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6. COMMAND REFERENCE

GAINS

Gain configuration

Syntax

aGAINS(GF,GI,GP,GV,FT)

Description

Issuing a GAINS command with no parameters, produces a verbose list of all
current gains. Parameters may be set up all together in one command.
Alternatively, gains may be individually set/reported by using the read and
write variable commands.

GP : Gain Proportional
GV : Gain Velocity feedback
GF : Gain Feedforward
GI : Gain Integral action
FT : Filter time constant

For ranges see the system variables list.

Properties

Immediate, saved by SV

Notes

The only gains used in calculating the positioning control are those
appropriate to the particular mode of operation

MODE

Torque

Velocity

Position

GAIN TYPES
Feedforward

Yes

Intergral action

Yes

Proportional

Yes

Velocity

Yes

Filter time

Yes

You can write to all gains types, any irrelevant parameters will be ignored.

Individual gain variables may include decimal values, such as 1.2.

Содержание ViX250AH

Страница 1: ...ViX250AH ViX500AH Digital Servo Drive User Guide Part No 1600 320 01 August 2003 For software revision 2 0 onwards ...

Страница 2: ...s in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and used in a safe manner according to local safety laws and regulations In particular the product must be enclosed such that no part is accessible while power may be applied This and other information from...

Страница 3: ...peed electrical power drive systems this product is of the restricted sales distribution class which meets the needs of an industrial environment when installed as directed However further measures may need to be taken for use of the product in a domestic environment Compliance is demonstrated by the application of the following standards BS EN 61800 3 Adjustable speed electrical power drive syste...

Страница 4: ...ker com e mail techhelp_emd_OG parker com Website www parker emd com Website www parker emd com For engineering For engineering assistance in Italy assistance in the U S Parker Hannifin SpA Parker Hannifin Corporation Divisione SBC Compumotor Division 20092 Cinisello Balsamo 5500 Business Park Drive Suite D Milan Rohnert Park Italy Via Gounod 1 CA 94928 USA Tel 39 02 6601 2478 Tel 800 358 9070 Fax...

Страница 5: ...ated into end user products that may be eligible for UL Listing Classification or Certification User Guide Issue Change Summary This user guide version 1600 320 01 is the first version of the ViX250AH ViX500AH Digital Servo Drive When a user guide is updated the new or changed text is differentiated with a change bar in the outside margin this paragraph is an example If an entire section is change...

Страница 6: ...ii VIX AH SERVO DRIVE USER GUIDE Latest Changes Sheet This page lists important changes occurring immediately before publication or between issue updates ...

Страница 7: ...act case the drives are suitable for either direct panel or DIN rail mounting Using full PWM control with sinusoidal commutation the two versions of power stage can have continuous current ratings of 2 5A and 5A at motor bus voltages up to 80V Having high resolution encoder feedback the drives may be used with a wide range of 3 phase linear and rotary servo motors of different pole counts Figure 1...

Страница 8: ...X500AH 500VA Servo with high resolution encoder feedback Table 1 1 ViX250 ViX500 Digital Servo Drive Options Product Features Protection Circuits Motor short circuits Over voltage Under voltage Drive motor Over temperature 24V reverse supply protection Commutation encoder fault I2t protection Function Indicators Drive Status Feedback Fault HV FB Drive Fault DF Outputs and Inputs 1 Brake input 1 Br...

Страница 9: ... plastic bag 5006 211 1 Product label 5006 211 1 Product label 0405 811 1 10 way Flange plug strip 0405 811 1 10 way Flange plug strip 0405 961 1 9 way D type plug 0405 961 1 9 way D type plug 0405 962 2 15 way HD D type plug 0405 962 1 15 way HD D type plug 0405 963 1 15 way HD D type socket 0405 963 1 15 way HD D type socket 0409 530 4 9 way D type cover 0409 530 3 9 way D type cover 0313 020 1 ...

Страница 10: ...control consider attending one of our world wide Customer Specific Training Workshops Details of European based courses are on our web site www parker emd com under Sales Services Training Examples of previous courses that have proved to be of benefit include Use and programming of the DIN rail H L series drives PDFX training Using the 6K controller EASI Tools programming Mechanical product traini...

Страница 11: ...ically in an area where there is at least a 50mm minimum air gap above and below the package and a 10mm minimum gap either side Avoid mounting heat producing equipment directly below a drive Installers must ensure that the air temperature entering the drive or rising up to the drive is within the ambient temperature restrictions Under normal use the air temperature leaving the drive and heatsink m...

Страница 12: ...E USER GUIDE Drive Dimensions ViX250 and ViX500 drives share the same dimensions shown in Figure 2 1 4 5 98 5 with connector 21 4 5 88 1 42 3 10 1 124 7 135 145 5 X1 X3 X4 X5 X2 HVSTFB Figure 2 1 ViX250 ViX500 Dimensions ...

Страница 13: ...IN rail by hooking the top of the bracket over the top of the DIN rail and gently pushing the drive forward to engage the lower section of the bracket Remove the bracket by inserting a flat bladed screwdriver into the release slot to pull down the bottom of the bracket releasing it from the DIN rail Thermal Limitations If you are using DIN rail mounting with natural convection airflow cooling and ...

Страница 14: ...ve combination without first securing the motor see the Safety Warning at the front of this user guide CAUTION risk of equipment damage Do not back drive the motor that is use the motor in an application that causes mechanical rotation of the motor shaft in a manner uncontrolled by the drive Back driving the motor at high speed may damage the drive ...

Страница 15: ... Cabinet Installation To produce an EMC and LVD compliant installation we recommend that drives are mounted within a steel equipment cabinet This form of enclosure is not essential to achieving EMC compliance but does offer the benefits of operator protection and reduces the contamination of the equipment from industrial processes A steel equipment cabinet will screen radiated emissions provided a...

Страница 16: ...way connector Figure 3 1 X1 Power Connections WARNING Possible drive damage If you use Parker XL Series stepper drives do not attempt to use any power wiring harness taken from an XL drive Although the same mating connector is used for both an XL and a ViX the ViX wiring is the reverse of the XL and the wrong wiring connection will damage the drive Mating connector type is Wieland type number 8213...

