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ECODRIVE03 Drive for Machine Tool Applications With SERCOS

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1. P 0 0121 Velocity mixfactor feedback 1 amp 2 A Ap5174f1 fh7 Fig 9 71 Velocity Mixture Diagram Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 9 68 Basic Drive Functions ECODRIVE03 SMT 02VRS Setting the Frictional Torque Compensation The drive internal frictional torque compensation allows for direction dependent switching of the torque command value S 0 0155 Friction Compensation The reason for this is to equalize the frictional torques of the connected mechanical system so that the deviations can be reduced during a directional reverse and so that the exactness of an axis can be increased Frictional torque compensation is used in precision tool machines Meaningful Use of Frictional Torque Compensation e The frictional torque of the axis must be a relevant size If the frictional torque portion is less than 10 of the rated torque of the active drive then the frictional torque compensation has negligible results e The frictional torque to be compensated must remain basically constant independent from the current processing Preparation for Setting the Frictional Torque Compensation e Velocity and position loops must be set according to specification e The NC control system must be connected and must allow for the jog feature e Travel range limits of the axis must be set and activated e If the axis has a temperature dependent friction
2. y clear command 0 written into ID number e g P 0 0162 7 w 0 CR FD5007B1 WMF Fig 1 19 Starting a command part 2 Querying Command Status The current status of a command can be queried By doing so it can be ascertained that the drive has concluded command execution before the control or PC has ended the command The command status is queried as follows ID number of command 1 w 0 Carriage Return The drive signals the current command status after the ID number of the command parameter is written Possible status messages Oh command not set in drive 1h command set in drive 3h command set released and properly executed 5h command set in drive and enabled 7h command set and enabled but not executed Fh command set and enabled but not executed as error present Fig 1 20 Status messages DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Serial Communikations 1 19 The command status is transmitted in bit list form The definition of the individual bits is illustrated below Lo Rae We ae V reserved BitO 0 command not set in drive 1 command set in drive reserved Bit 1 0 command execution interrupted in drive 1 command execution enabled in drive Bit 2 0 command executed command not executed Bit 3 0 no error 1 error command execution not po
3. drive drive drive drive n n 1 n 2 n 3 FS0018d1 fh7 Fig 1 4 Parametrizing and diagnosing with a PLC DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 5 Parametrization and Diagnosing Drive Groups Using a Control Unit Application advantages e Using a central visualization unit RS485 Bus communnication uni command interface z B parallel I O bzw fieldbus PLC drive drive drive drive n n 1 n 2 n 3 FS0007d2 fh7 Fig 1 5 Parametrization and diagnoses of drive groups using a control unit 1 4 Transmission Protocols When switching on the 24V power voltage an automatic protocol detec tion is activated upon receipt of a symbol from the serial interface As soon as either e avalid SIS start telegram e ora valid ASCII start sequence bcd address has been received there is an internal switching to the relevant protocol and baud rate The drive supports two different protocols e ASCII protocol e SIS protocol These are explained below in greater detail Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 1 6 Serial Communikations ASCII Protocol SIS protocol Rexroth Indramat ECODRIVE03 SMT 02VRS Features Transmission rates of 9600 and 19200 baud Maximum transmission path 15m 8 bit ASCII protocol no parity bit a stop bit Structure Telegram frame In this case no
