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Communication interfaces

Control through the CAN bus

Function overview

The DUET_FL servo positioning controller uses the CANopen protocol in accordance with DS301 /
DS402.

The following operating modes specified in CANopen are supported:



Torque-controlled mode

profile torque mode



Speed-controlled mode

profile velocity mode



Homing

homing mode



Positioning mode

profile position mode



Synchronous position assignment

interpolated position mode

The following access types are supported for the exchange of data:

SDO

ervice

ata

bject

Used for the normal parameterization of the controller.
(About 150 SDOs are supported)

PDO

rocess

ata

bject

Rapid exchange of process data (e.g. actual speed)
possible. (2 PDOs are supported)

SYNC

Sync

hronization

Message

Synchronization of several CAN nodes.

EMCY

ergen

Message

Transmission of error messages.

NMT

etwork

anagemen

Network service: All CAN nodes can be influenced
simultaneously, for example.

HEARTBEAT

Error Control
Protocol

The communication members are monitored through
regular messages.

More information concerning the communication and control of the DUET_FL servo
positioning controller via the CANopen interface and information concerning the
connection of the CAN bus can be found in the

CANopen manual

for the DUET_FL

servo positioning controller.

User Manual DUET_FL „DUET_FL 48/10“

Version 1.1 Motor Power Company

Содержание DUET_FL 48/10

Страница 1: ...er Manual DUET_FL 48 10 Motor Power Company Telefon 39 0522 682710 Via Leonardo da Vinci 4 Telefax 30 0522 683552 42024 Castelnovo di Sotto RE E mail info motorpowerco it Italy http www motorpowerco c...

Страница 2: ...buyer Motor Power Company does not assume any liability for damages resulting from the combined use of its products with other products or resulting from improper handling of machines or systems Motor...

Страница 3: ...ber dieses Handbuch Page 3...

Страница 4: ...Page 4 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company...

Страница 5: ...dex pulse 68 13 Figure 14 Homing run to the negative stop with index pulse evaluation 69 13 Figure 15 Homing run to the positive stop with index pulse evaluation 69 13 Figure 16 Homing to the negative...

Страница 6: ...GENCY STOP 182 14 Figure 45 Connection of the DUET_FL to the power supply unit shield connection on the chassis 186 14 Figure 46 Connection of the DUET_FL to the power supply unit shield connection vi...

Страница 7: ...nector X8 170 16 Table 32 Pin assignment of connector X1 171 16 Table 33 Pin assignment of connector X1 172 16 Table 34 Pin assignment of connector X304 X305 174 16 Table 35 Pin assignment of connecto...

Страница 8: ...e delivery state 33 Manual commissioning 33 Parameterization using the motor database 34 Basic parameterization of new motors 35 Angle encoders 35 3 1 1Motor data 38 Power stage 40 3 1 2Current contro...

Страница 9: ...g the digital outputs 91 Configuring the messages for the digital outputs 92 Incremental encoder emulation through DOUT1 and DOUT2 93 5 6 Holding brake DOUT3 95 Brake functions 95 Analog inputs AIN0 a...

Страница 10: ...or command word status word error word 139 Extended options in the Display units menu 143 Configuration of user defined display units 143 Decimal places 144 Direct input of distance speed and accelera...

Страница 11: ...C 173 Connection Power supply and I O X1 173 11 14 3Connection Motor encoder brake extensions 174 Connectors at the DUET_FL 48 10 FB 174 Connection Power supply and I O X1 174 Connection Motor encoder...

Страница 12: ...Page 12 List of Figures User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company...

Страница 13: ...op with index pulse evaluation 73 Figure 16 Homing to the negative stop 73 Figure 17 Homing to the positive stop 74 Figure 18 Course program Position branch 82 Figure 19 Position branch time diagram 8...

Страница 14: ...nection 176 Figure 41 Position and numbered pins X401 X402 and X5 at DUET_FL 48 10 FB 177 Figure 42 Position and connection technology module 179 Figure 43 Connection to power supply control and motor...

Страница 15: ...Page 15 List of Tables User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company...

Страница 16: ...87 Table 15 Tipp Teach Configuration of the digital inputs 89 Table 16 Error overview 108 Table 17 Control elements 115 Table 18 Directories 117 Table 19 Recovering problems with serial communication...

Страница 17: ...r cable for connection to a PC notebook 178 Table 38 A Pin assignment of connector X8 179 Table 39 Description of the requirements to be met for the categories in accordance with EN 954 1 183 Table 40...

Страница 18: ...ion Non observance may result in severe property damage DANGER Non observance may result in property damage and personal injuries Caution Dangerous voltage The safety note indicates the possibility of...

Страница 19: ...signed for a continuous torque speed and position control in typical industrial applications such as Positioning and feeding drives in machines Palletizing and packaging machines Wood processing machi...

