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S.B.C. Elettronica S.p.A. - Engineering Division

HPDxxN – High Power User’s Manual

38

3.6 Operating modes

Operating modes are selected by means of parameter Pr31, whose default value is 0. Each

operating mode commands a speed loop by means of parameter Pr6 and can limit motor torque with
parameter Pr21 (see block diagrams). Speed control uses Pr7 or Pr6 as a reference depending on
the value of b40.2. Before changing Pr31, b40.2 must be set to 0 to prevent undesired motor
movement; it is now possible to set Pr31 to the value of the chosen operating mode and load default
parameters by means of parameter b99.11. The operating mode will be enabled by setting b40.2 to
1.

3.6.1 Torque control

This operating mode (1) does not perform “classic” torque control because the speed loop

remains active to monitor limit speed; the torque reference is the main reference Pr7. To set torque
control first program the speed loop to create a stable system. Now set Pr2=1000 (10 V = 100.0 %
torque) b40.0=0 & b40.12=0; b40.2=1 to program the reserved reference, Pr31=1 to enable the
operating mode and Pr50 for maximum speed.

PARAMETERS FOR OPERATING MODE 1

Pr50

Maximum speed

. Unit=rpm, default=3000, range=0..9000. This parameter makes it

possible to limit maximum absolute motor speed during torque control operation.

3.6.2 Acceleration control

Instead of performing closed loop acceleration control, this mode (2) uses main reference Pr7 for

dynamic modulation of the ramps. To program analogue acceleration control the first requirement is
a stable speed loop. When this is present set Pr2=ACC / 3.2 where ACC is acceleration in rad/s2
required with a 10V reference signal, b40.0 = 0, b40.12 = 0, b40.2 = 1 and Pr31 = 2. Maximum
speed must be programmed in Pr50.

PARAMETERS FOR OPERATING MODE 2

Pr50

Maximum speed

. Unit=rpm, default=3000, range=0..9000. This parameter makes it

possible to limit maximum absolute motor speed during operation with acceleration
reference.

Pr55

Acceleration/deceleration ramp

, read-only parameter. Unit=s/krpm, range=2..30000,

resolution=1 thousandth of a second.

Pr60:61

Reserved.

Pr62:63

Reserved.

Pr66:67

Reserved.

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Содержание HPD N Series

Страница 1: ...HPD N high power HPD25N HPD35N HPD45N HPD67N User s Manual rev 8 February 2001 software rel 35 and later ...

Страница 2: ...E TORQUE CONTROL ACCELERATION CONTROL SPINDLE ORIENTATION FOR TOOL CHANGING SOFTWARE HARDWARE EXPANSION RS 485 or RS 422 SERIAL LINK BUILT IN P L C EXTENDED VOLTAGE RANGE M X1 X2 X3 1 1 1 20 20 10 X5 X6 X7 HPD everywhere for any application Via Gounod 1 Cinisello B MI Italy tel 39 02 66012459 fax 39 02 66012808 http www sbcelettronica com E L E T T R O N I C A E L E T T R O N I C A ...

Страница 3: ...nd not as a machine Any tampering or unauthorised modification of the drive will invalidate the guarantee immediately Guarantee cover is otherwise provided for 1 one year This instruction manual is applicable to the standard version of the drive S B C Elettronica S p A declines all liability for any whatsoever form of damage caused by inappropriate use of the drive Training courses can be supplied...

Страница 4: ...on layout 17 2 8 Signal cable connections 17 2 9 Signal cable connection layout 18 2 10 Frequency input connection 18 2 11 Encoder emulation 19 2 12 Serial line connection 20 2 13 Braking resistor 20 2 14 Backup 21 3 PARAMETERS AND PROGRAMMING 22 3 1 Using the keypad 23 3 2 Commissioning the HPD N drive 24 3 3 Basic parameters 27 3 4 Basic commands 31 3 5 Calibrating speed loop 32 3 6 Operating mo...

Страница 5: ...ddresses and parameter lengths 79 APPENDIXES A HPD N drive mechanical dimensions 81 B MB series motor connectors 82 C Hardware characteristics 83 D DC bus voltage thresholds 84 E Standard settings 84 F Software timers 84 G Pico PLC default program 85 H Flash information 86 I Remote communications interface 87 L Application description form 88 ...

Страница 6: ... a range of auxiliary functions that can help reduce the presence of control electronics in the application and thus permit considerable economic savings In addition to the positioner functions with Trapezoidal Profile Digital Lock Spindle Orientation Stepper Motor Emulation Torque Control and Acceleration Control the HPD N drive also has an internal pico PLC The pico PLC adopts the most diffused ...

Страница 7: ...ains and motor to meet the EMC standards In order to qualify your machine for CE marking adhere scrupulously to specification on next chapters The presence of internal filter MAY generate undesired interventions of differential switches in these cases change the set point of differential switch or even eliminate it Chapter 2 provides a detailed view of problems related to EMC N B leave at least 60...

