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1. Application Manual CDE CDB CDF3000 ON P Fig 2 3 View of device CDF3000 No Designation Function H1 H2 Light emitting diodes Equipment status display 1 Encoder switch Setting the CAN address xi Power terminal 6 pin X2 Control terminal 20 pin X3 Motor power connection 4 pin for PC with DRIVEMANAGER or M or control unit KP200 XL X5 CAN interface DSP402 X6 Resolver SSl transducer 15 pin HD Sub D socket connection Table 2 14 Legend to View of device CDF3000 LUST 2 Equipment hardware Power terminal xi Designation Supply 24V 55V Ground connection PE conductor PE conductor Connection of external braking resistor Connection of external braking resistor Table 2 15 Power terminal designation X1 CDF3000 Control terminal X2 Designation Function 20 Not assigned 19 Not assigned 18 RSH Relay contact safe stop make contact 17 RSH Relay contact safe stop make contact 16 ISDSH Digital input safe stop 15 ISD02 Digital input 14 ISD01 Digital input 13 ISD00 Digital input 12 ENPO Release of closed loop control 11 241 24 V supply 10 05000 Digital output 9 ISA1 Analog input differential 8 ISA1 Analog input differential 7 ISA0 Analog input differential 6 ISAO Analog input differential 5 24V 24 V supply for control element
2. 8 11 Vibration damping controller 8 13 Current limit controller 8 14 DC holding current controller 8 16 v f characteristics curve 8 17 Speed control OpenLoop with 0 10 V or fixed speeds 8 19 Speed control OpenLoop with setpoint and control via field bus 8 22 Appendix Overview of all error messages A 2 Index LUST Application Manual CDE CDB CDF3000 LUST 1 Safety 11 Measures for In order to avoid physical injury and or material damage the following information must your safety be read before initial start up The safety regulations must be strictly observed at any time Read the Operation Manual first Follow the safety instructions Please observe the user information Electric drives are generally potential h danger sources Electrical voltage 230 V 460 V Dangerously high voltage may still be present 10 minutes after the power is cut You should therefore always check that the system has been deenergized applies only for CDE CDB3000 Rotating parts Hotsurfaces Protection against magnetic and or electromagnetic 02 fields during installation and operation A For persons with pacemakers metal con
3. 0 2 Dangers sos este sosa ess eS ques CETT 1 1 Dead band function with bipolar operation 6 25 Deceleration ramp 6 37 Device data oci iieri 6 118 Device protection 2 18 Digital output with setting Setpoint reached 6 21 Direction optimization 5 11 Display B 1 LUST RUM t 8 5 15301 soe E un E eta 4 9 8 22 Dp 4 9 Dynamics maximum 8 14 E EasyDrive profile 4 10 8 22 Einstellung digitale Ausg nge f r BRK2 6 93 Electronic transmission 6 45 7 36 EMC Electromagnetic Compatibility 1 2 Emergency Stop facility 1 4 Is mn aet 6 74 Encoder for CDB3000 6 75 Encoder for CDE3000 CDF3000 6 78 Encoder combination 6 76 6 79 Encoder offset 1 5 erre 6 80 Error Heactions eei E RR 6 40 HOSEL e 6 127 error history eee 6 125 orgia cr 6 125 Error messages 2 15 6 124 Error reactions 6 127 6 129 Error stop ramp 2 3 5 eost e ea epe 6 40 Event control TXPDO 6 101 Example Setting F1 motor potenti
4. BUS Setting Function Effect 29 TBEN Release of table position Acceptance of the selected positioning table index and execution of the corresponding travel set see chapter 5 3 1 30 HALT Feed enable The running movement of the axis is interrupted according to the HALT reaction see chapter 6 2 3 Reaction with Stop feed and continued when reset 31 PLCIS Stop PLC program The PLC program is stopped after the current command line has been processed When removing the signal the program continues with the next command line 32 HOMSW Reference cams for zero point determination in positioning 33 FOSW Execution of follow up order in travel set positioning see chapter 5 3 2 34 CAMRS Resetting the cycle of the cam Setting the zero position of the cam switching unit see switching unit chapter 6 6 35 Input used in sequence program Placeholder inputs can always be read irrespective of the setting 36 PLCGO Start stop the sequence program The PLC program is started with the first command line Cancelling ends the program run see chapter 7 4 For the CDB3000 a HTL encoder can be additionally connected to the inputs ISDO1 15003 In this case the setting is 37 ENC HTL encoder 0 track 15001 index signal A track 15002 and B track 15003 see chapter 6 4 2 Encoder for CDB3000 Table 6 5 Application Manual CDE CDB CDF3000 Function selectors for digital inputs LU
5. 6 10 Limit values TraveliSet 4 eei eerte vv RS 5 9 Limitation enun 4 5 6 35 8 8 Rotary Speed eee ee see Ernte yu 8 8 rotary Speed ertet Ris 6 35 Ip qp 8 6 a 6 35 Loading device software 2 17 Low voltage directive 1 3 M Manual operation 5 26 Master Slave operation 6 40 Measures for your Safety 1 1 Meni level 2 cose 3 11 Menu structure 3 10 KeyPad at a glance 3 12 Application Manual CDE CDB CDF3000 Appendix B Index KP200 XL overview 3 10 MOOG iicet sie 5 32 Moment of inertia 6 70 of the system ecce 6 65 t 6 65 Moments of inertia 6 70 Motor Selection i aeree e evo eee ee 6 68 type designation 6 70 Motor contactor control 6 22 Motor control control location 6 55 Motor data no pq 6 67 Motor database 6 68 Motor holding brake 6 90 6 91 Time diagram
6. 6 98 Motor identification 6 69 Motor potentiometer function 6 58 Motor power contactor 6 22 Motor protection 6 83 Motor protection characteristic Factory setting 6 86 Setin 6 87 Motor shaft e eese 5 7 Motor temperature monitoring 6 83 Motorhaltebremse BRK2 6 93 6 96 movement tasks 4 2 8 2 N Nominal motor data 6 69 Operation and data structure 3 1 Operation levels in the parameter structure 3 2 Operation levels parameter structure 3 2 Operation panel KP200 XL 6 57 Optional board slot 6 57 Output Shaft cre orent 5 7 Output analog 6 30 Outputs abcr 6 13 Terminal extension module UM 8140 6 14 B 3 LUST 6 15 Outputs of positioning controllers 6 3 Overcurrent protection 8 14 Mun ELS 5 10 P Parameter Characteristic curve changeover 8 4 Characteristic curve data set changeover 8 4 Device data eee 6 118 Motor holding brake
7. iiim XE Reno 4 9 PROFIBUS re oe teet ences 4 10 Speed control with reference value via PLC 4 10 Assignment of control terminal 4 10 Terminal assignment CDE3000 4 11 Terminal assignment CDB3000 4 12 Terminal assignment CDF3000 4 13 CDE CDB CDF3000 in positioning operation Pre set solutions eer 5 2 General functions 5 4 Positioning modes 5 5 Units and standardization 5 6 Travel profile needs 5 9 Referencing sss 5 13 SWAG 5 25 Manual operation mode 5 26 Positioning with table travel sets 5 28 Travel set selection 5 28 Sequence of travel set selection with follow up order loglC 5 30 Parameterization of the travel set table 5 32 Switching points eese 5 37 IN MM 5 39 LUST 5 4 5 4 1 5 4 2 5 5 5 6 5 6 1 5 6 2 5 6 3 6 1 6 1 1 6 1 2 6 1 3 6 1 4 6 2 6 2 1 6 2 2 6 2 3 6 2 4 6 2 5 6 2 6 6 2 7 6 3 6 4 6 4 1 6 4 2 6 4 3 6 4 4 6 5 6 5 1 6 5 2 6 6 Application Manual CDE CDB CDF3000 Positi
8. DRIVEMANAGER Value range WE Unit Parameter Acceleration 620 x_RACC Data set dependent 1000 min s VF Deceleration 1 621 x_DECR P Data set dependent Oa 302760 1000 min s VF u n 230_REF_R Area Reference reached 0 32760 30 OUT Table 8 7 Parameters speed profile generator OpenLoop 8 6 Application Manual CDE CDB CDF3000 LUST 8 Speed Control OpenLoop for CDE CDB3000 DRIVEMANAGER Value range WE Unit Parameter Type of profile 0 Linear ramp 0 3 3 _ 597_ 3 Jerk limited ramp UU _SRAM 1 2 not supported z 596_JTIME Slip 0 2000 100 ms SRAM 1 Field parameters Index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 7 Parameters speed profile generator OpenLoop Parameter 230 REF_R can be used to define a speed range in which the setpoint after the profile generator may differ from the input setpoint without the message Reference value reached REF becomes inactive Setpoint fluctuations caused by setpoint specification via analog inputs can therefore be taken into account Actual value REF R Setpoint REF R Ramp settings can be made independently from each other A ramp setting of zero means jump in setpoint ACCR 8 7 Application Manual CDE CDB CDF3000 LUST 8 Speed Control OpenLoop for CDE CDB3000 8 2 3 Limitations Stop ramps Function Effec
9. 7 36 Reference encoder input configuration 6 40 Reference Source 4 2 8 2 Field DUS D E eed 4 9 4 10 B 4 LUST Pre set solution 4 2 8 2 Speed regulation 4 7 Travel set table 5 28 Reference value ene 4 5 Referencing 5 13 5 15 Absolute encoder 5 16 General eere ern erue 5 13 Homing Mode with CANopen 5 40 start conditions 5 15 iicet uoo 5 4 eere 5 17 11 1014 5 21 17 10 30 5 23 2 5 18 dr P 5 18 Type 33 and 34 esee 5 24 5 24 4 to type 0 5 16 DE E 5 19 Type 7 to d0 iiie erret eve 5 20 Re initialization 2 16 Relative positioning 7 38 YES 1 3 Repetition 5 34 Representation error history 6 125 Reset Parameters 2 16 Resetting parameter settings
10. Fig 5 8 Type 2 negative limit switch and index signal The initial movement takes place according to Fig 5 9 in direction of the positive right hardware limit switch if the reference cam is inactive see symbol A in Fig 5 9 As soon as the reference cam becomes active the direction of movement will be reversed for type 3 The first index signal after the descending flank corresponds with the zero point For type 4 the first index signal after the ascending flank corresponds with the zero point The initial movement takes place in direction of the negative left hardware limit switch and the reference cam is active see symbol B in Fig 5 9 5 18 Application Manual CDE CDB CDF3000 LU ST 5 CDE CDB CDF3000 in positioning operation If the reference cam becomes inactive the first index signal of type 3 will correspond with the zero point With type 4 the movement direction will change as soon as the reference cam becomes inactive The first index signal after the ascending flank corresponds with the zero point Fi vi mQ v2 Index signal 1 Reference cams 1 Fig 5 9 Type 3 4 positive limit switch and index signal Type 5 6 negative limitswitch The initial movement takes place in direction of the positive right and index signal hardware limit switch and the reference cam is active see symbol A in Fig 5 10 For type 5 the first index signal after the descending flank
11. pcp 2 PCB 3 isao 21801 selector analog standard forF lorc input 5 0 ISA1 181 1 Function selector analog standard PLC OFF OFF PLC input ISA1 5000 210 Fisoo Function selector digital standard lorr lorr RECAM PLC input 15000 15001 211 Fisor Function selector digital standard ofe RECAM RECAM TBEN RECAM PLC RECAM input 15001 56002 212 FIso2 Function selector digital standard gpp PLC TABO PLC input ISD02 Function selector digital standard 0 000 240 0500 REF Function selector digital standard 08001 241 001 input OSDo1 ROT 0 OsDo2 242 FOS02 Function selector digital standard S RDY Application Manual CDE CDB CDF3000 5 44 Table 5 16 Presetting of the control inputs and outputs on CDF3000 LUST 6 General software functions 6 1 Inputs and outputs s 6 1 1 Digital 1 6 1 2 Digital outputs eene 6 1 3 Analog inputs eere 6 1 4 Analog output for CDB3000 6 2 Setpoint generation 6 2 1 Rotary speed profile 6 2 2 Limitations esee nnns 6 2 3 5 6 000 101 se 6 2 4 Reference encoder Master
12. MENU MENU Inn II E g z gt am cuo AAAA rc d TA 74 B Lvl 4 LUN m S70 READ e b INN LETT TI DD 2 HI5 1 EO 4 KZ a gD In ae d A A Hg d C1 HIN e AUTO amp Aa a HL d Inn INE ES C2 eur IU n INITIC d ININE V e for field HN JC em HN JC A dm para HH LETT LE meters only EE ESF cc d 2 D chi OFF ee 4550 d READ b LETETITI IH Select menu VAL Select menu PARA Select menu CTRL Select menu CARD load save show actual values parameterizing control drive with SMARTCARD Show permanent actual Select the expert field Drive has stopped READ load from DC selection value use arrow key to if necessary password of individual datasets possible change to dialog with display PASSW WRITE save all datasets to DC factory setting no LOCK write protection password UNLOCK write protection C1 next actual value Select parameter Enter setpoint Select partial parameter area C2 Select parameter index Select parameter index D Show actual value Show parameter value and Start drive with Start Enter Function completed without change if necessary change setpoint with arrow fault keys MP motor potentiometer function Table 3 2 Application Manual CDE CDB CDF3000 3 12 Menu structure of the KP200 XL operation panel at a glance LUST Value display in exponential represe
13. 6 92 Motor potentiometer function 6 59 Subject area 51ER Error messages 6 126 parameter datasets 4 2 8 2 Parameters digital outputs 6 15 Setpoint structure 6 54 Path optimized positioning of a round table 7 38 Permanent actual value display KP200 XL 6 114 PICUOGFAMS iem cm 0 2 Pin assignment of the serial interface X4 CDE 2 13 PLC Command syntax 7 10 Control parameters 7 43 Line renumbering 7 7 New generation of program 7 5 Quern 7 4 PLC program structure 7 5 Program file eee see e rr no anne 7 7 Program handling 7 8 Sequential program 7 6 SYNTAX test 7 7 Text declaration 7 5 Text declaration file 7 7 Variables and flags 7 42 Position Control eese esee 6 62 Position control 6 62 Block diagram 6 50 Position plan CDB3000 2 7 Positioning Application Manual CDE CDB CDF3000 Appendix B Index Pre set solution 5 2 Possibilities of characteristic curve data set changeover
14. Fig 6 31 Setting the positioning speed control DRIVEMANAGER Value range WE Unit Parameter Emme omes Moment of inertia of motor 0 100 0 is 160_MOJNM Button Moments of inertia ae SCG Amplification speed control o 1000000000 0 035 Nm min Qm a time 1 2000 126 ms 81 Ch is positioning 1 32000 4000 rpm en ECTF Filter actual speed value 0 100 0 6 ms SCTF Filter speed setpoint 0 1000 0 ms yin 6 64 Application Manual CDE CDB CDF3000 LUST 6 General software functions DRIVEMANAGER Value range WE Unit Parameter Reduction of speed control 809 SCGFO amplification 00010000 30 90 _CTRL Power stage switching frequency 690_PMFS Tab Output stage AKHZ 0 16KHZ 3 8KHZ 1 kHz CONF Setting the switching frequency parameter PMFS BUS Setting Function 0 4KHZ 0 4 kHz 1 8KHZ 1 8 kHz 2 12KHZ 2 12 kHz 3 16KHZ 3 16 kHz Table 6 29 Output stage switching frequency Depending on the application the following steps must be performed to set the speed control circuit Adaptation of the speed control amplification to the existing external inertia For this purpose one can either enter the known moment of inertia directly in the function mask button Moments of inertia or the speed control amplification can be changed in percent SCGFA in 96 The moment of iner
15. 2 16 Responsibility eese eee 1 4 Reversing 00 _ 5 11 Round table configuration 5 12 Rotary speed profile generator 4 8 6 34 Round table configuration 5 11 5292 iive see eeu 2 4 S Safely E 1 1 Sequential program uilla eii PER RR RIDNR T RRRES 6 57 Serial interface as control location 6 57 Sat COUDtOl 2 15 ioc Rte ere re 7 31 Setpoint RC Pm 6 33 Application Manual CDE CDB CDF3000 Appendix B Index 8 7 Setpoint fluctuation 6 21 Setpoint generation 6 33 Setpoint jump eee eere 8 7 Setpoint reached 6 21 Setpoint source Field DUS eu RR D ET RE ER 8 22 Setpoint specification Block diagram 6 50 Setpoint structure Display parameter 6 54 Setting digital outputs for BRK2 6 97 Motor protection characteristic 6 87 Setting and starting timers 7 31 Setting operation levels via 36KP KeyPad 3 2 Settings 360 DISP and 361 BARG 6 115 651 GDSSE eres 8 4 Control location selector 6 56 Control location selector 260 CLSEL 6 56 Function select
16. A sub program is a part of the main program No independent program header e g P01 is generated The invocation is not realized by means of JMP but via CALL CALL Ny Invocation of a sub program or a jump to the first program line of the sub program RET Return from the sub program Possible structure of the program the line numbers only serve as examples NO10 Start of main program N050 CALL N110 Sub program invocation N100 JMP End of main program NITO Start of sub program N200 RET End of sub program After processing of the sub program the program is continued with the set following the invocation CALL The maximum nesting depth for sub programs is 250 If this number is exceeded an error message will be issued and the running program will be aborted 7 Setting a breakpoint BRKPT With this command the sequential program can be interrupted at any line How to use breakpoints in a sequential program Activating deactivating breakpoints in the sequential program Ny SET BRKPT 1 0 Setting breakpoints in a line in the sequential program Ny BRKPT With activated breakpoints the program processing is interrupted in line Ny parameter 450 PLCST BRKPT By starting parameter operation status on Start in the PLC window 450 PLCST GO the program processing is continued with the next command line Application Manual CDE CDB CDF3000 7 21 L U ST 7 User programming Note
17. Current limit controller Limit value and function selector v f characteristics curve all parameters Start current controller Setpoint reduced setpoint and timer Vibration damping controller Amplification Table 8 3 Function areas with parameters in the second data set CDS Possibilities of data set changeover BUS KP DM Function 0 OFF no changeover CDS 1 active Changeover when exceeding the speed setpoint of 1 SILIM the value in parameter SILIM e CDS 2 is speed gt SLIM otherwise CDS 1 2 Changeover via digital input e CDS 2 if IxDxx 1 otherwise CDS 1 Table 8 4 Settings for variants of data set changeover 8 4 Application Manual CDE CDB CDF3000 L U 5 8 Speed Control OpenLoop for CDE CDB3000 BUS KP DM Function 3 ROT Changeover when reversing the sense of rotation e CDS 2 if ccw rotation otherwise CDS 1 4 90 Changeover via SIO e CDS 2 if control bit is set otherwise CDS 1 5 CAN Control via CANopen interface e CDS 2 if control bit is set otherwise CDS 1 6 Changeover via field bus to optional slot e CDS 2 if control bit is set otherwise CDS 1 Changeover when exceeding the speed setpoint of the absolute value value formation in parameter 7 SLABS SILIM e CDS2 if speed gt SILIM otherwise CDS1 Table 8 4 Settings for variants of data set changeover Active characteristics curve data set display with 650 C
18. D C ling voltage Braking resistor D C ling voltage PE conductor Mains phase L3 Mains phase L2 Mains phase L1 Table 2 9 Application Manual CDE CDB CDF3000 Power terminal designation CDB32 xxx und CDB34 xxx LUST 2 Equipment hardware Control terminal X2 Designation Function 20 05002 20 contact of two way relay X2 18 19 OSD02 19 of two way relay X219 18 OSD02 18 contact of two way relay X2 20 17 DGND digital ground 16 05001 digital output 15 05000 digital output 14 DGND digital ground 13 Uy Auxiliary voltage 24 V 12 15003 digital input 11 15002 digital input 10 15001 digital input 9 15000 digital input 8 ENPO Power stage hardware enable 7 Uy Auxiliary voltage 24 V DC 6 Uy Auxiliary voltage 24 V DC 5 05 00 analog output 4 AGND analog ground 3 ISA01 analog input 2 ISA00 analog input 1 Un Reference voltage 10 5 V Table 2 10 Control terminal designation CDB3000 RS232 Pin No Function 1 15 V DC for control unit KP200 XL 2 TxD data transmission 3 RxD data reception 4 not used 5 GND for 15 V DC of the control unit KP200 XL 6 24 V DC voltage supply control print 7 not used 8 not used 9 GND for 24V DC voltage supply control print Table 2 11 Pin assignment of the serial interface X4 9 pin D Sub socket Applicati
19. see chapter 6 2 3 Fig 4 4 Basic setting Speed control 10V reference value 4 6 L U ST 4 CDE CDB CDF3000 in rotary speed operation 4 5 Speed control The fixed speed table is the reference source for the preset solutions with SCT 2 SCC 2 and SCB 2 There are 16 travel sets 0 15 to be entered reference value Via the mask Fixed speeds from Fig 4 6 The specific settings of inputs from fixed and outputs for the control locations via I O terminals SCT 2 CANopen speed table SCC 2 or PROFIBUS SCB 2 are described in chapter 4 8 Tabel of feed speeds Speed proe see chapter 4 2 1 Limiaboni see chapter 6 2 2 Stepramp see chapter 6 2 3 Luci Fig 4 5 Basic setting Speed control fixed speeds Table of fixed speeds Table of speeds Lx 0 1 2 3 4 5 6 7 Fig 4 6 Mask Fixed speeds DrveManacen Value range WE Unit Parameters 269 x RTAB _RTAB Rotary speed 32764 0 32764 0 fixed speed 0 15 Note The rotary speed profile is the same for all fixed speed The realization of a variable speed profile in dependence on the speed can be realized with a PLC program for an example please refer to chapter 7 5 4 Application Manual CDE CDB CDF3000 TE LUST Application Manual CDE CDB CDF3000 4 CDE CDB CDF3000 in rotary speed operation Selection of fixed speed Fixed speeds can be selected via terminal or field bus Profile Ea
20. 0 4 is is Fig 7 2 Display of PLC values with application specific texts The Sequential program follows the text declaration It contains a program header the actual program section and the program end The program header consists of a line with program number at present only P00 possible POO The lines of the actual program section are referred to as command lines The maximum number of sets that can be saved in the positioning controller is limited to N001 N254 Each command line consists of a line number the command and the operand After separation by means of a semicolon a comment can be inserted N030 SET M000 0 Reference point not defined The program end is always followed by the line without line number END Example programs can be found in the installed DRIVEMANAGER directory userdata samples PLC Application Manual CDE CDB CDF3000 7 6 LUST 7 2 4 Program testing and editing 7 2 5 PLC program files 7 User programming The syntax test checks the current program for errors in the command code The test is automatically conducted when saving the program to the drive controller or manually by pressing the corresponding button The result of this test is displayed in the status bar In case of error messages one can jump directly to the faulty program line by simply double clicking on the corresponding error message Renumbering the line numbers eases inserting pr
21. Application Manual CDE CDB CDF3000 3 13 L U SGT 3 Operation structure 3 4 Commissioning Commissioning procedure by following the user manual 1 Initial commissioning by following the operating instructions Prerequisite is the general initial commissioning by following the operating instructions The user manual solely deals with the adaptation of the software functions If the settings made during initial commissioning by following the operating instructions are not sufficient for the application 2 Selecting the optimal pre set solution The pre set solutions cover the typical applications for the positioning controllers The dataset most appropriate for the application is selected 3 Individual adaptation of the preset solution to the application The pre set solution serves as initial point for an application related adaptation Further function related adaptations are made to the parameters in the function oriented subject areas Safe your settings in the unit 4 Check the settings of the application solution With respect to the safety of man and machine the application solution should only be checked at low rotary speeds The correct sense of rotation must be assured In events of emergency can be stopped by disconnecting the ENPO signal and thus blocking the controller output stage 5 Completion of commissioning After successful commissioning save your settings with SMARTCARD or D
22. L U SGT 7 User programming Speed The new command is executed immediately i e the position specified in the previous command is no longer approached Reference for relative positioning is always the last position setpoint without continuation of program GO W With this command the next successive program line is only processed after the actual position has reached the position window As long as the axis is not in the positioning window e g due to a trailing error the program is not continued The W is an abbreviation for Wait GO W go wait Travelling with continuation Position or path via variable speed via variable GO A Hxxx V Hyyy Absolute travel by value of Hxxx with speed Hyyy program processing continues GO R Hxxx V Hyyy Relative travel by value of Hxxx with speed Hyyy program processing continues Position via variable speed via parameter GO A Hxxx Absolute travel by value of Hxxx program processing continues GO R Hxxx Relative travel by value of Hxxx program processing continues Relative travel commands with continuation must not be processed in a short endless loop as this would lead to a position overflow See following example 010 SET H001 360 N020 GO R H001 N030 JMP N020 Position or path from table GO T Hxxx Travel acc to table entry program processing continues GO T Cxx Travel acc to table entry program processing continues GO T xxx Travel acc
23. The power contactor in the motor supply line can be controlled by the positioning controller With the timer parameter 247 TENMO the pickup and drop off time of the power contactor can be accounted for With this one can make sure that after the start release the setpoint is only specified after the contactor has closed or with inactive power stage the motor is disconnected from the positioning controller by the contactor typical contactor chattering have been taken into account n Note In the time base of the TENMO timer additional times for Depending on the contactor these may take several 100 ms ENMO setting motor contactor n 1 min NN 1 START 0 1 ENMO 0 POWER ENMO motor power contactor POWEREnd output stage of positioning inverter Fig 6 9 Function of motor contactor control via digital output with ENMO setting Application Manual CDE CDB CDF3000 6 22 L U 6 T 6 General software functions With setting TENMO 0 the motor contactor function is deactivated With activation of the ENMO function the motor contactor is automatically closed during the self setting process The motor contactor function is active if one of the function selectors of digital outputs OSDOx or OEDOx has the value ENMO or ENMO The time TENMO can be set in the DriveManager after selecting the function under Options Torque bmit 100 00 x Motor tated torque 000 LA Nm 10
24. e ene 6 100 C Calculation Current limit values with adapted motor protection characteristic 6 89 Switch off point of the Ixt monitoring 6 89 Calling up the Application Manual CDE CDB CDF3000 travel settable 5 41 CANOPEN 4 9 6 100 8 22 Changing the operation level 3 2 3 3 Changing the password for an operation level 3 3 Chopping protection 8 14 Circulation length 5 11 CM ProfibusDPV1 4 10 8 22 Commissioning eese eee ees 3 14 ConcentriCily 1 22 eiie eo ceto ee opea 6 62 Conditional jump instructions 7 17 Connection an start 3 4 Connection via RS232 interface cable 3 4 Control and display elements 3 10 KP200 XL 3 10 Control location 4 2 6 55 8 2 Drive controller 4 2 5 2 8 2 OPIN p 6 57 ph ap 4 10 5 41 Serial interface 6 57 Control location selector inp e 6 56 Control Off o eve ea nep 6 38 Control terminal designation 2 9 Controller initialization 6 35 Current time value 6 83 D Danger symbols
25. 217 During a division operation in the program a division by zero has occurred Error in floating point operation in sequencing control The sequencing control is in wait state and shows the faulty program line Check the cancellation conditions value ranges for floating point operations If necessary correct the sequencing program or the faulty program line 220 3 Vote In floating point calculations value range violations 0 3 37E 38 can occur When comparing two floating point variables the cancellation condition may probably not be reached Make sure to use unambiguous and plausible value ranges in programming The cycle time of the sequencing control has been exceeded 221 i e the processing of the program takes more time than permitted 223 Error in indexed addressing e g SET H000 H CO1 18 E SIO Error in serial interface 9 Watchdog for monitoring of communication via LustBus has tripped 19 E EEP Faulty EEPROM 0 Error when accessing the parameter ROM 2 Error when writing to the parameter ROM 4 Error when reading the parameter ROM in the device boot phase 7 Error when writing a String parameter to the parameter ROM 11 Checksum error when initializing the AutoSave parameters 15 Checksum error when initializing the device setting 20 E WBK Open circuit at current input 4 20 mA 1 Wire breakage at current input 4 to 20mA detected 127 Phase failure on motor detected Application Manual CDE CDB CDF3000
26. Error messages Table 6 10 Setting the function selectors FOxxx for the digital outputs Application Manual CDE CDB CDF3000 6 15 LUST 6 General software functions BUS Setting Function Effect WARN Collective message warning denied Parameterizable warning limit exceeded device still operable Fail safe design see chapter 6 9 2 Warning messages ACTIVE Control in function Power stage active and closed loop control control functioning ROT_R Sense of rotation clockwise Motor turns clockwise ROT_L Sense of rotation anti clockwise Motor turns anti clockwise ROT 0 LIMIT Motor stopped Setpoint limitation active Motor in standstill window depending on actual value The internally processed setpoint exceeds the reference value limitation and is maintained at limit value level see Explanation of various functions 10 REF Setpoint reached The specified setpoint has been reached depending on actual value see Explanation of various functions 11 510 Access to control word of RS232 The output can be set by means of the LUSTBus control word via the serial interface 12 OPTN Reserved for the communication module PROFIBUS The output is set via the module CM DPV1 PROFIBUS 13 CAN Reserved for CAN Bus The output is set via the CAN Bus 14 BRK1 Holding brake functi
27. L U ST 4 CDE CDB CDF3000 in rotary speed operation Due to the jerk limitation the acceleration and deceleration times rise by the slip time JTIME The rotary speed profile is set in the DRIVEMANAGER according to Fig 4 2 Speed profile Lx ADODOAN 1000 1 mn Deceleraton 1000 jolt inited ramp Smoothing Smoolhing to redatt 100 ce Fig 4 2 Rotary speed profile DRIVEMANAGER Value range WE Unit Parameters Acceleration a 590_ACCR only for speed control 0 3700 min 8 _SRAM Deceleration 591_DECR only for speed control 0438160 min 8 _SRAM Area Reference reached 0 32760 20 230_REF_R _OUT Type of profile 0 Linear ramp 0 3 3 597 MPTYP 3 Jerk limited ramp U SRAM 1 2 not supported 596_JTIME Slip 0 2000 100 ms SRAM Note In torque control mode no acceleration and deceleration ramps are active Only the slip time remains analogically valid i e it generates ramp shaped reference torque courses Application Manual CDE CDB CDF3000 44 L U ST 4 CDE CDB CDF3000 in rotary speed operation Parameter 230 REF_R can be used to define a speed range in which the actual value may differ from the reference value without the message Reference value reached REF becomes inactive Reference value fluctuations caused by reference value specification via analog inputs can therefore be taken into account Actual v
28. Parameter settings for the motor holding brake are made with the buttons Outputs funde _ Moa Encoder Motor grotecton Brake Function motor brake Application Manual CDE CDB CDF3000 6 90 L U 6 T 6 General software functions 2 Diga Anaing FOSAD Digtal UMBO visi a 0S00 REF 10 Redeeence mnached n oso mm OS02 5 ROY 25 Device nihaleed e Motor holding brake BRK1 O BRK1 This function can only be used for the U f characteristic control For a controlled variant the BRK2 function is to be used The following illustration shows the function of the motor holding brake within the adjustable speed range The brake can be released in dependence on a setpoint by means of a digital output that can be set by means of the function selector f Hz SBCW SBCCW BRK 1 digital output Fig 6 47 Holding brake speed ranges with setting BRK1 Application Manual CDE CDB CDF3000 6 91 LUST 6 General software functions X Output options motor holding brake BRK1 speed hmt Clockwre 0 me Anti clockeite 0 l min Operation point Hysteresis Parameters for motor holding brake BRK1 DRIVEMANAGER Function Value range WE Unit Parameter Clockwise BRK1 Speed limit for 310 SBCW rotation motor brake clockwise 0 32764 0 min FE
29. controller The output stage will be shut off after the set time has run out Holding time With setting 0 the 0 4 0 S IU controller is switched off z Suitable value for basic setting 0 5 s Table 8 13 Parameters of the DC holding current controller Note Hille The function is ineffective in device status Quick stop i e with reaction Controller off 1 acc to reaction Quick Stop see chapter 6 2 3 when triggering quick stop via terminal Flxxx STOP or field bus control bit Application Manual CDE CDB CDF3000 8 16 LUST 8 3 5 v f characteristics curve Application Manual CDE CDB CDF3000 H 8 Speed Control OpenLoop for CDE CDB3000 The v f characteristics curve is automatically adapted during initial start up or via the motor identification Further optimization of the motor control method VFC does not take place with the help of the v f characteristics curve but via the P controllers described in chapter8 3 The VFC control method has been optimized for asynchronous standard motors or asynchronous geared motors acc to VDE 0530 x set 1 COS Dua ve zico52 Bodit volsge 0 Rated motor voltage 469 Rated motor hequency 50 Fer of dete vet witching 007 7 CEJ Fig 8 10 v f characteristics curve VNx FNx f Hz Fig 8 11 v f characteri
30. the output stage is subsequently locked 2 2 Braking with quick stop ramp the output stage is subsequently locked 3 3 Braking with max dynamics at the current level The speed setpoint is set to 0 the output stage is subsequently locked 4 4 Braking with max dynamics at the current level The speed setpoint is set to 0 the output stage is subsequently locked 5 5 Braking with programmed deceleration ramp The drive remains in quick stop state the axis is energized with speed 0 1 Table 6 16 Setting the reactions with quick stop Application Manual CDE CDB CDF3000 6 39 LUST 6 2 4 Reference encoder Master Slave operation Encoder 6 General software functions BUS Setting Reaction 6 6 Braking with quick stop ramp The drive remains in quick stop state the axis is energized with speed 0 1 7 7 Braking with max dynamics at the current level The speed setpoint is set to 0 The drive remains in quick stop state the axis is energized with speed 0 1 8 8 Braking with max dynamics at the current level The speed setpoint is set to 0 The drive remains in quick stop state the axis is energized with speed 0 1 1 Transition to the state Technology ready is only possible by resetting the quick stop request In Quick stop state cancelling the signal Start closed loop control drive has no effect as long as the quick stop request is not re
31. 0 09 0 00031 0 12 0 00042 0 18 0 00042 Table 6 30 Basic values for the moment of inertia related to a six pole IEC standard motor Application Manual CDE CDB CDF3000 6 70 L U 6 T 6 General software functions Power P kW Moment of inertia Jy kgm 0 25 0 0012 0 37 0 0022 0 55 0 0028 0 75 0 0037 1 1 0 0050 1 5 0 010 2 2 0 018 3 0 0 031 4 0 0 038 5 5 0 045 7 5 0 093 11 0 127 13 0 168 15 0 192 20 0 281 22 0 324 30 0 736 37 1 01 45 1 48 55 1 78 75 2 36 90 3 08 Table 6 30 Basic values for the moment of inertia related to a six pole IEC standard motor Performing identification The ENPO of the device must be set before pressing the button Start identification n Note During self setting the electric motor circuit must be closed Contacts must thus only be bridged during the self setting phase If the actuation of the motor contactor is realized via the positioning controller with the function ENMO the motor contactor will be automatically closed during the identification Application Manual CDE CDB CDF3000 6 71 LUST 6 General software functions In the steps Frequency response analysis and Measurement of the inductance characteristic the positioning controller measures the motor and determines the resistance values and the inductances In the subsequent operating point calculation the flow is adapted in such a way th
32. 070 080 090 100 110 120 130 END Application Manual CDE CDB CDF3000 T Absolute Positioning H000 Position 0 H001 Position 1 H002 Position 2 H003 Position 3 H004 Speed v1 H005 Speed v2 SET H000 200 SET H001 300 SET H002 400 SET H003 500 SET H004 80 SET H005 240 GO 0 GO W A H000 V H004 WAIT ROT 0 WAIT 1000 GO W A H001 V H004 WAIT 1000 GO W A H002 V H004 WAIT 1000 GO W A H003 V H004 WAIT 1000 GO W A H000 V H005 JMP N050 7 User programming Positions and speeds are directly transferred as values the specification of the acceleration takes place according to the machine parameters Standardization in s mm and v mm s Referencing Approach initial position Wait until axis has stopped Wait 1 s Approach position 1 and wait until axis has stopped Position 2 Position 3 return to initial position 7 48 LUST 7 5 3 Relative positioning 7 User programming In the previous example the axis has always travelled further by the same distance this opens the possibility for a solution with relative positioning A counter always holds the actual position units and standardization see previous example STEXT Relative Positioning_1 DEF H000 Position 0 DEF H001 Distance between positions DEF H002 Speed v1 DEF H003 Speed v2 END SP00 001 SET H000 200 Position 0 in mm N002 SET H001 100 Distance between two positions i
33. 10 0 Virtual output OVOO 11 0 Virtual output OVO1 12 1 PLC Flag M98 1 13 1 PLC Flag M99 1 14 1 CAN status word 15 0 Extended CAN status word only with EAsYDRIVE operating modes Table 6 41 Bit by bit coding of parameters TXEVn Explanations The diagnose of the CANopen control and status word as well as the network status takes place in the function menu Actual values tab CANopen see chapter 6 8 4 Application Manual CDE CDB CDF3000 6 103 LUST 6 5 2 PROFIBUS 2 1 PROFIBUS configuration parameters 6 General software functions DRIVEMANAGER or KEYPAD are used to set field bus address and configuration of the process data channel operating mode CANopen Address Profibur 0 Process date channel or Lace _ dish For connecting the communication module CM DPV1 as well as the commissioning and diagnose of a drive controller in the PROFIBUS network the user manual CM DPV1 is required DRIVEMANAGER Function Value range WE Parameter Address Set the software field bus address PROFIBUS The software address is only evaluated if the coding switches S1 0 127 0 a and S2 for the hardware address B are set to 0 Process data Determination of the EASYDRIVE channel operating modes with definition of configuration the control and status channel see 0 255 0 589 OPCFG Table 6 42 The process
34. 8 E Fig 6 54 Configuration of the user defined parameter subject area 6 112 L U S T 6 General software functions DRIVEMANAGER Value range WE Parameter User application PARA 13 x_UAPSPX for user defined 0 999 0 _KPAD parameter subject area User defined actual value display User defined actual values are only visible in the VAL menu of the KEYPAD operation panel KP200 XL The parameter 12 UAVAL is underlain by a data field suitable for the input of max 14 parameter numbers for display in the VAL menu Editable parameters can also be displayed All parameters entered here are also visible in operation level 1 User appbcation VAL Dips The lolong are daplayed addbionali m the VAL manu d 0 1 2 3 4 5 6 7 8 Fig 6 55 Configuration of user defined actual values in the VAL menu DRIVEMANAGER Value range WE Parameter User application VAL 12x UAVALX for user defined actual 0 999 0 _KPAD value display Application Manual CDE CDB CDF3000 6 113 LUST 6 General software functions Display for permanent display of actual values and bar graph not active Low Level active High Level Fig 6 56 Display for permanent display of actual values and bar graph Permanent actual value display and bar graph can be used separately for the display of actual values The b
35. Analog input 10 bit 10 V 6 ISA1 Analog input 7 05000 Digital output 8 05001 Digital output 9 05002 Digital output 10 ENPO Power stage hardware enable 11 RSH Relay output safe stop 12 RSH Relay output safe stop 13 DGND digital ground 14 24V Auxiliary voltage Uy 24 V DC 15 156000 Digital input 0 16 15001 Digital input 1 17 15002 Digital input 2 18 15003 Digital input 3 19 15004 Digital input 4 20 15005 Digital input 5 21 15006 Digital input 6 22 ISDSH Digital input safe stop 23 REL Relay output 24 REL Relay output Table 2 3 Signal assignment for control terminal X2 CDE3000 RS232 Pin No Function 1 15 V DC for control unit KP200 XL 2 TxD data transmission 3 RxD data reception 4 not used 5 GND for 15 V DC of the control unit KP200 XL 6 24 V DC voltage supply control print 7 not used 8 not used 9 GND for 24 V DC voltage supply control print Table 2 4 Pin assignment of the serial interface X4 9 pin D Sub socket Application Manual CDE CDB CDF3000 LUST CAN Resolver Encoder 2 Equipment hardware Pin No Function 1 Wave terminating resistor 120 Q internal for CAN by means of jumper between Pin 1 and Pin 2 2 CAN LOW CAN signal 3 CAN reference ground of CAN 24 V Pin 9 4 CAN SYNC LOW 5 Wave terminating resistor 120 Q internal for CAN SYNC by means of jumper between Pin 5 and Pin 4 6 CAN
36. Breakpoints can also be set via the user interface of the DRIVEMANAGER x Proset solution ee i tie Poshorang preset of process ents via PLC contol wa hte Initial commissioning B asc setts x r Inputs e Paravermatsr encoder otis encoder Output Reterence Mamor Loop cona Motor end encodes eeu me po emm Seve setting in device Cael Switching off the PLC e g via parameter 450 PLCST OFF the program processing is ended Example program 00 010 no instruction N020 SET BRKPT 1 activate breakpoints N030 SET H000 0 assign variable N040 SET H001 10 assign variable N050 BRKPT Breakpoint N060 SET H000 1 increment variable N070 JMP HOOO H001 N100 H000 smaller 10 N080 SET BRKPT 0 deactivate breakpoints N100 JMP N040 continue incrementing END With deactivated breakpoints this function is similar to an blank instruction NOP Blank instruction NOP This is an instruction without function i e the program processes the line but no reaction will occur The processing requires as with other commands computing time Application Manual CDE CDB CDF3000 7 22 LUST 7 User programming How to use this function in the sequential program Ny NOP Instruction without function Program end END Both the text declaration as well as the actual sequential program mus
37. Field parameter index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 10 Parameters for vibration damping controller 8 13 Application Manual CDE CDB CDF3000 LUST 8 3 3 Current limit controller 8 Speed Control OpenLoop for CDE CDB3000 Function Effect The drive accelerates along Protection against the set acceleration ramp overcurrent shut down when When an adjustable current accelerating excessive limit is reached the moment of inertia acceleration process is Protection against chopping decelerated in dependence of the drive on the selected function until sufficient current reserves are available again Acceleration processes with maximum dynamics along the current limit n stationary operation the speed is reduced if the motor current is too high Current controller 0x Data eet 1 COS oga sezicosa Function CEWFR 1 Speed reduction af lent current overfiow Cunert lent value 150 x intial ipeed 9 Hz Lowesng peed 150 Hz Lowesng ramp 1000 Hz CE ce Fig 8 8 Function mask Current limit controller 8 14 Application Manual CDE CDB CDF3000 LUST 8 Speed Control OpenLoop for CDE CDB3000 DRIVEMANAGER Meaning Value range WE Unit Parameter Controller OFF ON 631x CLSL Function OFF Function disabled OFF CCWFR OFF 0 x CCWFR see Table 8 12 CVF 0 180 1 Current limit value see
38. OUT CDE e Two way relay with CDB Function selector for electronic power 251 F0S03 05005 drivers 2 05003 TEE OUT UDE GUE Function selector digital standard input ae 250 F0S04 05004 Normally open relay with CDE 0 OFF oe CDE CDF C OUT electronic power driver 2 A with CDF Function selector relay output normally c 252 F0S05 05005 0 OFF COUT CDF Function selector for digital output of the 243 FOE00 TERIS user module OEDOO TREE 007 CDE GDR Function selector for digital output of the 4 _ 244 FOE01 SEDO user module OEDO1 TREE 007 SOEUR Function selector for digital output of the _ 245 FOE02 user module 0 002 TREE 007 CDE GDB Function selector for digital output of the _ 246 FOE03 pees user module OED03 TREE OUT Table 6 7 Parameter for setting the digital outputs Parameter for setting the digital outputs on terminal extension module UM 8I4O DRIVE valid for Function Value range WE Parameters positioning MANAGER controller Function selector for digital output of the 243 FOE00 Henne user module OEDOO toe _OUT REESE Table 6 8 Application Manual CDE CDB CDF3000 Parameter for setting the digital outputs on terminal extension module UM 8I4O L U 6 T 6 General software functions Function selector for digital output of the i 244 FOE01 OED user module OEDO1 TORRE 007 CDE CBE Function selec
39. SET Mxxx amp Myyy Logic AND SET Mxxx Myyy Logic OR SET Mxxx Myyy Logic EXCLUSIVE OR via integer variable SET Mxxx Hxxx Assignment of LSB for Hxxx via digital inputs and outputs SET Mxxx Ippi assign status input SET Mxxx Oppi assign status output Setting special markers SET Mxxx STA ERR Drive in error status variables status variables SET Mxxx STA WRN Drive in warning status SET Mxxx STA ERR WRN Drive in status error warning SET Mxxx STA ACTIV Control active SET Mxxx STA ROT R Motor rotating clockwise SET Mxxx STA ROT L Motor rotating anti clockwise SET Mxxx STA ROT 0 Motor stopped SET Mxxx STA LIMIT Limit reached SET Mxxx STA REF Setpoint reached SET Mxxx STA HOMATD Axis referenced SET Mxxx STA BRAKE Drive in braking state SET Mxxx STA OFF Drive in de energized state SET Mxxx STA C RDY Drive in status Controller ready SET Mxxx STA WUV Warning undervoltage SET Mxxx STA WOV Warning overvoltage SET Mxxx STA WIIT Warning warning I 2 t SET Mxxx STA WOTM Warning motor overtemperature SET Mxxx STA WOTI Warning heat sink temperature SET Mxxx STA WOTD Warning inside temperature SET Mxxx STA WIS Warning apparent current limit value SET Mxxx STA WFOUT Warning output frequency limit value SET Mxxx STA WFDIG Warning setpoint master error SET Mxxx STA WIT Warning I t motor protection SET Mxxx STA WTO Warning torque SET Mxxx STA INPOS Position setpoint reached only