4. Relative drive Positi 7 internal oston f gt Velocity controller urrent interpolation controller controller Target pos Com value Velocity command torque force command Rexroth Indramat Fig 8 17 Block diagram of relative drive internal interpolation DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 15 Function principle Relative drive internal interpolation S 0 0282 Travel distance _ S 0 0346 Setup flag for target pos relative command value S 0 0258 Target position S 0 0259 Positioning velocity gt S 0 0260 Positioning acceleration Interpolation S 0 0047 Position TREE command value S 0 0193 Positioning jerk S 0 0108 Feedrate override r Determining E249 Positioning velocity S 0 0259 gt S 0 0091 Fig 8 18 Generator function relative drive internal interpolation See also chapter Position Controller See also chapter Velocity Controller See also chapter Current Controller After the operating mode is activated the drive first positions to that position specified in parameter S 0 0258 Target position The parameter is stored when the control voltage is switched off so that if an absolute measuring system is used the target position is still retained The reference dimension is not lost If there is no absolute measuring system then the actual position value is preset in parameter S 0 0258 Target positio
5. 3C 03 00 2C 00 42 00 Tel header Control byte Device address Param type Parameter No LSB MSB User data User data head Ta0009f1 fh7 Fig 1 44 Write parameter S 0 0044 Command telegram Reaction telegram 00 3C 03 Status byte Control byte Device address i User data head gt Ta0010f1 fh7 1 45 Write parameter S 0 0044 Reaction telegram Fig Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 31 Write accessing with following telegrams Service 0x8F Parameters or elements with a length exceeding 243 bytes are read in several steps A transmission of lists of this kind are performed in sev eral steps Bit 2 in the control byte identifies the current transmission steps as either running of final transmission The control word for a transmission in several steps is described be low 1 step 38 p Control Device Param Parameter No byte address type LSB MSB 243 Data bytes k User data head gt lt User data Ta0011 f1 fh7 Fig 1 46 Write following command telegram step 1 38 Device address Control Tel header byte User data head Ta0012f1 fh7 Fig 1 47 Write following reacti
6. A gt t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV0007d2 fh7 Rexroth Indramat Fig 8 26 Example Position dependent block commutation mode 1 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 29 b Block transition with new positioning speed Mode 2 P 0 4019 Process block mode 21h absolute block with following block P 0 4019 Process block mode 22h relative block with following block P 0 4019 Process block mode 24h infinite block in positive direction with following block P 0 4019 Process block mode with following block 28h infinite block in negative direction In following block mode 2 position dependent block commutation means that the target position of the start block is run through at the positioning speed of the following block Definition The drive runs in the direction of the target position X with infinite blocks in set direction set in current position block n As the drive approaches Xn there is acceleration a to the next positioning speed v 1 so that the speed Vn can be achieved prior to target position X The switch to the next positioning block does not occur here either until the next target position is overrun vt spee
7. Before switching on power for electrical units all housings and motors must be permanently grounded according to the connection diagram This applies even for brief tests Leakage current exceeds 3 5 mA Therefore the electrical equipment and units must always be firmly connected to the supply network Use a copper conductor with at least 10 mm cross section over its entire course for this protective con nection Prior to startups even for brief tests always connect the protective conductor or connect with ground wire High voltage levels can occur on the housing that could lead to severe electrical shock and personal injury European countries EN 50178 1998 section 5 3 2 1 USA See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must maintain the above noted instructions at all times 2 6 Protection by protective low voltage PELV against electrical shock All connections and terminals with voltages between 5 and 50 Volts on INDRAMAT products are protective low voltages designed in accordance with the following standards on contact safety e International IEC 364 4 411 1 5 e EU countries see EN 50178 1998 section 5 2 8 1 High electrical voltage due to wrong connec tions Danger to life severe electrical shock and severe bodily injury WARNING Only equipment electrical components and cables of
