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Programming Your Application

6-5

631 Digital Servo Drive 07-01-08-02-E-V0500

BIAS – Extended Command Overview

General Keyboard Definitions

ESC

terminate command

Alt

activate menu system

Tab

next parameter

Shift+Tab

previous parameter

Key

Function

Key

Function

online help

shift+F1

online help

shift+F2

shift+F3

shift+F4

shift+F5

PC login

shift+F6

PC logout

save all data

shift+F7

menu dependant function

shift+F8

menu dependant function

diagnosis

shift+F9

oscilloscope

F10

deactivate Servo Drive

shift+F10

activate Servo Drive

F11

select active axis

shift+F11

These commands are
only available with
firmware version 5.13
onwards.

With older firmware
versions this command
will cause the error
message "invalid BIAS-
command".

Содержание 631 series

Страница 1: ...07 01 08 02 E V0500 Series...

Страница 2: ...nt Inspection Check for signs of transit damage Check the product code on the rating label conforms to your requirement If the unit is not being installed immediately store the unit in a well ventilat...

Страница 3: ...tal damage How the Manual is Organised The manual is divided into chapters and paragraphs Page numbering restarts with every chapter i e 5 3 is Chapter 5 page 3 Further descriptions that relate to thi...

Страница 4: ...ive assembly 9 Power terminal X1 2 Product code label X15 RS232 Set up service connection EASYRIDER 3 Terminal cover X20 CAN Bus input connection 4 Diagnostic display X21 CAN Bus output connection 5 E...

Страница 5: ...N Bus or Incremental Bus using a PLC It is configured using the EASYRIDER software General General General General Operating Modes Pulse direction Input 10V velocity control Torue control Position con...

Страница 6: ...t loop speed loop position loop PLC RS232 X15 CAN Bus X20 X21 F Figure 2 2 Communications Options analog setpoint value Pos 1 Pos 2 M Synchronisation electronic gearbox 1 X CAN Bus Network 631 Unit X...

Страница 7: ...Description 1 631 Generic product 2 XXX Three numbers specifying the rated output current 001 1A 002 2A 004 4A 006 6A 3 XXX Three numbers specifying the nominal input voltage rating 230 220 to 240V 1...

Страница 8: ...les close to grounded metal parts when exiting the control cubicle Separate dirty clean and sensitive cables if possible by at least 30mm Cables should cross at 90 Avoid cable loops especially between...

Страница 9: ...1 5 9 2 8 1 4 6 9 Weight 1 5kg 3 3lb approximately 631 006 230 All dimensions are in millimetres inches Note Additional space is required to the front of the unit for the signal mating plugs approxim...

Страница 10: ...0 631 006 230 Ventilation The servo drive gives off heat in normal operation and must therefore be mounted to allow the free flow of air through the ventilation slots and heatsink Maintain minimum cle...

Страница 11: ...the certification for dangerous areas apparatus group and or temperature class of explosion protected motors Inspection and certification for the complete installation of servo motors and electronic...

Страница 12: ...nnections are for SELV only Eurotherm servo motors series ACM 2n ACR n and ACG are SELV other manufacturer s motors may not be If you use a non Eurotherm servo motor make sure that the thermistor is i...

Страница 13: ...onnel protection Use another means to provide personal safety Refer to EN50178 1998 VDE0160 1994 EN60204 1 1994 Wiring the Servo Drive Earth Connections WARNING Due to the working principle of servo d...

Страница 14: ...manently earthed using two independent earth conductors using X1 Protect the incoming mains supply using a suitable fuse or circuit breaker as shown in Chapter 11 Technical Specifications Power Detail...

Страница 15: ...nctional Earth connected to Figure 3 5 631 Control Wiring Connections Pin Type Function 1 10V Ri 10k ANALOG IN differential to pin 2 referenced to GND 2 10V Ri 10k ANALOG IN differential to pin 1 refe...

Страница 16: ...asy installation of the control cables Refer to Chapter 11 Technical Specifications for Control Terminal information Refer to Chapter 12 Certification for the Servo Drive for information on meeting ge...

Страница 17: ...erm approved servo motor This connection must be made for the 631 to control the operation of the motor The cable contains wiring for the resolver and the motor thermistor 8 9 1 7 12 10 2 6 11 3 5 4 1...

Страница 18: ...al IN SLAVE 2 mount units side by side if possible GND GND GND X40 X41 631 Incremental Out MASTER keep cables as short as possible X40 41 signals are referred to PE Figure 3 8 Application Example To s...

