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Digitax ST User Guide

127

Issue Number: 5

12.4 Menu 4: Torque and current control

Figure 12-4 Menu 4 logic diagram

*For more information, refer to section 12.22.4

Torque modes

on page 168.

4.04

Current

demand

Filter

4.08

4.09

10.09

10.08

4.13

4.14

Current loop
P gain

Current loop
I gain

Current controller

4.18

11.32

5.07

4.05

4.06

Motoring

Regenerating

Current limits

4.07

Symmetrical

Drive rated
continuous

current

Motor rated

current

Over-riding

current limit

3.05

Zero

speed

threshold

Torque reference

offset

Torque

reference*

Speed

over-ride

level

Coiler/uncoiler

speed

over-ride

level

At 100%

load

indicator

Current limit

active

indicator

Motor active

current

4.02

10.17

4.19

Motor

overload

accumulator

Motor current

overload alarm

indicator

10.39

Braking energy

overload
indicator

Torque mode

selector

4.11

4.10

Torque

reference

offset

enable

4.03

Torque

demand

0.XX

Key

Read-write (RW)
parameter

Read-only (RO)
parameter

Input
terminals

Output
terminals

Percentage

load

4.20

The parameters are all shown at their default settings

4.23

Current

demand

filter 1

4.12

Current

demand

filter 2

4.15

4.16

Motor thermal

time constant

Motor protection

mode

4.24

4.25

Low speed

protection mode

Overload detection

User current

max scaling

Speed controller
gain

select

3.16

1.03

Pre-
ramp
reference

3.04

3.01

3.02

Speed

feedback

Final
speed
demand

Speed loop

output

4.22

2.38

Inertia

compensation

enable

Inertia

compensation

torque

Содержание digitax st

Страница 1: ...User Guide AC variable speed drive for servo motors...

Страница 2: ...impacts of product manufacture and end of life disposal Nevertheless when the products eventually reach the end of their useful life they must not be discarded but should instead be recycled by a spec...

Страница 3: ...e 6 contains general safety information It is essential that the warnings are observed and the information considered when working with or designing a system using the drive This map of the user guide...

Страница 4: ...nections 37 4 16 Encoder terminals 38 4 17 Safe Torque Off 42 5 Getting started 43 5 1 User interfaces 43 5 2 CT Soft 43 5 3 SYPTPro Indexer Plus only 43 5 4 EZMotion PowerTools Pro 43 5 5 Keypad oper...

Страница 5: ...2 12 14 Menu 14 User PID controller 156 12 15 Menus 15 and 16 Solutions Module set up 159 12 16 Menu 17 Motion processors 160 12 17 Menu 18 Application menu 1 163 12 18 Menu 19 Application menu 2 163...

Страница 6: ...regarding transport storage installation and use of the drive must be complied with including the specified environmental limits Drives must not be subjected to excessive physical force 1 5 Access Ac...

Страница 7: ...o go blank immediately it is possible the capacitors will not be discharged In this case consult Emerson Industrial Automation or their authorized distributor 1 11 5 Equipment supplied by plug and soc...

Страница 8: ...herCAT drive offers onboard EtherCAT allowing the product to be connected to an EtherCAT network as a slave device It can be used in a variety of applications including those requiring accurate synchr...

Страница 9: ...al drive label Model Digitax ST Frame size Voltage rating 2 4 200V to 240V 380V to 480V Current rating step Variant DST 1 2 01 B B I P Z E Base Indexer Plus EZMotion EtherCAT Model 3098 0010 2 2 5 1Ap...

Страница 10: ...removed the warranty for the drive will be void The drive is supplied with a SMARTCARD installed Do not remove until after first power up as defaults are stored on the SMARTCARD Solutions Module slot...

Страница 11: ...2 Solutions Module identification SM Keypad Plus SMARTCARD DST Keypad CT Comms cable External footprint bookcase EMC filter Internal braking resistor Grounding bracket 15 way D type converter I O Exp...

Страница 12: ...ded I O interface Increases the I O capability by adding the following to the existing I O in the drive Yellow SM I O 32 Extended I O interface Increase the I O capability by adding the following to t...

Страница 13: ...RCOS option Class B compliant Torque velocity and position control modes supported with data rates bit sec 2 MB 4 MB 8 MB and 16 MB Minimum 250 sec network cycle time Two digital high speed probe inpu...

Страница 14: ...integral EMC filter in areas of sensitive equipment Communications CT Comms cable Cable with isolation RS232 to RS485 converter For connecting PC Laptop to the drive when using the various interface s...

Страница 15: ...to be at least class V 2 The location and size of the bottom shall cover the area shown in Figure 3 1 Any part of the side which is within the area traced out by the 5 angle is also considered to be...

Страница 16: ...xternal EMC filter may be required at the drive inputs which must be located very close to the drives Space must be made available for the filters and allowance made for carefully segregated wiring Bo...

Страница 17: ...wer up Figure 3 7 Minimum mounting clearances 2 mm clearance between drives to allow for mechanical tolerance If Solutions Modules are installed a larger clearance between drives will be required if a...

Страница 18: ...ting Filter details for each drive rating are provided in the tables below Table 3 1 External EMC filter ratings The external EMC filters can be footprint or bookcase mounted see Figure 3 9 and Figure...

Страница 19: ...ng resistor shield 4 Install the optional internal braking resistor in the slot provided note the angle 5 Electrically connect the braking resistor and thermistor connections shown in Figure 4 1 Power...

Страница 20: ...1 lb in Control terminals 0 2 N m 1 7 lb in Status relay terminals 0 5 N m 4 5 lb in Ground terminals 4 N m 35 lb in Small ground terminal screws 2 N m 17 7 lb in Model size Terminal block description...

Страница 21: ...option units Stored charge The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected If the drive has been energized the AC supply mu...

Страница 22: ...ly Supply ground AC connections _ DC DC High current DC connections _ Low voltage DC 48V DST12XX 200 to 240V 10 DST14XX 380 to 480V 10 Connectors specification Maximum size of power cable 4 0mm 10AWG...

