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SMT-BD1/t

CHAPTER 11 – Appendix

6 - COGGING TORQUE COMPENSATION

The cogging torque in brushless permanent magnet rotating motors results from the interaction between the rotor
magnets and the stator slots. This disturbance is due to the difference of reluctance between the copper of the
windings and the iron of the stator teeth. For a given motor, the cogging torque can be easily evaluated by simply
moving the motor manually when the amplifier is disabled. The Cogging torque compensation available in the
SMT-BD1/t amplifier allows to cancel the motor cogging effects for specific applications where torque accuracy
higher than 1 % is required.

Proceed as follows for the cogging torque compensation setup :

Start the amplifier commissioning and adjustment as described

Uncouple the motor from the load in order to avoid any external disturbance on the shaft during the cogging
torque acquisition procedure.

Disable the

Reduced stiffness at standstill

command if selected,

then execute an

Auto-tuning

procedure with

the

High bandwidth

and the

Standard

filter selection.

Execute the

Cogging torque acquisition

procedure. This procedure is taking a few minutes because the motor

is moving at low speed over 1 or 2 revolutions in both directions. The acquired cogging torque value is
automatically stored in the amplifier EEPROM at the end of the procedure execution.

Switch off the amplifier and couple the motor to the load.

Switch on the amplifier again, enable the

Cogging compensation

command and execute the

Save parameters

to EEPROM

procedure.

7 - AMPLIFIER TYPES

CAUTION

The motor shaft must not be disturbed during the cogging torque acquisition procedure.

CAUTION

When changing either the motor, the resolver, the amplifier or the EEPROM memory, the cogging torque
acquisition procedure must be renewed.

SMT-BD1 / _ t - _ / _ _ / _ - T - BS

Amplifier current ratings:
4 A to 100 A (220 VAC) or 15 A to 100 A (400 VAC)

w = Braking system for 220 VAC amplifiers (single-axis rack)

r = Additional heatsink for 220 VAC amplifiers
(total width = 18 TE)

Serial link :
1 = RS 232 / 2 = RS 422

Amplifier voltage ratings: 220 VAC or 400 VAC

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Содержание SMT-BD1/t

Страница 1: ...1 SMT BD1 t INFRANOR UNWINDER REWINDER SERVO DRIVE WITH PROFIBUS DP INTERFACE SMT BD1 t gb ...

Страница 2: ...der to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown in Appendix IV of the 2002 96 EC Directive This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard wa...

Страница 3: ...ECTOR 13 4 X2 ENCODER CONNECTOR 13 5 X4 CONTROL CONNECTOR 14 6 X6 PROFIBUS 14 7 X5 RS 232 CONNECTOR 14 8 X3 TEST CONNECTOR 15 9 LOGIC INPUTS OUTPUTS SPECIFICATIONS 15 9 1 Logic inputs ENABLE SEL1 SEL2 START STOP 15 9 2 Logic inputs TDI Lin1 15 9 3 Logic outputs TER Lout1 16 CHAPTER 4 CONNECTIONS 17 1 CONNECTION DIAGRAMS 17 1 1 Power supply and motor connections 17 1 2 Amplifier I O connections 17 ...

Страница 4: ...5 4 1 Speed gearing ratio adaptation 35 4 2 Torque set point ratio adaptation 36 4 3 Servo loop gains adaptation 36 5 EDITION OF A CONTROL SEQUENCE 37 5 1 Tension control sequence 37 5 2 Gearing ratio initialization sequence 39 5 3 Speed 1 control sequence 40 5 4 Speed 2 control sequence 41 5 5 Torque control sequence 42 6 SEQUENCES CHAINING 44 6 1 Sequence control 44 6 2 Logic inputs 45 6 3 Logic...

Страница 5: ...3 2 Motor supplied but no torque 75 3 3 Shaft locked eratic oscillations or rotation at maximum speed 75 3 4 Discontinuous motor rotation with zero torque positions 75 3 5 Loud crackling noise in the motor at standstill 75 3 6 Loud noise in the motor at standstill and when running 75 3 7 Sequence not executed 75 4 SERVICE AND MAINTENANCE 75 CHAPTER 11 APPENDIX 76 1 USE OF THE POSITIVE NEGATIVE LOG...