Страница 19: ...r Jack screened 1 8 GND Z Z B B A A 5VI X40 and X41 are identical and internally switched in parallel X40 X41 therefore wiring is very easy 1 8 GND Z Z B B A A 5VI internal connection to GND Case Scre...

Страница 20: ...pole Modular Jack screened 1 8 GND Z Z B B A A 5VI X40 and X41 are identical and internally switched in parallel X40 X41 therefore wiring is very easy 1 8 GND Z Z B B A A 5VI internal connection to GN...

Страница 21: ...odular Jack screened EASYRIDER X40 mode 2 8 pole Modular Jack screened 1 8 GND IN R IN R Out Ready Out Ready IN P IN P 5VI X40 and X41 are identical and internally switched in parallel X40 X41 therefo...

Страница 22: ...DER X40 mode 3 8 pole Modular Jack screened 1 8 GND IN P IN P Out Ready Out Ready IN P IN P 5VI X40 and X41 are identical and internally switched in parallel X40 X41 therefore wiring is very easy 1 8...

Страница 23: ...GND CAN_L CAN_H GND CAN_GND X20 and X21 are identically and internal switched in parallel with all pins X20 X21 therefore bus wiring is very easy 8 pole Modular Jack screened 1 8 CAN_GND CAN_L CAN_H G...

Страница 24: ...it is selected using the EASYRIDER software menu Commissioning General The 631 unit does not use Modes 0 and 3 If you attempt to select these the unit will default to the set up for Mode 1 speed contr...

Страница 25: ...No Description Description Description Description OPTO outputs 5 0 4 DRIVE READY 1 drive can be executed ACTIVE OK 1 power stage activated 6 OPTO inputs 7 Fixed input ACTIVE activates motor power whe...

Страница 26: ...DY 1 drive can be executed INITIALISED 1 move reference executed TRAIL CONTROL 1 position within trail window ACTIVE OK 1 power stage activated 6 0 1 3 4 POSITION REACHED 1 position within position wi...

Страница 27: ...y BIAS program TRAIL CONTROL 1 position within trail window ACTIVE OK 1 power stage activated 6 0 1 2 3 4 5 POSITION REACHED 1 position within position window INITIALISED 1 move reference executed BIA...

Страница 28: ...put Ready F0 X10 5 Warning display fault signal display motor protection max current rated current of motor Warning time approx 3 sec I 2t Nsoll Function Passive Delay recommended for motor brake use...

Страница 29: ...ated in the motor windings Enter the relevant data type tripping value in to the EASYRIDER menu COMMISSIONING MOTOR TEMPERATURE SENSOR Internal Overlaod Protection Using thermal simulation of the moto...

Страница 30: ...le Modular Jack RXD TXD GND 1 4 Female viewed on solder side 1 2 3 4 5 6 7 8 9 RXD 1 1 1 1 Receive serial sata 3 RXD TXD 2 2 2 2 Transmit serial data 2 TXD 3 3 3 3 do not connect GND 4 4 4 4 GND 5 GND...

Страница 31: ...mage to equipment Check for loose ends clippings drilling swarf etc lodged in the Servo Drive and system If possible check that the motor can be turned freely and that any cooling fans are intact and...

Страница 32: ...erts NO NO NO NO From the menu FILE LOAD PARAMETERS select and load the file called DEFAULT 631 Continue with Step 3 Motor Selection 3 From the menu COMMISSIONING MOTOR adjust the maximum current to b...

Страница 33: ...oduces a motion from Position 1 to Position 2 and vice versa with the next activation Select START Motor Observe the behaviour of the application and graph and optimise the tuning parameters P I and V...

Страница 34: ...ulting with Eurotherm engineers U2 U2 U2 U2 Stable parameters are calculated based on the system data and can be called up using the F5 key Manual tuning may be necessary Rated values can be sourced e...

Страница 35: ...e To simulate communication with the 631 product you may need to set this under the following menu Options General Options Simulated Drive Type This selection is saved when you exit the software You m...

Страница 36: ...not saved Only the command STORE ALL DATA menu COMMAND STORE ALL DATA writes the data into the servo drive s non volatile memory Data stored here is saved during power down File Figure 6 1 EASYRIDER...

Страница 37: ...ect axis number change password special function serial single command update firmware Menu system BIAS screen file edit program command diagnosis options new BIAS program undo change edit mode deacti...

Страница 38: ...6 4 Programming Your Application 07 01 08 02 E V0500 631 Digital Servo Drive BIAS Commands...