40. Type of protection rotection Motor PTC function monitoring overload switch e g P a monitoring Motor and motor PKZM protection protection Overload in permanent o Qe o operation 2 H um o starting 3 Blocking 2 e e Blocking 3 e e Ambient temperature e O o gt 50 C 2 Restriction of e e e cooling 2 Converter operation o o o 50 Hz O No protection Limited protection e Full protection 1 Operation in motor line between positioning controller and motor not permitted 2 Controller and motor have the same power rating 1 1 3 The controller is at least four times the rating of the motor 4 1 4 Effective with warm motor too long reaction with cold motor 5 No full protection because only based on the permissible current Table 6 35 Possible motor protections Application Manual CDE CDB CDF3000 6 89 LUST 6 4 4 Motor holding brake 6 General software functions The following software functions are used in both the controlling as well as the regulating modes of operation Function Effect An electro magnetic holding The holding brake closes brake can be triggered in when falling below a speed dependence on limit values limit Time controlled releasing or applying of the holding brake can optionally be taken into account The motor holding brake has the two modes BRK1 only for U f characteristic control and BRK2
41. bit 0 valence 20 for speed see chapter 4 5 or positioning see chapter 5 3 1 Table 6 5 Application Manual CDE CDB CDF3000 Function selectors for digital inputs LUST 6 General software functions PROFIBUS Evaluation via CAN Bus BUS Setting Function Effect 14 TABI Travel set selection valence 2 Binary travel set selection bit 1 valence 2 for speed see chapter 4 5 or positioning see chapter 5 3 1 15 2 Travel set selection valence 22 Binary travel set selection bit 2 valence 22 for speed see chapter 4 5 or positioning see chapter 5 3 1 16 Travel set selection valence 23 Binary travel set selection bit 3 valence 23 for speed see chapter 4 5 or positioning see chapter 5 3 1 17 Limit switch for clockwise Limit switch evaluation without overrun protection The rotation reactions for limit switch overrun and for mixed up limit switches can be adjusted see chapter 6 9 1 Error messages See also Explanations to various functions 18 LCCW Limit switch anti clockwise Limit switch evaluation without overrun protection The rotation reactions for limit switch overrun and for mixed up limit Switches can be adjusted see chapter 6 9 1 Error messages See also Explanations to various functions 19 SIO Input appears in the status word Status of input can be read out via the status word of the serial interface X4 parameter 550
42. gt 4 Encoder 4 5 Positioning controller 5 6 General software functions 6 gt 7 User programming 7 gt 8 Speed control OpenLoop 8 Appendix Error messages and index A gt Application Manual CDE CDB CDF3000 LUST Pictograms Warning symbol gt gt gt Application Manual CDE CDB CDF3000 gt Note Useful information chapters of the user manual or additional documentations gt Cross reference Further information in other gt Step 1 Step by step instructions General explanation Attention Operating errors may cause damage to or malfunction of the drive Danger high voltage Improper behaviour may cause fatal accident Danger from rotating parts The drive may automatically start Danger class acc to ANSI Z 535 This may result in physical injury or damage to material Danger to life or severe physical injury Danger to life or severe physical injury LUST Application Manual CDE CDB CDF3000 Contents 1 Safety 1 1 Measures for your safety 1 2 Intended use eere nnne 1 3 Responsibility 2 Equipment hardware 2 1 Terminal positions CDE3000 2 2 Terminal positions CDB3000 2 3 Terminal positions CDF3000 2 24 Light emitting dio
43. to table entry program processing continues Travelling without continuation Position or path via variable speed via variable GO W A Hxxx V Hyyy Absolute travel by value of Hxxx with speed Hyyy and wait for further program processing until target position is reached GO W R Hxxx V Hyyy Relative travel by value of Hxxx with speed Hyyy and wait for further program processing until target position is reached Application Manual CDE CDB CDF3000 7 34 LUST Referencing 7 User programming Position via variable speed via parameter GO W A Hxxx Absolute travel by value of Hxxx and wait for further program processing until target position is reached W Hxxx Relative travel by value of Hxxx and wait for further program processing until target position is reached Position or path from table GO W T Hxxx Travel acc to table entry Hxxx wait until position is reached GO W T Cxxx Travel acc to table entry Cxxx wait until position is reached GO WT xxx Travel acc to table entry wait until position is reached Referencing is performed using the specified referencing type and the associated speeds 727 HOSPD If this command is submitted within a program the next successive set will only be effective after referencing has been completed GO 0 Referencing is performed in dependence on the method specified in parameter 730 depending on software status GO 0 Hxxx Referencing is performed position
44. 0 00 999 95 0 00 193_IADB1 CIN Filter time of the 188 AFILO Filter analog input 0 7 3 ms 189_AFIL1 CIN Setting of filters AFILO and AFIL1 DRIVEMANAGER Meaning 0 ms 300 ys 500 us 0 1 2 3 1 ms 4 2 ms 5 6 7 4 ms 8 ms 16 ms 3 Options Various options are available depending on the setting Function Fig 6 15 shows the options mask for setting the function selector to PM10 V 40 analog setpoint input 10V 10V Application Manual CDE CDB CDF3000 6 26 L U 6 T 6 General software functions Analog input options 10 V comesponds to 0 camesporats to 4 V comesponds to 10V comesponds to Fig 6 15 Options analog input ISAO with setting PM10V Parameter for the analog input ISAO Meaning Value range WE Unit Parameters i Maximum value ISAOO at 10V 1000 1000 100 ir d 2 Minimum value ISA00 at OV 1000 1000 0 TU 3 Minimum value ISAO0 at 0V 1000 1000 0 rw 4 Maximum value ISAO0 at 10V 1000 1000 100 NT noir peed see chapter 6 22 0 100000 1800 LOS um eee en oom a fiam Application Manual CDE CDB CDF3000 6 27 L U SGT 6 General software functions v 1 10V conesponds to 190 OV comesponds to 0 e EL ce Fig 6 16 Options analog input ISA1 for setting 0 10V
45. 1 N030 SET PARA 460 2 H000 Write field parameter 460 Index 2 N040 SET PARA 270 H000 Write parameter 270 N050 WAIT PAR Wait with program processing until all parameter write access have taken place End of program END Application Manual CDE CDB CDF3000 7 40 LUST 74 PLC control and parameters 7 User programming An uncomplicated setting of the specified PLC control parameters enables the PLC function mask extended main window gt PLC or via Basic settings PLC with the corresponding PLC presetting 1 CDEL37 004 setup Fig 7 5 DRIVEMANAGER PLC function mask Application Manual CDE CDB CDF3000 7 41 pum rm mm ru mum pug pom mmm mu L U ST 7 User programming 7 41 PLC variables All PLC variables are shown by means of parameters These parameters can be edited via the DRIVEMANAGER in a PLC function mask see Fig 7 5 DRIVEMANAGER Meaning Value range Parameter ONLINE Integer variables are integer numerical values In combination with floating point variables parameters Integer variables the digits after the decimal point are not taken into 2 31 to 231 yes 460 PLC_H 32 bit _PLCP consideration Rounding will also not take place Access in the sequential program H000 H127 Flag 0 1 Access in the sequential program 00 255 0 1 yes Me Time base 1 ms Timer 32 bit Access in the sequential program 200 711 0 to 232 yes Erro Timers a
46. 1 rout hrcion SADDI RCON D Rederence corntord 0 zj Source 2 Standardveterence ganpetadinmuntun Te ROON 0 Relerenee constant 0 Relire sasoe 2 on l selechon vib input nexu ACON 101 Reference constant 0 l Py E function 94002 Koend motor oti OFF 0 inactive Control iosaton ot motor cootro ETE Evason of siut ngas OFF 0 edge nagered i inoa __ ca Fig 6 25 Tab Reference further settings The control location for the motor control is described in the separate chapter 6 2 6 Application Manual CDE CDB CDF3000 6 47 LUST Application Manual CDE CDB CDF3000 6 General software functions Settings for source 1 source 2 DRIVEMANAGER Value range WE Unit Parameters RAO 280 RSSL1 Standard setpoint RCON ROPT RCON 281 RSSL2 289 SADDI RCON ROPT RCON 290_SADD2 when switching over SUN via input Settings for RSSL1 RSSL2 and SADD1 SADD2 BUS Setting Function 0 RCON Setpoint constantly zero 1 RAO Setpoint of analog input ISA00 2 RA1 Setpoint of analog input ISA01 3 RSIO Setpoint for serial interface 4 RDIG Setpoint for digital input in Slave operation 5 RCAN Setpoint for CAN interface 6 RPLC Setpoint for PLC Setpoint from travel set table 8 RFIX Setpoint of fixed value 9 RMIN Setpoint of minimum value 10 RMAX Setpoin
47. 10 to 3000 ms 4 Reference value 10 V 5 Standardization of the analog output Fig 6 17 Function block for adaptation of the analog output Configuration possibilities OSA00 10V ov OAMNO 1 gt OAMXO 96 1 Output value e g frequency Fig 6 18 Standardization of the analog output Application Manual CDE CDB CDF3000 6 30 LUST 6 General software functions 2 Digia AnsogFOSA0 Dora uMBO vetus ATTN HE Presert actual speed gt OV conesponds to 10 xm X of vele OV conespondi to 0 X of reference value 10V conesponds to 100 X of reference value Fig 6 19 Analog outputs FOSAO0 of the CDB3000 DRIVEMANAGER Value range WE Unit Parameters Function OFF PLC ACTN EICN Filter 10 3000 10 ms m oo 200 200 0 corresponds 200 200 100 af H Explanations Setting the function selector for FOSAO For both corner points 0 V 10 V the actual value can be adapted in the range from 200 to 200 from a reference value Inthe hardware the analog output is filtered by a filter with a cut off frequency of 100 Hz BUS Setting Function Reference value 0 OFF no function the input is switched off 1 ACTT current actual torque max torque 2 ACTN current actual speed max speed 3 AACTN Value of the current actual speed max speed 4 APCUR actual a
48. 2 5 3 Saving a program into a dataset da With an existing device dataset this button can be used to save a PLC program into an existing device dataset The file Project name txt gt generated from the text declaration is thus saved in the corresponding DRIVEMANAGER directory see 7 2 5 Attention It is not possible to generate new dataset which only contains the PLC program Application Manual CDE CDB CDF3000 7 9 LUST 7 3 command syntax 7 User programming Operand Comment Operand Comment Cxx Counter index 00 10 b Value 1 32 Hxxx Hyyy Variable index 000 127 d Counter reading 0 65535 Pox Fyyy Variable index 000 127 16 bit ZXX Zyy Timer index 00 10 t Timer reading 0 4 294 967 295 32 bit Ny Line number 001 254 t Numerical floating point value 4 Parameter number 000 999 32 bit PARA n i Parameter index i 000 255 Integer numerical value Mxxx Myyy Flag index 000 255 2147483648 32 bit Inputs ppi 00 A00 E00 E07 Ippi 500 503 CDB3000 500 506 CDE3000 500 502 CDF3000 Outputs ppi E00 E03 Oppi 500 502 CDB3000 500 504 CDE3000 00 503 505 CDF3000 Logic operands Operand Comment amp AND OR A Exclusive OR l lt lt gt gt ABS Absolute value generation Application Manual CDE CDB CDF3000 Mathematical o
49. 32764 0 287 ROPTN CAN bus setpoint 32764 32764 0 288 RCAN Setpoint of setpoint selector 1 32764 32764 291 REF1 REF1 REF2 32764 32764 0 293 REF3 Setpoint after ramp generator 32764 32764 0 295 REF5 Setpoint after slip 32764 32764 0 296 REF6 Table 6 23 Parameters of the setpoint structure Application Manual CDE CDB CDF3000 6 54 LUST 6 2 6 Control location Start flank triggered factory setting Start Level triggered Auto Start 6 General software functions Function Effect The control location determines the The control location is automatically interface for submission of the set when choosing a preset solution control command to start the closed Possible control locations are see loop control Table 6 26 Terminals Control unit Serial interface Optional slot PROFIBUS CAN interface PLC The control location is set with parameter 260 CLSEL DRIVEMANAGER function mask Setpoint Ramps further settings DRIVEMANAGER Value range WE Unit Parameters Control location for 260 CLSEL motor control ees TERM CONF Table 6 24 Parameter control location Evaluation of start signal Prerequisites for starting the controller Hardware release ENPO is set at least 10 ms before setting the start signal High Level The device status Safe Stop on CDB3000 only with hardware version is inactive The start signal is eval
50. 36 7 Postionng system rpm cortrober current oun T mat emat me i Ire wn mci b ins acl faicear pu p Pasch er Gast Fig 6 30 Control structure Torque and speed controllers are designed as Pl controllers the positioning controller as P controller Amplification P proportion and integral action time l proportion of the individual controllers can be adjusted In the operation mask these settings are made in the function mask Control During commissioning the desired preset solution can be simply selected and parameterized with the help of the DRIVEMANAGER This also includes the setting of the control mode te y Loop control The control structure and the parameters to be set are displayed when selecting the setting values Control Fig 6 31 When selecting the tab Output stage you can determine the switching frequency of the output stage see Table 6 29 Application Manual CDE CDB CDF3000 6 63 LUST 6 General software functions contio Foner stage Adapt the external inertia Speed conbuher gan SCLFA Adapt stitiness of power tram TE By irg Ae fret the of peed and posiborang cortel be calculated monate aly Seed controler gain 5C Speed controller ing tme SCILO Poohen controler gan POG ip f Rekeverce peed 1 SCTE NER
51. 7 3 1 OVOLVIBW zusenden deas 7 11 7 3 2 Detailed explanations 7 16 Jump instructions sub program invocations JMP 7 16 Unconditional jump instructions 00 0 0 ee eee 7 16 Conditional jump instructions 2 7 16 Actual VENUS 7 16 SOUP OIA EE 7 17 AXIS Stats mH 7 17 Status of a digital input sss 7 17 Status of a digital output Status of a logic marker Status of a special marker sene 7 18 Value of an integer variable direct comparison 7 18 Value of an integer variable comparison with second variable 7 18 Value of a floating point variable direct comparison 7 18 Value of a floating point variable comparison with second variable 7 19 Status of a counter Status of a timer Sub programs CALL RET Setting a breakpoint BRKPT 7 20 Blank instruction NOP Program end END Setting commands SET Setting a digital output Setting a logic marker s sss Setting special markers variables status variables 7 24 Application Manual CDE CDB CDF3000 LUST 7 4 7 4 1 7 4 2 7 5 7 9 1 7 5 2
52. 7 5 3 7 5 4 Application Manual CDE CDB CDF3000 7 User programming Setting special markers variables control variables 7 24 Indexed assignment of a constant value 7 25 Setting an integer variable sse 7 25 Setting a special integer variable 7 28 Setting a floating point variable 7 29 Setting a special floating point variable 7 29 Setting a counter 7 30 Setting and starting a timer 7 30 Setting parameters essere 7 30 Setting field parameters sssssssssseeeee 7 31 inverting UN rite eet tet tantes 7 32 Travel commands with positioning GO 7 32 Travelling with or without continuation of program 4 92 Travelling with continuation 7 33 Travelling without continuation 7 33 Referencing 7 34 Travelling endless 7 34 Speed synchronism 7 35 Angular synchronism electronic transmission 7 35 Path optimized positioning of a round table 7 37 Braking the drive STOP SET HALT BRAKE 7 97 Stop feed esos 7 37 QUICK StOp sess 1 5 teri Repo Pte dee E ERR 7 38 Braking with decelerat
53. A 8 LUST Appendix A aar Description No location 30 E ENC Error in rotary position transducer interface 0 Error in encoder interface 1 Error in encoder interface Wire breakage in track signals detected 117 Initialization of SSI interface 127 Error in commutation finding The commutation angle has not been determined accurately enough 137 Wire breakage SSI encoder 32 E FLW Servo lag 240 Servo lag 33 E SWL Software limit switch evaluation has responded 0 Error in internal setpoint limitation 243 Positive software limit switch has responded 244 Positive software limit switch has responded 246 Internal setpoint limitation Travel set rejected by the contacted hardware or software limit switch due to a limitation of the travel range 36 E POS Positioning error 0 Error in positioning and sequencing control 241 Error of hardware limit switch detected during referencing or no reference cam found 242 Error of hardware limit switch interchanged during referencing 245 No reference point defined 247 Timeout reached at target position 248 Feed release missing technology not ready feed release missing HALT active quick stop active 249 Positioning currently not permitted referencing active step mode active positioning inactive 250 Initialization of standardization block the total transmission ratio numerator denominator can no longer be d
54. Application Manual CDE CDB CDF3000 5 CDE CDB CDF3000 in positioning operation This type is particularly suitable for absolute encoders e g SSI Multiturn Encoder Referencing takes place immediately after switching the mains supply on which means that it can also be activated in de energized state The current position complies with the zero point The zero position is calculated on basis of the absolute encoder position zero point offset According to this referencing with zero point offset 0 supplies the absolute position of the SSl encoder e g in operation of a SSI Multiturn Encoder Another referencing with unchanged setting of the zero point offset does not cause a change in position Referencing or zero point adjustment for the system must be performed as follows 1 Enter zero point offset 0 2 Referencing start referencing delivers the absolute position of the sensor 3 Move drive to reference position zero point of machine 4 Atthis point enter the zero point offset the value by which the position is to be changed with respect to the displayed position 5 Repeat referencing start referencing 6 Save the setting zero point offset 7 The system will be automatically referenced when switching the mains supply on Manual referencing is no longer necessary Like referencing type 22 with subsequent possibility of continuous referencing Further explanations under Type 3 Like referencing ty
55. Fig 5 2 Specification of units The parameter for the resulting unit is DRIVEMANAGER Value range WE Unit Parameters Position S Degree variable 792 FGPUN FG 5 6 Application Manual CDE CDB CDF3000 L U ST 5 CDE CDB CDF3000 in positioning operation DRIVEMANAGER Value range WE Unit Parameters Speed Degree s variable 793 FGVUN FG Acceleration Pow variable 796 FGAUN FG After determining the units the input continues with the mechanical drive values Feed constant and gear factor 2 The feed constant converts the specified path units into output shaft S revolutions Furthermore the gear transmission ratio can be entered as a fraction This ensures that the output shaft position is always converted to the motor shaft without any rounding errors Oeria gt gt Advanee travel constant 350 cometpondng Rievolutions of driving shaft availablc Revoksion of motorshalt 1 Revolstions of diving shaft 1 Bok ay Fig 5 3 Settings for units and standardization DRIVEMANAGER Value range WE Unit Parameters din end NO 0 4294967205 360 variable ER g a shaft revolution 04294967299 i g shaft revolutions 04491967299 i Application Manual CDE CDB CDF3000 an LUST Application Manual CDE CDB CDF3000 mr 5 CDE CDB CDF3000 in positioning oper
56. GND bridged with Pin 3 7 CAN HIGH CAN signal 8 CAN SYNC HIGH 9 CAN 124 V 24V 1 0 50 This supply voltage is required for CAN operation Table 2 5 Pin assignment of CAN interface X5 9 pin D Sub pin Pin No Function 1 Sine S2 2 Sine 54 3 Cosine 51 4 5V 5 PTC motor temperature monitoring 6 REF resolver excitation R2 7 REF excitation R1 8 Cosine 53 9 PTC Table 2 6 Pin assignment of resolver interface X6 9 pin D Sub socket Function Pin No i a 551 Hiperface 1 A REFCOS 2 A 05 3 5V 5 at 150mA 5V 4 DATA Data RS485 Table 2 7 Pin assignment for encoder interface X7 15 pin D Sub High Application Manual CDE CDB CDF3000 Density socket LUST 2 Equipment hardware Application Manual CDE CDB CDF3000 Function ssi Hiperface 5 DATA Data RS485 6 B REFSIN 7 8 GND GND GND 9 R 10 R 11 B SIN 12 Sense Sense 13 Sense Sense 14 CLK 15 CLK Table 2 7 Pin assignment for encoder interface X7 15 pin D Sub High Density socket L U S T 2 Equipment hardware 2 2 Terminal positions CDB3000 PF 27 0 ALE tid ddd 0 kh X3 Xi Fig 2 2 Position plan CDB3000 No Designation Function H1 H2 Light emitting diodes Equipment status display Mains motor DC supply L L Xi Power terminal
57. Parameter for the analog input ISA1 DRIVEMANAGER Meaning Value range WE Unit Parameters 4 Maximum value 15 01 at 10V 1000 1000 100 2 Minimum value ISAO1 at 0V 1000 1000 0 Rated Reference value of scaling with speed control 157_MOSNM motor speed see chapter 6 2 2 Limitations 05100000 1900 MOT Rated Reference value of scaling with torque control 852_MOMNM motor torque see chapter 6 2 2 Limitations 0 0025 3000 el Nn MOT Note The resolution of the analog inputs is 10 bit In order to achieve an optimal interference suppression they are scanned ad filtered with 250 us Further processing takes place with 1 ms Application Manual CDE CDB CDF3000 6 28 L U 6 T 6 General software functions Setting the function selectors FISAO and FISA1 Bus Setting Function Effect ISAO ISA1 38 0 10V Analog setpoint Setpoint specification 0 10 V Observe the standardization input 0 10 V and adapt the setpoint structure by means of the setpoint E v selector 39 SCALE Torque scaling Online torque scaling 0 100 of the maximum value see chapter 6 2 2 The torque scaling is tapped directly after the analog filter v and before the dead band The dead band is thus without any effect for these functions 40 PM10V Analog setpoint Setpoint specification 0 10 V Observe the standardization input and adapt the setpoint structure by means of the se
58. SSl interface and encoder evaluation lines per revolution or transmission ratio are not supported Application Manual CDE CDB CDF3000 L T Appendix A nd Error Mud Description 10 E PAR Parameterization error Error when initializing the encoder function 118 prohibited combination of encoders e g a transducer is used as encoder and reference encoder 119 Error when initializing the control Invalid values for main inductance zero or negative 120 Error when initializing the analog output 121 Error when initializing the analog inputs 122 Error when initializing the resolver evaluation 123 Error when initializing the fault voltage compensation 124 Error when initializing the speed control without sensor SFC 125 Error when initializing the speed control without sensor 0 1 model 126 Error when initializing the external AD converters 127 The desired method for commutation finding is not supported 128 Error when initializing the GPOC error correction method Error in configuration of HTL encoder HTL encoder was 129 parameterized as position speed or reference encoder but the input terminals FISO2 and FISO2 are not set to HTL evaluation 130 Error in current controller tuning 131 Error in self setting test signal generator 132 Error in UZK calibration 133 Error in performance of Macro State Machine 11 Floating point
59. Setting the function selectors for the digital inputs DRIVE Parameter Function Value range WE positioning MANAGER S controller FIFO pee selector for virtual digital fixed input ike 0 OFF Ti CDE CDB CDF FIF1 selector for virtual digital fixed input ES 0 OFF T CDE CDB CDF Table 6 4 Parameter for setting the virtual digital inputs Depending on the setting of the function selector an option is available for the corresponding input LUST 6 General software functions BUS Setting Function Effect OFF no function Input switched off START Start closed loop control Start of closed loop control motor is energized The sense of rotation depends on the setpoint Low High flank controlled Level controlled via AUTO Start function under Start Level triggered Auto Start on page 6 55 The reaction of the drive to remove the start signal can be programmed see chapter 6 2 3 Reactions in case of Control off STR STL Start clockwise Start anti clockwise Start release for clockwise rotation of motor not during positioning See also Explanations to various functions Start release for anti clockwise rotation of motor not during positioning See also Explanations to various functions INV Reversal The setpoint is inverted this causes a reversal of the sense of rotation only for speed control STOP Quick stop Quick stop in accordance with qui
60. Terminal assignment CDE3000 5 42 5 6 2 Terminal assignment CDB3000 5 43 5 6 3 Terminal assignment CDF3000 5 44 Application Manual CDE CDB CDF3000 5 1 LUST 5 CDE CDB CDF3000 in positioning operation 5 1 Pre set Pre set solutions are complete parameter data sets which are provided to solutions handle a wide variety of typical application movement tasks The position controllers are automatically configured by loading a pre set solution into the random access memory RAM The parameters for the control location of the drive controller the reference source the assignment of signal processing input and outputs and the type of control are the focal points of the setting The use of a pre set solution considerably simplifies and shortens the commissioning of the positioning controller By changing individual parameters the preset solutions can be adapted to the needs of the specific task These modified pre set solutions are saved in the device as customized datasets In this way you can arrive more rapidly at your desired movement solution A total of nine preset solutions covers the typical areas of application for positioning with the closed loop controllers Abbrevia Control location Additionally required tion petrence ource Bus control profile croni Documentation PCT 2 Tabular travel set l O terminals 53 PCC 2 T
61. above the value Speed limit speed hysteresis the motor accelerates on this value and the brake releases The reference will be fixed up to expiration of time TREF Parameterize time TREF to the opening time of the brake After expiration of time TREF the brake shall be released and the reference will be accelerated to the set reference above Speed limit speed hysteresis value The adjustable speed limit will be fixed to the slip speed of the motor so that the motor builts a torque against the brake Immediately after releasing the brake a torque for the load is available Application Manual CDE CDB CDF3000 6 98 L U 6 T 6 General software functions Speed set point gt speed limit SSCW or SSCCW Setting the reference below the adjustable speed limit the drive will be decelerated Reaching the speed limit closes the brake Refe rence will be fixed at the speed limit up to expiration of time TCTRL Parameterize time TCTRL to the decelaration time of the brake After expiration of time TCTRL the brake shall be closed safely References below the speed limit parameterized to the slip speed results in low torque The brake protect the load if there is no sufficient torque available during operation of the motor below the slip speed Application Manual CDE CDB CDF3000 6 99 LUST 6 5 Bus systems 6 5 1 CANopen 2 6 General software functions Function Effect Configuration as field bus Selec
62. active with operation self adjustment Error flash code OLED off LED on LED flashing Table 2 21 Meaning of the light emitting diodes Note The parameterization mode by control unit is not separately indicated Flash code of Display red LED control unit 1x E CPU Collective error message 2x E OFF Undervoltage cut off 3x E 0C Overcurrent cut off 4x E 0V Overvoltage cut off 5x E OLM Motor overloaded 6x E OLI Device overloaded 7X E 0TM Motor temperature too high 8x E OTI Cooling temperature too high Table 2 22 Error messages Error messages can be displayed more accurately with the KP200 XL control unit or the DRIVEMANAGER Application Manual CDE CDB CDF3000 LUST 2 5 Resetting parameter settings Parameter reset Factory setting 2 Equipment hardware The resetting of parameter settings is divided into two areas with differing effects The parameter reset returns an individual parameter to the last saved value Device reset restores the entire dataset to factory setting delivery defaults In the KEYPAD PARA menu If you are in the setup mode of a parameter and press the two arrow keys simultaneously the parameter you are currently editing will be reset to the setting saved last In DRIVEMANAGER In the focussed settings window by actuating the F1 key The factory setting of the parameter is to be taken and entered in the tab Value Range KEYPAD Press both arrow
63. axis Fig 7 4 Relative positioning during synchronous travel t time of command GO R H000 V001 with H000 1000 and H001 200 A GOA command absolute positioning during synchronous travel aborts this travel The axis continues travelling with the transmitted travelling speed and performs the requested absolute positioning by observing the set ramps GO A and GO R positions as always refer to the output shaft The required transmission ratio can be configured through the standardizing assistant The target position is specified as an absolute value and the positioning controller moves the axis in the direction with the shortest path Relative movements do not take place in a path optimized way See also chapter 5 2 3 This type of positioning assumes that an endless travel path has been selected For the round table function the settings in the travel profile are decisive If round table function direction optimization and length of circumference are specified there under the commands will be executed in a path optimized manner Braking the drive STOP SET HALT BRAKE Various commands with and without controller stop are available to brake the drive Application Manual CDE CDB CDF3000 7 38 LUST Stop feed Quick stop Braking with deceleration ramp only positioning Braking with quick stop ramp only positioning Emergency stop speed 0 and shut down of control only positioning 7 User programmi
64. both cases a presetting is determined for the controller which is based on the following assumptions The torque controller is set up optimally so no further adjustments are necessary The setting of the speed controller is based on the assumption that the moment of inertia of the machine reduced to the motor shaft is equal to the moment of inertia of the motor The position controller has been designed for elastic coupling to the mechanics Optimizations can be made according to chapter 6 3 Motor control Motor database If the data for the motor to be used are available in a database of the DRIVE MANAGER these can be selected via the option Motor selection and transferred to the device A database with the settings for all motors without encoder information is available for motors from Lust Antriebstechnik GmbH Using the correct motor dataset ensures thatthe electrical data of the motor are correctly parameterized thatthe motor protection tab Motor protection is correctly set and the control circuits for the drive are preset Application Manual CDE CDB CDF3000 6 68 LUST Setting the nominal motor data 6 General software functions Motor databases for motors from Lust Antriebstechnik GmbH are not part of the DRIVEMANAGER or its installation The motor databases are separately stored on the DRIVEMANAGER installation CD ROM and can be installed from there Up to date versions can be downloa
65. corresponds with the zero point When the reference cam becomes inactive the direction of movement with type 6 will be reversed and the first index signal after the ascending flank corresponds with the zero point The initial movement takes place in direction of the negative left hardware limit switch and the reference cam is inactive see symbol B in Fig 5 10 Application Manual CDE CDB CDF3000 5 19 LUST Type 7 to 10 reference cams index signal and positive limit switch Application Manual CDE CDB CDF3000 5 CDE CDB CDF3000 in positioning operation With type 5 the direction of movement is reversed as soon as the reference cam becomes active and the first index signal after the descending flank corresponds with the zero point For type 6 the first index signal after the ascending flank corresponds with the zero point vi Index signal _ 1 1 1 Reference cams 1 Fig 5 10 5 6 negative limit switch and index signal The initial movement is in direction of the positive right hardware limit switch Limit switch and reference cam are inactive see symbol A in Fig 5 11 Type 7 changes the direction of movement after the active reference cam The first index signal after the descending flank corresponds with the zero point With type 8 the zero point corresponds with the first index signal with active reference cam Type 9 changes the direction of movement if the reference cam
66. deactivated by setting the start current and the reduced start current to the same value 4 Field parameter index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 9 Parameters for start current controller Note Start current setpoint Please remember that the start current setpoint must always be lower at least 25 than the rated current of the current limit controller 8 12 Application Manual CDE CDB CDF3000 LUST 8 3 2 Vibration damping controller 8 Speed Control OpenLoop for CDE CDB3000 Function Effect The controller reduces the oscillation This control function dampens the propensity by means of automatic vibration behaviour of motors with dynamic speed or frequency rotor shafts which are susceptible for changes bending This control function has an additional dampening effect on acceleration processes with mechanical components having high elasticity and or lots Pulse damping controller E xi se 110051 Data se 2170522 Gain OFF 0 100 x Fior ime n1 s Lodi J Lace Fig 8 7 Function mask Vibration damping controller DRIVEMANAGER Meaning Value range WE Unit Parameter P proportion of controller Setting 0 is used to 1 Amplification switch off the controller 500 500 0 611 x_APGN Suitable value for basic VF setting 100 Filter time Filter for actual current 0 1 10 0 1 61 m 1
67. encoder increments reference encoder speed Indexed assignment Set variable Set integer variable indexed Calculate variable Displace variable Variable absolute value generation Set variable Position setpoint Actual position value Assign actual frequency Hz Assign actual speed min Assign actual torque Nm Assign actual current effective A Analog output value Assign analog input 0 1 Read variable with output or input image Set reference encoder increments Assign analog value Assign setpoint only with speed and torque control Setpoint reaches window Set floating point variable Set floating point variable indexed Calculate floating point variable Round floating point variable Floating point variable absolute value generation Set parameter Set counter Calculate counter Set timer Parameter number direct L U ST 7 User programming Comm E Operand PARA Hxxx Hyyy Fxxx SET PARA n i Hxxx PARA Hxxx Hyyy Hzzz Fxxx ACCR Hxxx DECR Hxxx 0 15096 DECR 0 15096 Comment Parameter number via integer variable Input parameter number direct Specification parameter number and index via integer variable Change acceleration Scaling Scaling Wait commands WAIT d Hxxx ROT 0 REF PAR Wait time in ms 0 4 294 967 295 ms Setpoint position target position Actual position in position window Wait until parameter
68. entry 0 does not select a switching point inactive DRIVEMANAGER Value range WE Unit Parameters 771 x_PTSP1 Switching point A 0 4 0 RTAB X travel set 0 15 772 x_PTSP2 Switching point B 0 4 0 RTAB X travel set 0 15 5 36 Application Manual CDE CDB CDF3000 L U ST 5 CDE CDB CDF3000 in positioning operation 5 3 4 Switching Four switching points can be defined Each switching point can modify up points to three markers The switching points can be used in all travel sets A maximum of two switching points can be used in each travel set Configuration takes place via the travel set dependent switching point configuration Each switching point has the following settings Postroneng table process set control wa termnal x Target position The target position is effective in dependence on the switching point mode and its linkage with a travel set DRIVEMANAGER Value range WE Unit Parameters 2147483648 766 x CPOS Target position 2147483647 0 variable RTAB X switching point 0 3 5 37 ES Application Manual CDE CDB CDF3000 LUST 5 CDE CDB CDF3000 in positioning operation Mode DRIVEMANAGER Value range WE Unit Parameters 767 x_CREF Mode ABS RELE ABS _RTAB switching point 0 3 Setting of mode BUS Setting Meaning The switching point refers to t
69. has been overtravelled The zero point corresponds with the first index signal after the ascending flank With type 10 the reference cam is overtravelled and the first index signal after this corresponds with the zero point The initial movement is in direction of the negative left hardware limit switch The positive limit switch is inactive and the reference cam is active see symbol B in Fig 5 11 With type 7 the zero point corresponds with the first index signal after descending flank of the reference cam Type 8 changes the direction of movement after descending flank of the reference cam The zero point corresponds with the first index signal after the ascending flank of the reference cam The initial movement is in direction of the positive right hardware limit switch The limit switch is inactive and the reference cam is active see symbol C in Fig 5 11 5 20 LUST Type 11 to 14 reference cams index signal and negative limit switch 5 CDE CDB CDF3000 in positioning operation Type 9 changes the direction of movement if the reference cam is inactive The zero point corresponds with the first index signal after the ascending flank With type 10 the first index signal is the zero point after descending flank of the reference cam The initial movement is in direction of the positive right hardware limit switch Limit switch and reference cam are active As soon as the positive limit switch becomes active the directio
70. if the referencing conditions remain unchanged for other starts of the control Only valid when positioning with table travel sets Referencing is automatically performed once when initially selecting a 2 TBEN travel set No further referencing takes place if the referencing conditions remain unchanged for other travel set selections Table 5 7 Referencing start conditions Referencing type The following describes the different types The individual reference points which correspond with the zero point are numbered in the graphs The different speeds V1 rapid motion V2 creep speed and the movement directions are also shown The four signals for the reference signal are Negative left hardware limit switch Positive right hardware limit switch Reference cams Index signal of the encoder In referencing the absolute encoders e g SSI Multiturn Encoder are a special feature because they directly create an absolute relation to the position Referencing with these encoders therefore does not require any movement and under certain conditions energizing of the drive may also not be necessary However adjustment of the zero point is still necessary The type 5 is particularly suitable for this purpose 5 15 Application Manual CDE CDB CDF3000 LUST Type 5 absolute encoder Type 4 continuous referencing neg reference cams Type 3 continuous referencing pos reference cams
71. is written Travel commands only with positioning GO W A Hxxx W Hxxx A Hxxx R Hxxx 0 O Hxxx A Hxxx V Hyyy Application Manual CDE CDB CDF3000 7 14 Travel absolute by value of Hxxx with speed acc to parameter 724 POSMX and wait with program processing until target position is reached Travel relative by value of Hxxx with speed acc to parameter 724 POSMX and wait with program processing until target position is reached Travel absolute by value of Hxxx with speed acc to parameter 724 POSMX program processing continues Travel relative by value of Hxxx with speed acc to parameter 724 POSMX program processing continues perform selected referencing perform selected referencing and set reference position Hxxx Travel absolute by value of Hxxx with speed Hyyy program processing continues Comm and Operand R Hxxx V Hyyy 60 T Hxxx T Cxx W T Hxxx W T Cxx T Xxx W T xxx V Hxxx W A Hxxx V Hyyy W R Hxxx V Hyyy SYN 1 SYN O 7 User programming Comment Travel relative by value of Hxxx with speed Hyyy program processing continues Position via table Travel via table entry Cxx Travel via table entry Hxxx wait Travel via table entry Cxxx wait Travel via table entry xxx Travel via table entry xxx wait until position is reached Travel endless via variable Travel absolute by value of Hxxx with speed Hyyy and wait with program processing until
72. keys of the KEYPAD simultaneously during servo controller power up to reset all parameters to their factory defaults and reinitialise the system DRIVEMANAGER Select function Reset to factory default in the menu Active device Awe Soe RA Fig 2 4 Reset in DRIVEMANAGER Note This factory setting also resets the selected default solution Check the terminal assignment and the functionality of the positioning controller in these operating modes or load your user dataset Application Manual CDE CDB CDF3000 2 16 LUST 2 6 Loading device software 2 Equipment hardware With the DRIVEMANAGER you can load a new device software Firmware into the Flash EPROM of the devices This enables updating of the software without having to open the positioning controllers 1 For this purpose set up a connection between DRIVEMANAGER and positioning controllers 2 From the menu Options choose the option Load device software Firmware From here the DRIVEMANAGER will guide you through the other work steps LEDs H2 and will light during transfer of the Firmware After successful transfer the LED H2 will go out if no ENPO signal is applied Application Manual CDE CDB CDF3000 2 17 L U SGT 2 Equipment hardware 2 7 Device protection Function Effect Protection of the positioning The positioning controller stops controller against damage the motor with an error message caused by
73. motor to the application Operation of two different motors with one positioning controller The OpenLoop speed control contains two data sets Switching to the second data set CDS2 via terminals when reaching the speed limit when reversing the sense of rotation or access by bus is possible Note Online changeover between data sets CDS1 and CDS2 is possible Lc 0x Sveicheng copain aS a Speed trethold SUM 600 Vien Ok Cone soy Fig 8 1 Function mask Data set changeover 8 3 Application Manual CDE CDB CDF3000 LUST 8 Speed Control OpenLoop for CDE CDB3000 Parameters for data set changeover DRIVEMANAGER Function Value range WE Unit Parameter Changeover Control location for changeover of data 651 CDSSL set CDS see Table 8 4 OFF VF Speed threshold Speed limit for changeover to CDS 32764 32764 600 mud 652 FLIM SLIM VPF Display of active data set CDS 650 CDSAC not shown in DRIVEMANAGER see TADE G3 0 VP Table 8 2 Explanations Parameters for data set changeover sets An overview of function areas with parameters for the second characteristics curve data set can be found in Table 8 3 Function areas with parameters for characteristics curve data Function area Parameter Fixed CDS speeds all parameters Speed profile generator OpenLoop Acceleration and deceleration ramps
74. of the current target position A relative proportion is 2 NEXT added to the actual position at the time of the change and approached without intermediate stop This position is most suitable for compensation of a residual path Table 5 13 Effect of start condition for repetition and follow up order If no travel set is being processed or no repetition active the signal to activate the follow up order will start the travel set that has been selected via terminal or field bus system See Travel set selection page 5 28 Start condition SW DT The parameters effect start signal FOSWC in Table 5 13 and the delay time FODT must be set Application Manual CDE CDB CDF3000 5 35 LUST Example travel set linkage with follow up order logic 5 CDE CDB CDF3000 in positioning operation Delay time This field will only become active if the delay time DT SW DT for the follow up order has been selected under start condition DRIVEMANAGER Value range WE Unit Parameters 763 x_FODT Delay time 0 65535 0 ms _RTAB x travel set 0 15 The following picture shows two examples for positioning with follow up order travel set 2 FOST SW DT or SW DT Travel set 1 Travel set 2 v FOST WSTP Travel set 1 Travel set 2 Switching point A and B Two switching points can be evaluated per travel set Switching points 0 3 are selected via two parameters The
75. or parameter Reduce setting Control and display elements of the operation panel KP200 XL The KP200 XL operation panel has a menu structure for clearly arranged operation Actual values Subject area Drive SMARTCARD e select e select e control e read e show Parameters e write e select e Write Capacity indicator e change protection Initial commissioning Fig 3 9 Menu functions 3 10 Application Manual CDE CDB CDF3000 L U S T 3 Operation structure In the menu level display MENU one can use the arrow keys to change between menus The Start Enter key opens a menu the Stop Return key closes the menu am aD Sev arna 99 ara arn TOP mea TILING leo ILIO eom ILIU ILIN le Fig 3 10 Navigating through the menu level place in the volatile random access memory and must subsequently be permanently saved to the read only memory In menu level this can be simply accomplished by simultaneous pressing of both arrow keys for approx 2 seconds n Note Parameter changes in the menu branch PARA only take Application Manual CDE CDB CDF3000 3 11 3 Operation structure GD Eum Colas Dy um D ye MENU P MENU