Страница 17: ...Supply Current Supply Capacitance ViX500 6 3A RMS 6600µF ViX250 2 5A RMS 3300µF Table 3 2 Drive Supply Currents 24V Requirements Both drive types require a 24V controller and logic supply The supply to each drive should be fitted with a time delay fuse rated at 3A Note The 24V supply used must meet the voltage requirement specification of 24V DC 10 15 ripple 1V p p The supply may also be required ...

Страница 18: ... depending on supply volts and 24V loading which could be used for BE230D medium speed applications Higher torque current requirements will need to use the ViX500 drive and a high current linear supply such as the PL1100 Further power supply information is given in Appendix A 1 5 1 0 0 5 0 1000 0 1500 2000 2500 3000 PEAK CONT 3500 4000 4500 ViX250 with BE230D motor rpm Nm PEAK CONT 2 5 2 0 0 5 1 0...

Страница 19: ...out the need for an EMC mains input filter The use of the XL PSU offers the following benefits Auto adapts to supplies between 95 and 264V AC No external EMC filter required Compact size Built in power dump switch Built in 24V DC supply Note 1 Check the application s power requirements from the torque speed curve of the motor used Note 2 For drives with up to 30 metre motor leads For full installa...

Страница 20: ...T 110V 230V 50 60 Hz 250VA Power Supply Unit XL GND EXT BRAKING RES DC 80V HV STATUS BRAKING RES 24V STATUS X2 X3 X1 X4 X5 ST HV FB 10 1 10 1 10 mm Mininum spacing between drives PSU L N EARTH GND The XL_PSU must be securely earthed P2 mating socket If the supply is positioned this side of the drive avoid blocking access to D type X3 Figure 3 3 XL Power Supply and Drive Connections ...

Страница 21: ...h the top 4 5mm diameter fixing hole and the bottom two 4 5mm width fixing slots should be used Allow a minimum free space of 50mm both below and above its case and 10mm free space on both sides Do not mount the supply above or close to other products that generate a significant amount of heat by radiation or convection ...

Страница 22: ...main HV supply separately to each drive The lower current requirements of the 24V logic brake supply can allow the wiring to be linked between drives For full installation instructions see the PL1100 Power Supply leaflet 1600 323 XX In Figure 3 4 the drives are wired individually to the PL1100 alternative daisy chain wiring can be used X2 X3 X1 X4 X5 ST HV FB 10 1 10 mm MIN X2 X3 X1 X4 X5 ST HV FB...

Страница 23: ...ld be as close to the PL1100 as can be arranged Assuming the use of an equipment cabinet locate the EMC filter and transformers in the base of the cabinet and route AC supply cables up to the PL1100 Attempt to layout the wiring in a way that minimises cross coupling between filtered and non filtered conductors This means avoiding running wires from the output of a filter close to those connected t...

Страница 24: ...2 L3 LINK FOR SINGLE PHASE 20V AC IN 20V AC IN 24V DC OUT Risk of electric shock High voltage remains on terminals after power is removed Allow 5 minutes for capacitors to discharge EXT BRAKING RES MOTOR 0V X1 X1 X2 MOTOR HV OUT HV REGEN 24V PE 0V CAUTION Power Supply PL1100 Figure 3 5 Using a single EMC Filter for PL1100 Supplies Note 1 A Neoprene insulating disc is included with the mounting kit...

Страница 25: ...tor Cables When using BE or SM Series motors choose the appropriate connector option to ensure the temperature sensor output is made available on the required connector BE nMSn SM nGSn Motor power cables are identified using the number 71 021125 XX where XX is the length of the cable in feet up to a maximum of 50ft 15 24m in 5ft 1 524m increments The form of feedback cable used with both the BE an...

Страница 26: ...ontact area and a mechanically strong fixing The following P clips sizes are available Size Parker part number Comments 12 3mm ID 4216 103 Supplied with standard cables 10 7mm ID 4216 102 9mm ID 4216 101 4 2mm 4216 106 3 7mm 4216 105 Table 3 4 P Clip sizes Different size P clips allow the use of a variety of motor power cables from different manufactures All motor connections must be made using a ...

Страница 27: ...able screen to be bonded to the metal connector shell as shown in Figure 3 7 Earth bonding area in cover RMI earth bonding required for both connectors cover Example 1 Example 2 braid ferrule cable Braid to be folded back over complete cable ferrule to make a 360 connection Braid to be made into 3 round forms and wrapped a round the recess of cable ferrule to make a 360 connection Figure 3 7 Scree...

Страница 28: ... of the enclosure We recommend not to bond the cable screen to the cabinet at the point of entry Its function is to return high frequency chopping current back to the drive This may require mounting the connector on a sub panel insulated from the main cabinet or using a connector having an insulated internal screen from the connector housing Within the cabinet itself all the motor cables should li...

Страница 29: ...cribed in these installation instructions use a low grade ferrite material that has high losses at radio frequencies They therefore act like a high impedance in this waveband Produced by Parker Chomerics the recommended component is suitable for use with cable having an outside diameter up to 10mm The specification is as follows Chomerics part number H8FE 1115 NC Parker part number 0313 020 Outsid...

Страница 30: ...n Table 3 6 Motor Type Motor Rated Current in Amps Motor Inductance in mH per phase ViX500 ViX250 BE231GX XXXX 5 3 4 4 BE341GX XXXX 5 2 16 5 BE341JX XXXX 7 4 7 1 Table 3 6 Optimum Motor Types Configuration information is available for each of the above motor types in the Guided servo initialisation part of EASI V If you wish to use a motor other than the types listed above you will need to perform...

Страница 31: ...the drive electronics after the encoder signal has been processed Rated speed shaft speed in rpm for a rotary servo Resistance resistance of a single phase winding measured line to line in Ohms Inductance inductance of a single phase winding measured line to line in mH Inertia inertia of a rotary servo stator measured in Kgm2 Kt torque constant of the motor Torque Current measured in Nm A peak Dam...