Страница 23: ...tive phase sequence equivalent to 5 voltage imbalance between phases Severe disturbances may be caused by the following factors for example Power factor correction equipment connected close to the dri...

Страница 24: ...three main functions It can be used as a back up power supply to keep the control circuits of the drive powered up when the line power supply is removed This allows any fieldbus modules or serial com...

Страница 25: ...bus system the maximum AC input fusing is shown in Table 4 8 below Table 4 8 Maximum AC input fusing Refer to the supplier of your drive for further information regarding DC bus paralleling 4 7 Outpu...

Страница 26: ...with a good quality insulation system there is no need for any special precautions In case of doubt the motor supplier should be consulted Special precautions are recommended under the following condi...

Страница 27: ...le 3 B detects AC pulsating DC and smooth DC fault currents Type AC should never be used with drives Type A can only be used with single phase drives Type B must be used with three phase drives If an...

Страница 28: ...n level and when used with any length of shielded cable up to the limit for the drive it is unlikely that nearby industrial equipment will be disturbed It is recommended that the filter be used in all...

Страница 29: ...les Plan for all signal cables to be routed at least 300mm 12in from the drive and any power cable Optional braking resistor Locate optional braking resistor and overload external to cubicle preferabl...

Страница 30: ...enclosure Level 3 industrial IEC61000 4 3 EN61000 4 3 Radio frequency radiated field 10V m prior to modulation 80 1000 MHz 80 AM 1 kHz modulation Module enclosure Level 3 industrial IEC61000 4 4 EN61...

Страница 31: ...he rated current of the PDS must exceed 400 A or the supply voltage exceed 1000 V for the complete PDS N Where the drive is incorporated into a system with rated input current exceeding 100 A the high...

Страница 32: ...ble should be connected on all drives and pin 4 24 V should be linked to at least 1 drive to supply power to the converter in the cable Only one CT Comms Cable can be used on a network 4 13 Control co...

Страница 33: ...gic select N The common 0V from analog signals should wherever possible not be connected to the same 0V terminal as the common 0V from digital signals Terminals 3 and 11 should be used for connecting...

Страница 34: ...l control circuits are insulated from human contact by at least one layer of insulation supplementary insulation rated for use at the AC supply voltage WARNING 0V common External 24V supply 0V common...

Страница 35: ...luding 0V Maximum offset 700 V Maximum non linearity 0 3 of input Maximum gain asymmetry 0 5 Input filter bandwidth single pole 1 kHz Sampling period 250 s with destinations as Pr 1 36 Pr 1 37 or Pr 3...

Страница 36: ...ng all digital I O Protection Current limit and trip 23 0V common Function Common connection for all external devices 24 Digital I O 1 25 Digital I O 2 26 Digital I O 3 Terminal 24 default function AT...

Страница 37: ...d voltage 30 V LogicThreshold 15 5 V 2 5 V Low state maximum voltage for SIL3 and EN954 1 category 3 2 V or open circuit Response time Nominal 8 ms Maximum 20 ms Safe Torque Off function has been appr...

Страница 38: ...ound clamp or grounding bracket on shield Shield connection to 0V Shield connection to 0V Setting of Pr 3 38 Description Ab 0 Quadrature incremental encoder with or without marker pulse Fd 1 Increment...

Страница 39: ...9 SSI 10 SC SSI 11 1 A F F A F F Cos Cos Cos 2 A F F A F F Cosref Cosref Cosref 3 B D R B D R Sin Sin Sin 4 B D R B D R Sinref Sinref Sinref 5 Z Encoder input Data input output 6 Z Encoder input Data...

Страница 40: ...ak waveform biased at 2 5 Vdc Encoders are available which have a 1 V peak to peak voltage on Sin Sinref Cos and Cosref This results in a 2 V peak to peak voltage seen at the drive s encoder terminals...

Страница 41: ...g 6 Fieldbus Type A Fieldbus Type data line 7 Fieldbus Type Shield Shield connection for Fieldbus Type 8 Fieldbus Type B Fieldbus Type data line 9 0V 0V connection for digital I O 10 DI0 Digital input...

Страница 42: ...he Motor To Be Driven Therefore It Is Not Necessary To Have A Second Channel To Interrupt The Power Connection Nor A Fault Detection Circuit It Is Important To Note That A Single Short circuit From Th...

Страница 43: ...drive s parameters the relevant pages from the drive and Solutions Module Advanced User Guides can also be displayed by simply clicking any parameter on any displayed list or block diagram view For t...

Страница 44: ...status or the current menu and parameter number being viewed The lower display shows the parameter value or the specific trip type 5 6 2 SM Keypad Plus LCD The display consists of three lines of text...

Страница 45: ...r further information refer to section 5 6 7 Parameter access level and security on page 46 Figure 5 5 Parameter navigation The menus and parameters roll over in both directions i e if the last parame...

Страница 46: ...all the advanced menus menus 1 to 22 in addition to menu 0 The User Security determines whether the access to the user is read only or read write Both the User Security and Parameter Access Level can...

Страница 47: ...user will be destination parameters This function does not require a drive reset to become active In order to deactivate this function return to Pr xx 00 and enter a value of 0 Please note that this f...

Страница 48: ...ly applicable to Modbus RTU mode This parameter can be changed via the drive keypad via a Solutions Module or via the comms interface itself If it is changed via the comms interface the response to th...

Страница 49: ...7 11 0 20 0 20 0 1 4 20tr 2 20 4tr 3 4 20 4 20 4 5 VOLt 6 VOLt 6 RW Txt US 0 20 Analog input 2 destination 7 14 Pr 0 00 to Pr 21 51 Pr 1 37 RW Uni DE PT US 0 21 Analog input 3 mode 7 15 0 20 0 20 0 1...

Страница 50: ...ch can have rapidly changing values are filtered when displayed on the drive keypad for easy viewing DE Destination This parameter selects the destination of an input or logic function RA Rating depen...

Страница 51: ...stallation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL...