Страница 20: ...troller speed controller or position controller Integrated positioning control with extensive functionality in accordance with CAN in Automation CiA DSP402 and numerous additional application specific...

Страница 21: ...1 1 DUET_FL ServoCommanderTM features The parametrization program has the following features Parametrization of the DUET_FL servo positioning controller Configuration of all parameters using the PC Di...

Страница 22: ...The manufacturer is continuously revising and extending the operating software of the controller to meet a wide range of customer requirements The information stated in this manual refers to the follo...

Страница 23: ...g VARICON mating connector sleeve frame and sleeve housing 1x 16 pin mating connector for angle encoder incl crimp contacts 1x 2 pin mating connector for holding brake incl crimp contacts 1x DUET_FL I...

Страница 24: ...qualified in their field of expertise Education and instruction or authorization to switch devices systems on and off and to ground them as per the standards of safety engineering and to efficiently...

Страница 25: ...opriate intervention in the safety features may result in property damage personal injuries electric shock or in extreme cases even death 2 1 Danger resulting from misuse DANGER High electrical voltag...

Страница 26: ...ations of the country in which the device will be operated must be complied with The environment conditions defined in the product documentation must be kept Safety critical applications are not allow...

Страница 27: ...after the motor has been switched off e g by means of Mechanical locking of the vertical axle External braking catching or clamping devices or Sufficient balancing of the axle The motor holding brake...

Страница 28: ...ctrical devices some parts of these devices will inevitably carry dangerous voltages DANGER High electrical voltage Danger to life danger due to electrical shock or serious personal injury The appropr...

Страница 29: ...Danger to life risk of injury due to electrical shock Only devices and electrical components and wires with a protective extra low voltage PELV may be connected to connectors and terminals with voltag...

Страница 30: ...the safety installations off by bypassing them or by not activating them Protection against contact with hot parts DANGER Housing surfaces may be hot Risk of injury Risk of burning Do not touch housin...

Страница 31: ...ls only If specified use special tools Use lifting devices and tools appropriately If necessary use suitable protective equipment e g goggles protective footwear protective gloves Do not stand underne...

Страница 32: ...appendix For the parametrization of the servo positioning controller the serial interface of the DUET_FL has to be connected to a free COM port on the notebook PC Please check the wiring and the leve...

Страница 33: ...default parameter set can be restored with the help of the menu File Parameter set Load default parameter set When the default parameter set is loaded the application specific parameters will be over...

Страница 34: ...ost important data for the different motor types can be stored Normally your distributor creates this motor database which then contains data concerning all motors offered by this particular distribut...

Страница 35: ...d the actual menu displayed may differ from the menu shown below as different adjustment options are used Depending on the angle encoder used the actual menu may differ from the menu shown below as di...

Страница 36: ...ders and incremental encoders The following conditions have to be fulfilled for an automatic identification The motor is completely wired The DC bus voltage intermediate circuit voltage is present The...

Страница 37: ...ion of the angle encoder data requires good knowledge of synchronous machines and the encoder used We recommend contacting your local distributor in this case You have to set the following parameters...

Страница 38: ...ugh the Motor EMK electromotive force of the motor has a positive effect on the running behaviour of the motor if encoders with a poor resolution e g Six Step Hall encoders or a low level of accuracy...

Страница 39: ...ter Power stage In addition you can enter the number of poles of your motor There is also an automatic identification function which determines the number of poles and the offset angle of the angle en...

Страница 40: ...the motor to run as quietly as possible choose the 20 kHz clock frequency In addition the losses in the motor are slightly reduced at a high clock frequency on the other hand the losses in the DUET_F...

Страница 41: ...high the motor will be destroyed as the permanent magnets inside the motor will be demagnetised The current limits stated by the manufacturer must not be exceeded See chapter 3 1 1 Motor data The curr...

Страница 42: ...d Intermediate circuit voltages that are too low can cause an error if this is configured accordingly by the user The menu can be activated under Parameters Device parameters DC bus monitoring The fie...

Страница 43: ...o motor temperature sensor at all an analog sensor or a digital sensor Select the digital motor temperature sensor option if the motor used is equipped with a normally closed contact or with a tempera...

Страница 44: ...is will lead you to the Display units menu described in chapter Configuring the display units Application examples Rotary with gearbox Opening closing a barrier Translatory with feed constant Position...

Страница 45: ...n field bus specific protocols such as the CANopen factor group Table 6 Display mode Selection Units Standard valuesFor linear axles Positions in distance units speeds in distance units s acceleration...

Страница 46: ...fered can be used Further information can be found in chapter Extended options in the Display units menu Caution For experienced users only On the Direct input tab you can directly write to the factor...

Страница 47: ...bed in chapter 3 3 Selecting safety parameters 3 3 Selecting safety parameters To protect the mechanical system from overload the speed and acceleration values as well as the movement range have to be...

