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B-4 Command Set

MN1276

General Settings

System Constants

Command

Description

Range

Common

Lev I

LevII

SYS.POWER

Queries dip switch ID, (see DRV.ID)

SYS.FBACK

Queries system feedback
(encoder / resolver)as defined by ALTERA

0:1

SYS.INFO

Queries firmware version with naming and

ASCII letters

SYS.INFO

(SYS.VER)

Queries firmware version with naming and
version number as ASCII string

ASCII letters

SYS.LEVEL

Queries level version

1 : 2

SYS.OPT

Queries ALTERA option(s)X

0 : 7

SYS.STTS

(COM.ADDR)

Most Significant--Word of SYS.STTS gives
control address of (LS--Word s. below).
Control Address is set per Dip Switch

(MS-Word of

SYS.STTS)

Firmware versions RES--1.xx, ENC--1.xx SYS.VER is equal to
SYS.INFO , downward versions: answer to SYS.VER is unsigned integer
version number only

Firmware versions RES--1.xx, ENC--1.xx only (no version)

Basic System Parameters
Motor Parameters (MTR. prefixed)

Command

Description

Units

Range

Default

/ Par. set

MTR.IDX

D3S/FlexDrive/Flex+Drive Setup library
defined Motor Index

Unsign Int.

E / P

MTR.IND

Motor inductance

0.01 H

1 : 65535

E / P

MTR.INOM

Motor nominal current

0.1 A

1 : 65535

E / P

MTR.IPEAK

Motor peak

0.1 A

1 : 65535

E / P

MTR.JM

Motor Inertia

0.01 Kg-cm

1 : 65535

E / P

MTR.MPLS

Motor number of poles

1 : 65535

E / P

MTR.RES

Motor resistance

0.01 Ohm

1 : 65535

E / P

MTR.KT

Motor torque constant (torque to RMS
phase current)

0.001 Nm/A

1 : 65535

E / P

MTR.KV

Motor bemf constant

V/1000RPM

1 : 65535

E / P

MTR.NAME

Motor string name in ASCII characters

ASCII char

E / P

Drive Parameters (typical DRV. prefixed)

Command

Description

Units

Range

Default

/ Par. set

DRV.BUSAPP

Application bus voltage

Unsign. Int.

E / P

DRV.BUSOV

Application bus over voltage

Unsign. Int.

E / P

DRV.BUSV

Drive Bus voltage

Unsign. Int.

E / P

DRV.I2T

I2t warning time

0.01 s

100 : 300

E / P

DRV.ID

Drive ID (EEPROM value) to be checked
against power ID ( dip switch ) in case of
Version Error ( “U” )

Unsign. Int.

E / P

DRV.IDX

FlexDrive/Flex+Drive Setup library index

Unsign. Int.

E / P

DRV.INOM

Drive nominal current

0.1 A

Unsign. Int.

E / P

DRV.IPEAK

Drivepeak current

0.1 A

Unsign. Int.

E / P

Содержание FPX A05T

Страница 1: ...Flex Drive Servo Control SERVO DRIVE Installation Operating Manual 2 03 MN1276...

Страница 2: ...2 Power Disconnect 3 4 Protection Devices 3 4 X1 Power Connections 3 5 X1 Motor Connections 3 10 M Contactor 3 10 Motor Thermostat 3 11 X1 Dynamic Brake Resistor 3 11 X1 24VDC Logic Supply 3 12 X3 Co...

Страница 3: ...otor 5 6 Control 5 6 Operating Mode 5 7 Current Parameter 5 8 Velocity Parameter 5 8 Positioning 5 9 Software Triggered 5 9 Hardware Triggered 5 9 Initialize Buffers 5 9 Home 5 10 Limit Switches 5 10...

Страница 4: ...es 8 1 CE Declaration of Conformity 8 1 EMC Conformity and CE Marking 8 1 EMC Installation Instructions 8 3 Section 9 Accessories and Options 9 1 Cables 9 1 Connectors 9 1 EMC AC Mains Filter 9 2 Rege...

Страница 5: ...iv Table of Contents MN1276...

Страница 6: ...ted Warranty For a period of two 2 years from the date of original purchase BALDOR will repair or replace without charge controls and accessories which our examination proves to be defective in materi...