Страница 32: ...26 VIX AH SERVO DRIVE USER GUIDE The Optional Parameters Tab Selecting the optional parameters tab gives you access to the screen shown in Figure 3 10 Figure 3 10 EASI V Custom Motor Optional Parameters ...

Страница 33: ...ee separate dissipation parameters and comparing them to their individual I2t thresholds These dissipation parameters are Motor I2T protects the motor from drive output current above the rated motor current that is applied for too long a time Moving I2T protects the drive from output current while moving that is above the rated drive current for too long a time Stationary I2T protects the drive fr...

Страница 34: ...required In this case set the thermal time constant of the motor to zero see MOTOR command Motor Voltage Ratings Motors with a withstand voltage rating from phase to earth of 1000V AC should be used An insulation withstand rating of 500V AC is acceptable if an isolating transformer with earthed screen is used to power the system and X1 pin9 0V GND input is earthed as specified Motor Safety Earth G...

Страница 35: ... 7 7 8 8 9 9 10 10 11 12 13 14 15 16 17 18 19 20 0 Time to trip I2t circuit in seconds ViX250 I2t function moving ViX250 demanded phase current in A rms Figure 3 11 ViX250 I2t function moving 0 1 2 2 4 3 6 4 8 5 1 6 1 2 7 1 4 8 1 6 9 1 8 10 2 2 2 2 4 2 6 2 8 3 3 2 3 4 3 6 3 8 4 0 Time to trip I2t circuit in seconds ViX250 I2t function stationary ViX250 demanded phase current in A rms Figure 3 12 V...

Страница 36: ...s ViX500 I2t function moving ViX500 demanded phase current in A rms Figure 3 13 ViX500 I2t function moving 0 2 2 4 4 6 6 8 8 10 1 12 1 2 14 1 4 16 1 6 18 1 8 20 2 2 2 2 4 2 6 2 8 3 3 2 3 4 3 6 3 8 4 0 Time to trip I2t circuit in seconds ViX500 I2t function stationary ViX500 demanded phase current in A rms Figure 3 14 ViX500 I2t function stationary ...

Страница 37: ...c Z GND reserved reserved 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X2 Function Feedback encoder 5V output GND Incremental enc A Incremental enc A Incremental enc B Incremental enc B Commutation f b A0 Commutation f b A1 Commutation f b A2 Motor overtemp Analogue monitor Function Function Reserved 0V 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X4 0V Brake IN 24V 24V 24V AN...

Страница 38: ...7 24V DC 6 0V GND for 24V DC 5 Motor Earth 4 Motor phase U 3 Motor phase V 2 Motor phase W 1 Motor brake Table 3 7 X1 Power and Motor Connections Motor Connections at the Drive Refer to the EMC installation information earlier in this section Motor Brake Output The motor brake output on pin 1 is available as a direct control of a 24V motor brake and is capable of sinking a current up to 4A RMS to ...

Страница 39: ... 1 of X1 to ground using the manual BRAKE command X1 24V DC 24V DC SUPPLY MOTOR BRAKE IN ITS RELEASED OR ENERGISED STATE 9 2A FUSE recommended 8 7 6 5 4 3 2 BRAKE 10 1 Power motor 10 way connector Figure 3 16 Motor Holding Brake Connections See Section 4 Control of ViX Drives Brake Operation for details of how to control its operation When a brake is used the brake supply is dependent upon the val...

Страница 40: ... reserved Table 3 8 X2 Primary Feedback Connections Encoder Compatibility Devices supported RENCO Tamagawa Signal format quadrature 5V differential signals A A B B Index mark Z Z Max input frequency hardware limit 400KHz max for A or B channel 1 6MHz post quadrature Definition of positive motion A leads B when producing clock wise motion as viewed at the motor output shaft Resolution 500 to 5000 l...

Страница 41: ...started on cycling through de energising and energising the drive A Hall Effect commutation encoder signals are also used refer to Appendix B for commutation details Following Encoder Hardware limit 2 0MHz maximum A B channel input frequency 8MHz post quadrature 5V differential Primary Secondary Encoder 5V Supply X2 pin 5 X4 pin5 Maximum loading 350mA TOTAL using the above connections Motor Overte...

Страница 42: ...232 GND 4 RS232 Rx 5 RS232 Tx 6 Reserved 7 RS232 Tx D loop 8 Do not connect 9 5V output Table 3 9 X3 RS232 Connections Baud Rate Use system variable BR to alter the baud rate of serial communications Any change made to the baud rate will only take effect following a save SV and system reset Z or power cycle ...

Страница 43: ...y will not be overwritten until a save command is issued 1 5 PC RS232 socket Interface X3 Socket Serial connector plug Serial connector socket Back of mating plug Back of mating plug Back of mating socket Back of mating plug 6 9 Drive GND CONN SHELL CONN SHELL Rx Tx 5 1 9 6 X3 Socket 5 1 9 6 1 14 25 13 4 Rx 5 Tx 3 GND 3 Tx 2 Rx 5 GND X3 SERIAL Terminal RS232 socket Interface Terminal PC GND Rx Tx ...

Страница 44: ...y Chain later in this section RS232 Connecting Leads RS232 cables can be ordered from Parker EMD Various lengths are available as listed in Table 3 10 Part Number Length RS232 EASI 0250 2 5m RS232 EASI 0500 5 0m RS232 EASI 0750 7 5m RS232 EASI 1000 10 0m RS232 EASI 1250 12 5m RS232 EASI 1500 15 0m Table 3 10 RS232 Connection Lead Types ...

Страница 45: ... type socket Connector Pin Out Connector Pin X4 Encoder I O 1 ANA1 input 2 ANA1 input 3 0V 4 Z index output 5 Z index output 6 Fault output 11 Energise input Energise See system variable ES Table 3 11 X4 Encoder I O Connections Inputs Depending Upon the State of System Variable EI Connector Pin X4 EI 0 EI 1 EI 2 12 STEP CW A 7 STEP CW A 13 DIR CCW B 8 DIR CCW B Outputs Depending Upon the State of ...