76. overload E OTI if the device temperature exceeds a fixed limit E OLI if the integrated current time value exceeds the limit value set in dependence on the power module by a certain triggering time E OC when detecting short circuit or earth fault The positioning controller can submit a warning when the l xt device protection integrator is started The software and hardware of the positioning controller automatically takes over the monitoring and protection of the device The power stage protects itself against overheating in dependence on the heat sink temperature the applied d c link voltage the transistor modules used in the power stages and the modulation switching frequency Note The current heat sink temperature of the positioning controller in the area of the power transistors KTEMP and the internal device temperature DTEMP are displayed in C see chapter 6 8 2 Under high loads the l xt integrator is activated The l xt monitoring serves the purpose of protecting the device against permanent overloads The switch off limit is calculated on the basis of rated current and the overload ability of the controller Application Manual CDE CDB CDF3000 2 18 L U 6 T 2 Equipment hardware digital output field bus or PLC Short circuit The hardware of the positioning controller will detect a short circuit at the motor output and switch off the motor Devic
77. point characteristic related to the C MOT max characteristic current 2 Current interpolation point 16 2 Current interpolation of the motor protection 331 MOPCB 0 1000 100 9 point characteristic related to the C MOT max characteristic current 2 Frequency interpolation point 2 Fr equency fy for motor protection 0 1 1000 50 Hz 333_MOPFB interpolation point MOT characteristic Switch off point current time area maximum integrator value N Overload factor related to rated 0 1000 150 352_MOPCM motor current MOT Overload time forxs Maximum time for maximum 0 600 120 S 353_MOPCT MOT current Motor protection characteristic in factory setting 96 i i ly 335 MOPCN fn a f Hz fy 336 MOPFN Fig 6 45 Setting the motor protection characteristic in factory setting Application Manual CDE CDB CDF3000 6 86 LUST Setting the motor protection characteristic 6 General software functions ly 335 MOPCN fy 336 MOPFN lp 331 MOPCB fy 333 MOPFB 332 MOPCA WE factory setting f Hz gt fp fn Fig 6 46 Adaptation of characteristic by means of interpolation points below the rated frequency fy for g IEC asynchronous standard motors Explanations on the adjustment of the motor protection characteristic As a rule of thumb the motor protection characte
78. selector to RSERR Writing the first value to parameter 74 ERES via bus system or via corresponding bit in control word n DRIVEMANAGER under tab Error warnings by pressing button Reset error In PLC sequential program with command SET ERRRQ 1 Errors and the related error reactions Errors trigger different reactions These can be set for any error PLC process program sequence Tene delay of message HALT 2 Lock powes stage LOCKH 4 Lock powe stage save aparnt estar LOCKH 4 Lock power stage save agreat instant 4 Lock power itage save against re start STOP 31 Slow down with taut deccelerstion STOP 3 Slow cower vies laud dececierahern STOP 3 Slow down with Fault deccelersbon STOP RI Shore down with lad deconter son STOP 3 Slow down with faut deeeelesation Is WARN 1 Warming message actusted xl HALT 2 Lock power stage 0 mi Error stop ramp Fig 6 67 Setting of fault reactions Application Manual CDE CDB CDF3000 6 127 LUST 6 General software functions DRIVEMANAGER Value range WE Parameter Converter undervoltage HALT LOCKH RESET rcg Converter overvoltage HALT LOCKH RESET LOCKH rod Converter overcurrent HALT LOCKH RESET 10 ys Motor overtemperature HALT RESET LOCKH Ec Ixl mot
79. target position is reached Travel relative by value of Hxxx with speed Hyyy and wait with program processing until target position is reached Switching synchronous travel on and off Command to stop the drive STOP B STOP M STOP 0 SET BRAKE 0 1 Mxxx SET HALT 0 1 Mxxx Braking with parameterized deceleration only with positioning Braking with quick stop ramp only with positioning Braking with quick stop ramp and shut down of control if control location PLC only with positioning Perform quick stop acc to quick stop reaction see 6 2 3 1 Perform quick stop 0 End quick stop Stop feed acc to reaction see 6 2 3 1 Stop axis 0 Enable axis Further commands NOP INV Oppi Mxxx Hxxx END Application Manual CDE CDB CDF3000 Instruction without function Inverting Quits the program all other lines will be ignored Do not enter line number L U ST 7 User programming Comm and Operand Comment Insert breakpoint into program line BRKPT evaluation with active breakpoints see page 7 11 Application Manual CDE CDB CDF3000 7 16 LUST 7 3 2 Detailed explanations A Unconditional jump instructions Conditional jump instructions Actual value G 7 User programming Jump instructions and sub program invocation JMP Unconditional jump instructions will be executed in any case without condition Conditional jump instructions will only be execut
80. the programmed fault reaction acc to 543 R SWL will be performed The drive moves until a software limit switch is detected Endless After this the programmed fault reaction acc to 543 R speed controlled SWL is performed A rapid stop is also performed with reactions of R SWL NOERR or WARN Table 5 9 Behaviour of the software limit switches Application Manual CDE CDB CDF3000 5 25 LUST 5 2 6 Manual operation Jog mode Jog mode via terminal or field bus 5 CDE CDB CDF3000 in positioning operation Hardware limit switch The hardware limit switches are valid for all types of closed loop control They are connected via drive controller inputs For this purpose two inputs must be set up as described in chapter 6 1 1 Manual operation Jog mode is only valid for positioning With jog mode activated the drive is operated in speed controlled mode endless For manual operation two different jog speeds can be set These can be activated via the window DRIVEMANAGER Manual operation or via terminal and field bus This activation requires that the drive is stopped Positioning Lable process sets Deving set tabla pelis Homing mode Lint nich Quek po nts Siow eg Guat Acceleration diver ard ipis US fo fhe o horno model DRIVEMANAGER Value range WE Parameters Speed 0 4294967295 Rapid motion
81. the type of motor PTC evaluation MOPTC Specification Avi Measuring range max 12 V 9 Measuring range 100 Q 15 e Short circuit detection 18 Q to 100 Q e Cycle time 5 ms Explanations Application Manual CDE CDB CDF3000 The following temperature sensors can be evaluated linear PTC KTY84 130 tolerance band yellow Threshold value PTC acc to DIN 44081 DIN 44082 temperature dependent switch Klixon If the temperature exceeds a limit value the positioning controller switches the motor off with error message E OTM The reaction to the error Overtemperature motor can be parameterized see chapter 6 9 1 With KTY84 130 evaluation the actual motor temperature is displayed in the actual value menu button Actual values The KTY84 130 evaluation has an adjustable Motor temperature warning threshold to warn in case of an expected overtemperature shut down see chapter 6 9 2 With evaluations by means of KTY84 130 the limit value can be set with parameter 334 MOTMX Maximum temperature 6 84 L U 6 T 6 General software functions E Motor current I xt monitoring a xt T The Ixt monitoring protects the motor against overheating over the complete speed range This is especially important with self ventilated motors In case of longer operation of IEC asynchronous standard motors with low speed the cooling provided by blow
82. to the application rotary speed profile Jerk reduced moving of the Setting of a slip for the start drive and end points of the linear ramp This function is only available for speed controlled and to a limited extent for torque controlled presettings It is described in chapter 4 2 1 Application Manual CDE CDB CDF3000 6 34 LUST 6 General software functions 6 2 2 Limitations Function Effect Limitation of torque and Setting maximum and speed minimum values The maximum permissible torque and the maximum speed are set as a percentage of their nominal values Note If the setting is higher the percentage based scaling of the torque is automatically reduced to the maximum torque that can be set with the drive controller during the controller initialization Torque mit 100 00 x Motor tated torque ae Nm 100 Speed limit 00 00 y y Mota tated speed limar x 31m tren 100 Carosi Fig 6 21 Limitations DRIVEMANAGER Value range WE Unit Parameters T 803 TCMMX Es Torque limitation 0 00 999 95 100 00 CTRL 852_MOMNM Rated motor torque 0 001 5000 4 1 Nm MOT ee 813_SCSMX E Speed limitation 0 00 999 95 100 00 CTRL 157_MOSNM Rated motor speed 0 100000 1500 rpm MOT Application Manual CDE CDB CDF3000 6 35 L U SGT 6 General software functions There are two possible ways to limit the
83. to the line of sub program invocation BRKPT SET BRKPT 1 Activates breakpoint the set breakpoint is evaluated SET BRKPT 0 Deactivates breakpoint the set breakpoint is not evaluated Application Manual CDE CDB CDF3000 7 11 L U ST 7 User programming Comm and Operand Setting commands SET Oppi 0 1 Mxxx OUTPUT Hxxx Mxxx 0 1 Ippi Oppi Myyy M Cxx Hxxx M Cxx 0 1 M Cxx Myyy Mxxx amp Myyy Mxxx STA ERR Mxxx STA Mxxx STA ERR WRN Mxxx STA ACTIV Mxxx STA ROT R Mxxx STA ROT L Mxxx STA ROT 0 Mxxx STA LIMIT Mxxx STA REF Mxxx STA HOMATD Mxxx STA BRAKE Mxxx STA OFF Mxxx STA C RDY Mxxx STA WUV Mxxx STA Mxxx STA WIIT Mxxx STA WOTM Mxxx STA WOTI Mxxx STA WOTD Mxxx STA WIS Mxxx STA WFOUT Mxxx STA WFDIG Mxxx STA_ WIT Mxxx STA WTQ Mxxx STA_INPOS ENCTRL 0 1 Mxxx INV 0 1 Mxxx ERR 1 Mxxx Application Manual CDE CDB CDF3000 7 12 Comment Output direct or with flag Set output image Set flag Set flag LSB of Hxxx Set flag indexed Link flag logically Read error status 1 gt error Read warning status 1 gt Warning Read warning error status 1 gt Warning Error Control active Motor turning clockwise Motor turning anti clockwise Motor standstill Setpoint limitation Setpoint reached Reference point defined Quick stop active Deenergized state Control standby sta
84. type Application Manual CDE CDB CDF3000 Lines per revolution Table 6 20 Configuration of a HTL reference encoder Reference encoder in speed controlled operation For speed regulation with reference encoder setpoint source no preset solution is available You should therefore select a preset solution which in any case complies with the desired control location e g terminal or field bus Then select the setting RDIG 4 from the function mask Setpoint ramp further settings instead of the specified setpoint source Fig 6 24 shows the structure of the selected setpoint preparation Transmission er encoder ratio x JARN Denominator I Structure of setpoint preparation with reference encoder as speed setpoint source Ramp generator Controller Fig 6 24 6 44 L U 6 T 6 General software functions The speed setpoint in rpm is smoothened by means of the speed profile generator see chapter 4 2 1 The function HALT feed speed release can be used to couple or decouple the following axis via digital input or field bus when the motor control is active The speed setpoint of the reference encoder always refers to the motor shaft When using a gearbox on motor and target and the drive shaft speed is to be determined by the reference encoder the gearbox ratio must be parameterized in the reference encoder configuration The speed synchronism can also be activated via PLC see cha
85. variable 721 VQJOG _PRAM Speed 0 4294967295 Creep speed variable 720 VSJOG PRAM In jog mode the drive is controlled by means of two signals or inputs either in positive or negative direction If one of these signals becomes active while the control is active the drive will move with creep speed Rapid motion is activated by operating the second jog input also in creep Speed status If the first signal is deactivated in rapid motion the drive will stop If it is set again the drive will again move with creep speed even if rapid motion had been requested An example for a jog sequence in positive travel direction is shown in Table 5 10 5 26 Application Manual CDE CDB CDF3000 LUST 5 CDE CDB CDF3000 in positioning operation Application Manual CDE CDB CDF3000 Ser No pas pa Status of axis 1 0 0 Standstill 2 1 0 Creep speed 3 1 1 Rapid motion 4 0 1 Standstill 5 1 1 Creep speed 6 1 0 Creep speed T 1 1 Rapid motion 8 1 0 Creep speed 9 0 0 Standstill Table 5 10 Example jog operation in positive direction 5 27 LUST 5 3 Positioning with table travel sets AN 5 3 1 Travel set selection Application Manual CDE CDB CDF3000 5 CDE CDB CDF3000 in positioning operation For the preset solutions PCT 2 PCC 2 and PCB 2 the travel set table is preset as setpoint source The specific settings of the control via terminals or field
86. will be ignored This parameter enables the starting stopping depending on parameter 452 PLCCT PARA or indicates the current operating status of the sequential program OFF 0 PLC program sequence shut down switched off GO 1 Start PLC program sequence in progress Operating status of m PLC program sequence interrupted yes 450 PLCST zontal The GO command continues the operation The program _PLCC processing can be interrupted BRKPT or ended OFF with BRKPT 2 the parameter at any time irrespective of the control location With GO the processing of the program can be resumed from the cancellation line as long as the control location is still valid e g terminal still set If this conditions is no longer fulfilled the parameter is set to OFF Shows the currently processed program line The line number is also visible raad 451 PLCPL prog in the digital oscilloscope PLCC Table 7 3 PLC control parameters Application Manual CDE CDB CDF3000 7 43 LUST 7 User programming program line Changing DRIVEMANAGER Meaning ONLINE Parameter Parameter PLCCT defines the location from which the sequential program is started PLC start via input TERM 0 The function selector for an input must be set to Fixxx PLCGO 0 gt Program stopped 1 gt Program started PLC start via parameter Operation status PARA 1 Start cond
87. with 651 CDSSL 8 4 Possible motor protections 6 89 Power terminal designation 2 8 Pre set solution 4 2 8 2 POSILIOMING sese yon y E eR us 5 2 DI 2 16 Speed control OpenLoop 8 2 Speed regulation 4 2 Procedure Commissioning 3 14 Profibus 4 10 6 104 8 22 uro ERE 5 10 Profile Velocity mode 4 9 PTC Evaluation 6 84 Qualification user 1 2 Quick stop Reactions 6 39 Quick stop ramp 5 30 R Ramp linear ee eere eee 6 34 8 5 Ramps D 4 3 8 5 Reactance coil eee eere een 6 23 Reference encoder 6 40 as speed setpoint source 6 44 Configuration HTL 6 44 Configuration TTL 6 43 Example for reference encoder configuration 6 46 in positioning operation 6 45 in speed controlled operation 6 44 Selection for CDB3000 6 42 Selection for CDE CDF3000 6 42 Reference encoder input Configuration
88. with a green status display Fig 8 5 Function mask OpenLoop control Function Effect The motor is preloaded with a e Increase of starting torque up to the certain current via a P controller preset speed limit pm rum mam DOE Dm ea Fig 8 6 Function mask Start current controller 8 11 Application Manual CDE CDB CDF3000 LUST 8 Speed Control OpenLoop for CDE CDB3000 DRIVEMANAGER Meaning Value range WE Unit Parameter Function Controller OFF ON OFF CIACC OFF 0 P EL Start current in of the 0 180 601 CICN4 Start current 2 drive controller of the nominal 100 x rated current device current VF Timer for changeover to Automatic the reduced start current Changeover to 605 x_CITM the reduced start current 2 VP setpoint after the time has run out tst t Reduced start current 4 o start current after time CITM hasrun 0 180 50 1802 3 VF out 0 Speed Speed at which the P h of rated 603_CISM wae Md motor speed 8 limit controller is switched off MOSNM 1 From cut off speed the controlled start current is controlled back to the normal operating current of the v f characteristics curve The transition range is fixed to 5 of the rated motor frequency MOFN 2 The start current setting can also be found in the basic setting mask under the option Limitation 3 The changeover can be
89. with a possible scaling range from 0 150 of the travel speed serves this function The override is set by means of the volatile parameter POOVR Function Value range WE Data Parameters types Speed i usign8 753 POOVR override Deets me RAM _PBAS The override function is activated by Changing the parameter 753 POOVR g via field bus Analog input FISA1 2 SCALE The analog value is written directly to parameter 753 POOVR Manual changing of 753 POOVR is of no effect in this case PROFIBUS EasyDrive control word DirectPos The transmitted value is set directly to parameter 753 POOVR Manual changing of 753 POOVR is of no effect in this case Application Manual CDE CDB CDF3000 5 10 LUST 5 CDE CDB CDF3000 in positioning operation Profile DRIVEMANAGER Meaning Value range WE Unit Parameters 0 Linear acceleration profile i e no jerk limitation 3 Jerk limited acceleration profile with programmed _ 597 Type of profile stip time 596 JTIME dud 3 SRAM 1 2 no function Slip time with The acceleration and deceleration time increases by 0 2000 100 iis 596 JTIME jerk limitation the slip time A jerk limitation is thus achieved SRAM Sense of 0 Normal positive position values clockwise 795 FGPOL rotation of motor 0 1 0 FG 1 No function E OFF 0 Off limited travel path e g for linear axes ON 1 On endless travel path e g
90. zero point corresponds with the first index signal after the ascending flank With type 13 the zero point corresponds with the first index signal with active reference cam 5 22 LUST Type 15 and 16 Type 17 to 30 reference cams 5 CDE CDB CDF3000 in positioning operation Type 14 changes the direction of movement after the active reference cam The first index signal after the descending flank corresponds with the zero point 1 Index signal EE SEN l Reference cams 1 1 1 1 positive limit switch l 7 Fig 5 12 11 to 14 reference cams index signal and negative limit switch These types of referencing are not defined Referencing types 17 to 30 are similar to types 1 to 14 The zero point determination does not depend on the index signal but solely on the reference cams or the limit switches Reference cams v2 Fig 5 13 17 to 30 reference cams 5 23 Application Manual CDE CDB CDF3000 LUST Type 31 and 32 Type 33 and 34 index signal Type 35 5 CDE CDB CDF3000 in positioning operation 1 analog 17 4 analog 20 Type 8 analog Type 24 Type 12 analog Type 28 Type 14 analog Type 30 Table 5 8 Type analogy for the individual types of referencing These types of referencing are not defined The zero point corresponds with the firs
91. 0 SET H000 300 JMP 1501 0 NO75 SET H000 600 RET Sub program 2 Start axis JMP 000 1 N100 GO R H001 V H000 SET 000 1 SET 001 1 JMP REF 1 N120 SET OS00 0 JMP N135 SET 000 1 SET M001 0 SET OS00 1 RET 7 User programming The example program can be transferred to the controller after referencing has been parameterized as described in chapter 5 2 4 Main program Perform referencing Flag 1 Axis is not to be started Flag 0 Axis is not moving Target position for comparison Sub program query inputs Sub program start axis Sub program position comparison Repeat STEXT Sequencing control DEF H000 Speed DEF H001 Position END SP00 N005 GO 0 NO10 SET 000 1 NO15 SET M001 0 NO20 SET H001 10000 N025 CALL N045 N030 CALL N080 N035 CALL N105 N040 JMP N025 Sub program 1 Query inputs If drive is in motion no query Start took place jump to RET set flag 0 Set speed 1 Speed 1 selected Speed 2 selected set Axis starts with speed H000 target position H001 Release detected reset flag Drive in motion Sub program 3 Position comparison Drive stopped 7 51 L U ST 7 User programming Application Manual CDE CDB CDF3000 7 52 LUST 8 Speed Control OpenLoop for CDE CDB3000 8 1 Preset solutions ss 8 2 8 2 General functi
92. 0 Speca imit 10000 5 a Nimans x Tw 100 Oe Cancet Fig 6 10 Setting the breaking delay TENMO DRIVEMANAGER Value range WE Unit Parameters Making and breaking delay between digital output of motor contactor and 0 2000 300 ms controller release output stage release 247 TENMO C OUT Note If switching takes place with the output stage in the motor line still active a reactance coil must be used to avoid the error message E OC caused by transient currents in the switching phase Furthermore with error message E OC 1 the system will check whether the hardware release ENPO is applied before submitting the error message If this is not the case it is assumed that an intended switching process by a motor contactor took place in the motor line and error message will be suppressed Application Manual CDE CDB CDF3000 6 23 LUST 6 1 3 Analog inputs 6 General software functions Function Effect Determination of the internal Processing and filtering of processing of analog input analog setpoint specification signals 1 2 3 4 Function Filter Backlash Options 1 Specification of analog setpoint or use as digital input 2 Input filter for interference decoupling 3 Dead band function for interference decoupling around the zero point 4 Options for standardizing the analog input b Analog value 6 Dig
93. 0 results from this Thereafter this zero position is set to the value specified in Hxxx The GO 0 command is flank triggered Referencing can therefore only be stopped by a cancellation condition e g STOP B The status of referencing can be monitored with the special flag STA_HOMATD Example for referencing with status query NO10 SET H000 30 30 degree zero offset N020 GO 0 H000 N030 JMP STA HOMATD 1 N050 HOMATD 1 gt Reference point defined HOMATD 0 gt Reference point not defined N040 JMP N030 Return in query 050 3 20 further program run after referencing the thus detected zero position will have the value 30 assigned in the device Application Manual CDE CDB CDF3000 7 35 LUST Endless travel Speed synchronism Angular synchronism iJ electronic transmission A 7 User programming via variable GO V Hxxx Hxx Index of variables with speed value The sign of the value in Hxxx determines the travel direction Switching on synchronous travel GOSYN 1 Switching off synchronous travel GOSYN 0 With speed synchronism configuration of input see chapter 6 2 4 the speed of the reference encoder in rom is switched to the setpoint structure The speed acceleration ramps see chapter 6 2 are active i e soft coupling and decoupling Note Speed synchronism is only active with speed control The speed setpoint of the reference sensor always refer
94. 24 Error messages 6 124 Warningmessages 6 131 6 2 LUST 6 1 6 General software functions Inputs and Each input and output on the positioning controller has a parameter to outputs assign a function These parameters are called function selectors In addition both the setpoint structure and the control location have an effect on the function of inputs and outputs In the preset solutions such settings have already been made The positioning controllers are equipped with the inputs and outputs listed in Table 6 1 Inputs outputs CDE3000 CDB3000 CDF3000 Analogue inputs ISAO ISA1 ISAO ISA1 ISAO ISA1 Digital inputs 15000 to 15006 15000 to 15003 15000 to 15002 Virtual inputs FIFO FIF1 FIFO FIF1 FIFO FIF1 Input Safe stop ISDSH ISDSH Analog outputs s OSAO Digital outputs 05000 to 05002 05000 05001 OSD00 RSH only for safe stop RSH only for safe stop Relay outputs OSD04 05002 OSD05 Power outputs 24V 2A e g for motor holding 05003 05003 05004 Virtual outputs 0 00 0 01 0 00 0 01 0 00 OVO1 Table 6 1 Inputs and outputs of positioning controllers J gt For information on hardware for inputs and outputs see chapter 2 1 to chapter 2 3 The detailed specification is described in the corresponding operating instructions Application Manual CDE CDB CDF3000
95. 3 31 WLTQ Warning message torque Warning message if the torque limit value exceeded exceeds the value specified in parameter 507 WLTQ 32 ENMO Switching of motor The output becomes active when contactor starting the control and the up time is extended by the time 247 TENMO when cancelling the start and stopping the drive see Explanation of various functions 33 ENMO Switching of motor The output becomes inactive when contactor denied function starting the control and the down time is extended by the time 247 TENMO when cancelling the start and stopping the drive see Explanation of various functions 34 PLC Output of sequential Output is set by PLC program e g SET program can be used 0500 0 1 Mxxx see chapter 7 3 2 Setting commands SET 35 REFOK Referencing Referencing successfully completed 36 TABO Active table travel set Valence 29 37 TABI Active table travel set Valence 21 38 TAB2 Active table travel set Valence 22 39 TAB3 Active table travel set Valence 23 40 Travel set active Table travel set positioning active 41 EFLW No trailing error 42 STOP Quick stop active The drive is in Quick stop state 43 CM1 Switching point 1 Cam switching point see chapter 44 CM2 Switching point 2 6 6 45 CM3 Switching point 3 Switching point flag for positioning by means of table travel sets see chapter 5 3 4 Table 6 10 Setting the function selectors FOxxx for the digital outputs L
96. 4 GND Ground connection 3 GND Ground connection 2 05003 Digital output motor brake driver 1 0 5 A eff 2A max 1 05004 Digital output motor brake driver 2 0 5 A eff 2A max Table 2 16 Signal assignment for control terminal X2 Application Manual CDE CDB CDF3000 LUST Motor connection RS232 CAN 2 Equipment hardware terminal D Designation Pin W V Motor phase connection max 1 5 mm U PE Earthing lead connection Table 2 17 Motor terminal designation X3 CDF3000 Terminal X4 Pin No Function 1 15 V DC for control unit KP200 XL 2 TxD data transmission 3 RxD data reception 4 not used 5 GND for 15 V DC of the control unit KP200 XL 6 24 V DC voltage supply control print 7 not used 8 not used 9 GND for 24V DC voltage supply control print Table 2 18 Pin assignment of the serial interface X4 CDF Function 1 Wave terminating resistor 120 Q internal for CAN by means of jumper between Pin 1 and Pin 2 2 CAN LOW 3 CAN GND 4 CAN SYNC LOW 5 Wave terminating resistor 120 Q internal for CAN SYNC by means of jumper between Pin 4and Pin 5 6 CAN GND Table 2 19 Pin assignment of CAN interface X5 9 pin D Sub pin Application Manual CDE CDB CDF3000 LUST Resolver Brake driver 2 Equipment hardware Terminal X5 Function Pin No
97. 5 Program testing and editing 7 7 PLC program files 7 7 Program handling 7 8 PLC command syntax 7 10 VOrVIBW once E 7 11 Detailed explanations essen 7 17 PLC control and parameters 7 4 PLC variables 7 42 PLC control parameters 7 43 PLC program examples 7 45 Conveyor belt 7 46 Absolute positioning 7 47 Relative positioning 7 49 Sequential program 7 50 LUST 8 1 8 2 8 2 1 8 2 2 8 2 3 8 3 8 3 1 8 3 2 8 3 3 8 3 4 8 3 5 8 4 8 5 Application Manual CDE CDB CDF3000 Speed Control OpenLoop for CDE CDB3000 Preset solutions scsccssssseecssserseeseeseesserserseeees 8 2 General functions eene 8 3 Data set 8 3 Speed profile generator OpenLoop 8 5 Limitations Stop ramps 8 8 OpenLoop motor control method 8 10 Start current controller
98. 5 Standardization of the analog output 6 30 Standardizing with unipolar operation 6 25 Standards occorre ERR 1 3 Start flank triggered 6 55 Level triggered 6 55 Stop 166d 6 38 Reactions 6 38 Yo Ure 4 5 8 8 Switching point 5 36 Switch off limits 2 19 Syrichronisli re 6 40 Synchronization 6 111 T Table of fixed speeds 4 7 Tabular travel set PCT 2 PCC 2 PCB 2 5 2 Target posttiOl 2525 eo ee ere as 5 32 Teach iN Er eee Y Ru 5 39 Temperature sensor 6 83 Temperature sensors types 6 84 Terminals as control location 6 57 Time diagram for the motor holding brake i vC M 6 98 Time diagram for the motor holding brake BRK2 6 94 Torque Control e eere ene 6 62 Torque control eee eere ees 6 62 Block diagram 6 52 Torque limitation via analog input 6 36 via parameter 6 36 Track signal correction GPOC 6 81 Trailing distance Application Manual CDE CDB CDF3000 Ap
99. 5009 v 1 Syna type AB 0 A B Incremental encoder sonals Transmission ratio 2 Irgut moie vevolution Y js 0 LS 1 3 Fig 6 23 Setting the reference encoder for TTL top HTL input bottom only for CDB3000 Note The figures 1 2 and 3 are explained in Table 6 19 for the TTL input and in Table 6 20 for the HTL input Application Manual CDE CDB CDF3000 6 41 LUST 6 General software functions Selecting the reference encoder for CDB3000 DRIVEMANAGER Meaning Value range WE Unit Parameters Reference encoder Selection of the reference encoder channel Off No reference encoder needed The TTL HTL encoder interfaces can be used for OFF 0 motor encoders TTLSI 1 TTL reference encoder on X7 This input is OFF 0 HTL 2 OFF 0 HTL 2 not voltageless with respect to the control electronics of the controller HTL reference encoder on control terminal X2 Voltageless input 475 CFREC Table 6 17 Selecting the reference encoder for CDB3000 Selecting the reference encoder for CDE CDF3000 DRIVEMANAGER Meaning Value range WE Unit Parameters Reference encoder Selection of the reference encoder channel Off No reference encoder needed The TTL HTL encoder interfaces can be used for OFF 0 X6 1 X7 2 motor encoders No functio
100. 6 3 LUST 6 1 1 Digital inputs 6 General software functions Function Effect The function selector is used Free function assignment for to determine the function of all digital inputs the digital inputs 1 Selection of function for the digital input 2 Digital value Analog Dis ULZEAT vitua Fig 6 2 Tab example Digital inputs LU Application Manual CDE CDB CDF3000 6 4 LUST 6 General software functions Parameter for setting the digital inputs DRIVE Parameter panoro MANAGER Function Value range WE 5 positioning controller ISD00 Function selector digital standard input 15000 see Table 6 5 1 START CDE CDB CDF ISDO1 Function selector digital standard input ISDO1 P 0 OFF S CDE CDF 15002 Function selector digital standard input 15002 iis 0 OFF i CDE CDB CDF ISD03 Function selector digital standard input 15003 P 0 OFF T CDE 15004 Function selector digital standard input 15004 PA 0 OFF ae CDE 15005 Function selector digital standard input 15005 P 0 OFF ce CDE 15006 Function selector digital standard input 15006 P 0 OFF T CDE Table 6 2 Parameter for setting the digital inputs Parameter for setting the digital inputs on terminal extension module UM 8I40 DRIVE Parameter Function Value range WE positioning MANAGER S controller IEDOO Function selector for di
101. 6 51 The same event e g input 1502 can be used several times i e with each TX event control Bit by bit coded acc to Table 6 41 1500 1501 1502 1503 1 00 IEOt woe 105 ov M 0401 T PLC flag 98 1 I PLC flog 99 1 fV CAN status word byte 0 1 CAN ataa word 2 3 _ _ Fig 6 51 Function mask event control for TxPDO1 with CDB3000 The events are saved bit by bit in the parameters TXEVn n 1 4 DRIVEMANAGER Function Value range WE Parameter Button TXPDO1 Events for sending of the first 148 TXEV1 transmission PDO TxXPDO1 FFFFh 7000h Bit by bit coded to Table 6 41 Button TXPDO2 Events for sending of the second 149 TXEV2 transmission PDO TxPDO2 FFFFh 7000h Bit by bit coded acc to Table 6 41 Button TXPDO3 Events for sending of the third 675 TXEV3 transmission PDO TxPD03 Oh FFFFh 7000h CAN Bit by bit coded acc to Table 6 41 Button TXPD04 Events for sending of the fourth 676 TXEVA transmission PDO TxPD04 Oh FFFFh 7000h CAN Application Manual CDE CDB CDF3000 6 102 L U 6 T 6 General software functions Bit Default TxPDOn 1 4 send in case of change of 0 0 Input 1500 1 0 Input 1501 2 0 Input 1502 3 0 Input 15603 4 0 Input IEOO 5 0 Input IEO1 6 0 Input IE02 7 0 Input IEO3 8 0 Input IE04 9 0 Input IE05
102. 7 SCT 4 PLC 1 0 47 see chapter 7 SCC 4 PLC CANopen feld bus interface 47 CANopen data transfer protocol EasyDrive Profile ProgPos SCB 4 PLC Fieldibus module GNEOPNT 4 7 PROFIBUS data transfer protocol EasyDrive Profile ProgPos Table 4 1 Preset solutions in rotary speed operation All pre set solutions have an individual window for basic settings in DRIVEMANAGER Tabs or control buttons contained therein differ in their general and special functions The general functions are described in chapter 4 2 the special functions in the corresponding pre settings from chapter 4 4 to 4 7 4 2 Application Manual CDE CDB CDF3000 L U ST 4 CDE CDB CDF3000 in rotary speed operation 42 General functions 4 2 1 Torque rotary The rotary speed profile generator generates the corresponding speed profile acceleration and deceleration ramps required to achieve the specified Speed reference value generator The parameter MPTYP linear jerk limited and JTIME can be used to slip linear ramps at their end points to limit the appearance of jerks Type of movement Setting dynamic jerky MPTYP 0 linear ramp without slip MPTYP 3 smoothened ramp by slip by Protecting mechanics JTIME ms Table 4 2 Activation of the jerk limitation JTIME LI a n 1 min ACCR Fig 4 1 Rotary speed profile generator Application Manual CDE CDB CDF3000 43
103. 7 CAN_HIGH 8 CAN_SYNC_HIGH 9 CAN_ 24 V 24 V 25 50 mA This supply voltage is required for CAN operation Table 2 19 Pin assignment of CAN interface X5 9 pin D Sub pin Terminal X6 i Function Pin No 1 Sine resolver 54 2 Sine resolver S2 3 5V 150 mA SSI 4 DATA SSI 5 DATA SSI 6 Cosine resolver S3 7 REF resolver R2 8 GND SSI 9 PTC KTY Klixon resolver SSI 10 PTC KTY Klixon resolver SSI 11 Cosine resolver S1 12 REF resolver R1 13 do not use 14 CLK SSI 15 CLK SSI Table 2 20 Pin assignment for resolver interface X6 15 pin High Density D Sub pin socket ermina Electrical X2 Pin Designation Function z s isolation No 1 05004 short circuit proof Cable breakage monitoring suitable for yes 4 DGND controlling a motor holding brake Application Manual CDE CDB CDF3000 LUST 2 4 Light emitting diodes CDE CDB CDF 2 Equipment hardware The positioning controller is fitted with three status LED s in red H1 yellow H2 and green H3 at the top right Device status red LED H1 yellow LED H2 green LED H3 Supply voltage 24 V DC internal or external for control element applied or closed loop control in Parameterization status Ready ENPO set In service auto tuning active Warning at Standby Warning
104. A travel set with relative positioning can be repeated several times with the programmed value Like the follow up order the repetitions of the travel set are started in dependence on the start condition The execution of possible repetitions has priority over the execution of a follow up order DRIVEMANAGER Value range WE Unit Parameters 762 x_FOREP Repetition 0 255 0 _RTAB travel set 0 15 Follow up order The parameterization of a follow up order for a travel set enables the realization of small automated sequential programs The setting 1 signalizes that no further travel set follow up order is to be activated DRIVEMANAGER Value range WE Unit Parameters 761 x_FONR Follow up order 1 15 1 _RTAB travel set 0 15 Start condition activating condition WANN This start condition can be used to adjust when a travel set is to be repeated or the follow up order is to be activated DRIVEMANAGER Value range Parameters 764 x FOST Start condition SW WSTP RTAB x travel set 0 15 Description of setting BUS Setting Meaning 0 SW Switch digital input or control bit starts the sequence 5 34 L U ST 5 CDE CDB CDF3000 in positioning operation BUS Setting Meaning The repetition or the follow up order is started with a 1 DT programmable delay time after the target position has been reached A repetition or the f
105. ANAGER uses this protocol for communication and control of the positioning controllers As soon as the DRIVEMANAGER function Control device is called up the control location is set to SIO Once the end of the control window is reached the DRIVEMANAGER resets the original parameter setting Note If the communication between positioning controller and DRIVEMANAGER is interrupted the setting cannot be reset by the DRIVEMANAGER The positioning controller is controlled via a device internal CANopen interface Control modes according to the CANopen device profile DSP402 and the manufacturer specific protocol EASYDRIVE are available The control of the positioning controller via communication modules can take place through the manufacturer specific protocol EASYDRIVE The control location is set to OPTN When controlling the positioning controller via PLC the control location is set to PLC Application Manual CDE CDB CDF3000 6 57 LUST 6 2 7 Motor potentiometer function 6 General software functions Function Effect With two inputs the setpoint Simple adaptation of motor can be raised or reduced in a Speed to process linear way 1 active motor potentiometer function in setpoint source FPOT Fig 6 27 Function block motor potentiometer function selector The motor potentiometer function can be parameterized in two ways 1 Via function mask Inputs Flxxx MP xx and the correspo
106. CDE CDB CDF3000 Application Manual Positioning drive systems 2 A to 170 A CDE 375 W to 90 kW CDB 470 W CDF Adapting the drive system to the application LUST With the delivery depending on scope of delivery Overview of documentation Operation manual Quick and easy initial commissioning Application Manual s Adapting the drive system to the application Application Manual CDE CDB CDF3000 ID no 1001 22 B 1 00 Status 06 2005 Valid from software version V0 55 CDE3000 Valid from Software version V1 30 CDB3000 Valid from software version V1 00 CDF3000 Subject to technical changes without notice LUST Dear user this manual mainly addresses you as a programmer for drive and automation solutions It describes how you can match your new drive system optimally to the corresponding application At this point we assume that your drive is already running otherwise you should first read the operating instructions Don t let the sheer volume of this manual put you off Only the chapters 1 to 3 contain basic information you should become familiar with All other chapters and the appendix are intended for looking up information They show the full scope of functions and the flexibility of the software for the positioning controllers to solve the most diverse drive tasks Guide through this manual 1 Safety 1 2 Device hardware 2 3 Operation structure 3
107. CDE CDB CDF3000 6 69 LUST 6 General software functions Setting the motor data DRIVEMANAGER Value range WE Unit Parameter Type designation motor max 25 digits 1 Rated voltage 0 1000 230 NDA 2 Rated current 0 1 64 2 95 A br 3 Rated speed 0 100000 1500 rpm 4 Rated frequency 0 1 1600 50 Hz pros N 5 Rated power 0 02 1000000 0 57 kW re mum mE 0 001 5000 4 1 Nm 852 MOMNM servo motors CMOT The moment of inertia of the motor is of relevance for the setting of the speed control If the moment of inertia of the motor is known it is recommended to enter this before starting the motor identification The controller parameters are adapted accordingly DRIVEMANAGER Value range WE Unit Parameter Moment of inertia of 2 160_MOJNM motor j kgm MOT Select No if the moment of inertia is unknown A 0 is entered as moment of inertia 160 MOJNM 0 The motor data are then used to determine a moment of inertia suitable for an IEC standard motor The moment of inertia of the motor depends on the number of pole pairs and the related rotor design The moment of inertia of standard three phase current motors with squirrel cage rotor acc to DIN VDE 0530 1000 min uU 6 pole 50 Hz and self ventilated saved in the positioning controller are shown in Table 6 45 Power P kW Moment of inertia
108. CDE CDB CDF3000 8 20 LUST Selection of setpoint The setpoint specification can either take place via n analog setpoint or via two fixed speeds The logic in Table 8 15 does thereby apply 8 Speed Control OpenLoop for CDE CDB3000 S1 2 _ Factory setting 1002 15003 Actual serpoint min 0 0 Analog input active variable 0 1 Analog input active variable Changeover analog input CDS fixed speed 0 if S2 0 fixed speed 1 2 if S2 1 fixed speed 2 Changeover analog input CDS 1 1 fixed speed 100 if 52 0 fixed speed 1 if S2 1 fixed speed 2 Table 8 15 Truth table for setpoint specification S1 S2 The CDS fixed speeds are set by means of a function mask Cos imed speeda x set 112051 Date vet 21052 Fig 8 15 Function mask CDS fixed speeds DRIVEMANAGER Meaning Value range WE Unit Parameter pm 613 0 RCDS1 Fixed speed 1 Fixed speed at TBO 0 3276 4 500 mir 614 0 RCDS22 VF 65 613 1_RCDS1 Fixed speed 2 Fixed speed at TBO 1 3276 4 100 min 614 1 RCDS22 VF 1 Parameter for data set CDS1 2 Parameter for data set CDS2 Table 8 16 Parameters CDS fixed speeds 8 21 Application Manual CDE CDB CDF3000 LUST 8 5 Speed control OpenLoop with setpoint and control via field bus Assignment of control terminal CANopen Profibus Application Manual CDE CDB CDF3000 8 Speed Contro
109. CSMX with inputs UP MP DN If both inputs are set at the same time the offset speed is reset to 0 min 1 F1 Raising or lowering the speed within the speed range limits MOSNM x 3 SCSMX with inputs UP and DN In case of a mains failure the offset speed is saved Raising or lowering the speed within the speed range limits MOSNM x SCSMX with inputs MP_UP and MP DN If both inputs are set at the same time the offset speed is reset to 0 min In case of a mains failure the offset speed is saved Raising or lowering the speed within the speed range limits MOSNM x 5 F5 SCSMX with inputs UP and DN When cancelling the start command the offset speed is reset to 0 min Raising or lowering the speed within the speed range limits MOSNM x SCSMX with inputs MP_UP and MP DN If both inputs are set at the same time the offset speed is reset to 0 min When cancelling the start command the offset speed is reset to 0 min Table 6 28 Settings for 320 MPSEL motor potentiometer function Application Manual CDE CDB CDF3000 6 59 L U SGT 6 General software functions Setting the inputs for motor potentiometer functions Note For terminal control the function selector of one digital or analog input with digital function must be controlled with MP UP Setpoint up MP DN Setpoint down see chapter 6 1 2 Digital out
110. CTRL 801 CCTLG Integral action time CCTLG 0 1 100 3 6 ms CTRL Application Manual CDE CDB CDF3000 6 66 LUST 6 4 Motor and transducer 1 6 4 1 Motor data 6 General software functions The motor data are required for controlling the motor For this purpose you must select the mask Motor and encoder TTL mater encoder TTL position encoder Moto and encoder The setting takes place in four stages Motor data encoder Motor protection Brake gt Function Effect Setting of motor data on the Optimal operative behaviour basis of existing data sets or of the motor in case of asynchronous motors motor identification The electric motor data and the associated optimal controller setting can be set in two different ways 1 Motor database A database with the settings for all motors is available for motors from Lust Antriebstechnik GmbH 2 Motor identification for asynchronous motors with CDB3000 For unknown motors the motor identification on the basis of types plates can be performed with the DRIVEMANAGER Application Manual CDE CDB CDF3000 6 67 LUST 6 General software functions Mote Encoder Moto protection Brake Actus motor Motor type designation mu Select mew motor from data base Motor selection Identify new motor from type plate data Motondertiicaton Fig 6 34 Motor and encoder In
111. DF3000 Each warning can be emitted to any digital output The motor temperature warning WLTM indicates an overloading of the motor The device temperature warning 1 takes the temperature value from the sensor mounted on the heat sink near the output stage transistors or in case of small controllers directly from the output stage module Due to high break away or starting torques it may be necessary to activate the torque warning threshold only if the threshold value is exceeded for a longer period of time This can be accomplished with parameter 508 TWLTQ Switch on delay for torque warning threshold Falling short of or exceeding the d c link direct voltage triggers the warning Undervoltage WLUV or Overvoltage WLOV The status word 122 WRN is made up of the existing warning messages It is displayed in the window Warnings errors 6 134 LUST 7 User programming 7 1 PLC functionality 7 3 7 2 PLC program eren eren nnns 7 4 7 2 1 PLC editr rece 7 4 7 2 2 New programming 7 5 7 2 3 PLC program structure 7 5 7 2 4 Program testing and editing 7 7 7 2 5 PLC program files eese 7 7 7 2 6 Program handling 7 3 PLC Command syntax 7 10
112. DSAC BUS KP DM Function 0 CDS1 characteristics curve data set 1 CDS1 active 1 CDS2 characteristics curve data set 2 CDS2 active Table 8 5 Display of active data set 8 2 2 Speed profile generator Function Effect OpenLoop Setting of acceleration and Matching the dynamics of deceleration ramps for the the motor to the application rotary speed profile Jerk reduced moving of the Setting of a slip for the start drive and end points of the linear ramp The ramps can be selected separately for each data set The parameter MPTYP linear jerk limited and JTIME can be used to slip linear ramps at their end points to limit the appearance of jerks Type of movement Setting dynamic jerky MPTYP 0 linear ramp without slip MPTYP 3 smoothened ramp by slip by Protecting mechanics JTIME ms Table 8 6 Activation of the jerk limitation Application Manual CDE CDB CDF3000 8 5 LUST 8 Speed Control OpenLoop for CDE CDB3000 1 t s Fig 8 1 Speed profile generator for OpenLoop speed control Due to the jerk limitation the acceleration and deceleration times rise by the slip time JTIME The rotary speed profile is set in the DRIVEMANAGER according to Fig 8 2 Speed profile Open loop xj se 1 CD81 Data cee 21052 EE NN HM Fig 8 2 Function mask speed profile OpenLoop