Страница 6: ...y executed one after the other The control sequences are pre programmed So the application programming simply consists in initializing the sequences parameters with the desired values The SMT BD1 t servo amplifier most typical unwind rewind and tension control applications are listed below Material unwind rewind force control based on diameter sensor feedback Material unwind rewind line speed cont...

Страница 7: ...ds EN 55011 Group 1 Class A regarding conducted and radiated radioelectric disturbances CEI 801 2 3 4 regarding immunity The 400 VAC version of the SMT BD1 t amplifiers operating in the BF 400 rack which is equipped with the mains filter BF400 35 or 70 has been approved for its compliance with the Electromagnetic Compatibility standards EN 55011 Group 1 Class A regarding conducted and radiated rad...

Страница 8: ...1 10 19 25 SMT BD1 t 220 60r 240 61 12 26 30 SMT BD1 t 220 70 240 70 25 30 35 SMT BD1 t 220 100 240 100 25 30 35 Authorized output currents for continuous current mode operation I 2 t protection in limiting mode AMPLIFIER TYPE U rated Imax A rms Max authorized continuous current Arms of the amplifier Vrms 1 s WITHOUT FAN FAN TYPE 1 FAN TYPE 2 SMT BD1 t 220 04 240 4 4 2 SMT BD1 t 220 08 240 8 8 4 S...

Страница 9: ...ated current Arms of the amplifier Vrms 1 s WITHOUT FAN FAN TYPE 2 SMT BD1 t 400 15 400 15 5 5 7 5 SMT BD1 t 400 30 400 30 8 15 SMT BD1 t 400 45 400 48 10 19 SMT BD1 t 400 60 400 60 not used 28 SMT BD1 t 400 100 400 100 not used 35 Authorized output currents for continuous current mode operation I 2 t protection in limiting mode AMPLIFIER TYPE U rated Imax A rms Max authorized continuous current A...

Страница 10: ...tal position accuracy must take into account the accuracy of the motor resolver Master encoder input Two channels A and B in quadrature Z marker pulse RS 422 line receiver Maximum pulses frequency 250 kHz Analog outputs monitor Speed input command CV 10 V for max speed Speed monitor GT 8 V for 14 000 rpm linearity 10 Current input command IDC 10 V for current rating DACout1 resolution 8 bits Curre...

Страница 11: ...oisture 50 to 40 C and 90 to 20 C EN 60204 1 standard Cooling Natural convection or forced air according to the rated current 2 FUSE PROTECTION 2 1 Fuse protection for the 220 VAC amplifier version F1 Control of the average DC current of the power board supply see Hardware adjustments in chapter 5 F2 Control of the average DC current of the logic board supply see Hardware adjustments in chapter 5 ...

Страница 12: ...connectors X1 X5 X2 X4 X6 X6 on sys LEDs error display LEDs X1 Resolver X5 Serial link X2 Encoder input output X4 Command X3 Test Offset push button Diag LED Run LED X6 Profibus 2 LEDs 2 1 Amplifier fault LEDs Location above the resolver connector X1 ON green power supply SYS red system fault 2 2 Profibus communication LEDs Location above the Profibus connector X6 ON SYS Amplifier faults red DIAG ...

Страница 13: ...line receiver 26LS32 3 CA O Differential output of the encoder channel A 5 V 20 mA max Recommended line receiver 26LS32 4 CA O Differential output of the encoder channel A 5 V 20 mA max Recommended line receiver 26LS32 5 CB O Differential output of the encoder channel B 5 V 20 mA max Recommended line receiver 26LS32 6 CB O Differential output of the encoder channel B 5 V 20 mA max Recommended line...

Страница 14: ...ed monitor output O GT 8 V for 14 000 rpm linearity 10 2 Current monitor output O DACout2 10 V for current rating resolution 8 bits 11 0 Volt analog output O 18 19 Amp ready O Relay contact closed when amplifier OK Pmax 10 W with Umax 60 V or Imax 200 mA 8 9 Brake control output O Relay contact Pmax 10 W with Umax 60 V or Imax 200 mA 21 15 Volts O Max 50 mA 22 15 Volts O Max 50 mA 5 6 non connecte...

