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Regulator Adjustment

Section 4

S4 Application Manual

Page 30

4.2 Motion Profile Adjustment

The motion profile for all position moves are defined through the following parameters.

Pd09 set position high

= 10

Index distance high

Pd10 set position low

= 0

Index distance low

Pd07 max speed for posi = 1000 rpm

Max. index speed

Pd06 acceleration time = 0.10 s

Accel/decel time

Pd05 s curve time

= 0.10 s

S-curve time

The distance is adjusted through Pd.09 and Pd.10. Remember Pd.09 is integral motor
revolutions and Pd.10 is partial revolutions represented as a 16 bit number.

Example:

180

°

= 180

°

x 65,535 = 32767 = Pd.10

360

°

Maximum run speed is adjusted through the parameter Pd.07. This is the maximum

1)

speed in which the controller can make the move. If the move is short and the
acceleration and deceleration long, it is possible that the motor will never reach this
speed.

Acceleration and deceleration are mirrored, the values entered for the acceleration are
used for deceleration as well. There are two parameters, one controls the rate of linear
acceleration and the other controls the S-curve time.

When not using S-curves (Pd.05 = 0.01 sec), the acceleration time is based only on
Pd.06. Pd.06 is the amount of time it takes to accelerate from zero speed to the
maximum speed set in parameter Pd.07. If S-curves are used, the total acceleration time
is increased by the adjusted time of the S-curve.

4.2.1 Graph

Typical position move

Pd.05 + Pd.06

Pd.05

Pd.06

Pd.07

Motor torque

1) See section 4.3.11. Under certain circumstances the actual motor speed will be

higher that the value adjusted in Pd.07.

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Содержание COMBIVERT S4

Страница 1: ...COMBIVERT APPLICATION MANUAL 7 00 P O W E R T R A N S M I S S I O N ...

Страница 2: ...king with this unit the user must be familiar with it This is especially true for the attention safety and warning guides The meaning of the icons used in this manual are Danger Attention Information Warning observe at Help Caution all costs Tip KEBCO 03 S4 0EZ K140 7 00 ...

Страница 3: ...3 3 1 Application definition 19 3 3 2 System Layout 19 3 3 3 Operational Sequence index without registration search 20 3 3 4 Operational Sequence index with registration search 21 3 3 5 Single axis index control wiring 22 3 3 6 Setup of the drive 23 3 3 7 Loading the program into the drive 23 3 3 8 Single axis indexing parameter list 24 3 3 9 Application Tips 26 4 Adjustment of the velocity profil...

Страница 4: ...Section 1 S4 Application Manual Page 2 This page left blank intentionally ...

Страница 5: ...ead fully the S4 CP manual before attempting to use the product The S4 Reference manual describes the functions of all the parameters and can be used in conjunction with this application manual The following sections will provide information on starting up the COMBIVERT S4 drive system adjust the system for a specific type of application and tuning the regulators through the COMBISCOPE program It ...

Страница 6: ...Section 1 S4 Application Manual Page 4 This page left blank intentionally ...

Страница 7: ...d to the amplifier The wires are numbered 1 through 8 Wire 4 is the green and yellow ground wire This green and yellow wire along with the shield of the cable should be connected to the ground terminal on the amplifier Connect wire 1 to power terminal U wire 2 to power terminal V wire 3 to power terminal W wire 7 to the first OH terminal and wire 8 to the second OH terminal As an option the servo ...

Страница 8: ...motor should begin to turn The display should indicate an actual speed of about 100 rpm Open the jog switch and the motor should stop Close the other jog switch and the motor should run in the opposite direction If the motor runs in both directions without any errors then the system has been properly installed and is ready to be set up for the application In the event the motor does not turn in on...

Страница 9: ... much friction or the motor is not sized large enough The motor oscillates and turns with a jerking motion Little or no holding torque Eventually the fault E OH2 or E OL is triggered Two of the motor power leads are reversed Turn the supply voltage off wait five minutes and verify connections to the power terminals U V W Motor runs but the error E OH is triggered after the amplifier has been turne...