Страница 8: ...97 370 470 Ambient temperature oC 45 Braking Resistors internal external Rated power of braking resistors W 400 Feedback resolver Power stage switching frequency kHz 8 Maximum output frequency Hz 450 Protection category IP 20 Digital inputs 24V No 8 Digital outputs 24V 100mA NPN No 6 Voltage free digital outputs No 1 Encoder emulation RS 422 steps rev 128 16384 Frequency Sign OR encoder input kHz ...

Страница 9: ...ration ramp control with overlaid speed control Simplified maintenance and start up mode Internal PLC for advanced input output programming functions 1 7 Compliance with EMC standards Immunity EN50082 2 Basic immunity specifications IEC1000 4 2 ex IEC 801 2 level 3 Electrostatic discharge immunity IEC1000 4 3 ex IEC 801 3 level 3 Electromagnetic field immunity IEC1000 4 4 ex IEC 801 4 level 4 Fast...

Страница 10: ...7 2 must be guaranteed Conductors connected to the system by means of the terminal strip must not be soldered EN60065 art 15 3 5 Make sure drive and motor and properly earthed Make sure that the maximum voltage on terminals L1 L2 L3 does not exceed rated voltage by more than 10 in the worst possible case see EN60204 1 section 4 3 1 Excessively high mains feeding voltage can damage the drive Do not...

Страница 11: ...lines This effect can be reduced with the use of shielding Another essential counter measure for noise suppression is the use of filters The use of filters is aimed at reducing conducted interference on wiring and the return of conducted interference to source drive through routes offering the lowest impedance This method provides effective protection for other systems connected to the same electr...

Страница 12: ...t between shield and earth RF interference suppression filters must be installed as close as possible to the drive and must have a large area of contact with the power panel or the baseplate Remove all paint The filter earth terminal must be connected to the earth bar along the shortest possible route As far as possible keep the power side drive and control side PLC or NC physically separated by s...

Страница 13: ...to a copper bar with large contact area Also the copper bar must present an ample area of contact with the cubicle mounting plate Large surface area partition shield with generous contact area around perimeter Remove paint from contact points in the cubicle POWER CONTROL HPD Cubicle interior or mounting plate control cable mains cable max 30 cm cable motor keep separate as far as possible ...

Страница 14: ...HPDxxN High Power User s Manual 14 2 5 Terminal assignments Resolver Serial Interface Encoder in Encoder out Analogue Signals and Aux Voltages and Digital Inputs power connections R1 C1 R2 C2 AB BB DCBUS 220Vac L1 L2 L3 U V W PE X4 Digital Outputs ...

Страница 15: ...ence low 2 0 V 3 0 V 3 10 V 10 mA max 4 Aux reference high 4 0 V 5 Aux reference low 5 24 V Input 6 0 V 6 0 V 7 Aux analogue output 7 0 V 8 0 V 8 V backup 9 tacho output 9 V backup 10 0 V 10 0 V 11 digital out 0 11 drive enable 12 digital out 1 12 digital input 1 13 digital out 2 13 digital input 2 14 digital out 3 14 digital input 3 15 digital out 4 15 digital input 4 16 digital out 5 16 digital ...

Страница 16: ...r cable Power cables must not be shielded Minimum conductor size is 6 mm2 for l HPD25N 8 mm2 for HPD35N 12 mm2 for HPD45N and 16 mm2 for HPD67N Input fuses must be rated as follows MODEL Slow blow fuses A HPD25N 50 HPD35N 50 HPD45N 75 HPD67N 100 Resolver cable The cable must comprise 4 twisted pairs with individual insulated shields and one common shield Capacitance for the length of cable must no...

Страница 17: ...H PE 220 V L1 L2 L3 U V W AB BB DCBUS R1 C1 R2 C2 SERVOMOTOR HPD DRIVE 2 3 4 5 6 7 8 9 2 8 Signal cable connections A twisted and shielded pair must be employed for the analogue reference The cable for emulated encoder signals must comprise three twisted pairs with a common shield Normal cables could be used for digital inputs outputs Minimum size of all signal wires is 0 35mm2 ...

Страница 18: ... Input Reference out 2 10 Frequency input connection The RS 422 type frequency input can be software configured in two modes the first default to accept quadrature signals from encoders the second is frequency direction mode see chapter Basic parameters bit b42 5 In the former case follow this connection diagram 7 1 0V 2 3 4 X6 8 6 5 9 HPD A A B B In the case of parallel connections to more than o...

Страница 19: ...he final drive in the series connect the burden resistors by jumpering pin 1 with pin 9 pin 2 with pin 5 pin 3 with pin 6 and pin 4 with pin 8 on connector X6 The master can be an externally fed encoder or the simulated encoder output on another drive The signal from the master encoder must be differential type 5V RS 422 it is therefore possible to connect a maximum of 10 slave HPDNs If the master...

Страница 20: ...stor HPD N drives are equipped with an integrated braking resistor The effective use of the braking resistor can be checked by monitoring the value of parameter Pr37 which is expressed as a percentage If you intend to dissipate more power use two external braking resistors To connect up the system which must be carried out in conditions of complete safety disconnect the jumper between terminals R1...