Страница 15: ...10 DACout2 3 Reserved 10 V for amplifier current rating 9 LOGIC INPUTS OUTPUTS SPECIFICATIONS 9 1 Logic inputs ENABLE SEL1 SEL2 START STOP Log Log 5V 47 Kohm 47 nF 4 7 Kohm 4 7 V 0 V SMT BD1 t ENABLE SEL1 SEL2 START STOP These inputs can be configurated in positive or negative logic by means of jumpers 9 2 Logic inputs TDI Lin1 100 nF TLP281 SMT BD1 t TDI1 Lin1 4 1 Kohm 100 Kohm 0 V I Os These inp...

Страница 16: ...16 CHAPTER 3 Inputs Outputs SMT BD1 t 9 3 Logic outputs TER Lout1 TLP281 SMT BD1 t TER Lout1 max current 5 mA max voltage 24 V 0 V I Os These outputs are opto isolated from the amplifier 0V reference ...

Страница 17: ... manual 1 2 Amplifier I O connections 1 2 1 AMPLIFIER CONNECTION WITH MASTER ENCODER 1 2 7 13 12 15 3 4 8 5 9 14 24 25 17 16 15 3 15 U V W U V W GND SMT BD1 t X2 X1 X4 L1 L2 L3 A A B B 5 V TER 18 23 24 V 0 V V V 20 7 4 0 V 24 V 8 18 9 19 0 V 13 12 S1 S3 S2 S4 R1 R2 25 GND MOTOR RESOLVER RACK GND POWER SUPPLY DANCER LOAD CELL GND DIAMETER SENSOR GND ENABLE STOP START 24 V positive logic or 0 V nega...

Страница 18: ...he connectors used for the compliance with the CEI 801 standard must be metal or metallized connectors and must allow the 360 shield connections Reference potential connections especially with the ground are recommended only if these connections have a very low impedance 0 1 Ω Any shield that is used as a conductor can be connected at both ends with the condition to be connected over 360 at both e...

Страница 19: ... under the clamp Motor connector for resolver and motor BF RACK Ground The cable can be soldered on the shield because the connector box is metallic This solution does not exactly meet the EMC requirements but it is acceptable Motor connector box Metallic or metal plated plastic SUB D pin package 360 shield ensured by the tightening clamp The fastening screws must be tightened in order to ensure t...

Страница 20: ...g the 360 shield connection The resolver cable must be pair twisted and shielded sin cos ref Motor cables MUST also be shielded 3 4 SERIAL LINK CABLES The serial link cable must also be shielded according to the above mentioned shield connection recommendations CAUTION Command cables resolver serial link Profibus as well as the power lines must be connected and disconnected with amplifier OFF ...

Страница 21: ...tio Motor CTN Motor CTP Logic Logic Motor thermal sensor adjustment 01640 logic board NOTE PSTH Threshold adjustment for thermal probe on logic board 01640 only FOR AMPLIFIER RATINGS 4 A TO 100 A For amplifier versions with 70 A and 100 A current ratings in 220 V and serial numbers lower than 260600 please contact INFRANOR When using resolvers with other transformation ratios than 0 5 the Cos and ...

Страница 22: ...to 220 17w Selection jumper for 220 30w to 220 60w BRAKING SYSTEM SELECTION FOR SMT BD1 t 220 04w to 220 60w SMT BM20 A BMM05F 05AF single axis racks Braking resistor jumper closed BF rack Braking resistor jumper open NOTE The braking resistor selection is only available on w referenced amplifiers ...

Страница 23: ...he BPCW software The serial link connector X5 must be connected to the serial interface of a PC for the parameter setting operation The BPCW software which is IBM PC compatible with the WINDOWS operating system allows the clear display and easy modification of all amplifier parameters The SMT BD1 t parameters setting requires the BPCW software version 2 7 or higher ...

Страница 24: ...ofibus communication section 8 of this chapter Amplifier programming Chapter 7 Amplifier operation Chapter 8 Current regulator adjustment Current limitations and I 2 t protection adjustment Motor parameters adjustment Speed limitation adjustment Adjustment of the speed regulator gains Brake control Jog control Rotation direction encoder output Diameter sensor dancer or load cell Profibus address S...