113. Digital Scope Active device gt Monitor gt Quickly changing digital scope values Saving settings from device to file Active device gt Save settings of device to Application Manual CDE CDB CDF3000 3 4 LUST A 3 2 1 Operation VIA ICON CHANGE DEVICE SETTINGS or via menu Active device gt Change settings 3 Operation structure Icon Function Menu Load settings from _ Active device gt Load settings into file into device device from Bus initialization Communication gt Bus configuration change settings Disconnect the link to Communication gt Disconnect the device Compare device settings SE FS Active device gt Compare settings Note Further information can be found in the operating instructions for the DRIVEMANAGER Preset sotution I j c A t tete p Achssl values EnovWamning Marusimede_ Seve setting in device Cane Fig 3 2 Adjustment in minimized view This operation mask Settings can be used to parameterize the position controllers Application Manual CDE CDB CDF3000 3 5 L U SGT 3 Operation structure qm ee ee Fig 3 3 Adjustment in extended view Note Parameter changes only take place in the volatile random access memory and must subsequently be saved in the device by pressing
114. E CDB CDF3000 4 10 L U ST 4 CDE CDB CDF3000 in rotary speed operation 4 8 1 Terminal Depending on the selected presetting the parameterization of inputs and assignment outputs differs from the factory setting see Table 4 4 After selecting the CDE3000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution 1 0 Parameters Function ToT 1 SCT ser 2 SCC 2 SCC 3 Sop ser SCC 4 WE SCB_2 SCB_3 SCB_4 isao 180 Fisao FUNotion selector analog PMiov orF OFF OFF PLC PLC standard input ISAO Function selector analog ISA1 181 FISA1 standard input ISA1 OFF PLC PLC PLC isbog 210 _ Punstion selector digital START OFF OFF PLC PLC PLC standard input 15000 Function selector digital 19001 211 FISO1 standard input 15001 OFF INV PLC PLC PLC Function selector digital 19002 212 FIS02 standard input ISD02 OFF PLC PLC PLC Function selector digital 15003 213 503 standard input 15003 OFF TAB1 PLC PLC PLC Function selector digital ISD04 standard input 15004 OFF TAB2 PLC PLC PLC Function selector digital ISD05 standard input 15005 OFF TAB3 PLC PLC PLC Function selector digital 15006 standard input 15006 OFF PLC PLC PLC Function selector digital 05000 240 F 0S0 standard input 05000 REF Function selector digital 05001 241 FOSO1 standard input 05001 ROT 0 Fun
115. ECNO1 numerator 2 rotating a negative numerator must be entered The ENC numerator can be changed online Ratio The denominator canbe 1 436 0 denominator 3 dans 9 ENC offline controller off Table 6 19 Configuration of a TTL reference encoder Application Manual CDE CDB CDF3000 6 43 LUST 6 General software functions Configuration of a HTL reference encoder with CDB3000 The digital inputs 15002 and 15003 must be set to Encoder input ENC 37 DriveManager Meaning Value range WE Unit Parameters 0 Two 90 phase displaced incremental signals serve as input signals 483 ECST2 Signal type A DIR 1 Track A is the clock input Track B defines A 0 A_DIR 1 0 HAC ENC the direction of counting or rotation Low clockwise High anti clockwise Ratio Reference encoder pulses input pulse 32 8192 1024 pros revolution 1 Numerator for ratio between leading and following Ratio axis If leading and following axes are be counter 32768 32767 1 480 ECNO2 numerator 2 rotating a negative numerator must be entered The ENC numerator can be changed online Ratio Denominator for ratio between leading and 481 ECDE2 following axis The denominator can be changed 0 65535 1 denominator 3 ENC offline controller off A BIHE a A DIR O Signal
116. Field bus Bit HALT 1 Bit HALT 0 PLC SET HALT 1 SET HALT 0 Table 6 13 Triggering locations for HALT The status Stop feed brakes an ongoing movement as long as the condition is active During braking acceleration to the previous status is possible When deactivated acceleration will take place along the programmed acceleration ramp L U 6 T 6 General software functions BUS Setting Reaction 0 0 No function please do not adjust 1 1 Braking with programmed deceleration ramp 2 2 Braking with quick stop ramp 3 3 Braking with max dynamics at the current level The speed setpoint is set to 0 4 4 Braking with max dynamics at the current level The speed setpoint is set to 0 Table 6 14 Setting the reactions with HALT Reactions with quick stop Quick stop brakes a running movement The drive controller is in Quick stop state Acceleration up to the previous state Technology ready is possible during the braking process and in dependence on the reaction as long as the closed loop control is active Quick stop is triggered via 11008110 Quick stop enable Quick stop disable Terminals Flxxx STOP 0 Flxxx STOP 1 Field bus Bit STOP 0 Bit STOP 1 PLC SET BRAKE 1 SET BRAKE 0 Table 6 15 Quick stop triggering locations BUS Setting Reaction 0 0 Lock output stage drive runs out 1 1 Braking with programmed deceleration ramp
117. Logic operations AND OR Exclusive OR Time and counter functions Single axis positioning control Work with the PLC functionality or the PLC editor requires an installed DRIVEMANAGER because it is in integral part of this 1 COLIZ 004 setup xb Preset solution preset ol process sett wa PLC contol wa Ga tee Initial commissioning umi 29 t Geode Raetadeer matar encodar on potten ercoser ITI bo Bus system Cam gest setup RC 8 A Seve setting in device Cancel Heb Fig 7 1 DRIVEMANAGER main window Application Manual CDE CDB CDF3000 7 3 LUST 7 2 PLC program 7 2 1 PLC editor 7 User programming The PLC editor is supplied as installation version on a separate CD ROM The languages German and English are available The PLC editor is an Add On component of the DRIVEMANAGER and can thus only be used with the DRIVEMANAGER Pic dit PlcPig LIO EX Ele Edt PAC Progam 13 05 2004 1021 XTMPAPleln b NO20 NOP NOP 7 PLC Tex coding Textcoding 0 Emoe 6 0 The PLC editor is only required for project planning initial commissioning series commissioning of the drive controller then takes place with the help of the DRIVEMANAGERdataset or the SMARTCARD The PLC program editor provides the functions Program generation Editor f
118. PROM rotation Anti clockwise BRK1 Speed limit for 311 SBCCW rotation motor brake anti 32764 0 0 min FEPROM clockwise rotation Hysteresis BRK1 Switch on 312 SBHYS hysteresis of motor 32764 32764 1 min FEPROM holding brake Table 6 36 Parameters for motor holding brake BRK1 Explanations The speed limit for application release of the holding brake can be set independently for clockwise and anti clockwise rotation The switching hysteresis must be taken into consideration The switching points for the motor holding brake BRK1 are coupled to the setpoint Application Manual CDE CDB CDF3000 6 92 L U 6 T 6 General software functions Motor holding brake BRK2 for closed loop 2 The function is activated by selecting the braking function BRK2 through a digital output The time for release and application of the motor holding brake can be accounted for by means of seperate timing elements The possibility of building up torque is a prerequisite for releasing the brake 3 Output options motor holding brake BRK2 Operation point Hysterens 10 Vmn Delay times Open break Reference selector 100 mi 100 mi Ok Cancel Parameters for motor holding brake BRK2 DRIVEMANAGER Function Value range WE Unit Parameter Hysteresis NO FUNCTION 1 919 SSHYS 1 32764 10 min _FEPROM Release brake Delay of the setp
119. Parameters of the optional module identification The rest of the display depends on the respective module Besides the option detection the control and status word transmitted via displayed when using PROFIBUS communication Aca abe EE 0x Option CANopen Profibus DP 000 6 201 202 Fig 6 61 Application Manual CDE CDB CDF3000 Status word PZD1 or cc oo ors or oori oori ors oon L PZU3 F24 205 Status display for the PROFIBUS module CM DPV1 6 120 L U 6 T 6 General software functions DRIVEMANAGER Function Parameter Process data Active EASYDRIVE operation mode Selection from 589 OPCEG channel menu Bus systems PROFIBUS see chapter 6 5 2 OPT configuration Control word PZD1 Display of the hexadecimal coded EAsyDrive control 6 word with the PZD s 1 6 598 x_PBCTR x By clicking on the corresponding PZD it is displayed _OPT bit coded partly with text display see Fig 6 62 Control word PZD1 Display of the hexadecimal coded EASYDRIVE status 6 word with the PZD s 1 6 599 x_PBSTA x By clicking on the corresponding PZD it is displayed _OPT bit coded partly with text display see Fig 6 62 Table 6 49 Parameters of the PROFIBUS module CM_DPV1 status display State workd Profibus Fig 6 62 Bit coded PZD display Explanations Adetailed diagnose of the bus system is o
120. RIVEMANAGER and memorize the data set in the unit Application Manual CDE CDB CDF3000 3 14 LUST 4 CDE CDB CDF3000 in rotary speed operation 4 1 Preset solutions ess 4 2 4 4 2 General functions sese 4 3 4 2 1 Torque rotary speed profile generator 4 3 4 2 2 Limitations Stop ramps 4 5 4 3 Torque control with reference value via analog input 4 6 4 4 Speed control with reference value via analog input 4 6 4 5 Speed control with reference value from fixed speed table 4 7 4 6 Speed control with reference value and control via field bus 4 9 4 6 1 35 1r e t Re tds 4 9 4 6 2 PROFIBUS o tetti tamen 4 10 4 7 Speed control with reference value via PLC 4 10 4 8 Assignment of control terminal 4 10 4 8 1 Terminal assignment CDE3000 4 11 4 8 2 Terminal assignment CDB3000 4 12 4 8 3 Terminal assignment CDF3000 4 13 Application Manual CDE CDB CDF3000 4 1 LUST 4 CDE CDB CDF3000 in rotary speed operation 4 1 Preset solutions Pre set solutions are complete parameter datasets which are provided to handle a wide variety of typical a
121. RIVEMANAGER mask Basic settings Speed control Dpenl oog 1 xi Tar get value ISAD analog target value see chapter 6 1 3 COS feed speeds see here in chapter Selection of setpoint Speed polle see chapter 8 2 2 see chapter 8 2 3 see chapter 6 2 3 li Fig 8 13 Basic setting Speed control OpenLoop 0 10 V or fixed speeds control via terminal 8 19 Application Manual CDE CDB CDF3000 L U ST 8 Speed Control OpenLoop for CDE CDB3000 Assignment of control terminal CDB3000 CDE3000 X2 Des 2 Des Function KR 20 05002 24 REL Relay contact Ko 19 OSD02 REL for message Standby Message BRK2 Message Setpoint reached digital ground Auxiliary voltage 24 V CDS fixed speed 1 2 0 10V CDS fixed speeds Power stage hardware enable Auxiliary voltage 24 V Auxiliary voltage 24 V OFF analog ground CDB3000 Not assigned Setpoint 0 V 10 V with CDB3000 2 Reference voltage 10V 10mA with CDB3000 CDE3000 CDB3000 1 Please remember that the control input ENPO on CDE3000 is part of the control function Safe Stop 2 Analog input differentially at CDE3000 3 Analog input differentially at CDE3000 8 7 6 5 4 3 2 1 Fig 8 14 Assignment of control terminals CDE CDB3000 Application Manual
122. SIHpoubon encoder TT TT 4 TTL motor and position encoder RS TT 5 Resoheerencter encoder TTL position enceder aoe Fig 6 41 Encoder configuration for CDE3000 CDF3000 Depending on the selection of encoder combinations the following settings can be made DRIVEMANAGER Value range WE Unit Parameter Selection of encoder 430_ECTYP combinations USER zs RS_TT RS_RS ENC Encoder Encoder A Ei E2 BUS Setting Function User defined 0 USER Is set by the drive if e g the reference encoder has been parameterized Resolver 1 RS_RS Resolver motor and position encoder SSI 2 SI_SI SSI motor and position encoder TTL 4 TT TT TTL motor and position encoder SSI 3 Resolver motor encoder SSI position HT SI encoder TTL 5 Resol t der TTL positi WT T esolver motor encoder position encoder Application Manual CDE CDB CDF3000 6 79 LUST Encoder settings Automatic determination of the encoder offset Encoder Oftret emiteln Application Manual CDE CDB CDF3000 6 General software functions For each encoder combination a special function mask is displayed Resctver moter erst posta enrcoderd 1 2 693061 Note d ole om E Detect Sard commen 0 zj S53 poemon encoder manm Ercodm ooet SY J Fig 6 42 Selection of special function masks for encoder configuration For resolver encode
123. SSTAT of the serial interface 20 OPTN Evaluation via field bus module Evaluated through the PROFIBUS Placeholder inputs can always be read via the field bus Evaluated via CAN Bus placeholder inputs can always be read via field bus Only for CDB3000 up to software V2 0 reserved for special software Only for CDB3000 up to software V2 0 Input can be used by special software Select data set Only with rotary speed control OpenLoop Changeover of data set 0 051 1 CDS2 see chapter 8 2 1 Motor potentiometer Raise setpoint The rotary speed setpoint for the digital motor potentiometer function is raised see chapter 6 2 7 Motor potentiometer Reduce setpoint The rotary speed setpoint for the digital motor potentiometer function is reduced see chapter 6 2 7 Activation of manual mode With field bus operation CAN PROFIBUS changeover of setpoint source 289 SADD1 xx and control location to terminal 260 CLSEL TERM See also Explanations to various functions Jog mode positive direction In manual positioning the axis can be moved in creep speed or in rapid motion see chapter 5 2 6 Jog mode negative direction In manual positioning the axis can be moved in creep speed or in rapid motion see chapter 5 2 6 Table 6 5 Application Manual CDE CDB CDF3000 Function selectors for digital inputs LUST 6 General software functions
124. ST Fixxx STR STL Not with positioning Fixxx LCW LCCW 6 General software functions Explanation of various functions The start command for a direction of rotation can be specified via the terminals of the positioning controller The sense of rotation is thus determined by the start commands STR and STL If the setpoint has a negative sign this will cause an inverse behaviour when starting i e with a clockwise start the motor shaft will turn anti clockwise STL STR Explanation STOP braking and shut down of control as per reaction with 0 0 Control off see chapter 6 2 3 Stop ramps 1 1 0 START anti clockwise acceleration with travel profile generator 0 1 START clockwise acceleration with travel profile generator BRAKING and shut down of control as per reaction with Control off 1 1 see chapter 6 2 3 Stop ramps 1 The braking process can be be interrupted by simply attaching a start contact the motor will accelerate again 1 1 Sense of rotation REVERSING overlapping time STL and STR 1 1 0 min 2 ms 1 With OpenLoop speed control the DC holding current controller see chapter 8 3 4 becomes active in case of the response Control off 1 Braking with deceleration ramp when the speed setpoint 0 is reached Table 6 6 Truth table for control via terminals The limit switch evaluation is based on the evaluation of static signals No signal flanks a
125. Slave operation 6 2 5 Setpoint structure further settings control IOGAUIOMN a 6 47 6 2 6 Control location 6 55 6 2 7 Motor potentiometer function 6 58 6 3 Motor control nnne neun nennen 6 62 6 4 Motor and transducer 6 67 6 4 1 Motor data eene 6 67 6 4 2 Encoder 6 74 6 4 3 Motor protection 6 83 6 4 4 Motor holding brake 6 90 6 5 Bus systems 6 100 6 5 1 CANOPEN 2 2 2 6 100 6 5 2 PROFIBUS ecrit ariete 6 104 6 6 Cam controller eene 6 106 6 7 Setting KP200 XL sss 6 112 Application Manual CDE CDB CDF3000 6 1 LUST 6 8 6 8 1 6 8 2 6 8 3 6 8 4 6 9 6 9 1 6 9 2 Application Manual CDE CDB CDF3000 6 General software functions Actual values eren 6 117 Temperature monitoring 6 117 Device data 6 118 8 2 E 6 119 CANopen Field bus 6 122 Warnings errors eene 6 1
126. Table 6 38 Parameters for motor holding brake BRK2 Explanations The speed limit of speed control OpenLoop for releasing the motor holding brake is independently adjustable for clockwise or anti clock wise rotation Please consider the hysteresis The speed of clockwise or anti clockwise rotation is adjusted to the slip speed of the motor The value of the speed hysteresis for the motor holding brake is half the value of the slip of the motor The re parameterization of a digital output from or to the setting 2 does not work online For parameterization the output stage must be inactive Ifthe brake control BRK2 is linked with the motor protection control ENMO the timing element 247 TENMO Time between motor contactor and active control is executed before or after the brake is triggered Application Manual CDE CDB CDF3000 6 97 L U SGT 6 General software functions Time diagram for the motor holding brake BRK2 with speed control n 1 min SSCW SSHYS SSCW SSCCW SSHYS SSCCW SSHYS STR sti POWER BRK2 TREF TCTRL TREF TCTRL LL ke 1 POWER Converter output stage BRK2 digital output Fig 6 50 Function of the motor holding brake BRK2 with speed control OpenLoop Explanations Speed set point speed limit SSCW or SSCCW Setting the speed reference
127. Table 6 50 Parameter CANopen field bus status Application Manual CDE CDB CDF3000 6 122 L U 6 T 6 General software functions DRIVEMANAGER Meaning Parameter Status word byte1 0 Hexadecimal coded status word for 572 H6041 CANopen communication CAN Extended status word Extended hexadecimal coded status word 575 H223F Byte 3 2 for CANopen communication with CAN EASYDRIVE operation mode By clicking on the corresponding control or status word it is displayed bit coded partly with text display see Fig 6 62 Table 6 50 Parameter CANopen field bus status Explanations Adetailed diagnose of the bus system is only possible with commercial bus analysers Here only the control and status information can be checked For further information on CANopen communication please refer to the CANopen user manual Application Manual CDE CDB CDF3000 6 123 LUST 6 9 Warnings errors 2 CDE CDB 1 6 9 1 Error messages o 6 General software functions Ix min Function Effect Display and resetting of drive Quick identification of fault system faults cause and determination of Setting of fault reactions the reaction of the drive to a fault Ence meactons ence 2nd last Diano E0 00h Dispose Ath Last EO 00h Wamings Statut oaae Warming Fig 6 64 Tab Wa
128. Table 6 56 Hysteresis for warning messages Warning thresholds 69 Warning thresholds 6 132 Warning thresholds determine when a warning is to be submitted Warning Function Hex value Bit Warning message if the output speed WLS exceeds the value specified in parameter 0020H 5 505 WLS Warning message if the apparent current WIS has exceeded the value specified in 0040H 6 parameter 506 WLIS WIIT Warning message if the integrator of 0080H 7 the device is active reserved 0100H 8 WIT Warning message if the Ixt integrator of the 0200H 9 motor is active Warning message if the torque exceeds the werg value specified in parameter 507 WLTQ 0400H n Table 6 55 Hexadecimal representation of warning messages LUST 6 General software functions DRIVEMANAGER Value range WE Unit Parameter Heat sink temperature 5 100 100 eC EN Internal temperature 5 80 80 C RI only 130 5 250 180 C yi Undervoltage 0 800 0 V pie fie 0 100 0 it maximum integrator value Overvoltage 0 800 Rotary speed 0 32767 32767 rpm MIN Apparent current 0 1000 1000 A Pine Torque 10000 10000 10000 Nm CHAR oan ai 0 10 0 message Torque Table 6 57 Application Manual CDE CDB CDF3000 Parameter warning thresholds 6 133 LUST 6 General software functions Explanations Application Manual CDE CDB C
129. Table 8 12 of the nominal 150 632 x CLCL device current VF Note In the speed range from 0 to a application speed the value of the 634_CLSR Application speed acceleration ramp RACC is reduced to 25 0 min C VF With setting 0 min this function is disabled Lowering speed If the apparent motor current is 100 of the 0 1000 150 min 633_CLSLR set current limit CLCL the speed will be VF lowered to the lowering speed along the 635 CLRR Deceleration ramp adjusted deceleration ramp 0 32000 1000 min 1 6 1 Field parameter index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 11 Parameters for setting the current limit controller Status Function Accelerations with activated current limit controller During the acceleration process with acceleration ramp RACC the acceleration RACC is reduced in a linear way from the the set value to 0 rpm s when 75 of the current limit is reached This means that the drive is no longer accelerated when the current limit is reached If the current limit is exceeded the speed setpoint will be reduced This reduction takes place with the steepness of the deceleration ramp CLRR This steepness increases linear from 0 to the preset value CLRR at current limit 125 CLCL This process only takes place in the range of the lowering speed CLSLR If the apparent current of the motor drops below the current limit the drive w
130. UST 6 General software functions BUS Setting Function Effect 46 CM4 Switching point 4 47 CM5 Switching point 5 48 CM6 Switching point 6 49 CM7 Switching point 7 50 CM8 Switching point 8 51 CM9 Switching point 9 52 CM10 Switching point 10 Cam switching points see chapter 6 6 53 CM11 Switching point 11 54 CM12 Switching point 12 55 CM13 Switching point 13 56 CM14 Switching point 14 57 CM15 Switching point 15 58 CM16 Switching point 16 59 BRK1 Holding brake function 1 Output becomes inactive in accordance inverted without motor with the holding brake function see current monitoring chapter 6 4 4 Only suitable for U f operation 60 BRK2 Holding brake function 2 Output becomes inactive in accordance inverted with the holding brake function see chapter 6 4 4 Table 6 10 Setting the function selectors FOxxx for the digital outputs Application Manual CDE CDB CDF3000 LUST FOXxx LIMIT FOxxx REF 6 General software functions Explanation of various functions The LIMIT function detects if the setpoint exceeds the maximum value When exceeding the output is set Limit values Torque control The limit value display becomes active when the torque reference exceeds the max torque Max torque 805 SCALE x 803 TCMMX x 852 MOMNM Speed regulation The limit value display becomes active when the speed refere
131. abular travel set CANopen ne bus mortage 5 3 CANopen data transfer protocol EasyDrive Profile TabPos Field bus communication module PCB_2 Tabular travel set PROFIBUS 5 3 PROFIBUS data transfer protocol EasyDrive Profile TabPos CANopen field bus interface PCC_1 CANopen field bus interface DSP402 Profiles position mode 5 4 CANopen data transfer protocol DSP402 Profiles velocity mode Field bus communication module Field bus communicanan edule PCB_1 PROFIBUS 5 4 5 data transfer protocol PROFIBUS i pss n EasyDrive Profile DirectPos PCP 1 PLC PLC 5 5 see chapter 7 PCT 3 PLC l O terminals 5 5 see chapter 7 PCC 3 PLC CANopen field bus interface 5 5 data transfer protocol EasyDrive Profile ProgPos Field bus communication module PCB 3 PLC PROFIBUS 5 5 5 data transfer protocol EasyDrive Profile ProgPos Table 5 1 Preset solutions for positioning All pre set solutions have an individual window for basic settings in DRIVEMANAGER Tabs contained therein differ in their general and special functions The general functions are listed in chapter 5 2 5 2 Application Manual CDE CDB CDF3000 L U ST 5 CDE CDB CDF3000 in positioning operation The special functions i e the reference source for the respective presettings are described in chapter 5 3 to 5 5 Chapter 5 6 defines the characteristics of the control location or the device control includin
132. ading device software 2 17 2 7 Device protection ees 2 18 hardware which are required to understand and work with the application manual Further information on equipment hardware can be found in the corresponding operating instructions for the positioning controllers i Info This chapter shows general items concerning the equipment Application Manual CDE CDB CDF3000 2 1 LUST 24 Terminal positions CDE3000 X4 2 Equipment hardware Application Manual CDE CDB CDF3000 N N RAN X2 N BS S X9 W 51 PN X3 n Ty X1 Fig 2 1 View of device CDE3000 No Designation Function H1 H2 Light emitting diodes Equipment status display Setting the CAN address Encoder switchi hardware address parameter value COADR Mains motor DC supply L L X1 Power terminal up to lt 22 KW Braking resistor L RB from gt 22 kW Braking resistor L RB Table 2 1 Legend to View of device CDE3000 LUST 2 Equipment hardware No Designation Function 8 digital inputs 2 analog inputs 10 bit X2 Control terminal 3 digital outputs 1 relay Safe stop with relay output Motor temperature PTC
133. alue REF_R Setpoint REF R Ramp settings can be made independently from each other A ramp setting of zero means jump in reference value ACCR 4 2 2 Limitations These functions are described in the general software functions in Stop ramps chapters 6 2 2 limitations and 6 2 3 stop ramps Limitations are adjustable for torque rotary speed Various stop ramps or reactions can be adjusted switching off of closed loop control Stop feed quick stop Error Application Manual CDE CDB CDF3000 45 LUST 4 3 Torque control with reference value via analog input 4 4 Speed control with reference value via analog input Application Manual CDE CDB CDF3000 4 CDE CDB CDF3000 in rotary speed operation With the preset solution TCT 1 the scalable torque reference value is specified via the analog input ISAO The parameter settings for the analog input are described in chapter 6 1 3 the specific settings of inputs and outputs in chapter 4 8 Analog input options Ei CE ce o Fig 4 3 Setting the torque control With the preset solution SCT 1 the scalable rotary speed reference value is specified via the analog input ISAO The parameter settings for the analog input are described in chapter 6 1 3 the specific settings of inputs and outputs in chapter 4 8 Scaling ol reference see chapter 6 1 3 Speed see chapter 4 2 1 Limitations see chapter 6 2 2
134. ar graph is used for the status display of system values or to show the trend of individual actual values The permanent actual value display is directly opened when accessing the VAL menu menu of actual values The input of an index is only necessary for field parameters i e a parameter with several entries For all other parameters it must be set to 0 User applicabon Displays 1 1 Parameter for No Contrucus actual vale 0 Da gach nm a Specification of indax iz necessary for parameters Fig 6 57 Configuration of the permanent actual value and bar graph display Application Manual CDE CDB CDF3000 6 114 L U 6 T 6 General software functions DRIVEMANAGER Value range WE Parameter Permanent actual value display 360_DISP 375_DPIDX No Index 1 999 0 255 400 0 Bar graph 361_BARG 374_BGIDX No Index 1 999 0 255 170 KPAD Adjustment possibilities for 360 DISP and 361 BARG ea or ral een Function gine DISP BARG DM KP200 66 Actual torque value 14 ACTT 2 v v Actual speed value 77 SPEED 2 v v d c link direct voltage 405 DCV 2 v v Current actual value of control 400 ACTV 2 v Current setpoint of control 406 REFV 2 v v Effective value of apparent current 408 APCUR 2 v v System time after switching on 86 TSYS 3 v Operating ho
135. at OFF Mane Factory setting PMI0 40 Fig 3 6 Value range Minimum Maximum Value range here between OFF and E EX Factory setting After a device reset to factory setting WE this value is automatically entered Application Manual CDE CDB CDF3000 3 8 L U 6 T 3 Operation structure 3 3 Operation with Installation and connection of the operation panel KP200 XL operation panel 4 KP200 XL p L m Ue b 22 Fig 3 7 Installation of the operation panel a on the positioning controller plug X4 for CDE CDB3000 or b on the control cabinet door Note Connection to the positioning controller CDF3000 is always accomplished via interface cable to board slot X4 Application Manual CDE CDB CDF3000 3 9 LUST Menu structure 3 Operation structure Control and display elements 9 line Drives SMARTCARD Chip card SMARTCARD to save and transfer settings 3 digit numerical display 0 for parameter number current menu 5 digit numerical display for parameter name and value Acceleration and deceleration ramp active Bar graph display 10 digit Call up menu branches or parameters save changes stari Control start in drive Quit menu branches Cancel changes Control stop in drive Fig 3 8 Select menu subject area or parameter Increase setting Select menu subject area
136. at the rated speed can be reached and the rated torque defined via the rated power is reached at rated speed If the voltage is found to be too low the flow is reduced to such an extent that the speed is reached in any case The rated torque is automatically reduced Finally the control circuits are preset After successful motor identification the calculated motor parameters are displayed in the function Show motor parameters Attention Motor parameters must only be changed by qualified personnel With an incorrect setting the motor may start unintentionally thrashing Motor type dengnabon My Moto Stator Suy inductance 1024 Rotorwderstand 100 X 1024 Ohm 100 Man induetance at Rated fux 0 5 H 0358 vi gr Cancel Fig 6 36 Motor parameters DRIVEMANAGER Value range WE Unit Parameter Primary resistor 0 0 500 0 6 0 Q n Leakage inductance 0 0 10 0 0 018 H MOT Rotor resistance 0 0 500 0 4 2 Q wr Application Manual CDE CDB CDF3000 6 72 L U 6 T 6 General software functions Application Manual CDE CDB CDF3000 DRIVEMANAGER Value range WE Unit Parameter Rotor resistance scaling factor 120 recommended for rotor 20 300 100 837 MOT resistance with warm motor Main inductance only for display calculated on 850 MOL M basis of rated flow and 0010000 a n MOT magnetizing
137. ation After the input of parameters the settings are checked by pressing Ready Pressing the Return button brings you back to the input of units Checking the settings The settings for units and standardization are checked fro plausibility and device internal value ranges and accepted In very few cases the following message will appear gt Choosen standacdeahon values do not match intemal execution and have been re adusted 1 Please check the neve mw We Fig 5 4 Error message caused by collision In this case value ranges or standardizations collided in the closed loop control The units and standardization assistant now suggests a different power or exponent for the unit and will ask you to check accept or change this in the units window which is directly opened upon acknowledgement Accepting the new setting also adapts the feed constant 5 8 LUST 5 2 3 Travel profile 5 CDE CDB CDF3000 in positioning operation This mask is used to configure the limit values for the travel set the profile form and the travel range The units have already been determined see chapter 5 2 2 yr Lime values Mas Mae acceleration Uais Mae 10000 Sop teres Moved baron 190 Fiekesercce orim 190 Fig 5 5 Travel profile Limit values DRIVEMANAGER Meaning Value range WE U
138. ble ENCD 0 cam controller cycle related to the position encoder The cycle of the cam controller is determined by the current position of the position encoder EGEAR 1 cam controller cycle related to the reference encoder The cycle of the cam controller is determined by the external reference encoder 2 related to the actual position The cam controller cycle is determined by the actual position of the positioning controller ENCD ACTP ACTP 740_CCEN C CAM Application Manual CDE CDB CDF3000 6 108 L U 6 T 6 General software functions Defining the cam action The following window opens when double clicking into the column Action 3 Cam 0 amp e Swisch as funcion of direction of rotation OFF 2 in both drecton Cam gear switching points 1 2 CM5 CMB Cm CM8 CM10 CMM 1 CM13 CM14 CM15 CM16 Set switching points to outputs Outputs Set PLC flags feit flog 295 0 255 Second Kg 5 0 255 Qk f Cane Heb DRIVEMANAGER Meaning Value range WE Parameter Activation of cam only with defined travel direction The following settings are possible NEG 0 Only to negative direction The cam Sense of rotation dependent switches only in negative sense of rotation NEG OFF OFF 750 x_CCDIR switching POS 1 Only to positive direction The cam _CAM switche
139. ble SET Fxxx F Cxx with 2 integer variable SET Fxxx via calculation direct SET Fxxx SET Fxxx SET Fxxx SET Fxxx Fh FH Fh Fh SET Fxxx SET Fxxx SET Fxxx SET Fxxx Fyyy Fyyy Fyyy Calculation by rounding SET Fxxx ROUND Fyyy Calculation by means of Setting special floating point SET Fxxx ABS Fyyy variable SET Fxxx PARA Hyyy SET Fxxx PARA Hyyy SET Fxxx PARA n i S Fxxx PARA n S ACTFRO 5 FXXX ACTSPEED S ACTTOURQUE 5 FXXX ACTTOURQUE SET Fxxx ACTPOS SET Fxxx REFPOS SET REFVAL Fxxx Application Manual CDE CDB CDF3000 7 User programming Assignment of floating point variable Indexed assignment Indexed assignment Assignment of integer variables Addition of floating constants Subtraction of floating constants Multiplication of floating constants Division of floating constants Calculation via 2 variable direct Addition of floating variables Subtraction of floating variables Multiplication of floating variables Division of floating variables Mathematically rounded 2 8 gt 3 0 2 8 3 0 absolute value generation Absolute value generation 2 8 2 8 Assign field parameter value Assign parameter value Assign field parameter Assign parameter value Actual frequency value Actual speed value Actual torque value Actual current value Assign actual position value Assign position set
140. bus are described in chapter 5 6 If the drive is controlled via field bus the special proprietary EasyDrive protocol TablePos is used There are 16 travel sets 0 15 A travel set consists of Target position Mode for absolute relative endless positioning Speed Start up acceleration Braking deceleration Repetition of a relative travel set NOOO PWD Follow up order logics with various provisional conditions Follow up orders enable the realization of small automated sequence programs 8 Travel set dependent switching points see chapter 5 3 4 A slip time in ms programmed in the travel profile serves as jerk limitation It applies for all travel sets The travel sets can only be set via the PC desktop DRIVEMANAGER or field bus Note The travel sets have the predefined standard units Before parameterizing the travel sets you must therefore first set the units and the standardization see chapter see chapter 5 2 2 Travel sets can be selected and activated via terminal or field bus The number of the active travel set is indicated by a parameter and binary coded via the outputs if parameterized The inputs planned for travel set selection are configured with Flxxx TABx see example in Table 5 11 The selection is binary coded The binary valence 20 2 2 23 results from the TABx assignment The setting TABO thereby has the lowest 2 the setting TAB3 the highest valence 23 A logic 1 l
141. by temperature sensors or thermal switches e Shut down with an error message from E OLM if the applied current a xt time value exceeds the limit value t e The positioning controllers are able to emit a warning message at a defined value of the I xt motor protection integrator Pxt monitoring This function replaces a motor protection switch 1 m TTL meter encoder TTL position encoder Motor and encoder m Motor temperature monitoring 2 Encoder Motor protector Brake m Temperature monitoring M avarum temperature 150 t lor Fig 6 43 Monitoring of the motor temperature by temperature sensors or thermal switches DRIVEMANAGER Value range WE Unit Parameter DENS monitoring E oF fortnearPrc eio 10250 190 Application Manual CDE CDB CDF3000 6 83 LUST 6 General software functions Setting for parameter MOPTC BUS DRIVEMANAGER Function 0 OFF Monitoring switched off 1 KTY linear PTC KTY84 130 tolerance band yellow Threshold value PTC with short circuit detection 2 PTC DIN 44081 44082 recommended for Triple PTC 3 TSS Klixon normally closed temperature switch Threshold value PTC without short circuit detection 41 PTC1 DIN 44081 44082 recommended for Single PTC Specification of temperature sensor connection X3 Table 6 34 Setting for
142. chapter 6 2 3 stop ramps Various stop ramps or reactions can be adjusted Switching off of closed loop control Stop feed Quick stop Error Application Manual CDE CDB CDF3000 8 9 LUST 8 3 OpenLoop motor control method Driving profile generator DPG 8 Speed Control OpenLoop for CDE CDB3000 With default setting OpenLoop for speed control the drive controller uses the motor control method VFC This control method does not require any speed feedback because the drive controller works with v f characteristics curve control Function see control technological block diagram Fig 8 4 Reference Ny f Control Pa Mains Control i lt gt I DC holding current controller ls f Starting current is controller f Uz correction A u v f characteristics U UZK gt U t f e gt re eer f Vibration damping Controller disq j Current limit value control ller Calculation of current components isq iw Fig 8 4 Control technological block diagram for OpenLoop motor control method All settings are made in the Control function 8 10 Application Manual CDE CDB CDF3000 LUST 8 3 1 Start current controller 8 Speed Control OpenLoop for CDE CDB3000 In the function mask all active functions are shown
143. characteristic 840 MOFNM Rated flow 0 0 100 0 0 358 Vs MOT 6 73 LUST 6 4 2 Encoder i Project planning with one encoder 6 General software functions Function Effect Encoder setting Determination of the motor Evaluation of up to two rotor position encoders Determination of the movement of the connected mechanics Controlled operation of the drive requires the use of an encoder Configuration takes place via the tab Encoder Note This chapter solely describes the setting of the encoders The specification and acceptability of the encoders as well as their interfaces and connections is described in the operating instructions for the corresponding positioning controllers Types of project planning Fig 6 37 Project planning with one encoder Two different installation variants are possible Mounting of encoder E1 to the motor nverting the sense of rotation by using a ratio n1 n2 1 1 is possible Mounting encoder E1 to the mechanics or gearbox output shaft dashed encoder E1 in Fig 6 37 Prerequisite is a fixed ratio n1 n2 between drive and output n1 n2 must be parameterized Fora sufficient generation of a rotating field a position resolution of at least 7 bit 128 pulses related to one revolution of the motor shaft is required Application Manual CDE CDB CDF3000 6 74 LUST Project planning with two encoders Accepted encoders 6 General so
144. ck stop reaction Low active see chapter 6 2 3 Reactions with quick stop SADD1 Changing the setpoint source 1 280 RSSL1 The setpoint source 1 280 RSSL1 is switched over to the setpoint source set in 289 SADD1 see chapter 6 2 5 Setpoint structure further settings control location SADD2 Changing the setpoint source 2 281 RSSL2 The setpoint source 2 281 RSSL2 is switched over to the setpoint source set in 290 SADD2 see chapter 6 2 5 Setpoint structure further settings control location E EXT External error Error messages from external devices cause an error message with reaction as specified in parameter 524 R EXT see chapter 6 9 1 Error messages E EX External error Error messages from external devices cause an error message with reaction as specified in parameter 524 R EXT see chapter 6 9 1 Error messages Low active 10 RSERR Resetting an error message Error messages are reset with an ascending flank if the error is no longer present see 6 9 1 Acknowledgement and resetting of errors 11 TBTEA Travel set positioning Teach in for position travel set table see chapter 5 3 5 Teach in 12 HOMST Start referencing Start referencing in accordance with the parameterized referencing type 730_HOMTD see chapter 5 2 4 Referencing 13 TABO Travel set selection valence 20 Binary travel set selection
145. considerably simplifies and shortens the commissioning of the positioning controller By changing individual parameters the preset solutions can be adapted to the needs of the specific task A total of three preset solutions covers the typical areas of application for OpenLoop speed control with the closed loop controllers Abbrevia Control location Chapt Additionally required tion Ie Bus control profile Documentation VSCT1 0 10V analog 1 0 8 4 VsCC1 CANopen field bus CANopen field bus interface 8 5 CANopen data transfer protocol interface EasyDrive Profile Basic 1 Field bus communication Field bus communication module Profibus 8 5 Profibus data transfer protocol module Profibus EasyDrive Profile Basic Table 8 1 Preset solutions in speed controlled operation All pre set solutions have an individual window for basic settings in DRIVEMANAGER Tabs or control buttons contained therein differ in their general and special functions The general functions are described in chapter 8 2 the motor control method in chapter 8 3 and the special functions for the respective presettings in chapters 8 4 and 8 5 8 2 Application Manual CDE CDB CDF3000 LUST 8 2 General functions 8 2 1 Data set changeover 8 Speed Control OpenLoop for CDE CDB3000 Function Effect Online switching between Matching the dynamics of two data sets is possible the
146. control or online Switching between positioning and speed control The CANopen Profile DSP402 Profile Velocity Mode is a form of endless positioning Application Manual CDE CDB CDF3000 Table 5 2 Types of positioning 5 5 LUST 5 2 2 Units and standardization Li 1 Units and stendar tanon 5 CDE CDB CDF3000 in positioning operation Note After selection of the preset solution the units and standardization of the drive must first be adjusted These are the basic requirements for the settings following thereafter These settings can be made through the DRIVEMANAGER Units For positioning the units for position speed and acceleration can be set If not specified differently all positioning parameters are based on these units The following base units can be set Translatory unit m Rotary units Degree rev rad sec min Special units Incr Steps Units with user defined text max 20 characters User The time basis for the speed is automatically set to Exp Path unit s the one for acceleration to Exp Path unit s All parameters are integer values Floating point settings are not possible For the input of a value lower than 1 1 of the base unit the exponent must additionally be set Base unit e g m and exponent e g E 2 thus determine the resulting unit z B cm angel Speed fo kn 0 Acceles ton t EFE jr 3 Ur
147. ction selector digital standard input 05002 S RDY Function selector digital Me standard input 05003 Table 4 4 Presetting the control inputs and outputs in speed controlled operation of the CDE3000 Application Manual CDE CDB CDF3000 LUST 4 CDE CDB CDF3000 in rotary speed operation 4 8 2 Terminal Depending on the selected presetting the parameterization of inputs and assignment outputs differs from the factory setting see Table 4 5 After selecting the CDB3000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution VO Parameters Function SCC 2 scc 3 PROS SCC 4 SCB_2 SCB_3 z SCB_4 WE isaoo 180 risAo Function selector analog standard lorr ort lorr pc iC input ISA00 ISA01 181 FISA1 Function selector analog standard OFF PLC PLC PLC input ISA01 5000 210 Fisoo Functon selector digital standard OFF OFF PLC PLC input 15000 ISDO1 211 FIS01 Function selector digital standard OFF PLC PLC PLC input 15001 5002 212 FIso2 Function selector digital standard input 15002 isp03_ 213 Fisog _ unction selector digital standard fope rig PLC input ISD03 Function selector for analog output OSA00 200 FOSA0 ACTN PLC PLC PLC 05 00 Function selector digital standard OSDOO 240 FOSOO input 05000 REF Function selector di
148. ctions BUS KP DM Function Lock output stages and wait for error reset by mains off on Note This error can only be reset by switching the mains supply G off and on again 6 RESET After a reset the device performs an initialisation and self test phase During this time the bus connection is interrupted and signal changes at the inputs are not detected The outputs additionally take on their hardware rest position The completion of an initialisation and self test phase can be displayed via a digital output as Device operable If the error is no longer present and the device reports to be operable after the reset the device can be restarted With programmed auto start 7 AUTO ON the device starts automatically Table 6 54 Meaning of error reactions Application Manual CDE CDB CDF3000 6 130 L U 6 T 6 General software functions 6 9 2 Warning Function Effect messages A warning is submitted when EA forthcoming fault in the adjustable limits for various actual drive system will be values of the positioning controllers signalized to the system at or the motor are exceeded an early stage W 2 Staur _ m Warming thresholds Corcel Fig 6 68 Display of warnings in the tab Warnings errors Warning messages are automatically reset as soon as the reason for the warning no longer exists They are reported or evaluated via Digital outputs Field bus s
149. d 1 Incorrectly set parameters 2 Short circuit earth leak or insulation fault in operation 3 Device internal defect 48 Overcurrent detected 1 Incorrectly set parameters 2 Short circuit earth leak or insulation fault in operation 3 Device internal defect 49 50 Internal fault in overcurrent monitoring Application Manual CDE CDB CDF3000 A 2 L U S T Appendix A op Description No location 4 0 Overvoltage cut off Overvoltage caused by 1 Overload of brake chopper too long or to many brake operations 2 Mains overvoltage 5 E OLM Ixl motor cut off Ixt shut down to protect the motors Permissible current time area exceeded 6 E OLI Ixt converter cut off 2 47 xt shut down to protect the output stage permissible current time area exceeded 48 7 Motor overtemperature Motor overtemperature temperature sensor in motor has responded due to 47 1 Temperature sensor not connected or incorrectly parameterized 2 Motor overloaded 8 E OTI Drive unit overtemperature Output stage heat sink overheated due to 44 1 Too high ambient temperature 2 Too high load output stage or brake chopper Overtemperature inside the device caused by 45 1 Too high ambient temperature 2 Too high load output stage or brake chopper Application Manual CDE CDB CDF3000 A 3 LUST Appendi
