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User Manual Servoconverter ND 31

1. Internal brake chopper resistor 2 iB intBAL Ballast switching 3B BAL Open 4 Transformer One phase power supply Power supply max 230 VAC 5E1 P1 open Power supply max 230 VAC 6 E2 P2 N Power supply max 230 VAC 7E3 P3 L Intermediate circuit 8 Z ZKS Intermediate circuit 9 Z ZKS Motor connection 10 A3 C Motor connection 11 A2 B Motor connection 12 A1 AE Ground 13PE PE Ground 14 PE PE Motor temperature probe 15 T1 TempMot Motor temperature probe 16 T2 TempMot Notes If the motor temperature probe is wired with the motor cable please connect here SBL SBK motors refer as follows A gt U B gt V C gt W ND31 UM0998 21 7 Lenord Bauer Cross Section of the Power Supply Cable Isolation Fuselage Motor Connection 22 Electric Loading 451 If the built in brake chopper resistor should be used please insert a wire bridge between pins 2 and 3 If you would like to use the external brake chopper do not insert a wire bridge between pins 2 and 3 Connect the brake chopper resistor at pins 1 and 3 The ND31 converter can be used with a max power supply of 230VAC If you would like to operate the converter in the 400VAC mains please use an appropriate transformer Type ND31 3202 3204 3207 3212 Main supply 4 x 1 5 1 5 2 5 2 5mm Motor connection 4 x 1 5 1 5 2 5 2 5mm without brake Inner circuit bus 2 x 1 5 1 5 2 5 2 5mm Brake
2. Lenord EcoServ ND 31 Bauer User Manual Servoconverter ND 31 Subject to change without notice Lenord Bauer amp Co GmbH DohlenstraBe 32 Fax 49 208 676292 D 46145 Oberhausen 09 98 Tel 49 208 9963 0 E Mail info lenord de orion mares Hl Internet http www lenord de AUY Co Lenord Gauer INDEX NS e CU EE 5 1 1 About this Documentation 5 1 2 Customer Sei ici ida 6 A ee ale te eat nb pe va alee 6 UE le Lu 6 2 General Safety Remarks J eege eege ege 7 2 A tele e EE 7 2 2 Organizational Measures L L canecarea narra aaaaaaaneanas 8 2 Safely EE 8 A O O 8 2 5 Contact Protection Compact Device teares 9 2 06 19 Drawer Devi iii a a ENEE EES EE 10 3 Functional Description 1 idas 12 Ho Fit Pal gt EE 12 SrePOWSL SUPP VE 12 3 3 Automatic Control Part EE 13 4 Technical Data voii ENNEN GENEE 14 4 1 Nomenclatures ur n ii u non ar n an nn anar Su uu uk ES 14 Ao Electrical EE 15 4 2 1 Power Supply Conneclion a 15 4 2 2 Intermediate Circuit and End Amplifier 16 4 2 3 Ballast Swithin retis na E ENNAN 17 4 2 4 Ventilation Compact Device a 18 4 2 5 Usable Connectors e u L e e pu a a aa aa aP waku 18 4 2 Ee A E A AEA A ukya tea T 19 4 3 Mechanical Date 2 Q u a aid 19 Z E En ET EC 19 4 32 WEO EE 19 4 3 3 Environment Conditions 19 5 aa v5 T T
3. Motor load 480 480 480 1320 uF 4 50 60 f 100 ND31 UM0998 ND31 UM0998 gt Lenord Gauer Remaining voltage loss with 4V rated current End amplifier tact frequency 9 76 x 9 76 x 9 76 x 9 76 kHz Motor tact frequency 19 5 19 5 19 5 x 19 5 kHz Rated current Tu 25 C 2 4 7 12 Ao Peak current Tk 25 C 4 8 14 24 Aet Maximum output current in relation to the cooler temperature Temp 35 55 65 75 185 C 3 1 6 1 10 6 E E Stee Cette ete Peete eee RO CN othe u 1 As long as the cooler temperature remains at the given value these currents on 3202 3204 and 3207 are valid without time limitation On 3212 the peak current is limited after 5 seconds Note With good external venting and an environment temperature of 40 C and 7 Aen motor current the cooler reaches a temperature with ND31 3207 of approx 75 C 4 2 3 Ballast Switching Continuous duty loss Internal ballast 34 W switching with external venting 68W Internal ballast 68 W switching ND31 3204 with external 3207 and 3212 venting 130W External ballast max 500W switching for ND31 3203 2 A device External ballast max 2kW switching for ND31 3204 3207 2 Aand 4A device Pulse power ballast ND31 3202 2A 2 5 kW switching device 7 Lenord Bauer ND31 3204 ND31 5 kW 3207 4 A and 7 A devices ND31 3212 12 A 8 kW device Maximum b
4. permissive when the device is under current Power is only to be connected to the ND31 when all plugs are protected against slipping by screwing them to the 19 frame or the ND31 Working on the plugs of the ND31 or the 19 frame is not permitted as long as the ND31 is under current Working on the connections is only to be performed by a qualified electrician e The removal of the ND31 from the 19 frame is only to be performed in a power down situation and from a trained electrician Before the ND31 is first turned on a check is to be made for proper seating and all cables are to be checked for proper isolation This is to be repeated at each maintenance interval of the machine Loosened screws are to be re tightened e The connection area on the back panel of the 19 frame must be protected against accidental contact Cables leading to movable components in the machine must be protected against being pulled out of the 19 frame ND31 UM0998 ND31 UM0998 gt Lenord Gauer Requirements Protection by isolating active components Draft DIN VDE 160 Section 5 2 3 e A minimum of basis isolation of the active components against the metal housing is provided The 19 housing must be grounded Grounding is performed by using the screw provided on the housing of the 19 drawer e A wire with a diameter gt 10 mm CU is required for grounding e The 19 frame the side post of the frame the cover plate the
5. 6 is setto 1 After triggering the time programmed in scope_counter expires Then recording is stopped automatically and Bit 7 is set to 1 The recorded data are now available in the 256 bytes FIFO memory of the scope _FIFOdat H FF83 Each one date byte is read per read access Thus 256 read accesses to the _FIFOdat address will empty the scope memory The data of Signali and Signal2 are output alternately 12 11 7 Auto Trigger Recording without trigger is possible if Bit 7 of scope_status is set to O during the recording procedure and afterwards set to 1 again 12 12 Resolver Auto Adjustment ND31 offers the possibility of establishing the resolver adjustment automatically This is useful if an unknown motor shall be installed with the ND31 Conditions e Pole number and phase position of the motor are known e Current and speed regulators must swing e The intermediate circuit is loaded and the hardware signals Enable and Start are present Procedure Enter the value H 80 into the control byte RautojuCSR H FE6E Now the power stage is enabled automatically and a DC current is supplied to the motor The motor goes into a privileged position After 10 seconds the position is measured and the resolver angle is calculated from this This value is directly entered into PhiPo H FEFO The function is terminated when RautojuCSR 0 12 13 Brake Function For special applications it may be
6. Byte no sign range H 02 H 04 H 06 H 08 H 0A H oC The new number of motor poles can only be activated after a reset ND31 UM0998 Co Lenord Gauer 12 8 Signal Inputs and Outputs 12 8 1 Digital Signals Read Inputs There are two ways to read the digital inputs of ND31 Either by reading directly the below mentioned memory cells or by setting an input word Table of the digital inputs of ND31 Reading Directly Digital Input Memory Cell Bit Port X3Pin OV oe mesas ro sz jaa sae Tae SCH GPIN2 H FFBF 1 8 A24 mi GPIN3 H FFBF 0 8 A27 Sb GPIN4 H FFBB 3 6 A25 EI GPIN5 H C405 7 X A26 ne GPIN6 H FFB7 3 4 A21 q GPIN7 H FFB7 5 4 A23 dw GPIN8 H FFBB 0 6 A32 Ep GPIN9 H FFBB 2 6 A33 q GPIN10 H FFB7 2 4 A22 q Input Word The input word GPIN H FE0C contains the mode of the digital input and will be renewed every 1 ms GPIN Address H FEOC E E E E A NN Tast5 Tast6 Tast7 Tast8 I GPIN10 GPIN9 SSS DT DT TTT TTT TTT TTT TTT OPINE GPINT GPING GPINS OPINA GPINS GPIN2 EN Outputs There are 2 ways to set the digital outputs of ND31 1 By describing of the memory cells mentioned below Here only the corresponding bit can be changed The bits left have to retain their mode 2 By setting an output word Table of the digital outputs of ND31 ND31 UMO998 77 7 Lenord Bauer 78 Writing Directly Output Word Mask of the Outputs Digital Output Memory Cell
7. Fuselage e Emergency Power off Installation as described in Section 6 4 Emergency Power Off Concept ND31 ND31 UM0998 ND31 UM0998 gt Lenord Gauer e Ensure that proper grounding is provided e Make all connections in accordance with Chapter 5 Pinning e Do not disassemble the device Do not make any changes to the device Repairs may only be made by the manufacturer During set up abide to all safety regulations and ensure that safety features are provided 2 5 Contact Protection Compact Device Requirements Protect against dangerous body current Draft DIN VDE 160 11 94 Section 5 2 The following measurements are necessary to fulfill the requirements above e Pulling or inserting the plug of the ND31 is to be non permissive when the device is under voltage Power is only to be applied to the ND31 when all connections screwed to the ND31 are protected against accidental slipping Working on the plugs of the ND31 is not to be performed when the device is under voltage All connection are only to be made by a qualified electrician e Opening the housing is not allowed e Before the power supply is switched on for the first time ensure all cables have been checked to confirm proper isolation of all wires e This is to be repeated at each maintenance interval Loose clamps are to be retightened Ensure cables to moveable components connected to the ND31 are relieved of tension Protected by isolating a
8. command Internal parameter CAN Parameter Internal parameter Reference drive internal velocity In Position Window Actual value setting Increments Actual value setting revolution 61 7 Lenord Gauer 62 Address Oxfede Oxfee0 Oxfee2 Oxfee4 Oxfee6 Oxfee8 Oxfee9 Oxfeea Oxfeee OxfefO Oxfef2 Oxfef4 Oxfef6 Oxfef7 Oxfef8 Oxfef9 Oxfefa 0xfefc 0xfefe 0xff00 0xff01 0xff02 0xff03 0xff04 0xff05 0xff06 0xff07 0xff08 0xff09 Oxff0a OxffOb 0xff0c 0xff0d 0xff0e 0xff0f 0xff10 0xff11 Bytes ch N N N HA A N N N N YD N NND PE E E Se Ce feck eck eck A E E A w E RS sch Designation RefV1 RefV2 RODinM nMax ps v0 CANinitBTRO CANinitBTR1 TCycle FlVerrundung PhiPO Anin1 Offset Impulszahl nSollFilter Pole iKp iKi Rampe Rampe SchRampe InitlOM1 MaxTempMot ResolvKomp emk0 NB Init Feedback FICSR bank CANSlaveBit8 CANSlaveBO CANSlaveB1 CANSlaveB2 CANSlaveB3 CANSlaveB4 CANSlaveB5 CANSlaveB6 CANSlaveB7 CANCFG Description Reference drive velocity 1 Reference drive velocity 2 Internal parameter Maximum inertia Positioning velocity CAN Parameter CAN Parameter Internal parameter Internal parameter Resolver adjustment Offset analogue input 1 Impulse number of the encoder emulation Nominal value filter Motor pole number Current regulator P compo nent Current regulator compo nent Acceleration ramp Braking ramp Quick stop
9. ventilator draw and the front panel are separated from the active components of the ND31 by double isolation Periphery plug X3 See Section 2 5 Contact Protection Compact Device Resolver plug X2 See Section 2 5 Power plug X1 See Section 2 5 Bus Connection X4 and X5 See Section 2 5 11 7 Lenord Gauer C 12 Servo Converter Inputs and Outputs Setting Up NOVOBUS CAN Bus ircuit Connector DC Circuit 3 Functional Description 3 1 General The ND31 is a servo converter for permanently active synchronized servo motors The ND31 is equipped with all the usual control and signal inputs and outputs such as enable regulator ready signal limit switch etc Setting up the ND31 is performed with a laptop PC The memory oscilloscope function built into the ND31 offers the possibility to display all nominal and actual value courses of the current torque speed and rotor position on the laptop monitor without excessive measuring techniques This makes adjusting the ND31 very easy since the effects of parameter change can immediately be evaluated Parameters are stored in the ND31 and saved on a disc Parameter lines can be repeatedly copied to other ND31s Drives can be connected with a controller via NOVOBUS A ring shaped wiring is required Hardware components are not required The transmission medium is the standarized serial interface RS232 or RS485 Additionally Novotron offers the CA