Страница 52: ...all shown in their default settings 0 24 0 25 Preset reference 1 Preset reference 2 Preset speed reference Analog reference 2 1 37 0 20 Any unprotected variable parameter Analog input 2 destination 0...

Страница 53: ...p PID gains 9 10 15 way sub D connector 24 AT ZERO SPEED Current limit No of poles Rated voltage Rated speed Rated current 0 42 0 46 Motor parameters Power stage _ L1 L2 L3 _ U V W Resistor optional D...

Страница 54: ...ta to a SMARTCARD block number yyy 4yyy Transfer drive data as difference from defaults to SMARTCARD block number yyy 5yyy Transfer drive ladder program to SMARTCARD block number yyy 6yyy Transfer SMA...

Страница 55: ...an form a resultant current vector as shown in the following diagram The active current is the torque producing current and the reactive current is the magnetising or flux producing current Pr 0 13 ca...

Страница 56: ...2 3 a current loop loss trip is generated if the current falls below 3 mA In modes 2 4 the analog input level goes to 0 0 if the input current falls below 4 mA Pr 0 20 sets the destination of analog i...

Страница 57: ...olutions Module or via the comms interface itself If it is changed via the comms interface the response to the command uses the original protocol The master should wait at least 20 ms before send a ne...

Страница 58: ...otor can be loaded with a constant torque load and still give an accurate result however non linear loads and loads that change with speed will cause measurement errors The stationary test only measur...

Страница 59: ...drive simply trips when a non important trip occurs Non important trips are th ths Old1 cL2 cL3 SCL If bit 0 is set to one the drive will stop before tripping when one of these trips is initiated exce...

Страница 60: ...e EnDat or SSI communications protocols EnDat absolute encoder For Solutions Module terminal information see section 12 15 Menus 15 and 16 Solutions Module set up on page 159 or the appropriate Soluti...

Страница 61: ...A A B B U U V V W W Z Z Encoder connector 15 way D type 5 10 15 1 6 11 Serial communications port External braking resistor optional L3 N L2 L1 L2 L1 Fuses Serial Comms User Interface Isolated serial...

Страница 62: ...28 29 26 27 24 25 23 21 22 24V U V W A A B B U U V V W W Z Z Encoder connector 15 way D type 5 10 15 1 6 11 L3 N L2 L1 L2 L1 Fuses DST12XX 200 to 240V 10 DST14XX 380 to 480V 10 Internal braking resist...

Страница 63: ...4V U V W A A B B U U V V W W Z Z Encoder connector 15 way D type 5 10 15 1 6 11 L3 N L2 L1 L2 L1 Fuses DST12XX 200 to 240V 10 DST14XX 380 to 480V 10 Internal braking resistor optional 10 11 8 9 6 7 4...

Страница 64: ...e The motor must be at a standstill before an autotune is enabled A normal low speed autotune will measure the encoder phase offset angle and calculate the current gains The motor must not be loaded w...

Страница 65: ...h auto configuration Pr 3 36 If A B 5 V then disable termination resistors Table 7 3 shows a summary of the parameters required to set up each feedback device More detailed information follows 7 3 2 D...

Страница 66: ...isable 1 Wire break detection on F D or CW CCW and Z inputs enabled 2 Phase error detection Fd SErVO and Fr SErVO only 3 Wire break detection on F D or CW CCW and Z inputs and Phase error detection Fd...

Страница 67: ...nly encoder SC SSI 11 for a Sincos encoder with SSI Encoder power supply voltage Pr 3 36 5 V 0 8 V 1 or 15 V 2 If Ab encoder voltage is greater than 5 V then the termination resistors must be disabled...

Страница 68: ...nd does not include interpolated information The buffered encoder output provides an output with minimal delay from the drive encoder input maximum delay is 0 5 s If the source encoder does not have a...

Страница 69: ...r that produces flux that opposes the flux produced by the magnets The maximum current applied is a quarter of rated current Pr 0 46 This current is unlikely to affect the motor magnets however if thi...

Страница 70: ...s can be calculated by one of the following During a stationary or rotating autotune see Autotune Pr 0 40 earlier in this table the drive measures the stator resistance Pr 5 17 and transient inductanc...

Страница 71: ...a given integral gain the damping can be improved by increasing the proportional gain A compromise must be reached where the system response stiffness and damping are all adequate for the application...

Страница 72: ...does not generally offer the same degree of noise immunity as equipment intended for industrial use 9 3 4 Maximum network length The main restriction imposed on Ethernet cabling is the length of a sin...

Страница 73: ...ic data is implemented on CoE networks by using Process Data Objects or PDOs Separate data objects are used for receiving TxPDOs from the slave to the master and transmitting RxPDOs from the master to...

Страница 74: ...s that two TxPDOs will be assigned to the sync manager 3 assignment Index 0x1C13 Sub index 0x01 Size 2 Value 0x1A00 Index 0x1C13 Sub index 0x02 Size 2 Value 0x1A05 Setting object 0x1C13 sub index 1 to...

Страница 75: ...Set Pr 17 32 to ON 2 When the sequence has been completed Pr 17 32 will be reset to OFF 3 The EtherCAT interface will re initialize using the updated configuration The above sequence does NOT store t...

Страница 76: ...ange range Size size Unit unit Default default Description description Sub index 1 Access access Range range Size size Unit unit Default default Description description Access access Range range Size...

Страница 77: ...A Default 0x60400010 the DSP 402 control word 0x6040 Description A mapping to an object with the following format Bits 0 to 7 Length of the mapped object in bits e g a 32 bit parameter would have a l...

Страница 78: ...would have a length of 32 or 0x20 Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object 0x1A02 Transmit PDO mapping 3 Sub index 0 Number of mapped objects Access RW Ran...

Страница 79: ...ager 0 Access RO Range N A Size 1 byte Unit N A Default 1 Description Sync manager 0 is used by CoE as the mailbox receive channel master to slave Sub index 2 Usage of sync manager 1 Access RO Range N...

Страница 80: ...format Table 9 34 EoE Subnet mask Wsubnet This is the most significant octet of the EtherCAT interface EoE Subnet mask Table 9 35 EoE Subnet mask Xsubnet This is the second most significant octet of...