150. d optional module Status display Temperatures Device CANopen Indication option module Module I 0 Module UM 4940 Soltwewe verto O00 Fig 6 60 Optional module status display in this case the l O module UM 8140 The following modules can be used PROFIBUS field bus module CM DPV1 Communication module UM 8140 Detailed information on optional modules can be found in the user manual e g PROFIBUS user manual or in the installation instructions Application Manual CDE CDB CDF3000 6 119 LUST 6 General software functions The data of the optional module are displayed first These consists of the detected module and if present of the software version of the module Table 6 48 Status display for the PROFIBUS module CM DPV1 field bus is also Module Soltwate verticer I f Conted word PZD1 DRIVEMANAGER Meaning Parameter Module Identification of a connected module Possible displays 579 OPTN1 are NONE no module connected PROFI PROFIBUS communication module CM DPV1 101 1 0 terminal extension module UM 8I40 Software version Software version of the connected optional module A 576 OP1RV value of 0 00 indicates that the module has no _OPT Device Indication option module Process data channel configuration 201 202 203 204 oo ao oo oc c oo oo software
151. data E _OPT channel is preset when selecting a preset solution Process data channel configuration 589 OPCFG Setting Mode of operation 0 3 4 EASYDRIVE Basic 5 EASYDRIVE ProgPos PLC control Table 6 42 Setting the PROFIBUS process data channel Application Manual CDE CDB CDF3000 6 104 L U 6 T 6 General software functions Process data channel configuration 589 OPCFG Setting Mode of operation 6 EASYDRIVE TablePos travel set table 7 EASYDRNE DirectPos 8 amp Table 6 42 Setting the PROFIBUS process data channel Explanations Adiagnose of the PROFIBUS control and status word takes place with plugged on and active PROFIBUS module CM DPV1 in the function menu Actual values tab Option see chapter 6 8 3 Application Manual CDE CDB CDF3000 6 105 LUST 6 6 Cam controller 14 6 General software functions Function Effect Electronic cam controller Replacement for mechanical with up to 16 cams cam controllers Can be used with positioning Short set up time by or speed control changing cams Selection of important settings for the application The cam controller implemented in the positioning controller can most simply be described as a cylinder with radially attached cams along the axis of the cylinder Up to 16 cams with start and end position related to the cylinder diameter cycle can be arranged in any order Each cam has an action register assigned
152. ded from the website http www lust antriebstechnik de The Setup installs the motor database into the default directory of the DRIVEMANAGER If a motor dataset is supplied on a data carrier floppy disk CD ROM it can be directly loaded via button Other directory Attention When selecting motor data from the database it must be assured that both the nominal data as well as the wiring are in accordance with the application This applies in particular for rated voltage speed and frequency Motor identification for asynchronous motors with CDB3000 If the motor data for the respective motor are not available the motor can be measured using the option Motor identification to calculate the controller setting As a prerequisite for successful motor identification the motor power must be lower than or equal with the the converter power but should be at least quarter of the converter power For the purpose of motor identification the nominal data of the motor must be specified in the mask Fig 6 35 1 Rated vohage zu Motes type 2x V 2 Rated cunent La Moment of inertia of motor known 1 Rated speed 15m C Ye 4 Rated hequency f No Der Wert wed ener Tabelle fur He Asynicbeon Noenemokonen bestimmt f amp Rated power f G Rated torque n __Dectey nets owemeter ox 7 Sart identification Cancel Fig 6 35 Motor identification Application Manual
153. des 2 2 5 Resetting parameter settings 2 2 6 Loading device software 2 2 7 Device protection ees 2 3 Operation structure 3 1 Operation levels in the parameter structure 3 2 Operation with DRIVEMANAGER 3 2 1 Operation masks 3 3 Operation with KP200 XL operation panel 3 4 Commissioning eere 3 4 CDE CDB CDF3000 in rotary speed operation 4 1 Preset solutions s 4 2 General functions sess 4 2 1 Torque rotary speed profile generator 4 2 2 Limitations Stop ramps LUST 4 3 44 45 46 4 6 1 4 6 2 4 8 4 8 1 4 8 2 4 8 3 5 1 5 2 5 2 1 5 2 2 5 2 3 5 2 4 5 2 5 5 2 6 5 3 5 3 1 5 3 2 5 3 3 5 3 4 5 3 5 Application Manual CDE CDB CDF3000 Torque control with reference value via analog 4 6 Speed control with reference value via analog input 4 6 Speed control with reference value from fixed speed table 4 7 Speed control with reference value and control via field bus 4 9
154. din Target group dramotor Comment level 01 1 P MODE uiz iinan no parameter Without access right only for status monitoring 1 available e parameterization display of basic parameters with basic knowledge for minimum operation Beginner 362 PSW2 extended basic parameters editable 2 000 extended parameter display for commissioning and field bus connection Advanced 363 PSW3 Parameterization for standard applications 3 000 extended parameter display with expert knowledge in control technology Expert 364 PSW4 e all closed loop control parameters editable 4 000 e extended parameter display Others 365 PSW5 system integrators 5 Expert personnel 367 PSWCT Operation and start up using the KP200 XL operation panel CTRL menu 573 1 WE Factory setting Table 3 1 Setting operation levels Application Manual CDE CDB CDF3000 3 2 LUST 3 Operation structure If a password is set up for operation level 2 4 both viewing and editing of parameters in the corresponding operation level by means of the KP200 XL operation panel is maintained until a change to a lower operation level For this purpose a new operation level must be selected via parameter 01 MODE Changing the password for an operation level A password can only be changed via levels with operation rights i e passwords of a higher operation level cannot be changed or viewed A password is changed by selecting the parameter editing and finally saving
155. e Switch off limit l2xt device CDB32 003 0 375 kW to CDB34 032 15 kW CDE32 003 2 4 A 1 8 x Rated device current for 30 s to CDE34 032 32 A CDB34 044 22 kW to CDB34 168 90 kW 1 5 x Rated device current for 60 s CDE34 044 45 A to CDB34 168 170 A 2 0 x Rated device current for 3 s CDF3000 8 A 2 0 x Rated device current for 30 s Table 2 23 Switch off limits 2 acc to device size With active I xt integrator the warning message can be submitted to a i Info Detailed information on permissible current load for the positioning controllers can be taken from the operating instructions Application Manual CDE CDB CDF3000 L U ST 2 Equipment hardware Application Manual CDE CDB CDF3000 2 20 LUST 3 1 3 2 3 21 3 3 3 4 Application Manual CDE CDB CDF3000 3 Operation structure Operation levels in the parameter structure 3 2 Operation with DRIVEMANAGER 3 4 Operation masks 3 5 Operation with KP200 XL operation panel 3 9 Commissioning eren enne 3 14 Due to the use of different operation variants and extensive possibilities for parameterization the operation structure is very flexible The well organized data structure thus supports the handling of data and the parameterization of the positioning controllers Parameterization of the positionin
156. e cam is overtravelled and the first index signal after this corresponds with the zero point The initial movement is in direction of the negative left hardware limit switch The limit switch is inactive and the reference cam is active see symbol B in Fig 5 12 Type 13 changes the direction of movement if the reference cam is inactive The zero point corresponds with the first index signal after the ascending flank With type 14 the first index signal is the zero point after descending flank of the reference cam The initial movement is in direction of the positive right hardware limit switch The negative limit switch is inactive and the reference cam is active see symbol C in Fig 5 12 With type 11 the zero point corresponds with the first index signal after descending flank of the reference cam Type 12 changes the direction of movement after descending flank of the reference cam The zero point corresponds with the first index signal after the ascending flank of the reference cam The initial movement is in direction of the negative left hardware limit switch Limit switch and reference cam are active As soon as the negative limit switch becomes active the direction of movement will change see symbol D in Fig 5 12 With type 11 the reference cam must be overtravelled so that the first index signal corresponds with the zero point Type 12 changes the direction of movement if the reference cam has been overtravelled The
157. e mail info drivetronics de ID no 1001 22B 1 00 06 2005 We reserve the right to make technical changes
158. e range WE Unit Parameters The referencing type specifies the event required Referencing type to set the reference point 5 35 1 730_HOMDT HOM Further explanations see below Rapid motion Referencing speed to the first referencing event 0 4294967295 20 Degree 727 HOSPD speed V1 reference cam zero pulse S HOM Creep speed V2 Referencing speed from the first event for slow 0 4294967295 20 Degree 727 HOSPD approaching of the referencing position S HOM Degree Acceleration Acceleration during the entire referencing process 0 4294967295 10 2 pro Zero point offset The reference point is always set with the 2147483648 0 Dora 729 HOOFF p zero point offset 2147483647 9 HOM T Start condition for referencing 731 HOAUT Start condition Further explanations see below OFF TBEN OFF HOM 5 14 Application Manual CDE CDB CDF3000 LUST 5 CDE CDB CDF3000 in positioning operation Table 5 6 Settings for referencing Start of referencing The start conditions can be programmed BUS Setting Effect Referencing is requested via field bus DSP402 Homing mode or EasyDrive control word level triggered 1 referencing On 0 referencing Off Terminal ISxx HOMST flank triggered 0 gt 1 PLC command GO 0 flank triggered Referencing is started with every request 0 OFF Referencing is automatically started once when initially starting the 1 AUTO control No further referencing takes place
159. e target position always refers to a fixed reference zero 0 ABS point A relative travel task always refers to a variable position 1 REL Depending on the start conditions for repeat or follow up order this may either be the last target position or the current position The axis moves with the speed profile programmed in the 2 SPEED ha selected travel set The target position is of no relevance Speed The speed can be specified signed A negative setting is only evaluated in case of an endless positioning The speed is limited by the maximum speed in the travel profile DRIVEMANAGER Value range WE Unit Parameters Speed 2147483648 4000 variable P 2147483647 travel set 0 15 Acceleration The acceleration values for starting and braking can be parameterized irrespective of each other The input 0 means that the acceleration will take place with maximum ramp steepness or maximum torque The acceleration values are limited by the maximum values in the travel profile DRIVEMANAGER Value range WE Unit Parameters 276 x PTACC Start up acceleration 0 4294967295 10000 variable RTAB X travel set 0 15 277 x_PTDEC Braking acceleration 0 4294967295 10000 variable _RTAB x travel set 0 15 5 33 Application Manual CDE CDB CDF3000 LUST Application Manual CDE CDB CDF3000 5 CDE CDB CDF3000 in positioning operation Repetition
160. ec flag 1 Ny END Value of an integer variable compare direct comparison BU COS 0 Ny END JMP Hxxx 0 Ny END Value of an integer variable compare comparison with second JMP Hxxx Hyyy Ny END variable JMP Hxxx Hyyy Ny END exceeded JMP Hxxx gt Hyyy Ny END JMP Hxxx Hyyy Ny END fallen short of JMP Hxxx lt Hyyy Ny END JMP Hxxx lt Hyyy Ny END Value of a floating point compare variable direct comparison JMP Fxxx 0 0 Ny END JMP Fxxx 0 0 Ny END Application Manual CDE CDB CDF3000 7 19 LUST Value of a floating point variable comparison with second variable Status of a counter Status of a timer A compare JMP Fxxx JMP exceeded JMP FXXX JMP fallen short of 7 User programming Fyyy Ny END l Fyyy Ny END gt Fyyy Ny END gt Fyyy Ny END JMP Fxxx lt Fyyy Ny END JMP Fxxx lt Fyyy Ny END JMP Cxx d Ny END Jump if value is reached JMP Cxx d Ny END Jump if value is not reached JMP Zxx 0 Ny END Timer run out JMP Zxx 0 Ny END Timer not yet run out Note A query for equality is only possible with a run out timer i e 2 0 because it cannot be assured that a certain intermediate status t is reached at the time of the query Application Manual CDE CDB CDF3000 7 20 LUST 7 User programming Sub programs CALL RET
161. ed operation of the CDF3000 Application Manual CDE CDB CDF3000 As L U ST 4 CDE CDB CDF3000 in rotary speed operation Application Manual CDE CDB CDF3000 4 14 LUST 5 CDE CDB CDF3000 in positioning operation 5 1 Pre set solutions ss 5 2 5 2 General functions sss 5 4 5 2 1 Positioning modes 5 5 5 2 2 Units and standardization 5 6 5 2 3 Travel profil 5 3 eene 5 9 5 2 4 Referencing 0 13 5 2 5 Limit switch eene 5 25 5 2 6 Manual operation mode 5 26 5 3 Positioning with table travel sets 5 28 5 3 1 Travel set selection 5 28 5 3 2 Sequence of travel set selection with follow up Order incidisse ticis 5 30 5 3 3 Parameterization of the travel set table 5 32 5 3 4 Switching points 5 37 5 3 5 Teach i nere irs 5 39 5 4 Positioning and control via field bus 5 40 5 4 1 5 icai 5 40 5 4 2 PROFIBUS secto iter 5 40 5 5 Positioning with PLC 5 41 5 6 Assignment of control terminal 5 41 5 6 1
162. ed when the specified condition is fulfilled The condition for execution is specified in parenthesis Aline number or the end of the program is always specified as jump target Attention If a JMP SET command is set to non existing inputs outputs no error message will be generated These commands are not linked to any prerequisites axis position status of programmed variables and are thus executed directly and unconditionally JMP Ny Jump to set with number y JMP END Jump to program end Conditional jump instructions sub program invocations are linked with certain conditions which are specified in parenthesis If this condition is fulfilled the jump to the specified set number or the end of the program will be executed If the condition is not fulfilled the program will continue with the next successive set Note The execution of a conditional jump can be linked to one of the following conditions reached JMP ACTVAL Hyyy Fyyy Ny END exceeded JMP ACTVAL Hxxx Fyyy Ny END JMP ACTVAL gt Hxxx Fyyy fallen short of JMP ACTVAL Hxxx Fyyy Ny END JMP ACTVAL lt Hxxx Fyyy compare JMP ACTVAL JMP ACTVAL JMP ACTVAL Hxxx Fyyy Ny END 0 Ny END 0 Ny END Application Manual CDE CDB CDF3000 7 17 L ST 7 User programming Note The command REFVAL is of relevance for the speed control In case of positioning the command REF is proces
163. eference sensor as setpoint specification connected to terminal X2 on CDB3000 CDB3000 with gear motor i 56 3 Atransmission ratio of 56 3 was entered in the standardizing assistant under basic settings Conclusions gt with a reference sensor transmission ratio of 1 1 the reference sensor setpoint refers to the motor shaft of the gear motor gt with a reference sensor transmission ratio of 56 3 the reference sensor setpoint refers to the output shaft of the gear motor Position and speed of the reference encoder can be read with the help of special PLC variables SET Hxxx EGEARPOS Reading the reference encoder position in increments The submitted reference encoder increments are the actual increments of the reference encoder multiplied with the transmission ratio of the reference encoder SET Hxxx EGEARSPEED Reading the reference encoder speed in rpm The output is the reference encoder speed multiplied with the transmission ratio of the reference encoder The position of the reference encoder can also be changed via the PLC SET EGEARPOS Hxxx Setting the reference encoder position in increments Application Manual CDE CDB CDF3000 7 37 LUST Path optimized positioning of a round table A 7 User programming A GOR command relative positioning during synchronous travel results in a superimposed positioning v 300 t v 500 56 1000 tx 1 leading axis 2 following
164. ence on the configuration reference encoder Selecting the encoder The configuration Fig encoder configuration is determined at the start Encoder protection Brake Select encoder combination Le TT TT 21 TTL motor and postion encoder USER User defined G master encoder 54 3 HTL Cot ante TUE Hoo encodat S 1 4 SS eim and encode HITT 5 encoder TTLpostien encoder 6 39 Encoder configuration with CDB3000 Depending on the selection of encoder combinations the following settings can be made DRIVEMANAGER Value range WE Unit Parameter Selection of encoder 430 ECTYP combinations USER HT_TT TITT ENC d BUS Setting Function User defined 0 USER Is set by the drive if e g the reference encoder has been parameterized HTL 1 HT HT HTL motor and position encoder TTL 2 TT TT TTL motor and position encoder SSI 4 SI SI SSI motor and position encoder SSI 3 HT SI HTL motor encoder SSI position encoder TTL 5 HT TT HTL motor encoder TTL position encoder Application Manual CDE CDB CDF3000 6 76 L U 6 T 6 General software functions Encoder settings For each encoder combination a special function mask is displayed HTL and encoder TEL mater and postion encoder bet aput on X tn encoder ET 5001 ENC GT HT ee
165. eoces 003 noo v HTL ncode 2 npa e Emcor mounted on shat soo imo po eto Encoder not mounted on shefe Fig 6 40 Selection of special function masks for encoder configuration For HTL encoders the following parameters must be set DRIVEMANAGER Value range WE Unit Parameter revolution HTL 39 8192 1024 _ 1 a n numerator 32768 32767 1 E n2 denominator 1 65535 1 rcs Transmission ratio n2 n1 is encoder is not mounted on motor shaft Furthermore the digital inputs for encoder connection must be configured The connection of track signals A to 15002 and B to 15003 is mandatory Connection of an index signal to 15001 is optionally possible With TTL or SSI encoders the following parameters must be set DRIVEMANAGER Value range WE Unit Parameter Lines per revolution TTL 432 encoder 32 8192 1024 Number of bits Multiturn 0 16 12 _ 448 SSIMU SSI encoder UU ENC Number of bits Singleturn 0 20 13 447 5515 SSI encoder _ENC 435_ECNO1 n1 numerator 32768 32767 1 436 1 n2 denominator 1 65535 1 Transmission ratio n2 n1 is encoder is not mounted motor shaft Application Manual CDE CDB CDF3000 6 77 LUST Accepted encoders A 6 General software functions Attention Only SSI absol
166. er after referencing has been parameterized as described in chapter 5 2 4 STEXT Conveyor Belt DEF H001 Path DEF H002 Speed END POO 001 SET H001 1000 Path in mm N002 SET H002 35 Speed in mm s N010 GO O Perform referencing NO20 JMP 1503 0 N020 continue if input high N030 GO R H001 V H002 Travel to position direction with 35 mm s NO40 WAIT 5000 Wait 5 s N050 JMP N020 Restart cycle END Application Manual CDE CDB CDF3000 7 46 L 7 User programming 7 5 2 Absolute The fourth position is to be approached with a speed of v 80 mm s positioning absolute followed by a wait period of always 1 s The travel back to initial position is to take place with three times the speed 240mm s Fig 7 6 Approach position Setting units and standardization in the standardization assistant Position mm Speed mm s Acceleration mm s2 Feed constant 100 mm corresponds with 1 revolution of the output shaft Gear Motor shaft revolutions 917 Output shaft revolutions 100 Adapting the travel profile Max speed 250 mm s Max starting acceleration 50 mm s2 Max braking acceleration 50 mm s2 The example program can be transferred to the controller after referencing has been parameterized as described in chapter 5 2 4 Application Manual CDE CDB CDF3000 7 47 LUST STEX DEF DEF DEF DEF DEF DEF END POO 001 002 003 004 005 006 020 030 040 050 060
167. er and housing is not sufficient Self ventilated asynchronous motors thus need a reduction of the maximum permissible permanent current in dependence on the rotation frequency The rotation is calculated on basis of the actual motor speed Correctly adjusted this function replaces a motor protection switch The characteristic can be adapted to the operating conditions by means of interpolation points 2 Mokx Encoder _ Moterproteetien Brake n Temperature monitoring Mam tempera ge io t fon KTY84 191 monitoring Permitted continuous current Rated molor carent ON 100 Rated motor bequency IN E E 1 cunert inherpol point 05 100 2 amori ripo 100 2 hequercy port bj 50 _ Point of switch off 10 XN 12 Fig 6 44 xt monitoring DRIVEMANAGER Meaning Value range WE Unit Parameter Permissible permanent current Rated motor current I for MOPCN Rated motor current motor protection related to rated 0 1000 100 motor current Rated motor frequency fy 336_MOPFN Rat tor fi esu H ated motor frequency for motor protection 0 000 50 7 MOT Application Manual CDE CDB CDF3000 6 85 LUST 6 General software functions DRIVEMANAGER Meaning Value range WE Unit Parameter 1 Current interpolation point l 1 Current interpolation of the motor protection 332_MOPCA 0 1000 100
168. eration is prohibited unless it has been ascertained that the machine fully complies with the regulations of the EC directive 98 37 EC Machine Directive compliance with EN 60204 is mandatory Commissioning i starting intended operation is only permitted when strictly complying with EMC directive 89 336 EEC The series CDE CDB3000 complies with the low voltage directive 73 23 EEC For the drive controller the harmonized standards of series EN 50178 DIN VDE 0160 in connection with EN 60439 1 VDE 0660 part 500 and EN 60146 VDE 0558 are applied The series CDF3000 complies with the EMC directive 89 336 EEC The harmonized standards EN 50178 DIN VDE 0160 and EN 61800 3 are applied for the drive controllers If the drive controller is used in special applications e g in areas subject to explosion hazards the applicable regulations and standards e g in Ex environments EN 50014 General provisions and EN 50018 Flameproof housing must be strictly observed Repairs must only be carried out by authorized repair workshops Unauthorised opening and incorrect intervention could lead to physical injury or material damage The warranty granted by LUST will become void Note The use of drive controllers in mobile equipment is assumed an exceptional environmental condition and is only permitted after a special agreement Application Manual CDE CDB CDF3000 1 3 LUST 1 3 Responsibility 1 Safe
169. error 0 General error in floating point calculation 12 E PWR Unknown power circuitry 4 Power section not correctly detected 6 Power section not correctly detected 13 E EXT external error message input 1 Error message from an external device is present 15 E OPT Error on module in options module location 26 BUSOFF 27 Unable to send Transmit Protocol 28 Guarding error 29 Node Error 30 Initialization error Application Manual CDE CDB CDF3000 A 6 L U S T Appendix A e o Description No location 16 E CAN CAN bus error 0 CAN bus error 31 BUSOFF detected 32 Unable to send Transmit Telegram 33 Guarding error 34 Node Error 35 Initialization error 36 PDO object outside value range 37 Error in initialization of communication parameters 38 Target position memory overflow 39 Heartbeat Error 40 invalid CAN address 41 Insufficient memory to save communication objects 42 Guarding error in monitoring of a Sync PDO object 17 E PLC Error in processing of PLC sequential program 0 Error in sequencing control PLC 210 Error triggered through PLC SET ERR 1 Mxxx with Mxxx 1 Error in sub program invocation return with CALL RET Stack underflow unexpected RET without previous CALL 211 invocation Stack overflow max nesting depth 250 CALL invocations reached Error when writing parameters buffer full Writing from the i
170. ess is added to 0 127 1 _CAN the hardware address set with the coding switch Baud rate Permissible data transmission 581_COBDR frequencies see Table 6 40 B_1M B10 B500 _CAN Mode of Determination for DSP402 or 638_H6060 operation EAsYDRIVE modes with the CAN definition of control and status 4 6 4 channel see Table 6 40 The U operating mode is preset when selecting a preset solution Baud rate 581 COBDR Operating mode 638 H6060 BUS Setting Baud rate Setting Mode of operation 0 B1M 1 MBaud 4 1 800 800 3 EASYDRIVE ProgPos PLC control 2 B500 800 kBaud 2 EASYDRIVE Basic 3 B250 250 kBaud 1 EASYDRIVE TablePos travel set table 4 B125 800 kBaud 0 5 B50 50 kBaud 1 DSP402 Profile position mode 6 B20 20 kBaud 2 7 B10 10 kBaud 3 DSP402 Profile velocity mode 4 gt 5 6 DSP402 Homing Mode Table 6 40 Setting the CANopen baud rate and operating mode TxPDO Event control Evert contol sending dete neon meon Gs e 1 Cancel Application Manual CDE CDB CDF3000 6 101 LUST 6 General software functions Send TXPOO1 at changing of The 4 transmission PDOs are sent in asynchronous mode factory setting see CANopen user manual in dependence on one or several events The events for each individual PDO can be selected from individual function masks see example in Fig
171. et always interrupts this sequence 5 30 Application Manual CDE CDB CDF3000 LUST 5 CDE CDB CDF3000 in positioning operation This sequence is shown in Fig 5 15 Select travel set Execure travel set Mo reci n In rei dep ia SWOT zi rene OR m Te Elect of stating or ewe Dey m order 2 Deve set 2 rns ctor SWOT ma Ima of stating OFF 0 and _ 500 Fig 5 15 Sequence of travel set selection with follow up order logic 5 31 E Application Manual CDE CDB CDF3000 LUST 5 3 3 Parameterization of the travel set table 5 CDE CDB CDF3000 in positioning operation ALL 1200 1000 Target position The target position can be parameterized in a user defined path unit DRIVEMANAGER Value range WE Unit Parameters Target position 2147483648 0 variable AE BER 2147483647 travel set 0 15 Mode The mode defines the relation to the target position In this context please observe the notes in chapter 5 2 1 Positioning modes DRIVEMANAGER Value range WE Unit Parameters 274 x PTMOD Mode ABS SPEED REL C RTAB X travel set 0 15 5 32 Application Manual CDE CDB CDF3000 LUST 5 CDE CDB CDF3000 in positioning operation Mode settings BUS Setting Effect Th
172. et been reached e g when triggered during a progressing positioning process A new target position is thus calculated on the following basis Target position new Target position old relative distance Exceptions Terminating an endless travel task with a relative travel task Releasing a follow up task in the table of travel sets with the effect NEXT Immediately Rel Bez ActPos Here the relative distance refers to the actual position at the time of release A new target position is thus calculated on the following basis Target position new Actual position relative distance Relative positioning processes do not require a reference point or no reference travel ENDLESS For endless travel tasks the drive is moved with the specified speed speed mode A target position contained in this travel set is of no meaning Table travel sets releasing a follow up task with the start condition WSTP Without stop from target position are also endless travel tasks However these are cancelled at the specified travel position and transferred to the follow up order An endless travel task can only be terminated with a new travel task Absolute travel tasks approach the new target position directly Relative travel tasks refer to the actual position at the time of release Endless positioning processes do not require a reference point or no reference travel Endless positioning can be used to realize a speed
173. evel at the input activates the valence 5 28 L U ST 5 CDE CDB CDF3000 in positioning operation Example Selectable IEO7 1 06 IE05 IEO4 IEO3 IEO2 IEO1 IEOO 1503 1502 1501 1500 travel sets TAB3 TAB2 TAB1 TABO 0 15 23 22 2 2 TAB2 TAB1 TABO 0 7 2 2 20 TAB1 TABO TAB3 0 3 al 20 3 8 11 Table 5 11 Example for the travel set selection via terminal A separate release signal see Table 5 12 via an input or the field bus trigger is required to activate a travel set via terminal The selection of a new table index and thus a new travel task will interrupt the ongoing positioning process or the follow up order logic Control location Signal Comment Release of selected travel set The selection of a new table index and thus a new travel task will always interrupt the ongoing positioning process or the follow up order logic Next start Effect like TBEN if a follow up order is started but no follow up order is available or waiting FOSW will then start the next selected travel set Input TBEN l O terminal Input FOSW Release of selected travel set Bit The selection of a new table index and thus a new Perform travel task travel task will always interrupt the ongoing positioning process or the follow up order logic Field bus Next start Bit Effect like bit Perform follow up task if a fo
174. fined with 2147483647 CAM positioning Setting switching points setting PLC markers Double clicking on the 00000000H FFFFO 745 x_CAC Action column opens the action window The FFFFFFFFH OOOH TN parameter is bit coded acc to Table _CAM 6 43 Application Manual CDE CDB CDF3000 6 107 LUST 6 General software functions DRIVEMANAGER Meaning Value range WE Parameter Cam controller cycle After the end of the defined cycle revolution of the cam controller the cycle is restarted Permitted only with reference position CCENC ENCD EGEAR With CCENC the cycle depends on the actual position of the positioning controller e g with endless positioning Cycle length of revolution Unit Increments 65536 motor revolution with speed control user defined with positioning 0 2147483647 741_CCCY CIN Number of cams Only the defined number of cams is evaluated If the defined number of cams is zero the cam controller will not be processed 742_CCNU M CIN Hysteresis for avoidance of jitter effects It makes sense to select a bigger cam length than the hysteresis Unit Increments 65536 motor revolution with speed control user defined with positioning 0 2147483647 747_CCHY 5 CIN Reference position Here the position source to feed the cam controller is set The following settings are possi
175. following DIN 44082 or X3 monitoring KTY 84 130 linear temperature sensor or Klixon thermal circuit breaker X4 RS232 port for PC with DRIVEMANAGER or control unit KP200 XL X5 CAN interface CANopen interface DSP402 X6 Resolver connection Resolver X7 HE value transducer optionally Sin Cos intertace transducer Optional board slot aon optional module X9 Brake driver 2A max X10 DAN 24 V ground X11 Interface Input bus connection PROFIBUS DP X13 Address coding plug Only with optional module DPV1 51 52 Address encoder switch Only with optional module DPV1 Table 2 1 Legend to View of device CDE3000 Power terminal xi Designation x1 Designation Motor cable U Motor cable U Motor cable V Motor cable V Motor cable W Motor cable W PE conductor PE conductor PE conductor PE conductor D C ling voltage D C ling voltage Braking resistor Braking resistor D C ling voltage D C ling voltage PE conductor PE conductor NC Mains phase L3 Neutral conductor Mains phase L2 Mains phase Mains phase L1 Table 2 2 Power terminal designation CDE32 xxx and CDE34 xxx Application Manual CDE CDB CDF3000 2 3 LUST 2 Equipment hardware Control terminal X2 Designation Function 1 DGND digital ground 2 24V Auxiliary voltage Uy 24 V DC 3 ISAO Analog input 10 bit 10 V 4 ISAO Analog input 5 ISA1
176. for round axes 773 PORTA Travel range Definition of a circulation length is required OFF ON OFF PBAS For the round table configuration further adjustment possibilities must be implemented Direction optimization Endless travel path round table configuration With an endless travel range frequently referred to as round table further detailed settings are possible All travel paths are in this case calculated on a range 0 lt travel path lt circulation length again DRIVEMANAGER Meaning Value range WE Parameters OFF 0 Switched off ON 1 Switched on OFF ON OFF p Further explanations see below a OFF 0 No reversing lock POS 1 Positive sense of rotation locked 308 DLOCK Reversing lock NEG 2 Negative sense of rotation OPF NEG OFF CTRL locked Further explanations see below The circulation length specifies the Circulation position range Thereafter in case of 0 360 774_PONAR length overrun the system starts at 0 4294967295 _PBAS Application Manual CDE CDB CDF3000 5 11 With direction optimization activated an absolute target is always approached over the shortest possible distance Relative movements do not take place in a path optimized way LUST Reversing lock Behaviour of absolute travel tasks Application Manual CDE CDB CDF3000 5 CDE CDB CDF3000 in positioning operation Examples for a circula
177. ftware functions Example Encoder with 2048 pulses revolution n1 n2 10 gt 204 8 pulses revolution related to the motor shaft gt 7 bit gt For compensation of inaccuracies in the mechanics looseness play or for exact determination of the absolute position of the moving mechanics for positioning without referencing a second encoder E2 can be directly mounted to the mechanics DRIVE position pl 2222727272 Fig 6 38 Project planning with two encoders Encoder 1 on motor for speed regulation and commutation Encoder 2 on mechanics or gearbox output shaft for position control The transmission ratio n1 n2 must be parameterized Encoder for CDB3000 The following encoders are evaluated by the CDB3000 Encoder type Connection to CDB3000 TTL incremental encoder TTL X7 SSI absolute value 7 encoder SSI HTL incremental encoder HTL X2 control terminal 15001 15003 Permitted encoders with the associated connection specification are specified in the CDE CDB3000 operating instructions Table 6 31 Accepted encoders on CDB3000 Application Manual CDE CDB CDF3000 6 75 LUST 6 General software functions Attention The configuration of the encoders uses the same parameters as the configuration of the reference encoder input see chapter 6 2 4 because the hardware interfaces are identical Changing the encoder parameterization thus has a direct influ
178. g controllers may take place via the easy to use hand held KP200 XL operation panel or the comfortable PC user interface DRIVEMANAGER 3 1 LUST 3 Operation structure 3 1 Operation levels With adjustable parameters the positioning controllers can be adapted to in the any application For the internal values of the positioning controllers there parameter are further parameters available which are password protected for structure reasons of operating safety The operation levels are adjusted by means of parameters The number of editable and displayable parameters changes in dependence on the operation level The higher the operation level the higher the number of parameters with access rights In contrast the clarity of the parameters actually needed by the user to reach his application as quickly as possible is reduced This means that operation is remarkably easier when choosing the lowest possible operation level Note The operation levels protect against unauthorized access Thus the operation level 01 MODE 2 is activated about 10 minutes after last activation of the button when using the KP200 XL operation panel Changing the operation level If a higher operation level is selected via parameter 01 MODE the associated password is automatically requested This password can be changed by means of a password editor setting 000 password disabled Password Operation passwor
179. g or applying the motor holding brake can be accounted for by using separate timing elements The switching points of the brake control are triggered in a setpoint dependent way The build up of torque is enabled by operating the motor at slip speed with the motor holding brake closed 3 x Spend Clockwse s mn Ani clocks z v Veen Oper stion point Mystetesn LJ Mein Ooty tenes Open bread Reference selection 100 mi Hysteresis 100 mi LR oe e Fig 6 49 Tab motor holding brake BRK2 for speed control OpenLoop Application Manual CDE CDB CDF3000 6 96 LUST 6 General software functions Parameters for motor holding brake BRK2 Erl uterungen DRIVEMANAGEr Function Value range WE Unit Parameter Clockwise rotation Speed limit of motor holding brake clock wise enables torque 0 32764 90 min cod building with ultimate speed Anti clockwise rota Speed limit of motor tion holding brake clock wise enables torque 32764 0 90 min rcd building with ultimate zi speed Hysteresis NO FUNCTION 1 919 SSHYS 1 32764 10 min FEPROM Release brake Delay of the setpoint 316 TREF setpoint specification with motor 0 65535 100 ms _FEPROM specification brake brake application time Apply brake Delay of deactivating the 317 TCTRL control off control with motor brake 0 65535 100 ms _FEPROM releasing the brake
180. g phase for the built up of flow in the motor is executed over the time MPT The output BRK2 subsequently becomes active and the timing element 316 TREF is activated The time 316 TREF must be parameterized to the brake application time Upon expiration of the time 316 TREF the brake should be released and acceleration to the specified setpoint should take place After the time 316 TREF has expired the functionality of the motor holding brake BRK2 the message Setpoint reached and the standstill detection is determined by the actual value of the rotor Sollwert 0 min If with setpoint 0 min the actual value is in the window Setpoint reached of the parameter 230 REF_R in parameterization standstill of the motor is detected At the same time the timing element 317 6 94 LUST Application Manual CDE CDB CDF3000 6 General software functions TREF is started with setpoint specification 0 min The time 317 TCTRL must be parameterized to the brake application time After expiration of the time 317 TCTRL the brake must be reliable closed and hold the load The output stage is subsequently locked In case of fault all outputs are set to LOW and the motor holding brake will close 6 95 L U SGT 6 General software functions Motor holding brake BKRK2 for OpenLoop speed control By selecting the braking function BRK2 via a digital output the corresponding function is activated The time for releasin
181. g the terminal assignment Note After selection of the preset solution the units and standardization of the drive must first be adjusted as described in chapter 5 2 2 These are the basic requirements for the settings following thereafter 53 LEN Application Manual CDE CDB CDF3000 L U ST 5 CDE CDB CDF3000 in positioning operation 5 2 General Activating the function button Basic Settings in DRIVEMANAGER opens functions the following window Lem Sw p OFF Only dans OR ab ave standi Fig 5 1 Preset solution Positioning Travel set tables control via terminal This chapter describes the types of positioning and the functions control buttons and tabs Units and standardization Travel profile Referencing Limit switch Manual operation Application Manual CDE CDB CDF3000 5 4 LUST 5 CDE CDB CDF3000 in positioning operation 5 2 1 Positioning Positioning is sub divided into three different modes modes Positioning mode Meaning ABSOLUTE The positioning application requires an absolute reference position zero This position is either generated by referencing or by means of a position measuring system measuring absolute values An absolute distance is travelled with respect to this reference position RELATIVE Relative travel tasks refer to the last target position even if this position has not y
182. gital input of the user see Table 6 5 0 OFF 214 FlE00 CDE CDB module IEDOO IN Function selector for digital input of the user 215 FIEO1 EDOT nodule IEDO1 0 OFF CIN CDE CDB Function selector for digital input of the user 2 216 02 IEDO2 module IEDO2 0 OFF CIN CDE CDB Function selector for digital input of the user ET 217 FIE03 IEDO3 module IED03 0 OFF CIN CDE CDB Function selector for digital input of the user it 218 FIE04 IEDO4 module IED04 0 OFF CIN CDE CDB Table 6 3 Application Manual CDE CDB CDF3000 Parameter for setting the digital inputs on terminal extension module UM 8I4O LUST 6 General software functions Parameter for setting the virtual digital inputs valid for DRIVE Parameter Pate Function Value range WE positioning MANAGER S controller Function selector for digital input of the user 219 FIE05 IEDO5 module IEDO5 0 OFF CIN CDE CDB Function selector for digital input of the user 220 FIE06 IEDOG module IEDOG 0 OFF CIN CDE CDB Function selector for digital input of the user 221 FIE07 IEDO7 module IEDO7 0 OFF CIN CDE CDB Table 6 3 Parameter for setting the digital inputs on terminal extension module UM 8I4O Virtual inputs have the fixed value 1 High Level These can be used instead of a permanently switched on switch 3 Options Application Manual CDE CDB CDF3000
183. gital standard 05001 241 0501 input 08001 ROT 0 Function selector digital standard 05002 242 F0S02 input OSD02 S RDY Table 4 5 Presetting of the control inputs and outputs with speed control 4 12 Application Manual CDE CDB CDF3000 L U ST 4 CDE CDB CDF3000 in rotary speed operation 4 8 3 Terminal Depending on the selected presetting the parameterization of inputs and assignment outputs differs from the factory setting see Table 4 6 After selecting the CDF3000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution 1 0 Parameters Function Ter 1 SCT 1 sor 2 SCC 2 S6C 3 Sep sor 4 SCC 4 WE SCB_2 SCB_3 SCB_4 isao 180 Fisao nation selector analog PM10V OFF OFF OFF PLC PLC standard input ISAO Function selector analog ISA1 181 FISA1 standard input ISA1 OFF PLC PLC PLC 5000 210 00 10190 selector digital START OFF OFF PLC PLC standard input 156000 Function selector digital 15001 211 FISO1 standard input 18001 OFF INV PLC PLC PLC Function selector digital 15002 212 FIS02 standard input 18002 OFF TABO PLC PLC PLC Function selector digital 05090 ERO UU standard input 05000 Function selector digital 05001 241 FOS01 standard input OSDO1 ROT 0 Function selector digital standard input 05002 Table 4 6 Presetting the control inputs and outputs in speed controll
184. he reference position or the 0 ABS absolute position of the system 1 RELS Relative to the travel set start position Switching point responds after a relative path related to the start position Relative to the travel set end position The switching point 2 RELE responds after a relative path before reaching the end position Marker DRIVEMANAGER Value range WE Unit Parameters 768 x CM1CF Marker 1 OFF INV OFF __RTAB switching point 0 3 769 x CM2CF Marker 2 OFF INV OFF __RTAB switching point 0 3 770 x CM3CF Marker 3 OFF INV OFF __RTAB X switching point 0 3 Marker function BUS Setting Meaning 0 OFF inactive 1 SET Marker is set to 1 2 CLEAR Marker is set to 0 3 INV Marker is inverted Application Manual CDE CDB CDF3000 5 38 L U ST 5 CDE CDB CDF3000 in positioning operation 5 3 5 Teach DRIVEMANAGER The actual position is transferred to the corresponding table by means of the DRIVEMANAGER 1 Opening of the manual mode window and selection of the tab Travel set table 2 Moving the drive to the position to be learned 3 Enter the travel set number in the manual mode window and click on button Accept Positioning table process sets control via termina 2 TU mm REL 1 Manual mode positioning Manus mode Postion Homngmode set table Stat Start follow up order Stop Teach in Take over of Curent posit
185. ill again be accelerated along the acceleration ramp RACC The conditions mentioned before do thereby apply Stationary operation with active current limit control Deceleration with active current limit control The controller is still active after the acceleration process If the motor load and thus the current increases during stationary operation the speed will be reduced when the motor current exceeds the current limit The motor speed is reduced along the deceleration ramp CLRR down to the maximum lowering speed CLSLR The current control has no effect on the deceleration ramp l e the speed ramp does not change if the motor current exceeds the current limit Application Manual CDE CDB CDF3000 Table 8 12 Behaviour of the current limit controller at CLSL CCWFR 8 15 LUST 8 3 4 DC holding current Function 8 Speed Control OpenLoop for CDE CDB3000 Effect controller After the deceleration ramp RDEC an adjustable direct current is injected into the motor This counteracts a rotation of the motor shaft without load No stall torque is applied against a loaded motor shaft xi 50 x ce Holding cunert Holding tme OFF 0 Fig 8 9 Function mask DC holding current controller DRIVEMANAGER Meaning Value range WE Unit Parameter DC holding current related to pee the rated current of the drive 0 180 50 608 HODCN current VF
186. in speed regulation The message Setpoint reached depends on the type of control Torque control Setpoint torque reached Speed regulation Setpoint speed reached Positioning Absolute relative positioning Setpoint position reached If an ongoing positioning process is interrupted e g with HALT the message Setpoint reached will in this phase not be submitted The message will only appear after the actual target position has been reached Endless positioning speed mode Setpoint speed reached Explanations Clockwise rotation ROT or Anti clockwise rotation ROT L is detected in dependence on parameter 230 REF R FOxxx ENMO ENMO Switching process in the motor lead must generally take place in de energized state as otherwise problems such as burnt off contactor contacts overvoltage or overcurrent breaks of the positioning controller will occur In order to assure de energized switching the contacts of the motor contactor must be closed before the inverter power stage is released In Application Manual CDE CDB CDF3000 6 21 L U SGT 6 General software functions the opposite case the contacts must remain closed until the inverter power stage has been switched off This can be achieved by implementing the corresponding safety periods for switching of the motor contactor into the control sequence of the machine or by using the special ENMO software function of the positioning controller