10. A Read Only 1 Self test active 1 CAN controller 1 8 KB RAM 0 128 KB RAM 1 reserved Device Rated Current 2A 4A 7A 12A 0 1 0 1 0 0 1 1 0 0 0 O 0 0 0 O This is a read only byte Remarks Bit 0 1 Self test when switching on active Bit 4 7 Device rated current referring the above table 12 3 3 The Byte Feedback HAM Parameter Address H FFO5 The byte can be read and written Bit Resolver Encoder Hall and Encoder Sinus Encoder 1 Switching over to 18 000 revs min 1 Change direction Remarks Bit0 5 With these bits the feedback system can be programmed Bit 6 Adjustment of the ND 31 speed range to 18000 rpm After wards the regulator parameter and the EMF has to be re adjusted ND31 UM0998 Inertia Speed Regulation ND31 UM0998 gt Lenord Gauer Bit 7 With this bit the spin direction of the motor can be changed If the motor is supposed to be running in the positive direc tion however is running negative this can be corrected by changing Bit 3 12 3 4 The Byte Betriebsart RAM Parameter Address H FF2A The byte can be read and written 7 6 5 4 3 2 1 0 Supplement C Nominal Value Source B Control A With the byte Betriebsart the nominal value source and the size which has to be regulated can be adjusted For the effective use a reset has to be released By programming these bytes for a reset the corresponding pointers are set If this is not required plea
11. But they can be read through the NOVOBUS commands 12 2 1 RAM Memory Address 0x01e0 0x01e2 0x01e4 0x01e6 0x01e8 0x01ea 0x01ec 0x01ee 0x01f2 0xc016 Oxf000 Oxf001 Oxfe00 Oxfe0a 0xfe0c Oxfe10 Oxfe12 Oxfela Oxfetc Oxfete Oxfe20 Oxfe2a Oxfe2c Oxfe3a Oxfe3c Oxfe3e Oxfe40 Bytes A N NN N N N N N N N PD a N N N N N N PY Designation Tabelle PS21 Referenz PSA Feininterpol dummy msollAn Setlstwert Nullsuche TopZero _laist _ibist errorcode GPO GPIN Warning nsollF Flsoll VzSchlinc VzSchlUmdr Phil ps umdr ps imp Tabelle CANinputi CANinput2 CANinput3 Description Table Interpolation Relative positioning Reference drive Absolute positioning Fine interpolation Dummy address Inertia command Actual value setting Referencing Internal parameter Motor current actual value phase A Motor current actual value phase B Error code Output word digital outputs Input word digital inputs Internal parameter Internal parameter Internal Parameter Slipping distance increments with prefixes Slipping distance revolution with prefixes Internal parameter Revolution counter for relative positioning Impulse counter for relative positioning Table first address only table interpolation CAN Parameter CAN Parameter CAN Parameter 59 7 Lenord Gauer 60 Address Oxfe42 Oxfe44 Oxfe46 Oxfe48 Oxfe4c Oxfe4e Oxfe50 Oxfe52 O
12. Cable Cores have to be shielded in pairs Note In the following please find the pinning for Novotron motors For divergent pinnings for other motor manufacturers see Resolver Pinning Solder bridge BR31 BR32 BR33 BR34 open Connector 15 pole HD DSUB sleeve device sided pin contact cable sided Shield Cable housing D Sub HD Pinning Pins Pinning Temperature probe Temperature probe Rotor R1 Stator S2 Stator S3 Stator S4 Stator S1 Rotor R2 Resolver cables have to be twisted and shielded in pairs L tze Superflex C Y PUR Kombi Order No 111094 usable for C tracks oilproof L tze Electronic LIY C Y C Y Kombi Order No 110652 oilproof 5 4 Peripheral Equipment Connection X3 Cables corresponding to VDE 0113 paragraph 14 are to be used for the analogue nominal value the frequency direction standard and the encoder emulation Shielded cables are required 68 pole SCSI2 Sleeve contacts device sided pin contacts device sided ND31 UM0998 Al A34 B1 X3 B34 ND31 UM0998 Pinning Analogue Input Analogue Input Sensor Input A Sensor Input B Analogue Output 1 Ready for Operation Relay Ready for Operation Relay N Encoder Emulation N Encoder Emulation B Encoder Emulation B Encoder Emulation A Encoder Emulation A Encoder Emulation 5V N Encoder Input N Encoder Input B Encoder Input A Encoder Input B Encoder Input A Encoder Input GPIn 6 G
13. H FEE4 Format Word Scale See previous section 12 5 4 Ramps The ramps are to be programmed by the user The quick stop ramp will be used with a stop command hard or software Acceleration ramp Rampe Address H FEFA Braking ramp Rampe Address H FEFC Quick stop ramp SchRampe Address H FEFE Data format Word Scale Ramp 0 1466 n t with n rpm t s Example If the speed of 1000 rpm should be achieved in 10 ms there is Ramp 0 1466 1000 0 01 14660 H 3944 To use the programmed ramp the pointer Rampe H FEA8 has to direct to Rampe H FEFA Rampe H FEAA to Rampe H FEFC and SchRampe H FEC4 to SchRampe H FEFE 12 5 5 Tracks Nominal values can be programmed by the user Rotor position nominal value LagesSoll Address H FE54 Rotation nominal value UmdrSoll Address H FE56 Rotor position actual value Lagelst Address H FE7C Rotation actual value Umrdlst Address H FE7E Data format Umdrsoll and Lagesoll as well as Umdrist and Lageist form a 32 bits Double Word in the two s complement ND31 UMO998 73 7 Lenord Gauer 12 6 Temperatures 12 6 1 Cooler Temperature These values can only be read The limit value will be compared with the cooler temperature which will be measured at three places of the ND31 If the cooler temperature is higher than the programmed limit value the power stage switches off with the error message H 40
14. both contactors is required Before separating ND31 from the motor please note that ND31 has to be blocked If necessary the switch off of contactor K2 has to be prolonged by taking adequate measures until braking has been finished and the regulator stops 39 7 Lenord Gauer The requirements for a reliable isolation between ND31 and the motor is a complete operation area for the ND31 which guarantees that in case of an emergency power off the contact with current carrying parts at the ND31 is excluded ATTENTION Contactor K2 must be able to switch a direct current which is adequate to the peak value of the peak current of ND31 40 ND31 UM0998 ND31 UM0998 Co Lenord Gauer 7 Designing a Drive Unit In this chapter you will learn how to find the proper drive unit for a specific usage In the given calculation example you will see how to select the proper drive for your needs 7 1 Electrical Design Question Cana motor with a defined torque selected for ND31 achieve a certain speed with this torque Example An application requires a torque of 12 Nm for acceleration and that a speed of 2600 rpm should be reached with this torque Itis to be tested whether this acceleration can be achieved with ND31 3207 and a motor with the following specifications The motor shows an instantaneous standstill torque of 6 8 Nm and may be overloaded 5 fold for quick acceleration The torque constant is 0 34 Nm A The motor has 6 pol
15. chopper resistor 2 x 1 5 1 5 2 5 2 5mm All cables shielded The used cables and wires must have a double or reinforced isolation between core and surface Draft DIN VDE 160 11 94 5 3 1 1 Type ND31 3202 3204 3207 3212 3 phases 230VAC 3x4A 3x8A 3x14A 3x24A inert inert inert inert 1 phase 230VAC 6A 12A not not inert inert possible possible If several drives are to be fused together for the whole you have to count the sum of each device The motor has to be connected with a shielded cable on connector X1 of ND31 The cable shield has to be based on ND31 and the motor the shield is based on both sides On The assigned cable clamps have to be used on ND31 The wire cross section can be interpreted according to the expected motor current See VDE 0113 German issue of EN 6204 Rated cross 0 75 1 00 1 50 2 50 4 section mm mm mm mm2 mm2 ND31 UM0998 Brake ND31 UM0998 Chopper Resistor Co Lenord Gauer The used cables and wires must have a double isolation between core and surface Draft DIN VDE 160 11 94 5 3 1 1 For the cable ends cable end sleeves with isolation in the corresponding size have to be used The connection area has to be fused against accidentally touches Before switching on the supply voltage please ensure that the fitting of all cables have been controlled and examined as well as the isolation of all cable ends The earthing connection has to be made on the therefore assigned earthi
16. machine in which it is installed 7 Lenord Bauer 1 2 Customer Service Lenord Bauer amp Co GmbH DohlenstraBe 32 D 46145 Oberhausen Telefon 49 208 9963 0 Fax 49 208 9963 201 1 3 Designation ND 31 32XX XS XXX 000 0 no table interpolation 0 8k memory 0 Resolver 0 NOVOBUS 1 CAN Bus 0 reserved 0 reserved S sinus shaped commutation V 19 module X compact device 02 2A power module 04 4A power module 07 7A power module 12 12 A power module 32 320 V intermediate circuit voltage device series 1 4 Rights IBM is a registered trademark of the IBM Corporation 6 ND31 UMO998 Wiring Saftey Components Emergency Power Off Electrolytic Capacitor Voltage On and Off Switching Order of Switching On EcoServ ND31 ND31 UM0998 Co Lenord Gauer 2 General Safety Remarks There are operating voltages in the ND31 that can be fatal Therefore check the wiring of the ND31 before switching it on Ensure that all plugs are properly inserted and grounding has been properly performed Ensure that no voltage carrying parts can be accidentally touched and all safety components of the ND31 are present and properly connected Provide an Emergency Power Off switch so the motor can be switched off at anytime After power off the electrolytic capacitor takes approximately one minute to unload This means One minute after power off fatal voltages are
17. or tdelay tscan for tdelay lt 0 Example tscan 1 024 ms scope timer 2 tdelay 20 ms gt 19 20 ms 1 024 ms 19 53 scanning spots shall be recorded before the trigger time and 237 scanning spots after it scope delay 19 H 13 scope_counter H 0100 H 13 H 00ED 12 11 5 Scope Status The scope_status byte H FF7A controls recording Bit 7 Shows the status of the oscilloscope 0 recording active 1 recording inhibited Bit 6 Shows the trigger status 0 no trigger 1 triggered Bit 5 Trigger status initialized with 1 Bit 4 Trigger edge Bit 3 0 reserved 0 Bit 7 is automatically set to 0 at the end of the recording procedure A recording procedure may also be stopped by setting Bit 7 to 0 12 11 6 Recording Procedure When recording is stopped programme scope_delay and scope_counter with the necessary values scope_status with H 20 for a negative triggering edge or with H 30 for a positive triggering edge With that recording is started First the delay time expires Then the trigger condition is evaluated scope_status byte Bit 5 is switched to 0 as soon as the signal falls below the triggering threshold for a positive triggering edge or exceeds the triggering threshold for a negative triggering edge 83 7 Lenord Bauer 84 Bit 5 is setto 1 again as soon as the triggering threshold is passed through once again thus generating the trigger signal Bit
18. ramp Internal parameter Maximum motor temperature Resolver compensation EMK of the motors Baud rate NOVOBUS Feedback system Internal parameter Internal parameter CAN Parameter CAN Parameter CAN Parameter CAN Parameter CAN Parameter CAN Parameter CAN Parameter CAN Parameter CAN Parameter CAN Parameter ND31 UM0998 ND31 UM0998 Address 0xff12 0xff14 0xff15 0xff16 0xff17 0xff18 Oxffla Oxffic Oxffie Oxff20 Oxff2 1 Oxff22 Oxff23 0xff24 0xff26 0xff27 0xff28 0xff2a 0xff2b 0xff2c 0xff2e 0xff2f 0xff30 0xff31 0xff32 0xff33 0xff34 0xff35 0xff36 0xff38 0xff39 0xff3a Bytes 2 1 N N N N A A A N N ch gt Lenord Gauer Designation AnOut2 AnOut2Fakt AnOut2Offs CANTimeout FKSteuerung KommSpurOff Polabstand Impulslaenge KommLaenge AnOutConfig MotConfig Anin2Fakt AnIn2Offset AnOut1 AnOutOffs AnOutFakt Lagelst Betriebsart RefUmdrH Schleppfehler Omax LKd LKp nKd nKp nki MaxBalCnto mMax mMax16 CANservice CANmaster CANslave Description Pointer to the address for analogue output 2 Scale factor for analogue output 2 Offset for analogue output 2 CAN Parameter Internal parameter Internal parameter Internal parameter Internal parameter Internal parameter Analogue output configuration byte Motor configuration byte Scale factor analogue input 2 Offset analogue input 2
19. thas nee 69 12 4 2 The Byte Freigabe u nia tata neta eee a 69 12 4 3 The Byte NBcOMTOL AA 70 12 4 4 The Byte CANcontrol aa 70 12 4 5 The Byte NB I uy E S eege 71 12 5 Actual Nominal and Limit Values a a a 71 2 S Re IC EE 71 125 2 Ho Lo EE 72 EE ET 72 123A alipay E 73 12 9 5 TRACKS site Dee i a Ata ee a ee Sack eut 73 Te Wl 74 12 6 1 Cooler Temperature EE 74 12 6 2 Motor Temperalture serasa cnn nnnnn cnn nnnecnn canas 74 Edel TEE 74 12 7 1 Current Regulator nn 75 12 7 2 EMF Compensatltion l aa 75 EE 75 12 7 4 Speed Hegulaior u u a aa aaa a da uwa iaai 76 12 7 5 Position Regulator u L u a aa aaa crac 76 12 7 6 Resolver Adjustment cion gripe reve EES 76 12 8 Signal Inputs and Outpute u u U anann u S A u Ma usai 77 12 81 Digital Signal Siini a aa iaaa da dida 77 12 8 2 Analogue Outputs na 79 12 8 3 Encoder Emulation ieirik pee EE ENEE rr 80 129 Drive Tut EE 80 12 9 1 Serial Number 80 12 9 2 Operating Hours siisii earann aeaaea aa peiiini daada iaai nans 80 12 10 Controlling the ND31 via NOVOBLUSS cnn 80 12 10 1 Operating States 81 12 1 0 2 Erro Condition EE 81 EW Re ele ee 81 1241 4 Signal Selections sciatica i Ai ei On tees 81 1241422 Time E 82 12 11 3 Triggering Tbresbold AA 82 1211 4 guter RE 82 1211 5 SCOpe StalUS cian runa 83 12 11