Страница 21: ...ction certain precautions are necessary A Use an external 24Vdc 2 A regulated power supply with protected output Connect the positive pole to 8 X3 Vbackup and negative pole to 9 X3 Vbackup B Set b99 8 1 to programme the automatic undervoltage alarm reset when the mains voltage is restored Furthermore is not required to write in the pico PLC the programme described in the example 11 Examples and ap...

Страница 22: ...understand how to connect peripheral systems inputs outputs to the parametric system of the HPD N drive Parameters are divided as follows The principal parameter units and resolutions are REFERENCE MANAGER LIMIT SWITCH STOP SPEED REGULATOR OPERATING MODE TORQUE LIMIT MANAGER TORQUE DEMAND analogue digital internal MISCELLANEOUS SPEED WINDOWS TORQUE MODE ACCEL MODE MAINT MODE POSITIO MODE DIGITAL L...

Страница 23: ... unit is powered up provided there are no active alarms the message IdLE drive disabled or run drive enabled is displayed this is also the position of parameter Pr0 Press or to scroll through the parameters If you want to check a parameter value press M when the value is shown it can be updated using and To return to parameter mode press M again The display can be shown in various forms depending ...

Страница 24: ...ted so the drive is not yet ready b41 4 0 Prxx Indication of parameter xx value displayed by pressing M Pb xx Indication of bit parameter xx bxx yy Indication of bit yy of parameter xx press M to display bit status In xx Indication of instruction xx of PLC program donE Displayed for approximately 1 second each time a command is entered rESet Displayed for approximately 1 second each time an alarm ...

Страница 25: ...ill eliminate the risk of motor vibration at the first start up 6 Set the analogue reference signal to 0 V terminals 1 2 of board X2 and enable the drive 24 V on terminal 11 of board X3 7 The motor shaft must be stopped when the analogue reference voltage is changed motor speed should change proportionally If this is not the case check your wiring 8 Save your changes with b99 15 The drive is prese...

Страница 26: ...eed value in rpm corresponding to 10 V reference signal Pr8 Acceleration deceleration ramp values in seconds per 1000 rpm Pr16 Integral gain of speed control loop Pr17 Speed control loop damping Pr19 Peak current delivered to drive expressed as a percentage of the peak rated value of the drive Pr29 Number of motor poles Pr32 Rated speed rpm Pr33 Rated current that can be delivered by the drive can...

Страница 27: ... Pr5 Pr6 Reserved read only speed reference Unit rpm range 9000 If b40 2 1 Pr6 is only utilised as a speed reference for the control loop The active operating mode will enter its speed request in parameter Pr6 Pr7 Main reference read only parameter Unit rpm range 9000 If b40 2 0 Pr7 is used as a reference for the speed control loop In certain operating modes Pr7 can be used as a reference for othe...

Страница 28: ...default 120 Pr17 Speed control loop damping Range 0 32767 default 2000 If Pr16 is set to zero Pr17 sets the value for proportional gain of the speed control loop Pr18 Bandwidth limiter Unit 512µs range 0 1000 default 1 Use Pr18 to set the time constant of a first order filter located on the digital torque demand signal The filter cut off frequency will be 310 Pr18 Hertz Pr19 Peak current Unit rang...

Страница 29: ...Motor rated current Unit of peak current range 10 0 50 0 resolution 0 1 default 50 for HPD25N 67 for 35N 45N 67N Enter motor rated current Pr34 Tacho generator emulation output gain Default 127 Use parameter 34 to alter analogue output gain in proportion to speed terminal 9 on board X2 Pr35 Torque monitor Unit of peak torque resolution 0 1 This parameter indicates the percentage of torque or curre...

Страница 30: ...r12 b40 7 Absolute relative speed window selection Default 0 If set to zero speed windows Pr14 Pr15 b41 1 will operate in relative mode if set to 1 the speed windows will operate in absolute mode b40 8 Analogue torque limit Default 0 If set to 1 Pr22 i e auxiliary analogue input will be used to limit motor torque b40 9 Software enable Default 1 If set to zero the drive cannot be started b40 10 Low...

Страница 31: ...b41 13 Keypad fault b41 12 1 if communication between keypad and drive has failed b41 14 External operating mode If set to 1 an external operating mode is installed b41 15 External operating mode time slot If set to 1 indicates that the external operating mode is controlled at 2 ms intervals otherwise at 512µs b42 0 Selector to configure encoder emulation b42 1 Selector to configure encoder emulat...

Страница 32: ...mand is executed only if b40 2 0 b99 12 Default values This command sets all parameters to default values and cancels the values used by the operating modes it also sets the pico PLC program as described in appendix G If a checksum alarm is present Pr23 and Pr24 are set to zero so that the alarm can be reset The command is executed only if b99 13 0 b99 14 Save pico PLC instructions Saves the pico ...

Страница 33: ...otate through an angle that depends on the amount of torque applied We can then apply the rated torque of the motor and then measure the stiffness angle in degrees The resulting value provides an indication of the fidelity of the drive thus parametrised although it is clearly not the only fidelity indicator WHAT S NEEDED To calibrate an HPD N drive correctly we recommend using an oscilloscope with...