Страница 7: ...ctly contact the place of purchase for return instructions Safety Notice This equipment contains high voltages Electrical shock can cause serious or fatal injury Only qualified personnel should attemp...

Страница 8: ...the motor shaft and driven equipment Be certain that unexpected motor shaft movement will not cause injury to personnel or damage to equipment Peak torque of several times the rated motor torque can...

Страница 9: ...able power source Suitable fusing and circuit protection devices are required Caution The safe integration of the drive into a machine system is the responsibility of the machine designer Be sure to c...

Страница 10: ...SM N Series motors Refer to the Speed Torque curves in the BR1202 catalog or contact your local Baldor distributor or sales representative for assistance with motor sizing and compatibility Custom mot...

Страница 11: ...g Machine Input 2 CCW Warning Machine Input 3 Following Error Flag Machine Input 4 Following Error Warning Drive Over Temperature I2t Warning Simulated Encoder Output Resolver Feedback The resolver fe...

Страница 12: ...f the control is important Installation should be in an area that is protected from direct sunlight corrosives harmful gases or liquids dust metallic particles and vibration Exposure to these can redu...

Страница 13: ...ounding 3 phase for UL AC Main Supply Safety Ground Driven Earth Ground Rod Plant Ground Four Wire Wye L1 L2 L3 Earth Route all power wires L1 L2 L3 and Earth Ground together in conduit or cable Groun...

Страница 14: ...gnal wires Route control signal wires in conduit These wires must be kept separate from power and motor wires V L N U W Figure 3 4 Recommended System Grounding 1 phase for CE Route all power wires tog...

Страница 15: ...e additional protection is required TVSS Transient Voltage Surge Suppressor of the proper rating must be installed between the AC line reactor or an isolation transformer and the AC input to the contr...

Страница 16: ...5V 1 10A 12 5 15 14 2 5 FP2A10SR XXXX 230V 3 10A 15 15 14 2 5 FP1A15SR XXXX 115V 1 15A 20 20 12 2 5 FP2A15SR XXXX 230V 3 15A 20 25 12 2 5 FP4A15TR XXXX 400 460V 3 15A 20 20 12 2 5 FP4A20TR XXXX 400 46...

Страница 17: ...provided with Control For CE Compliance refer to Section 8 of this manual Figure 3 6 Single Phase AC Power Connections FP1AxxS only L1 L2 Alternate Fuse Connection Note 1 L1 L2 PE Circuit Breaker Ear...

Страница 18: ...ing 3 Use the same gauge wire for Earth as used for L1 L2 L3 connections 3 Use same gauge wire for Earth ground as is used for L and N VDE Germany requires 10mm2 minimum For CE compliance connect PE t...

Страница 19: ...In X8 Monitor X1 NC N L U V W R1 R2 24V 0V FPxAxxxx xxx3 only X7 Simulated Encoder Output 1 CHA 6 CHA 2 CHB 7 CHB 3 CHC 8 CHC 4 Reserved 9 Reserved 5 DGND X8 Resolver Input 1 REF 6 REF 2 COS 7 COS 3...

Страница 20: ...lated Encoder Output 1 CHA 6 CHA 2 CHB 7 CHB 3 CHC 8 CHC 4 Reserved 9 Reserved 5 DGND Important FPxAxxxx xxx3 only A separate 24VDC supply to the Logic Power input is required for operation An FPxAxxx...

Страница 21: ...ct only as instructed Note 2 For three phase controls this is labeled PE Figure 3 12 Motor Connections for CE Optional components not provided with control AC Servo Motor Baldor Control Note 1 U V W U...

Страница 22: ...ipped CR1 is de energized and the N O contact closes Connect the External Trip Input wires N O relay contact to a PLC or other device Note that a machine input may be used and the PLC software of the...

Страница 23: ...ce X3 Digital Inputs Opto Isolated Inputs uses CREF X3 7 Active High Sourcing If pin X3 7 is grounded an input is active when it is at 24VDC 12VDC to 30VDC Active Low Sinking If pin X3 7 is at 24VDC 1...

