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Chapter D - Setting to work

Rev. A 10-99

DigiDrive Manual Series 2000 / 4000

Pg 60

Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com

URRENT LOOP

IFFERENTIAL GAIN

), A

DDRESS

2000 series :



133





CURRENT

[Vs/A]



MAX

4000 series :



133







CUR

RENT



MAX

[Vs/A]

CURRENT

= Parameter 8

3.3.3 Speed Loop

See also section 4.3 of chapter D (How to set the speed loop parameters, page 67).

PID

SPEED LOOP CONTROLLER

IGITAL

PID

EQUATION







e[ N]







(





e[ i ]



(



e[ N]







e[ N



]

)





e[ N]

: Last sample



: Sampling time



Содержание DigiDrive 2000 Series

Страница 1: ...Servo Dynamics Corp 28231 Avenue Crocker Ste 10 Valencia CA 91355 PH 818 700 8600 DigiDrive INFORMATION MANUAL 2000 4000...

Страница 2: ...www servodynamics com...

Страница 3: ...6 1 INTRODUCTION 6 2 DESCRIPTION 6 3 TECHNICAL DATA 7 3 1 GENERAL DATA FOR ALL TYPES 7 3 2 ELECTRICAL DATA 8 3 3 SMALL DRIVE OUTLINES 10 3 4 MEDIUM DRIVE OUTLINES 11 3 5 LARGE DRIVE OUTLINES 12 3 6 SM...

Страница 4: ...1 2000WU EXE 2000 WINDOWS USER 21 3 SERIAL LINK 23 3 1 DIALOGUE PROTOCOL 23 3 2 DIALOGUE EXAMPLES 25 CHAPTER C DRIVE PARAMETERS 26 1 PARAMETERS DESCRIPTION 26 1 1 GLOBAL LIST OF PARAMETERS 27 1 2 SCOP...

Страница 5: ...LATION PARAMETERS 51 3 2 1 ENCODER CONFIGURATION 52 3 2 2 END SWITCH CONFIGURATION 54 3 2 3 SSI CONFIGURATION OPTION 54 3 2 4 GENERAL CONFIGURATION 55 3 3 REGULATION PARAMETERS 57 3 3 1 CONFIGURATION...

Страница 6: ...4000 Rev A 10 99 Pg 5 Servo Dynamics Corp 21541 D Nordhoff St Chatsworth CA 91311 www servodynamics com 2 1 FIELD WEAKENING 74 2 2 ASYNCHRONOUS ALARM 74 2 3 FEEDBACK TYPE 75 2 3 1 RESOLVER FEEDBACK 7...

Страница 7: ...ctronic commutation is only effected by means of a speed one resolver motors with Hall effect sensors and tachogenerator are not suitable Asynchronous motors electronic commutation is only effected by...

Страница 8: ...al current output ensures smooth torque and optimal performance at low speed 7 segment status indicator for diagnostic display User s inputs Analogue speed or current input command 10V or digital inpu...

Страница 9: ...0 Output frequency to motor Hz 0 to 500 Incremental encoder simulation ppr 1 to 2048 Theoretical max speed for motor with resolver speed one rpm 7500 ON Switching threshold of brake module VDC 385 670...

Страница 10: ...ms or P 3 x Irms phase x Vrms phase Braking power Driv e Size Drive Model Number R braking Peak braking Power W Max continuous braking power W Surge energy T 300K J DSSA 0510 34 39 3 800 150 1 800 DSS...

Страница 11: ...e Manual Series 2000 4000 Pg 10 Servo Dynamics Corp 21541 D Nordhoff St Chatsworth CA 91311 www servodynamics com Disposition Air flow 3 3 Small drive outlines Rear mounting Enclosure mounting Install...

Страница 12: ...e Manual Series 2000 4000 Pg 11 Servo Dynamics Corp 21541 D Nordhoff St Chatsworth CA 91311 www servodynamics com 3 4 MEDIUM DRIVE OUTLINE Enclosure mounting Installation drill and cutout plan Rear mo...