20. the memory of ND31 H FEOO H FE7F RAM H FEAO H FF7F RAM Command H C8 DO Di D2 D3 AddrL AddrH CheckSum Answer HC8 DO Di D2 D3 AddrL AddrH Checksum The data bytes are labelled with DO LSB D3 MSB 56 ND31 UM0998 gt Lenord Gauer 11 3 Bit Manipulation and Logical Commands AND And Sends a logical AND bit for bit into the memory of ND31 RAM RAM amp Data AddrH has not to be given as the logical commands only refer to the memory range from H FFOO H FF00 H FFFF RAM Command H A4 Data AddrL Checksum Answer H A4 Data AddrL Checksum OR Or Sends a logical OR bit to bit into the memory of ND31 RAM RAM or Data AddrH must not be given as the logical commands only refer to the range of memory from H FFOO H FF00 H FF7F RAM Command H A5 Data AddrL Checksum Answer H A5 Data AddrL Checksum 11 4 Input Output Commands Not yet available 11 5 Reset H8 Reset Releases a reset of the ND31 operating program Every data which has not been saved in the EEPROM will be lost Command H DD H 21 Checksum Answer HDD H 21 Checksum ND31 UMO998 57 7 Lenord Gauer 58 RAM Memory 12 Set up and Output Capabilities of the EcoServ In this chapter you are informed about the set up capabilities of the EcoServ In addition explanations of readable parameters are provided Parameter settings affecting the control circuit can only be made when you have a complete un
21. wire 2 RS232 TX CAN L RS232 DTR CAN H GND ND31 UM0998 Co Lenord Gauer 5 5 2 Serial Interface Input Plug X5 Cable Standard RS232 or RS422 485 cable shielded Plug 9 pole D Sub socket contact at ND31 pin contacts at the cable Pinning Signal Pins Signal RS422 Ain RS422 Bin Return wire 1 Return wire 2 RS232 RX CANL RS232 DTR CANH GND NOVOBUS with RS232 Drive n Drive O 25pol9pol X5 X4 x5 X4 8 1 1 1 1 1 6 6 6 6 6 3 2 2 2 2 2 4 7 7 7 7 7 2 3 3 3 3 3 5 8 8 8 8 8 20 4 4 4 4 4 22 9 9 9 9 9 7 5 5 5 5 5 COM ND31 ND31 Notes Pin 8 and 9 connect the drives at the same time with the CAN bus Only drive n has to be adjusted to RS232 The communication with the rest of the drives can be managed by RS422 RS485 ND31 can be used as an interface converter ND31 UM0998 31 7 Lenord Bauer 32 NOVOBUS with RS422 RS485 yTD RD Drive n X5 X4 RD TD VRD R a GND PC mo RD Drive 0 X5 TD RD ND31 TD 6 ID ND31 The receiving line in the controller must be terminated with a resistor R 100 120 Q ND31 has an integrated resistor 5 6 Fan Connection A 2 pole Combicon Plug c
22. with the Setting Up Software the drive is blocked after a Reset 12 4 3 The Byte NBcontrol RAM cell address H FF52 The byte can be read and written 7 6 5 4 3 2 1 0 Bit 1 Novobus Block 1 Hold O reserved O reserved O reserved O reserved O reserved 1 Novobus Stop With byte NBcontrol the drive can be blocked and stopped via the NOVOBUS 12 4 4 The Byte CANcontrol RAM cell address H FFF3 The byte can be read and written 7 6 5 4 3 2 1 0 Bit CAN Block reserved reserved reserved reserved reserved reserved CAN Stop With the byte CANcontrol the drive can be blocked and stopped via the CAN bus O OO OO O OO OO ND31 UM0998 ND31 UM0998 Co Lenord Gauer 12 4 5 The Byte NB Init RAM cell address H FF04 The byte can be read and written With this byte the Baud rate of the NOVOBUS can be adjusted At the moment 19200 and 38400 Baud are possible 7fopspefafafifo en X X X X X X 0 0 38 400 Baud X X X X X X 0 1 19 200 Baud A change of the Baud rate will be effective after the first reset Afterwards the Setting Up software with the new Baud rate has to be started again as command line parameter e g ND31 19200 12 5 Actual Nominal and Limit Values 12 5 1 Current 12 5 1 1 Actual and Nominal Values These values can only be read Motor current actual values _iaist Address H F000 _ibist Address H F001 3204 A A PFET TTIE EEEF T A per bit Data f
23. 0 Cooler temperature TO Tempo Address H FFF8 Cooler temperature T1 Tempi Address H FFF9 Cooler temperature T2 Temp2 Address H FFFA Cooler temperature T3 Temp3 Address H FFFB Data format Byte no prefixes 1 Scale C tl 3637 272 5 In _ 0 1 Temp0 1 3429 298 12 6 2 Motor Temperature The motor temperature actual value can only be read The motor temperature limit value can be read and written Temperature threshold MaxTempMot Address H FFO1 Motor temperature MotTemp Address H FF54 Data format Byte no sign Scale 1 Bit corresponds to 58 75 Q The motor temperature can be calculated by the characteristic of the built in sensor of the motor When using a motor with a normally closed contact enter the value H FF in MaxTempMot 12 7 Regulator Parameter Every regulator parameter can be changed by the user 74 ND31 UM0998 ND31 UM0998 gt Lenord Gauer 12 7 1 Current Regulator ND31 works with a PI current regulator P component ikp Address H FEF8 component iki Address H FEF9 Data format Byte no sign 12 7 2 EMF Compensation The EMF compensation performs a pre controlling of the voltage to compensate the counter EMF of the motor EMF compensation emko Address H FF03 Data format Byte no sign Scale emk0 2 75 V voltage radiant of the motor in V 1000rpm 12 7 3 Filter 12 7 3 1 Tacho Filter With the tacho filter itis possible to filter the actual speed v
24. 01 02 03 00 00 01 02 03 00 00 01 02 03 FF FF FF FF FF 4 44 44 4 44 72 72 72 7 72 4C 40 4C 4C 4C 4 4 Ai Ai 41 88 88 88 38 88 FD FE FF 0 01 CO CO CO CO CO 13 13 13 13 13 FE FE FE gt 88 88 Di Di DI Ap A5 FF 44 72 AC 41 88 60 co 13 88 A5 ND31 UM0998 ATTENTION ND31 UM0998 Co Lenord Gauer Remarks The drive detects an error b The drive detects that the preceding drive is in error mode The drive detects the first byte of the checking sequence gt Answer byte in a transmission contents of the memory cell New check sum After the check sequence the bus is again ready for operation 9 9 Time out Error This function is not available in the present version If a byte is not received within at least 10 ms a time out error has occurred This function can be switched off When a time out error occurs the drive turns into error condition and waits further 10 ms to allow other drives to detect the time out error and react accordingly After this waiting period the drive begins to send zero bytes The other drives detect the error at least after the 8th H 00 and then increment the received bytes The Master receives the address of the error source Example Disconnection between axis 3 and axis 2 fi Master gt Slave3 X Slave2 gt Slavel gt Slave0 Slave2 00 00 00 00 00 00 00 00 00 Slave 00 00 00 01 01 01 01 01i 01 Slaven 00 00 01 02 02 02 02 02 02
25. 0V Resolution 8 Bit Sensor A Input Plug X3 68 pole SCSI 2 Pin A3 Sensor A Input Plug X3 68 pole SCSI 2 Pin B16 Sensor input B Plug X3 68 pole SCSI 2 Pin A4 5 4 2 Analogue Output The analogue output is not short circuit proof Plug X3 68 pole SCSI 2 Pin A5 10 V analogue output for analogue process peripheral equipment control loading 5 mA resolution 8 bit When using output 1 GPO8 cannot be used as digital output Function A 1 MHz PWM signal on GPO8 will be issued as a filtered analogue value Plug X3 68 pole SCSI 2 Pin B3 10 V analogue output for analogue process peripheral equipment control loading 5 mA resolution 8 bit ND31 UM0998 Co Lenord Bauer When using output 2 GPO1 cannot be used as digital output Function A 20 kHz PWM signal on GPO1 will be issued as a filtered analogue value Analogue outputs should not be used for regulator applications as the resolution of the 8 bit mode is generally not enough Note Operation of the analogue output see manual Setting Up and Parameter Setting of ND31 Chapter 4 Analogue Output and Section 12 8 2 in this manual 5 4 3 Digital Input Group 1 Signal level of the digital input GPIN1 10 Keyboard 5 8 O lt 5 V 1 gt 13 V max 24 V 10 Input resistance 10 5 kOhm Input Function Active Plug X3 Pin Level GPIn 1 kb A34 GPIn 2 A24 GP In 3 Start A27 GPIn 4 Reference Cam o Ra A25 GPIn 5 Release do A26 GPIn 6 kb
26. 20 5 1 Arrangement of the Connectors X1 X5 for two Aves 20 5 2 Power Supply Motor Connection and Brake Chopper Hesietor 20 5 3 Resolver Connection 3 23 5 3 1 Feedback System Resolver 3 24 5 4 Peripheral Equipment Connection 2 24 9 40 Analogue Mute se LIL aE a A A A note A ai 26 5 4 2 Analogue DI soeseegeergkesgerkegeEgeregEeEeSEdEENEENNEEEgeE ENEE ci dc iaa 26 5 4 3 Digital Input Group 27 5474 Pule nl NEE 27 545 Digita QUIPU S scott sawah arra Laes 28 5 4 Gs Geer Dei GIE ue EE ii dada 29 5 4 7 Ready for Operation Contact 29 5 5 BUS COUpIINO ET 30 ND31 UM0998 1 7 Lenord Gauer 5 5 1 Serial Interface Output Plug XA 30 5 5 2 Serial Interface Input Plug XP 31 5 6 Fan Connection pei u SUS QUR tee a eae 32 5 7 Connection Example ccccccccccceesceceeeeeceaeeeeaaeseeneeceaeeesaaeseeaeeseeeeesaaeeseaaesseneeeaas 33 6 Installation id 34 6 1 Mechanical Installation noc 34 oe E EE 34 6 3 Earthing and Shielding cierta arroba 35 6 4 Emergency Power Off Concept ND31 a 37 E Eeer Ee e 37 6 4 2 Short Circuit Braking r 38 6 4 3 Emergency Power Off with Controlled Brakimng 39 7 D esig ing a Drive Unit A aa a 41 71 Electrical Re 000 cd bardas 41 9 NOVODUS yu a ee 43 SA eia a aa aa Masha ayah eee tee 43 8 2 Features uu m EEE AA dE 44 8 3 Requirements for Transmission u 44 9 4 BUS SUTUC Social idad add d
27. 25 GPO 7 Open Emitter switching to 24V B23 GPO 8 Open Emitter switching to 24V B30 GPO 9 Open Emitter switching to 24V B29 GPO 10 Open Emitter switching to 24V B19 Key 1 Open Collector switching to 0V 28 ND31 UM0998 ND31 UM0998 gt Lenord Gauer B17 Key 2 Open Collector switching to 0V B18 Key 3 Open Collector switching to ON B2 Key 4 Open Collector switching to 0V Note Programming of the Digital Outputs see Section 12 8 Configuration Note The sum of the load currents of the Open Collector Emitter Outputs must not exceed 500 ma Example The appropriate pull up resistor for GPO1 and GPO2 to couple a 24V 10mA PLC input with a level of 20V 22V 20V 400 10 mA 2 Power of the pull up resistor pot aw 400 Q Load current of the 24 V supply I EE 60 mA 400 92 5 4 6 Encoder Emulation Difference outputs RS422 standard Pin Function 1 Function 2 A9 N Encoder emulation Difference output 1 A8 N Encoder emulation Difference output 1 A13 A Encoder emulation Difference output 2 A12 A Encoder emulation Difference output 2 A11 B Encoder emulation Difference output 3 A10 B Encoder emulation Difference output 3 Note Ready for Operation of the Encoder emulation see manual Setting Up and Parameter setting of ND31 Chapter 5 Encoder emulation 5 4 7 Ready for Operation Contact Ready for operation potential free closing contact Loading lt 500 mA lt 100 V Ready for operation contact 1 Plug X3 68 pole SCSI2 Pin A6
28. 6 Recording Procedure uU Lu uu A aa 83 12 134 7 Auto Nie EE 84 12 12 Resolver Auto Adustmemt AA 84 12 43 Brake FUNCION u y U do 84 ND31 UM0998 3 7 Lenord Bauer This page intentionally left blank 4 ND31 UM0998 ATTENTION ND31 UM0998 Co Lenord Gauer 1 General 1 1 About this Documentation The documentation for your EcoServ ND31 consists of 3 components e This User Manual This section is for users who are project managers deers and software developers Here you will find the information needed for designing a system using the EcoServ e Set up and Parameter Setting This section is for developers and technicians who must perform the set up and configuration of the ND31 It will be sent on request with ND31 delivery e Instructions for Installation and Replacement These instructions are for technicians and electricians who must install or replace the ND31 This flyer will be enclosed with ND31 delivery The symbols below will be used in this manual These symbols will assist you in quickly finding important information The commonly used danger symbol identifies text passages that must by all means be read and clearly understood Not observing these passages could endanger the life and health of yourself and others Text passages marked with ATTENTION must by all means be read and clearly understood Ignoring these passages could lead to the destruction or damaging of the EcoServ or the