Страница 24: ...parameter MOT ACC to rest This input is edge triggered OPEN allows position mode operation Fault Reset CLOSED allows the control to be cleared or Reset for any of the following four fault conditions...

Страница 25: ...n Ready Motion in Process T7 See Table 3 4 Table 3 4 Process Duration for Resolver and Encoder Feedback Time Resolver Encoder T1 1ms 2ms T2 1 2ms 1ms T3 28ms 14ms T4 28ms 14ms T5 10ms 14ms T6 10ms 14m...

Страница 26: ...000 2000 300 14 ON ON OFF ON 1400000 2000 300 15 ON ON ON ON 1500000 2000 300 Note The machine Inputs of Table 3 5 are OFF when the switch is open Therefore when MAI1 4 are open move number 0 Home is...

Страница 27: ...to 30VDC Table 3 6 Opto Output Signal Conditions Pin Number Signal Name Switch Closed active Switch Open not active X3 4 Fault Drive OK no faults detected Fault is detected X3 5 Fault Drive OK no faul...

Страница 28: ...er Figure 3 21 9 25 Pin RS 232 Cable Connections for UL Installations 25 Pin Connector 9 Pin Connector Pin Signal 2 RXD 3 TXD 7 GND Pin Signal 2 RXD 3 TXD 5 GND Null Modem Cable Connections Control DC...

Страница 29: ...gnal to not be fully absorbed by the load This causes a portion of the signal to be reflected back into the transmission line noise If the Source impedance Transmission Line impedance and Load impedan...

Страница 30: ...ti Drop for CE Installations Terminating resistor TR is 120 W typical value Only the PC and last control are terminated TX TX X6 Host Computer DGND GND TX TX DGND GND RX RX DGND GND TR TR TX TX RX RX...

Страница 31: ...t only drive one circuit load RS422 interface 28LS31 device Refer to Table 3 7 The simulated Encoder Output is set by software control in General Motor Control Table 3 7 Simulated Encoder Output at X7...

Страница 32: ...uns of resolver and power cables by at least 3 Cross power wires at right angles only Insulate or tape ungrounded end of shields to prevent contact with other conductors or ground Note Motor and resol...

Страница 33: ...r Figure 3 29 Encoder with Hall Tracks Connections for UL Installations 1 6 2 7 3 8 11 X9 Encoder 4 5 9 14 10 15 13 Shell Chassis Hall 1 Hall 1 Hall 3 Hall 3 Hall2 Hall 2 12 Not Used Hall Feedback A A...

Страница 34: ...AS1 4 for Multi Drop Applications Each control address can be set using switches AS1 1 to AS1 4 of each control Each control must have a unique address Refer to Table 4 1 Table 4 1 Control Address Se...

Страница 35: ...g OFF allows normal operation ON causes Offset Tuning to automatically start the next time Enable is changed from ON to OFF The purpose of Offset Tuning is to remove DC offset voltages on the command...

Страница 36: ...All segments and decimal point are on 0 Display test 1 Option number of test 1 2 etc d Final display with no decimal point control disabled because AS1 8 OFF Procedure 1 Apply AC power 2 Apply logic p...

Страница 37: ...4 4 Switch Setting Start Up MN1276...

Страница 38: ...Setup exe from My computer 3 5 inch Floppy A 4 Follow the instructions and insert the other installation disks as required After the installation process is finished a program manager group for Flex...

Страница 39: ...ware 2 In Control Panel select and open System 3 Open Ports select the COM port you are using then click properties Figure 5 2 4 Be sure the port settings are as Bits per second 9600 Data bits 8 Parit...

Страница 40: ...automatic start of the Wizard can be turned off It can be activated and reset to automatic start by Help Wizard Figure 5 1 shows the flowchart of the Setup Wizard All selected parameters can be store...

Страница 41: ...rrent Velocity Positioning Download Skip Skip Sequence 3 Current Parameters General App Peak Amps App Nom Amps BEMF Compensation Scaling Factor Download Skip Sequence 4 Sequence 4 Velocity Parameters...

Страница 42: ...ameter file using the File Open selection Start by selecting the Motor and Control and these parameters will be entered automatically for you by the software for a stock motor For a custom motor the m...