Страница 25: ...ibus operating mode and encoder output disabled 1 2 Motor thermal sensor configuration Select the right MN or OP jumper setting according to the motor thermal sensor type PTC or NTC 1 2 1 PTC THERMAL SENSOR On motors equipped with a PTC thermal sensor triggering on high impedance the amplifier configuration is the following MN jumper closed and OP jumper open The triggering threshold adjustment fo...

Страница 26: ...B3 B2 BL 192 B3 B3 B2 For other motors the adjustment of the current loops according to the amplifier current rating and to the inductance between the motor terminals is made as follows 15 A and 30 A amplifier current ratings Calculation of G 0 8 x Amplifier current rating A x Inductance between phases mH If G 60 current loop jumpers x3 on B3 position If 60 G 100 current loop jumpers x3 on B2 posi...

Страница 27: ... 1 4 x Amplifier current rating A x Inductance between phases mH If G 60 current loop jumpers x3 on B3 position If 60 G 100 current loop jumpers x3 on B2 position If G 100 current loop jumpers x3 on B1 position 30 A 45 A 60 A 70 A and 100 A amplifier current ratings Calculation of G 1 4 x Amplifier current rating A x Inductance between phases mH If G 100 current loop jumpers x3 on B3 position If 1...

Страница 28: ...rameters are complying with motor and amplifier Otherwise modify them according to the appropriate motor and amplifier specifications The Max speed parameter defines the maximum motor rotation speed The speed range is between 100 and 14000 rpm and the resolution is 5 rpm Check that its value is complying with motor and application Otherwise modify it according to the motor and application specific...

Страница 29: ...is at standstill and then when the motor is running at a constant speed higher than 100 rpm 4 2 Enabling The enabling can be made by Profibus see operation diagram for the enabling procedure or by the BPCW software in Software control mode 4 3 Brake control The SMT BD1 t amplifier is equipped with a brake control signal This brake control signal is low powered and cannot directly control the brake...

Страница 30: ...red in the parameter Diameter sensor value for min diameter Put a full spool corresponding to the maximum diameter value on the unwind rewind spindle and read the voltage value given by the diameter sensor by using the command Diameter sensor value This value is then entered in the parameter Diameter sensor value for max diameter Enter the ratio value between the minimum spool diameter and the max...

Страница 31: ...ng to the rated material tension value Read the voltage value given by the dancer or the load cell by using the Tension measurement value command This value can be entered in the Tension set point parameter value for the tension sequence programming If a ratio init sequence must be executed unwind rewind operation without diameter sensor proceed as follows for the ratio init procedure calibration ...

Страница 32: ... in the unwinder rewinder and lock it by means of the downstream traction system The TDI input must be disabled in order to enable the PID loop for the tension regulation Start the tension control sequence execution If the tension loop is instable continuous material unwinding or saturated motor torque reverse the sign of the error scaling gain parameter If the tension loop is oscillating reduce t...

Страница 33: ...terial braking according to the application If the Tension sequence error link parameter is not defined when a tension sequence error is generated the motor is braking according to the STOP deceleration ramp 6 PROFIBUS ADDRESS Each amplifier of the network is identified by one single address 1 to 125 The SMT BD1 t unwinder rewinder amplifier is delivered with the default address 126 which is not a...

Страница 34: ...ntrol TORQUE torque control Tension Defines the dancer or load cell tension measurement value in Volt range 10 V to 10 V corresponding to the material tension set point value If the sequence type is a gearing ratio initialisation Tension then indicates the dancer position to be reached during the spool rewind movement for the gearing ratio estimation procedure Stretching Defines the material stret...

Страница 35: ...ution nor in Jog mode During a Tension Speed 1 Torque or Ratio init sequence execution the gearing ratio gain value can be calculated by different ways according to the unwind rewind application The sequence parameter setting allows to select the most appropriate calculation method as described below When Constant gearing ratio gain or Constant set point ratio is selected the sequence Gearing rati...

Страница 36: ...er sensor is selected the amplifier torque set point ratio value is continuously calculated according to the spool diameter value during the sequence execution In this case the effective diameter value source can be either the current analog input 2 ANin 2 voltage value or the current diameter value received via the PROFIBUS process data words depending on the Amplifier configuration parameter Whe...