Страница 81: ...face If the drive is able to transfer control then the following restrictions will be imposed 1 The drives serial interface will only be able to handle messages that are 32 bytes or less A Remote LCD...

Страница 82: ...e SWITCH ON DISABLED state to the READY TO SWITCH ON state If the master leaves the operational state while the state machine is in the SWITCH ON OPERATION ENABLE QUICK STOP ACTIVE or READY TO SWITCH...

Страница 83: ...internal set points 5 Disable operation command received from control device or local signal Drive function shall be disabled 6 Shutdown command received from control device or local signal The high p...

Страница 84: ...rmed in the event of a quick stop function See Table 9 49 CoE state machine transition and events on page 83 for more information Value Definition 0 Disable drive function 1 Slow down on slow down ram...

Страница 85: ...nt velocity values and when used with a limit round up or down It is possible to change these values non cyclically i e using SDOs in which case the scaling numerator and denominator is recalculated i...

Страница 86: ...n mode in user units It is updated every control loop cycle This object can be mapped as cyclic data 0x6092 Feed_constant Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description...

Страница 87: ...s one position in profile defined units The buffer is a FIFO buffer On each interpolator time period a value is read from this buffer The correct number of data points for a specific interpolation mod...

Страница 88: ...Table 9 84 0x6047 vl_velocity_min_max Index Name 0x6042 vl_target_velocity 0x6043 vl_velocity_demand 0x6044 vl_velocity_actual_value 0x6046 vl_velocity_min_max_amount 0x6047 vl_velocity_min_max 0x6048...

Страница 89: ...as a specific unit of time e g 1 s bottles min m s The purpose of the vl_dimension_factor is to convert this specific unit to the revolutions minute unit A value of 0 must not be used Velocity user de...

Страница 90: ...e event of a quick stop also for quick stop option codes 2 and 6 the 0x6049 vl_velocity_deceleration object will be used Table 9 90 shows the objects that are supported Table 9 90 Profile torque mode...

Страница 91: ...ve limit switch and index pulse Using this method as shown in Figure 9 11 the initial direction of movement shall be leftward if the negative limit switch is inactive here low The home position shall...

Страница 92: ...hese methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse but only dependent on the relevant home or limit switch transitions For example methods 19...

Страница 93: ...tion units Table 9 103 specifies the object description 0x2803 Homing source Sub index 0 Access RO Range N A Size Unsigned 8 Unit N A Default 2 Description The number of the last sub index in this obj...

Страница 94: ...zed When the EtherCAT interface is connected to a drive which can take a time synchronization signal the EtherCAT Distributed Clocks facility can be used to provide this signal so the drive speed and...

Страница 95: ...therCAT CoE Ethernet over EtherCAT EoE CMP protocol through Modbus RTU 9 24 4 Menu 61 General The EtherCAT interface Set up Parameter 1 00 shortcut Table 9 108 Parameter 1 00 shortcut This Parameter c...

Страница 96: ...cyclic data handling to be modified specifically it will allow the tasks in which cyclic data is handled to be changed Table 9 123 Out cyclic data configuration Option slot indicator Pr 61 07 Default...

Страница 97: ...that commences 90 s after the critical task start and finishes before the next critical task 2 Sync Manager task default This is the AL event task which occurs upon a sync manager access Sub index 2 A...

Страница 98: ...22 2 on page 93 0x2804 Freeze object Used to configure the freeze function that can be used within the Homing mode profile 0x2813 Network loss behavior object Used to configure the network loss trip...

Страница 99: ...90 0x607A Target_position Indicates the command positions that the drive should move to in cyclic sync position mode Section 9 23 2 on page 94 0x607C Home offset this object indicates the configured...

Страница 100: ...minor version N A 00 00 to 99 99 Section 14 4 2 on page 199 Pr 17 03 Node address 0 0 to 65535 Section 9 11 on page 75 Pr 17 04 EtherCAT interface RUN 1 1 to 8 Section 9 12 on page 75 Pr 17 06 EtherCA...

Страница 101: ...C programs Automatically saving all user parameter changes for maintenance purposes Loading complete motor map parameters The SMARTCARD is located at the top of the module under the drive display if i...

Страница 102: ...data Data transfer erasing and protecting the information is performed by entering a code in Pr xx 00 and then resetting the drive as shown in Table 10 2 Table 10 2 SMARTCARD codes Where yyy indicates...

Страница 103: ...4 Stator inductance Pr 6 06 DC injection braking current Pr 6 48 Line power supply loss ride through detection level Reading a parameter set from the SMARTCARD Pr 11 42 rEAd 1 Setting Pr 11 42 to rEAd...

Страница 104: ...Module or rating dependent parameters will not be transferred Setting 9666 in Pr xx 00 will set the warning suppression flag Setting 9555 in Pr xx 00 will clear the warning suppression flag 10 2 10 98...

Страница 105: ...value is transferred nonE 0 Inactive rEAd 1 Read parameter set from the SMARTCARD Prog 2 Programming a parameter set to the SMARTCARD Auto 3 Auto save boot 4 Boot mode 11 38 SMARTCARD data type mode R...

Страница 106: ...ish accessing the SMARTCARD and then re attempt the required function C Chg SMARTCARD trip Data location already contains data 179 Erase data in data location Write data to an alternative data locatio...

Страница 107: ...r default values C Typ SMARTCARD trip SMARTCARD parameter set not compatible with drive 187 Press the red reset button Ensure destination drive type is the same as the source parameter file drive type...

Страница 108: ...am cannot be downloaded or monitored over CTNet The program is only accessible via the drives RJ45 serial communications port There are no real time tasks i e the scheduling rate of the program cannot...

Страница 109: ...ard PLC program from a drive to the SMARTCARD when the drive contains no program the block is still created on the SMARTCARD but it will contain no data If this data block is then transferred to a dri...

Страница 110: ...Speed reference 2 Ramps 3 Speed feedback and control 4 Torque and current control 5 Motor control 6 Sequencer and clock 7 Analog I O 8 Digital I O 9 Programmable logic motorized pot and binary sum 10...