29. A21 GPIn 7 iat ha A23 GPIn 8 Limit Switch P 1 A32 GPIn 9 Limit Switch N 1 A33 GPIn 10 ek A22 Keyboard 5 Keyboard Connection 0 A28 Keyboard 6 Keyboard Connection 0 A29 Keyboard 7 Keyboard Connection o A30 Keyboard 8 Keyboard Connection o A31 5 4 4 Pulse Inputs Difference inputs RS422 standard Input resistance 15 kOhm Impulse inputs can be used for 1 Encoder connection ROD426 ND31 UM0998 27 7 Lenord Bauer 2 Frequency direction standard 3 PLC signals High level The not inverted input is 0 2 V higher than the inverted input Low level The inverted input is 0 2 V higher than the not inverted input Pin Function 1 Function 2 Function 3 A15 Encoder Input N Diff Input 1 Diff Input 1 A16 Encoder Input N Diff Input 1 Diff Input 1 A18 Encoder Input A Direction Input Diff Input 2 A20 Encoder Input A Direction Input Diff Input 2 A17 Encoder Input B Frequ Input Diff Input 3 A19 Encoder Input B Frequ Input Diff Input 3 Note For Frequency Direction Instruction see manual Setting Up and Parameter Setting of ND31 Chapter 2 5 4 5 Digital Outputs not for encoder emulation Standard level 24 V Load 100 mA Pin Output Type B22 GPO 1 Open Collector switching to 0V B21 GPO 2 Open Collector switching to 0V B24 GPO 3 Open Emitter switching to 24V B28 GPO 4 Open Emitter switching to 24V B27 GPO 5 Open Emitter switching to 24V B26 GPO 6 Open Emitter switching to 24V B
30. AddrL Data Checksum Read Word ReadWord Reads a word 2 byte out of the ND31 memory H FD80 H FF7F RAM Command HCH AddrL AddrH H 3F CheckSum Answer HCH AddrL DataL DataH Checksum Read WordX ReadWordX Reads a word 2 byte out of the external memory of ND31 The possibly area depends on the memory extension H 4000 H FFFF ExtRAM Command H C9 AddrL AddrH H 3F CheckSum Answer H C19 Add DataL DataH Checksum Read Long ReadLong Reads 4 Byte from the memory of ND31 H 0000 H FFFF RAM Command H C7 AddrL AddrH H 31 H 32 H 3F Checksum Answer H C7 AddrL DataO Data Data3 Data4 Checksum Checksum 1 H 31 2 H 32 H 3F ND31 UMO998 55 7 Lenord Gauer 11 2 Write Commands Write Byte WriteByte Writes a byte into the memory of the ND31 H FE00 H FE7F RAM H FEA0 H FF7F RAM Command H 82 Data AddrL AddrH CheckSum Answer H 82 Data AddrL AddrH Checksum Write Word WriteWord Writes a word 2 bytes into the memory of ND31 H FE00 H FE7F RAM H FEAO H FF7F RAM Command H 63 Datal DataH AddrL AddrH CheckSum Answer H63 Datal DataH AddrL AddrH Checksum Write WordX WriteWordX Writes a word 2 Byte into the external memory of ND31 The possible range depends on the memory extension H 4000 H FFFF Ext RAM Command H 6A Datal DataH AddrL AddrH CheckSum Answer H 6A DataL DataH AddrL AddrH Checksum Write Long _WriteLong Writes a Longinteger number 4 bytes into
31. Bit Port X3 Switching OV Pin Lm Na EE GPO2 H FFB7 4 4 B21 OV 0 GPO3 H FFB7 1 4 B24 24 V 0 GPO4 H FFBB 1 6 B28 24 V 0 GPO5 H FFC1 2 9 B27 24 V o GPO6 H FFBB 5 6 B26 24 V 0 GPO7 H FFBB 6 6 B25 24 V 0 GPO8 H FF84 0 B23 24 V 0 GPO9 H FFC1 0 9 B30 24 V 0 GPO10 H FFC1 1 9 B29 24 V 0 For using GPO8 as digital output bit 5 of InitIOM1 has to be set to 0 The signal modes can be read in the corresponding memory cells A much easier method to set the digital output is to describe an output word GPO H FEOA The contents will be evaluated every 1 ms and the corresponding outputs will be set First the pointer GPO H FEC2 has to be directed to GPO H FEOA The outputs GPO1 to GPO10 can be set by describing bit 0 to 9 GPO Address H FEOA For the digital outputs GPO1 to GPO8 are additionally one byte available to mask the outputs GPOMask H FEC7 If the bit is set in the mask 1 the corresponding GPOs are unchanged independent of what has been written in GPO GPOMask Address H FEC7 Bit 7 AAA AA GPO8 GPO7 i ere GPO5 GPO4 GPOS GPO2 GPO1 ND31 UM0998 ATTENTION 10V 8 Bit or 16 Bit Analogue output 1 Analogue output 2 Signal selection Offset adjustment ND31 UM0998 Co Lenord Gauer 12 8 2 Analogue Outputs The analogue outputs are not short circuit proof and are only to be loaded with 5 mA at maximum With the ND31 t
32. Gauer 48 The incremented address is zero at the addressed axis Axis2 The Master receives the answer for its transmission with the address k in the above example in which Axis2 was addressed H 02 9 4 Process Data Bus With this bus a faster nominal and actual value exchange can be realized Hereby the lowest bit in the synchronization byte is set see Section 9 2 Synchronization Byte The data are always 2 bytes long In the transmission first the byte with the highest value MSB and then the one with the lowest value LSB is sent 9 5 Parameter Bus With the assistance of the parameter bus the drives can receive parameters Commands can be sent and information from the drives can be received A command in the parameter bus consists of acommand byte data bytes 0 4 and a check byte With a NOVOBUS transmission several commands can be sent through the parameter bus and respectively a command in the parameter bus can be divided into several transmissions The answer to a command is the same length as the command itself 2 to 6 byte The command byte and the checking byte must not have the value H 00 9 6 Control Byte in the Parameter Bus The Master controller sends all commands into the parameter bus with a test sum as checking byte check sum This check sum will be tested by the signalled drive The command will be carried out when the check sum is correct otherwise the drive signals an error see S
33. N Bus for ND31 CAN Bus means a cheap solution for networking controller and ND31 and ND31 among each other 3 2 Power Supply ND31 is equipped with all components required for a positioning axis This includes a power supply for directly connecting the ND31 to the 230V AC circuit Protective switches limit the jolt of switching on current and protect the ND31 from circuit over voltage and transients The braking energy of the motor is absorbed in an intermediate DC circuit If the capacity of the intermediate circuit condensor is insufficient the built in brake chopper becomes active to prevent a too high of an increase in the intermediate circuit voltage When inserting several ND31 it is additionally possible to couple the intermediate circuits Therefore the energy of the brake can be devided in several intermediate capacitors The intermediate circuit of ND31 must not be connected parallel to the intermediate circuit of other manufacturers ND31 UM0998 Co Lenord Gauer When inserting several intermediate circuits of several ND31 you have to abide the same pinning of the different power connection P1 P2 and P3 Avoid exchanging the phases this could lead to the destruction of the drive Ballast Switching The internal ballast switching is checked electronically On overloading the ballast switching stops and ND31 changes to overload Circuit Breaker A IGBT converter provides the motor with current All motor cables are short
34. PIn 10 GPIn 7 GPIn 2 GPlIn 4 Reference GPIn 5 Release GPIn 3 Start Keyboard 5 Keyboard 6 Keyboard 7 Keyboard 8 GPlIn 8 limit switch P GPlIn 9 limit switch N GPIn 1 gt Lenord Gauer Pins A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 A7 B7 A8 B8 A9 B9 A10 B10 A11 B11 A12 B12 A13 B13 A14 B14 A15 B15 A16 B16 A17 B17 A18 B18 A19 B19 A20 B20 A21 B21 A22 B22 A23 B23 A24 B24 A25 B25 A26 B26 A27 B27 A28 B28 A29 B29 A30 B30 A31 B31 A32 B32 A33 B33 A34 B34 Pinning oV 5V Analogue Output 2 RS R W E DO D1 D2 D3 D4 D5 D6 D7 CS Sensor Input A Keyboard 2 Keyboard 3 Keyboard 1 Keyboard 4 GPO 2 GPO 1 GPO 8 GPO 3 GPO 7 GPO 6 GPO 5 GPO 4 GPO 10 GPO 9 OV Power Supply OV Power Supply 24V Power Supply 24V Power Supply 25 7 Lenord Gauer 26 Difference Input Sensor Input A Sensor Input B Analogue Output 1 Analogue Output 2 5 4 1 Analogue Input Analogue input for nominal values or as process signal input input resistor Rj 20 kOhm voltage range 10V 10V Resolution 14 Bit Analogue Input Plug X3 68 pole SCSI 2 Pin A1 Analogue Input Plug X3 68 pole SCSI 2 Pin A2 Note Velocity command through the analogue input see manual Setting Up and Parameter Setting of ND31 Chapter 3 There are additional analogue inputs available Sensor input A Analogue Input as process signal input voltage range 10V 1
35. Pointer to address for analogue output 1 Offset analogue output 1 Scale factor analogue output 1 Operation mode Internal parameter Maximum allowed slipping error Effective current limiter Position regulator advanced control Position regulator P part Speed regulator advanced control Speed regulator P part Speed regulator I part Threshold ballast switching control Peak current Peak current CAN Parameter CAN Parameter CAN Parameter 63 7 Lenord Gauer 64 Address Oxff3b 0xff3c 0xff3d 0xff3e 0xff3f 0xff43 0xff52 0xff54 Oxff5b Oxff66 0xff68 0xff6a 0xff6e 0xff70 0xff73 0xff79 0xff88 Oxffb2 Oxffed Oxffe2 Oxffe4 Oxffe6 Oxfff2 Oxfff3 Oxtff4 Oxfff5 0xfff6 0xfff8 0xfff9 0xfffa 0xfffb Bytes gt sch sch A ZA 4 BN A sch N N Designation CANtime Freigabe0 SwVersion AnlniFakt nFilter UmdrlstH NBcontrol MotTemp UmdrH Anln_msoll SchleppInc SchleppUmar limit Dimsoli ps status RefStatus _Phi iMax ADDRA ADDRB ADDRG ADDRD Status CANcontrol SPScontrol CANStat Second Tempo Temp Temp2 Temp3 Description CAN Parameter Start position Software configuration Scale factor analogue input 1 Tacho filter Internal parameter Enable via NOVOBUS Motor temperature resistance value Actual slipping error increments Actual slipping error revolution Internal parameter Internal parameter Status positioning con
36. Ready for operation contact 2 Plug X3 68 pole SCSI2 Pin A7 29 7 Lenord Gauer Function BTB closes if there are no errors and if the inner circuit voltage is in use 5 5 Bus Coupling The ND31 is equipped with a RS232 or RS422 485 interface RS232 RS422 and RS485 are standardized electronical data interfaces NOVOBUS has a loop structure The controller sends data to drive No n that one to drive No n 1 etc Drive No 0 sends back to the controller Data from the drive to the controller are also transmitted from drive to drive until they reach the controller To send the data back from drive No 0 to the controller a final connector on X4 on drive No 0 is required which contains the respective bridges for RS232 or RS422 RS485 The lead and return wire are in the same cable NOVOBUS must be earthed Normally it is earthed automatically by the controller If not e g if light wave conductor components have been fixed between the controller and ND31 alternatively a final connector has to be earthed Pin 5 on RS232 Pin 3 on RS422 RS485 30 Cable Plug Pinning The signals of the buses are separate from the active parts of ND31 by double isolation For the NOVOBUS shielded cables are required 5 5 1 Serial Interface Output Plug X4 Standard RS232 or RS485 cable shielded 9 pole D Sub pin contacts on ND31 sleeve contacts on the cable Signal Pins Signal RS422 Aout RS422 Bout Return wire 1 Return
37. The drive detects that the previous drive is in error mode The received H 02 bytes shows the Master that Axis2 has identified the error Either the connection between Axis3 and Axis2 is interrupted or Axis3 is not ready for operation 53 7 Lenord Bauer 10 CAN Bus 10 1 Data exchange with Controllers GEL 8100 The Controllers GEL 8100 can control up to 6 ND31 converters via the CAN bus the controller transmits the nominal speed to the converter and the converter transmits its actual position to the controller 10 2 CAN bus configuration In the RAM of the ND31 several memory locations for adapting the CAN bus to the controller exist Address Byte Designation Function value Oxfee8 1 CANinitBTRO Timing configuration input 40 Oxfee9 1 CANinitBTR1 Timing configuration input B9 0xff11 1 CANCFG CAN configuration input FF 0xff16 1 CANTimeout Timeout time 10 ms bit input 5 50 ms 0xff39 1 CANmaster Identifier for Master telegrams input for Axis1 30 Axis2 31 Axis3 32 Axis4 33 Axis5 34 Axis6 35 0xff3a 1 CANslave Identifier for Slave telegrams input for Axis1 20 Axis2 21 Axis3 22 Axis4 23 Axis5 24 Axis6 25 Oxff3b 1 CANtime Identifier for SYNC telegrams input 40 54 ND31 UM0998 Co Lenord Gauer 11 ND31 Specific Commands 11 1 Read Commands Read Byte ReadByte Reads a byte from the memory of the ND31 H FD80 H FF7F RAM Command H C0 AddrL AddrH CheckSum Answer H CO
38. ada 45 8 5 Device Adresses L pR ner 45 9 B s Defl iti i z uu uuu A Seege eege 46 9 1 Transmission Syntax vac R S u eh aden aes 46 9 2 Synchronizati n EE 46 9 3 Address E 47 9 4 Process Data BUS uw u aaa a ee dd d e 48 9 5 Parametr BUS a Ee 48 9 6 Control Byte in the Parameter Bus cnn anna ccnnnnnnns 48 9 7 tege Ee Hl e EE 49 G ee tele HE EE 51 9 9 TIMO OUTE EE 53 KL DRM 54 10 1 Data exchange with Controllers GEL 8100 a 54 102 CAN b s contig rati n EE 54 11 ND31 Specific Commands 55 143 R ad Cominiandsu un ald Non eed Gel in ee dee 55 11 2 Write Commande 56 11 3 Bit Manipulation and Logical Commandes 57 11 4 Input Output Commande a 57 TLS Reser Hiii ier i A 57 12 Set up and Output Capabilities of the EcoServ 58 12 1 e EE 58 2 ND31 UM0998 Co Lenord Gauer 12 2 ECOS MEMORY Cu uu det elvan ee tee Eegen Ee 58 Le VRAM M t u 22 rd dd dese eege 59 12 3 Configura iio aa 65 12 3 1 The Byte SwVersion U 65 12 3 2 The Byte HwVersion erruen ia mana e EE ENA arara ren 66 12 3 3 The Byte Feedback D Su St arena 66 12 3 4 The Byte Betriebsart eretas 67 12 3 5 The Byte Mot ofgi 68 124 ND31 StalUS uuu anna na EENS Mia edad 69 12 431 The Byte Status aa a athena ain hee