Страница 37: ...SION Tension set point V 2 5 Stretching time ms 300 Holding time ms 5000 Internal speed set point Speed set point value rpm 200 Accel decel time ms 500 Master encoder gearing Gearing ratio gain 70 Constant gearing ratio gain Gearing ratio adaptation by diameter sensor Gearing ratio adaptation by line encoder Next sequence 5 Counter Jump Output 87654321 Output trigger End Start condition 87654321 S...

Страница 38: ... signal coming from the dancer and the master encoder pulses In this case the Constant gearing ratio gain operation is selected and the corresponding gearing ratio value is adjusted by the Gearing ratio gain parameter An unwind rewind tension control application with a variable gearing ratio is presented on the following diagram The SMT BD1 t amplifier is driving the spool motor and provides the r...

Страница 39: ...it procedure execution is exceeding 10 of the Master encoder reference displacement parameter value when the material is not correctly locked at the master roller level a ratio init sequence error is generated When the Time out value is over before the end of the ratio init procedure execution a ratio init sequence error is also generated When a ratio init sequence error is generated the ratio ini...

Страница 40: ...Master encoder channels ANin2 diameter measurement ANin1 speed reference Speed set point Gearing ratio Constant gain Diameter modulation Speed profile Accel decel ramp Sequence type SPEED 1 Acceleration time ms 500 Running time ms 500 Deceleration time ms 500 Internal speed set point Speed set point value rpm 200 Analog speed reference Analog input offset V 2 Master encoder gearing Gearing ratio g...

Страница 41: ...tor speed value must be increased according to the diameter measurement value in order to maintain the right accumulator height with regard to the material line speed The accumulator position at standstill material line speed 0 can be easily adjusted by using the Analog input offset parameter This parameter adjustment allows to get an automatic material spool rewind up to the accumulator standstil...

Страница 42: ...ture can ensure very accurate line speed regulation according to the spool diameter variation without any diameter sensor 5 5 Torque control sequence Torque control sequence parameters Motor Running material Roller Line speed set point SMT BD1 t amplifier Material spool Line encoder Speed PI motor speed controller Motor IA IB Master encoder channels ANin1 speed reference Speed set point PID line s...

Страница 43: ...utomatically executed This security is useful for a winding application where it is necessary to set the Speed set point parameter value higher than the line speed value in order to reach the current limitation during the winding operation The selection of both Analog torque set point and Set point modulation by diameter sensor allows a typical winder or unwinder tension control application as sho...

Страница 44: ...progressively stretched up to the tension set point at the sequence start In a winding application the Speed set point parameter must be set at a higher value than the maximum value of the line speed during the winding operation in order to reach the current limitation 6 SEQUENCES CHAINING 6 1 Sequence control 6 1 1 COUNTER LOOP The sequences linkage is controlled by the parameters Next sequence C...

Страница 45: ...2 to 8 can only be activated or desactivated on the serial bus interface PROFIBUS DP for the sequence control and have no physical existence The inputs can be used either as a sequence start condition or as a sequence stop condition A sequence stop condition is only valid when the running time or the holding time value is higher than 16000 ms The 8 logic inputs can be selected as follows ignore th...

Страница 46: ...ue sequence outputs Tension sequence outputs In a ratio init sequence the outputs trigger only at the end of the sequence BEGIN logic output at the sequence beginning SPEED logic output when the speed reference is reached END logic output at the sequence end Acceleration Deceleration Running Speed BEGIN logic output at the sequence beginning SPEED logic output when the speed reference is reached T...

Страница 47: ... if this has not yet been done create a network with the master connect a slave on the network with the same address as defined in the slave Note When the communication is established the green RUN LED lights up 1 1 PPO message In the PROFIBUS DP communication model a slave module consists of a certain number of inputs outputs or inputs outputs modules Each module is defined by an identifier This ...

Страница 48: ...sed for the data reading or writing Example In the STEP7 software the SFC14 and SFC15 functions are used for the reading and writing of the consistant modules In the above example the SFC14 and SFC15 functions are used for reading or writing the PZD module PPO2 case The W 16 108 address is the physical module address on the network that is obtained when connecting the slave to the network This add...