Страница 111: ...4 06 4 07 4 18 4 15 4 19 4 16 5 07 10 08 10 09 10 17 DC bus voltage 5 05 2 08 Deceleration rates 2 20 2 21 to 2 29 2 04 2 35 to 2 37 2 02 2 04 2 08 6 01 10 30 10 31 10 39 Defaults 11 43 11 46 Digital...

Страница 112: ...jog 13 17 to 13 19 Relay output 8 07 8 17 8 27 Reset 10 33 8 02 8 22 10 34 10 35 10 36 10 01 S ramp 2 06 2 07 Safe Torque Off input 8 09 8 10 Sample rates 5 18 Security code 11 30 11 44 Serial comms...

Страница 113: ...ck device SPEED_MAX 40000 0rpm Maximum speed This maximum is used for some speed related parameters in menu 3 To allow headroom for overshoot etc the maximum speed is twice the maximum speed reference...

Страница 114: ...Pr 4 20 percentage load to give suitable scaling for analog I O with Pr 4 24 This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is...

Страница 115: ...lation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL list...

Страница 116: ...17 1 20 1 18 Precision reference trim 1 19 Preset reference select Keypad reference select Precision reference select LOCAL REMOTE Menu 8 Level of reference selected Reference offset Reference offset...

Страница 117: ...05 1 13 Pre filter reference Pre ramp reference Maximum speed clamp Minimum speed clamp Maximum reverse speed Negative minimum speed select Reference enabled indicator Reverse selected indicator Skip...

Страница 118: ...reference 2 0 25 SPEED_REF_MAX rpm 0 0 RW Bi US 1 23 Preset reference 3 SPEED_REF_MAX rpm 0 0 RW Bi US 1 24 Preset reference 4 SPEED_REF_MAX rpm 0 0 RW Bi US 1 25 Preset reference 5 SPEED_REF_MAX rpm...

Страница 119: ...lation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL list...

Страница 120: ...eration rate 4 2 15 Acceleration rate 5 2 16 Acceleration rate 6 2 17 Acceleration rate 7 2 18 Acceleration rate 8 Acceleration rates 1 8 1 50 3 4 1 2 7 5 6 Preset reference selected indicator 2 19 Jo...

Страница 121: ...ramp voltage Ramp control N t N t Deceleration Forward Decel rate Reverse Decel rate 2 01 Post ramp reference 2 02 Ramp enable Deceleration rate select bits 2 21 Deceleration rate 1 2 22 Deceleration...

Страница 122: ...to 3 200 000 s 1 000 rpm 0 200 RW Uni US 2 18 Acceleration rate 8 0 000 to 3 200 000 s 1 000 rpm 0 200 RW Uni US 2 19 Jog acceleration rate 0 000 to 3 200 000 s 1 000 rpm 0 000 RW Uni US 2 20 Decelera...

Страница 123: ...lation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL list...

Страница 124: ...oder revolution counter 3 29 Drive encoder position 3 30 Drive encoder fine position 2 01 Post ramp reference 0 1 0 1 3 23 1 11 Hard speed reference selector Reference enabled indicator 3 01 Final spe...

Страница 125: ...lower limit _ 3 07 10 07 Above at speed window indicator At speed upper limit 10 06 At speed indicator NOR _ 3 05 10 03 At zero speed indicator Zero speed threshold _ 1 07 10 04 At or below min speed...

Страница 126: ...revolutions RO Uni FI NC PT 3 29 Drive encoder position 0 11 0 to 65 535 1 216 ths of a revolution RO Uni FI NC PT 3 30 Drive encoder fine position 0 to 65 535 1 232 nds of a revolution RO Uni FI NC...

Страница 127: ...Torque reference offset Torque reference Speed over ride level Coiler uncoiler speed over ride level At 100 load indicator Current limit active indicator Motor active current 4 02 10 17 4 19 Motor ov...

Страница 128: ...offset select OFF 0 or On 1 OFF 0 RW Bit US 4 11 Torque mode selector 0 14 0 to 4 0 RW Uni US 4 12 Current demand filter 1 0 17 0 0 to 25 0 ms 0 0 RW Uni US 4 13 Current controller Kp gain 0 38 0 to...

Страница 129: ...lation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL list...

Страница 130: ...09 Motor rated voltage 5 07 Motor rated current 5 11 Motor number of poles 5 17 Motor stator resistance 5 24 Motor transient inductance Flux Calculator Current limits Current control Overload detectio...

Страница 131: ...ostics UL listing information Digitax ST User Guide 131 Issue Number 5 4 02 4 17 4 01 5 09 Motor rated voltage 5 21 Field gain reduction Flux Controller 5 18 Maximum switching frequency Modulator 5 03...

Страница 132: ...e nonE 0 Ph EnL 1 Ph Init 2 nonE 0 RW Txt US 5 17 Motor stator resistance 0 000 to 65 000 x 10 0 0 RW Uni RA US 5 18 Maximum switching frequency 0 41 0 to 4 3 4 6 8 12 kHz 2 6 kHz RW Txt RA US 5 21 Fi...

Страница 133: ...16 Electricity cost per kWh Clock control 6 24 6 25 Power meter 6 26 Running cost 6 27 Time before filter change due Inverter enable Menu 2 Menu 3 Ramp Hard speed reference enable enable 6 20 6 21 Po...

Страница 134: ...Wh 99 99 kWh RO Bi NC PT PS 6 26 Running cost 32 000 RO Bi NC PT 6 27 Time before filter change due 0 to 30 000 hrs RO Uni NC PT PS 6 28 Select clock for trip log time sampling OFF 0 or On 1 OFF 0 RW...

Страница 135: ...Any unprotected variable parameter 7 18 Any variable parameter 7 19 Analog output 1 source parameter 7 20 Analog output 1 scaling 7 21 Analog output 1 mode selector Analog output 1 Any variable parame...