39. al value source e g positioning with i encoder as 2 system of measurement 101 001 Test mode reversing without position regulator 010 i Test mode reversing with position regulator AAA OR 12 3 5 The Byte MotConfig RAM Parameter Address H FF21 The byte can be read and written 11411 74 74 1 0 Motor temperature sensor with power connection X1 1 1 1 1 1 1 1 1 Motor temperature sensor con nected in resolver connector X2 Bit 0 With bit 0 it is fixed whether the motor temperature sensor is connected in connector X1 Bit 0 0 or X2 Bit 0 1 ND31 UM0998 ND31 UM0998 gt Lenord Gauer 12 4 ND31 Status 12 4 1 The Byte Status RAM cell address H FFF2 This is a read only byte 7 6 5 4 3 2 1 0 HI 2 EH sch Bit 0 1 Drive blocked Bit 7 1 Quick stop active 12 4 2 The Byte Freigabe0 RAM cell address H FF3C The byte can be read and written 7 6 5 4 3 2 1 0 Block Hold Current Limiting Limit Switch reserved Error Reset Quick Stop Bit 0000444 Novobus Block after Swiching On CAN Block after Swiching On PLC Block after Swiching On Limiting reserved reserved reserved reserved Hold 69 7 Lenord Bauer 70 With the byte FreigabeO the start mode of the converter is programmed that means the converter is in blocked or active mode This byte will be evaluated after a Reset Exception When working
40. allast energy 3202 200 Ws of the in built ballast resistor 3204 u 3207 400 Ws 3212 600Ws Repetition rate of the 4s maximum ballast energy with the built in ballast resistor Switching threshold 420 V Threshold automatic Resistance for external ND31 3202 50 Ohm ballast switching ND31 3204 3207 25 Ohm 4 2 4 Ventilation Compact Device Ventilation External ventilation built in Connection Voltage connection 230 VAC Current capacity lt 200 mA Fuselage 315 mA inert 4 2 5 Usable Connectors Connection for power supply X1 Ph nix Combicon 5605 5610 5615 5620 Front GMSTB 2 5 16 STF Resolver connection and motor High Density D SUB 15pol on the temperature probe X2 ND 21 socket contacts Periphery connection X3 SCSI 68 pole on the ND31 socket contacts Bus output connection X4 D SUB 9pol on the ND31 pin contacts Bus input connection X5 D SUB 9pol on the ND31 socket contacts 18 ND31 UM0998 19 Module Storage Temperature Operating Temperature ND31 UM0998 gt Lenord Gauer 4 2 6 Resolver Resolver Sagem 21RX360407 15RX310107 Litton JSSBH 15 E 5 JSSBH 21 P4 Siemens V23401 H2001 B202 Tamagawa TS2018N321 E52 TS2112N21 E11 4 3 Mechanical Data 4 3 1 Measurements 3202 3204 3207 229 mm x 100 mm x 45 4 mm 3212 229 mm x 100 mm x 91 mm 4 3 2 Weight 3202 3204 3207 0 7 kg 3212 1 4 kg 4 3 3 Environment Conditions max storage temperature 25 C to 70 C max humi
41. alue It is a filter of the first order The higher the adjusted value the stronger the filtration Tacho filter nFilter Address H FF3F Data format Byte no sign range H 00 H 7F Scale Time constant Tacho filter Pd 1 nFilter 128 12 7 3 2 Nominal Value Filter With the nominal value filter it is possible to filter the spin speed nominal value The nominal value filter is a filter of the first order The higher the adjusted value the stronger the filtration Nominal value filter nSollFilter Address H FEF6 Data format Byte no sign range H 00 H 7F 75 7 Lenord Gauer 76 12 7 4 Speed Regulator ND31 operates with a PI speed regulator with an advanced control P component nKp Address H FF32 component nKi Address H FF33 Advanced control nKd Address H FF31 Data format Byte no sign range H 00 H 7F 12 7 5 Position Regulator ND31 works with a P position regulator with advanced control P component LKp Address H FF30 Advanced control LKd Address H FF2F Data format Byte no sign range H 00 H 7F 12 7 6 Resolver Adjustment To achieve a correct commutation the resolver mounting position can be shifted electronically Resolver adjustment PhiPo Address H FEFO Data format Word Scale 1 bit means 1 increment 14 7 7 Motor Poles It is possible to program the number of motor poles in the ND31 2 12 Motor poles Pole Address H FEF7 Format
42. an be found at the compact device to supply the installed fan Power supply 220 VAC Power input lt 200 mA Fuse 315 mA inert ND31 UM0998 Co Lenord uer ion Example Connect 10 sisaJ Jaddoyo yesq ul yINg 104 9BPLIG M lod SZ Z 0OZL WYJ ajod 6 JOEL Wal suono uuoo Vun J P AUO0I pesn aq 1snui Jouuojsuel qeo jx u ay o IIdde ue sujew A00r e u payesado 94 0 s Joan SU Jl OVA OEZ si BelloA Ajddns wnwxew ou x L i I NOMAS yur i A 0 lddns Apeoy lqeu3 d Yms pu A vz iddns ndui anbojeuy No119 uui u Apeay I i I Nouo uui lu i HEIS V 198 1 nwa Japosuy on of a ND31 to an EcoController GEL 8110 OUISOD DREI V DEI nus Jopoouz a QUIS g 98 nw Japosuy SUIS g 198 nula Jopooug iddns 3 N DEn pue Jeposuy O uonoajold UL N DEI nula Jeposuy Uuon5 1041d UL yndul enbojeuy E Q o 3 E M OWA 0 Z OS A p Se ay JO Jo o uuoo UB Jo o uuo2o Bul euluuJ j jUO s qe5 pausesos asp 33 7 5 ND31 UM0998 7 Lenord Gauer 34 ATTENTION Ventilation Environment 6 Installation 6 1 Mechanical Installation Danger of destruction of the EcoServ Operating the EcoServ in a non suitable environment can be destructible In case of unavoidable condensation moisture remove the condensation moisture before starting with a suitable heater ND31 is on
43. bly Surface Motor Wires Brake Mains Filter Appropriate Mains Filter ND31 UM0998 Note To demonstrate more clearly switch and fuse elements have not been mentioned in the above diagram The elements have to be inserted that they do not disturb the principle course of the shields and earthing To follow the EMC standard EN55011 special attention should be paid on shielding and earthing The shield is to be fixed with cable clamps on one side of the motor housing and on the other side on the compact device or 19 rack of the ND31 When using motors with brakes the cable has to be shielded till the brake relay The shield is to be fixed on the side of the filter with an appropriate earth connection of the line filter and the side of the ND31 with cable clamps on the compact device or 19 rack of the ND31 The line filter must be screwed on the plane assembly board for the effective use of the line filter Additionally the filter should be earthed with a short connection 2 5 mm to the assembly board 32022 30 3207 3212 Schaffner FN660 3 06 FN660 6 06 FN350 8 29 FN350 12 i 29 35 7 Lenord Gauer Corcom app 3EP1 GEP1 GEP1 10EP1 16EP1 6FC10 6FCIO 6FCIO 12FC10 Sphases 3202 3204 30 3212 F3719 F3737 Siemens i B84143 A8 R B84143 A12 R Protective Earth The PE connection of ND31 Pin 14 X1 is to be connected with Wire the earthing screw of the com
44. circuit proof All power circuits are isolated from the regulator 3 3 Automatic Control Part For the internal power supply of the drive a 24 VDC power supply is necessary Position The position speed and voltage regulation as well as the pulse width modulation in the ND31 is performed digitally The voltage regulation and the pulse width modulation are integrated in the ND31 ASIC Potential Chip ND32XX developed especially for the ND31 Another ASIC Periphery Chip ND31XX integrates a resolver converter ROD impulse counter coordinates transformer and the encoder emulator Feedback The remainder of the technical regulator functions are performed by a Hitachi H8 330 micro controller ND31 needs a resolver for its feedback system in the motor or an optical signal provider The ND31 can also be used for analyzing multi turn resolvers The resolver or digital conversion is performed by the periphery chip ND31XX The resolution of the rotor position measuring is 16 bits Nominal Values The following choice of possibilities are available for the nominal value input e Analogue 10V e Incremental encoders e Frequency and direction impulse e Digital nominal value input via the no cost sensor actor bus NOVOBUS RS232 485 e CAN Interface ND31 UMO998 13 7 Lenord Gauer Ratings Signal Processing 14 4 Technical Data 4 1 Nomenclatures Over Voltage Stability Radio Interference Isolation Concept Che
45. ck Protection Type Serial interface Modulation of the output transformer Modulation procedure Current regulator Resolution of motor current measurement Speed regulator Position controller Position relay system Absolute path measuring system IEC 801 4 Class 2 EN55011 Class A is upheld by using the line filter Double isolation between power supply and controller Referring VDE160 11 94 Chapter 9 1 1 ND31 32XX VS IP00 Protection Type is determined by 19 frame ND31 32XX XS IP20 to DIN 40050 and 1EC144 RS232 ANSI EIA232D RS485 ElA485 Digital pulse width modulator Modified sinus triangle procedure Digital Pl regulator with EMK compensa tion symmetrical limiter and anti wind up switch 11 bit Digital Pl regulator with velocity advanced control and anti wind up switch Digital P controller with velocity advanced control Resolver or optical impulse supply Absolute resolver supports the system IMAS from the company Baumer Electric if required Optical multi turn position sensor with SSl interface ND31 UM0998 Communication ND31 UM0998 gt Lenord Gauer Motor temperature probe Selection Opener or PTC Communication protocol RS232 485 communication protocol NOVOBUS CAN Interface Specification CAN2 0 part A and B ISO DIS 11898 Frequency direction Entrance RS422 Stepping motor interface emulation with a maximum frequency of 500kHz Encoder entrance Differenc
46. ctive components Draft DIN VDE 0160 11 94 Section 5 2 3 e A minimum of basic isolation protects the active components from the metal housing The housings must be grounded A grounding screw for this purpose is provided on the metal housing A wire with a diameter gt 10 mm CU is required for grounding Periphery Plug X3 Safe isolation of all signals of the periphery plug X3 from active components is already provided in the ND31 by double isolation Draft DIN VDE 160 11 94 Section 5 2 18 2 7 Lenord Bauer 10 Resolver Plug X2 The safe isolation of all signals from the active components of the ND31 is required by double isolation Power Connection X1 The connection cable and wiring must have a doubled or reinforced isolating between the wires and the surface Draft DIN VDE 160 11 94 5 3 1 1 The connection area is to be protected against accidental contact Before the power supply is switched on all cables are to be checked and tested for proper isolation Clamps for the respective wire sizes are to be used on the ends of wires Bus Connections X4 and X5 The signals of the bus are already separated from active components of the ND31 by double isolation The housing of the connection cable must have a non conducting surface 2 6 19 Drawer Devices Requirements Protection against dangerous body current Draft DIN VDE 160 Section 5 2 1 e Pulling or inserting the plug connections of the ND31 is non
47. derstanding of the respective parameter and its properties There are two ways of changing the EcoServ settings e Via set up software e Via NOVOBUS 12 1 Requirements With the set up software several parameters can comfortably be edited by the way of menu settings If this possibilities are not sufficient for your application please find the necessary information in this chapter All parameters can be changed or read by the NOVOBUS The NOVOBUS driver software makes the required write and read commands available With the set up software you can perform all settings and read the individual parameter To set and read the parameters with the set up software an IBM compatible PC and a bus cable is required 12 2 EcoServ Memory Your EcoServ has 2 different memories e Battery buffered RAM memory with 512 Byte addresses FD80h FF7Fh e External memory size according to the RAM size addresses 0000h FFFFh A change in RAM directly affects the circuit When the ND31 power supply 24V is switched off and on changes will not be lost The RAM is battery buffered The RAM memory of the ND31 is readable in the service menu with the function RAM Monitor Changes are to be made with the ND31 UM0998 ND31 UM0998 gt Lenord Gauer function Write RAM see manual Set up and Parameter Setting of ND31 Section 2 1 11 2 Service Menu Some of the below mentioned addresses are not described in the service menu