Страница 49: ...ncy 0xF1 Type 4 ReadPPO4 Write PPO4 Configuration PZD Inputs outputs module 6 words Consistency 0xF5 Example When PPO2 is used the identifiers are 0xF3 and 0xF5 4 words for PKW and 6 words for PZD 1 3 Parameter setting PKW The parameter area PKW allows to read or modify a parameter Parameter identifier PKE Bit 15 12 11 10 0 AK SPM PNU AK Instruction or reply code 0 15 SPM Toggle bit for parameter ...

Страница 50: ...om the slave by PPO read This procedure guarantees the instruction reply communication by the operator Just one single instruction can be executed at once A slave provides the reply until the master sends a new instruction An instruction 8 bytes must be completely transferred in a message and a reply as well If no parameter setting information is required the master must send 0 in AK no instructio...

Страница 51: ...eset 8 1 0 Jog Continuous motor movement in the positive direction 9 1 0 Jog Continuous motor movement in the negative direction 10 1 0 Command Local Control by Profibus Local mode control by RS 232 11 12 13 14 15 2 2 Input command The input command is contained in the PZD part of the PPO 2nd word of PZD to 6 th word of PZD It has got different meanings according to the unwind rewind or speed cont...

Страница 52: ...mode 10 1 0 11 0 1 Ratio init already achieved 12 Input command acknowledgment Acknowledgment of a sequence triggering 13 1 0 Motor stopped 14 1 0 Sequence running 15 1 0 Speed is reached Note When switching from the Profibus mode to local mode or vice versa the amplifier is disabled 2 4 Feedback The feedback is included in the PZD part of the PPO 2 nd word of PZD to 6 th word of PZD It has got di...

Страница 53: ...s diagram describes the amplifier behaviour The enabling process includes 5 stages ENABLE inhibited ENABLE not ready Ready for ENABLE Ready and Operation enabled OFF1 control xxxx x1xx xxxx xxx0 Operation inhibition OFF1 active phase 1 OFF1 active phase 2 Power ON Error Operation enabled ENABLE inhibited control xxxx x1xx xxxx x110 ENABLE not ready Ready for ENABLE Ready Operation inhibited C 3 0 ...

Страница 54: ...ould be executed 3 2 Unwind rewind mode When the unwinder rewinder is in Operation enabled status the following is possible starting a sequence execution bit 6 jog or jog bit 8 or 9 stopping the motor with a programmed deceleration the one defined by JOG bit 5 stopping the motor with maximum deceleration bit 4 Execution of a sequence Acknowledgment of the command with edge on S 12 Operation enable...

Страница 55: ...3 bits 4 2 Starting a sequence When the unwinder rewinder is in Operation enabled status a sequence is started by entering the sequence number in PZD 2 reversing bit 6 of the control word If a new sequence is started whereas the unwinder rewinder is executing a sequence the unwinder rewinder immediately executes the new sequence without stopping the motor 4 3 Other movements The other possible non...

Страница 56: ...roportional speed loop gain 0 65535 word R W E 0x64 731 Integral speed loop gain 0 65535 word R W E 0 732 Integral 2 speed loop gain 0 65535 word R W E 0 734 Current control filter 2832 61545 word R W E 0x3000 735 Anti resonance filter 0 1 Boolean R W E 0 736 Auto tuning procedure 0 5 word W 749 Reduced stiffness at standstill 0 1 Boolean R W E 0 875 Cogging acquisition procedure W 876 Cogging tor...

Страница 57: ... E 32767 845 Gearing ratio 1 32767 328 32767 word R W 846 Max gain diameter V 3276 0 32767 word R W E 32767 847 Regulator gain ratio 1 16 16 16000 word R W E 16 860 Tension filter 2832 61545 word R W E 2832 861 Tension value V 3276 32767 32767 word R 862 Tension tolerance 327 0 32767 word R W E 32767 863 Overspeed limit rpm 0 14000 word R W E 14000 864 Undertension limit V 3276 32767 32767 word R ...

Страница 58: ... ϕ Kt motor torque constant Nm Arms Np number of motor pole pairs Max MotorSpeed maximum motor speed rpm Irated motor current Arms with 0 45 ϕ Phase lead coefficient electrical degree 1000 rpm Coef Max MotorSpeed ϕ 1000 2 2 Current parameters Maximum current PNU 710 Defines the max current limitation in the motor Parameter 1 word Conversion in percentage of the amplifier current rating x 3 0518509...