8. Basic Drive Functions 9 17 The parameter S 0 0053 Position feedback 2 value displays the position of the optional encoder Set the reference measure to the machine zero point as follows e 0 0148 C600 Drive controlled homing procedure command or for absolute encoders e P 0 0012 C300 Command Set absolute measurement The optional encoder can be used for different purposes The evaluation mode for the optional encoder is set in parameter P 0 0185 Function of encoder 2 Value in P 0 0185 Function of encoder 2 Meaning 0 Optional encoder as an additional load side control encoder for position and or velocity control loops Signal frequency monitored for exceeding maximum frequency of the interface Upon exceeding this error F246 Max signal frequency for encoder 2 exceeded is generated and the position status S 0 0403 cleared 2 Optional encoder as only load side control encoder only with rotary asynchronous motors In this case there is no other motor encoder P 0 0074 0 Parameter P 0 0121 Velocity mix factor Feedback 1 amp 2 must be set to 100 4 Optional encoder as spindle encoder Handled like optional encoder as additional load side control encoder for position and or velocity control loops Upon exceeding signal frequency no error is generated but rather only the position status cleared Fig 9 19 Function of the optional encoder Determining the Encoder Interfac
9. Home switch not functioning correctly please remedy Move the axis to the home switch a Parameter Home switch 0 yes no Check the home switch S 0 0400 gt for correct function and wiring Move the axis away from home switch Parameter S 0 0400 Home switch 0 y yes Function check completed Fd5021f1 fh5 Fig 9 108 Checking the function of the home switch DOK ECODR3 SMT 02VRS FK01 EN P Rexroth Indramat 9 104 Basic Drive Functions ECODRIVE03 SMT 02VRS e Detecting the reference mark positions of external feedback systems AS i i to to uo od per fx ae earn Motor 1 Motor 2 AS Position offset of reference marks in the direct measuring systems of gantry axis X1 X2 Ap5039f1 f h5 Fig 9 109 Position offset of reference marks in the direct measuring system of l gantry axes X1 X2 Procedure 1 Trigger command P 0 0014 Determine marker position in both axis see control manual 2 Move both axis towards the reference marks by forwarding the same position command values through the NC control Note The direction of travel must be the same as that of the subsequent homing cycle Bit 0 S 0 0147 homing parameter On reaching the relevant reference mark of the linear scale each of the two drives stores the actual position feedback value 2 in
10. Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 101 Gantry axes have an inherent skewing problem This skewing must always be tolerated by the mechanical structure of the machine in such a way that the machine will never under any circumstances be damaged Pre requisites for operating Gantry axes Both Gantry axes are registered as a single axis in the NC control The axis are identically parametrized The Gantry drives are equipped with absolute encoders The guide rails of the gantries X1 X2 must be parallel Setting up Gantry axes Procedure Align the gantry axis at right angles to the traversing direction This can be done manually or by jogging the axis ie i he K 1 TOES 34 HAA i 3 i E Z Traversing E direction E Motor 1 Motor 2 1 91 92 90 Ap5037f1 fh5 Fig 9 106 Rectangular aligning of Gantry axis DOK ECODR3 SMT 02VRS FK01 EN P Rexroth Indramat 9 102 Basic Drive Functions ECODRIVE03 SMT 02VRS ll Set absolute reference dimension 1 Record the distance from the gantry axis to the machine zero point 2 Enter distance A to machine zero point in parameter S 0 0052 Reference distance 1 3 Trigger command P 0 0012 Set absolute Measurement 4 Cancel the drive ena
11. Rexroth Indramat 8 44 Operating Modes Diagnostic Messages ECODRIVE03 SMT 02VRS The drive positions itself at the relevant position limit S 0 0049 or S 0 0050 if e position limit monitor is activated S 0 0055 Position polarity Bit 4 1 e and the drive has been homed S 0 0403 Position feedback value status Bit O 1 Note If one of the above conditions has not been satisfied then the drive continues to run infinitely in the set direction Note The speed at which the drive moves when jogging can be influenced with the help of the Override function Function Positioning at limited speed also has an immediate effect on the jog speed Warning E831 Position limit reached during jog is generated if the drive positions at the position limit value The warning is cleared e once the mode is changed and e after jogging in the opposite direction Hardware Requirements for operating mode jogging Rexroth Indramat In units with positioning interface e g DKC01 3 parameter P 0 4056 Jog inputs is write accessed directly by the hardware inputs jog jog inputs 1 and jog jog inputs 2 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 1 9 Basic Drive Functions 9 1 Physical Values Display Format The combination of unit and number of decimal places is expressed with the term scaling DOK ECODR3 SMT 02VRS FK01 EN P Data exchange between the controller