Страница 48: ...l positioning settings There you can define a maximum positioning range SW limit switch functionality Depending on the settings of the control circuits for current speed and position the parameters se...

Страница 49: ...et this by selecting either the NC contact option DIN7 DIN8 24V setpoint enabled or the NO contact option DIN7 DIN8 24 V setpoint blocked The little illustration in the middle shows a red arrow when t...

Страница 50: ...ame settings Making the system ready for operation enabling the power stage The aim of this chapter is to let the motor rotate at a constant speed Then the other control functions such as the speed co...

Страница 51: ...stem After the control system has been enabled the shaft has to start rotating If the motor does not show this behaviour there is either an error or the DUET_FL servo positioning controller has been p...

Страница 52: ...al of the controller If a maximum value maximum current for 1s is exceeded a warning will be issued and the current will be limited to the rated current The main advantages of the rotor oriented curre...

Страница 53: ...t ramp d dt T n_ist U sin_res U cos_res Resolver analogue Hall sensor interpretation SinCos sensor Incremental sensor interpretation U sin_sc U cos_sc phi_mot N act eps_mot velocity filter d dt x act...

Страница 54: ...is too high the dynamic response deteriorates as disturbances are detected with a delay In certain unfavourable cases a too high time constant can have a negative effect on the stability of the speed...

Страница 55: ...scilloscope function You can display the step response of the speed controller by setting the oscilloscope channels to the actual speed value rough and to the speed setpoint value Make sure that you d...

Страница 56: ...tant by 1 to 2 ms Case 2 Speed controller too hard Figure 4 Speed controller too hard Remedy Decrease the gain factor by 2 to 3 tenths Increase the time constant by 1 to 2 ms Case 3 Speed controller s...

Страница 57: ...Nm has been selected 4 2 Setpoint assignment through setpoint selectors The DUET_FL servo positioning controller allows you to assign the setpoint through a setpoint management system in the torque co...

Страница 58: ...n the speed setpoint selector menu shown above you can also activate the torque limitation This is symmetrically possible and the limitation source can be selected as desired Torque controlled mode If...

Страница 59: ...If you do not want to transmit the setpoint immediately deselect the Transmit immediately check box Then you have to click the Transfer button to transmit new setpoints Setpoint ramp The DUET_FL serv...

Страница 60: ...view the ramp operates like a PT1 filter and decreases the stability in the control circuit Torque limitation As mentioned before a torque limitation can be parametrized in the speed control operatin...

Страница 61: ...ler as a speed setpoint A trajectory generator computes the motion profile needed to reach the target based on the current position and on the current speed It provides the position setpoint for the p...

Страница 62: ...delay As an alternative the DUET_FL also allows to save all the parameter of a position set individually for each position set This means a higher level of flexibility in the various motion profiles A...

Страница 63: ...erizing the position controller under Parameters Controller parameters Position controller Enter the following values Gain Max correction speed In this field you can define the speed to be added to th...

Страница 64: ...n by activating the menu item Display Oscilloscope and set the following values Channel 1 Actual speed value scaling 1000 rpm div 2 div Channel 2 Rotor position scaling 50 div offset 1 div Time base 1...

Страница 65: ...osition sets In the lower section of the window some settings for the course program can be made In case the Course program active is select the check box from the course program will be enabled in th...

Страница 66: ...played Click the Positioning settings button if you want to change general positioning settings e g position limits see chapter Global positioning settings Tab Settings You can select the positioning...

Страница 67: ...ination It has the following options Wait for end of positioning run The current positioning run will be completed before the new positioning process is started The next positioning run can be selecte...

Страница 68: ...tions The field Time constant jerk free can be used to define a filter time used to smooth the acceleration ramps in order to realize a jerk limited acceleration The following illustrations show the s...

Страница 69: ...gram To do so activate the menu Parameters Positioning Go to destination You can move to the desired destination by clicking on the corresponding button You can also click the GO button to start a pos...

Страница 70: ...oders do not need to be homed Homing methodsThere are 4 possible targets for the homing run Homing run to the negative or positive limit switch with or without the index pulse of the angle encoder Hom...

Страница 71: ...l speed and tries to find the exact position of the limit switch The zero position refers the first index pulse of the angle encoder in the negative direction from the limit switch Index Pulse Positiv...

Страница 72: ...the index pulse In the case of method 33 and method 34 the direction of the homing run is negative or positive The zero position refers to the first index pulse of the angle encoder in search directi...

Страница 73: ...Homing to the negative stop If this method is used the drive moves in the negative direction until it reaches the stop The DUET_FL servo positioning controller needs at least 1 second to recognize the...

Страница 74: ...urrent position when the homing run is started Parameterizing the homing run The homing run can be parameterized in the Homing position menu You can open this menu under Parameters Positioning Homing...

Страница 75: ...distance can be entered into the Offset start position field If the option Go to zero position after homing run is selected the drive will move to the zero position at running speed after the homing r...