Страница 59: ...Ln 65536 parameter Limitation This parameter can take a value between 2832 1000 Hz and 61545 20 Hz Antiresonance filter PNU 735 Releases or inhibits the antiresonance filter Parameter 1 word 0 inhibits the filter 1 releases the filter Auto tuning PNU 736 This procedure identifies the specific motor and load parameters and calculates the regulator gain parameters Parameter 1 word 0 low bandwidth 1 ...

Страница 60: ... both directions The acquired cogging torque value is automatically stored in the amplifier memory during the procedure execution Cogging torque compensation PNU 876 Enable the cogging torque compensation when activated Parameter 1 word 0 disables the cogging torque compensation 1 enables the cogging torque compensation Note The motor cogging torque compensation is only necessary for specific appl...

Страница 61: ...d in standalone mode In standalone mode the amplifier enabling and the brake inhibition are simultaneous Manual brake control PNU 728 This instruction enables or inhibits the brake Parameter 1 word 0 disables the motor brake relay closed 1 activates the motor brake relay open Limitation Writing only Saving in the EEPROM PNU 729 Saves all amplifier parameters in the EEPROM Parameter none Limitation...

Страница 62: ...rent analog input 1 ANin 1 voltage value or the current speed set point value received via the PROFIBUS process data words PZD4 The Torque set point selection allows to select the torque set point source when a torque control sequence is executed This choice is only valid when Analog torque set point has been selected at the sequence programming In this case the effective torque set point can be e...

Страница 63: ...nces EEPROM checksum error 3 4 SEQWR Sequence writing error 5 6 7 Motor position PNU 774 Reading of the motor position Parameter 32 bits Resolver value PNU 775 Reading of the value provided by the resolver This value is an absolute position over one revolution Parameter 16 bits Master encoder position PNU 768 Reading of the master encoder position Parameter 32 bits Note The master encoder position...

Страница 64: ...ds on the SW2 3 switch position 2 7 Manual jog parameters Speed in jog PNU 763 Defines the internal speed set point value for the jog mode Parameter word Unit of the motor maximum speed value Variation signed value 32767 to 32767 Conversion 1 327 67 Note This parameter is saved in of the maximum motor speed value in rpm If the maximum motor speed value is modified the jog speed value in rpm is mod...

Страница 65: ...ntrol sequence the PID regulator output is set at 0 2 9 Gearing ratio calibration parameters Diameter low pass filter PNU 840 Defines the time constant of the first order filter that acts upon the diameter measurement signal or the encoder ratio measurement signal Parameter 1 word Unit ms Variation 1 to 10000 Diameter sensor value for min diameter PNU 841 Defines the voltage value provided by the ...

Страница 66: ... are automatically adapted according to this ratio when the spool diameter sensor value is varying between the Diameter sensor value for min diameter and the Diameter sensor value for max gains Parameter 1 word Unit max min ratio 1 Conversion 1 16 Variation 16 to 16000 2 10 Tension control parameters These parameters are only active for a tension control sequence The tension controller structure u...

Страница 67: ...t value drops below this parameter value In this case a tension sequence error is generated This parameter is also used into the ratio init sequence as the start point for the dancer displacement Parameter 1 word Unit Volts Conversion 1 3276 7 Variation 32767 to 32767 Note When the dancer or the load cell tension measurement value at the start of the tension sequence is below the Undertension limi...

Страница 68: ... of a material braking a torque sequence error is generated Parameter 1 word Limitation This parameter varies between 0 rpm and the maximum motor speed value in rpm Note This parameter refers to the motor speed value at the minimum diameter The actual overspeed limit on the motor is obtained by multiplying this value by the current gearing ratio gain Sequence error link PNU 865 This parameter defi...

Страница 69: ...e 1 ratio init sequence 2 tension sequence 3 speed 1 sequence 4 speed 2 sequence 5 torque sequence 4 7 reserved 8 10 define the triggering for the logic inputs 0 End 1 Begin 2 Tension 3 Speed 4 Torque 11 12 define the sequence set point selection 0 internal set point 1 set point via analog input or Probibus input 2 set point via master encoder input 13 14 define the sequence gearing ratio adaptati...