Страница 13: ...ve Manual Series 2000 4000 Pg 12 Servo Dynamics Corp 21541 D Nordhoff St Chatsworth CA 91311 www servodynamics com 3 5 LARGE DRIVE OUTLINE Rear mounting Enclosure mounting Installation drill and cutou...

Страница 14: ...9 DigiDrive Manual Series 2000 4000 Pg 13 Servo Dynamics Corp 21541 D Nordhoff St Chatsworth CA 91311 www servodynamics com 3 6 Small and Medium with special clamp type Phoenix option Drill and cutout...

Страница 15: ...7 Motors DBrushless3phasesservo motors DAsynchronous 3phasesmotors 3 8 Position feedback D Resolver Characteristics Speed One 1 sine period and 1 cosine period per revolution Ratio 0 5 Reference frequ...

Страница 16: ...Wick 19354 6 3 x 32 Rbrak 39 1A WICKM 19181 5 x 20 Small DSSA 0306 56 8A gG Ferraz 10 3 x 38 500VFA 4A Ferraz 6 3 x 32 Rbrak 56 1A WICKM 19181 5 x 20 DSSA 0510 56 8A gG Ferraz 10 3 x 38 500VFA 4A Fer...

Страница 17: ...IARY 24V SUPPLY D SDCPROFILE Add on board to perform simple movements and interfacing with 24V systems PLS Main characteristics 24 V powered DC DC conversion for drive power back up the position value...

Страница 18: ...www servodynamics com D SDC IR115 IR116 IR117 Synchro Control positioning and CANopen interface module for SERVO DYNAMICS Series 2000 and 4000 drives D SDC SERVO net Positioning control and SERVOnet C...

Страница 19: ...5 converter Main characteristics Connection of 1 15 drives to a RS232 interface i e computer 24 V powered RS232 header pinout same as drive XSERIAL232 header RS485 header pinout same as drive XSERIAL4...

Страница 20: ...s the drive firmware For example when a new firmware is developed FPRGU EXE is able to transfer it to the drive With this software it is also possible to check the FLASH contents integrity Use of FPRG...

Страница 21: ...ive contents Special Functions Keys The up down arrow keys and t are used to select the desired parameter on each page PgUp PgDn TAB and shift TAB allows to jump one page The plus key and minus key ch...

Страница 22: ...delivered on the installation disk the SETUP can be executed from the file menu or from the file manager This operation installs all libraries needed and the application icons Installation problems 1...

Страница 23: ...menu Configuration To check the connection again start Drive information in the Utilities menu If COM1 already used message appears the serial port COM1 is already used by a driver maybe the mouse dri...

Страница 24: ...ing value For the others meaning value is the same as the decimal value without unit To change parameter value use the scroll bar to move the grid on the parameter click on the value that you want to...

Страница 25: ...datas 4 digits hexadecimal value ETX End of text BCC Block check 8 bit STX XOR ADRESS XOR XOR ETX Commands list Read parameter R address Write parameter W address parameter Reset hardware CH Store in...

Страница 26: ...th CA 91311 www servodynamics com 3 2 Dialogue examples Command Drive answer Read parameter no 11 axis no 2 02 50 82 59 03 90 Parameter no 11 27 1B h 02 50 82 59 48 48 49 66 03 41 Write 127 the parame...

Страница 27: ...ameters For a few read write parameters a change of the value by a write order isn t directly considered An indication is given in the ST column for the read write parameters C compute order must be s...

Страница 28: ...ortional gain Kp pg 59 7 R W 0 7FFFh Current loop Integral gain Ki pg 59 8 R W 0 7FFFh Current loop Differential gain Kd pg 60 9 R W 0 1Electric degree 1 000 RPM 0 100 Phase advance 12 1 2 electric at...