Страница 76: ...Page 76 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company...

Страница 77: ...ints for starting the course program The start points can be parametrized as desired and are started with the help of digital inputs As a result you can either create a course program with two start p...

Страница 78: ...tination selection through DIN0 DIN1 DIN2 and position group selection through DIN4 and DIN5 DIN 1 STOP active low Low A running positioning run will be interrupted The program stops in the current co...

Страница 79: ...ting course program into the servo positioning controller while the Program File button can be used to save a program just created In the Modus field you can select either the input mode Edit or the m...

Страница 80: ...is set to evaluate but NEXT2 is parameterized differently NEXT1 will be used If NEXT2 is set to evaluate but NEXT1 is parameterized differently NEXT2 will be used In addition you can select the follo...

Страница 81: ...set No other positioning run will be started If the check box Evaluate stop signal is selected the running positioning run can be interrupted Position branch Different positions are approached dependi...

Страница 82: ...mplete position then target the inquiry of the NEXT1 2 inputs takes place at the far end of the program step when the target reached message has been activated However the system also evaluates the ed...

Страница 83: ...NEXT2 line n line x line y Figure 20 Course program Branch Line In Figure 21 it is assumed that a positioning run was started in program step 10 When the positioning run is started 10 the course progr...

Страница 84: ...distance target reached remaining distance positioning program step 10 activities course program start new position NEXT1 2 evaluate calculate new branch destination program step x y Figure 21 Branch...

Страница 85: ...tance program step 10 activities course program level NEXT1 2 evaluate calculate new branch destination new positioning program step 12 DOUT1 2 high low program step 12 Figure 23 Level test time diagr...

Страница 86: ...possible combinations DIN0 DIN1 DIN2 DIN3 DIN4 DIN5 DIN6 DIN7 DIN8 DIN9 Analog inputs active X X X X CAN active X X Incremental encoder emulation active X X Analog monitor active X Digital outputs 1 2...

Страница 87: ...en contact If there is no signal the drive decelerates to zero speed at the current limit The power stage remains active DIN8 Positive limit switch DIN9 Controller enable In the case of a rising edge...

Страница 88: ...is of importance for the positioning run The digital inputs DIN0 DIN3 can be used for an offset for the CAN node address The functionalities of DIN0 DIN3 can only be used if the analog inputs AIN0 and...

Страница 89: ...apter 3 3 Selecting safety parameters DIN 2 DIN 3 TEACH High activation of the teaching function see section 8 2 1 Teaching positions DIN 4 Tipp neg High positioning run in the negative direction with...

Страница 90: ...of the teaching function is are not automatically permanently saved in this these set s They can be saved permanently using the Save Parameter button The following chronological diagram shows the tea...

Страница 91: ...or if the user has acknowledge an error The digital outputs DOUT1 DOUT2 can have different functions assigned see chapter Configuring the digital outputs The digital output DOUT3 is permanently assign...

Страница 92: ...Here you can configure tolerance ranges for the messages declared speed achieved target reached and following error Tab Following error Following error Tolerance range for the permissible following er...

Страница 93: ...lerance range within which the actual speed has to be in the range of the declared speed so that the declared speed achieved message is set Incremental encoder emulation through DOUT1 and DOUT2 An act...

Страница 94: ...possible with this configuration Speed synchronous movement Position synchronous movement Flying saw Classical servo applications such as speed control in the servo controller or position control in t...

Страница 95: ...only control holding brake having a rated voltage of 24 V DC It has to be connected via the digital output DOUT3 at connector X3 A detailed description concerning the connection of the holding brake...

Страница 96: ...brake unlock Figure 26 Holding brake time response After the controller has been enabled speed setpoints or positioning start commands do not become effective until at the end of the run delay In tor...

Страница 97: ...put voltage of 0 10 V The Safe zero function limits the setpoint to zero if it lies within the voltage range defined in this field This makes sure that in the case of a setpoint of 0 V the drives rema...

Страница 98: ...ield If you change the quantity to be displayed the units will be adapted automatically In the Offset field you can enter an offset voltage e g to display positive and negative values If the check box...

Страница 99: ...troller About 150 SDOs are supported PDO Process Data Object Rapid exchange of process data e g actual speed possible 2 PDOs are supported SYNC Synchronization Message Synchronization of several CAN n...

Страница 100: ...command interpreter is called up Up to 8 ms may pass between the transmission of an SDO and the response of the controller since the response data have to be compiled in the controller first More info...

Страница 101: ...ugh the serial interface Function overview The DUET_FL servo positioning controller has an asynchronous serial interface In most cases this interface is used for the parameterization of the servo posi...

Страница 102: ...mmunication correctly To do so you need to know the serial interface COM port number and the data transfer rate used Configuring the RS232 communication parameters You can increase the baud rate based...