187. ing Setting special integer variable with value of parameter direct SET Hxxx PARA n with value of field parameter direct SET Hxxx PARA n i with actual values direct SET Hxxx ACTPOS Assign actual position value SET Hxxx ACTFRQ Assign actual frequency value only for U f SET Hxxx ACTSPEED Assign actual speed value SET Hxxx ACTTORQUE Assign actual torque SET Hxxx ACTCURRENT Assign actual current value with setpoints direct SET Hxxx REFPOS Assign position setpoint with input and output functions SET Hxxx OSAO0 Read value of analog output 0 10 000 OV 10V SET Hxxx ISAO Assign value of analog input 0 0 1 000 OV 10V SET Hxxx ISA1 Assign value of analog input 1 0 1 000 OV 10V SET Hxxx Input Assign input image SET Hxxx Output Assign output image SET OSAO Hxxx Assign CDB3000 analog output 0 10 000 Mes 10V SET Oppi 0 Set digital output to Low SET Oppi 1 Set digital output to High SET Oppi Mxxx Assign flag value to digital output The function selector of the outputs must be set to PLC SET REFVAL Hxxx Assign setpoint only for torque speed control SET INPOSWINDOW HxxxAssign window setpoint reached only with positioning Application Manual CDE CDB CDF3000 7 29 LUST Setting floating point variable direct SET Fxxx f with 2 variable direct SET Fxxx Fyyy indexed SET F Cxx Fyyy with 2 indexed varia
188. ion ERR Application Manual CDE CDB CDF3000 6 51 L U SGT 6 General software functions Principle of setpoint specification speed torque control Further settings ECNOx ECDEx Sun IU Nominator RDIG L synchronous Denominator speed SIO RS232 RACC RDEC FISxx or s tandardization 0 10 7 1 Standardization 10V pg J Application Manual CDE CDB CDF3000 6 52 L U 6 T 6 General software functions Stop ramps lOption Code for Ishutdown SDOPC Halt IQuick Stop QSOPC Fault Reaction FROPC 7 Shutdown Quick Stop STOPR Quick Stop Fault Reaction ERR lt Fault Reaction Speed profile ACCR DECR Speed profile OpenLoop RACC RDEC Application Manual CDE CDB CDF3000 6 53 L U SGT 6 General software functions Further parameters of setpoint structure Function Value range WE Unit Parameters Analog setpoint input ISA00 32764 32764 0 282 RA0 Analog setpoint input ISA01 32764 32764 0 283 RA1 Setpoint for serial interface 32764 32764 0 284 RSIO Setpoint communication slot 32764
189. ion in selected dive vet t Apply Fig 5 16 Teach In via DRIVEMANAGER Terminals If an input is parameterized for Teach in Flxx TBTEA the current position is transferred to the travel set in the table as target position with ascending flank Application Manual CDE CDB CDF3000 5 39 LUST 5 4 Positioning and control via field bus 5 4 1 CANopen 5 4 2 PROFIBUS Application Manual CDE CDB CDF3000 5 CDE CDB CDF3000 in positioning operation With the preset solutions PCC_1 and PCB_1 the field bus is the reference source The specific settings of the l O terminals is described in chapter 5 6 Positioning via field bus either takes place via the device internal CANopen field bus interface or via the PROFIBUS communication module All general positioning functions as described under 5 2 can be used The drive controller is integrated into the automation network via the device internal electrically isolated CANopen interface X5 Communication takes place in accordance with profile DS301 Furthermore a standardized communication with the device profile for drives with changeable speed DSP402 is assured The following profiles are supported Homing Mode referencing with 41 different types Profile Position Mode for direct travel set specification with device internal jerk limited profile generation Profile Velocity Mode for speed regulation of the drive This is a special positioning mode solely
190. ion ramp only p B acer techo 7 38 Braking with quick stop ramp only positioning 7 38 Emergency stop speed 0 and shut down of control POSIHONINO rr 7 38 Wait commands WAIT 2 7 39 uo 7 39 AXIS Status rie eae ed esitare 7 39 Parameter write BOCOSS ee teet rrc rint te hk diia 7 39 Example progranm 7 39 PLC control and parameters 7 41 PLC variables PLC control parameters PLC program examples 7 45 Conveyor belt 7 46 Absolute positioning 7 47 Relative positioning 7 49 Sequential program 7 50 7 2 L U 6 T 7 User programming 71 PLC The PLC firmware contains a routine for the sequential processing of a functionality user programmable sequential program Number of programs in the device memory 1 Number of command lines per program 254 Processing time per command line 1 50 ms The sequential program enables Starting of the motor control Setpoint specification for motor control torques speeds position Setting reading analog and digital outputs inputs Reading writing parameters Mathematical operations 2 modulo abs round
191. isplayed in 16 bit 251 Standardization the standardized position can no longer be displayed in 32 bit 38 E HW Hardware limit switched has been approached 51 Left hardware limit switched has been contacted 52 Right hardware limit switched has been contacted Application Manual CDE CDB CDF3000 L T Appendix A Error Fault T Error Description No location 39 E HWE Hardware limit switched mixed up 1 Hardware limit switched mixed up negative setpoint for positive limit switch or positive setpoint for negative limit switch 41 E PER 4 Internal error in CPU periphery Application Manual CDE CDB CDF3000 A 10 LUST Appendix B Index A ACTION FegISter 6 106 Active characteristic curve data set display 8 5 Actual value eee tenete eroe enn 4 5 Adaptation of the application Calta SOb Eee re Eee eR 3 14 Adjustment in minimized view 3 5 AmplifiCatlont 6 66 analog input options 6 27 Angular synchronism 7 36 Automation network Integration 4 9 8 22 Pn me 6 55 AXIS o 7 40 B Bar graph KP200 XL 6 114 Basic function with reset 6 60 Breakpoints 7 11 Bus systems
192. ital value x Number of input Fig 6 11 Function block for adaptation of the digital inputs Application Manual CDE CDB CDF3000 6 24 LUST Application Manual CDE CDB CDF3000 6 General software functions Configuration possibilities ISAOx FxPXy FxPXy fmax fmax il 0 10V 1 0 20mA IADBx FxPNy fmin P FxNNy ov 10V 10 V fmax fmax FxNXy gt Fig 6 12 Standardizing with Fig 6 13 Dead band function with unipolar operation bipolar operation OFF 0 function Bocklash x rn 3 5 ms OFF 10 mo function Fig 6 14 Analog inputs LEN 6 25 L U ST 6 General software functions Both analog inputs ISAO and ISA1 can also be configured as digital inputs For this purpose the settings OFF 0 to PLCGO 36 of the function selectors FISAO and FISA1 are available as with the digital inputs see also Table 6 5 In addition there are the settings 0 10V 38 to OVR 43 for use as analog inputs Table 6 11 shows these additional adjustment possibilities of the function selectors Function selectors FISAO and FISA1 DRIVEMANAGER Meaning Value range WE Unit Parameters Determination of the PM10V 180 FISAO Function internal processing of OFF 4 20 181 FISA1 OFF analog input signals CIN Dead band around 192 IADBO Dead band zero
193. itions of Manual change of operation status PLCST en the sequencing Automatic PLC start when starting the device parameter YES PLCC control AUTO 2 Operation status is set to GO and serves as status indicator CTRL 3 PLC start together with activation of controller PLC start together with deactivation of controller PLC is started via field bus in EasyDrive ProgPos control BUS 4 word with the bit Start PLC When resetting the bit the PLC sequence is directly terminated by jumping to line 0 is The program is interrupted at the line specified under PLCBN the parameter a line 450 PLCST changes to status BRKPT The program is restarted with 450 yes irs PLCST GO 1 Start with program z TO ue line 0 first Processing of the program starts with the line specified in PLCSN This is 456 PLCSN very sensible if a program contains different independent routines _PLCC Application Manual CDE CDB CDF3000 Table 7 3 PLC control parameters 7 44 LUST 7 5 PLC program examples 7 User programming The examples in this chapter are solely intended as programming exercises Neither the problem definitions nor the suggested solutions have been checked under the aspects of safety The examples shall demonstrate the possible solutions with the integrated sequencing control and what a typical program section could look like A preset solution which access the PLC must be set up e g PCT_3 18 po
194. ive No referencing is performed The zero point offset is added to the current position During initial switching on of the power stage the status referencing completed is set This type is most suitable for absolute encoders as long as no zeroizing is required For zeroizing you should select type 5 The actual position corresponds with the zero point it is set to 0 i e the closed loop control runs a actual position reset The zero point offset is added Not defined The initial movement takes place according to Fig 5 7 in direction of the negative left hardware limit switch this switch is inactive and the direction of movement is reversed with active flank The first index signal after the descending flank corresponds with the zero point vi v2 1 Index signal eL negative limit switch Fig 5 7 Type 1 negative limit switch and index signal 5 17 Application Manual CDE CDB CDF3000 LUST Type 2 negative limit switch and index signal Type 3 4 positive limit switch and index signal 5 CDE CDB CDF3000 in positioning operation The initial movement takes place according to Fig 5 8 in direction of the positive right hardware limit switch this switch is inactive and the direction of movement is reversed with active flank The first index signal after the descending flank corresponds with the zero point Index signal _ 1 positive limit switch
195. l OpenLoop for CDE CDB3000 With the preset solutions VSCC1 and VSCB1 the field bus is preset as setpoint source The reference value specification for the speed control is either accomplished via the device internal CANopen field bus interface VSCC1 or via the Profibus communication module VSCB1 Speed protie see chapter 8 2 2 Limitation see chapter 8 2 3 Stopaeps see chapter 6 2 3 Fig 8 16 Basic setting Speed control OpenLoop setpoint and control via 5 All inputs and outputs are set to 0 OFF They can be set as described in chapter 6 1 Inputs and outputs The drive controllers are integrated into the automation network via the device internal electrically isolated CANopen interface X5 Communication takes place in accordance with profile DS301 Control and target position specification is in accordance with the proprietary EasyDrive profile Basic Detailed information on configuration of the drive controller in the network can be found in the separate documentation CANopen data transfer protocol The speed specification and control via Profibus requires the external communication module CM DPV1 Control and speed specification is in accordance with the EasyDrive profile Basic Detailed information on configuration of the drive controller in a network can be found in the separate documentation Profibus data transfer protocol 8 22 LUST Appendix A AA Overview of all error
196. lication Manual CDE CDB CDF3000 LUST 4 6 2 PROFIBUS 47 Speed control with reference value via PLC J gt 4 8 Assignment of control terminal 4 CDE CDB CDF3000 in rotary speed operation The speed specification and control via PROFIBUS requires the external communication module CM DPV1 Control and speed specification is in accordance with the EasyDrive profile Basic Detailed information on configuration of the drive controller in a network can be found in the separate documentation PROFIBUS data transfer protocol For the preset solutions SCP_3 SCT_4 SCC_4 and SCB_4 the PLC is preset as source of reference values The specific settings for control locations 1 O terminals SCT_4 CANopen SCC 4 and PROFIBUS SCB_4 are described in chapter 4 8 PLC ssee chapter 7 Speed prole J see chapter 4 2 1 Lim sont see chapter 6 2 2 Stopramps see chapter 6 2 3 Fig 4 8 Basic setting Speed contro with PLC With these presettings the speed reference value is specified by means of the command SET REFVAL x If the control location has also been set to PLC SCP_3 the command SET ENCTRL 0 1 can be used to switch the control off or on Note Detailed information on handling the PLC as well as programming and operation with the PLC editor see chapter 7 User programming The control terminal for the speed control is configured in dependence on the chosen preset solution Application Manual CD
197. llow Repetition perform up order is started but no follow up order is follow up order available or waiting FOSW will then start the next selected travel set Table 5 12 Release signal for new travel set Application Manual CDE CDB CDF3000 9 29 LUST 5 3 2 Sequence of travel set selection with follow up order logic 5 CDE CDB CDF3000 in positioning operation The following parameters are used to select or display the active travel set DRIVEMANAGER Meaning Value range Unit Parameters Travel set selection 2 This parameter describes 0 15 0 216 MDX C RTAB the selection via inputs Display parameter 776 ATIDX Shows the currently 0 15 0 RTAB processed travel set With the HALT Logic Enable feed terminal or bus a progressing positioning can be interrupted either with the programmed or the quick stop ramp see chapter 6 2 3 and subsequently continued again The sequence of travel set editing is prioritized 1 Execution of the selected travel set 2 Execution of repetition with relative travel sets Repetitions are performed with parameterizable start conditions The start conditions are identical with the ones of the follow up order 3 Jump to the next travel set The follow up order is performed with parameterizable start conditions The start conditions are identical with the ones for the repetitions Activation of a travel s
198. messages A 2 Application Manual CDE CDB CDF3000 A 1 L U Appendix A 1 Overview of all The error messages are divided into error including error number and error messages fault location Detailed explanations on error history and reactions can be found in chapter 6 9 1 Error Fault T Error Description No location 1 E CPU Hardware or software error 0 Unidentifiable error in control print Error in self test 6 Parameter initialization failed due to incorrect parameter description 10 Insufficient RAM area for Scope function 16 Error in program data memory detected during run time 17 Error in program data memory detected when starting device 2 OFF Mains failure D C link direct voltage lt 212 V 425 V is also displayed with normal mains off 1 3 E OC Overcurrent cut off Overcurrent due to 1 Incorrectly set parameters 0 2 Short circuit earth leakage or insulation faults 3 Device internal defect Ixt shut down below 5 Hz quick Ixt to protect the output stage 1 permissible current time area exceeded reported by self status monitoring Output stage protection has tripped 43 The max permitted motor current was exceeded in dependence on the ZK voltage and the heat sink temperature Overcurrent shut down after wiring test a Short circuit earth leakage or insulation faults detected Overcurrent detecte
199. n TTL reference encoder on X7 This input is not voltageless with respect to the control electronics of the controller OFF 0 X7 2 OFF 475 CFREC ENC Table 6 18 Application Manual CDE CDB CDF3000 Selecting the reference encoder for CDE CDF3000 6 42 L U 6 T 6 General software functions Configuration of a TTL reference encoder DRIVEMANAGER Meaning Value range WE Unit Parameters Input configuration on X7 CDB3000 ECTTL 1 CDB3000 CDE CDF3000 ECTTL 4 OFF 0 SSISL 4 CDB3000 The input is evaluated as TTL encoder The ECTTL 1 input index signal of the encoder is not evaluated in CDE CDF3000 438 CFX7 the Reference encoder function OFF 0 SSIMS 7 CDE ENC All other parameter settings are invalid for the CDF3000 reference encoder configuration These are here only ECTTL 4 reserved for motor code setting or Master Slave ECTTL valid coupling 0 Two 90 phase displaced incremental signals serve as input signals Signal type A DIR 1 Track A is the clock input Track B defines 0 A_DIR 1 0 EN a the direction of counting or rotation Low clockwise High anti clockwise Ratio Reference encoder pulses input pulse 32 8192 1024 0 revolution 7 Numerator for ratio between leading and following Ratio axis If leading and following axes are be counter 32768 32767 1 435
200. n control mode manual mode Application Manual CDE CDB CDF3000 6 11 LUST 6 General software functions If the input is activated the control location is set to Terminal 260 CLSEL TERM At the same time the setpoint source is set to the reference specified by parameter 289 SADD1 The selection of the setpoint source must be made in the function mask Reference Ramps Further Settings see Fig 6 4 Source t Hardodeeterence RAD 1 Relerence of analog ISADO source 1 on selection wa mput 1 red hreton SADDI RCON 0 Retecerce conitari 0 Source 2 RAD T Rederence of analog ngad SAD Stondardecterence RAI 2 Reterence of analog input 0 3 Releserice of renal 5232 RCON fU Reference coni RDIG 4 Reference of dol gil at clem opcion Reference source 2 on 5 Reference of CANwhetface jelecbon we e MJ APLC 16 Reference of PLC lunchon e SADDA REON 10 Re RTAR 7 Reteceree of cat Labim RFD 0 Pleterence of fied value RMIN 98 Reference ol minimam value 0eed motor ooti RMAX 10 Fielecenice ol maaan value 11 Reference of option module OFF 0 Inactive xj Fig 6 4 Setting the parameter SADD1 in MAN mode A start signal must be switched to a digital input and parameterized FIxxx START Note While the MAN function is active no Saving of device settings must take
201. n mask DRIVEMANAGER Value range WE Unit Parameters Reaction with Control off 44 0 663_SDOPC Shutdown Option Code U SRAM Reaction with Stop feed 0 4 1 664 HAOPC Stop Option Code U _SRAM Reaction at quick stop 0 8 2 661_QSOPC Quick Stop Option Code n SRAM 592 STOPR 1 Quick stop ramp 0 32760 3000 rpm Application Manual CDE CDB CDF3000 6 37 LUST 6 General software functions DRIVEMANAGER Value range WE Unit Parameters Reaction in case of error message 4 2 662 FROPC Fault Reaction Option SRAM Code 593_ERR_R 1 m Error stop ramp 0 32760 3000 rpm SRAM Reactions in case of Control off 1 A setting of 0 means braking with max dynamics max ramp The condition transition Control off is passed through when switching off the output stage The closed loop control is shut down via various control channels terminals bus PLC Reaction with Stop feed Stop feed is triggered by BUS Setting Reaction 1 1 As reaction in case of quick stop 0 0 Lock output stage drive runs out 1 1 The drive brakes with programmed deceleration ramp the output stage is subsequently locked Table 6 12 Setting of reaction with Control off Application Manual CDE CDB CDF3000 6 38 HALT switch HALT switch off Terminals FIXxx HALT 0 FIXxx HALT 1
202. n mm NOO5 SET H002 80 Speed in mm s NO06 SET H003 240 Speed in mm s N010 GO 0 Referencing 020 GO W A H000 V H002 Approach initial position and wait N030 SET 0 Set counter 0 N040 WAIT 1000 N050 GO W R H001 V H002 Approach next position NO60 SET C00 1 Count position counter NO70 WAIT 1000 NO80 JMP COO 3 NO50 Position 3 not yet reached NO90 GO A H000 V H003 return to initial position N100 JMP N030 END The solution is even simpler and more elegant when doing without the counter and the comparison is made with the position setpoint SP STEXT Relative Positioning 2 DEF H000 Position 0 DEF H001 Distance between positions DEF H002 Speed v1 DEF H003 Speed v2 END SP00 001 SET H000 200 Position 0 in mm N002 SET H001 100 Distance between two positions in mm N003 SET H002 80 Speed in mm s N004 SET H003 240 Speed in mm s N005 SET H004 500 Position setpoint 3 used for comparison NO10 GO 0 Referencing 020 GO W A H000 V H002 Approach initial position and wait NO30 WAIT 1000 NO40 GO W R H001 V H002 Approach next position NO50 WAIT 1000 NO60 JMP REFVAL lt H004 N040 Position 3 not yet reached NO70 GO W A H000 V H003 return to initial position NO80 JMP N030 END Application Manual CDE CDB CDF3000 7 49 L U ST 7 User programming 7 5 4 Sequential Here the positioning controller is used as a freely programmable sequencing contr
203. n of all positioning controller data The equipment data provide information about hardware and software which should always be at hand when calling the support hotline The device data can partly also be read off the type plates Sena rember Tergersiens Device Diten CANopen versen V260 38 cs C766H 043601160 Application Manual CDE CDB CDF3000 6 118 Data set name Time Operating hours _ 39 h Tene after power on 169 ct Fig 6 59 Tab Device data DRIVEMANAGER Meaning Value range Unit Parameter Software version Software revision M 92 REV STAT Software version Revision index as 106 CRIDX appendix xx appendix to the revision _STAT number CS Check sum XOR x 115 CSXOR STAT Serial number Serial number of the x 127 S NR device STAT Data set Data set designation 89 NAMDS designation 0728 characters CONF d c link direct Current d c link direct x V 405 DCV voltage voltage C VAL Table 6 47 Parameter Device data L U 6 T 6 General software functions DRIVEMANAGER Meaning Value range Unit Parameter Operating hours h 87 TOP VAL Time after 86 TSYS switching on min Cua With an actual value the value range is of no importance Table 6 47 Parameter Device data 6 8 3 Options Function Effect Provision of all data for a Clear identification of the connected optional module connecte
204. n of movement will change see symbol D in Fig 5 11 With type 7 the first index signal after overtravelling the reference cam corresponds with the zero point Type 8 changes the direction of movement if the reference cam has been overtravelled The zero point corresponds with the first index signal after the ascending flank With type 9 the zero point corresponds with the first index signal with active reference cam Type 10 changes the direction of movement after the active reference cam The first index signal after the descending flank corresponds with the zero point Index signal Reference cams positive limit switch Fig 5 11 Type 7 to 10 reference cams index signal and positive limit switch The initial movement is in direction of the negative left hardware limit switch Limit switch and reference cam are inactive see symbol A in Fig 5 12 Type 11 changes the direction of movement after the active reference cam The first index signal after the descending flank corresponds with the zero point With type 12 the zero point corresponds with the first index signal with active reference cam 5 21 Application Manual CDE CDB CDF3000 LUST Application Manual CDE CDB CDF3000 5 CDE CDB CDF3000 in positioning operation Type 13 changes the direction of movement if the reference cam has been overtravelled The zero point corresponds with the first index signal after the ascending flank With type 14 the referenc
205. n or data each program must be saved as plc file The comment lines in the sequential program and the text declarations are not saved in the controller or in the device dataset i e they cannot be read back Application Manual CDE CDB CDF3000 7 7 LUST 7 2 6 Program handling Open Edit Saving after Create Edit 7 User programming An existing PLC program can be opened in different ways 1 Double click on the file plc This opens the DRIVEMANAGER which in turn starts the PLC editor and opens the program 2 Opening via the DRIVEMANAGER menu File Open PLC Sequential Program Lust DriveManager 1 CDE32 004 Posilioning preset File Commurcsbon ew Active deve Window Es Fig 7 3 Opening a PLC program via DriveManager 3 Opening via the already started PLC editor 4 Opening of a program from a device dataset An existing PLC program be saved by the PLC editor in different ways Application Manual CDE CDB CDF3000 7 8 L S T 7 User programming 1 Saving a program into a file w With this button a file plc is created on your PC this file contains the PLC program and the text declaration 2 Saving a program into a device dg With this button the PLC program is saved as machine code into two parameters in the controller The file Project name txt gt generated from the text declaration is thus saved in the corresponding DRIVEMANAGER directory see 7
206. nce exceeds the max speed Max speed 813 SCSMX x 157 MOSNM Positioning The limit value display becomes active when the speed reference exceeds the max speed or the torque reference exceeds the max torque Max torque 805 SCALE x 803 TCMMX x 852 MOMNM Max speed 813 SCSMX x 157 MOSNM The specified parameters except the online torque scaling 805 SCALE can be set in the function mask Limitations see chapter 6 2 2 Torque ferret 100 00 X Motor tated torque 39 Nm 100 Speed limit fmm Mola ied spend WOK Cc IO Mb 100 Oe Cancel al Fig 6 7 Function mask Limitations Explanations Both the special PLC flag STA LIMIT and the bit LIMIT in the field bus EasyDrive status words have the same meaning Both the parameters 230 REF_R setting see chapter 4 2 1 for torque and speed regulations as well as 758 POWIN setting see chapter 5 2 3 for positioning can be used to define an area in which the actual value Application Manual CDE CDB CDF3000 6 20 L U 6 T 6 General software functions may deviate from the setpoint without the message Setpoint reached REF becoming inactive Setpoint fluctuations caused by setpoint specification e g via analog inputs can therefore be taken into account 230 REF_R t gt Fig 6 8 Digital output with setting Setpoint reached with use of the window Setpoint reached
207. nd the speed calculated on this basis Dominant encoder faults are in this case amplification and phase faults as well as offset proportions of the track signals The Gain Phase Offset Correction GPOC was developed for this purpose This patented method evaluates the amplitude of the complex pointer described by the track signals using special correlation methods The dominant faults can thus be exactly determined and subsequently corrected without being influenced by other encoder faults KEvPAD BUS DRIEMANAGER Signal correction function The track signals are corrected with fixed values These values are individually determined for each device in the factory Scattering of the individual encoders cannot be taken into account 0 OFF The track signals are corrected with fixed values These values can be determined by the GPOC using the ADAPT mode and stored in the positioning controller The optimal correction values are determined online with the GPOC At low speeds the adaptation is switched off thus to avoid drifting off of the error parameters The minimum speed for an adaptation is calculated on the basis of scanning frequency of the control x 60 500 With a 4 kHz scanning frequency of the control and a two pole resolver the adaptation will take place from 480 rpm 2 ADAPT The correction parameters are reset to factory setting RESET is i RESET not set as status but leaves the current sta
208. ndexed variable SET Hxxx H Cyy with 2 floating point variable SET Hxxx Assignment of a floating point variable with limitation to 2147483647 no rounding Application Manual CDE CDB CDF3000 7 26 L S T 7 User programming with flag SET Hxxx Mxxx with counter status SET Hxxx Cyy with timer status SET Hxxx 7 via acceleration direct 2 SET Hxxx 2 Addition SET Z Subtraction SET Hxxx z Multiplication SET Hxxx z z 0 Division SET Hxxx z Modulo via displacement with constant to the right SET Hxxx gt gt z Division Hxxx by 2 to the left SET Hxxx lt lt z Multiplication Hxxx with 27 Calculation via second variable direct 2 SET Hxxx Hyyy Addition SET Hxxx Hyyy Subtraction SET Hxxx Hyyy Multiplication SET Hxxx Hyyy Hyyy 01 Division SET Hxxx Hyyy Modulo Calculation via displacement with second variable Right SET Hxxx gt gt Hyyy Division Hxxx by 2 lt lt Multiplication Hxxx with 2 Calculation by means of absolute value generation SET Hxxx ABS Hyyy Application Manual CDE CDB CDF3000 7 27 LUST Application Manual CDE CDB CDF3000 7 User programming z Or Hyyy 0 is not permitted division by 0 error message will be triggered With this operation one must make sure that no value range overflow takes place 7 28 L S T 7 User programm
209. nding options function 2 Via function mask Setpoint ramps further settings 0x FT 1 Standard MP function OFF 0 inactive Motor poti More seltir F2 2 Standard resol offset d bo F3 3 Standard save offset at pi Et 43 a Chariad onmrial inah res um 1 Deceleration 1000 Vows CEJ ce s Fig 6 28 Setting the motor potentiometer function via function mask Inputs Options Application Manual CDE CDB CDF3000 6 58 L U 6 T 6 General software functions Parameters for motor potentiometer function DRIVEMANAGER Function Value range WE Unit Parameter Speed motor Configuration for motor potentiometer 640 MPSEL potentiometer function 0 6 0 OFF VF Settings see Table 6 28 Acceleration Acceleration ramp for motor potentiometer 641_MPACC Further settings function 1000 _VF Deceleration Deceleration ramp for motor potentiometer 642 Further settings function 032160 1000 min s Display of current offset speed SOFMP 32764 32764 0 rpm Table 6 27 Parameters for motor potentiometer function Settings for motor potentiometer function 640 MPSEL BUS KP DM Function 0 OFF Jno function Raising or lowering the speed within the speed range limits MOSNM x SCSMX with inputs MP_UP and MP DN Raising or lowering the speed within the speed range limits MOSNM x 2 F2 S
210. ng 5 CDE CDB CDF3000 in positioning operation Relative travel tasks always refer to the last target position even if this position has not yet been reached e g when triggered during a progressing positioning process With relative travel tasks paths longer than the circulation length are possible if the target position exceeds the circulation length Example Circulation length 360 relative target position 800 start position 0 The drive performs two complete revolutions 720 and stops during the 3rd revolution at 80 800 720 For endless travel tasks the drive is moved with the specified speed speed mode A target position contained in this travel set is of no meaning Table travel sets releasing a follow up task with the start condition WSTP Without stop from target position are also endless travel tasks However these are cancelled at the specified travel position and transferred to the follow up order Endless travel tasks run with specified speed irrespective of the circulation length When switching to the next travel set absolute or relative the system moves to the new target position in the present travel direction An active direction optimization is thereby neglected The travel task is changed while positioning is in progress If in this case the drive does not stop at the new target position e g because of a too long deceleration time the drive will overshoot and return to the targe
211. ng With the command SET HALT 1 the drive is braked to standstill according to the reaction Stop Feed see chapter 6 2 3 The drive thus remains energized With the command SET HALT 0 the drive is set in motion again with the previously specified travel set The braking process can be terminated at any time With the command SET BRAKE 1 the drive is braked according to the reaction Quick Stop see chapter 6 2 3 The drive controller is in Quick stop system state The controller is now switched off if switching off has been parameterized in the quick stop reaction and if it has been enabled via PLC SET ENCTRL 1 control location PLC With the command SET BRAKE 0 the quick stop condition is terminated This command must always be executed before the drive can be switched on again Termination of the quick stop and return to the previous travel set is possible as long as the drive is energized For normal braking with programmed deceleration ramp the command STOP B is available The braking process cannot be aborted The travel set that had been valid when the STOIP command was triggered becomes invalid The command is valid with positioning For quick braking with quick stop ramp the command STOP M is available The braking process cannot be aborted The travel set that had been valid when the STOIP command was triggered becomes invalid The command is valid with positioning for quickest possible b
212. nit Parameters Max Maximum speed of travel set All speeds are 724 POSMX speed limited to this value 0 4294967295 10000 CARE start up Max start up acceleration of the positioning set 0 4294967295 10000 variable 722_POACC acceleration _PRAM Max braking Max braking acceleration of the positioning set 0 4294967295 10000 variable 723_PODEC acceleration _PRAM Max difference between positioning reference Permissible trailing and actual value of the profile generator An error 757 PODMX distance reaction E FLW will be executed when exceeding 04291967295 180 variable _PBAS see chapter 6 9 Reference Hysteresis for the target position to display the reached status Target position reached If the actual 0 4294967295 100 variable 758_POWIN window position is in this window the status will be set to _PBAS 1 Table 5 3 Application Manual CDE CDB CDF3000 Basic settings for travel profile 5 9 L U ST 5 CDE CDB CDF3000 in positioning operation The buttons Limitations and Stop ramps are described under the general software functions in chapters 6 2 2 Limitations and 6 2 3 Stop ramps Limitations are adjustable for torque rotary speed Stop ramps or their reactions are adjustable for switching off of closed loop control stop feed quick stop Error Speed override In positioning the travel speed can be scaled online The speed override function
213. nly possible with commercial bus analysers Here only the control and status information can be checked 9 For further information on PROFIBUS communication please refer to the 1 CM DPV1 user manual Application Manual CDE CDB CDF3000 6 121 L U SGT 6 General software functions 6 8 4 CANopen Field Function Effect bus ETT EE Provision of the CANopen Clear identification of the communication status correct data transfer Dexe CANopen Device adders Active mode EatyOnve TablePor Postioning with Giving tet table State of network 127 Pre Operational Control word Ryte 1 0 control word Inte 3 7 opo only E asy Orive word byte 1 0 2F26H Extended status word byte 3 2 B2094 forty E aty Dove Fig 6 63 CANopen communication status DRIVEMANAGER Meaning Parameter Device address Device address resulting from the sum of 571 CAADR partly not displayed in the hardware coding and software setting _CAN function mask 580 COADR Active operation mode Active selected CANopen operation mode 653 H6061 _CAN Network status Current network status 588 NMT _CAN Control word byte1 0 Hexadecimal coded control word for 573 H6040 CANopen communication CAN Extended control word Extended hexadecimal coded control 574 H223E Byte 3 2 word for CANopen communication with CAN EASYDRIVE operation mode
214. nt ones 3 14 Funktion BRKZ m 6 94 G Gear factor sca soos eee ere enun 5 7 Guide through this manual 0 1 H Hardware release 6 23 Hexadecimal representation of warning messages 6 131 Holding Brake 4 1 trn 6 90 Speed range 6 91 HTL reference encoder PUE 6 40 519 6 97 6 132 I2xt monitoring 6 83 6 85 Inputs ANALOG 6 25 digitalisearre 6 4 2 LUST of positioning controllers 6 3 Terminal extension module UM 8140 6 5 Vini Men c 6 6 Inputs and outputs Assignment ssusss 4 2 8 2 Installation Connecting the KeyPad 3 9 Integral action time 6 66 Interference suppression 6 28 J Jerk limitation 4 3 8 5 Jitter effects 6 110 Jog MOI E 5 26 Jump in reference value 4 5 K KeyPad KP200 XL operation 3 9 L 6 40 Light emitting diodes 2 15 Ming DP 5 25 Hardware eee eet eoe De YR RU 5 26 SIM 5 25 Limit switch evaluation
215. ntation SMARTCARDS i 3 Operation structure The representation of the five digit numerical display for parameter values uses the exponential notation The setpoint specification in the CTRL menu is likewise specified and displayed using the exponential notation exponent gt base value gt Fig 3 11 Exponential representation in the KP200 XL display The exponential representation makes work easier when considering the exponential value a Decimal point displacement factor Exponential value Decimal point displacement direction in base value positive to the right gt value increases negative to the left gt value decreases Table 3 3 Exponential value as Decimal point displacement factor In the base value the decimal point is displaced by the number of digits corresponding with the exponential value Example Decimal point displacement by one digit to the left gt 57 63 10 1 Hz 5 763 Hz Decimal point displacement by two digits to the right gt 57 6310 Hz 5763 Hz SMARTCARDS are created in dependence on the firmware of the positioning controllers In case of a firmware extension within the scope of a new device software version the extensions are automatically written to the SMARTCARD when saving WRITE SMARTCARDs are thus always upward compatible Note SMARTCARDS can only be read by the positioning controller type e g CDB3000 they have been written by
216. nterrupt takes place via a buffer for max 30 entries whereby the buffer itself is processed in the main loop If this message occurs the buffer capacity has been reached i e the main loop was unable to process all assigned parameters 212 The command WAIT PAR has the effect that the program processing is stopped until all parameters have been written and the buffer has been emptied With a high number of parameter access operations more than 30 successive parameter assignments or when assuring the parameter write access during the further processing of the program a WAIT PAR should be inserted Error when writing parameters Parameter does not exist is no 213 field parameter Value range violation value cannot be written etc Application Manual CDE CDB CDF3000 A 7 L T Appendix A Error Fault T No Error location Description 214 Error when reading parameters Parameter does not exist or is no field parameter 215 Internal error No code available or program instruction cannot be executed Internal error No code available program instruction cannot be executed or jump to next unused address This error occurs when a sequential program is loaded while a 216 sequential program is still active in the controller whereby the new program has different line numbers If not absolutely necessary you should switch off the PLC when loading a program
217. ogram kernel The PLC program editor supports the functions for program generation program handling and online help for the PLC editor These functions can be selected via control buttons see chapter 7 2 1 A program is divided into two parts 1 Text declaration for variables markers counters and timers used 2 Sequential program The text declaration serves the purpose of identifying the variables markers counters and timers used in the sequential program The text declaration is used to generate a text file which after being evaluated in the DRIVEMANAGER displays the values in the application specific texts The text declaration starts with a designator which contains the project name of the text declaration file for details please refer to PLC program files STEXT Project name Start of text declaration This is followed by the assignment of parameter texts Application Manual CDE CDB CDF3000 7 5 LUST 7 User programming DEF M000 Reference point OK DEF H000 Setpoint position 1 DEF H001 Setpoint position 2 DEF H002 Actual position DEF H003 Zero offset The end of the text declaration is always followed by the line END The text declaration is optional PLC parameters without declaration are not saved in the text file or are not displayed in the DRIVEMANAGER with their number Variable 0 oot 5000 500 4003 0 0 HS HOGS 0 0 0
218. ogram sets With renumbering the first line is identified by number NO010 all further lines are incremented with a step width of 10 020 NO30 If the representation of a program with the specified line range 001 254 is not possible this way the step width will be automatically reduced The program content is saved in two files 1 Program file plc This file contains the sequential program as well as the text declaration and therefore the complete program information When passing on the PLC program it is thus enough to just copy this file 2 Text declaration file lt Project name gt txt The file is used by the DRIVEMANAGER to display the application specific parameter designations It is automatically generated from the text declaration of the program file after successfully completed loading of the program into the drive controller or into a dataset The file lt Project name gt txt is copied into the DRIVEMANAGER directory LUST DriveManager firmdata lt Projektname gt txt This file is now available on the PC used to generate the program or to load the source code into the drive controller However it can also be copied to other PCs The complete sequential program is saved in two parameters as machine code These parameters are contained in the device data set and can thus be loaded or saved via the DRIVEMANAGER or in case of series commissioning via the SMARTCARD For reproduction of all program informatio
219. oint 316 TREF setpoint specifica specification with motor 0 65535 100 ms _FEPROM tion brake brake applica tion time Apply brake Delay of deactivating the 317 TCTRL control off control with motor brake 0 65535 100 ms _FEPROM releasing the brake Table 6 37 Parameters for motor holding brake BRK2 Explanations The re parameterization of digital output from or to the setting BRK2 does not work online For parameterization the output stage must be inactive e Ifthe brake control BRK2 is linked with the motor protection control ENMO the timing element 247 TENMO Time between motor con tactor and active control is executed before or after the brake is trig gered Application Manual CDE CDB CDF3000 6 93 LUST MPT 1 START 6 General software functions Time diagram for the motor holding brake BRK2 n POWER BRK2 0 p REF TCTRL gt i POWER Converter output stage BRK2 digital output Flow build up phase motor automatically generated via control After successful build up of flow torque can be memorized Fig 6 48 Function of the motor holding brake BRK2 Erl uterungen Application Manual CDE CDB CDF3000 Setpoint 0 min In the start phase the motor holding brake is switched in dependence on the setpoint If the current setpoint specification is 0 min the magnetizin
220. ol for a speed profile program Parameterization 1500 of inputs 1501 DRIVEMANAGER 1502 1503 Input 15001 Program 15002 Output 05 00 Adapting the travel profile Max speed Max starting acceleration Max braking acceleration Application Manual CDE CDB CDF3000 An endless conveyor belt is operated with two speeds The belt is to be stopped when a target position 10000 has been reached The cycle is repeated by a new release input In order to maintain the structure clear sub programs are used The main program takes over the initialization and call up the sub programs 1 to 3 in an endless loop Start 1 Start of control PLC 35 Input can be used in sequential program PLC 35 Input can be used in sequential program HALT Feed release must have High Level Selection of speed O v1 1 v2 Release Target position reached Setting units and standardization in the standardization assistant Position Degree Speed Degree s Acceleration Degrees s Feed constant 360 corresponds with 1 revolution of the output shaft Gear Motor shaft revolutions 917 Output shaft revolutions 100 900 degree s 320 Degrees s 320 Degrees s 7 50 LUST N045 N050 N055 N060 N065 N070 N075 N080 N085 N090 N095 N100 N105 N110 N115 N120 N125 N130 N135 END Application Manual CDE CDB CDF3000 JMP M001 1 N075 JMP 1502 0 NO75 SET 000
221. ol via field bus 4 6 1 CANopen Hn 4 CDE CDB CDF3000 in rotary speed operation With the preset solutions SCC 3 and SCB the field bus is preset as source for reference values The specific settings on inputs and outputs for the control locations CANopen SCC 3 and PROFIBUS SCB 3 are described in chapter 4 8 The reference value specification for the speed control is either accomplished via the device internal CANopen field bus interface SCC 3 or via the PROFIBUS communication module SCB 3 Speed profe see chapter 4 2 1 Limtotions see chapter 6 2 2 Stopramps see chapter 6 2 3 Less Fig 4 7 Basic setting Speed control reference values and control via bus The drive controllers are integrated into the automation network via the device internal electrically isolated CANopen interface X5 Communication takes place in accordance with profile DS301 Control and target position specification is in accordance with the proprietary EasyDrive profile Basic Note If a speed control in compliance with DSP402 is demanded the Profile Velocity Mode must be used for to regulate the speed of the drive This mode is a special form of positioning Please choose the presetting 1 Positioning travel set specification and control via CAN Bus Detailed information on configuration of the drive controller in the network can be found in the separate documentation CANopen data transfer protocol 4 9 App
222. ollow up order is started via a digital input E SM or control bit but at the latest after a defined delay time The drive moves to the target position with speed v1 of the 3 WSTP current travel set and then accelerates on the fly without Stop to V2 or the repetition or the follow up order Effect start condition activation condition WIE The WIE condition is parameterized in dependence on the setting of the previously selected WANN activation condition DRIVEMANAGER Value range WE Unit Parameters 765 x FOSWC Effect of start signal OFF NEXT OFF RTAB X travel set 0 15 Start condition SW Activation of the follow up order or repetition is flank triggered High Level The effect of a start signal during a running positioning process can be parameterized see Table 5 13 Setting Meaning Signals occurring during an ongoing positioning process are ignored 0 Thus signal never interrupts a running travel task Signals occurring during an ongoing positioning process cause an immediate change of the current target position A relative proportion is 1 added to the previous target position and approached without intermediate stop The number of follow up orders to be executed depends on the accumulated signal flanks This function is useful for relative positioning Signals occurring during an ongoing positioning process cause an immediate change