Страница 136: ...0 4 5 VOLt 6 th SC 7 th 8 th diSP 9 th 8 RW Txt US 7 16 T8 analog input 3 scaling 0 to 4 000 1 000 RW Uni US 7 17 T8 analog input 3 invert OFF 0 or On 1 OFF 0 RW Bit US 7 18 T8 analog input 3 destinat...

Страница 137: ...lation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL list...

Страница 138: ...Any bit parameter 8 23 x 1 x 1 8 13 8 03 8 29 Open collector output 8 30 8 29 Open collector output 8 30 10 33 Drive reset 6 30 Run forward I O polarity select I O polarity select T24 digital I O 1 T...

Страница 139: ...logic diagram applies only when all parameters are at their default settings 8 25 T28 digital input 5 destination Any unprotected bit parameter x 1 8 15 T28 digital input 5 invert T28 digital input 5...

Страница 140: ...or On 1 OFF 0 RW Bit US 8 17 Relay source invert OFF 0 or On 1 OFF 0 RW Bit US 8 18 T22 24V output source invert OFF 0 or On 1 On 1 RW Bit US 8 20 Digital I O read word 0 to 511 RO Uni NC PT 8 21 T24...

Страница 141: ...1 input 1 source parameter 9 05 Function 1 input 1 invert Any bit parameter x 1 9 06 Function 1 input 2 source parameter 9 07 Function 1 input 2 invert 9 08 Function 1 output invert 9 09 Function 1 d...

Страница 142: ...es LSB 9 31 Binary sum logic fours MSB 9 32 Binary sum logic output value Any unprotected bit parameter 9 33 Binary sum logic destination parameter 9 24 Motorized pot output scale 9 25 Motorized pot d...

Страница 143: ...S 9 16 Logic function 2 source 2 Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 9 17 Logic function 2 source 2 invert OFF 0 or On 1 OFF 0 RW Bit US 9 18 Logic function 2 output invert OFF 0 or On 1 OFF 0 RW Bi...

Страница 144: ...RO Txt NC PT PS 10 26 Trip 6 0 to 230 RO Txt NC PT PS 10 27 Trip 7 0 to 230 RO Txt NC PT PS 10 28 Trip 8 0 to 230 RO Txt NC PT PS 10 29 Trip 9 0 to 230 RO Txt NC PT PS 10 30 Full power braking time 0...

Страница 145: ...n function for a braking resistor On Digitax ST this function is enabled at default to protect the internally mounted resistor Below are the parameter settings For more information on the braking resi...

Страница 146: ...0 6 38400 7 57600 8 115200 9 Modbus RTU only 19200 6 RW Txt US 11 26 Minimum comms transmit delay 0 to 250ms 2 RW Uni US 11 28 Drive derivative 0 to 16 RO Uni NC PT 11 29 Software version 0 50 1 00 to...

Страница 147: ...or 1 x 1 12 06 Threshold Detector 1 output invert 12 01 Threshold Detector 1 output indicator 12 05 Threshold Detector 1 hysteresis Any unprotected bit parameter 12 07 Threshold Detector output destin...

Страница 148: ...34 Variable selector 2 input 2 source Variable selector 2 input 2 scaling Variable selector 2 output indicator Variable selector 2 output destination 12 12 12 11 Variable Selector 1 Variable selector...

Страница 149: ...set up in this manner and a drive replacement takes place prior to programming the drive on initial power up the brake may be released When drive terminals are programmed to non default settings the r...

Страница 150: ...Diagnostics UL listing information 150 Digitax ST User Guide Issue Number 5 Figure 12 14 Brake sequence 1 2 4 3 Pr Speed feedback 3 02 Pr Reference on 1 11 Pr Brake release 12 40 Pr Ramp hold 2 03 Pr...

Страница 151: ...OFF 0 RW Bit US 12 27 Threshold detector 2 destination Pr 0 00 to 21 51 Pr 0 00 RW Uni DE PT US 12 28 Variable selector 2 source 1 Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 12 29 Variable selector 2 sourc...

Страница 152: ...5 15 06 Slot 1 16 04 16 05 16 06 Slot 2 13 20 13 21 13 22 Local reference 13 23 Local reference disable 13 04 Position controller reference source x 1 13 06 Position reference invert 13 07 13 08 Ratio...

Страница 153: ...oller is disabled transiently to reset the error integrator 4 One of the position sources is invalid 5 The position feedback initialised parameter Pr 3 48 is zero 0 XX 0 XX Key Read write RW parameter...

Страница 154: ...id position control 2 Non rigid position control feed fwd 3 Non rigid position control 4 Orientation on stop 5 Orientation on stop and when drive enabled 6 Position controller disabled 0 RW Uni US 13...

Страница 155: ...lation Electrical installation Getting started Basic parameters Running the motor Optimization EtherCAT interface SMARTCARD Operation Onboard PLC Advanced parameters Technical Data Diagnostics UL list...

Страница 156: ...ler Figure 12 16 Menu 14 Logic diagram 14 19 14 02 14 20 14 03 14 21 14 04 14 07 _ 14 22 14 09 10 01 14 08 Any variable parameter Any variable parameter Any variable parameter Any bit parameter Main r...

Страница 157: ...14 16 is set to a non Pr xx 00 and unprotected destination parameter 14 10 14 11 14 12 14 17 14 13 14 14 14 18 14 01 14 15 14 16 Any unprotected variable parameter PID derivative gain PID integral ga...

Страница 158: ...enable OFF 0 or On 1 OFF 0 RW Bit US 14 09 PID optional enable source Pr 0 00 to 21 51 Pr 0 00 RW Uni PT US 14 10 PID proportional gain 0 000 to 4 000 1 000 RW Uni US 14 11 PID integral gain 0 000 to...

Страница 159: ...splays xx yy and Pr x 51 displays zz I e for software version 01 01 00 Pr x 02 would display 1 01 and Pr x 51 would display 0 The SM Resolver SM Encoder Plus SM Encoder Output Plus and SM I O Plus mod...

Страница 160: ...leared OFF 0 or On 1 OFF 0 RW Bit US 17 16 Encoder data update rate 0 to 3 0 RW Uni US 17 17 Enable parameter over range trips OFF 0 or On 1 OFF 0 RW Bit US 17 18 Watchdog enable OFF 0 or On 1 OFF 0 R...