Страница 34: ...t sufficiently rigid it may be necessary to reduce gain If motor torque has been selected to achieve steep acceleration ramps while dynamic torque changes in normal operation are minimal stiffness angles of 20 30 or 40 degrees are acceptable without negatively affecting performance If you encounter difficulty in choosing the most appropriate stiffness angle start from 10 degrees which is the defau...

Страница 35: ...therefore obtain approximately 10 overshoot Make sure that the overshoot is not followed immediately by undershoot Once you have set the optimal value for Pr17 pay attention to the movement of the motor shaft if it moves smoothly without vibration and noise you can deduce that system calibration procedures are terminated Otherwise repeat all the previous steps using lower values for Pr16 ...

Страница 36: ...nied by a current fluctuation that can generate acoustic noise and mechanical vibration increasing Pr18 to the value 3 will improve this condition significantly fig 6 Fig 5 Fig 6 If the driven mechanical system is prone to oscillation we recommend using very low values for Pr16 in this configuration the HPD N drive will smooth out motor torque requests to prevent the creation of mechanical oscilla...

Страница 37: ...41 Pr16 J Nm tot peak where Jtot is total inertia motor load in kgm2 Nmpeak is available torque with peak current of the system C Enable the drive and moving the axis with an external control change Pr17 to seek the value at which the axis moves as required If the resulting calibration is unsatisfactory repeat the procedure with lower values for Pr16 or setting Pr18 as described earlier Note the t...

Страница 38: ... Pr2 1000 10 V 100 0 torque b40 0 0 b40 12 0 b40 2 1 to program the reserved reference Pr31 1 to enable the operating mode and Pr50 for maximum speed PARAMETERS FOR OPERATING MODE 1 Pr50 Maximum speed Unit rpm default 3000 range 0 9000 This parameter makes it possible to limit maximum absolute motor speed during torque control operation 3 6 2 Acceleration control Instead of performing closed loop ...

Страница 39: ...s in Pr57 you can get other useful information for installation and maintenance see table in block diagrams PARAMETERS FOR OPERATING MODE 8 Pr50 Manual speed Unit rpm default 100 This speed value is used for manual movements executed using b70 1 b70 2 with b70 0 0 and b40 2 1 Pr51 Profile execution speed Unit rpm default 1000 This is the speed at which the trapezoidal profile is executed Pr52 Dist...

Страница 40: ...served 3 6 4 Positioner Operating mode 9 executes a simple trapezoidal profile For this profile the user must define acceleration with Pr51 steady time rpm with Pr52 and displacement using the pair of long format parameters Pr64 and Pr65 At each profile execution command b70 8 the motor executes Pr64 65 steps one motor revolution is equivalent to 4096 steps The parameters of a trapezoidal profile ...

Страница 41: ...ute Pr64 65 steps in the positive speed direction If b70 4 1 it will execute the same number of steps in the negative speed direction b70 5 Servo error b70 5 is set to 1 if the absolute value of the position error is greater than the value set in Pr56 If utilised b70 5 must be reset by the user e g using the PLC program following servo errors b70 6 Feed forward enable Default 0 If set to 1 feed fo...

Страница 42: ...h on fly cycles Pr53 Reference division factor Default 1 range 32000 32000 This parameter together with Pr51 makes it possible to set the required ratio for the input reference frequency Pr54 Reserved Pr55 Required speed Unit rpm Read only parameter Shows the input reference frequency converted into rpm Pr56 Servo error window Unit steps default 100 If the absolute value of the position error exce...

Страница 43: ...maximum motor speed Pr51 Reference multiplication factor Default 1 range 0 4096 This parameter allows you to set the required multiplication ratio for input reference frequency Pr54 Reserved Pr56 Servo error window Unit steps default 100 If the absolute position error is greater than the value in Pr56 b70 5 is set to 1 If utilised b70 5 must be reset by the user e g by the PLC program following se...

Страница 44: ...52 thousandths of a second Pr53 Reserved Pr54 Motor shaft position for spindle orientation Unit steps default 0 range 0 4095 One revolution of the motor shaft corresponds to 4096 steps Pr56 Servo error window Unit steps default 100 If the absolute position error is greater than the value set in Pr56 b70 5 is set to 1 Pr57 Position control loop proportional gain Default 100 range 0 32000 Pr58 Reser...

Страница 45: ...of bit parameter bx y sets the switch If A is smaller than B C 1 true otherwise C 0 false The value of G is the lower value among A B C D E and F C 1 only when A 1 and B 1 otherwise C 0 If A or B are 1 C 1 otherwise C 0 C A B values from hardware values to hardware Value of A is converted to B E g if the triangle symbol contains A D the analogue value of A is converted into the digital value B Max...