Страница 103: ...s which are not of interest for normal operation In addition it can be used to read and write storage locations or communication objects This is only necessary in special cases If you want to transmit...

Страница 104: ...chnology interface which is equipped with a synchronous serial interface As a result customized extension modules communication interfaces can be implemented Please contact your local distributor if y...

Страница 105: ...its I t current monitoring with controller warning The DUET_FL servo positioning controller has an I t monitoring system to limit the average power loss in the power output stage Since the power loss...

Страница 106: ...of resolvers the track signal is measured for example In the case of incremental encoders the commutation signals are checked Other intelligent encoders have other means of error detection Motor tempe...

Страница 107: ...troller has an operating hour meter In the DUET_FL ServoCommanderTM parameterization software it is displayed on the Times tab in the Info Info menu The count of the operating hour meter is saved in t...

Страница 108: ...ve Angle encoder defective Check the configuration of the angle encoder interface New or unknown SINCOS encoder 5ms X 7 7390 Error of track signals of SINCOS encoder Angle encoder connected Angle enco...

Страница 109: ...motor phase connections Defect inside DUET_FL output stage defective or insulation fault insulating foil 10 s X 15 3220 DC bus undervoltage DC bus intermediate circuit supply too low DC bus intermedia...

Страница 110: ...itch correctly wired Limit switch defective Check the configuration of the limit switches 1ms X X X 35 6199 Timeout Quick stop Has an angle encoder error occurred Motor identification not performed su...

Страница 111: ...ror Please contact the technical support team 5ms X 62 6180 Stack overflow Internal error Please contact the technical support team 5ms X 63 5581 Check sum error Internal error Please contact the tech...

Страница 112: ...ere the error is caused by a broken unconnected connection to the angle encoder 2 Error elimination Eliminate the cause of the error In this example the correct connection to the angle encoder has to...

Страница 113: ...ed shut down the motor will be decelerated to standstill in a controlled manner 3 A warning will be displayed the error window will be opened automatically 4 A warning will not be displayed i e a warn...

Страница 114: ...on and then press the ENTER key to confirm Use the keyboard and press the underline letter key together with the ALT key If the appearance of the buttons in some menus differs from the form described...

Страница 115: ...n activate or deactivate by checking the corresponding check box It is possible to check several boxes at once Radio button With this button the user can choose one of several options button A button...

Страница 116: ...one class of performance to a servo positioning controller of another class of performance and vice versa As long as no other parameterization has been performed the setpoints remain unchanged Only t...

Страница 117: ...or the following errors will be performed Write access to read only communication objects Read access to write only communication objects Overshooting or undershooting of the values range Erroneous da...

Страница 118: ...m The program can be quit as follows Select the menu option File Exit Press the shortcut Alt F4 Click the X button on the upper left hand side of the main window User Manual DUET_FL DUET_FL 48 10 Vers...

Страница 119: ...e serial interface To solve this access conflict close the other program in the case of MS DOS based programs also close the MS DOS shell and click the button Retry with old parameters To correct the...

Страница 120: ...oes not match the baud rate of the servo positioning controller Click on Search baud rates The communication of the servo positioning controller is disturbed RESET the servo positioning controller i e...

Страница 121: ...n e mail You can find the following information on the Firmware Hardware tab Main board Type serial number version Bootloader Version Firmware Version You can find the following information on the Com...

Страница 122: ...ope Offline parameterization Online parameterization Search for communication Set French language Set English language Set German language Reset servo positioning controller Save parameters Approach p...

Страница 123: ...ndow for configuring the oscilloscope Oscilloscope settings The Oscilloscope Settings window includes four tabs for precise settings Ch1 Selection of the measuring quantity on channel 1 Ch2 Selection...

Страница 124: ...tion objects makes sense only in special cases The time resolution and the recording delay can be configured on the Time base tab The upper Time slide is used to define the time resolution A value of...

Страница 125: ...e parameter set the oscilloscope will be deactivated This is why the check box has to be deselected and reselected afterwards to reactivate the oscilloscope The Mode field is used to select when trigg...

Страница 126: ...loscope window Minimizes the oscilloscope window Prints the oscilloscope window Calls up Excel and creates a spreadsheet containing the measurement values of the last measurement Excel has to be insta...

Страница 127: ...e is not active at present start The oscilloscope is started wait for trigger The system waits for the trigger event pretrigger The system has started to record data for the pretrigger trigger found A...

Страница 128: ...bits as the reply In the case of an error the command and an error code will be transmitted Read internal value OI NNNN NNNN DDDDDDDD or OI FFFF FFFF Always 32 bits as the reply In the case of an erro...

Страница 129: ...CAN bus status INIT Turn on message Load default parameter set RESET Turn on message Cause HW reset SQT xxxx CQT Clear error memory SAVE DONE Save parameter set in FLASH SEP DONE Load parameter set fr...