Страница 43: ...list If your motor is not on the list you must define a motor and all of its parameters If your motor is not listed select User Models in the Library menu and enter the motor parameters Click Downloa...

Страница 44: ...Mode Select the operating mode of the control Choices are 1 Current Mode 2 Velocity Mode 3 Positioning 15 preset point to point moves Click Download when finished Note If an encoder with hall feedbac...

Страница 45: ...s rated for 5A continuous current and you desire to limit the output current to 4A enter 80 If you wish to use the full output power of the control enter 100 Click Download when finished Figure 5 5 Cu...

Страница 46: ...ig Note The Motion Trigger must be set to identical values in both of these positioning menus Otherwise problems will occur 8 For a Direct move enter position velocity and acceleration parameters 9 To...

Страница 47: ...elect Homing from the Motion menu 3 Choose the desired homing type 4 Choose the desired capture edge rising or falling 5 Choose the desired home direction CW or CCW 6 Choose the desired home velocity...

Страница 48: ...se you may initiate automatic offset tuning and let the control measure and set this value Click Download when finished Figure 5 7 Drift Parameter Screen Autotune You may manually tune the control see...

Страница 49: ...t the cursor location in the active editor window Erase the contents of the active window Select everything in the active window Save the active editor window to a new file name Setup Allows selection...

Страница 50: ...l Active Motor decels to stop then control disables Passive Motor coasts to stop Cause motor to stop and maintain position Allow you to Jog the position of the motor Define up to 12 PLC statements log...

Страница 51: ...h to use 2 Next click in the IF column on the same ROW as the desired event For example If you are to use the MAO1 output click in row 1 in the IF column as shown 3 Choose the condition for the desire...

Страница 52: ...ircuit or resolver not connected open circuit Red 6 Electronic fusing also see fault 7 Control current over load detected by software Red 7 I2t limit reached After a fault is detected control will run...

Страница 53: ...Error The following error exceeded the user defined value of the Following Fatal Error The following error preset level is Operation Mode Pulse Follower This error is stored and must be cleared by th...

Страница 54: ...X X Current Rating A02 2 2 5 Amps A05 5 Amps A07 7 5 Amps A10 10 Amps A15 15 Amps A20 20 Amps A27 27 5 Amps X X Braking Option R Requires external regen resistor B Built in regen resistor O No intern...

Страница 55: ...200 software selectable Mounting Panel Package Size A B C E E E E Operating Altitude Feet Meters To 3300 feet 1000 meters Derate the continuous and peak output current by 1 1 for each 330 feet 100 met...

Страница 56: ...Velocity Loop Bandwidth Hz 10 to 200 software selectable Mounting Panel Package Size G G G H H H Operating Altitude Feet Meters To 3300 feet 1000 meters Derate the continuous and peak output current...

Страница 57: ...A7 FP4 A15 FP4 A20 FP4 A27 Input Voltage maximum ripple 10 VDC 20 30 Input Current 24VDC ARMS 0 8 1 0 1 0 1 4 1 6 1 6 Power On surge current 24VDC 100msec ARMS 4 0 Velocity Control Description Unit Al...

Страница 58: ...ion Rate Baud 9600 not adjustable Regeneration 115 230VAC Description Unit FPX A02T FPX A05T FPX A07T FPX A02S FPX A05S FPX A10S FPX A15S Switching Threshold 115VAC 230VAC VDC ON OFF 188 195 183 188 3...

Страница 59: ...ttom 0 04 10mm left and right side X W Depth Size A B C 6 0 152 0 374 9 5 Package Size A A w CAN option B B w CAN option C E G H Dimensions in mm W A 0 59 15 0 59 15 0 90 23 0 90 23 0 90 23 1 08 27 5...

Страница 60: ...state a minimum technical requirement common to all the member states within the European Union In turn these minimum technical requirements are intended to enhance the levels of safety both directly...

Страница 61: ...C power cables and control wiring 2 SCREEN CONNECTIONS All connections between components must use shielded cables The cable shields must be connected to the enclosure Use conductive clamps to ensure...

Страница 62: ...hould be connected to the screen rails or clamps The screen rails or clamps should be conductive clamps fastened to the cabinet D The cable to the regeneration resistor must be shielded The shield mus...

