev...

Страница 97: ...not to be set Brushless Encoder Incremental With this coupling set only the following parameter Resolution insert the value of encoder pulses rev All other parameters are not to be set Note At the fi...

Страница 98: ...ho Voltage tachogenerator voltage V Rpm mot at Tacho Voltage turns referenced to the tachogenerator voltage 1000 rpm All other parameters are not to be set Tacho Voltage is referred to the encoder vol...

Страница 99: ...up happen the electrical phasing between motor and encoder this can result in a slight movement of the motor Stepper Sensorless With this coupling set the following parameters Min RPM insert the motor...

Страница 100: ...ction it is possible to insert the percentage value of the peak current furnished by the drive The numerical range is between 1 and 100 Example suppose we have a drive size 8 16 if we insert into this...

Страница 101: ...ration Ramp It is possible to insert the value of the acceleration ramp in ms The range is between zero and 5000 ms 0 5sec Deceleration Ramp It is possible to insert the value of the deceleration ramp...

Страница 102: ...the speed is less then K2 Speed for K2 Time K2 Speed Max Speed reference for switch from Kp to Kp2 after K2 Time K2 Time When the motor speed drop under K2 Speed and the K2 Time has passed the drive s...

Страница 103: ...r This is the position error after which the drive goes into alarm 14 Following Error Kp Dynamic This is the position loop gain Suggested values 1 999 Kp Static Set as Kp Dynamic Numerator This is the...

Страница 104: ...n near the name of the digital input the St led becomes red and a high logic signal is present on the input The Hw led visualises the hardware status of the digital input if it is red a voltage is pre...

Страница 105: ...set by the digital inputs while the next tasks are set by using the Next Profile parameter associated to each task At the end of each task the following automatically starts 11 Start Next Start a seq...

Страница 106: ...k At the start of every new task the output will be opened 8 Error With this function the output is closed if one or more alarms are present When all alarm are cleared the output will be opened 9 Read...

Страница 107: ...It visualises in mV the voltage measured on the analog inputs This value depends by the Offset the Filter and the Dead Band settings Dead Band If the voltage on the analog inputs is within the range D...

Страница 108: ...2 only case A FUNCTION OUTPUT DESCRIPTION 0 Off Selecting this function the output will always be open 22 AbsI2t The absolute value of the i2t counter 0 100 in analog signal 0 10V 23 AbsSpeed The abso...

Страница 109: ...109 AXOR Industries Service Manual NanoMack ver 1 rev 11 19 5 10 Alarms window This window show if there is any fault state of the drive For detail about the alarms see cap 3 1 Alarms on page 56...

Страница 110: ...ity Loop setting Speed This parameter sets the speed reference used during the homing process and it is given in rpm The admitted values are in ranges between 10 and 1000 rpm Zero Speed This defines t...

Страница 111: ...s window allows you set the parameters of the Braking Resistor Resistance value The value of the resistance in Ohm Absorbed energy The absorbable adiabatic energy of the resistor in joule Power The re...

Страница 112: ...1 rev 11 19 5 13 Oscilloscope Clicking on Oscilloscope it is possible to open the digital oscilloscope The oscilloscope functions as a normal two channel digital oscilloscope and it allows visualizin...

Страница 113: ...es new data it visualizes it then it stops To upgrade the trace it is necessary to start a new acquisition by clicking on the icon Continuous Acquisition Selecting the Continuous Acquisition option th...

Страница 114: ...gger event the oscilloscope will continue to acquire new data and update the traces You should use the Auto trigger function During first acquisition in order the know the scale of input signals In pr...

Страница 115: ...ws The motor speed Speed rpm The phase U current I_Phase_U A The position error Posit_Err Pulses not yet enabled The quadrature current Iq A Channel 1 Scale and Channel 2 Scale The unit of vertical sc...

Страница 116: ...nterface and connect to the drive 3 Select for example the operative mode Square Wave then set a speed reference equal to 1000rpm and a square wave period equal to 2000ms 4 Open the Oscilloscope windo...

Страница 117: ...r on the rising edge or falling edge of the signal in Channel 1 choosing a trigger level based upon the signal to be visualized Setting a level that is too high will result in no data acquisition Havi...

Страница 118: ...the continuous trace refresh and to visualize the signal on the first valid trigger event 1 Click on icon 2 Select Single Acquisition 3 Click on icon 4 At each new desired acquisition click on icon D...

Страница 119: ...sition n turns also not integer 65536 Example We want to start from the position 0 after a successful homing procedure with a Homing Offset value equal to zero Suppose that the set task makes a rotati...

Страница 120: ...value inserted in the Dec Time parameter Speed It sets the speed reference of the trapezoidal profile This parameter is limited by Max Position Speed Max Position Speed It sets the maximum speed allo...

Страница 121: ...from Flash It permits the visualisation of the data saved into Flash This values can be different from the prece dent visualised value if a saving process has not been performed yet Save Data to Flash...

Страница 122: ...122 AXOR Industries Service Manual NanoMack ver 1 rev 11 19 5 15 Diagnostic This window allows you set all the parameters advance mode...

Страница 123: ...window allows you to SAVE DATA Save the drive configuration in the Eeprom permanently SAVE FILE It allows you to save the drive configuration in a file on your PC LOAD FILE It allows you to load the...

Страница 124: ......

Страница 125: ...EEC The machine plant manufacturer must examine whether with its machine plant still further or other standards or EEC guidelines are to be used EC Conformity The EC mark that is applied to the drives...

Страница 126: ......

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