223. ometer function 6 60 Exponential representation in the KP200 display 3 13 Exponential value as Decimal point displacement noe TN 3 13 F Factory setting o oerte e 2 16 Feed Constant eoe oerte 5 7 Feed enable 4 8 5 30 field oriented control 6 62 Fixed speed SICHER 4 8 tna PE 6 106 Flu amp Gaufbauphase M 6 94 Following AXIS 1 eene ree ner een n 6 40 Follow up order esee sees 5 34 Application Manual CDE CDB CDF3000 Appendix B Index aCliValiOfl 5 35 defined delay time 5 35 Effect of start condition 5 35 in dependence on the mode 5 33 PHONY e sette cese cer E eene 5 34 Signal for activation 5 35 Start condition 5 34 Target position 5 35 p 5 35 Frequency response analysis 6 72 Function lh eC 6 98 Function areas Parameters for characteristic curve data set 8 4 Function block Adaptation of digital outputs 6 13 Adaptation of the analog output 6 30 Function of motor contactor control 6 22 Function selector 6 7 digital outputs 6 15 Functions the most importa
224. on 1 Output becomes active in accordance with the holding brake function see chapter 6 4 4 Only suitable for U f operation 15 BRK2 Holding brake function 2 Output becomes active in accordance with the holding brake function see chapter 6 4 4 16 WUV Warning undervoltage in d c link Warning message if the voltage in the d c link falls short of the value specified in parameter 503 WLUV Device operable see chapter 6 9 2 Warning messages Application Manual CDE CDB CDF3000 Table 6 10 Setting the function selectors FOxxx for the digital outputs L U 6 T 6 General software functions BUS Setting Function Effect 17 WOV Warning overvoltage in Warning message if the voltage in the d c link d c link exceeds the value specified in parameter 5043 WLOV Device still operable see chapter 6 9 2 Warning messages 18 WIIT Warning It integrator has Warning message if the integrator for started device current over time t has started as device protection see chapter 6 9 2 Warning messages 19 WOTM Warning motor Warning message if the motor temperature temperature has exceeded the value specified in parameter 502 WLTM see chapter 6 9 2 Warning messages 20 WOTI Warning heat sink Warning message if the heat sink temperature of device temperature of the device exceeds the value specified in parameter 500 WLTI 21 WOTD Warning in
225. on Manual CDE CDB CDF3000 LUST CAN Encoder 2 Equipment hardware Pin No Function Wave terminating resistor 120 Q internal for CAN by means of jumper between Pin 1 and Pin 2 CAN_LOW CAN signal CAN_GND reference ground of CAN 24 V Pin 9 not used please do not connect not used please do not connect CAN_GND bridged with Pin 3 CAN_HIGH CAN signal A n not used please do not connect CAN_ 24 V 24 V 25 50 mA This supply voltage is required for CAN operation Table 2 12 Pin assignment of CAN interface X5 9 pin D Sub pin Pin No Function TTL Function SSI A DATA DATA 5 V 150 mA 5 V 150 mA not used please do not connect not used please do not connect B CLK not used please do not connect GND GND o CO L oy A cw R a R 11 B CLK 12 5 V sensor 5 V sensor 13 GND Sensor GND Sensor 14 15 Wave terminating resistor 120 Q internal for track B by means of jumper between Pin 14 and Pin 15 Table 2 13 Application Manual CDE CDB CDF3000 Pin assignment for encoder terminal X7 15 pin D Sub High Density socket LUST 2 3 Terminal positions CDF3000 2 Equipment hardware
226. oning and control via field bus 5 40 CANOPEN 5 40 PROFIBUS eerte 5 40 Positioning with PLC 5 41 Assignment of control terminal 5 41 Terminal assignment CDE3000 5 42 Terminal assignment CDB3000 5 43 Terminal assignment CDF3000 5 44 General software functions Inputs and outputs 6 3 Digital inputs seserenennnnnne 6 4 Digital outputs eene 6 13 Analog inputs serene 6 24 Analog output for CDB3000 6 30 Setpoint generation 6 33 Rotary speed profile 6 34 Limitations 6 35 Stop AMPS 6 37 Reference encoder Master Slave operation 6 40 Setpoint structure further settings control Jerez uo RR eerie teed 6 47 Control location 6 55 Motor potentiometer function 6 58 Motor control 12 nonem 6 62 Motor and transducer 6 67 e 6 67 ECOJET ie
227. ons sess 8 3 8 2 1 Data set changeover 8 3 8 2 2 Speed profile generator OpenLoop 8 5 8 2 3 Limitations Stop ramps 8 8 8 3 OpenLoop motor control method 8 10 8 3 1 Start current controller 8 11 8 3 2 Vibration damping controller 8 13 8 3 3 Current limit controller 8 14 8 3 4 DC holding current controller 8 16 8 3 5 v f characteristics curve 8 17 8 4 Speed control OpenLoop with 0 10 V or fixed speeds 8 19 8 5 Speed control OpenLoop with setpoint and control via field bus Application Manual CDE CDB CDF3000 8 1 LUST 841 Preset solutions 8 Speed Control OpenLoop for CDE CDB3000 Pre set solutions are complete parameter datasets which are provided to handle a wide variety of typical application movement tasks The positioning controllers are automatically configured by setting a preset solution The parameters for the control location of the positioning controller the reference source the assignment of signal processing input and outputs and the type of control are the focal points of the setting The use of a pre set solution
228. or cut off HALT RESET LOCKH cu External error message WARN RESET STOP mm Wire breakage at 4 20 mA WARN RESET STOP Kid Mixed up limit switches HALT RESET STOP pr Limit switch contacted HALT RESET STOP gros Software limit switch NOERR LOCKS WARN AN Positioning HALT RESET STOP Wi Servo lag WARN RESET WARN Ero PLC sequential program WARN RESET prio un delay error message E OC 0 1000 mms Table 6 53 Application Manual CDE CDB CDF3000 6 128 Parameters for error reactions in case of error messages LUST 6 General software functions Explanations BUS The functionality of the error reaction is described in Table 6 54 When switching in the motor line at the motor output to the positioning controller short term high voltage peaks and currents will occur when the output stage is active or the motor is still excited These will certainly not destroy the output stage of the positioning controller but will occasionally cause E OC 1 error messages The output stage is already deactivated with message E OC 1 when the overcurrent is detected With the programmable time delay TEOC the error message is held back and after this time has expired the system will check whether the hardware release ENPO is still set In this case the error message is signalized The error stop ramp can be parameterized in a separate tab see see chapter 6 2 3 KP DM Function NOERR no
229. or for digital outputs 6 15 Inputs motor potentiometer functions 6 60 Motor potentiometer function 6 59 Motor protection characteristic 6 86 settings 240 FOS00 246 FOEO3 6 15 Short 2 19 ME 6 40 Mert 6 34 8 5 Jerk limitation 5 28 Slip time JUME 4 4 8 6 with jerk limitation 5 11 Specification Interface contacts 2 9 Interface contacts CDE 2 4 2 13 Speed Control 6 62 Speed 6 62 10V reference value 8 19 Vid CANOPEN 8 22 via Profibus sees 8 22 Speed limit 6 90 Speed override 5 10 Speed regulation 10V reference value 4 6 B 5 LUST Block diagram 6 52 via CANopen aeree eere nen 4 9 Via PrOfIDUS Eee re en eua 4 9 with fixed speed 4 7 uulgo 4 10 with reference encoder setpoint source 6 44 Speed synchronism 7 36 Standardization 5 6 Standardization of actual parameter values 6 11
230. or program generation Generation of a text declaration file Project Name gt txt for the variables to display application specific texts in the DRIVEMANAGER Command code syntax check Renumbering of line numbers Program handling Loading Saving Printing New generation of programs A Loading Saving a program from to the drive controller Loading Saving a program from to DRIVEMANAGER dataset Online help for PLC editor and command syntax with examples Application Manual CDE CDB CDF3000 7 4 LUST 7 2 2 New generation of program 7 2 3 PLC program structure 7 User programming All PLC functions can be selected via control buttons Disi lel lof vi de Program Syntax Test Program kernel with new file e a 2 A e S o 2 3 olo 515 o z 2 E 5 5 818 5 2 2 c E EIEIE cigsgicsc oO e oO e e Sio f9 S D D elk D co 5 a S giS T 2 aleja Bw 5 55 65 gt 2 gt c z o 9 i Z2 5 E Sig oj alia Colas t oO oO 2 JO 5 cc 210 2 o For a quick start or a new generation of a sequential program the syntax test is called up with an empty text field The PLC editor now offers the generation of a pr
231. ose Tene pori 0 mn Eou reactions Reset enat mor history EO 0 0K Digo ECOD Dugom Fig 6 65 Representation of the error history in the DRIVEMANAGER Application Manual CDE CDB CDF3000 6 125 LUST Error display with KEYPAD 6 General software functions E OTM 1 191h Time of error related to the operating hour meter Error location No error cause Error DRIVEMANAGER Meaning Value range WE Unit Parameter Last error Last error 95 ERR1 Error 0 65535 0 h ERR Last error System time at 94 TERR time occurrence of last 0 65535 0 min ERR error Error history second last error 96 ERR2 2 Jast 0 65535 0 h Error history third last error 97 ERR3 3 last 0 65535 0 h Error history fourth last error 98 ERR4 4 last 0 65535 0 h Table 6 52 Parameters of the error history Error Error Location No Fig 6 66 X Error display with KEYPAD Note A list of errors and warning messages displayed in the DRIVEMANAGER or KEYPAD can be found in the appendix Application Manual CDE CDB CDF3000 6 126 LUST 6 General software functions Acknowledgement and resetting of errors Errors can be acknowledged and reset in different ways Rising flank at digital input ENPO Rising flank at a programmable digital input with setting of the function
232. output stage The positioning controller is based on the principle of field oriented controlling Field orientation means to memorize a current at the location in the motor at which the field has the biggest size The memorized current is thus optimally converted to torque This results in an optimal utilization of the machine with highest possible dynamics together with low losses The result is a very good rate of efficiency The digitally controlled drive is most suitable for applications calling for the following characteristics Speed constancy concentricity Position accuracy Dynamics constant torque nterference compensation The positioning controller can be operated in three different control modes Torque control Torque Control TCON Speed control Speed Control SCON Position control Position Control PCON It has three control circuits which are superimposed to each other see illustration Fig 6 30 Depending on the preset solution the lower level control circuits are active e g with speed control only the speed and the Application Manual CDE CDB CDF3000 6 62 L U S T 6 General software functions torque controller The speed setpoint is thereby directly delivered by the setpoint specification the positioning controller is decoupled and out of function Nate Gaus text represents input value ID in the Dyin Scope SOGFA SOG SCTLG CoG CCTLC ES pnt Mas set
233. pe 20 with subsequent possibility of continuous referencing Types 3 and 4 can only be used with endless travel range 773 PORTA ON They serve the fully automatic compensation of slippage or inaccurate transmission ratio After initial referencing the actual position is overwritten with the zero point offset at every rising flank of the reference cam The path still to be travelled is corrected the axis is thus able to perform any number of relative movements to one direction without drifting off even with drives susceptible for slippage The circulation length 774 PONAR must come as close as possible to the path between two reference signals With other words E g the same position must be indicated after one circulation as otherwise disturbing movements may occur during a correction The permissible trailing distance 757 PODMX must be bigger than the maximum mechanical inaccuracy 5 16 LUST A Type 2 no referencing Type 1 actual position 0 Type 0 Type 1 negative limit switch and index signal 5 CDE CDB CDF3000 in positioning operation Attention The correction of the actual position takes place in form of jumps No acceleration ramps are active The correction is this dealt with like a trailing error compensation The maximum speed during the correction process can be adjusted under the function Limitations see chapter 6 2 2 Here the maximum speed of the positioning travel profile is not act
234. pendix B Index permissible 5 9 Travel profile eere 5 9 Travel set Display and selection 4 8 Limit VAIUCS eee cree rrr 5 9 RepetitlOn na ERI 5 34 see follow up order 5 34 Switching points 5 36 Travel set selection 5 28 Travelling QNGIOSS M 7 36 with continuation 7 34 Truth table for control via terminals 6 9 TTL reference encoder input 6 40 U caper 5 6 User defined subject area 11UA 6 112 V Value display in exponential representation 3 13 VAIUGTANGOS e 5 8 View of device and terminals 2 7 W Wait commands 7 40 Warning messages HySteresiS eere teri er RR 6 132 Warning thresholds 6 132 B 6 LUST ANTRIEBSTECHNIK LUST DRIvETRONICS Lust Antriebstechnik GmbH GewerbestraBe 5 9 35633 Lahnau Germany Phone 49 0 64 41 9 66 0 Fax 49 0 64 41 9 66 137 Internet http Awww lust antriebstechnik de e mail info lust tec de Lust DriveTronics GmbH HansastraBe 120 59425 Unna Germany Phone 49 0 23 03 77 9 0 Fax 49 0 23 03 77 9 3 97 Internet http Awww lust drivetronics de
235. perands Operand Comment Addition Subtraction P Multiplication Division Modulo ABS Absolute value generation ROUND Rounding L U 6 T 7 User programming 7 3 1 Overview Comm and Operand Comment Jump instructions JMP Ny END unconditional jump ACTVAL lt gt Hxxx Fyyy Ny END Actual value ACTVAL lt gt Hxxx Fyyy Ny END ACTVAL Ny END ACTVAL 0 Ny END REFVAL lt gt Hxxx Fyyy Ny END Setpoint REFVAL lt gt HxxxFyyy Ny END REFVAL Hxxx Fyyy Ny END REFVAL 0 Ny END REF 0 1 Mxxx Ny END Axis status setpoint reached 0 0 1 Ny END Axis status standstill 1 0 1 Ny END Status of an input Oppi 0 1 Ny END Status of an output Mxxx 0 1 Myyy Ny END Status of a flag spec flag 0 1 Ny END Status of a special flag e 0 STA_REF Mxxx amp Ippi Ny END Logic operation flag input Mxxx amp Oppi Ny END Logic operation flag output Hxxx 0 Ny END l lt lt gt gt Hyyy Value of integer variables Ny END Fxxx 0 0 Ny END Fxxx lt lt gt gt Value of floating point variables Ny END Cxx d Ny END Counter status Zxx 0 Ny END Timer status END Jump to program end Sub program invocation Sub program invocation after line N CALL Mein nesting depth 250 RET Return
236. place because the device setting would be changed in the background and the original setting would not become active when switching on the mains supply the next time Application Manual CDE CDB CDF3000 6 12 L U 6 T 6 General software functions 6 1 2 Digital outputs Function Effect The function selectors are used to determine the function of the digital Free function assignment for all digital outputs outputs 1 Selection of function for the digital 1 output 2 Digital value Output 2 9 Output 1 OSDOx T OEDOx OVOx Fig 6 5 Function block for adaptation of the digital inputs 2 Diis AnsogFOSAO Dus UM von 0500 REF 10 0S0 ROT 008 excited xj 0502 s ROY 25 Device Fig 6 6 Tab example Digital outputs B Application Manual CDE CDB CDF3000 6 13 LUST Parameter for setting the digital outputs 6 General software functions DRIVE valid for MANAGER Function Value range WE Parameters positioning controller Function selector digital standard input 240 0500 05000 05000 see Table 6 10 10 REF OUT CDE CDB CDF Function selector digital standard input dc j 241 F0S01 05001 05001 8 ROT 0 OUT CDE CDB Function selector for standard output 05002 i 242 F0S02 05002 Digital output with CDE CDF
237. point Assign setpoint via floating point variable only for torque speed control Hzzz value only with U f 7 30 L S T 7 User programming Set counter direct SET Cxx d with variable SET Cxx Hyyy with counter SET Cxx Cyy Incrementing decrementing counter SET d SET Cxx d Incrementing decrementing counter via variable SET Cxx Hyyy SET Cxx Hyyy Setting and starting timers After assigning a timer time counting element with a value this value is automatically reduced by 1 every millisecond until finally the value of 0 is reached The timer Z11 must not be used when working with the command WAIT because this timer is used to execute the WAIT commands direct SET Zxx t with variable SET Zxx Hyyy The timer value is specified in ms Set parameter with integer variable SET PARA n Hxxx Direct specification of parameter number SET PARA Hxxx Hyyy Specification of parameter number via floating point variable with floating point variable SET PARA n Fxxx Direct specification of parameter number SET PARA Hxxx Fyyy Specification of parameter number via integer variable Application Manual CDE CDB CDF3000 7 31 LUST Li Setting field parameters 7 User programming Note Saving the sequential program the parameters and the travelling data into the Flash EPROM may also be triggered by the program SET PARA 150 1
238. pparent current 2 lN Application Manual CDE CDB CDF3000 6 31 LUST 6 General software functions BUS Setting Function Reference value 5 ISA00 ISA00 10V 20 mA 6 ISA01 ISA01 10V 7 MTEMP actual motor temperature 200 C 8 KTEMP actual heat sink temperature 200 C 9 DTEMP actual inside temperature 200 C 10 PLC Specify the value from the sequencing 10 000 control Application Manual CDE CDB CDF3000 6 32 L U 6 T 6 General software functions 6 2 Setpoint generation Function Effect The setpoint generation All system conditions have serves the preparation of the an effect on the setpoint setpoint Here the application dependent setpoint structure is supplied with raw data and limited The setpoint is changed in dependence on various system conditions errors warnings etc 1e Rieleence F amps Fig 6 20 shows all functions of the setpoint generation for closed loop control types speed control and torque control These functions are described next If this mask is opened when presetting a positioning 2 process the Speed profile function will be displayed Fig 6 20 Setpoints Ramps Application Manual CDE CDB CDF3000 6 33 L U SGT 6 General software functions 6 2 1 Rotary speed profile Function Effect Setting of acceleration and Matching the dynamics of the deceleration ramps for the motor
239. pplication movement tasks The positioning controllers are automatically configured by setting a preset solution The parameters for the control location of the positioning controller the reference source the assignment of signal processing input and outputs and the type of control are the focal points of the setting The use of a pre set solution considerably simplifies and shortens the commissioning of the positioning controller By changing individual parameters the preset solutions can be adapted to the needs of the specific task A total of eleven preset solutions covers the typical areas of application for torque speed control with the closed loop controllers Abbrevia Control location Chapt Additionally required tion OUTLIER Bus control profile documentation TCT 1 10V analog torque 1 0 4 8 2 SCT 1 10V analog l 0 terminals 4 8 2 SCT 2 Fixed speed table l O terminals 4 5 SCC 2 Fixed speed table CANopen field hus interface 4 5 CANopen data transfer protocol EasyDrive Profile Basic SCB 2 Fixed speed table Field S module ERE 4 5 PROFIBUS data transfer protocol EasyDrive Profile Basic Scc 3 CANopen field bus CANopen field bus interface 4 6 CANopen data transfer protocol interface EasyDrive Profile Basic Field bus communication Field bus module CM DPV1 SCB_3 module PROFIBUS EasyDrive Profile Basic 4 6 PROFIBUS data transfer protocol SCP 3 PLC 4 7 see chapter
240. pter 7 3 2 Speed synchronism on page 7 36 Further possibilities for adapting the setpoint source can be found in chapter 6 2 5 Reference encoder in positioning operation electronic transmission In positioning operation synchronous travel with reference encoder setpoint specification is controlled via PLC with special program commands For this purpose you should select a preset solution with specified setpoint via PLC Switching on synchronous travel coupling Switching off synchronous travel decouple GOSYN 1 GOSYN 0 Table 6 21 PLC commands to control synchronous travel Note Switching on synchronous travel occurs abrupt without limitation of the axis dynamics by ramps Soft coupling to a moving leading axis is not possible The reference encoder position refers to the motor shaft The unit is always in increments 65536 Incr 1 motor revolution If the reference encoder position is to be directly related to the output shaft the transmission ration must be entered for the reference encoder A transmission ratio in the standardizing assistant will be ignored when using the reference encoder Application Manual CDE CDB CDF3000 6 45 LUST 6 General software functions Example for reference encoder configuration with CDB3000 System structure e HTL reference encoder as setpoint specification connected to terminal X2 on CDB3000 e CDB3000 with gear motor i 56 3 e A
241. puts Example Setting F2 of the motor potentiometer function A digital potentiometer is supplied via two digital inputs One of the inputs has a reducing effect for the setpoint the other one raises the setpoint At the analog input ISAOx a base value can be specified as analog speed setpoint so that the digital inputs have the effect of an offset The motor potentiometer function assigns a setpoint to the setpoint source SOFMP O 641 MPACC X642 MPDEC Offset REF1 REF2 t ms 3 1 Resetting the setpoint to the base value Fig 6 29 Basic function with reset to base value corresponds with setting F2 in Table 6 28 Application Manual CDE CDB CDF3000 6 60 LUST Definitions on Fig 6 29 Basis Offset ISDxx MP UP ISDxx MP DN Application Manual CDE CDB CDF3000 6 General software functions analog default speed value at input ISAxx Proportion of increase or reduction from the base value influenced by the inputs with functions MP UP and MP DN Input for offset setting to increase the setpoint Input for offset setting to reduce the setpoint 6 61 L U SGT 6 General software functions 6 3 Motor control Function Effect Optimization of controller Optimal concentricity of the settings drive Adaptation of the controller to the moment of inertia of the system Setting the switching frequency of the
242. r current MOCNM x 700 x 100 I f results from the motor protection characteristic with Iw la lp fn and Fp Condition Section Fig 6 46 Calculation I f l 1 fist fo 1 Kf H xf l fh ly lp fp lt f fy 2 f x f fy ly fn fp fu lt fist 3 Kf ly The limit value of the integrator is defined by a permissible overcurrent arload factor MOPCM 100 However this value only applies for the rated point If the motor protection characteristic had been parameterized the permissible overcurrent applies for other frequencies over the overload time MOPCT 2 x Rated motor current MOCNM x overload time MOI Imax D ited motor current MOCNM a I f 10095 100 eren factor I 100 Application Manual CDE CDB CDF3000 6 88 L U 6 T 6 General software functions Ifthe integrated current time value exceeds the motor dependent adjusted limit value the positioning controllers switch off the motor with error message E OLM The reaction to the error Ixt shut down motor can be parameterized see chapter 6 9 1 This function replaces a motor protection switch A Motor protection warning threshold to signalize an expected shut down can be adjusted as a percentage value of the maximum integrator value see chapter 6 9 2 Possible motor protections A B C D C D Motor Software Motor PTC
243. raking speed setpoint 0 and subsequent shut down of the control the command STOP 0 is available The control is only switched off if it had been switched on via PLC SET ENCTRL 1 control location PLC Application Manual CDE CDB CDF3000 7 39 LUST Time Axis status Parameter write access Example program 7 User programming The braking process cannot be aborted The travel set that had been valid when the STOIP command was triggered becomes invalid The command is valid with positioning Wait commands WAIT This command can be used to realize a certain time delay in milliseconds After expiration of this time the program will continue with the next successive program line The WAIT command is executed via the timer 211 direct WAIT via variable WAIT Hxxx The program is continued if the following condition is fulfilled Position window reached WAIT REF Actual position in position window 2 Axis stopped WAIT ROT O Position setpoint Target position 2 1 Positioning finished Output Axis in position will be set 2 Positioning mathematically finished WAIT PAR Wait until parameter write access has taken place If the parameter write access is mandatory for the further processing of the program a WAIT PAR should be inserted after the parameter assignments POO N010 SET H000 1 Assign value 1 to variable H000 N020 SET PARA 460 1 H000 Write field parameter 460 Index
244. re evaluated The limit switches are monitored in dependence on the sense of rotation so that mixed up limit switches will be reported as errors The drive runs out unguided The reactions for limit switch overrun and for mixed up limit switches can be adjusted see chapter 6 9 1 Error messages Mechanical overtravelling of limit switches is not permitted and is not monitored for plausibility Application Manual CDE CDB CDF3000 6 10 LUST Fixxx MAN Only with positioning via field bus 6 General software functions Example If the right limit switch is approached during clockwise rotation the signal will cause the drive to stop However if this signal is overtravelled and the limit switch is no longer dampened the motor will start will restart in clockwise direction as long as clockwise starting is still enabled 1 mechanical end stop 2 Limit switch cannot be overtravelled Fig 6 3 Limit switch evaluation Note The evaluation of pulse switches or upstream limit switches is not supported Bridging in limit switch supply line and control cabinet is not monitored or detected The MAN function has the effect that a device configured for bus operation can be directly operated on the positioning controller in situ by the operator This function can be used for set up or emergency operation of the system The changeover is not possible with activated power stage or if the DRIVEMANAGER is operated i
245. re set to a certain value and run back to 0 3 Counter for indexed 463 PLC C addressing 8 bit Access in the sequential program C00 C10 0 to 65535 yes PLCP The image can also be written in the program as special variable OUTPUT 05000 05002 BitO Bit 2 Image of the digital OEDOO OEDO3 Bit4 Bit6 T 464 PLC 0 outputs bit coded O0V00 0VO1 Bit 7 Bit8 y _PLCP In order to set outputs from within the program the corresponding function selector must be set to FOppi PLC Floating point 3 37x10 8 to 465 PLC_F Vindliles Access in the sequential program F000 F127 337x109 yes PLCP The image can also be written in the program as special Image of digital and variable INPUT 466 PLC analog inputs bit 15000 15003 Bit 0 Bit 3 read only PLCP coded IEDOO IEDO7 Bit 4 Bit 11 ISA00 15401 Bit 12 Bit 13 Table 7 2 PLC Variables and flags Application Manual CDE CDB CDF3000 7 42 L U 6 T 7 User programming 7 4 2 PLC control The PLC control parameters enable a flexible configuration of the PLC parameters program or of its sequence DRIVEMANAGER Meanin Changing Parameter anng ONLINE Name of the PLC The project name is defined when generating the sequential program text rogram Project declaration The name directly designates the text declaration file project a5 468 PLCPJ akd name txt y PLCC max 32 characters without special characters spaces
246. reaction Trigger warning message no further reaction concerning the drive This warning is not of the same significance as the warning messages in chapter 6 9 2 NOTE In contrast to the general definition the error reaction Software limit switch causes a quick stop WARN Lock output stage If the error is no longer present the device may be restarted after acknowledging the error message With programmed auto start 7 AUTO ON the device starts automatically after the reset HALT Brake drive with error stop ramp to 0 rpm then block the output stage If the error is no longer present the device may be restarted after acknowledging the error message With programmed auto start 7 AUTO ON the device starts automatically after the reset STOP Block output stage and lock against restarting If the error is no longer present the device may be restarted after confirming the error message With programmed auto start 7 AUTO ON automatic starting of the device is prevented LOCKH Application Manual CDE CDB CDF3000 Brake drive with error stop ramp to 0 rpm then block the output stage Secure against restarting LOCKS If the error is no longer present the device may be restarted after acknowledging the error message With programmed auto start 7 AUTO ON automatic starting of the device is prevented Table 6 54 Meaning of error reactions 6 129 L U SGT 6 General software fun
247. ribed under 5 2 can be used The travel set table can be called up via a special positioning commands GOT x Automatic linkage via repetitions and follow up orders as well as the switching points cannot be used when specifying reference values via PLC If the drive is controlled via field bus the special proprietary EasyDrive protocol ProgPos is used Detailed information on handling the PLC as well as programming and operation with the PLC editor see see chapter 7 User programming The control terminal for positioning is configured in dependence on the chosen preset solution 5 41 Application Manual CDE CDB CDF3000 L U ST 5 CDE CDB CDF3000 in positioning operation 5 6 1 Terminal Depending on the selected presetting the parameterization of inputs and assignment outputs differs from the factory setting see Table 5 14 After selecting the CDE3000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution 1 0 Parameters Function SCT 1 PCC 1 eee PCC 2 3 WE 1 e 2 isao 21801 selector analog standard forF forr input 5 0 ISA1 Function selector analog standard OFF OFF PLC input ISA1 5000 210 Fisoo Function selector digital standard lorr lorr RECAM PLC inp
248. ristic or the operation of the IEC asynchronous standard motor should comply with the following limit values in order to protect the motor Frequency Hz Rated motor current 76 0 30 la 25 fy 80 Ip 50 fy 100 li Switch off point to VDE0530 at 150 x ly for 120 s For servo motors setting a constant characteristic is recommended The information provided by the manufacturer must be observed The switch off point defines the permissible current time area up to switching off For IEC asynchronous motors the switch off point acc to VDE0530 has been set to 150 of the rated motor current for 120 s For servo motors the information provided by the manufacturer must be observed Application Manual CDE CDB CDF3000 6 87 LUST 6 General software functions Explanations on the function of the motor protection characteristic As long as the current value at a certain frequency is below the characteristic the motor is in a safe operating state Ifthe current value at a certain frequency is above the characteristic the motor is overloaded The 12 becomes active Integration always takes place with the square value of the motor current according to the equation t 2 2 2 foeni dt for O lt Ft lt Pra 0 The xt integrator starts at 110 of the current limit value of the motor protection characteristic WN Kf jrenz 1 1x Rated moto
249. rnings errors Error messages Error messages can be detected and evaluated via the status LEDs of the controllers and the DRIVEMANAGER A red flashing LED H1 indicates a fault The reaction to a fault can be parameterized in dependence on the cause of the fault TN Es Causo or aut 1x E CPU various Collective error message 2 E OFF Undervoltage cut off 3x E 0C Overcurrent cut off 4x E 0V Overvoltage cut off Table 6 51 Error message signal Application Manual CDE CDB CDF3000 6 124 LUST View of the error history in the DRIVEMANAGER 6 General software functions Flash code of Display red LED H1 KEYPAD paie 5x E OLM Motor overloaded 6x E OLI Device overloaded 7X E OTM Motor temperature too high 8x E OTI Heat sink device temperature too high Table 6 51 Error message signal Note Further error numbers and possible causes can be found in the appendix Representation of the error history The last four errors are stored in the history Each error is saved with an error location number and the error time related to the operating hour meter After each error the error log rotates one step further and the error parameter will indicate the last fault The error history is displayed in the function mask Error Warning When pressing button Diagnose the error cause is described in detail and remedial measures are suggested Emer JE CAN ST RA Diagn
250. rs the following parameters must be set DRIVEMANAGER Value range WE Unit Parameter 433 Number of pole pairs resolver 1 80 1 Encoder offset see also Automatic _ 434_ECOFF determination of the encoder Oe REREN SRY ENC offset Track signal correction GPOC 685_ECCON see also Track signal URP RESET DEE ENC correction GPOC For commutation of synchronous motors excited by permanent magnets the rotor position is required before starting the control The determination therefore uses absolute measuring systems such as e g resolvers The relation between zero position of the absolute measuring system and rotor position must thereby be known A possible offset between the zero positions of rotor and encoder is referred to as encoder offset For servo motors form Lust Antriebstechnik GmbH it is assured that the encoder offset is always constant normally Oh It has been set in the corresponding motor datasets 6 80 LUST A Track signal correction GPOC Application Manual CDE CDB CDF3000 6 General software functions Attention For the determination of the encoder offset the motor is energized Rotary movements are thereby possible Unknown encoder offsets can be detected by means of the DRIVEMANAGER The button Determine encoder offset must be pressed for this purpose Resolvers show systematic faults which are reflected by the measured position a
251. s only in positive sense of rotation OFF 2 To both directions The cam switches irrespective of the sense of rotation The following actions can also be multiply combined are possible for each cam Bit Default Cam action 0 Inactive Set delete switch point CM1 1 Inactive Set delete switch point CM2 2 Inactive Set delete switch point CM3 3 Inactive Set delete switch point CM4 4 Inactive Set delete switch point CM5 5 Inactive Set delete switch point CM6 6 Inactive Set delete switch point CM7 Table 6 43 Action register for the individual cams 745 x CACTN Application Manual CDE CDB CDF3000 6 109 L U SGT 6 General software functions Bit Default Cam action 7 Inactive Set delete switch point CM8 8 Inactive Set delete switch point CM9 9 Inactive Set delete switch point CM10 10 Inactive Set delete switch point CM11 11 Inactive Set delete switch point CM12 12 Inactive Set delete switch point CM13 13 Inactive Set delete switch point CM14 14 Inactive Set delete switch point CM15 15 Inactive Set delete switch point CM16 16 23 255 Number of PLC flag 00h FFh 24 31 255 Number of PLC flag 00h FFh Table 6 43 Action register for the individual cams 745 x_CACTN In odder to avoid undefined conditions a flag CMx or PLC flag must only be used in a cam or action register The switch points can be set to outputs For
252. s stopped by the sequencing program of the PLC or by the field bus If the number of cams parameter 742 CCNUM number of cams is set to zero the cam controller is stopped Transmission of CAN telegrams The cam controller itself does not transmit any CAN telegrams Setting the markers 98 or 99 the virtual outputs OVOO und OV01 creates an event handling to CAN see chapter 6 5 1 TxPDO Event control 6 111 LUST 6 7 Application Manual CDE CDB CDF3000 Setting KP200 XL 6 General software functions Function Effect Determination of the Selection of important actual permanent displays values for permanent display Compilation of the user Selection of important defined parameter subject settings for the application area 11UA Definition of additional actual values in the VAL menu User defined parameter subject area 11UA The user defined subject area _11UA is only visible in the PARA menu of the operation panel KEvPAD KP200 XL The parameter 13 UAPSP is underlain by a data field suitable for the input of max 14 parameter numbers for display in the subject area 11UA In the parameter subject area no actual value parameters can be displayed All parameters displayed in this subject area can be edited in operation level 1 User septication PARA User ven Lh The ace daplayed n the uset definable subject araa 110A d 3 4 5 7
253. s to the motor shaft When using a gearbox on motor and target and the drive shaft speed is to be determined by the reference sensor the gearbox ratio must be parameterized in the reference sensor configuration With angular synchronism configuration of input see chapter 6 2 4 the drive controller converts the incoming square wave pulses of a reference encoder directly to a position setpoint and approaches this point in a position controlled manner The configuration of the reference encoder input is described in detail in chapter 6 2 4 Switching on synchronous travel GOSYN 1 Switching off synchronous travel GOSYN 0 After switching on synchronous travel with the command GOSYN 1 the sequential program is immediately continued with the next successive set Note Switching synchronous travel on off occurs abrupt without limitation of the axis dynamics by ramps Soft coupling decoupling on a rotating leading axis is not possible Application Manual CDE CDB CDF3000 7 36 LUST 7 User programming The reference sensor position refers to the motor shaft The unit is always in increments 65536 Incr 1 motor revolution If the reference sensor position is to be directly related to the output shaft the transmission ration must be entered for the reference sensor A transmission ratio in the standardizing assistant will be ignored when using the reference sensor Example for the CDB3000 System structure HTL r
254. sed because this command refers to Setpoint reached Setpoint reached JMP REFVAL Hxxx Fyyy y END exceeded JMP REFVAL gt Hxxx Fyyy y END JMP REFVAL gt Hxxx Fyyy y END fallen short of JMP REFVAL lt Hxxx Fyyy y END JMP REFVAL lt Hxxx Fyyy y END compare JMP REFVAL Hxxx Fyyy Ny END JMP REFVAL 0 Ny END JMP REFVAL l 0 Ny END Axis status REF reached JMP REF 1 Ny END Actual value in setpoint window REF not reached JMP REF 0 Ny END Actual value not in setpoint window in dependence on a flag JMP REF Mxxx y END Flag Mxxx 1 Mxxx 0 Axis stopped JMP ROT_O 1 y END Axis moves JMP ROT_O 0 y END in dependence on a flag JMP ROT O0 Mxxx y END Status of a digital input Status 0 JMP Ippi 0 Ny END Status 1 JMP Ippi 1 Ny END Application Manual CDE CDB CDF3000 7 18 L S T 7 User programming Status of a digital output Status 0 JMP Oppi 0 Ny END Status 1 JMP Oppi 1 Ny END Status of a logic flag JMP Mxxx Myyy Ny END JMP Mxxx Myyy Ny END JMP Mxxx 0 Ny END JMP Mxxx 1 Ny END JMP Mxxx amp Ippi Ny END JMP Mxxx Ippi Ny END JMP Mxxx Ippi Ny END JMP Mxxx amp Oppi Ny END JMP Mxxx Oppi Ny END JMP Mxxx Oppi Ny END Status of a special flag JMP spec flag Mxxx Ny END JMP spec flag Mxxx Ny END JMP spec flag 0 Ny END JMP sp
255. selector analog standard forF pee forr forr pic input ISA00 ISAO1 181 FISA1 Function selector analog standard OFF PLC PLC PLC input ISAO1 56000 210 risoo Function selector digital standard pic OFF PLC input ISDOO 211 01 selector digital standard opp PLC FOSW PLC PLC input 15001 56002 212 02 Function selector digital standard PLC TABO PCL PCL input 15002 15003 213 FIS03 standard Homsw Homsw Homsw HOMSW HOMSW HOMSW Function selector for analog output OSA00 200 FOSAO ACTN PLC PLC PLC 05 00 Function selector digital standard 05000 240 F0S00 input 0 000 REF Function selector digital standard 05001 241 FOS01 input OSDO1 ROT 0 Function selector digital standard 05002 242 F0S02 input 05002 S RDY Table 5 15 Application Manual CDE CDB CDF3000 5 43 Presetting of the control inputs and outputs on CDB3000 LUST 5 6 3 Terminal assignment CDF3000 5 CDE CDB CDF3000 in positioning operation Depending on the selected presetting the parameterization of inputs and application as desired outputs differs from the factory setting see Table 5 16 After selecting the presetting the parameterization of the terminals can be adapted to the Pre set solution input 05002 1 0 Parameters Function SCT 1 PCC 1 eee PCC 2 3 1
256. set as well Table 6 16 Setting the reactions with quick stop Reaction with error The reaction of the error stop ramp always depends on the corresponding error This is described in chapter 6 9 Function Effect e TILor HTL reference encoder input as Following axis Slave setpoint source Master e Speed and angle synchronous e Voltageless connection when using the HTL synchronism related to a input on CDB3000 leading axis Master incremental or pulse direction signals e Master Slave operation Transmission ratio can be set in form of a fraction The configuration of the reference encoder input must be set in function Setpoint ramps option Reference encoder Application Manual CDE CDB CDF3000 6 40 L U 6 T 6 General software functions same parameters as the encoder configuration see chapter 6 4 2 because the hardware interfaces are identical Changing the reference encoder parameterization thus has a direct influence on the encoder configuration n Note The configuration of the reference encoder input uses the Master encoder iret 1 TTL Signal A 8 0 AR Incrementa encode Transmission rabo 2 Input impulse revolution 1004 1 1 3 Master encoder HTL 2 MTL encoder 921 E Please set function of following inputs to encoder ENC 150002 37 0 15001 A 150002 8 1
257. side Inside temperatures gt 85 C cause shut A 200 C temperature down DCV d c link direct Reference values depend on device design 500 V voltage CDX32 xxx 500 V 1000 V CDX34 xxx 1000 V ACTT current actual max torque torque Table 6 45 Standardization of actual parameter values L U 6 T 6 General software functions 6 8 Actual values wmm 1 a Actual values 6 8 1 Temperature iip Function Effect monitoring Visualization of device and motor temperatures Temopershues Device Oyton CANopen Fig 6 58 Actual temperature display Heal ark C irtena C Motes jordy KTY94 C DRIVEMANAGER Meaning Unit Parameter Heat sink Heat sink temperature of positioning controllers eC 427 KTEMP _VAL Inside Inside temperature of positioning controllers 425 DTEMP C VAL Motor Motor temperature Is only displayed if the motor is equipped with a linear temperature sensor KTY84 130 and the evaluation is parameterized see chapter 6 4 3 The warning threshold can be programmed C VAL see chapter 6 9 2 e f a temperature of 150 C is exceeded a parameterizable error message will be displayed see chapter 6 9 1 Table 6 46 Temperature parameters Application Manual CDE CDB CDF3000 6 117 LUST 6 8 2 Device data 6 General software functions Function Effect Clear identification of positioning controller and device software Provisio
258. sitioning travel set specification via PLC control via terminal The specified values for path unit speed and acceleration are only examples and should strictly be adapted to the application described hereunder Basis for these examples is a gear motor with a rated speed of 1395 1 and a transmission ratio of 0 9 17 Lust Antriebstechnik GmbH therefore does not assume any responsibility and will not accept any liability for damage resulting from the type of use of this programming material or of parts thereof The numerical values for path speed and acceleration solely refer to the programming units specified in the positioning controllers Application Manual CDE CDB CDF3000 7 45 LUST 7 5 1 Conveyor belt 7 User programming After the start the conveyor belt drive shall advance the belt by 1m corresponds with 10 revolutions of the output shaft with a speed of 35 mm s After a waiting time of 5 s the process shall be repeated until the input is reset Input used 15003 Setting units and standardization in the standardization assistant Position mm Speed mm s Acceleration mm s Feed constant 1000 mm corresponds with 10 revolutions of the output shaft Gear Motor shaft revolutions 917 Output shaft revolutions 100 Adapting the travel profile Max speed 250 mm s Max starting acceleration 50 mm s Max braking acceleration 50 mm s The example program can be transferred to the controll
259. stics curve with two supports 8 17 B L U ST 8 Speed Control OpenLoop for CDE CDB3000 DRIVEMANAGER Meaning Value range WE Unit Parameter Start voltage at 0 min Boost voltage This is automatically 0 100 0 615 x_VB adapted via the start current _VF controller The values related to the 1 Rated motor connected motor are 0 460 460 616 x_VN voltage detected by the motor identification 1 Rated motor 0 1600 50 Hz 617 x_FN frequency VF When changing data sets Filtering in data the motor voltage is filtered 704_ 0 1P 0 003 s set changeover to avoid sporadic changes VF in the transition area 1 Field parameter index x 0 Data set CDS1 index x 1 Data set CDS2 Table 8 14 Parameters for v f characteristics curve Application Manual CDE CDB CDF3000 8 18 LUST 8 4 Speed control OpenLoop with 0 10 V or fixed speeds Selecting the pre set solution 8 Speed Control OpenLoop for CDE CDB3000 This chapter describes the preset solution of speed control OpenLoop with 0 10V or fixed speeds This chapter describes the inputs and outputs and the generation of setpoints The preset drive solution is selected via the 1st step during initial start up 1 Preset Selection for preset solution SS Fig 8 12 Selecting the pre set solution VSCT1 All other standard settings are made via the D