Страница 29: ...turns 8000 7FFFh Encoder marker pulse position 8192 1 8 turns pg 52 20 R W 1 7FFFh Speed loop Proportional gain pg 61 21 R W 0 7FFFh Speed loop Integral gain pg 61 22 R W 0 7FFFh Speed loop Differenti...

Страница 30: ...000 Watchdog software communication V2005 pg 56 33 S R W 0 FFFFh Alarm latch pg 55 Bit Description 0 Latch alarm 7 over or under voltagealarm 2 Latch alarm d earth fault 4 Latch alarm 2 I2 t V2005 6 L...

Страница 31: ...FFh Digital command with Currentloop control with IMAX_DRIVE 20 ARMS 6226 3 8 ARMS 51 R W 0 255 Status display 7 segment value 0 Internal status other values bit 7 DP bit 6 0 SEG A G 146 DP SEGMENT_F...

Страница 32: ...ay 0 Fault Int Over or under voltage alarm 7 1 Powermodule fault 6 2 Earth fault d 3 Internal over temperature 80 C 4 4 I 2 t only if latched 2 5 Resolver fault 5 6 Over Speed b 7 Motor link fault C 8...

Страница 33: ...40 Fan switch on at 40 C switch off at 35 C 83 R PWM frequency 84 R Commutation dead time 85 R 86 R ARMS Maximum drive current IMAX_DRIVE 20 20 ARMS 87 R ARMS Nominal continuous drive current 10 10 AR...

Страница 34: ...ternal digital command 100 O R Scope values O R Scope values 179 O R Scope values 180 R Resolver Sine 181 R Resolver Cosine 182 R 2 2 7FFF IMAX _DRIVE h 8000 7FFFh Current Command 183 R 184 R 185 R 2...

Страница 35: ...me scale Factor of 133 us for the sampling time 42 HB Parameter 1 address channel 1 Address of parameter 1 to measure LB Parameter 1 scale Number of shift left shift for positive value and right shift...

Страница 36: ...drive motor and housing must be as short as possible and connected to a common earth point The global wiring plan is represented in Figure 1 on page 36 1 1 Cable lengths and cross sections Drive type...

Страница 37: ...CA 91311 www servodynamics com Chapter D Setting to work Rev A 10 99 DigiDrive Manual Series 2000 4000 1 2 Global wiring plan 1 Note Figure 1 Global wiring plan DC BUS and DC BUS CTRL terminals are n...

Страница 38: ...Pg 37 Servo Dynamics Corp 21541 D Nordhoff St Chatsworth CA 91311 www servodynamics com Chapter D Setting to work Rev A 10 99 DigiDrive Manual Series 2000 4000 1 3 Control unit wiring...

Страница 39: ...s of 0 5 mm2 an overall shield contacted with the previous shields The cable wiring should be done as Figure 2 The overall shield must be connected to both the motor and the amplifier It should be not...

Страница 40: ...is input to GND to active the power stage Internal pull up 4k7 to 5V Digital input 14 GND 24V Ground of the active optocoupledENABLE potential free max 50VDC to GND External ground 15 ENABLE 24V Activ...

Страница 41: ...e CU board Power ground 3 AI Non inverted impulse A input Differential input 4 AI Inverted impulse A input Differential input 5 BI Non inverted impulse B input Differential input 6 Z Inverted zero imp...

Страница 42: ...receiver used on board is type 75175 Encoder cable wiring The GND signal should be common to the position controller and to the servo amplifier The cable connecting the position controller to the ser...

Страница 43: ...in Nr Pin name Function 9 Pin connector 25 Pin Connector 1 6 7 8 9 N C Not connected potential free 2 RX232 Transmit Data output 3 2 3 TX232 Receive Data input 2 3 4 RTS Request To Send output 6 8 6 5...

Страница 44: ...messages sent to address Nr 5 When the drive does not include the RS485 option axis selector nonexistent onlythe RS232 link is usable message constituted with address Nr 1 See 3 1 Dialogue protocol d...