Страница 46: ...ue Input Control of the ViX base drive is via a differential analogue input The input circuit shown in Figure 3 19 can interface to an external 10V differential signal Analogue to digital conversion 12 bit resolution converts the analogue input to a digital value for use within the drive The value of the analogue input can be read as a count via system variable AI ANA1 ANA1 Input impedance 200K Dr...

Страница 47: ...nalogue Differential Input Characteristic Fault Output The fault output is an independent NPN open collector output which is normally low active high The output ratings are 30V maximum in the OFF condition and 15mA maximum in the ON condition Figure 3 21 shows the output circuit Fault Output Drive circuit 0V Figure 3 21 Fault Output Circuit ...

Страница 48: ...tor Type Connector type is a high density 15 way D type plug Connector Pin Out Connector Pin X5 Input Output 1 0V 2 0V 3 0V 4 Reserved 5 Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Brake IN 11 24V 12 24V 13 24V 14 Reserved 15 Analogue monitor Table 3 12 X5 User Input Output Connections Brake Input Circuit Figure 3 22 shows the various input circuit arrangements of the brake control inp...

Страница 49: ... transistor off will engage the brake and an active pull down to a logic 0 transistor on will release the brake Driving the input with a low level logic output a logic 1 transistor on will engage the brake and logic 0 transistor off will release the brake 4K7 27K 82K Drive IC 256 IC 257 IC 0 High logic level source High logic level sink 0V 0V 4K7 27K 82K Drive 24V 24V 0V 0V 4K7 82K Drive 0V Low lo...

Страница 50: ...t of the output 1K2 X5 pin 15 0V TL074CD Drive Analogue monitor output Figure 3 23 Analogue Monitor Output RJ45 Interfaces Positioned beneath the drive are two RJ45 communication interfaces X6 and X7 The two interfaces provide support for daisy chain ports for multi axis RS232 connections between drives X7 RS232 daisy chain output X6 RS232 daisy chain input High speed comm Interface Figure 3 24 Po...

Страница 51: ...ved White Green 4 RS232 Gnd Blue 5 RS232 Gnd White Blue 6 Reserved Green 7 RS232 Tx White Brown 8 Rs232 Rx Brown X7 1 RX TX RS485 White Orange 2 RX TX RS485 Orange 3 Reserved White Green 4 RS232 sense Blue 5 RS232 Gnd White Blue 6 Reserved Green 7 RS232 Rx White Brown 8 RS232 Tx Brown Table 3 13 X6 X7 Input Output Connections ...

Страница 52: ...ng commands 1 cause the 1 st drive to establish the daisy chain in a 3 axis system the response will be 4 0SV save the address configuration 0Z reset response should be a single check sum from axis 1 more than one check sum indicates a problem possibly no save command RS232 Input from PC Final drive terminates the daisy chain X6 rear X7 front X7 front X6 rear X7 Out X6 In Figure 3 25 RJ45 RS232 Da...

Страница 53: ...J45 link cables can be ordered from Parker EMD Various lengths are available as listed in Table 3 14 Part Number Length VIX RJ45 0025 0 25m VIX RJ45 0050 0 5m VIX RJ45 0075 0 75m VIX RJ45 0100 1 0m VIX RJ45 0200 2 0m Table 3 14 RJ45 Connection Lead Types ...

Страница 54: ...48 VIX AH SERVO DRIVE USER GUIDE ...

Страница 55: ...commands to the drive and to receive status information back Direct Mode Direct operation of the drive is possible over a serial link from a PC or PLC When used directly the drive will accept commands prefixed with the axis address and will action the commands as they are received System Variables System variables are named variables held within the drive s controller that are used for storing a v...

Страница 56: ... DF Drive Fault status Y N See reporting of drive faults DF1 2 3 4 EI Encoder Input Y Y 0 step dir default 1 cw ccw 2 quad ABZ de energise drive to change EO Encoder signal Output Y Y 0 step dir 1 cw ccw 2 quad ABZ default de energise drive to change ES Energise Sense Y Y Sets the sense of the external energise energise_bar signal 0 low signal to energise default 1 high signal to energise EX Comms...

Страница 57: ...o 1023 default 250 motor definition dependent PA Position Actual Y N 2 147 483 648 to 0 to 2 147 483 647 default 0 PC Peak Current Y Y Sets maximum drive output value scaling factor 100 400 of MC default 300 PE Position Error Y N 32767 PF Position Following Y Y 2 147 483 648 to 0 to 2 147 483 647 default 0 RV ReVision of software Y N x yy major minor SN Serial number Y N Drive serial number ST Sta...

Страница 58: ... or torque being generated by the drive depending upon the setting of system variable AM Setting AM to 2 generates a bipolar triangular waveform with a time period of 1 second BR Description This sets the Baud rate of serial communications Enter the required Baud rate directly for example aW BR 19200 to set the rate to 19200 You will need to save this setting and then reset the drive Z command or ...

Страница 59: ...2 STEP CW A 7 STEP CW A 13 DIR CCW B 8 DIR CCW B Table 4 3 Encoder Input Configuration CAUTION De energise the drive before changing EI and EO ES Description System variable ES controls the required polarity of signal on the energise energise_bar input X4 pin 11 The default value of ES is zero ES 0 therefore to energise the drive connect X4 pin 11 to X4 pin 4 0V With ES 1 X4 pin11 may be left open...

Страница 60: ...portional gain gives a stiff responsive system but results in overshoot and oscillation that require damping GV Description Velocity feedback is a signal which increases with shaft speed It acts in a negative sense opposing the proportional action and helping to stabilise the motion The damping action of velocity feedback allows a higher proportional gain to be used IC Description System variable ...

Страница 61: ...ncoder for following applications RV Description Reports the revision of software being used by the controller SN Description Reports the serial number of a drive ST Description See reporting of status bits in Reporting the Status of Variables TL Description Tracking limit is the maximum amount of position error that can be tolerated if PE exceeds TL a fault will be reported UF Description See rep...