48. dity 95 Operating temperature 0 C to 70 C rel humidity 20 75 Altitude over NN Up to 1000 m over NN power decrease must be expected 19 7 Lenord Bauer 20 5 Pinning High voltage Fatal danger even in switched off position As long as the motor runs the motor is a generator Therefore avoid the uncontrolled drive of the EcoServ in case of interference by building in a brake 5 1 Arrangement of the Connectors X1 X5 for two Axes Fan D D E F lt T as d WM BR a e ae lt i g 5 LL a ull m gt P PE Line lt Je SCH A o Gs UG mm a Wa a m D D gt a N O alo Ej Ej DS ee Top view Bottom view 5 2 Power Supply Motor Connection and Brake Chopper Resistor 230 VAC maximum voltage Higher voltage leads to the destruction of the drive Should the converter be used at the 400VAC net an appropriate transformer has to be used When coupling various intermediate circuits please abide that the power connection P1 P2 and P3 have to be used equally on each ND31 If phases are exchanged could that lead to the destruction of the converter ND31 UM0998 Co Lenord Gauer Plug X1 16 pole Combicon Note The following pinning may serve as an example Pinning for other motors may differ from this refer to the concern ing connection table Pinning Pin External brake chopper resistor 1eB extBAL option
49. e inputs RS422 standard ROD426 Analogue interface 10V 14bit 10V 8bit 0 5V 8 bit 4 2 Electrical Data 4 2 1 Power Supply Connection Device type ND31 3202 3204 3207 3212 Connecting rated 230VDC 230VDC 230VDC 230VDC voltage I Input frequency 50 60Hz i i Voltage range for 20 240 VAC 10 connection Number of input i 2 3 3 phases i I i Connecting value 0 75kVA 15kVA 2 7kVA 4 5kVA for rated current i i i Periodical and not periodical transient over voltage Acceptable i 10 Ws transient energy at i the connection 15 7 Lenord Gauer 16 Half life period 1 2 50us Periodical peak 380V value Unique peak value 2000V on 2 Ohm Max switching 160A 160A 160A x 160A current internally limited Security 3phases 3x4A 3x8A 3x14A 3x24 A inert inert i inert inert 1phase 6A inert 12A inert 15A inert not possible Power supply 24VDC 15 external 1A Power consumption 24 W plus approx 2 5 W per each controlled output 4 2 2 Intermediate Circuit and End Amplifier Device type ND31 DC rail voltage with voltage connection Shut off threshold with over voltage Shut off threshold with under voltage Number of output phases Output voltage Loading class Loading type Intermediate circuit capacity Power loss in the output transformer at rated current in Watt 3202 3204 3207 3212 320 V 430 V programmable lt 30V 3 300Ver l
50. e to the machine the emergency power off assembly has to be activated Dangerous parts of the machine or the whole machine can be switched off as soon as possible Danger of injury by running motor Moving parts can be hazardous to individuals or cause damage to the plant Therefore the plant in which the EcoServ is installed must be equipped with an emergency power off EPO assembly The EPO must stop the plant as quickly as possible 6 4 1 General This paragraph is about two different concepts according to the emergency power off e Short cut braking e Regulated braking When and which emergency power off concept is to be applied depends on the plant Depending on the application the correct emergency power off concept has to be chosen out ND31 UMO998 37 7 Lenord Bauer Release Fuselage Fk Main Supply E max 230 VAC See For the emergency power off please abide the following instructions e The emergency power off contactor between EcoServ and motor must be able to separate direct current which is similar to the peak value of the peak current of your EcoServ e By short circuit braking the brake resistor must have the correct dimension 6 4 2 Short Circuit Braking For the short circuit braking of the servo motor the power stage of the ND31 has to be blocked by stopping the current of input 26 on X3 At the same time contactor K1 is energized Calculation of the brake resistor Rk _ max s
51. e99 gt Slave98 S Slave gi S Save gt The 1st Telegram 1 Byte H 88 Synchro byte follows address byte and 4 bytes in the parameter bus no process data 2 Byte H FB 5 95 100 Slave 95 is addressed in a loop with 100 Slaves in the ring 6 Byte H D1 Checking byte C0 13 FE 1D1 The following transmissions differ only in the 2nd byte 96 100 4 H FC 97 100 3 H FD M S S F S S S S a e l s a a h a a a a t v v l V v v v e e e e e e e e r 9 9 r 9 9 g 0 9 8 7 6 5 0 88 88 88 88 88 88 bes 88 FB FC FD FE FF 00 5F Co CO CO C0 Co CO C0 13 13 13 13 13 13 13 FE FE FE FE FE gt 88 88 D1 D1 Di D1 D1 A5 A5 88 88 88 88 88 88 88 FC FD FE FF 00 01 60 Co CO CO C0 Co CO C0 13 13 13 12 100 00 00 00 FE FE FE 00 00 00 00 D1 D1 Di 00 00 00 00 88 88 88 00 00 100 100 FD FE FF 00 00 00 00 Co CO CO 00 00 00 00 13 13 13 00 00 00 00 FE FE FE 00 00 00 00 D1 D1 Di 00 00 00 00 50 ND31 UM0998 ND31 UM0998 gt Lenord Gauer 88 88 88 00 00 00 00 FE FF 00 00 00 00 00 CO CO CO 00 00 00 00 13 13 13 00 00 00 00 FE FE 88 00 00 00 00 Di D1 A5 00 00 00 00 88 88 88 00 00 00 00 FF 00 01 00 00 00 00 CO CO CO 00 00 00 00 13 13 13 00 01 00 00 FE 88 88 00 01 00 00 Di A5 Ab 00 01 02 So 61 88 88 88 00 01 02 61 9 9D 9e 00 01 02 61 Remarks gt Answer byte in a transmission contents of the memory cell New check sum The drive detects an error ie The drive detects that the pr
52. eceding drive is in error mode The 17th sent zero byte after the error detection The message H 00 indicates an error to the Master bytes H 61 97 means that the error has been noticed by Slave 97 9 8 Checking Sequence If the Master detects an error in data traffic a checking sequence is sent to reset the drives The first 17 bytes of the checking sequence are H 00 so that all drives which still did not detect the error turn into error mode After the checking sequence the Master can repeat the uncompleted commands The checking sequence is 17 times H 00 H ff H 44 H 72 H 4c H 41 Example 100 axis and axis no 97 0 are in error mode Axis no 99 98 could not detect any error in the communication The Master has just sent a transmission when the error has been detected by an unexpected 0 byte After detecting the error the Master sends 17 times H 00 Then the bus sets back with a check sequence 51 7 Lenord Gauer Started Telegram 52 17 Zero Bytes Check Code Repeating Transmission ES Master gt Slave99 gt slave Op gt Move gi gt Slave gt D D D lt 00 FF S S S S S a a a a a V V V V V e e e e e 9 9 9 9 9 9 8 7 6 5 8 88 00 0 02 01 02 00 O 02 00 00 00 0 02 00 00 00 0 02 00 00 00 0 02 00 op 00 O 02 0 00 00 0 02 0 00 00 0 02 0 00 00 0 02 0 00 02 03 0 00 01 02 03 00 00 01 02 03 00 op 01 02 03 00 00 01 02 03 00 00 01 02 03 00 00
53. ection 9 7 Error Handling The check sum is the sum of bytes in one command If the sum 0 is transmitted the check sum will be corrected Instead of O 1 is to be sent H 00 is reserved for error messages The responded drive forms a new check sum out of the answer and sends its two s complement check sum The check sum pertains to the parameter bus and is only made up of the bytes in the parameter bus Synchro byte address byte and process data will not be considered in the check sum ND31 UM0998 ND31 UM0998 Co Lenord Gauer 9 7 Error Handling When the drive notices an error in the communication parity error framing error improper synchro byte incorrect command in parameter bus improper command parameter or incorrect check sum it goes into an error mode The drive which first detects the error answers with H 00 to all received bytes The following axes can then detect the error very rapidly when they are addressed with incorrect synchro command or checking bytes may not be H 00 or improper command parameter in case a H 00 is not accepted here A non addressed drive checks the contents of the transmission It can only detect the error when the next synchro byte fails A transmission can have a maximum of 9 bytes If the error is in the address byte the other axes which have only received H 00 bytes since the error occurred may not notice the error until the 9th byte An error free transmissio
54. es and its phase to phase winding resistance amounts to 1 7 Q Certainly herewith the requested acceleration is possible To determine if the required maximum speed can be reached with the specified torque the following calculating scheme may be used Inductive voltage drop on motor UL n xp x L x i x 0 0453 with n speed revolutions per minute 2600 rpm p motor polarity 6 i effective acceleration current A 11 8 A E M d 12 Nm 3 x torque constant E 3x0 3 Nm L motor inductivity phase to phase H 0 0126 H Inserted U 105 1 V Resistive voltage drop on motor UR Rx ix 0 866 with R effective resistance phase to phase Q 1 7 Q herewith UR 17 37 V 41 7 Lenord Bauer ND31 UM0998 42 CEMF of the motor 1 U x Vg x n 1000 E J2 with Vg Voltage gradient phase to phase V 1000 88 herewith Ug 161 8 V Voltage requirement for the motor Ka de Ug U 207 7V Required intermediate circuit voltage U k V2 x U 293 7 V Z With 3 phase 230V power connections the ND31 has an intermediate circuit voltage of 325 V There is sufficient voltage present to reach the defined speed with the defined torque RS232 RS485 Driver Loop Structure ND31 UM0998 gt Lenord Gauer 8 Novobus In this chapter you will learn how to use the NOVOBUS to control your drive unit 8 1 General NOVOBUS is an inexpensive solution for networking digi
55. h technical data compatible to the converter and its specifications Install the converter only in conformance to the local specifications standards and regulations Do not operate the converter in areas with danger of explosions or in range of medical devices Exceptions The converter is encased in a housing designed tested and specified for operation in these applications 2 2 Organizational Measures As manufacturer and distributor of a machine in which this converter is used you are responsible for ensuring that all accident prevention and safety measures have been taken Ensure that installation and maintenance is only performed by a qualified electrician Ensure that the set up is only performed by trained personnel During installation the safety warnings in this manual are to be observed The designer or developer of a machine in which the converter is installed has read and understood the warnings in the manuals For the transport and storage of the converter the original packing has to be used 2 3 Safety Units Machines with moveable parts which are hazardous to people or the machine must be equipped with an emergency power off EPO Install the EPO as described in Chapter 6 Installation 2 4 High Voltage The converter works with hazardous high voltage Read and abide to the following points Ensure that no parts carrying voltage can be accidentally touched e Install fuses as described in Section 6 2
56. ion actual value revolution Serial number in BCD format Rated current ND31 ND31 UM0998 ND31 UM0998 Address 0xfe8b 0xfe92 0xfe94 0xfe96 0xfe97 0xfea0 0xfea2 0xfea8 Oxfeaa Oxfeac Oxfeae OxfebO Oxfeb2 Oxfeb4 Oxfeb5 Oxfeb6 Oxfeb8 Oxfeba Oxfebc Oxfebe OxfecO Oxfec2 Oxfec4 Oxfec6 Oxfec7 Oxfec8 Oxfeca Oxfecc Oxfece OxfedO Oxfed2 Oxfed4 Oxfed6 Oxfed8 Oxfeda Oxfedc Bytes N N HA NN N N NN N N N NN N N N N N N N N N N N N HA NN N N N Co Lenord Gauer Designation HwVersion BetriebStd SperreStd BetriebMin SperreMin Steuerbits SPS Rampe Rampe CANout 2512us FlLage CANControl BremseT1 BremseT2 F Forward nSoll 2mMax 2mSoll 2Sollwert CANTime2 2GPO SchRampe Stopdauer GPOMaske 512usA 512usB FlUmdr 102us NPIOffs CANIDLSB dLage RefV3 Window RefLage RefUmdr Description Hardware configuration Operating hours counter Operating hours counter Operating hours counter Operating hours counter Pointer to program in ext RAM Pointer to acceleration ramp Pointer to braking ramp CAN Parameter Pointer 512us command Internal parameter CAN Parameter Internal parameter Pointer to structure of the drive Pointer to mMax Pointer to mSoll Pointer for the structure of the drive CAN Parameter Pointer to GPO Pointer to quick stop ramp Mask for output word Pointer 512usA command Pointer 512usB command Pointer 102us