Страница 161: ...baud rate 5 000 0 2 500 1 1 250 2 0 625 3 2 500 1 RW Txt US 17 25 CTNet sync setup 0 000 to 9 999 0 000 RW Uni US 17 26 CTNet easy mode first cyclic parameter destination node 0 to 25 503 0 RW Uni US...

Страница 162: ...N 1 to 8 1 RW Num US 17 06 EtherCAT interface operating status 9999 to 9999 N A RO Num ND NC PT 17 10 EoE IP address Wip 0 to 255 0 RW IP US 17 11 EoE IP address Xip 0 to 255 0 RW IP US 17 12 EoE IP a...

Страница 163: ...only integer 32 768 to 32 767 0 RO Bi NC 18 11 to 18 30 Application menu 1 read write integer 32 768 to 32 767 0 RW Bi US 18 31to 18 50 Application menu 1 read write bit OFF 0 or On 1 0 RW Bit US Par...

Страница 164: ...V rating drive 230V 400V rating drive EUR 400V USA 460V RW Uni RA US 21 11 Number of motor poles 0 42 Auto to 120 pole 0 to 60 6 POLE 3 RW Txt US 21 12 Stator resistance 0 000 to 65 000 x 10 0 0 RW Un...

Страница 165: ...eter 0 40 set up Pr 1 00 to Pr 21 51 Pr 5 12 RW Uni PT US 22 11 Parameter 0 41 set up Pr 1 00 to Pr 21 51 Pr 5 18 RW Uni PT US 22 18 Parameter 0 48 set up Pr 1 00 to Pr 21 51 Pr 11 31 RW Uni PT US 22...

Страница 166: ...6 03 Pr 6 48 Pr 4 13 and Pr 4 14 Start stop logic modes Pr 6 04 and Pr 6 40 Position loop modes Pr 13 10 Fast disable Pr 6 29 1 14 Reference selector RW Txt NC US A1 A2 0 A1 Pr 2 A2 Pr 2 Pr 3 PAd 4 P...

Страница 167: ...te the motor but it will coast to rest The output of the ramp controller when active is a current demand that is fed to the torque producing current controller modes The gain of these controllers can...

Страница 168: ...tion shown below are possible This mode of operation can be used where torque control is required but the maximum speed must be limited by the drive 3 Coiler uncoiler mode Positive final speed demand...

Страница 169: ...d that is fed into the current control system and therefore the gain Pr 4 13 and Pr 4 14 must be set up for optimum control See parameters Pr 4 13 and Pr 4 14 for set up details The following table sh...

Страница 170: ...nd 3 is selected the drive processor continuously updates the destination parameters for digital I O T25 T26 and T27 and the enable sequencer latching bit Pr 6 40 When a value of 4 is selected the des...

Страница 171: ...ler only has a proportional gain it is necessary to use velocity feed forward to prevent a constant position error that would be proportional to the speed of the reference position If for any reason t...

Страница 172: ...wever if a digital I O is set up to provide the fast disable function it is possible to disable the drive within 600 s of de activating the input To do this an enable signal should be given to both th...

Страница 173: ...atio between accelerating decelerating period Tpeak and the total profile period Tduty is always 1 10 The profile shows the level of current that can be provided during the running stopped period when...

Страница 174: ...7 0 4 0 8 0 4 0 10 0 4 0 12 0 DST1404 5 9 5 9 8 9 5 7 10 3 5 9 11 8 5 9 14 8 5 9 17 7 DST1405 8 0 4 1 12 0 4 3 14 0 8 0 16 0 8 0 20 0 7 8 24 0 Model In Overloads 1 5 x In for 60 s 1 75 x In for 40 s 2...

Страница 175: ...pply for DST140X Model In Overloads 1 5 x Ibase for 60 s 1 75 x Ibase for 40 s 2 0 x Ibase for 10 s 2 5 x Ibase for 2 s 3 0 x Ibase for 0 25 s Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipe...

Страница 176: ...7 1 7 2 6 1 7 3 0 1 7 3 4 1 7 4 3 1 7 5 1 DST1202 3 8 3 8 5 7 3 8 6 7 3 8 7 6 3 8 9 5 3 8 11 4 DST1203 5 4 5 4 8 1 5 4 9 5 5 4 10 8 5 4 13 5 5 4 16 2 DST1204 7 6 7 6 11 4 7 6 13 3 7 6 15 2 7 6 19 0 7...

Страница 177: ...or correction equipment connected close to the drive Large DC drives having no or inadequate line reactors connected to the supply Direct on line started motor s connected to the supply such that when...

Страница 178: ...indicate the degree of protection provided as shown in Table 13 15 Table 13 15 IP Rating degrees of protection Table 13 16 UL enclosure ratings 13 1 16 Corrosive gasses Concentrations of corrosive gas...

Страница 179: ...an at high speed 65 dB Fan at low speed 53 dB 13 1 24 Overall dimensions H Height including surface mounting brackets W Width D Projection forward of panel when surface mounted Table 13 17 Overall dri...

Страница 180: ...18 A peak DST140X 35 A peak The inrush current for all drives after a brown out can be larger than the power up inrush 13 1 27 Motor cable size and maximum lengths Since capacitance in the motor cabl...

Страница 181: ...e EMC requirements of the application of drives Terminals Torque setting Power terminals 1 0 N m 12 1 lb in Control terminals 0 2 N m 1 7 lb in Status relay terminals 0 5 N m 4 5 lb in Ground terminal...

Страница 182: ...Category Definition Corresponding code used above C1 Intended for use in the first or second environments R C2 Not a plug in or movable device and intended for use in the first environment only when i...

Страница 183: ...ss referenced and then diagnosed using Table 14 1 Example 1 Trip code 3 is read from Pr 10 20 via serial communications 2 Checking Table 14 2 shows Trip 3 is an OI AC trip 3 Look up OI AC in Table 14...