Страница 63: ...ble 1 6 2 7 3 8 11 13 Control X7 To Controller Resolver Cable Grounding Cable 1 6 2 7 3 8 5 Control X8 1 2 3 4 5 6 Resolver Connector Housing Connection of shields to analog ground is optional Encoder...

Страница 64: ...15SP FHQ CBL030SP FHQ CBL046SP FHQ CBL061SP FHQ CBL076SP FHQ CBL152SP FHQ 5 10 15 20 25 50 1 5 3 0 4 6 6 1 7 6 15 2 Power Cable Assembly CE Style Threaded Connector CBL030SP FHCE CBL061SP FHCE CBL091S...

Страница 65: ...ble No Connector CBL030SF A CBL061SF A CBL091SF A CBL152SF A 10 20 30 50 3 0 6 1 9 1 15 2 EMC AC Mains Filter AC filters remove high frequency noise to protect the control These filters also prevent h...

Страница 66: ...FN 351 FN350 8 29 16 29 25 33 36 33 50 33 A 5 4 8 6 9 45 9 84 139 220 240 250 B 3 9 7 1 7 87 7 87 99 180 200 200 C 4 2 4 5 5 9 5 9 105 115 150 150 D 3 32 3 35 4 7 4 72 84 5 85 119 5 120 E 3 73 3 93 5...

Страница 67: ...or Watts 2 5 A RG27 44 RG56 44 5 B RG27 44 RG56 44 7 5 C RG22 100 RG39 100 2 5 G RG68 320 5 G RG68 320 7 5 G RG68 320 15 H RG27A 320 20 H RG11 640 27 5 H RG11 640 2 E RG4 7 320 RG10 320 5 E RG4 7 320...

Страница 68: ...led option Figure 9 1 CAN Bus Connectors AS1 1 2 3 4 5 6 7 8 Off On Ready X3 DB On Encoder In X9 RS232 485 X6 Encoder Out X7 Resolver In X8 Monitor X1 NC L N U V W R1 R2 24V 0V X10 CAN Bus 1 Reserved...

Страница 69: ...25kbit second may be changed by AS1 switch settings or serial command e g command CAN BD 1000 for 1Mbit sec Available baud rates are 10 20 50 100 125 250 500 800 and 1000kbit sec NODE_ID may be change...

Страница 70: ...message transmission consists of an address Identifier ID followed by 0 to 8 Data bytes CAN drives use the following addresses according to CAN_OPEN DS301 PDO1 Receive Master to Drive 0x200 Node_ID P...

Страница 71: ...have to put the following message on the CAN_BUS To send a command or set a parameter in the drive 0x20 Ind_lo Ind_hi Sub XXX XXX XXX XXX D0 D1 D2 D3 D4 D5 D6 D7 Drive PC Master 0x20 Ind_lo Ind_hi Su...

Страница 72: ...at the correct motor and drive parameters and operating mode are set This is done by CAN or RS232 communications 2 Send the following CAN messages to the drive 0x20 0x8F 0x21 0x00 0x08 XXX XXX XXX D0...

Страница 73: ...ing Node_ID is the node identifier which is the card address set by switch AS1 4 SDO Protocols CMS Multiplexed Domain Protocols In CiA DS202 2 CMS protocol specification the following specifications o...

Страница 74: ...byte 00 10 20 30 0X 1X3 20 30 up to 3 7 data bytes to be downloaded Reserved 7 data bytes to be downloaded Reserved up to 4 data bytes t Toggle bit of segmented domain with first download domain segme...

Страница 75: ...Reserved 7 data bytes to be downloaded Reserved 7 data bytes to be downloaded up to 4 data bytes t Toggle bit of segmented domain with first upload domain segment t 0 n n indicates the number of byte...

Страница 76: ...I_PARAM RECEIVE_PDO_1_COMMUNI_PARAM RECEIVE_PDO_2_MAPPING_PARAM RECEIVE_PDO_1_MAPPING_PARAM TRANSMIT_PDO_2_COMMUNI_PARAM TRANSMIT_PDO_1_COMMUNI_PARAM TRANSMIT_PDO_2_MAPPING_PARAM TRANSMIT_PDO_1_MAPPIN...