Страница 46: ...urrent resolver break motor over temp power stage over temp Pr 23 b41 12 present trip code last b41 4 drive ok b41 5 hardware enable b40 9 software enable HIGH PERFORMANCE DRIVE MAIN BLOCK DIAGRAM Pr 25 SOFTWARE RELEASE Pr 26 BAUD RATE Pr 27 SERIAL LINK ADDRESS Pr 28 SHAFT POSITION Pr 29 MOTOR POLES Pr 30 RES PHASE SHIFT DESCRIPTION Param R W N Y Y N Y Y external trip aux trip Pr 31 OPERATING MODE...

Страница 47: ...et main ref S H Pr 1 full scale ref 1 full scale ref 2 max fq ref internal reference reserved reference Pr 7 b40 0 b40 2 b40 3 Pr 8 Pr 9 Pr 10 Pr 11 ramps values b40 13 b40 12 REFERENCE SELECTION Pr 50 max speed Pr 7 main ref 1 1 TORQUE CONTROL OPERATING MODE 1 1 1 Pr 6 Pr 21 reserved reserved reference current limit ...

Страница 48: ...r 52 test stroke Pr 53 starting point Pr 54 delay Pr 50 manual speed b70 0 start stop b70 1 b70 2 wiring test error code motor poles resolver phase reference input aux analog input digital input status 1 encoder in counter digital input status 2 bus voltage Pr 56 value Pr 57 selector pos b70 3 0 1 2 3 4 5 6 7 8 MAINTENANCE COMMISSIONING OPERATING MODE 8 Pr 55 err std dev reserved reference Pr 6 of...

Страница 49: ...position motor position shaft position reset 1 reset 2 TRAPEZOIDAL POSITIONER OPERATING MODE pulses Pr 50 steps for pulse b70 9 b70 12 target position motor position reset 3 b70 2 incremental position Pr 65 Pr 64 0 reset 4 b70 4 reverse forward 9 Pr 6 Pr 57 Pr 50 Pr 63 Pr62 motor position Pr 61 Pr60 target position encoder master Pr 51 ratio feed forward proportional gain max regulator speed b70 8...

Страница 50: ...d dt Pr 51 k mul Pr 50 max regulator speed b70 6 11 b70 10 target position motor position 0 b70 11 target position motor position shaft position reset 1 reset 2 b70 12 target position motor position reset 3 Pr 6 reserved reference Pr 57 shaft position target position Pr 56 1 b70 5 oriented window not oriented proportional gain SPINDLE ORIENTATION OPERATING MODE Pr 50 max regulator speed Pr 28 Pr 5...

Страница 51: ...s fast copy 3 512 µ µs PLC PARAMETERS Pr71 Constant value 1 Double word Pr72 Constant value 0 Double word Pr73 Constant value 1 Double word Pr74 Constant value 2 Double word Pr75 Constant value 10 Double word Pr76 Constant value 100 Double word Pr77 Constant value 1000 Double word Pr78 Constant value 1024 Double word Pr79 Constant value 4096 Double word Pr80 Free parameter Parameter with save faci...

Страница 52: ... mathematical operation of the pico PLC is executed setting the three operands as double word type after the operation is executed b94 0 is automatically set to zero If Pr60 Pr68 are utilised double word formatting is automatic see text b94 5 Disables the first fast input b94 5 0 Set to zero at power up b94 6 Disables the second fast input b94 6 0 Set to zero at power up b94 7 Disables the third f...

Страница 53: ...he value loaded in the stack OUTN Pa y set bit y of parameter Pa to the stack value and invert it SET Pa y if stack is at 1 set bit y of parameter Pa to 1 RES Pa y if stack is at 1 set bit y of parameter Pa to zero AND Pa y the bit loaded into the stack assumes the result of the logical AND operation between itself and bit y of parameter Pa ANDN Pa y the stack bit assumes the result of the logical...

Страница 54: ...fined as follows the operand parameter defines the least significant part while the most significant part is represented by the word with the next serial address see chapter Serial addresses and parameter lengths Parameters from Pr50 to Pr69 and from Pr80 to Pr89 are successive At the completion of each mathematical operation b99 2 is set to 0 if the result is positive and to 1 if the result is ne...

Страница 55: ...3 and bit b99 1 Ensure that Pr92 Pr93 b99 0 and b99 1 are refreshed only after the first pico PLC program scan The maximum number of instructions is 64 including the END instruction Note that mathematical operations occupy the space of two logical operations so when they are used the maximum number of instructions available is decreased accordingly The PLC program must always be terminated with an...

Страница 56: ...ings required for HPD N parameters and the pico PLC program The program is shown in ladder diagrams and instruction listings Example 1 two inputs for on off functions Example 2 changing a parameter value with the up down keys Example 3 command on positive front of a digital input 90 1 90 2 91 2 91 2 digital input 1 sets bit b91 2 to on digital input 2 sets bit b91 2 to off LD 90 1 OR 91 2 ANDN 90 ...