Страница 184: ...to finish accessing the SMARTCARD and then re attempt the required function C Chg SMARTCARD trip Data location already contains data 179 Erase data in data location Write data to an alternative data l...

Страница 185: ...ion EEF EEPROM data corrupted Serial comms will timeout with remote keypad on the drive RS485 comms port 31 This trip can only be cleared by loading default parameters and saving parameters EnC1 Drive...

Страница 186: ...ed in setting the over speed threshold level as a value which is too large may mean that an encoder fault will not be detected Enc11 Drive encoder trip A failure has occurred during the alignment of t...

Страница 187: ...8 Data processing error Level 4 crash Hardware fault return drive to supplier HF09 Data processing error Heap overflow Hardware fault return drive to supplier HF10 Data processing error Router error H...

Страница 188: ...eck the feedback device mechanical coupling It br Braking resistor overload timed out I2 t accumulator value can be seen in Pr 10 39 19 Ensure the values entered in Pr 10 30 and Pr 10 31 are correct I...

Страница 189: ...nal AC supply level Check for supply disturbances which could cause the DC bus to rise voltage overshoot after supply recovery from a notch induced by DC drives Check motor insulation Drive voltage ra...

Страница 190: ...ters in the EEPROM are corrupt 36 Indicates that the power was removed when user parameters were being saved The drive will revert back to the user parameter set that was last saved successfully Perfo...

Страница 191: ...iversal Encoder Plus Initialisation failed Check the correct encoder type is entered into Pr 15 16 17 15 Check encoder wiring Check supply voltage level Replace feedback device 8 SM Universal Encoder...

Страница 192: ...nfiguration 50 Maths error divide by zero or overflow 51 Array index out of range 52 Control word user trip 53 DPL program incompatible with target 54 DPL task overrun 55 Unused 56 Invalid timer unit...

Страница 193: ...05 Travel limit plus 106 Travel limit minus 107 No program error 108 Motion trajectory error 109 Trajectory update overrun error 120 File corruption error Consult factory 121 122 123 Program error Buf...

Страница 194: ...I O 24V Protected Digital input overload 3 SM I O PELV SM I O 24V Protected Analog input 1 current input too low 3 mA SM I O 24V Protected Communications error 4 SM I O PELV User power supply absent...

Страница 195: ...tions Module code 10 SM Applications program must be interrogated to find the cause of this trip t038 User trip defined in 2nd processor Solutions Module code 38 SM Applications program must be interr...

Страница 196: ...tia test see Pr 5 12 12 Check motor cable wiring is correct Check feedback device wiring is correct Swap any two motor phases tunE3 Drive encoder commutation signals connected incorrectly or measured...

Страница 197: ...175 215 400 330 425 Trip Diagnosis No Trip No Trip No Trip 1 UV 90 UP div0 181 C Rdo 2 OV 91 UP PAr 182 C Err 3 OI AC 92 UP ro 183 C dAt 4 OI br 93 UP So 184 C FULL 5 PS 94 UP ovr 185 C Acc 6 Et 95 UP...

Страница 198: ...ws HFxx 2 Non resetable trips HF17 to HF32 SL1 HF SL2 HF SL3 HF Cannot be reset 3 EEF trip EEF Cannot be reset unless a code to load defaults is first entered in Pr x 00 or Pr 11 43 4 SMARTCARD trips...

Страница 199: ...software version 01 01 00 Pr 17 02 will display 1 01 and Pr 17 51 will display 0 The full version of the EtherCAT interface firmware can be assembled by combining the major version xx yy and the minor...

Страница 200: ...l occur Sub index 2 Trip type Access RW Range 0 to 2 Size 1 byte Unit N A Default 0 Description Network loss trip type If this value is set to 0 a network loss trip will never occur however a network...

Страница 201: ...N A Range 0 16777215 Access RO EtherCAT interface error codes Pr 17 50 Default N A Range 0 to 255 Access RO Error code Fault 1 No fieldbus mode has been selected 2 Critical task over run 3 Invalid fee...

Страница 202: ...105 Oht2 P 0x5000 Device hardware 200 SL1 HF 201 SL1 t0 202 SL1 Er 203 SL1 nF 204 SL1 dF 205 SL2 HF 206 SL2 t0 207 SL2 Er 208 SL2 nF 209 SL2 dF 210 SL3 HF 211 SL3 t0 212 SL3 Er 213 SL3 nF 214 SL3 dF...

Страница 203: ...and specifier not valid or unknown 0x05040002 Invalid block size block mode only 0x05040003 Invalid sequence number block mode only 0x05040004 CRC error block mode only 0x05040005 Out of memory 0x0601...

Страница 204: ...uire the use of an external or remote overload protection device Overload protection is provided at 105 the FLA of the device The duration of the overload is dependent on the motor s thermal filter a...

Страница 205: ...32 Ferraz 6 9xx CP GRC 32 Siba URZ14x51 gR 690 40 DST1203 340 40 Ferraz 6 9xx CP GRC 40 Siba URZ14x51 gR 690 40 DST1204 340 50 Ferraz 6 9xx CP GRC 50 Siba URZ14x51 gR 690 50 DST1401 680 25 Ferraz 6 9x...

Страница 206: ...3 Cyclic sync position mode 94 D DC bus design 24 DC bus voltage 55 113 167 169 170 DC drive voltage levels 24 DC Supplied drive 205 Deceleration 49 54 55 64 122 164 167 Default terminal functions 34...

Страница 207: ...77 Mechanical installation 15 Menu 01 Speed reference 116 Menu 02 Ramps 120 Menu 03 Speed feedback and control 124 Menu 04 Torque and current control 127 Menu 05 Motor control 130 Menu 06 Sequencer an...

Страница 208: ...able 197 Serial communications port isolation 32 Single line descriptions 49 SMARTCARD codes 102 SMARTCARD data blocks 102 SMARTCARD Operation 101 SMARTCARD parameters 104 SMARTCARD trips 106 Solution...

Страница 209: ...labeling and are mentioned without taking into account any commercial protection right the lack of the marking of a possibly existent commercial protection right does not mean that the used company a...

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