260. syDrive Basic The number of the active fixed speed is indicated by a parameter and binary coded via the outputs if parameterized The inputs planned for fixed speed selection are configured with Flxxx TABx The selection is binary coded The binary valence 20 2 2 23 results from the TABx assignment The setting TABO thereby has the lowest 2 the setting TAB3 the highest valence 23 A logic 1 level at the input activates the valence Changing the status of the terminal activates a new fixed speed Example IEO7 1E06 IEOS IEO4 IEO3 1E02 1E01 1E00 1503 1802 1501 1500 5811201 travel sets TAB3 TAB2 TAB1 TABO zm 0 15 23 22 at 20 TAB1 TABO TAB3 0 3 21 20 23 8 11 Table 4 3 Example for the fixed speed selection via terminal The following parameters are used to select or display the active travel set DRIVEMANAGER Meaning Value range WE Unit Selection of travel set fixed speed This parameter describes the selection via 0 15 0 _ 278 TIDX inputs _RTAB Field bus Selection of a tabular set Display parameter _ Shows the currently 0 15 0 fete selected fixed speed With the STOP Logics feed enable terminal or bus a progressing movement can be stopped and restarted by application of the programmed speed profile 4 8 LUST 4 6 Speed control with reference value and contr
261. t Limitation of motor current Setting maximum and and speed minimum values The maximum permissible currents are limited to a percentage of the nominal device current and the maximum speed to the nominal motor Speed x Current limit Data set 1 CD51 Dato se 217052 100 X Stat up til pa Viren im value 150 100 00 x Motor rated speed Nmax n 45070 1 100 3 Fig 8 3 Function mask OpenLoop limitations DRIVEMANAGER Function Value range WE Unit Parameter The start current motor control 0 180 aum is i Start current function start current controller is of the nominal device 100 601 x_CICN controlled up to a defined speed in a VF current data set dependent way The current limit motor control 0 180 632 x CLCL Current limit value function current limit controller is of the nominal device 150 eae limited in a data set dependent way current CVP NEM 0 00 999 95 Speed limitation Ferner tage limitation of tha speed of the rated motor 100 00 813_505 setpoint _CTRL speed 157_MOSNM Rated motor speed 0 100000 1500 rpm MOT 1 Field parameters Index x 0 Data set CDS1 index x 1 Data set CDS2 Application Manual CDE CDB CDF3000 Table 8 8 Parameters for the OpenLoop limitation function 8 8 L U 5 8 Speed Control OpenLoop for CDE CDB3000 The stop ramps are described with the general software function in
262. t position If the reversing lock is in this case active the drive will brake to speed 0 accelerate again with the defined travel profile and continue in travel direction to the target position In case of overshooting a set path optimization is neglected Referencing is performed to generate an absolute position reference related to the entire axis and must normally be performed once after switching on the mains supply Referencing is required when running absolute positioning processes without an absolute encoder e g SSI Multiturn Encoder All other positioning procedures relative endless do not require referencing For zeroizing with absolute encoders referencing type 5 is available There are 41 different types which can be set as required by the application 5 13 Application Manual CDE CDB CDF3000 LUST 5 CDE CDB CDF3000 in positioning operation reference cam mode hee Quek jog VI flow ig velocity V2 By selecting the referencing type 5 to 35 and determining the setting the reference signal positive limit switch negative limit switch the travel direction of the drive and the position of the zero pulse can be defined The referencing sequence corresponds with the graphically displayed referencing type PL Urt are andare sten p tw w Fig 5 6 Selection window for referencing DRIVEMANAGER Meaning Valu
263. t be quit with this command All subsequently following lines will be ignored In case of a missing END an error message will be emitted How to use this function in the sequential program END No line number is specified Application Manual CDE CDB CDF3000 7 23 LUST Setting a digital output A Setting logic flag 7 User programming Setting commands SET Note The results of calculations etc are always saved in the left variable F001 10 F002 15 Set F001 F002 5 is generated in F001 With the help of setting commands a vast variety of operations can be executed in the travel programs Setting of outputs direct via flags Setting of flags direct indexed via logic operations Setting calculation of variables Setting incrementing decrementing of counters Setting and starting of timers Access to device parameters e g controller settings override functions setpoint tables etc Changing of acceleration parameters direct SET Oppi SET Oppi via flag SET Oppi Mxxx Output image SET OUTPUT Hxxx Attention Only the outputs will be set which have their function selector FOppi PLC set direct SET Mxxx SET Mxxx indexed SET M Cxx SET M Cxx Application Manual CDE CDB CDF3000 7 24 L U SG T 7 User programming via 2 flag direct SET Mxxx Myyy assign flag value indexed SET M Cxx Myyy via logic operation
264. t index signal in direction of movement Index signal Fig 5 14 33 and 34 index signal The current position complies with the zero point No reset is performed Application Manual CDE CDB CDF3000 5 24 L U ST 5 CDE CDB CDF3000 in positioning operation 5 2 5 Limit switch Software limit switch The software limit switches are only valid for positioning They only become active after successful referencing The software limit switches are only activated by identical setting limit switch limit switch 0 Positioning table process sets contiol via teeminal Driving set table Driving Homing mode Lint mich Mar Software endewichc 0 Brad Negative 0 Grad can be eat vee funchon mask Inputs DRIVEMANAGER Meaning Value range WE Unit Parameters Positive in gear 2147483648 variable 99 9WLSP 2147483647 PBAS rotation Negative EE MEE 760 9 g 2147483647 _PBAS rotation The behaviour or reaction depends on the parameterized fault reaction see chapter 6 9 and the positioning mode Positioning mode Behaviour reaction Absolute Before releasing an absolute travel task the system will check whether the target is in the valid range meaning inside the range of the software limit switches If the Relative target is outside the limits no travel order will be submitted and
265. t of maximum value 11 ROPT Setpoint for communication module 12 RPARA Setpoint for parameter interface The following section describes the corresponding setpoint structures for torque speed control and positioning Symbol Meaning Setpoint source input partly with second characteristic set Setpoint selector switch C Parameters Table 6 22 Symbols used in the block diagrams 6 48 LUST 6 General software functions Symbol Meaning Intermediate setpoints for display only Limitation of setpoint mathematical influence Table 6 22 Application Manual CDE CDB CDF3000 Symbols used in the block diagrams 6 49 L U SGT 6 General software functions Block diagram of setpoint specification position control Reference encoder Coupling viaPLC ECNOx ECDEx T 020 1 Bigg Hy H D x2 HTL Numerator O X7 TTL Angular Denominator synchronism SIO LUSTBUS Further settings Travel profile generator Application Manual CDE CDB CDF3000 6 50 L U 6 T 6 General software functions Stop ramps lOption Code for shutdown SDOPC Halt HAOPC Quick Stop QsoPq Shutdown Fault Reaction FROPC Halt Quick Stop Quick Stop STOPR Fault Reaction Fault React
266. t tes 6 74 Motor protection 6 83 Motor holding brake 6 90 Bus 591615 sione rona trina inna cain 6 100 CANOPEN cue a ces us 6 100 PROFIBUS ertet 6 104 Cam controller 6 106 LUST 6 7 6 8 6 8 1 6 8 2 6 8 3 6 8 4 6 9 6 9 1 6 9 2 7 1 7 2 7 2 1 7 2 2 7 2 3 7 2 4 7 2 5 7 2 6 7 3 7 3 1 7 3 2 7 4 741 7 4 2 7 5 7 5 1 7 9 2 7 5 3 7 5 4 Application Manual CDE CDB CDF3000 Setting KP200 XL 6 112 Actual values 1 enrcuces inr nnan caruisse naanennc 6 117 Temperature monitoring 6 117 Device data 6 118 OPTIONS e 6 119 CANopen Field bus 6 122 Warnings errors eere 6 124 Error messages 6 124 Warning messages 6 131 User programming PLC functionality 7 3 PLG ir 7 4 editor ete ees 7 4 New generation Of program 7 5 PLC program structure 7
267. taining implants and hearing aids etc access to the following areas is prohibited Areas in which drive systems are installed repaired and operated A Areas in which motors are assembled repaired and operated Motors with permanent magnets are Sources of special dangers Danger If there is a necessity to access such areas decision from a physician is required Application Manual CDE CDB CDF3000 1 1 LUST Application Manual CDE CDB CDF3000 1 Safety Your qualification In order to prevent personal injury or damage to property only personnel with electrical engineering qualifications may work on the device The qualified personnel must familiarise themselves with the Operation Manual refer to IEC364 DIN VDE0100 Knowledge of the national accident prevention regulations e g VBG 4 in Germany During installation follow these instructions Always comply with the connection conditions and technical specifications Comply with the standards for electrical installations such as wire cross section earthing lead and ground connections Do not touch electronic components and contacts electrostatic discharge may destroy components 1 2 LUST 1 2 Intended use 1 Safety Drive controllers are components for installation into stationary electric systems or machines When installed in machines the commissioning of the drive controller i e start up of intended op
268. tatus word PLC sequential program DRIVEMANAGER status display The warning messages are displayed in the DRIVEMANAGER in parameter 122 WRN according to Table 6 55 hexadecimal coded Warning Function Hex value Bit Warning message if the heat sink WOTI temperature exceeds the value specified in 0001H 0 parameter 500 WLTI Warning message if the heat sink WOTD temperature exceeds the value specified in 0002H 1 parameter 501 WLTD Warning message if the motor temperature WOTM has exceeded the value specified in 0004H 2 parameter 502 WLTM Warning message if the voltage in the d c WOV link exceeds the value specified in 0008H 3 parameter 504 WLOV Warning message if the voltage in the d c WUV link falls short of the value specified in 0010H 4 parameter 503 WLUV Table 6 55 Hexadecimal representation of warning messages Application Manual CDE CDB CDF3000 6 131 LUST 6 General software functions Warning messages come with a hysteresis Physical magnitude Hysteresis Warming 3 Speed Fig 6 Application Manual CDE CDB CDF3000 How ort wheres hence tee Meter temeer jordy FY RE Motes Power tage peotecton Undervotage Overvotage ment Voltages Undervoltage 0V 10V Overvoltage 10V 10V Temperature 0 C 5 C Frequency 0Hz 1Hz
269. te Undervoltage warning Overvoltage warning Warning I2 t Warning motor overtemperature Warning heat sink temperature Warning inside temperature at present no function always 1 at present no function always 1 at present no function always 1 Warning I t motor protection Warning torque Setpoint position reached Controller off on Invert setpoint only with speed and torque control Trigger error LUST Comm and SET Application Manual CDE CDB CDF3000 7 User programming Operand ERRRQ 1 Mxxx BRKPT 0 1 Mxxx BRAKE 0 1 Mxxx HALT 0 1 Mxxx PCTRL 0 1 Mxxx Hxxx EGEARPOS EGEARSPEED F CXX H Cxx M Cxx Value Hxxx z Hyyy H Cyy Fxxx Mxxx Zxx H Cxx z Hyyy Hxxx 96 z Hyyy Hxxx lt lt gt gt z Hyyy Hxxx ABS Hyyy Hxxx PARA n PARA n i Hxxx Fxxx REFPOS Hxxx Fxxx ACTPOS Hxxx Fxxx ACTFRQ Hxxx Fxxx ACTSPEED Hxxx Fxxx ACTTORQUE Hxxx Fxxx ACTCURRENT Hxxx 05 0 Hxxx ISAO ISA1 Hxxx OUTPUT INPUT EGEARPOS Hxxx OSAO Hxxx REFVAL Hxxx Fxxx INPOSWINDOW Hxxx Fxxx f Hxxx F Cxx Fyyy F Cxx f Fyyy Po f Fyyy Fxxx ROUND Fyyy Fxxx ABS Fyyy Fxxx PARA n i PARA n PARA Hyyy Hzzz PARA Hyyy Cxx d Cyy Hyyy Cxx d Hyyy Zxx t Hyyy PARA n Hxxx Fxxx Comment Reset error Breakpoints off on Quick stop off on Halt Feed off on no function Read reference
270. ternal Warning message if the internal temperature in device temperature in the device has exceeded the value specified in parameter 501 WLTD see chapter 6 9 2 Warning messages 22 WLIS Warning message Warning message if the apparent apparent current limit current has exceeded the value value specified in parameter 506 WLIS see chapter 6 9 2 Warning messages 23 WLS Warning message speed Warning message if the rotary speed limit has exceeded the value specified in parameter 505 WLS see chapter 6 9 2 Warning messages 24 WIT Warning Ixt integrator has Warning message if the motor started motor protection integrator has exceeded the programmable threshold 337 WLITM see chapter 6 9 2 Warning messages 25 5 RDY Device initialized The output becomes active if the device has been initialized after the power supply has been switched on 26 C RDY Device operable The output becomes active if the device is operable by setting the signal ENPO and no error message is applied Table 6 10 Setting the function selectors FOxxx for the digital outputs Application Manual CDE CDB CDF3000 6 17 LUST 6 General software functions Application Manual CDE CDB CDF3000 BUS Setting Function Effect 27 USERO 28 USER1 i Reserved Tor sper Output can be used by special software 29 USER2 software 30 USER
271. the button Save device settings The same is achieved by simultaneous pressing of both arrow keys on the KP200 XL operation panel for approx 2 seconds in menu level see chapter 3 3 Application Manual CDE CDB CDF3000 3 6 L U SGT 3 Operation structure Example Operation via mask FS 38 2 2 um 0 Fig 4 Example for operation via mask Function of buttons OK gt Accept changes and close mask Cancel Cancel changes and close mask Accept gt Accept changes activate and keep mask open Options gt Optional settings for the corresponding function Explanation of setting for example Function max five digits Setting via Plain text display Display in operation panel KP200 XL field bus of function Application Manual CDE CDB CDF3000 3 7 ru Ce mE Fu mam Se pom pom L U SGT 3 Operation structure Help function In any input window key F1 can be used to call up a help function with further information on the corresponding parameter e g the mask Function selector analog standard input Parameter properties ISAR Function selector Indication Value tange Access Foma A DE FEL Fig 3 5 Identification Parameter number Number of parameter Abbreviation Name max five digits display in KP200 XL 15 Function selector indication Vakminge Access Form
272. the password by pressing the Enter key on the KP200 XL operation panel This change can also be made via DRIVEMANAGER The password will only become active when changing to a lower operation level Changing the operation level in DRIVEMANAGER The corresponding level is selected in menu option Extras Select new user level Logon as C 1 iamen C 2Beginne C JAdvarced 4 Expert C Other Lm Changing levels does not require a password Application Manual CDE CDB CDF3000 3 3 LUST 3 2 Operation with DRIVEMANAGER Fig 3 1 The most important functions 3 Operation structure Connection and start Connect the interface cable and switch on the power supply for the positioning controller After the program start the DRIVEMANAGER will automatically set up a link to the connected controller minimum V2 3 If the automatic connection does not work check the setting in the menu Extras Options and set up the connection with the Icon Connection via RS232 interface cable 9 pin socket pins Function Menu G Connect to the device Communication gt Connect gt Single device Further information can be found in the help to the DRIVEMANAGER Changing the device settings Print parameter data set Control drive Active device gt Change settings Active device gt Print settings Active device gt Control gt Basic operation modes no position setpoints
273. the value of a parameter is outside the valid range 6 Fault when initially initializing the parameter list A parameter could not be reset to default 7 Error when initializing a parameter with its saved setting 8 Error during internal parameter access via KP200 A parameter could not be read or written 47 Error when initializing the motor protection module 55 Internal error in status machine control 100 Error in controller initialization 101 Error when initializing the modulation 102 Error when initializing the brake chopper 103 Error when initializing the current model 104 Error when initializing the current control 105 Error when initializing the speed calculation 106 Error when initializing the speed controller 107 Error when initializing the torque calculation 108 Error when initializing the position detection 109 Error when initializing the position controller 110 Error when initializing the V f characteristic control 111 Error when initializing current controlled operation 112 Error when initializing the flow control in field weakening range 113 Error when initializing the mains failure support 114 Error when initializing the current and voltage detection 115 Error when initializing the TTL encoder evaluation lines per revolution or transmission ratio are not supported 116 Error when initializing the HTL encoder evaluation lines per revolution or transmission ratio are not supported 117 Error when initializing the
274. this purpose the chosen output must be assigned to the cam controller e g 502 46 The assignment of the output takes place in the Output mask button Outputs Explanations Hysteresis An hysteresis can be specified as a measure to avoid jitter effects When the cam is reached the first time the entry position is saved If the cam is e g left at the same position the cam condition will only Application Manual CDE CDB CDF3000 6 110 LUST Application Manual CDE CDB CDF3000 Hysteresis 6 General software functions be deactivated when the hysteresis 747 CCHYS has also been left For a clear detection of the cam the cam length must be adapted to the max speed of the drive detection in 1ms cycle Entry position in the cam quem _ 1 Start position End position 1 Extended status at re emtry at entry position Start position End position Fig 6 53Hysteresis with cam controller Synchronization of the cam controller Synchronization of the cam controller to the current position via PLCMotion A positive flank of the flag M75 synchronizes the cam controller to the current position Synchronization of the cam controller to the current position via terminal A positive flank at the input parameterized to start CAMRS 34 reset cycle of cam controller synchronizes the cam controller to the current position Stopping the cam controller The cam controller i
275. tia for the system must thus be reduced to the motor Moment of inertia of the motor ni n2 MOJNM Jrea reduced moment of inertia of the system Jur Jos Ja i Transfer factor Fig 6 32 Reduction of the moment of inertia Adaptation to the stiffness of the drive line This is possible in two different ways The control circuits can either parameterized or the adaptation can be made through an assistant In the assistant the stiffness can be specified in percent and the Application Manual CDE CDB CDF3000 6 65 L U SGT 6 General software functions newly calculated values can be transferred to the controller setting A value of 10096 results in a soft controller setting e g for a toothed belt drive whereas a value of 210095 causes a hard controller setting for hard mechanics free of clearance and elasticity The torque current controller is optimally adjusted to the respective motor by means of the motor data set or the identification The tab Current controller is available for adaptation and testing by means of a test signal Cortrel Curent controller Pose stage Gen TCG 36 V Log hee TCTLG 35 m Tuning curent controler Step sae curent 180 Testsignal activate d current Details Fig 6 33 Function mask for setting the current controller DRIVEMANAGER Value range WE Unit Parameter A 800 CCG Amplification CCG 0 500 1 V A
276. tion length of 360 actual position of 0 and absolute positioning Without direction optimization With direction optimization 1 Reference value 120 ais 1 240 d 3 Reference value 600 360 240 o Table 5 4 Examples for a circulation length of 360 In a round table configuration a reversing lock always has priority If the negative sense of rotation was locked in the previous examples the system would always move in positive direction even if the direction optimization was active Absolute travel tasks are divided into three sections depending on their target position Travel range Effect Target position lt circulation length The drive approaches the specified target position Target position circulation length The drive will stop Within the range of the circulation length the drive travels to the Target position n x circulation length n integer proportion of target position circulation length Example Circulation length 360 absolute target position 800 n 800 360 2 222 Target position 80 800 2 x 360 Target position gt circulation length Table 5 5 Endless travel range behaviour of absolute travel tasks 5 12 LUST Behaviour of relative travel tasks Behaviour of endless travel tasks Behaviour in case of travel set changes during progressing positioning 5 2 4 Referenci
277. tion of important user settings for the application a 05 88 Bus systema The positioning controllers can be integrated into a field bus network The available bus systems are listed in Table 6 39 possible for Required Field bus positioning Connection documentation for controller commissioning CDE3000 CANopen CDB3000 88 User manual CM DPV1 CDF3000 CDE3000 external communication PROFIBUS CDB3000 module CM DPV1 CANopen user manual Download of required documentation under http www lust antriebstechnik de Table 6 39 Possible field bus systems DRIVEMANAGER or KEYPAD are used to set field bus address and baud rate An operating mode can be additionally selected Further settings of the field bus configuration solely take place via the field bus system CANopen Profibus Address CANopen 1 Baud rote 0500 21 500 Daud Mode T EatyQeve T abeo Positioning with dining tet table Evert contol sending data mron neoa Droo gv Application Manual CDE CDB CDF3000 6 100 LUST i 6 General software functions The CANopen user manual is required when connecting commissioning and diagnosing a drive controller in the CANopen network CANopen configuration parameter DRIVEMANAGER Function Value range WE Parameter Address Set the software field bus address 580_COADR CANopen The software addr
278. tor for digital output of the n 245 FOE02 0002 user module 0 002 TERRE OUT CDE CDB Function selector for digital output of the 246 FOE03 OEDUS user module OED03 _OUT CDE Table 6 8 Parameter for setting the digital outputs on terminal extension module UM 8I4O Parameter for setting the virtual digital outputs Virtual outputs can be used among others for Creation of an event for the TxPDO event control in CANopen field bus communication Status evaluation in the PLC DRIVE valid for Function Value range WE Parameters positioning MANAGER controller Function selector for virtual digital output us 1 248 FOV00 0 00 0 00 0 OFF OUT CDE CDB CDF Function selector for virtual digital output 249 FOVO1 0 01 0 01 0 OFF OUT CDE CDB CDF Table 6 9 Parameter for setting the virtual digital outputs Settings for the function selectors BUS Setting Function Effect 0 OFF no function Output switched off 1 ERR Collective error message Device is in error state The error must be rectified and reset before resuming operation see chapter 6 9 1 Error messages 2 WARN Collective warning Parameterizable warning limit fallen message short of device still operable see chapter 6 9 2 Warning messages 3 ERR Collective message fault Device is in error state The error must denied be rectified and reset before resuming operation see chapter 6 9 1
279. torque variably while the closed loop control is active 1 Torque limitation via analog input ISA1 With setting FISA1 SCALE the set maximum torque is reduced from 0 0 V 100 10 V 2 Torque limitation by means of parameter 805 SCALE With this setting the set maximum torque is reduced from 0 100 The parameter is permanently stored i e after switching the mains supply on the setting is always 100 With this function the maximum torque can be dynamically changed via field bus or PLC If the analog input is set to FISA1 SCALE setting the parameter 805 SCALE will have no effect Function Value range WE Data Parameters types fixpointi6 805 SCALE 0 D Torque scaling 0 00 100 00 96 100 00 RAM CTRL Application Manual CDE CDB CDF3000 6 36 L U 6 T 6 General software functions 6 2 3 Stop ramps Function Effect Deceleration ramps in Different ramp settings are dependence on various possible system conditions Switch of closed loop control Stop feed Quick stop Error Stop ramps Reaction at control off Reaction at halt feed 1 Slow doven vath deceleration ramp Reaction at qux k siop 2 with quack stop mmp conte oti Quick 180 3000 Reaction at error message 1 to ono depending seschon poduace spect Eno ramo 3000 Fig 6 22 Stop ramp functio
280. tpoint v 10 V 101 selector 41 0 20V Current input Only for CDB3000 0 20 mA current input 42 4 20V Current input Only for CDB3000 4 20mA If the current drops below 3 mA the open circuit monitoring v is triggered The reaction to this error message is determined by parameter 529 R WBK 43 OVR Speed override 0 150 Scaling of the parameterized travel speed in positioning see chapter 5 2 3 sub subject Speed override The override is tapped directly after the analog filter and before the dead band The dead band is thus without any effect for these functions Table 6 11 Function selectors for analog inputs FISAO and FISA1 Application Manual CDE CDB CDF3000 6 29 LUST 6 1 4 Analog output for CDB3000 6 General software functions Function Effect Determination which scaled Processing and filtering of actual value is to be analog actual values submitted to the analog Free assignment of function output 0 10V to the analog output Output of analog values with a max frequency of 100 Hz The analog output serves the purpose of diagnostics by means of a Voltmeter if no DRIVEMANAGER with Digital Scope is available 4 Reference value10 V 2 3 Function Filter OSA00 IS 1 Actual value 2 Selection of the actual analog value 3 Output filter for interference decoupling from
281. tput with Low Level is inverted to High Level whereby it can be used in the program as a status indicator How to use this function in the sequential program Ny INV Hxxx Logic inverting of an integer variable Ny INV Mxxx Logic inverting of a flag Ny INV Oppi Logic inverting of a digital output Travel commands in positioning GO These commands can be used to move the driven positioning axis These commands must only be used in positioning mode the setpoint channel must be set to PLC preset solution with setpoint via PLC With torque speed control GO commands are evaluated as NOP Effect of the individual positioning modes see chapter 5 2 1 There are generally five methods to move the axis Absolute positioning Travelling to a certain position Relative positioning Travelling over a certain distance GOR Endless positioning Travelling with defined speed GO V Start referencing GO 0 Synchronous travel Electronic transmission GO SYN with continuation of program GO If this command is submitted within the program the program will immediately continue with the following program line after the axis has been started In this way several commands can be processed parallel to an ongoing positioning If this command is submitted during an ongoing positioning the travel to the new target position will be continued with the changed Application Manual CDE CDB CDF3000 7 33
282. transmission ratio of 56 3 was entered in the standardizing assistant under basic settings Conclusions gt with a reference encoder transmission ratio of 1 1 the reference encoder setpoint refers to the motor shaft of the gear motor 7 with a reference encoder transmission ratio of 56 3 the reference encoder setpoint refers to the output shaft of the gear motor Further information on PLC programming see chapter 7 Concerning angular synchronism see chapter 7 3 2 Angular synchronism electronic transmission on page 7 36 Application Manual CDE CDB CDF3000 6 46 L U S T 6 General software functions 6 2 5 Setpoint structure Function Effect further The setpoint structure adds The setpoint structure is settings control up both setpoints channels adapted to the application by Each channel can obtain the preset solution so that location setpoint source from a fixed most applications do not selection require any adaptation There is one setpoint For special applications the structure each for speed internal processing of the controlled operation and setpoint can be adapted positioning operation through the flexible setpoint structure Note This chapter addresses solely users who cannot find their particular drive solution or an approach to their solution in the preset solutions Source t Stands deeterence APLC 6 Pieterence of PLC Reference source 1 on selection vie input
283. tus unchanged Table 6 33 Parameter settings 685 ECCON for the signal correction With TTL or SSI encoders the following parameters must be set DRIVEMANAGER Value range WE Unit Parameter Lines per revolution TTL _ 432_ECLN1 encoder 32 0192 1021 ENC Number of bits Multiturn 0 16 12 448 SSIMU SSI encoder UU ENC 6 81 L U SGT 6 General software functions DRIVEMANAGER Value range WE Unit Parameter Number of bits Singleturn 0 20 13 447 5515 SSI encoder ENC Transmission ratio n2 n1 is encoder is not mounted on motor shaft 435_ECNO1 n1 numerator 32768 32767 1 ENC 436 ECDE1 n2 denominator 1 65535 1 operating instructions must be used Setting the number of bits and other settings under the button SSI configuration are reserved for special SSI encoders Such encoders may only be used after express approval by Lust Antriebstechnik GmbH Attention Only SSI absolute value encoders as specified in the Application Manual CDE CDB CDF3000 6 82 L U 6 T 6 General software functions 6 4 3 Motor Function Effect protection e Shut down with an error message E T OTM if the motor temperature W PTC exceeds the limit value e When using a linear temperature sensor the position controllers can emit a warning message at a defined temperature e Monitoring of the motor temperature
284. ty Electronic devices are never fail safe The company setting up and or operating the machine or plant is itself responsible for ensuring that the drive is rendered safe if the device fails EN 60204 1 DIN VDE 0113 Safety of machines in the section on Electrical equipment of machines stipulates safety requirements for electrical controls They are intended to protect personnel and machinery and to maintain the function capability of the machine or plant concerned and must be observed An emergency stop system does not necessarily have to cut the power supply to the drive To protect against danger it may be more beneficial to keep individual drives running or to initiate specific safety sequences Execution of the emergency stop measure is assessed by means of a risk analysis of the machine or plant including the electrical equipment in accordance with DIN EN 1050 and is determined by selecting the circuit category in accordance with DIN EN 954 1 Safety of machines Safety related parts of controls Application Manual CDE CDB CDF3000 1 4 LUST 2 Equipment hardware 2 1 Terminal positions CDE3000 2 2 2 2 Terminal positions CDB3000 2 7 2 3 Terminal positions CDF3000 2 11 24 Light emitting diodes 2 15 2 5 Resetting parameter settings 2 16 2 6 Lo
285. uated in dependence on the signal level Starting takes place after a Low High transition of the signal If the start signal is at High Level immediately after switching on the control is not started A Low High transition is required first Starting takes place when the start signal has High Level If the start signal is at High Level immediately after switching on the mains supply the control is started The function is also used for automatic starting after switching on the main supply It is switched on by parameter 7 AUTO ON Application Manual CDE CDB CDF3000 6 55 LUST 6 General software functions Attention With Auto Start the drive starts automatically after Mains On or after resetting an error depending on the error reaction Function Meaning Value range WE Parameter Auto Start OFF Start Low High flank triggered OFF ON OFF ON Start Level triggered Table 6 25 Parameter Auto Start Input options Setting for start enable Allow atomaht start Fig 6 26 Setting of Auto Start function with selection via terminal TERM Setting of control location selector 260 CLSEL BUS Plor m Function 0 OFF no function 1 TERM Control via terminal strip 2 KPAD Control via KEYPAD 3 SIO serial interface RS232 Serial Input Output 4 CAN Control via CANopen interface 5 OPTN Control via communication module 6 PLC Control
286. up to 22 kW Braking resistor L RB from gt 22 kW Braking resistor L RB 4 digital inputs 2 analog inputs X2 Control terminal 3 digital outputs of these 1 relay 1 analog output X3 PTC terminal PTC thermal circuit breaker or linear temperature sensor KTY 84 130 Table 2 8 Legend to Position plan CDB3000 EN Application Manual CDE CDB CDF3000 2 7 LUST Power terminal 2 Equipment hardware No Designation Function for PC with DRIVEMANAGER or control unit X4 RS232 port KP200 XL X5 CAN interface Access to integrated CAN interface X7 TTL SSI encoder interface for connection of suitable encoders Address encoder switch Setting the CAN addressi 3 CANopen hardware address parameter value COADR X8 Optional board slot e g optional module DPV1 xit Voltage supply for 24 V ground optional module X11 PROFIBUS DP interface Input bus connection X13 Address encoder plug Only with optional module DPV1 51 S2 Address encoder switch Only with optional module DPV1 Table 2 8 Legend to Position plan CDB3000 x1 Designation X1 Designation Motor cable U Motor cable U Motor cable V Motor cable V Motor cable W Motor cable W PE conductor PE conductor D C ling voltage Braking resistor D C ling voltage PE conductor NC Neutral conductor Mains phase PE conductor PE conductor
287. urs of positioning 87 TOP 3 v controller States of digital inputs and outputs 419 IOSTA 2 v v Filtered input voltage ISA00 416 ISAO 4 v Filtered input voltage ISA01 417 ISA1 4 v Filtered input current ISA00 418 ISAO 4 v Motor temperature with KTY84 407 MTEMP 2 evaluation Internal temperature 425 DTEMP 2 v v Heat sink temperature 427 KTEMP 2 v v Filtered output voltage 420 05 00 4 v Table 6 44 Settings for permanent actual value and bar graph display Standardization of parameters with bar graph display Parameter Function Effect notes i bises value SPEED current actual only clockwise rotation only positive max speed speed values APCUR actual apparent 2 current N Table 6 45 Standardization of actual parameter values Application Manual CDE CDB CDF3000 6 115 LUST 6 General software functions Application Manual CDE CDB CDF3000 6 116 Parameter Function Effect notes value ISAO Voltage or current at analog input 10V 20 mA 15 00 ISA1 Voltage at analog 10V input ISAO1 MTEMP actual motor Motor temperature only with linear A 200 C temperature evaluation KTY KTEMP actual heat sink 15 kW Temperatures 100 C in the temperature output stage module correspond with temperatures gt 85 C on the heat sink and causes shut down 200 C gt 15 kW Temperatures gt 85 C cause shut down because the temperature sensor is directly mounted to the heat sink DTEMP actual in
288. used for endless travelling A target position is of no relevance Online switching between modes i e with active control is possible In addition standardizations and units are applied according to the Factor Group and the control according to the DRIVECOM status machine Detailed information on configuration of the drive controller in the network can be found in the separate documentation CANopen data transfer protocol The travel set specification and control via PROFIBUS requires the external communication module CM DPV1 Control and target position specification is in accordance with the EasyDrive profile DirectPos Detailed information on configuration of the drive controller in the network can be found in the separate documentation PROFIBUS data transfer protocol 5 40 LUST 5 5 Positioning with PLC 5 6 Assignment of control terminal 5 CDE CDB CDF3000 in positioning operation For the preset solutions PCP_1 PCT_3 PCC_3 and PCB_3 the PLC is preset as source of reference values The specific settings on inputs and outputs for the control locations PLC PCP_1 terminal PCT_3 CANopen PCC_3 or PROFIBUS PCB_3 are described in chapter 5 6 With these presettings the various positioning commands GO x and STOP x can be used If the control location has also been set to PLC PCP_1 the command SET ENCTRL 0 1 can be used to switch the control off or on All general positioning functions as desc
289. ut 15000 15001 211 Fisor _ Function selector digital standard oec RECAM RECAM TBEN RECAM RECAM input 15001 56002 212 FIso2 Function selector digital standard gpp PLC TABO PLC input ISD02 56003 213 Fiso3 FUnction selector digital standard gpp PLC TABI PLC PLC input ISD03 15004 Function selector digital standard OFF PLC TAB2 PLC PLC input 15004 ISD05 Function selector digital standard OFF PLC TAB3 PLC PLC input ISD05 ISD06 Function selector digital standard OFF PLC PLC PLC input ISD06 Function selector digital standard OSDOO 240 FO0S00 input OSDOO REF Function selector digital standard 05001 241 0501 input 08001 ROT 0 Function selector digital standard 05002 242 0502 input 05002 S_RDY Function selector digital standard oe input OSD03 MA Table 5 14 Presetting of the control inputs and outputs on CDE3000 Application Manual CDE CDB CDF3000 5 42 LU ST 5 CDE CDB CDF3000 in positioning operation 5 6 2 Terminal Depending on the selected presetting the parameterization of inputs and assignment outputs differs from the factory setting see Table 5 15 After selecting the CDB3000 presetting the parameterization of the terminals can be adapted to the application as desired Pre set solution 1 0 Parameters Function SCT 1 PCC 1 eor PCC 2 ate 3 WE PCB_1 z PCB_2 PCB_3 isaoo 180 Fisao Function
290. ute value encoders as specified in the operating instructions must be used Setting the number of bits and other settings under the button SSI configuration are reserved for special SSI encoders Such encoders may only be used after express approval by Lust Antriebstechnik GmbH Encoder for CDE3000 CDF3000 The following encoders are evaluated by the CDE3000 CDF3000 Encoder type Connection to CDE3000 Connection to CDF3000 TTL incremental encoder TTL X7 X6 SSI absolute value encoder SSI M 15 Resolver X6 X6 Accepted encoders with the associated connection specification are specified in the CDE CDB3000 and CDF3000 operating instructions Table 6 32 Accepted encoders on CDE3000 CDF3000 Attention The configuration of the TTL or SSI encoders uses the same parameters as the configuration of the reference encoder input see chapter 6 2 4 because the hardware interfaces are identical Changing the encoder parameterization thus has a direct influence on the configuration of the reference encoder Application Manual CDE CDB CDF3000 6 78 L U 6 T 6 General software functions Selecting the encoder The encoder configuration is determined at the start configuration Encoder Motor Bake RS 5 1 Plesolvermotor encoder rerciver postion encoder USER D User dele je G masie encoder Ss 1 2 SS moter and pashon encoder RS SI 3 Resobvermolor encode S
291. via sequencing program Control via parameter interface PARAM NO INNON Table 6 26 Settings for 260 CLSEL control location selector Application Manual CDE CDB CDF3000 6 56 LUST Terminals TERM Operation panel KevPAp KP200 XL KPAD Serial interface SIO G CANopen interface CAN Optional slot OPTN e g PROFIBUS Sequential program PLC 6 General software functions To start the controller in control mode Terminal a digital input must be parameterized to FIxxx START With the settings Flxxx STR STL a start command can be specified for a direction of rotation The start commands are thereby decisive for the sense of rotation In order to save an input the start function with Auto Start can also be parameterized to a virtual input The controller is in this case started by setting the hardware release ENPO In the CONTROL menu the operation panel completely takes over the controller It sets the control location selector and the setpoint channel 1 to KP200 XL The second setpoint channel is disabled With the operation panel one can take over the control of the closed loop control and specify a signed setpoint to determine the sense of rotation Note The operation panel KP200 XL is connected to the CDF3000 using an additional interface cable A special bus protocol is used to control the positioning controllers via the serial interface terminal X4 The operating software DRIVEM
292. which triggers the corresponding actions when the cam is reached This status can be reported to a superordinate controls e g by setting a flag CMx The flag status CMx can be transmitted via outputs or the field bus The cam status can be additionally used by describing a PLC flag in the sequencing control cam 16 Fig 6 52 Function of electronic cam controller The cam controller is started and works if a cam number unequal zero is specified Cam gea Application Manual CDE CDB CDF3000 6 106 L U 6 T 6 General software functions Cam settings 2 End position Action 0 FFFF ODDUH 0 FRRFOOOUH 0 FFFFOOOOH 0 FFFFOOQOH 0 FFFFOOOOH 6 0 0 FFFE DUM n n FEE Y lt Cycle cam gear mm Number fo come Hysteron to avoid per effects 0 m CAM i diven by 2 seters to actual position xi Pressing the button Help the windows Settings cam controller and 1 Define action opens the online help The corresponding configurations of the cam controller must be made with the following parameters DRIVEMANAGER Meaning Value range WE Parameter The cam positions can be specified in 0 743 x_CST Start position any sequence however should 0 always be inside the cycle This 2147403647 _CAM condition is not checked Unit 0 744 x CEN End position Increments 65536 motor revolution e 0 DP with speed control user de
293. with integer variable SET Para n i Hxxx Direct specification of parameter number and index SET PARA Hxxx Hyyy Hzzz Specification of parameter number and index via integer variables with floating point variable SET PARA n i Fxxx Specification of parameter number and index direct SET PARA Hxxx Hyyy Fxxx Specification of parameter number and index via integer variables Note The data type must be observed during read write operations Example Do not assign floating point values to an integer type parameter value range violations possible _ Suitable for Data types Value range Function PLC variable USIGN8 0 255 USIGN16 0 65535 unsigned USIGN32 0 4294967295 INT8 128 127 FXXX INT16 32768 32767 Integer signed 2147483648 0985 2147483647 32 bit number with standardization 1 65536 INT32016 32767 99 32766 99 the low word indicates the fractional digits Fixed point number with Poor FIXPOINT16 0 00 3276 80 standardization 1 20 i e increment value 0 05 32 bit floating point Sen EBE number in IEEE format Table 7 1 Data types Application Manual CDE CDB CDF3000 7 32 LUST Travelling with or without continuation of program 7 User programming Inverting INV The INV command can be used to logically invert an integer variable a flag or the status of a digital output With this 0 an ou
294. with positioning controller switched on Setting special flags SET ENCTRL 0 1 Mxxx Control off on only with control j location PLC variables control variables SET INV 0 1 Mxxx Invert setpoint only with speed control not with endless positioning Application Manual CDE CDB CDF3000 7 25 L U SGT 7 User programming SET ERR 0 1 Mxxx Trigger error SET ERRRQ 0 1 Mxxx Reset error Attention PLC must not be switched off with controller Observe the control location when switching on via PLC SET BRKPT 0 1 Mxxx Breakpoints off on SET ACCR 0 150 Scaling of acceleration from 0 percent to 150 percent SET ACCR 0 150 Scaling of deceleration from 0 percent to 150 percent SET HALT 0 1 Mxxx Stop feed acc to stop reaction see 6 2 3 and Braking the drive STOP SET HALT BRAKE page 7 38 SET BRAKE 0 1 Mxxx Trigger quick stop acc to quick stop reaction see 6 2 3 and Braking the drive STOP SET HALT BRAKE page 7 38 SET EGEARPOS Hxxx Set run in reference encoder increments SET Hxxx EGEARPOS Read run in reference encoder increments SET Hxxx EGEARSPEED Read reference encoder speed in rpm Indexed assignment of a SET F Cxxx Value SET H Cxxx Value instant valu cons aue SET M Cxxx Value Setting integer variable direct SET Hxxx z indexed SET H Cxx z with 2 variable direct SET Hxxx Hyyy indexed SET H Cxx Hyyy with 2 i
295. x A Error No Error E PLS Fault location Plausibility error with parameter or program sequence Description 0 Unidentifiable runtime error 4 Unknown switching frequency or unknown device type detected The parameter list could not be initialized in the device start list 6 Possibly incorrect table with device class parameters 7 Runtime monitoring detected invalid parameter object incorrect data type or incorrect data width 8 The current operation level does not contain a readable parameter or parameter access error via KP200 11 Runtime monitoring detected invalid length of the automatically saved memory area 12 Runtime error when activating an assistance parameter 13 Unidentifiable parameter access level 42 An exception message Exception was triggered 54 Runtime error when checking an assistance parameter 100 Internal parameter access error during controller initialization 101 Unknown switching frequency during initialization of the PWM 130 Error in current controller tuning 133 Error in performance of Macro State Machine 255 Userstack exceeded the maximum size Application Manual CDE CDB CDF3000 L U S T Appendix A Error Fault To No Error location Description 10 E PAR Parameterization error 0 Invalid parameter setting 5 After the device boot phase

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