Страница 130: ...revision 0016 srvc_encoder_type Selected angle encoder variant Upper 16 bits Main revision Lower 16 bits Subrevision 0017 srvc_soft_main Firmware main revision and subrevision number of the version ma...

Страница 131: ...als Distance decimals none 0057 rs232_unit_n_var_i Physical units Speed none 0058 rs232_unit_n_conv_i Physical units Speed none 0059 rs232_unit_n_numerator Factor group speed numerator none 005A rs232...

Страница 132: ...ntity to be displayed 008B ioh_aout0_scale Analog monitor 0 Scaling Basic unit gain 008C ioh_aout0_offset Offset voltage for the analog monitor Basic unit voltage 008D ioh_aout1_ko_nr Analog monitor 1...

Страница 133: ...of the i2t integrator for the motor Basic unit per cent 00C6 currc_i_lim_act Current torque limitation limited to 0 i_max Basic unit current 00C7 currc_i_ref_rs232 Torque setpoint RS232 Basic unit cu...

Страница 134: ..._n_per_volt Speed setpoint scaling AIN0 Number of revolutions per volt Basic unit speed 00F1 ssel_ain1_n_per_volt Speed setpoint scaling AIN1 Number of revolutions per volt Basic unit speed 00F2 ssel_...

Страница 135: ...h Basic unit position 011D ipo_sw_lim_neg Negative position limit software limit switchBasic unit position 011E posi_bus0_start_delay Start delay after start of a positioning run applies to all positi...

Страница 136: ...s to all position targets Basic unit time 0137 posc_x_diff_32b Current position difference between the current position setpoint and the actual position Basic unit position 0138 pos_sel2_x_switch Posi...

Страница 137: ...es until next storage Multiple of sampling time t sampl osc_timebase osc_sample_time 0168 osc_delay Trigger delay Number of samples Value 0 Recording of events after trigger Value 0 Recording of event...

Страница 138: ...1 216 R 215 R Torque constant 32 bits 1 212 Nm A 524 288 Nm A Voltage 32 bits 1 216 Volt 215 Volt Power 32 bits 1 28 VA 223 VA Gain 32 bits 1 216 215 Time constant 32 bits 0 1 s 10 7 s 430 s Temperatu...

Страница 139: ...ed rotation 1 right handed rotation inverts the speed setpoints and the position setpoints in the torque control mode also the torque setpoints 16 Error acknowledgement 15 14 13 12 Positioning or homi...

Страница 140: ...toring limitation to nominal current IIT motor servo 10 Positioning run started activated for the duration of an IPO cycle 9 Speed message n_actual n_soll n_mel_hyst 8 1 speed message n_actual n_mel n...

Страница 141: ...rmediate circuit overvoltage 14 Intermediate circuit undervoltage 13 Overcurrent intermediate circuit output stage 12 Current measurement offset error 11 10 24V supply error out of range 9 12V electro...

Страница 142: ...ng mode error 24 Position data set error 23 RS232 communication error 22 CAN communication error 21 20 19 18 17 16 15 14 13 12 11 Course program branch destination error 10 Course program unknown comm...

Страница 143: ...ithout a gearbox You would like to enter the position in inch You have to enter 1 76 into the Feed constant field In addition the input fields Time base speed and Time base acceleration are available...

Страница 144: ...n the menu Options Display units Direct input of distance speed and acceleration units On the Direct input tab you can directly enter values for the factor groups Position Speed and Acceleration if yo...

Страница 145: ...ble solutions possible with the course program The input of course programs is described in chapter Creating a course program 6 3 1 Example 1 Linear linking of positions The drive shall approach the p...

Страница 146: ...ions and setting of a digital output The drive shall approach the positions 1 2 3 18 It shall stop for 1 second in every position Then the course program shall stop When the drive reaches position 3 t...

Страница 147: ...rt inquiry Next 1 Realization Implementation A trick is used to realize the defined setting of DOUT1 Position 0 is set to 0 revolutions relatively with a start delay of 1 second At first the drives ap...

Страница 148: ...ust be applied 1 6 ms 100 s 1 7 ms in order to ensure that the DUET_FL can recognize the signals correctly Example SPC with tcycle 1 ms setting of the SPC outputs for at least 2 x tcycle 2 ms 11 10 1...

Страница 149: ...ulse length of the START signal t2 1 6 ms Delay until the drive starts t3 N x 1 6 ms Target window reached response delay t4 1 6 ms Position selection set up time t5 1 6 ms Position selection hold tim...

Страница 150: ...ue 2 t1 t2 t3 t4 t1 0 2 ms t2 N x 0 2 ms Depends on the quick stop ramp t3 0 2 ms t4 N x 0 2 ms Depends on the speed ramp Actual speed 1 Direction of rotation permanently blocked by the limit switch A...