Страница 10: ...Initial Start Up Section 2 S4 Application Manual Page 8 This page left blank intentionally ...

Страница 11: ...S 3 2 Single axis positioning of up to 4 positions 3 2 1 Application definition The system must drive to up to 4 preset positions relative to a fixed reference point home Each position must have its own velocity profile The desired position is to be selected through the digital inputs Two physical endlimit switches are used to prevent over travel The left switch serves also as the reference home p...

Страница 12: ...d position 6 System enters desired target window sets the digital output terminal 8 and comes to a stop Target position reached signal is maintained as long as the system is within the target window or until the automatic mode terminal 3 is turned off 7 Turning off the automatic mode terminal 3 while the system is moving results in cancellation of the position and the system drives to a stop 8 The...

Страница 13: ...ignal is given to terminal 2 Terminals 6 and 7 are binary coded for positions 0 through 3 The position selection signals must be maintained at least until after the start move pulse is given on terminal 2 Terminal 8 and 9 are digital outputs All signals with a vertical arrow are edge triggered and must be brought low before the drive will accept another signal at that terminal 3 2 4 Single axis po...

Страница 14: ...the parameter list S4POSI1 in section 3 2 7 Through the COMBIVIS program the positions and velocity profiles can be adjusted Example Position Adjustment The four positions are to be located with reference to the left end limit at distances of 1ft 2 5ft 4ft and 5ft The ratio between linear distance and rotary distance at the motor is 0785 ft rev Position 0 1 ft 0785 ft rev 12 7389 revs at the motor...

Страница 15: ...rch for the reference point When the left limit switch is opened the motor will reverse direction and back off the limit switch until the switch closes again At this point the system will stop and wait for the next command 6 Select the desired position using terminals 6 and 7 and give a start signal to terminal 2 The system should move to the selected position The drive will confirm the position w...

Страница 16: ...5 20 posi off 14 di17 input strobe depend 0 off 15 di18 select strobe source 0 off 16 di19 select strobe mode 0 positive transition 17 do01 output condition 1 1 enable 18 do02 output condition 2 18 speed speed level 19 do03 output condition 3 0 disable 20 do04 output condition 4 23 target position reached 21 do05 output condition 5 11 regulator limit 22 do06 output condition 6 5 fatal error 23 do0...

Страница 17: ...nput config PNP or NPN 75 76 Pd14 bus position set 0 Position 0 77 Pd05 s curve time 0 10 s S curve time 78 Pd06 acceleration time 0 10 s Accel decel time 79 Pd07 max speed for posi 1000 rpm Max speed 80 Pd09 set position high 10 Distance high 81 Pd10 set position low 0 Distance low 82 83 Fr09 bus parameter set 1 set 1 84 Fr01 copy bus para set 0 copy set 0 stand 85 Pd14 bus position set 1 Positio...

Страница 18: ...ust the acceleration and deceleration time for the jog function In addition S curves can be activated for smooth response Position move velocity profile It is possible to adjust a different profile max run speed accel decel time and S curve time for each preset move Search for reference point The search for the reference point will occur before any position move can be performed The first signal o...

Страница 19: ... point 71 di12 input function I6 15 R Left limit 72 In addition the set position high Pd 09 must be entered as a negative number to provide reverse or travel to the left 75 76 Pd14 bus position set 0 Position 0 77 Pd05 s curve time 0 10 s 78 Pd06 acceleration time 0 10 s 79 Pd07 max speed for posi 1000 rpm Max Speed 80 Pd09 set position high 10 Distance high 81 Pd10 set position low 0 Distance low...

Страница 20: ...Application Examples Section 3 S4 Application Manual Page 18 This page left blank intentionally ...

Страница 21: ...ious stopping point The system must have the capability to enter a search mode at the end of each index to establish positive stopping point based on registration mark The system must be able to search to the registration mark on demand Manual mode of operation must accommodate jogging of the system 3 3 2 System Layout Web index with registration marks Conveyor index without registration marks ...