57. l selection recording must be inhibited 12 11 2 Time Base The scan rate of the storage oscilloscope is to be entered into RAM cell scope_timer H FF7C Storing of a new measuring value occurs each scan time period tscan scope_timer 512 us A total of 128 measuring values are read per channel Example scope_timer 0 each 512 us one measuring value will be stored in the scope buffer The full scope buffer then is 128 x 512 us 65 536 ms wide scope_timer H 05 each 5 x 512 us 2 56 ms one measuring value will be stored in the scope buffer The full scope buffer then is 128 x 2 56 ms 327 68 ms wide For adjusting the time base recording must be inhibited 12 11 3 Triggering Threshold Die triggering threshold is to be entered into RAM cell scope_level H FF7F with Bit 7 inverted Example nist H FE68 shall be triggered for 4000 revs min gt 4000 0 223517 17895 H 45E7 MSB only H 45 Bit 7 inverted H C5 H C5 scope_level H FF7F The triggering threshold can changed any time 12 11 4 Trigger Delay The trigger delay requires programming of the two RAM cells scope delay H FF7D and scope counter H FEO2 each ND31 UM0998 ND31 UM0998 gt Lenord Gauer time before beginning a new record procedure The values are calculated as follows For the desired delay time tdelay scope counter H 0100 tdelay tscan tscan time base scope delay H 00 for tdelay 20
58. ly to be installed in an upright position When installing the compact device the power connection plugs must be at the bottom When installing the 19 rack the air ventilator drawer must be installed below the ND31 The area round the ND31 ventilation outlets must not be blocked The ND31 is not to be installed above heat omitting devices The installation can only be performed at a location free of dust rust metal chips corroding or metal vapours gases or liquids Condensation moisture is to be avoided If it is not possible to avoid the condensation if ND31 does not run please ensure that the moisture is completely removed before setting up ND31 devices may not be used in areas classified as dangerous if they are not in approved housings and have not been tested 6 2 Fuselage The maximum voltage of the main supply is 230VAC A higher voltage could lead to the destruction of the converter If the converter should be operated in the 400VAC mains an appropriate transformer has to be used Device ND31 3202 3204 3207 3212 3 phases 3x4Ainert 3x8Ainert 3x14A 3x24A inert inert If several drives are to be fused together the sum of each device has to be counted for the whole fuse ND31 UM0998 Co Lenord Gauer Caution High Voltage Fatal danger Contacts are only fused if earthing mains and motor connection is executed as described in this chapter 6 3 Earthing and Shielding Switch gear cabinet Assem
59. me out error Slaves may also transmit error telegrams independently 8 5 Device Addresses Up to 250 axes can be controlled by one loop Drives are automatically addressed according to their position in the loop Numbering loops of the devices begin with the last one in the loop which has the address 0 The address of the first device in the loop is N 1 whereas N pertains to the number of Slaves e with 4 axes Master gt Slave3 gt Slave gt Slavel Slave 0 45 7 Lenord Gauer 9 Bus Definition The Master controller transmits telegrams continuously Most transmissions contain an address exception SYNCO and PAUSE Devices for which a transmission is not to be intended continue to send telegrams The intended address answers to the telegram The length of the answer is always identical with the length of the Master transmission 9 1 Transmission Syntax Synchronized byte obligatory Address byte optional Process data 2 bytes optional Parameter data 1 7 bytes optional All bytes are sent with odd parity The net transmission length process data parameter data may consist a maximum of 7 bytes In a transmission with process data the parameter data may be a maximum of 5 bytes long 9 2 Synchronization Byte The synchronization byte is always the first byte of a trans mission It contains the code for the length of the transmission 7 6 5 4 3 2 0 say oe I al N 1 Next wi
60. n can only be contained in the address byte byte 1 in the process data bus byte 2 and in the data area of the parameter bus max 4 bytes That means a maximum of 7 times consecutively of H 00 can be possible The drives have an error condition that count the number of zero bytes which have been sent from the preceding drive If the drive receives 8 times H 00 without interruption the preceding drive is in the error condition In this case the sent bytes are controlled for a checking sequence If a checking sequence is detected it returns to normal operation mode see Section 9 8 Checking Sequence To be sure that also the following drive recognizes the error at least 9 times H 00 has to be sent For a drive to detect that the preceding drive is in an error condition it must receive additional 8 zero bytes Therefore all drives in error condition first send H 00 17 times If they detect that the preceding drive in the loop is in an error condition they incrementally forward all received bytes The Master receives first of alla maximum of 25 H 00 bytes during an error afterwards it receives the address of the drive which has recognized the error That enables an easy location of the error Example 100 axes The Master reads one byte each out of the RAM of drives no 95 to 99 An error bit will be transmitted between the drives no 98 and 97 drive no 97 detecis that as a parity error 49 7 Lenord Bauer E Master Slav
61. ng bolt on the housing of the compact device or on the rear wall of the 19 rack Recommended motor cables Litze Silflex NSY Lapp Olflex 400CP The value of the external ballast switching has to be 25 ohm on ND31 3204 and 3207 and 50 ohm on ND31 3202 The external ballast switching has to be connected on plug X1 clamp 1 and 3 Cables to the external resistor have to be shielded The internal ballast switching is controlled electronically When overloading the ballast switching stops and ND31 switches over to overvoltage After switching off the power supply and a waiting period of approximately 5 minutes the ND31 can be started again Then the brake chopper control is again ready for operation The threshold value of the ballast switching is 420V DC rail voltage The integrated automatic threshold allows to connect the parallel inner circuits of several ND31 As the ballast switching which is in action can raise its respond threshold up to 20V it is guaranteed that the ballast energy of every connected ballast switching is divided evenly 5 3 Resolver Connection X2 Danger by uncontrolled running drive If the resolver is not connected correctly the drive could run uncontrolled Therefore please pay attention to the correct connection of the resolver when connecting a motor to the ND31 23 7 Lenord Gauer Plug X2 Recommendation for Resolver Cables 24 Cable Plug X3 5 3 1 Feedback System Resolver X2
62. ormat Byte two s complement 12 5 1 2 Limit Values Rated current effective Imax Address H FE88 Byte Scale aam 3204 3207 Imax As per bit 0 0345 0 1206 0 1206 This value will be adjusted at the factory and can not be changed by the client Therewith the rated current of the device will be fixed The scale depends from the capacity of the device 71 7 Lenord Gauer 72 Description Format Peak current Maximum for i t limit i jgmax These value can be fixed by the user The values are according to the motor which is supposed to be used peak current and rated current The current can be limited with mmax and mmax16 The smaller one determines the maximum peak current Scale 3202 a A feasted Ee E ECH Te x us Ee x a SE x Sue En 12 5 2 Torque These values are read only bytes Torque nominal value msoll Address H FE5E Data format Word two s complement Scale See mmax16 12 5 3 Speed 12 5 3 1 Actual and Nominal Value The value can only be read Speed actual value nist Address H FE68 Speed nominal value nsoll Address H FE62 Data format Word two s complement Scale 0 223517 rpm per bit if bit 7 from Feedback 0 6 000 rpm 0 894068 rpm per bit if bit 7 from Feedback 1 18 000 rpm ND31 UM0998 Co Lenord Gauer 12 5 3 2 Limit Values This value can be programmed by the user and depends of the motor which is supposed to be used Maximum speed nMax Address
63. pact device or 19 rack Connection cross section 2 5 mm for 3202 3204 and 3207 or 4 mm for 3212 Earthing of the compact device or the 19 rack Earthing ND31 The compact device is to be screwed on the plain assembly board if possible Additionally a short earthing connection 10mm should be used between the earth bolt of the compact device or 19 rack towards the assembly board or earthing bus bar The assembly board has to be earthed properly Requirements e Using the shields on both sides e Earthing connection short and thick e Fixing shields widely e Unshielded parts as short as possible e Earthing of the switchgear cabinet e Wires as short as possible e Signal and control wires always separated from the power supply wire e Freely supported wires can cause trouble the active aerials the same as the passive aerials EMV compatibility according to EN 55011 is only guaranteed if e A convenient line filter is used e A connection cable between ND31 and line filter as well as 36 ND31 UM0998 Co Lenord Gauer power supply wire between ND31 and the motor is shielded e Shielding is connected with the earthing screw of the line filter the compact device or 19 rack and the motor housing e The individual cores of the motor and mains cables are fed through ferrite toruses using the same winding sense except for the PE wire 6 4 Emergency Power Off Concept ND31 To prevent hazard to individuals or damag
64. peed rpm x power radiant V rpm R 3x peak current of the motor 38 ND31 UM0998 ATTENTION ATTENTION ND31 UM0998 Co Lenord Gauer 6 4 3 Emergency Power Off with Controlled Braking Danger by lag running drive after emergency off The drive slows down by emergency off therefore please note e Do not block the power stage Regulated braking is only possible if the power stage is released neither software nor hardware block e The control has to be adjusted correctly e By emergency off the motor stops after eliminating a possible tracking error e Please note that a tracking error can occur by mechanical interference ND31 can only be stopped when the power stage is released neither software nor hardware block ND31 stops the motor regulated That requires a correct installation of the control If the control is installed that a tracking error occurs the tracking error will be eliminated Only then the motor stops Braking is activated by the pre programmed ramp Then the power stage can be blocked Therefore the release input Pin 26 of X3 is to prepare currentless Note Braking can also be carried out by the analogue speed nominal value input if the nominal value is set to 0 Additionally it is required to isolate the motor from the main supply Therefore are two possibilities Either by separating the main supply and ND31 with contactor K3 or the motor and ND31 with contactor K2 Only one of
65. s byte informs about the present operating state 12 10 2 Error Condition An error is indicated by Bit 5 of Status H FFF2 set to 1 The error code may be taken from the address errorcode H FEOO The error is acknowledged by writing H AF00 into the address errorcode Query error state Reading Bit 5 of Status H FFF2 Error code errorcode address H FE00 Data format Word Acknowledge error Writing H AF00 into RAM cell errorcode H FE00 12 11 Oscilloscope 12 11 1 Signal Selection All signals residing in the RAM may be selected by writing the appropriate code into the following memory cells Signal 1 scope_signal1 H FE04 Signal 2 scope_signal2 H FE06 Trigger signal scope_trigger H FE08 Example H FE68 gt H FE04 gt Signal 1 actual speed value RAM cell H FE68 For displaying only 1 signal the scope_signal1 and scope_signal2 parameters must contain the same address The contents of the selected memory cells are recorded The meaning and scaling of the record is determined by the signals 81 7 Lenord Bauer 82 specified If a 16 bit value is selected as signal then the upper byte MSB is recorded only Example If H FE68 is entered into RAM cell H FE04 as Signal 1 this means actual speed value nist scaling 0 223517 revs min per bit A recorded value of e g H 4C corresponds to a speed value of 0 223517 H 4C 256 4348 revs min For signa