Страница 77: ...OM_VREF MANUFACT_COM_WRN MANUFACT_COM_ABSPOS Write only MANUFACT_COM_CLEAR 2180 MANUFACT_COM_DIS MANUFACT_COM_ENA MANUFACT_COM_DISA MANUFACT_COM_FRST MANUFACT_COM_GRST MANUFACT_COM_HOLD MANUFACT_COM_I...

Страница 78: ...0x09 RW CUR TOSH 0x0A RW CUR BEMF 0x0B RW CUR SCAL 0x0C RW CUR VOLT 0x0D RW Subindexes to Index 2011 VEL Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO VEL A...

Страница 79: ...e only WO Entries 0x00 RO POS FEWRN 0x01 RW POS FEFAT 0x02 RW POS FEST 0x03 RO POS FFA 0x04 RW POS FFTYPE 0x05 RW POS FFV 0x06 RW POS IPOS 0x07 RW POS KP 0x08 RW POS MPFE 0x09 RO POS REF 0x0A RO POS P...

Страница 80: ...index Read Write RW Read only RO Write only WO Entries 0x00 RO SYS ANAIN 0x01 RO SYS ANA2 0x02 RO SYS ENC 0x03 RW SYS ENCRES 0x04 RW encoder system only SYS FAULT 0x05 RO SYS FBACK 0x06 RW SYS INFO 0x...

Страница 81: ...9 RW MOT STATUS 0x0A RO MOT TRIG 0x0B RW MOT BUFTYPE 0x0C RW MOT GENPOS 0x0D RO Subindexes to Index 2019 HOM Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO HO...

Страница 82: ...r velocity loop tuning The autotuning procedure will work for most applications Manual tuning however may be desirable when very tight response is required These guidelines provide a basic reference s...

Страница 83: ...parameters will be entered if your motor is on the list If your motor is not on the list you may define a motor and all of its parameters Click Download when finished Figure A 3 Motor Selection Scree...

Страница 84: ...the General menu and note that the values are filed in Operating Mode Select the operating mode of the control Choices are 1 Current Mode 2 Velocity Mode 3 Positioning 15 preset point to point moves...

Страница 85: ...is rated for 5A continuous current and you desire to limit the output current to 4A enter 80 If you wish to use the full output power of the control enter 100 Click Download when finished Figure A 6...

Страница 86: ...Select Pole Placement Enter either Inertia or Inertia Ratio the other value is automatically entered Enter a value for Bandwidth 1 2 4 3 5 6 7 Click on Download If Pole Placement method of adjustment...

Страница 87: ...ndwidth and observe go to plotting of move the velocity and command current until current reaches maximum value then back off to 80 The range is from 10 200 The next step would be to verify that the v...

Страница 88: ...command or load does not change The adjustable range is from 0 to 32767 1 Click on the Integral Gain GVI box and enter a value You may want to begin with the default values click on the default butto...

Страница 89: ...on the default button and answer yes Note The default values may not be best for all applications it may be too high If the system is noisy displays an audible noise decrease this value immediately To...

Страница 90: ...or CCW 0 2 0 0 4 0 6 0 8 1 0 0 04 0 08 0 13 0 17 0 21 0 25 0 29 0 33 0 38 0 42 Velocity RPM Time sec Overshoot Good Response Constant Acceleration Graphic Screen Click on the Record button to activat...

Страница 91: ...gs desired acceleration closer to actual acceleration It is not within the servo loop so it does not effect stability Inertia resists acceleration The adjustable range is from 25 to 100 Initiate Move...

Страница 92: ...done by simply adding the parameter value to the mnemonic Syntax General structure of the ASCII command Each ASCII command is structured in principle according to Mnemonic Delimiter Parameter List Sy...

Страница 93: ...of the sequence of parameters necessary with the delimiters blank space or comma between The number of the parameter can be given as decimal value or as hexadecimal value Hexadecimal values are preced...

Страница 94: ...d the ASCII commands may be used Note If more than one drive is connected to the PC port correct communication can only be established if all drives have different addresses 4 Error messages from the...