Страница 62: ...9 Motor energised 10 Motor undefined use MOTOR command 16 Duty cycle too high excessive motor current I2t 23 Tracking limit is greater than max allowed position error 24 Last SETUPFB command failed 25 In motion 0 for positive motion 1 for negative motion 26 Brake applied goes to a 1 if the brake is engaged Table 4 4 Status Bits Description Status Variable Byte Reporting A convenient and more compa...

Страница 63: ...cause the Drive LED to turn RED Once the fault has been corrected the drive may be re energised using the ON command When read DF reports a 32 bit double word pattern of the form 0000_0000_0000_ 32 bit wide double word _0000 1 4 5 8 32 Bit No Where a bit is set displayed as a 1 its bit number can be determined and compared with the bit number value given in Table 4 5 to determine the Drive Fault b...

Страница 64: ...ge 16 K T Controller diagnostic failure 17 K R Output stage over current 18 C R Output driver over current 19 C R Tracking limit exceeded while in motion is a latched fault 20 K R Velocity exceeded unstable gains motor spin off 21 C R Energise input not set check energise input and state of ES variable 22 24 Reserved 25 K T Watchdog 1 26 K T Watchdog 2 27 K T Watchdog 3 Table 4 5 Drive Fault Bit D...

Страница 65: ... condition User Fault Byte Reporting In exactly the same way as the status variable the user fault status can be reported a byte at a time using UFn within a read command For example to read or test the first 8 bits first byte of the UF variable status word use UF1 Since the status word consists of 4 bytes the relevant part of the word can be read using UF1 bits 1 to 8 UF2 bits 9 to 16 UF3 bits 17...

Страница 66: ...VIX AH SERVO DRIVE USER GUIDE 60 Servo Control Loop GF GP FT 1 Torque Demand 2 Position Feedback GI dt 1 Position Demand GV d dt d dt Figure 4 1 ViX Servo Control Loop ...

Страница 67: ...Base servo torque mode Base servo velocity mode Base servo position mode This mode uses the servo step and direction inputs to control the drive Figure 4 2 shows a 6K controller used for step direction purposes A single multi core cable links the 6K and ViX with the connections listed in Table 4 7 X2 X3 X1 X4 X5 ST HV FB 10 1 FAULT STEP DIRECTION SIGNALS Figure 4 2 Base Servo Mode Using Step Direc...

Страница 68: ... 24V DC Commands For the ViX drive issue the following commands 1MP Mode Position Step Direction 1W ES 0 Energise input active level 1W EI 0 Set input for step direction 1SV Save settings A valid MOTOR command is required GAINS all need to be used to tune the PIVF loop For the 6K4 issue the following commands AXSDEF0000 All axes are steppers ERES8000 8000 8000 8000 Should match ViX motor resolutio...

Страница 69: ...ue inputs to control the drive Figure 4 3 shows a 6K controller used for control purposes A double multi core cable links the 6K and ViX with the connections listed in Table 4 8 X2 X3 X1 X4 X5 ST HV FB 10 1 FAULT VELOCITY OR TORQUE MODE Figure 4 3 Base Servo Mode Using Analogue Input Control ...

Страница 70: ...n the 6K should be connected to 24V DC Velocity Mode Commands For the ViX drive issue the following commands 1MV Mode Velocity 1W ES 0 Energise input active level 1SV Save settings A valid MOTOR command is required At least some feed forward and velocity gain needs to be used to tune the PIVF loop that is GF GV 5 0 For the 6K4 issue the following commands AXSDEF1111 All axes are steppers ERES8000 ...

Страница 71: ...ings A valid MOTOR command is required All GAINS need to be 0 0 For the 6K4 issue the following commands AXSDEF1111 All axes are steppers ERES8000 8000 8000 8000 Should match ViX motor resolution DRFLVL1111 Drive fault active level DRFEN1 Enable drive fault detection LH0 0 0 0 Disable limits optional TGAIN Read all gains SGP Set proportional gain SVG Set velocity gain A V D GO1 Execute move ...

Страница 72: ...holds position while the brake is released and the brake holds position before the drive is de energised Figure 4 4 shows the operation of the two timers RD Drive ON issued Drive OFF issued ED Brake status engaged on off released Drive status Figure 4 4 Brake Command Operation of Timers RD ED Automatic Braking Holding Brake Energising the drive starts a timer that counts down to a pre determined c...

Страница 73: ...cation of the brake could lead to physical damage of the brake components Default Brake Command For the base drive the BRAKE default setting is all brake modes disabled Other Factors that Influence Braking Operation In addition to the modes of brake operation certain drive conditions influence brake behaviour these are State of enable input Resetting the drive 24V power failure Drive fault Enable ...

Страница 74: ...is fitted 24V Power Failure A dip in the 24V supply will turn off the drive s controller which in turn will apply the brake Cycle the 24V supply to re start the controller If you expect this to happen during motion use dynamic brake control assuming that a dynamic brake is fitted Drive Fault You may program application of the brake during a fault routine For both automatic brake modes if a fault g...

Страница 75: ...f charge from our Website www parker emd com Serial Link Lead You will need a 2 wire plus ground lead which has the Rx and Tx wires crossed over Wiring details are given in the Electrical Installation section Note The information contained within this section applies to Easi V software version 3 0 or greater If you have an earlier version of Easi V software please request the latest version from P...

Страница 76: ...lation terminate all applications currently running A step by step installation of Easi V software follows 1 Place the Easi V CD in your PC s CDROM drive 2 Once loaded the CD should auto start If this does not happen open the CD s folder and double click the EMD exe icon 3 Follow the on screen instructions to load Easi V 4 The screen will display the Easi V program banner and will prepare an insta...

Страница 77: ...ect NEXT to begin file transfer 7 Once Easi V has been loaded the screen will display a message dialogue box stating Setup is complete You may run the installed program by double clicking on the program icon When you click the OK button the window shown in Figure 5 2 will appear Note Easi V may also be run from the Start menu Figure 5 2 Easi V Application Window ...