Страница 22: ...ed as long as the system is within the target window or until the automatic control terminal 3 is turned off 5 Turning off the automatic control terminal 3 while the system is moving results in cancellation of the index move and the system drives to a stop 6 The system can be jogged manually by turning off automatic control and using the jog input terminal 7 The system moves as long as the signal ...

Страница 23: ... indexes preset distance The system will automatically enter a search mode as the index nears completion Once in search mode the system will continue to run at low speed until a momentary signal from the registration sensor is given at terminal 4 6 If the index is made with a registration search the output target reached terminal 8 does not turn on Instead the search active output terminal 9 becom...

Страница 24: ...lication Manual Page 22 All signals with a vertical arrow are edge triggered and must be brought low before the drive will accept another signal at that terminal Terminals 8 and 9 are digital outputs 3 3 5 Single axis index control wiring ...

Страница 25: ...tment Index length 10 inches Index speed 20 inches sec Linear distance to rotary displacement 1 inch 2 45 motor revolutions Index Length 10 inches x 2 45 revs in 24 5 revs of motor Index Speed 20 inches sec x 2 45 rev in 49 revs sec 2940 rpm at motor Parameter settings Position high Pd 09 24 Position low Pd 10 0 50 x 65 535 32 768 Position speed Pd 07 2940 rpm Accel decel time Pd 06 0 1 sec S Curv...

Страница 26: ... function I6 2 reset SET 15 di17 input strobe depend I6 I1 I2 16 di18 select strobe source ST R I1 I3 IA 17 di19 select strobe mode 0 positive transition 18 do01 output condition 1 1 enable 19 do02 output condition 2 18 speed speed level 20 do03 output condition 3 18 speed speed level 21 do04 output condition 4 23 target position reached 22 do05 output condition 5 11 regulator limit 23 do06 output...

Страница 27: ...1 NPN PNP selection 0 PNP Digital input config PNP or NPN 66 67 Fr09 bus parameter set 2 set 2 68 Fr01 copy bus para set 0 copy set 0 69 Pd00 posi mode 0 off 70 SP01 speed setting absolut 120 rpm Registration search speed 71 do10 select OUT2 condition do01 72 do15 select OUTC condition do01 73 do13 select OUTA condition 0 no condition 74 75 Fr09 bus parameter set 1 set 1 76 Fr01 copy bus para set ...

Страница 28: ... time A reverse index is obtained by entering a negative number for the index distance i e 10 10 revs forward 10 10 revs reverse 79 Fr09 bus parameter set 0 set 0 80 Pd09 set position high 10 Index distance high 81 Pd10 set position low 0 Index distance low 82 Pd07 max speed for posi 1000 rpm Max index speed The negative sign is entered only in the set position high Pd 09 The sum of Pd 09 and Pd 1...

Страница 29: ... the system to search for the registration point Once the registration sensor activates the system stops and waits for a command Now the system can be indexed with a momentary signal at terminal 2 Index with registration search In some applications it may be necessary to establish the stopping point based on a registration mark This can be accomplished by activating terminal 6 with a maintained si...

Страница 30: ...Application Examples Section 3 S4 Application Manual Page 28 This page left blank intentionally ...

Страница 31: ...ing View then Inverter Scope If you do not have COMBIVIS 5 1 you may download the unregistered version from our web site at www kebco com Once the COMBISCOPE program is running you may select one of the channels A D for the mode of operation you would like After selecting the channels select the mode button and choose the offline mode as shown in Fig 1 This means the data will be sampled and store...

Страница 32: ...eed in which the controller can make the move If the move is short and the acceleration and deceleration long it is possible that the motor will never reach this speed Acceleration and deceleration are mirrored the values entered for the acceleration are used for deceleration as well There are two parameters one controls the rate of linear acceleration and the other controls the S curve time When ...

Страница 33: ...application uses only position 0 which is the default setting of Fr 09 Therefore it is not necessary to adjust Fr 09 To access the parameters to adjust the move profile simply select the box on the left side Under the window the listing all of the Pd parameters will appear allowing you to change the values at will Changes in the Pd parameters take effect during the next position move Reverse trave...