66. s a loop connection of the PC with the drive units via RS232 or RS485 cables or via light wave conductors and the respective electro optical transformers 43 7 Lenord Bauer Up to 250 axes can be controlled in one loop The drives are automatically addressed according to their position in the loop For higher transmission speeds or connecting cycled machine components drives can be distributed to several loops 8 2 Features Velocity The duration for a byte transfer is 286 46 ms at a speed of 38 400 bits sec The required time for completing nominal and actual value exchange with speed regulated drives is Drives per ring x Time 1 i 0 86 ms 2 i 2 0 ms 3 i 2 9 ms The required time for transferring new nominal value positions for positioning axes is Drives per ring i Time AA e A e er E CR cn o a SE 250 UT u 8 3 Requirements for Transmission RS232 or RS485 alternatively Light wave conductor may be used in connection with interface converters Transmission speed 38 400 bits sec Transmission is performed with 8 data bits 1 parity bit odd parity and 1 stop bit 44 ND31 UM0998 Master Slave 250 Axes per Ring ND31 UM0998 gt Lenord Gauer 8 4 Bus Structure NOVOBUS has a loop structure The drives can be connected to one or more loops Per loop 1 Bus Master controller max 250 Slaves drives In normal operation the Slaves can only answer the Master telegram In case of a ti
67. se initialize the operation mode with H FF The following table shows that the bits 7 6 and 5 define the size A bits 4 3 and 2 the nominal value source The bits 1 and 0 contain additional information about the used feedback system Remarks A B C Size Nominal Value Source Feedback Inertia regulation analogue input 2 Inertia regulation CAN i Inertia regulation digital i Spin speed regulation analogue input 2 EEES CERA ethene het J Spin speed regulation CAN i Spin speed regulation digital 7 Lenord Bauer Postion Regulation Internal Vorgaben Test Mode 68 100 Spin speed regulation with po n regulator digital 101 i Spin speed regulation with position regulator i parallel interface 100 001 Position regulation nominal value source through i encoder 010 Position regulation nominal value source frequency direction Ee EE i NOVOBUS with standard feedback resolver 5 10 Position regulation nominal value source i NOVOBUS with encoder as 2 system of i measurement 100 01 Position regulation nominal value source CAN with i standard feedback resolver 100 10 Position regulation nominal value source CAN with encoder as 2 system of measurement 101 01 Internal nominal value source e g positioning with standard feedback resolver 101 Internal nomin
68. still present in the device During this time period nothing is to be touched In case the motor continues to turn after the power supply has been switched off the fatal voltage can be prolonged until a total stop occurs Only then the unloading of the electrolytic capacitor begins Avoid excessive repeated and rapid on and off switching of the power supply this could overload the switching current limiter of the ND31 This overloading can lead to the destruction of the limit switch limit resistance When switching on the power supply connection should be set first for the automatic control part before switching on the power supply When switching off please proceed reverse 2 1 Proper Usage The frequency converter EcoServ ND31 is a pulse and frequency converter for controlling brushless servo and asynchronous motors Itis a state of the art converter Using the converter for an application other than described here can be damaging to the health of the user or others Also the converter the drive or other valuable items can be damaged Only use the converter when error free conditions are provided Always regard safety rules and regulations Be aware of the manuals and abide the warnings provided 7 Lenord Gauer Compatible Motors Regulations Operating Environment Saftey Measures Qualified Stuff Manuals Transport and Storage Emergency Power Off Use only brushless servo motors and asynchronous motors wit
69. t the scaling factor may be adjusted also inverting the voltage In order the programming to become effective a Reset must be carried out 12 8 3 Encoder Emulation Pulse number of the encoder emulation Impulszahl Address H FEF4 Data format Word Range H 0001 H 0400 A changed pulse number becomes effective after a Reset 12 9 Drive Info 12 9 1 Serial Number The serial number can be inferred from the memory cells H FE84 to H FE86 Seriennummer Serial number Seriennummer Address H FE84 Data format BCD MSB H FE84 12 9 2 Operating Hours The operating hours can be inferred from the memory cells H FE92 to H FE97 it is differentiated between active time power stage enabled and the passive time Active time BetriebStd Address H FE92 BetriebMin Address H FE96 Off period SperreStd Address H FE94 SperreMin Address H FE97 Data format Hours Word Minutes Byte 12 10 Controlling the ND31 via NOVOBUS With the exception of some special commands like Reset controlling functions by reading or writing of RAM cells of the ND31 UM0998 ND31 UM0998 gt Lenord Gauer uController H8 thus influencing control bytes and getting information by reading of status bytes 12 10 1 Operating States Lock Setting Bit O of Status H FFF2 to 1 Release Setting Bit O of Status to O Stop Setting Bit 7 of Status to 1 Cancel Stop Setting Bit 7 of Status to O Reading the Statu
70. tal drives and also provides quick communication between controllers i e PC or PLC and drive units e Exchanging nominal and actual values i e spin speed nominal and actual value e Transmitting new nominal position values for positioning axis e Parameter loop for motor regulators i e setting and making on line changes to regulator structures regulator parameters and enabling maximum values etc e Transmitting control commands start stop regulator stops e Requesting important information i e cooler and motor temperature limiter switches ready signals in position signals additional external signals as process information integrated operating hour counters status of drive units error messages e Controlling programmable analogue and digital outputs of drive units i e for confirming shields or brakes transmitting warning signals etc The standard transmission hardware for the NOVOBUS are the standard serial interfaces RS232 or RS485 Standard for all PCs and modern controllers No additional hardware extensions i e bus controllers communication cards protocol chips intelligent bus plugs are required All digital Novotron drive units are standard equipped with the necessary serial interface as well as software drivers for the NOVOBUS protocol A NOVOBUS driver as software library for PC applications is provided free of charge NB31 LIB The only requirement for communication with the NOVOBUS i
71. th short address or 0 S 1 Short address T2 TO Net transmission length without synchro byte and address byte 0 7 D 1 The transmission contains process data information 2 bytes data channel Short Address When S 1 and N 0 the same drive which received the last transmission will be addressed 46 ND31 UM0998 ND31 UM0998 gt Lenord Gauer When S 1 and N 0 the next drive will be addressed Address Address 0 1 When S 0 and N 0 an address byte will follow If no process data bus or parameter bus is active the synchro byte SYNCO will be sent to maintain a continuous data flow SYNCO will be forwarded without change by the receiver SYNCO H 80 To loosen the data flow the synchro byte PAUSE can be sent It will be ignored by the receiver no response PAUSE H 81 9 3 Address Byte 7 6 5 4 3 2 1 0 Te Des Do Po Te To To The Master transmission A7 AO contains k N k Device address in the loop N Number of passive devices Slaves All devices increase the address by 1 and forward the transmission with the new address A drive is addressed if the address is 0 after incrementing The non addressed drives pass the entire transmission without checking the contents Example N 5 the controller wants to communicate with the device axis 2 k N 2 5 3 H fd 7 6 5 4 3 2 0 Axis4 1 1 1 1 1 1 1 0 H fe EE SE a SE CG an A ETA O 7 Lenord
72. trol Status reference drive Internal parameter Internal parameter Internal parameter Internal parameter Internal parameter Internal parameter Status ND31 Release through CAN Bus CAN Parameter Internal parameter End amplifier cooler temperature End amplifier cooler temperature End amplifier cooler temperature End amplifier cooler temperature ND31 UM0998 ND31 UM0998 gt Lenord Gauer 12 3 Configuration 12 3 1 The Byte SwVersion RAM Parameter Address H FF3D 7 6 5 4 3 2 1 0 TR RIR R R Readony 1 Limit switch active 1 Limit switch error 0 reserved 1 Motor cable monitoring Off 0 reserved 1 Synchronization for parallel interface 1 parallel interface active Esso 1 Test mode reversing Remarks Bit O 1 Activates the limit switch control Bit 1 1 Limit switch error Bit 2 1 If t control has been used Bit 3 1 The motor cable control can be switched off Bit 4 0 Reserved Bit 5 1 Activates the synchronization for the nominal actual exchange through the parallel interface special function Bit 6 1 Activates the parallel interface for the quick nominal actual Bit 7 exchange With 1 an internal test mode is switched on so that ND31 re verses the motor with the set spin speed This operating mode is especially useful in optimizing the regulator parameter 65 7 Lenord Gauer 66 12 3 2 The Byte HwVersion RAM Parameter Address H FE8B 7 6 5 4 3 2 1 0 ARTRTATATATATATA
73. useful that the stop brake is applied before the drive is locked typical of vertical axes By analogy with this the brake should be released after the enabling the drive ND31 supports this function The hardware signal for ND31 UM0998 ND31 UM0998 gt Lenord Gauer controlling the braking relay is the digital output GPO3 Connector X3 Pin B24 The desired delay times may be entered at addresses BremseT1 H FEB4 and BremseT2 H FEBS BremseT1 determines how many 10 ms cycles shall pass after enabling the drive before releasing the brake Le GPO3 switches to 1 24 V The function is deactivated with BremseT1 H FF BremseT2 determines the delay time in 10 ms cycles for the software lock delayed switching of GPO3 to 0 V This function becomes only effective after a Reset 85
74. wo 10 V analogue outputs are available resolution is 8 bits at Pin Ab analogue output 1 of connector X3 and at Pin B3 analogue output 2 If you use the analogue outputs then GPO8 and GPO1 cannot be used as digital outputs The analogue outputs are configured using the AnOutConfig byte H FF20 7pofsfepafafifo 1 1 1 1 1 1 1 0 1 1 1 1 1 1 O 1 Analogue output 2 active D it Analogue output 1 active 1 1 1 1 1 1 0 O 16 bits mode for analogue output 1 In the 16 bits mode the voltage is output with a resolution of 16 bits at analogue output 1 X3 Pin A5 Programming of the outputs if the desired mode is determined AnOutConfig then the output may be programmed using the following bytes Signal selection AnOut1 Address H FF24 Word Offset AnOutOffs Address H FF26 Byte Scaling factor AnOutFakt Address H FF27 Byte Signal selection AnOut2 Address H FF12 Word Offset AnOut2Offs Address H FF15 Byte Scaling factor AnOut2Fakt Address H FF14 Byte The address of the desired signal has to be entered into AnOut1 AnOut2 If e g the actual speed value H FE68 shall be output then the value H FE68 has to be entered into 2AnOut1 AnOut2 Offset adjustment is carried out by entering a value between H 01 and H FF into AnOutOffs AnOut2Offs with H 01 7F positive Offset and H FF 80 negative Offset 79 7 Lenord Bauer 80 Scaling Reset With AnOutFakt AnOut2Fak
75. xfe54 Oxfe56 Oxfe58 Oxfeba 0xfe5c 0xfe5e 0xfe60 0xfe62 0xfe64 0xfe66 0xfe68 Oxfe6a Oxfe6c Oxfe6e Oxfe6f Oxfe72 Oxfe74 Oxfe7a Oxfe7b Oxfe7c Oxfe7e Oxfe84 Oxfe88 Bytes 2 2 2 NN N NN PL N N N NN NN N N a N N Designation NBinput Phi4 nsoll2 STROD InternSoll psa_positionH psa_positionL psa_status LageSoll UmarSoll aSoll Anin10Old Anlnput1 mSoll Sollwert nSoll nintegrator Sync nist PaO Pat RautojuCSR Pa2 MaxSchleppInc Lage nsoll BalCnt CANCont Lagelst Umdrlst Seriennummer Imax Description Internal parameter Internal parameter Inertia nominal value of the position regulator Internal parameter Internal Inertia nominal e g positioning control Target revolution absolute positioning Target increments absolute positioning Status of the positioning control Position nominal value increments Position nominal value revolution Acceleration nominal value Internal parameter Value of analogue input 1 Moment nominal value Nominal value address Regulator nominal value without position regulator internal parameter Internal parameter Velocity actual value Internal parameter Internal parameter Resolver auto adjustment control register Internal parameter Memory for maximum slipping error in increments Internal parameter Counter for ballast switching CAN Parameter Position actual value increments Posit

User Manual Servoconverter ND 31

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