Страница 45: ...E 5 24V option External Power 24VDC Max input voltage 30VDC Power Input 6 MOTOR BRAKE option Motor Brake terminal Max output current 2 5A Output 7 COMMON 24V option Ground for the external 24VDC and f...

Страница 46: ...aft will move to a stable position 4 Mark the new shaft position with a pencil at top center 5 Switch supply off disconnect the from the 2nd motor phase and reconnect the to the 3rd motor phase Switch...

Страница 47: ...torque disable and zero position The decimal point is ON when the motor turns clockwise The decimal point is OFF when the motor turns anti clockwise If the decimal point lights up during anti clockwis...

Страница 48: ...max motor speed is reached only if latched Motor link fault Resolver fault Earth fault Power module fault Parameters not OK Over or under voltage Firmware not OK Software watchdog Hardware incompatib...

Страница 49: ...d the motor See also section 4 1 of chapter D How to set the resolver shift angle parameter page 63 MOTOR THERMOSTAT N O OR N C ADDRESS 2 Type of thermal switch included in the motor 1 for a normally...

Страница 50: ...hreshold this parameter gives an information about motorload I2t threshold Address 192 The I2 t threshold P192 is defined as equal to the I2 t value when continuous drive current equals nominal curren...

Страница 51: ...en the motor speed value is equal to orhigher than 125 of the maximal speed value ADJ FACTOR SINE COSINE ADDRESS 12 Asymmetric resolver adjustment factor maximum cosine value maximum sine value Parame...

Страница 52: ...e motor MOTOR THERMOSTAT N O OR N C ADDRESS 2 0 Thermostat motor normally opened MAXIMUM MOTOR CURRENT ADDRESS 3 21790 With maximum motor current equal at the double of the nominal current IMAX_MOTOR...

Страница 53: ...r output channel A gated A 5 period of encoder output channel A gated A 6 1 period of encoder output channel A gated A ENCODER MARKER PULSE POSITION ADDRESS 19 Defines the shift between the marker pul...

Страница 54: ...eter between 0to 1023 0 1 marker pulse each revolution 1 1023 1 marker pulse each 2 1024 revolutions ENCODER OUTPUT SIGNALS EXAMPLE ENCODER MARKER PULSE WIDTH 1 ENCODER MARKER PULSE POSITION 0 With a...

Страница 55: ...nd END LIMIT SWITCHES N O OR N C ADDRESS 24 End switch 1 and 2 type normally opened or closed contact 0 1 End switch 1 bit 0 normally opened normally closed End switch 2 bit 1 normally opened normally...

Страница 56: ...or higher 2 Relay enable the relay is activated when the power stage of the drive isenabled ALARM LATCH ADDRESS 33 Bit 0 Alarm 7Over or under voltage alarm Bit 2 Alarm d Earthfault Bit 4 Alarm 2I2 t f...

Страница 57: ...s forced to 0 and the power stage is disabled after 1 136 ms WATCHDOG SOFTWARE COMMUNICATION ADDRESS 32 Watchdog for the SSI link If the drive does not receive any SSI datas during the defined time in...

Страница 58: ...reset at a chosen position 3 3 Regulation parameters 3 3 1 Configuration SPEED OR CURRENT LOOP CONTROL ADDRESS26 0 for speed loop and 1 for current loop control When speedloop is chosen the command is...

Страница 59: ...l is computed the command edges are limited for digital and for analogue command example Interpreted V command Analogue or digital command applied to the drive The Speed is not reached t Warning If pu...

Страница 60: ...Ki i i 0 e i ie N T Kd ie N 1 T ie N Last sample T Sampling time The drive values are obtained with the following equations CURRENT LOOP PROPORTIONAL GAIN KP ADDRESS 6 2000 series Kp PCURRENT I MAX V...

Страница 61: ...RENT LOOP DIFFERENTIAL GAIN KD ADDRESS8 2000 series Kd 133 10 DCURRENT Vs A I MAX 4000 series Kd 133 10 DCUR RENT I MAX Vs A DCURRENT Parameter 8 3 3 3 Speed Loop See also section 4 3 of chapter D How...