Страница 95: ...E2 Par set MTR IDX D3S FlexDrive Flex Drive Setup library defined Motor Index Unsign Int E P MTR IND Motor inductance 0 01 H 1 65535 E P MTR INOM Motor nominal current 0 1 A 1 65535 E P MTR IPEAK Moto...

Страница 96: ...4096 above 1500 RPM 512 only Downward versions to 80112d1000 incl also provide the deci mal values Puls Rev 512 1024 2048 4096 500 1000 1250 1500 E Software Limit Switches Parameters Command Descripti...

Страница 97: ...s 0 11 JOG JOG function s 0 12 GEAR input string parameter with enumerated values FALSE Always false i e switched off CW CCW Hardware or Software Limit Switches MAI1 MAI2 Digital Inputs MAI3 MAI4 Dig...

Страница 98: ...positioning 0 1 0 E P MOT INCW Defines digital Input CW MAI3 as CW 0 or as MAI3 for positioning 0 1 0 E P Analog Interface Parameters Command Description Units Range Default E2 Par set SYS RFOFS RFOFS...

Страница 99: ...X1 FLT Gets system fault string list response is error numberX1 X1 LOG LG Gets system fault log list X1 X1 LG Gets system fault log number list X1 WRN Gets system warning list as multiple strings SYS...

Страница 100: ...error Displays 6 23 EAF Motor I2T EAF motor I2T error Displays 6 Methods Command Description Parameter Units Range FRST Resets system faults if allowed Reset is not allowed if error is still pending...

Страница 101: ...r of servo loops 0 5 ms 0 65535 1 E REC TIME Specify recording time 0 5 ms 1 65535 1000 REC VAR1 REC VAR2 Specify recording variable POS position REF velocity command VEL velocity CUR current command...

Страница 102: ...ds UP Uploads EEPROM data to terminal ASCII file Operation Mode Control Normal Modes Parameters Command Description Units Range Default E2 Par set SYS MOD Queries updates system operating mode 0 3 1 E...

Страница 103: ...Torque Optimizer Shift coefficient 16 E P CUR SCAL Corresponding current value to analog input voltage CUR VOLT for setting of analog input scaling 0 1 of CUR IP 100 10000 1000 E P CUR VOLT Correspon...

Страница 104: ...1 filter with bandwidth VEL LPFA 2 double filter with bandwidths VEL LPFA and VEL LPFB 0 20 0 E P VEL TRKFCT Queries updates velocity control tracking factor 32768 32767 E P VEL MXRPM Queries updates...

Страница 105: ...liseconds ms 3432448 E JOG TYPE 0 continuos 1 step 2 square wave 0 2 E JOG VEL Jog velocity in RPM limited to maximum velocity VEL MXRPM VEL MXRPM E Methods Command Description Parameter Units Range J...

Страница 106: ...volution integer 0 0 disabled 1 4096 resolver 1 4 SYS encres encoder 32768 32767 E P POS FEFAT Queries updates FE fatal limits 1 4096 of revolution integer 1 4096 of revolution 32768 32767 E P POS IPO...

Страница 107: ...2767 32767 E P HW GRSH Queries updates shift HW gear parameter 0 32767 E P HW PLC GEAR Queries updates PLC gear ratio 0 65535 E P HW RES Queries updates HW resolution in pulses per revolution only nec...

Страница 108: ...l 1 absolute 0 1 1 E P MOT VEL Queries updates motion velocity stored in x Reference MOT INCW MOT INCCW RPM 1 7499 1000 E P Variables Command Description Units Range Default E2 Par set MOT ABSPOS Actu...

Страница 109: ...Queries updates HOME offset counts limit E P2 HOM POLR Queries updates HOME switch polarity 0 active low 1 active high 0 1 resolver 0 encoder E P2 Variables Command Description Units Range Default E2...

Страница 110: ...Printed in UK 2 03 CH TEL 41 52 647 4700 FAX 41 52 659 2394 D TEL 49 89 90 50 80 FAX 49 89 90 50 8491 UK TEL 44 1454 850000 FAX 44 1454 850001 I TEL 39 11 562 4440 FAX 39 11 562 5660 AU TEL 61 29674 5...

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