Страница 39: ...shift F4 shift F4 shift F4 shift F4 F5 F5 F5 F5 shift F5 shift F5 shift F5 shift F5 F6 F6 F6 F6 PC login shift F6 shift F6 shift F6 shift F6 PC logout F7 F7 F7 F7 save all data shift F7 shift F7 shift...

Страница 40: ...ange to the previous parameter Ctrl I Ctrl I Ctrl I Ctrl I Changing the insert mode the active mode is displayed at the bottom of the screen Ctrl L Ctrl L Ctrl L Ctrl L Inserting a label Ctrl K Ctrl K...

Страница 41: ...iagnostics Display Display Display Display Explanation Explanation Explanation Explanation Ready Ready Ready Ready output X10 5 Warning Warning Warning Warning output X10 6 Comment Comment Comment Com...

Страница 42: ...chanics stiff Requirements too high Is warning 8 evaluated overload of the motor I t Does the control loop oscillate P amplification too high Mechanics stiff Requirements too high Is warning 8 evaluat...

Страница 43: ...t on Ballast resistance usage is 90 switch off ballast on Ballast resistance overloaded trailing window exceeded Only in operation mode position control optimise parameters check mechanics trailing er...

Страница 44: ...cables Motor takes up preferred positions after activation Position encoder or motor cables with reversed poles Resolver or encoder incorrectly adjusted Number of motor poles set incorrectly config me...

Страница 45: ...tatus Memory When the unit is powered down a set of important indicators is stored in to dedicated memory This allows the last eight status conditions to displayed by the EASYRIDER diagnostic menu Thu...

Страница 46: ...owing information available The model and serial number see the unit s rating label Details of the fault Contact your nearest Eurotherm Drives Service Centre to arrange return of the item You will be...

Страница 47: ...CM469027U020 Germany RK 6300 0020 2m Sub miniature D 9 way RS232 Service Connector Cable RS232 Service Connector Cable RS232 Service Connector Cable RS232 Service Connector Cable X15 631 to PC UK LA3...

Страница 48: ...8 pairs 4TP shielded Adaptor Cable Adaptor Cable Adaptor Cable Adaptor Cable 631 X40 41 to 635 637 X40 Multi function 4 twisted pairs shielded cable UK CM469034U003 Germany KK 6310 0600 RJ45 Plug 8 wa...

Страница 49: ...0 x0 NUL DLE SP 0 P p 0 0 0 1 1 SOH DC1 1 A Q a q 0 0 1 0 2 STX DC2 2 B R b r 0 0 1 1 3 ETX DC3 3 C S c s 0 1 0 0 4 EOT DC4 4 D T d t 0 1 0 1 5 ENQ NAK 5 E U e u 0 1 1 0 6 ACK SYN 6 F V f v 0 1 1 1 7...

Страница 50: ...F 00E0 00E1 00E2 00E3 00E4 00E5 230 230 230 230 00E6 00E7 00E8 00E9 00EA 00EB 00EC 00ED 00EE 00EF 240 240 240 240 00F0 00F1 00F2 00F3 00F4 00F5 00F6 00F7 00F8 00F9 250 250 250 250 00FA 00FB 00FC 00FD...

Страница 51: ...720 02D0 02D1 02D2 02D3 02D4 02D5 02D6 02D7 02D8 02D9 730 730 730 730 02DA 02DB 02DC 02DD 02DE 02DF 02E0 02E1 02E2 02E3 740 740 740 740 02E4 02E5 02E6 02E7 02E8 02E9 02EA 02EB 02EC 02ED 750 750 750 75...

Страница 52: ...me per axis 10 frequency sweep cycle frequency sweep speed 1 minute Altitude Altitude Altitude Altitude If 1000 metres above sea level derate Motor Power rating by 1 per 100 metres Humidity Humidity H...

Страница 53: ...ampacities of thermoplastic insulated 60 C copper conductors assuming not more than three current carrying conductors in raceway or cable based on ambient temperature of 30 C The wire sizes allow for...

Страница 54: ...nt ripple Frequency of current ripple Frequency of current ripple 9 5kHz Power losses Power losses Power losses Power losses Fan internal electronic Fan internal electronic Fan internal electronic Fan...

Страница 55: ...requency Maximum input or output frequency 200kHz Maximum cable length connected to Maximum cable length connected to Maximum cable length connected to Maximum cable length connected to galvanical ins...

Страница 56: ...eter Menu Speed Control Speed Control Speed Control Speed Control Settings Settings Settings Settings Set by the Parameter Menu Differential Setpoint Input Analog Differential Setpoint Input Analog Di...