Страница 78: ...When using rotary motors make the selection shown Figure 5 3 Easi V Product Selection Selecting Product from the Utilities menu will also display the product selection screen Selecting OK will display the main application window entitled Parker Hannifin EMD Easi V and seven pull down menus become available File Edit Search Terminal Utilities Windows Help The majority of options available within ea...

Страница 79: ...hlighted text to clipboard Copy highlighted text to clipboard Paste contents of clipboard to current cursor location Delete highlighted text Highlight all text in active editor file window Go to a particular line within a file Search Editor search replace operations Find specified text top down from cursor position Repeat search again Find and replace text top down from cursor position Selecting G...

Страница 80: ...lay status bits or messages Download program to drive F4 Download program Upload program Displays LED diagnostics sheet colour flash rate Windows Window controls Share program desktop space between open windows Cascade all open windows on program desktop Select activate the next window Arrange all minimised windows on program desktop Close all active windows on program desktop Help Program help fa...

Страница 81: ...s described in the Electrical Installation section WARNING To avoid causing damage to a PC serial port the drive must be earthed before making any serial connections Connect the RS232 lead between the drive s X3 socket and the controlling PC s RS232 connector Configure the serial communications From the Terminal menu choose Settings to display the following Communications port configuration dialog...

Страница 82: ... refer to the Troubleshooting Section Note The baud rate selected must agree with the drive s hardware selected value Configure Terminal Buttons The Terminal menu has a Configure terminal buttons F2 command which generates a terminal buttons configuration window This allows you to add buttons to the base of the Terminal window and assign a keyboard shortcut to each button added depending upon wher...

Страница 83: ...pending upon the skill and experience of the operator Guided servo setup guides you through setup for a particular motor type quick and simple Servo setup allows text entry of motor parameters for experienced users From the Utilities menu select Guided servo setup Select the axis address of the drive to be initialised In this case the default value of 1 can be used for initial testing Click Next ...

Страница 84: ... DRIVE USER GUIDE 78 From the drop down menu select your motor type or perform a custom set up Click Next Select the operating mode of the drive and the direction of rotation required for a rotary motor Click Next ...

Страница 85: ...ent ration PC For a pre defined motor type use the default value displayed Keep the Current Clamp CL value as 100 Click Next This screen allows adjustment of the drive s gain parameters For drive testing purposes keep the default values suggested by the motor type Click Next ...

Страница 86: ...xt High logic level 24V source IC 256 upper box ticked lower blank default High logic level 24V sink IC 257 upper and lower boxes ticked Low logic level 5V source IC 0 no boxes ticked Note Upper box blank and lower box ticked is a non valid configuration see WARNING below WARNING risk of equipment damage Do not attempt to drive the brake input with a low logic level 5V sink output Internally the d...

Страница 87: ...ES ticked ES 1 the drive is energised without any connection being made between X4 pin 11 and X4 pin 3 or 4 This screen indicates the completion of the guided servo setup Clicking on the Create a setup program creates a configuration file which may be saved to disk on the controlling PC Clickin on Download immediately downloads the configuration file to the drive NOTE ANY CHANGES TO THE MOTOR COMM...

Страница 88: ...er Tab of Servo Setup The buttons displayed along the base of this screen can be used as follows Upload retrieves the current settings for the selected axis Download updates the current axis with your latest changes Open opens a stored cfg file Save save the file to disk as a cfg file Print prints the value of all the settings of all the tabs Done closes the set up window Help accesses the help fi...

Страница 89: ...isplayed as text messages within the Status Report window as shown in Figure 5 7 This eliminates manual decoding errors and gives an immediate update of the drive s status Figure 5 7 Reporting Status of Drive Read The Read button is used to update all of the Status Reports and is a useful aid when debugging an application Previous Selecting Previous allows the previous status to be re displayed us...

Страница 90: ...on line help facilities which allows you to search for help on a particular topic either within the main contents or by entering a topic string All the commands listed within this user guide are available on line by selecting Controller Commands from the Help menu ...

Страница 91: ...and with the address 0 To prevent spurious feedback any report or read command using address 0 will be ignored Note a drive will ignore a command missing an address prefix Where commands such as R and W include a system variable it is treated as a command parameter System variables store internal drive values and settings Each variable is capable of being read and tested and some may be written to...

Страница 92: ...ge return A space is not valid 2 A command must not contain any space characters 3 All commands are device specific that is they always need an address 4 For reasons of clarity program examples appear as if being downloaded via Easi V that is they contain comments and line feeds etc Command Properties Each command has a particular set of properties that govern the way the command can be used Comma...

Страница 93: ...mand just sent and any other interrogation commands get buffered and will not report back until the current function is finished In this situation Immediate only commands can be executed Saved by SV A command that has the property of being saved by SV means data associated with that command is capable of being stored in non volatile memory The saved value will become the default value on power up ...

Страница 94: ...ase after the drive has energised Range is 0 to 5000 milliseconds default 50ms ED is the time in milliseconds for the brake to engage before the drive de energises Range is 0 to 5000 milliseconds default 50ms Properties Immediate saved by SV Note This command configures the brake Before you can execute a brake command you must send the drive a valid motor command where the motor type has a brake f...

Страница 95: ...eedback GF Gain Feedforward GI Gain Integral action FT Filter time constant For ranges see the system variables list Properties Immediate saved by SV Notes The only gains used in calculating the positioning control are those appropriate to the particular mode of operation MODE Torque Velocity Position GAIN TYPES Feedforward No Yes Yes Intergral action No No Yes Proportional No No Yes Velocity No Y...

Страница 96: ... as an error Properties Immediate saved by SV Note The drive must be de energised for the H command to be executed If the command is issued whilst the drive is energised an error message will be generated and the command will be ignored Specifying H sets the direction to clockwise for a positive analogue input voltage and H produces counter clockwise rotation for a positive input voltage The direc...

Страница 97: ... deceleration Properties Immediate not saved by SV Note Aborting SETUPFB will prevent an energise state from happening and will flag the motor as being undefined Motion may only be commanded once the energise input has been cycled following a KILL command Care must be taken that the demand is removed before re energising as the drive will respond immediately to the demand A drive enable error will...