Страница 57: ...msec on counter if digital input 1 is low for 60 msec b99 0 1 and b90 11 0 b90 11 is the status of filtered digital input 1 RST ADD 90 1 90 10 99 0 72 75 92 90 1 SET 90 11 90 1 90 10 RST ADD 99 0 72 75 92 99 0 90 1 90 10 90 1 RST 90 11 99 0 calculate difference between Pr0 and Pr80 to set b99 2 and b99 3 if Pr0 Pr80 then b81 0 1 if Pr0 Pr80 then b81 1 1 if Pr0 Pr80 then b81 2 1 if Pr0 Pr80 then b8...

Страница 58: ...nal 13 on X3 pulse command execute homing Terminal 14 on X3 PNP axis zero proximity sensor Bit b91 10 is utilised to signal that the operation is terminated Note that bits from b91 8 to b91 15 are at the disposal of the PLC and cannot be stored in the memory The program is as follows SUB ADD DIV 99 13 81 15 60 60 60 35 60 60 60 76 81 ADD 92 76 92 MUL 81 71 81 99 0 LD 99 13 ADD 35 60 60 LD 99 0 DIV...

Страница 59: ...mity sensor Terminal 11 on X2 digital output Switches to 1 when the homing phase is terminated The following bits are utilised b91 8 b91 9 b91 11 The program is as follows LD 90 2 ANDN 91 9 RST 40 2 LD 90 3 ANDN 91 0 SET 91 9 SET 40 2 LD 91 9 AND 41 2 ANDN 91 8 SUB 79 28 64 SET 70 8 SET 91 8 LD 91 8 ANDN 70 8 ANDN 91 0 SET 91 0 LD 41 4 ANDN 91 11 SET 40 2 SET 91 11 If homing command is given and n...

Страница 60: ...otor shaft to execute a full revolution of the blade roller The value of Pr87 86 must be less than the value of the modulus Pr89 88 The master encoder mounted to the conveyor shaft provides the drive with a position reference during the digital locking phase When you have set the default values set the following parameters Pr5 10 homing speed Pr31 10 b99 11 1 b40 2 1 b40 12 1 Pr52 0 b70 3 1 Pr87 8...

Страница 61: ... SET 91 10 RST 94 5 LDN 91 10 SET 94 5 END Fast input for digital lock trigger if the axis is locked fast input disabled and output enabled cycle in progress if homing has been carried out the bit is enabled Force double word operation comparison comparison for release test release test Pr86 Pr62 copy master speed into internal speed reference and enable it release axis force double word operation...

Страница 62: ... returns to the origin position executing a trapezoidal profile with the ramps set in Pr80 and the speed in Pr81 Note that one motor revolution corresponds to 4096 steps so the value to set in Pr87 86 should correspond to the number of steps of the motor shaft needed for the carriage to execute the required translation The master encoder on the conveyor shaft provides the drive with the necessary ...

Страница 63: ...31 31 ADD 72 72 70 ADD 72 80 51 ADD 72 81 52 ADD 72 60 64 SET 70 4 ADD 71 75 31 SET 91 12 LDN 70 8 AND 41 2 ANDN 91 12 AND 31 0 SUB 31 31 31 ADD 72 82 51 ADD 72 84 53 ADD 72 72 58 ADD 72 72 70 SET 70 6 ADD 72 75 31 RST 91 1 END return start management with trapezoidal profile if homing exec ref pr6 locking start request locking cycle output on no ramp pr52 0 homing request stand by for proximity r...

Страница 64: ...mode Using this potential it is extremely simple to connect two HPD N drives in a loop via the serial ports and a short program on the internal PLC will suffice to start transmission at power on and restore it in the event of communication errors The following example describes the PLC program required to copy Pr81 from the two drives in parameters Pr80 Connection function These PLC instructions m...

Страница 65: ...S B C Elettronica S p A Engineering Division HPDxxN High Power User s Manual 65 Example 11 automatic undervoltage alarm reset Not necessary This page is intentionally left blank ...

Страница 66: ...sition to be reached while a pulse supplied to digital input 1 provides a trapezoidal profile to reach the selected position The following table shows the relationship between parameters Pr80 Pr89 and the encoding of the 3 digital inputs for example input 4 on one selects position 1 and the distance in steps between the zero axis point and position 1 is set in Pr81 80 bearing in mind that one revo...

Страница 67: ...sition terminal 16 on X3 select position terminal 17 on X3 select position terminal 11 on X2 output high during homing terminal 12 on X2 output high during positioning terminal 13 on X2 output high during manual translation The following auxiliary bits are utilised b91 10 b91 11 The program is as follows Inputs and outputs can be read and written directly via the serial communications line so ther...

Страница 68: ...inputs 4 5 and 6 select the position to be reached while a pulse on digital input 1 makes it possible to perform positioning on a trapezoidal profile The following table shows the relationship between parameters Pr80 Pr89 and the encoding on the 3 digital inputs for example only input 4 on one selects position 1 and the distance in steps between the zero axis point and position 1 is set in steps b...