Страница 62: ...om The drive values are obtained with the following equations SPEED LOOP PROPORTIONAL GAIN ADDRESS20 Kp 4 92 10 6 I MAX PSPEED s rad PSPEED Parameter 20 SPEED LOOP INTEGRAL GAIN ADDRESS 21 Ki 3 73 10...

Страница 63: ...the parameters you need the Windows User software refer to the section 2 of chapter B Resume of Windows User functions for setting the parameters Main window Regulation loop icon Store parameter icon...

Страница 64: ...as follows D A Click on the Regulation loop icon and click on the M motor button inthe Regulation loop window D B Set the Maximum motor current to 25 of the Nominal motor current in the Motor feature...

Страница 65: ...Resolver shift angle range where the motor is running at 120 rpm The optimal value of Resolver shift angle is in the middle of the above mentioned range Functioning diagram depending of the resolver s...

Страница 66: ...dvance to 0 Maximum motor current to the max value D C Click on the Resolver button and set the Resolver Shift angle to its optimal value added or subtracted by 90 D D Click on the Current Command but...

Страница 67: ...loop Proportional Gain Kp The typical value of Kp is 100 Store the optimal value of Kp by striking F2 D H Optimize the Current loop Integral Gain Ki The typical value of Ki is 5 Store the optimal val...

Страница 68: ...ferential gain to 0 maximum speed for 10V input at max motorspeed D C Click on the Speed command button Then click on the single pulse mode button in the Automaticcommand mode window Enter A 1 5 of th...

Страница 69: ...ry the Speed loop Proportional Gain around the typical value Themotor whistle and oscillate when the gain is too high In this case decrease the gain to obtain a good behaviour stability in the whole s...

Страница 70: ...command The motor axis is toosmooth This gain is too high when the motor axis oscillates with a small speed command This gain is optimized when the motor axis doesn t oscillates and when the stiffnes...

Страница 71: ...r type see section 3 7 of chapter A Power module fault over I or overtemperature Switch off and check motor look for short circuits between motor phases Over or under voltage alarm Check main supply i...

Страница 72: ...ngaged The motor jump to a position and stay blocked Pair of motor Poles parameter P0 misadjusted Motor wiring on terminal U V W not in the correct sequence Motor noisy Check resolver cable Check sepa...

Страница 73: ...Dynamics Corp 21541 D Nordhoff St Chatsworth CA 91311 www servodynamics com These instructions have been written and checked to the best of our knowledge and belief However Servo Dynamics Corp will no...

Страница 74: ...ual Important The change of motor and feedback type is possible only with Windows user version 1 20 or higher A double click in the motor feedback box included in the toolbar of the Windows user enabl...

Страница 75: ...e ratio Speedsynchronous Speed Speedsynchronous Standard value 1 7 usually 4 is a goodvalue COSINUS PHI ADDRESS 11 The cosinus phi is given from the manufacture usually a value between 0 8 and 0 9 2 1...

Страница 76: ...ust be wired to the encoder inputs of the XENCODER connector see section 0 of chapter D 1 3 3 XENCODER wiring With encoder feedback the encoder simulation is disabled the input is directly wired onenc...

Страница 77: ...tegral gain 26 59 Proportional gain 26 59 D Digital command 29 57 Digital or Analogue command 27 57 Directionstop 27 54 Display Alarms 47 Indications 46 Segment value 29 57 Warnings 47 DOS User 19 E E...

Страница 78: ...ile 15 R Resolver 13 wiring 38 Resolver shift angle 26 64 S Serial link Dialogue examples 24 Dialogue protocol 23 Slip Factor asynchronous motor 74 Speed loop Differential gain 27 61 Integral gain 27...

Страница 79: ...232 RS485 converter description B 0 21 X Use of 2000WU exe Help can be called only by the menu or by F1 key icon removed from toolbar since version 1 20 of 2000wu B 0 21 X Update firmware with 2000WU...

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