Страница 98: ...analogue velocity input Properties Immediate saved by SV Example 1 The code below sets up for torque demand 3MT mode torque To check the current mode type 3M The response will be MT Note The drive must be de energised for the M command to be executed If the command is issued whilst the drive is energised an error message will be generated and the command will be ignored When re energising the driv...

Страница 99: ...ng resistance in Ohms Inductance Winding inductance in mH KT Torque constant of the motor Nm A Note Thermal time constant is the time in seconds for the motor to reach two thirds of its rated temperature while operating at its continuous current rating Measured line to line across the motor terminals The command sets all of the motor parameters and then calculates the optimum settings for the digi...

Страница 100: ...not be allowed to energise without a valid motor command being executed R Report system parameter Syntax Units Range of n Default See also aR system_variable W R Description The R command allows the user to read the specified system variable Properties Immediate not saved by SV Example 2W TL 4000 set variable TL Tracking Limit to be 4000 2R TL report the current value of variable TL The response w...

Страница 101: ...ialises the drive to factory default settings The drive must be de energised OFF for the RFS command to be executed Properties Immediate saved by SV Note The address is set to axis 1 after performing an RFS command The command takes effect immediately but a SV command must be executed to make the reset values permanent for future power cycles ...

Страница 102: ...l display a message indicating the nature of the problem followed by a FAIL message CAUTION DO NOT COUPLE ANY MACHINERY TO THE MOTOR SHAFT WHILE RUNNING THIS COMMAND AS SHAFT MOVEMENT WILL OCCUR Correct your wiring as this will prevent future problems if you replace your motor or drive since the software correction cannot be uploaded from a drive Note if you do use SETUPFB to permanently correct e...

Страница 103: ...ol card revision 2 Servo drive Power card revision 3 Servo power stage E500 Motor type undefined FPGA_ID read 0 FPGA_ID file 0 MOTOR TYPE 0 RESOLUTION 42000 CONT STALL CURRENT 0 1 Amps POLES 2 PEAK CURRENT PC 300 TRACKING LIMIT TL 420 INDEX POSITION IX 10500 MOTOR SUPPLY 81 V AUX SUPPLY 5 1 V I O SUPPLY 23 V I O CONFIGURATION 256 INTERNAL TEMPERATURE 28 C HEATSINK TEMPERATURE 25 C ANALOGUE VELOCIT...

Страница 104: ...g a reset or power cycle the settings held in the non volatile memory will be restored into the drive Wait 1 2 seconds before sending any other command following an SV Properties Immediate Example 1RFS return drive to factory settings 1MP set drive to position mode step direction control 1SV save current settings 1Z reset drive 1M report current drive mode MP Note This command will not operate whi...

Страница 105: ... 2W TL 4000 2R TL 4000 Note The drive will need to be de energised before certain system variables can be written to See also R command See table of allowable variables for individual parameter details Z Reset Syntax Units Range of n Default See also aZ SV Description The Z command resets the drive This is similar to power cycling the drive Wait 1 2 seconds before sending any other command followi...

Страница 106: ...rive faults DF1 2 3 4 EI Encoder Input Y Y 0 step dir default 1 cw ccw 2 quad ABZ de energise drive to change EO Encoder signal Output Y Y 0 step dir 1 cw ccw 2 quad ABZ default de energise drive to change ES Energise Sense Y Y Sets the sense of the external energise energise_bar signal 0 low signal to energise default 1 high signal to energise EX Comms Response Style Echo Control Physical Interfa...

Страница 107: ...X Index Pulse Y Y 0 to 1023 default 250 motor definition dependent PA Position Actual Y N 2 147 483 648 to 0 to 2 147 483 647 default 0 PC Peak Current Y Y Sets maximum drive output value scaling factor 100 400 of MC default 300 PE Position Error Y N 32767 PF Position Following Y Y 2 147 483 648 to 0 to 2 147 483 647 default 0 RV ReVision of software Y N x yy major minor SN Serial number Y N Drive...

Страница 108: ...emperature 13 C R Drive over temperature 14 K T Incompatible firmware version 15 K T Unrecognised power stage 16 K T Controller diagnostic failure 17 K R Output stage over current 18 C R Output driver over current 19 C R Tracking limit exceeded while in motion is a latched fault 20 K R Velocity exceeded unstable gains motor spin off 21 C R Energise input not set check energise input and state of E...

Страница 109: ...0 for positive motion 1 for negative motion 26 Brake applied goes to a 1 if the brake is engaged User Faults Bit Number UF Information 1 Value is out of range 2 Incorrect command syntax command has wrong format 8 Drive de energised 16 Transmit buffer overflow 19 Drive not ready 22 Save restore error 23 Command not supported by this product 26 Cannot execute motion as the brake is engaged 27 to 32 ...

Страница 110: ...KE Brake configuration GAINS Gains configuration H Change direction K Kill M Mode MOTOR Motor settings R Report system parameter RFS Return to factory settings SETUPFB Setup motor feedback STATUS Report status of drive SV Save configuration W Write system variable Z Reset ...

Страница 111: ...inspection Check that the drives are clear of loose material and that there is adequate clearance to allow a free flow of air through the ventilation slots Check that drive fixings are tight and that the motor screen connection is secure Troubleshooting IMPORTANT NOTE ensure that power is turned off before any connections are removed or changed Removing a drive with power applied can turn a recove...

Страница 112: ...erial COM port 2 An RS232 communications link can be loop tested by removing the communications D type plug where it connects to the drive and placing a short between pins 4 and 5 In this condition any command sent from the terminal window should be echoed back confirming the integrity of the overall RS232 link If this does not happen check the RS232 lead connections and the PC serial port Note wi...

Страница 113: ...5 6 1 1 1 5 5 Red Feedback fault with no HV Orange HV OK and feedback fault Green HV OK Colour Function Red Drive fault Orange Drive OK but de energised Green Ready energised Colour Function Red Comms fault Orange Comms status Green Comms OK Colour Function Figure 7 2 Drive LED Indicators ...