Страница 57: ...Sinewave voltage at Un Sinewave voltage at Un Sinewave voltage at Un Sinewave voltage at Un 210 230 Derating of Unr when loaded Derating of Unr when loaded Derating of Unr when loaded Derating of Unr...

Страница 58: ...to insert contactors etc re connect the screen using the shortest possible route Keep the length of screen stripped back as short as possible when making screen connections Ideally use 360 screen ter...

Страница 59: ...screened Increasing Motor Cable Length Because cable capacitance and hence conducted emissions increase with motor cable length conformance to EMC limits is only guaranteed with the internal ac supply...

Страница 60: ...en 30 and 100MHz typically the attenuation provided by a metal cabinet with no aperture of dimension greater than 0 15m using the internal ac supply EMC filter and having met all cabling requirements...

Страница 61: ...bar insulated from the mounting panel Used as a reference point for all signal and control cabling This may be further subdivided into an analog and a digital reference busbar each separately connecte...

Страница 62: ...iable Speed Drive VSD EMC output filters Input or output chokes transformers The cable between VSD and motor even when screened armoured Connections to external braking chopper and resistor even when...

Страница 63: ...n of the National Electrical Code NEC NFPA 70 Recommended Branch Circuit Protection It is recommended that UL Listed JDDZ non renewable cartridge fuses Class K5 or H or UL Listed JDRX renewable cartri...

Страница 64: ...emission and immunity performance of this unit can only be achieved when the unit is installed to the EMC Installation Instructions given in this manual According to S I No 2373 which implements the...

Страница 65: ...2 Third party testing to a relevant standard 3 Writing a technical construction file stating the technical rationale as to why your final machine system is compliant An EMC competent body must then a...

Страница 66: ...neric Standards Generic Standards Generic Standards Generic Standards enclosure enclosure enclosure enclosure Immunity only EN50082 1 1992 see below for referenced standards Residential supplied direc...

Страница 67: ...cal transients burst e g from opening contacts in inductive circuits IEC1000 4 3 Electromagnetic fields e g from portable telephones IEC1000 4 5 Voltage surges e g on local lightning strikes ENV50140...

Страница 68: ...echnical competence in EMC requirements of drives Conducted RF Emission Class A performance premises Immunity See below for referenced standards SECOND SECOND SECOND SECOND ENVIRONMENT ENVIRONMENT ENV...

Страница 69: ...ND EN50082 1 1998 AND EN50082 2 1995 EN61800 3 1996 EMC CHARACTERISTICS STATED IN MANUAL EMC INSTALLATION GUIDELINES STATED IN MANUAL CEMEP VALIDITY FIELDS 2 3 AND 4 NO EMC CE MARK APPLIED TO E D MODU...

Страница 70: ...n the unit is used as a component We Eurotherm Drives Limited address as below declare under our sole responsibility that the above Electronic Products when installed and operated with reference to th...

Страница 71: ...s is possible by using a feed back system which senses the rotor position e g by Resolver Using Line Chokes Line chokes are not required to limit input current to Eurotherm Drives Servo drives Line ch...

Страница 72: ...Total Inertia Data RL 0 3 Ohm Speed at Brake Start Braking Time Cycle Time Cable Resistance Braking Current Ib 3 2A Motor Resistance Rph 3 6 Ohm STEP 1 Calculating actual brake power an approximation...

Страница 73: ...is case required in this case required in this case required in this case Refer to the Chapter 9 Accessories In case of insufficient capability of the internal brake resistor an external resistor must...

Страница 74: ...on of required motor terminal voltage for a specified motor speed up to 3000rpm Ukl 1 2 EMC n 1000 I Rph RL Volts where Ukl Required motor voltage V rms EMF Back EMF of motor V rms 1000 rpm Rph Resist...

Страница 75: ...rent Demand Nist Speed Feedback Position POS Speed PWM 6 6 IV IGBT IGBT UCC 0VP DC DC Filter DC AC Soft start RS232 PTC NTC DBR1 DBR2 X10 X10 Analog Input A D Converter Setpoint Processing Configurabl...

Страница 76: ...y V1 initial 02 10 98 PL V02 47PL98 berarbeitet 12 16 11 98 SA V03 16PL99 berarbeitet alle all 22 04 99 PL GV ST V04 21PL99 neues Thema f r 3 25 05 99 PL ST Kapitel 3 neues Kapitel 3 4 Text nderung 5...

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