Страница 151: ...munication Reading from servo and save in file Reading from file and save in servo load default parameter set save parameter set reset controller Flash Default parameter set RAM Servocontroller Figure...

Страница 152: ...ameter set is read by the DUET_FL servo positioning controller and saved to a file or it is read from a file and saved in the DUET_FL servo positioning controller The extension of the parameter files...

Страница 153: ...n sets Length about 7 pages from to The position range can be defined explicitly The buttons of the Print menu have the following meaning Additional information Calls up the corresponding submenu Page...

Страница 154: ...acters The current data is the default date for the plain text output The date field can be edited if you select the Change function The date will be taken over into the plain text output Page preview...

Страница 155: ...nd saving parameter sets The illustration below shows the principle of the offline parameterization PC DCO file DIS 2 ServoCommander Figure 29 Offline parameterization To activate the offline paramete...

Страница 156: ...n order to be able to use additional functions Incomplete firmware e g due to an interrupted firmware download Due to continuous product developments the parameterization program may include options w...

Страница 157: ...saving the parameter set will be opened The following selection menu is displayed 1 Select the firmware to loaded and click the Open button 2 Then a window for selecting the data transfer rate baud r...

Страница 158: ...are download will be displayed In most cases this is due to a communication error during the transfer to data into the DUET_FL servo positioning controller Repeat the process described above with a lo...

Страница 159: ...ications UL under preparation 11 13 2 Dimensions and weight Parameter Values Dimensions H W D 65 x 90 x 100 mm without mating connector Weight approx 500 g 11 13 3 Performance data Parameter Values In...

Страница 160: ...Maximum admissible current consumption of an optional holding brake 4 Maximum current consumption when DOUT0 to DOUT2 and the CAN bus are loaded User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Pow...

Страница 161: ...using max 50 C Output power 500 VA Max output power for 2 s 1500 VA Output current 15 Aeff TPowerStage 50 C 10 Aeff TPowerStage 70 C Max output current for 2 s 40 Aeff TPowerStage 50 C 32 Aeff TPowerS...

Страница 162: ...ameter Value Suitable encoder Stegmann Hiperface SCS SCM60 SRS SRM50 SKS36 For other types please contact your local distributor Resolution Up to 16 bits depending on line count Signal detection delay...

Страница 163: ...us X1 Parameter Value CANopen controller TJA 1050 Full CAN Controller 1M bit s maximum adjustable value 500 kbit s CANopen protocol In accordance with DS301 and DSP402 11 13 10 Analog inputs and outpu...

Страница 164: ...gic outputs in general 24V 8V 30V active high short circuit proof against GND DOUT0 Ready for operation 24 V 20 mA max DOUT1 Can be configured as desired Can be used as encoder output signal A pin is...

Страница 165: ...om The maximum permissible temperature of the housing is 70 C to guaranteed the specified service life of the electronic system Connect the connecting cable for X1 as closely as possible to the DUET_F...

Страница 166: ...to connect the angle encoders This connector supports the following angle encoders Resolvers Analog Hall sensors upon request Stegmann HIPERFACE Digital Hall sensors Six Step encoders X3 is used to c...

Страница 167: ...Page 167 Housing dimensions Figure 31 Housing dimensions User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company...

Страница 168: ...mferential groove to protect the installation against splash water An IP67 class of protection is possible with a good mechanical design Figure 32 DUET_FL application example Synchronous servo motor i...

Страница 169: ...RxD 10 V Reception signal RS232 specification 7 GND 0 V Shared ground potential for the DC bus voltage and the 24V logic supply 8 ZK 48 V 15 A nom Intermediate circuit supply DC bus 9 DOUT0 READY 0 V...

Страница 170: ...Resolver Connection to resolver signal S3 Others Connection to incremental encoder track A 8 HALL_V 0 V 5 V Ri 5 k Phase V Hall sensor for commutation Input with 4 7 k pull up at 5 V 9 SIN B 1 5 VRMS...

Страница 171: ...he three motor phases X302 PHASE_V X303 PHASE_W 11 14 2 Connection Holding brake X3 Configuration on the device JST No B02B XASK 1 Mating connector X3 JST No XAP 02V 1 contacts JST No SXA 001T P0 6 Fi...

Страница 172: ...supply 100 mA max together with 5 V 3 MOSI SPI Serial Master Output 4 SCLKB SPI Serial Clock 20 MBit s max 5 MISO SPI Serial Master Input 6 SS SPI Slave Select 7 IRQA IO interrupt signals of the DSP...

Страница 173: ...put Positioning destination selector bit 3 Digital output Programmable encoder output track B A5 DIN9 0 V 24 V Digital input Power stage activation A6 DIN7 0 V 24 V Digital input Limit switch 0 blocks...

Страница 174: ...ake X3 the angle encoder X2 and the extension port X8 are compatible with the DUET_FL 48 10 Information concerning the connection and the pin assignment of these connectors can be found in the corresp...