Страница 34: ...d control The position control uses the position feedback to generate a new speed command which is fed to the speed controller The speed controller then uses the speed feedback along with the command speed to create a torque command which is then given to the motor Use the following graphs as an example for adjusting the speed and position controller The velocity and torque graphs were made with t...

Страница 35: ...1000 rpm div P Speed CS 00 400 Set Speed 1000 rpm div I Speed CS 01 25 Torque 35 lb in div P Position Pd 02 5 Horizontal 100 mSec div 4 3 3 Graph Same move as graph 4 3 2 however vertical scale is increased to show stopping overshoot Actual Speed 100 rpm div P Speed CS 00 400 Set Speed 100 rpm div I Speed CS 01 25 Horizontal 100 mSec div P Position Pd 02 5 ...

Страница 36: ...00 rpm div I Speed CS 01 200 Horizontal 100 mSec div P Position Pd 02 5 4 3 5 Graph Same move as graph 4 3 4 I speed gain is returned to previous value and the P position gain is increased instead Overshoot is greatly minimized but not completely removed Increasing the P position gain too much results in oscillations during the normal run period Actual Speed 100 rpm div P Speed CS 00 400 Set Speed...

Страница 37: ...00 rpm div P Speed CS 00 400 Set Speed 100 rpm div I Speed CS 01 50 Horizontal 100 mSec div P Position Pd 02 250 4 3 7 Graph Same move as graph 4 3 6 Angular deviation between commanded position and actual position is shown by the trace under the speed curves The horizontal line that runs through the 3 rd and 4 th quadrant represents the commanded position The P position controller helps the proce...

Страница 38: ...01 150 Horizontal 100 mSec div P Position Pd 02 250 Angular deviation 2 mSec div 4 3 9 Graph If the I speed and the P position gains are set too high high frequency torque oscillations will occur This can sound like a buzzing noise coming from the motor Once the oscillation starts reduce the gains until it stops Actual speed 100 rpm div P Speed CS 00 400 Set speed 100 rpm div I Speed CS 01 600 Hor...

Страница 39: ...herefore it is not necessary to adjust Fr 09 To access the speed control gains CS 00 and CS 01 simply select the box on the left side The window listing all of the CS parameters will appear on the right allowing you to change the values at will To access the position control gain Pd 02 select the box The window listing all of the Pd parameters will appear to the right allowing you to change the va...

Страница 40: ...03 maximum setting is 500rpm As shown in the graph below the speed increase was 250rpm The torque limit was not active in the deceleration phase since the friction torque assisted in the stopping In the event the torque limit is activated during the deceleration the system will over shoot and then drive backward at the speed adjusted in Pd 03 until the deviation is eliminated To eliminate these pr...

Страница 41: ...S4 Application Manual Section 5 Page 39 NOTES ...

Страница 42: ...Section 5 S4 Application Manual Page 40 NOTES ...

Страница 43: ...s with in one year from original date of shipment from KEBCO in St Paul The serial number will be used to track the shipping date Operation of the inverter outside the rated specifications printed in the instruction manuals will void the warranty KEBCO does not assume any liability cost of removal cost of installation down time productiondelays ordamagetootheritemsassociatedwiththeinverter forfail...

Страница 44: ...dustrievej 4 DK 4000 Roskilde Tel 45 46755544 FAX 45 46757620 Advancetec Oy Malminkaari 10 B PL 149 FIN 00701 Helsinki Tel 358 9 70029270 FAX 358 9 70029279 OMEGA ENGINEERING Ltd P O Box 1092 IL 44110 Kfar Saba Tel 972 9 7673240 FAX 972 9 7673398 Marsman Elektronica En Aandrijvingen BV Zeearend 16 NL 7609 PT Almelo Tel 31 546 812121 FAX 31 546 810655 REVA drivteknik AB Slussgatan 13 S 211 30 Malmö...

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