Страница 69: ... 94 0 SET 94 0 SET 94 0 SET 94 0 70 8 91 1 LD 91 10 SET 40 2 LD 90 2 ANDN 91 10 SET 40 2 LD 90 3 ANDN 91 10 SET 70 10 SET 91 10 LDN 70 8 ADD 72 72 64 AND 90 4 ANDN 90 5 SET 94 0 ADD 80 72 64 AND 90 6 SET 94 0 ADD 88 72 64 LDN 70 8 AND 90 5 ANDN 90 6 SET 94 0 ADD 82 72 64 AND 90 4 SET 94 0 ADD 84 72 64 LDN 70 8 ANDN 90 4 ANDN 90 5 AND 90 6 SET 94 0 ADD 86 72 64 LDN 70 8 AND 91 10 AND 90 1 SET 70 8 ...

Страница 70: ...digit copy bit 3 BCD digit if first digit calculate units if second digit calculate first decimal place if third digit calculate second decimal place if fourth digit calculate third decimal place add calculation result to auxiliary parameter Pr81 if last digit most significant copy final value in Pr83 zero set parameter Pr82 refresh outputs to enable reading of next digit if last digit already acq...

Страница 71: ...ancelled In practice a speed window around zero rpm is defined within which speed is set to zero The value of the threshold is set in parameter Pr88 in rpm parameter Pr89 is used as an auxiliary memory area The required pico PLC program is as follows LD 99 13 ADD 07 72 89 LD 89 15 MUL 89 71 89 LD 99 13 SUB 89 88 72 AND 99 2 OUT 40 6 Copy analogue reference value in Pr89 if Pr89 0 invert Pr89 to ob...

Страница 72: ...iously stored speed regulator and position controller simulation PC HPD N connection layout HPD N serial kit To create line load burden resistances jumper pins 2 and 6 and pins 4 and 7 on connector X5 of the last drive on the serial line If the PC is a battery powered laptop i e not connected to ground use the following connection layout To install Pcbrush open WINDOWS insert the diskette in drive...

Страница 73: ... to allow data communication between two HPD N drives Refer to the heading Serial line connection for connection diagrams 4 1 Communication protocol The right hand column in the table shows the time out value in milliseconds for each communication speed this is the time starting from the beginning of each message STX within which the transmission of the message must terminate Therefore if the mess...

Страница 74: ...sion character 7E PAR parameter or PLC instruction read write address D0 Dn datum transmitted CHK 256 modulus sum of all fields except STX checksum Message types CMD1 drive response to data request format STX 001 ADDR LUN PAR D0 Dn CHK or confirm message in response to data entry or update format STX 001 ADDR where ADDR identifies the answering drive CMD2 read message of PLC area instruction forma...

Страница 75: ...numbers The value in square brackets is the basic unit byte of the message To be considered valid all messages must be terminated within a clearly defined time interval time out which is a function of speed and they must have correct parity and checksum The drive responds to data requests or transmission only if the message is received correctly if the message contains an error no answer will be t...

Страница 76: ...ction contains the value of y If FIN instructions are used they must be the first of the program and there must be no more than 3 so they will occupy addresses from 0h to 5h If a FIN instruction is included from address 6h forward or anyway after any other instruction it will be ignored NOP The instructions must be one after the other starting from address 0h without any free bytes There is just o...

Страница 77: ...ng a bit to 1 Assume you want to enter the command to save the PLC program b99 14 1 assume also that the drive serial address is 0 The message to transmit is 7E C0 02 93 BF 40 54 The drive answers with 7E 20 Case 6 setting a bit to 0 Assume you want to disable the drive by software b40 9 0 assume that drive serial address is 0 The message to transmit is 7E C0 02 5D FD 00 1C The drive answers with ...

Страница 78: ...speed threshold Pr14 044h 2 top speed limit Pr15 046h 2 lower speed limit Pr16 048h 2 integral gain Pr17 0BAh 2 damping factor Pr18 0BCh 2 filter time constant Pr19 0BEh 2 user current limit Pr20 04Ah 2 DC bus voltage Pr21 04Ch 2 reserved torque limit Pr22 04Eh 2 auxiliary reference Pr23 051h 1 current alarm code Pr24 052h 1 previous alarm code Pr25 053h 1 software version code Pr26 05Eh 1 baud ra...

Страница 79: ...h 2 Pr59 076h 2 Pr60 078h 2 Pr61 07Ah 2 Pr62 07Ch 2 Pr63 07Eh 2 Pr64 080h 2 Pr65 082h 2 Pr66 084h 2 Pr67 086h 2 Pr68 088h 2 Pr69 08Ah 2 Pb70 062h 2 flags used by operating mode Pr80 0CEh 2 Pr81 0D0h 2 Pr82 0D2h 2 Pr83 0D4h 2 Pr84 0D6h 2 Pr85 0D8h 2 Pr86 0DAh 2 Pr87 0DCh 2 Pr88 0DEh 2 Pr89 0E0h 2 Pb90 0E2h 2 inputs Pb91 08Ch 2 outputs Pr92 08Eh 2 timer 1 Pr93 090h 2 timer 2 Pb94 032h 1 flags used b...

Страница 80: ...er s Manual 80 Appendix A Mechanical Dimensions 220Vac DC Bus BB AB 2 2 1 1 R C R C L3 L2 L1 W V U Dimensions can be changed of discrection of the manufacturer 214 5 88 310 4 290 5 5 14 6 392 367 385 318 62 194 62 8 7 5 302 5 188 40 2 1 5 25 12 335 26 5 103 5 40 30 5 ...