Страница 175: ...g input 0 Differential analog input with AIN0 Digital input Positioning destination selector bit 0 B6 DOUT1 0 V 24 V Digital Output Programmable encoder output track A B7 DIN6 0 V 24 V Digital input P...

Страница 176: ...e resistance RBR 4 7 Pnom 100 W z B metallux PLR 250 5R RBR connect between X304 und X305 Figure 40 Brake resistance connection Table 34 Pin assignment of connector X304 X305 X30x Name Value Specifica...

Страница 177: ...0 3 0 5 1 0 2 0 5 0 10 0 15 0 X402 X401 X5 Figure 41 Position and numbered pins X401 X402 and X5 at DUET_FL 48 10 FB Table 35 Pin assignment of connector X401 and X402 Pin no Name Value Specification...

Страница 178: ...eference potential for the intermediate circuit and the logic system Table 37 Pin assignment to set up an RS232 adapter cable for connection to a PC notebook X5 pin assignment at DUET_FL 48 10 FB Dsub...

Страница 179: ...e variants 3 DIN8 0 V 24 V Digital 24 V input for limit switches parallel to X1 4 DIN7 0 V 24 V Digital 24 V input for limit switches parallel to X1 5 GND 0 V Reference potential 6 GND 0 V Reference p...

Страница 180: ...l 16 bit parallel interface address bus 30 A12 31 A9 32 A10 33 A7 34 A8 35 A5 36 A6 37 A3 38 A4 39 A1 40 A2 41 DS All signals with 3 3 V CMOS logic level Bus control signals for access to technology m...

Страница 181: ...3 X304 X304 X3 1 X3 2 X2 12 X2 2 X2 x X2 y PM synchronous machine holding brake Resolver Encoder T 6 10 DIS 2 48 10 FB Power Supply 48 V DC 20 A Power Supply Controller PLC 24 V DC 2 A 24V 0V other DI...

Страница 182: ...ousing of the control system The CAN bus should be cabled in the same way as the analog inputs A terminating resistor of 120 1 has to be installed at both ends of the CAN bus network The individual no...

Страница 183: ...ad to the loss of the safety function but the probability of occurrence is lower than for category B 2 The requirements of category B and the use of well tried safety principles shall apply The safety...

Страница 184: ...at least one power contactor whereas an EMERGENCY STOP can be performed without disconnecting the power supply For stopping the drives EN 60204 1 describes three stop categories that can be used depen...

Страница 185: ...P switching device A safety chain is connected to this device PLC An SPC or an industrial PC that is used to control the system Under normal operating conditions the switching contacts in the ECS are...

Страница 186: ...hing device ECS Optional 2nd main contactor in series with K1 safety chain X301 X302 X303 X3 1 X3 2 X2 12 X2 2 X2 x X2 y PM synchronous machine holding brake Resolver Encoder T 6 10 U_ZK 24V GND DIN9...

Страница 187: ...L unit is PC DC bus 0 7 Ws In applications where this is not acceptable the intermediate circuit has to be quickly discharged with the help of an additional contact connected to K1 and a suitably rate...

Страница 188: ...he following components Power supply Servo positioning controller Motor Electromechanical system Configuration and type of wiring Superimposed control system DUET_FL servo positioning controllers are...

Страница 189: ...mount them on the same metal part of the machine In this case the surface of the machine part should be made of uncoated aluminium or galvanized sheet metal 11 20 2 Connection between the DUET_FL and...

Страница 190: ...ickness of 2 mm A conductive and flat connection between the motor and the machine part and between the machine and the cable shield has to be ensured If this type of shield connection is not possible...

Страница 191: ...t for most cases If not use a flexible copper strip width approx 10 mm or a connecting cable with a Cu cross section of at least 6 mm2 to set up a PE connection DANGER For reasons of safety all PE gro...

Страница 192: ...Baud rate 100 Configuring the communication 100 Addition of DIN0 DIN3 to node address 101 Commissioning Loading a parameter set 33 Commissioning 33 Communication via communication objects 117 Communi...

Страница 193: ...General configuration 44 H Hardware and software requirements 21 Homing 70 Speeds Acceleration Times 75 Status 70 Homing method Current position 74 Index pulse 72 Negative limit switch 71 Negative li...

Страница 194: ...lowing error 63 Remaining distance 67 Motor data Auto detect 39 Motor data 38 N Numerical input fields 114 O Offline parameterization 154 OK 114 Optimization Current controller 41 Position controller...

Страница 195: ...ine parameterization 119 Retry with old parameters 119 Serial interface Search baud rates 119 Setpoint ramp 59 Setpoint values 116 Setpoints 57 Speed controller Manual configuration 54 Speed limitatio...

Страница 196: ...Page 196 User Manual DUET_FL DUET_FL 48 10 Version 1 1 Motor Power Company...

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