Страница 114: ...ion ST red green 1 second I2t duty cycle too high Bit 16 of ST system variable set to 1 ST red green 0 25 second communications receive buffer over flow Only a power cycle clears this condition ST red off 0 5 second only on power up following a flash upgrade Indicates bad truncated FPGA file ST red off 1 second only on power up following a flash upgrade Indicates a CRC error ST off no logic supply...

Страница 115: ... force a hardware RFS follow the procedure detailed below note you will loose any program in memory and system variables will return to their default values 1 Connect X3 pin 2 MODE input to X3 pin 3 0V 2 Cycle the power to the drive on power up any program present in memory is cleared and ALL system variables are set to their initial factory default value 3 Establish RS232 communications using Eas...

Страница 116: ...Parker without prior authorisation Repairs will be carried out by Parker but will be processed via your supplier Parker may at their discretion authorise direct shipment to and from Poole Offenburg or Rohnert Park but only by prior arrangement with your supplier Existing UK European and USA customers who purchase equipment directly from Parker should contact Poole Offenburg or Rohnert Park for fur...

Страница 117: ...r voltage 98V nominal Drive over temperature Motor over temperature motor dependent 24V reverse polarity Commutation encoder fault Resolver fault Temperature protection motor protection depends upon the type used see Note 1 I2t circuit protects motor and drive from excessive dissipation Motor current limit Selectable by software Motor inductance range 0 5 to 10 mH For lower inductance motors consu...

Страница 118: ...stop bit no parity optional echoback Xon Xoff supported Baud rate 9600 or 19 200 Address setting range 1 255 by software RS232 connection 2 wire plus ground Brake Input Input levels Logic high 14 24V logic low 0 4V Input impedance 4K7 Fault Output Fault Output open collector 30V max 15mA sink Table 8 2 Controller Specification ...

Страница 119: ... 40 C to 50 C with forced air cooling of minimum 0 5m s entering the base of the drive approximately 3 5m3 h or 2cfm airflow through the cabinet Storage temperature range 20 to 70 C Humidity 95 max non condensing Cooling Natural convection 0 to 40 C forced air cooling 40 to 50 C Housing Plastic Aluminium heatsink Protection class IP20 Weight 0 55kg Table 8 3 Drive Environment Specification ...

Страница 120: ...114 VIX AH SERVO DRIVE USER GUIDE ...

Страница 121: ...th screen X1 9 X1 8 Figure A 1 Drive Power Supply Note The saftey earth must be reliably earthed at X1 8 The DC input should also be connected to earth at a convenient point Supply Wiring Use approved mains cable at least 0 75mm2 for primary wiring and route it away from secondary and signal wiring Power input wiring must have a voltage withstanding rating of at least 1000V AC RMS Note this figure...

Страница 122: ...ions will give a useful guide to the final specification required Fuses Fuses should be time delay high breaking capacity and should be rated for the number of drives and expected in rush current AC Fuse The secondary AC fuse is intended to protect power supply components and should have a value twice that of the bridge rectifier current rating Line Fuse Fit line fuses to protect the transformer p...

Страница 123: ...r rotation is defined as when incremental encoder channel A leads incremental encoder channel B by 90deg There is only one index mark per mechanical revolution Incremental channel A is true when X2 pin 8 is positive with respect to X2 pin 7 Incremental channel B is true when X2 pin 12 is positive with respect to X2 pin 11 Commutation channel A0 is at X2 pin 9 Commutation channel A1 is at X2 pin 13...

Страница 124: ...118 VIX AH SERVO DRIVE USER GUIDE ...

Страница 125: ...ble screening 20 Capacitance of supply 11 Clean earth 9 Command address requirements 85 label multi parameter syntax 86 presentation 85 reference 85 simple syntax 85 Command checking 87 Command list 104 Command properties 86 Communication daisy chain 46 Communication problems 106 Communications specification 112 Control of I2t parameters 28 Controller specification 112 Cooling 113 Cooling requirem...

Страница 126: ...ariable 54 Function indicators 2 Functional specification 111 G GF system variable 54 Goto line number box 73 GP system variable 54 Guided servo setup 77 GV system variable 54 H H change direction 90 Hardware reference 111 Help menu 74 Housing material 113 Humidity 113 I I2t operation 27 I2t protection scheme 27 IM system variable 54 Immediate commands 87 Immediate or buffered commands 87 Immediat...

Страница 127: ...on 66 Reset to RS232 mode 37 Returning the system 110 RFS return to factory settings 95 RJ45 connecting leads 47 RJ45 patch cables 47 RS232 cables 38 RS232 connecting leads 38 RS232 daisy chain 44 RS232 mode forced reset 37 RV system variable 55 S Safety earth connections 11 Save properties 87 Saved by SV 87 Search menu 73 Serial communications configuration 75 Serial link lead 69 Servo control lo...

Страница 128: ...urrent 11 supply volts 11 ViX250 500 drive dimensions 6 W W write system variable 99 Weight 113 Welcome box 70 Windows menu 74 Windows 69 Wire size of motor earth 28 Withstanding voltage rating 115 X X1 connector 32 X1 connector pin out 32 X1 mating connector type 32 X2 connector 34 X2 connector pin out 34 X2 connector type 34 X3 connector 35 X3 connector pin out 36 X3 connector type 35 X4 connect...

Страница 129: ... it to the number given below Alternatively you may phone or email the correction Name of user guide Part number 1600 _ _ _ _ _ Found on the title page in the bottom left corner Your name Contact number or email address Description of the error Please include page number Errors can be reported by Fax By phone via a technical support engineer Or by email 44 0 1202 695750 44 0 1202 699000 support di...

Страница 130: ......

Страница 131: ...tal enc Z Incremental enc Z GND reserved reserved 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X2 Function Feedback encoder 5V output GND Incremental enc A Incremental enc A Incremental enc B Incremental enc B Commutation f b A0 Commutation f b A1 Commutation f b A2 Motor overtemp Analogue monitor Function Function Reserved 0V 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 X4 0V...

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