Страница 81: ...OR FOR MBmax 145 and 205 alternatively C B A CONNECTOR Male C B A CONNECTOR Female 220V C B A W2 U2 V2 F G BRAKE B A H C J K G D E F A F B G E C D A white red EXCT B white yellow EXCT A B C D Gnd E Gnd F Brake E black Sin F red Sin G Gnd shield of cable H Gnd shield of cable K PTC C blue Cos D yellow Cos J PTC G Brake CONNECTIONS FOR MBmax BRUSHLESS MOTORS 24V 10 M C B A MOTOR resolver motor M mot...

Страница 82: ...urrent for all outputs using internal supply 200 mA IT current for all outputs using ext supply 24 VIN 500 mA VSW max voltage between out 6 A and out 6 B 110 V ISW max current trough out 6 A and out 6 B 600 mA analogue reference type differential impedance 20 Kohm range 10 V CMMR 60 dB resolution 15 bits aux analogue input type differential impedance 250 Kohm range 10 V CMMR 40 dB resolution 10 bi...

Страница 83: ...hold in rush control excluded in rush control included UNDER VOLTAGE 0 1024 normal operation area Appendix E Standard settings Reference Positive Shaft moving motor shaft view clockwise Torque monitor Positive R D Counter UP Encoder out A B tacho signal positive Iu torque sin ϑ Iv torque sin ϑ π 2 3 IN AUX positive Pr22 positive Pr38 positive OUT AUX Positive Encoder In A Counter Up B ...

Страница 84: ...sk running 256 µs Torque vector generation 512 µs Speed loop Fast operating mode manager Torque limit evaluation Speed reference manager Brake resistor manager Fast input 2 048 mS Slow operating mode 6 144 mS Motor thermal image algorithm Digital input PLC instruction scan Digital output 49 152 mS Speed windows manager ...

Страница 85: ...1 OUT 40 12 END digital input 1 for left hand limit switch enabled only if b90 10 1 digital input 2 for right hand limit switch enabled only if b90 10 1 digital input 3 for emergency stop enabled only if b90 10 1 digital input 4 for clockwise or counter clockwise rotation digital input 5 for start stop reset parameter Pr5 digital output 0 indicates speed greater than Pr13 digital output 1 indicate...

Страница 86: ...OAD DEFAULT PARAMETERS b40 2 0 WARNING BEFORE CHANGING Pr31 MAKE SURE b40 2 0 SPEED REFERENCE IS LIMITED TO THE VALUE IN Pr32 IN TORQUE CONTROL Pr2 AND Pr3 MUST BE SET TO 1000 TO USE THE ACTIVE OPERATING MODE b40 2 MUST BE SET TO 1 TO USE Pr32 TO CHANGE FEEDBACK RESOLUTION ON THE FLY DISABLE TORQUE COMPENSATION b42 6 0 IF YOU CANNOT UPDATE READ WRITE PARAMETERS FROM THE KEYPAD MAKE SURE b99 7 0 IF...

Страница 87: ...eans of the serial line it does not provide I O capabilities and it does not have buffered memory The connection cable is not part of the standard supply and the software must be generated by S B C to client specifications F1 F2 F3 F4 SHIFT F5 F6 A P C S ESC START STOP 128 5 90 90 max Power supply type 064 1 2 3 power M1 P2 L1 L2 PE Rear panel view 4 5 2 3 4 3 1 2 8 8 X5 HPD connector P2 pins for ...

Страница 88: ...department fax 39 02 66012808 CUSTOMER name Contact name Tel Fax MODEL HPD 25N HPD 35N HPD 45N HPD 67N SERIAL NUMBER _ _ _ _ _ _ _ MOTOR MODEL MOTOR SERIAL NUMBER OPERATING VOLTAGE _ _ _ V FIRST HPD APPLICATION YES NO MACHINE TYPE TASK PERFORMED BY AMPLIFIER COMMENTS FUNCTIONS USED EXTERNAL BRAKING MAINS FILTERS ENCODER IN BACK UP LOW VOLTAGE FUNCTION ENCODER OUT PARALLEL BUS INTERNAL PLC MOTOR CO...

Страница 89: ... 67 86 23 40 12 68 69 87 24 40 13 70 0 88 25 40 14 70 1 89 26 40 15 70 2 99 5 27 42 0 70 3 99 6 29 42 1 70 4 99 7 30 42 2 70 5 99 13 IF YOU USE AN INTERNAL PLC PROGRAM OTHER THAN THE DEFAULT PROGRAM PLEASE ENCLOSE THE LISTING In 0 In 16 In 32 In 48 In 1 In 17 In 33 In 49 In 2 In 18 In 34 In 50 In 3 In 19 In 35 In 51 In 4 In 20 In 36 In 52 In 5 In 21 In 37 In 53 In 6 In 22 In 38 In 54 In 7 In 23 In...

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