Страница 70: ...ue control sequence Acceleration PNU 785 This parameter defines the motor acceleration time for the sequence Parameter word Unit ms Variation 1 to 16000 Note The real minimum value depends on the motor and the inertia Deceleration Stretching PNU 786 This parameter defines either the motor deceleration time for a speed control sequence or the material stretching time for a tension control sequence ...

Страница 71: ...s defined by bit 15 of PNU 782 A sequence stop condition is only valid when the running time or the holding time value is higher than 16000 ms The sequence stop condition is only tested when the sequence set point value has been reached at the end of the acceleration time or the stretching time Logic outputs PNU 792 This parameter defines the effect on the logic outputs in this sequence Parameter ...

Страница 72: ...lowing error Position z Resolver cable interruption Resolver z Power stage failure power supply overvoltage internal switch protection short circuit between phases Power stage z z Resolver converter failure R D C z Amplifier overtemperature C Amp z z Power supply undervoltage Undervolt z z Motor overtemperature C Motor z z z Fault of the amplifier parameter memory EEPROM z z z Amplifier automatic ...

Страница 73: ...tinuously displayed after applying power to the amplifier the AUTOTEST procedure has failed and the amplifier is not ready for operation If the BUSY fault is continuously displayed after the execution of the AUTOPHASING function the procedure has failed because of an external cause and the calculated parameters are wrong Check that the ENABLE input is actually activated Then check that the motor i...

Страница 74: ...C If the fault occurs during the operation Check the correct braking system operation during the deceleration phases Check the sizing of the braking resistor with regard to the deceleration phases Check for no short circuit in the motor wiring and at the motor terminals For amplifiers with 220 04 to 220 60 current ratings and 400 VAC range check that the fan and the heatsink configurations are cor...

Страница 75: ...ing motor phase 3 4 Discontinuous motor rotation with zero torque positions Check the connection of all three phase cables between motor and amplifier 3 5 Loud crackling noise in the motor at standstill Check that the Motor Amplifier Controller ground connections comply with the recommendations 3 6 Loud noise in the motor at standstill and when running Check the rigidity of the mechanical transmis...

Страница 76: ...n a stored fault is released on the amplifier and the power supply turned off it is necessary to have an auxiliary supply for the logic board which is independent from the power supply In this case the JK and KL jumpers of the logic board allow to inhibit or to release the Undervolt fault when the amplifier is turned on JK jumper closed and KL jumper open configuration If the auxiliary supply is t...

Страница 77: ...t0 t1 t2 t3 Rated current Maximum current Amplifier current t1 Idyn signal activation t2 current limitation t3 I2t fault 1 second Time The maximum current duration before the release of the Idyn signal depends on the value of the Rated current and Maximum current parameters This value is calculated as follows T dyn second t1 t0 3 3 x Rated current Maximum current 2 The maximum current duration bef...

Страница 78: ...ng I 2 t error display are both cancelled When the amplifier RMS current I 2 t reaches the Rated current value the I 2 t protection limits the amplifier current at this value The amplifier current limitation diagram in an extreme case motor overload or locked shaft is shown below t0 t1 t2 Rated current Maximum current Amplifier current t1 Idyn signal t2 current limitation Time The maximum current ...

Страница 79: ... for Master Slave configuration When amplifier 2 is executing a control sequence with the Master encoder gearing set point selection amplifier 1 is operating as the master and amplifier 2 is operating as the slave When amplifier 1 is executing a control sequence with the Master encoder gearing set point selection amplifier 2 is operating as the master and amplifier 1 is operating as the slave NOTE...

Страница 80: ... SW2 3 switch in OFF position on all the amplifiers in order to have all the encoder output lines disabled at power up After the amplifiers power up the master amplifier is adressed via Profibus and its encoder output lines are enabled by means of the Enable encoder output command Operation in stand alone mode Put the SW2 3 switch in ON position on the master amplifier and in OFF position on all t...

Страница 81: ...t standstill command if selected then execute an Auto tuning procedure with the High bandwidth and the Standard filter selection Execute the Cogging torque acquisition procedure This procedure is taking a few minutes because the motor is moving at low speed over 1 or 2 revolutions in both directions The acquired cogging torque value is automatically stored in the amplifier EEPROM at the end of the...

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