12. The ambient conditions given in the product documentation must be observed Use only safety features that are clearly and explicitly approved in the Project Planning manual For example the following areas of use are not allowed Construction cranes Elevators used for people or freight Devices and vehicles to transport people Medical applications Refinery plants the transport of hazardous goods Radioactive or nuclear applications Applications sensitive to high frequency mining food processing Control of pro tection equipment also in a machine Start up is only permitted once it is sure that the machine in which the product is installed complies with the requirements of national safety regulations and safety specifications of the application Operation is only permitted if the national EMC regulations for the ap plication are met The instructions for installation in accordance with EMC requirements can be found in the INDRAMAT document EMC in Drive and Control Systems The machine builder is responsible for compliance with the limiting values as prescribed in the national regulations and specific EMC regulations for the application European countries see Directive 89 336 EEC EMC Guideline U S A See National Electrical Codes NEC National Electrical Manu facturers Association NEMA and local building codes The user of this equipment must consult the above noted items at all times DOK ECODR3 SMT 02
13. Preparations for Setting the Velocity Controller A number of preparations must be made in order to be able to set the velocity loop controller e The mechanical system must be set up in its final form in order to have actual conditions while setting the parameters e The drive controller must be properly connected as described in the user manual e The safety limit switches must be checked for correct operation if available e The Operating Mode Velocity Control must be selected in the drive Rexroth Indramat 9 58 Basic Drive Functions Rexroth Indramat Start settings ECODRIVE03 SMT 02VRS The controller setting must be selected for the start of parameterization as follows S 0 0100 Velocity Loop Proportional Gain default value of the connected motor S 0 0101 Velocity Loop Integral Action Time 6500 ms no integral gain P 0 0004 Smoothing Time Constant Minimum value 500us P 0 0181 Rejection bandwidth velocity loop 0 Hz deactivated Note When determining the velocity control parameters the functions for Torque and Backlash compensation should not be active Definition of the Critical Proportional Gain and Smoothing Time Constant e After turning on the controller enable let the drive move at a low velocity Rotational motors 10 20RPM linear Motors 1 2 m min e Raise the S 0 0100 Velocity loop proportional gain until unstable behavior continuous oscillation begins
14. If positioning blocks are interrupted then a part of a path to the target position remains This remaining distance is the residual path By sequencing relative positioning blocks it is possible to position with chain dimensional reference If a relative block is interrupted without residual path storage then this chain reference is lost If the positioning block is completed i e the drive reaches target position and message end position reached is activated then positioning is possible without the loss of the chain reference Note If infinite positioning in either a forward or backward direction is achieved by sequencing relative positioning blocks transport belt then the position data must be scaled in modulo format Modulo value transport belt length or modulo value 2 times the maximum travel distance Example Relative positioning without residual path storage with target position 700 current position 200 4 S 0 0124 y l Standstill window I speed profil P 0 4026 01 t Process block selection n I P 0 4051 ory Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 S 0 0346 Setup flag for relative command values gt le az lt 4ms t Positioning inputs valid Positioning
15. Indramat 9 24 Basic Drive Functions If an optional encoder is mounted the multiplication of the motor encoder is guided by Rexroth Indramat the optional encoder ECODRIVE03 SMT 02VRS Example 1 Linear scale with 0 02mm grid division maximum travel range 5m therefore a multiplication of 2431 x 0 02 5000 8589 8192 This results in a resolution of 0 02mm 8192 0 002441 um Note When computing multiplication always use the next lower binary value of the precise results Drive internal representation of position data when an optional encoder is present If there is an optional measuring system then the multiplication of this encoder is computed as per the above formula in terms of the travel range set The multiplication of the motor encoder is calculated so that it also covers this travel range This means that values exceeding 32768 for the multiplication of the motor encoder can be generated depending on the mechanical transformation elements Example MKD motor with rotary optional encoder motor encoder resolution 4 optional encoder resolution 1000 travel range 50 revolutions gear ratio 1 1 1 Calculating the multiplication of the optional encoder 2 31 1000 e 50 42949 technical maximum 32768 thus S 0 0257 32768 This results in a resolution of 0 00001098 Degrees 2 Calculating the multiplication of the motor encoder 2431 4 50 10737418 the next smaller
16. Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 10 2 Optional Drive Functions ECODRIVE03 SMT 02VRS Example A signal status word with the following configuration must be put together Bit no in ID number of Bit no of S 0 0144 Signal original original status word parameter parameter Definition 0 S 0 0013 1 Vist 0 1 S 0 0182 6 IZP 2 S 0 0403 0 position status 3 P 0 0016 4 P 0 0015 specifying memory address of a drive internal counter Transmission is from bit 4 Fig 10 1 Example of a configurable signal status word Signal status word output Bit 0 9 of parameter S 0 0144 Signal status word are copied in the DKC01 3 to the digital outputs X15 14 24 Note A maximum of 16 bits can be configured Configuration is performed from the least significant to most significant bit In other words the position of the bit copy in the signal status word is the result of the continuous configuration in S 0 0026 Note The setting of the signal status word corresponds to the assignment of the digital outputs in a basic unit with parallel interface Diagnostic Error Messages The following checks are run when inputting parameters S 0 0328 Assign list signal status word or S 0 0026 Configuration list signal status word If more elements are programmed in S 0 0328 Assign list signal status word than S 0 0026 Configuration list signal status word then error message 0x1001 ID num
17. S 0 0153 Spindle angle P 0 1222 S 0 0403 Position feedback value status Bit 0 in reference S 0 0013 Class 3 diagnostics Bit 6 in position position S 0 0222 Spindle positioning speed time t time t time t Once the command is completed the drive returns with the currently pending speed or toque command values ECODRIVE03 SMT 02VRS velocity v Start command spindle positioning S 0 0152 and filter Note Positioning With the command spindle positioning it is possible to position the spindle via an encoder or a spindle reference switch Which positioning procedure is actually used depends on the way the motor is mechanically coupled to the spindle Using parameter S 0 0147 Homing parameter it is possible to choose between e positioning to the motor encoder e Positioning to spindle encoder e positioning to spindle reference switch Spindle motor coupling Positioning procedure Spindle positioning via Setting in S 0 0147 rigid coupling i 1 motor feedback XXXX XXXX X01x OXxx gearbox and indexing mechanical non slip i 1 spindle reference switch XXXX XXXX X10x Oxxx gearbox and indexing mechanical non slip i 1 spindle feedback XXXX XXXX XO1X 1XxXX belt coupling slip spindle feedback XXXX XXXX XO1X 1XxXxX Abb 10 42 Positioning procedure depends on spindle motor coupling DOK ECODR3 SMT 02VRS FK01 EN
18. anos ONUOD 9 6 BIS position control KB S 0 0348 5 pos com val diff gt 4 velocity control See 3 acceleration feed forward current control lt d velocity command value UNS A 0101 TNi S 0 0107 P 0 0180 position L P 0 0181 current command S 0 0032 E259 P 0 0181 commana value Bit 3 y va ue Xcom La Qcom ee es a a o gt lt 0 0047 Kv S 0 0104 S 0 0036 A TGL oa omg Kpi 5 0 0106 ms Nlimit P 0 0004 s 0100 P 0 4046 a 5 0 0189 Soi i S 0 0084 tual 8ms P 0 0538 Bit7 act current position wa TeL value Idact value Xact 5 0 0032 35 5 0 0051 S 0 004051 P 0 0004 sampling time 125 usec 3 aa S 0 0080 S 0 0053 Vist Vist motor ext encoder sampling time 500 usec sampling time 1 msec S 0 0032 Primary mode of operation S 0 0080 S 0 0036 Velocity command value S 0 0084 S 0 0037 Additive velocity command value s 0 90991 S 0 0040 Velocity feedback value S 0 0100 S 0 0047 Position command value S 0 0101 S 0 0051 Position feedback 1 value S 0 0106 S 0 0053 Position feedback 2 value S 0 0107 P 0 0421 424 lt d velocity command value gt ID no P 0 0420 423 lt S 0 0036 Torque force command S 0 0189 Following error Torque force feedback value S 0 0348 Acceleration feedforward prop gain B
19. e Determined the frequency of the oscillation by oscilloscoping the actual velocity see also Analog Output If the frequency of the oscillation is much higher than 500Hz raise the P 0 0004 Smoothing Time Constant until the oscillation ends After this increase the S 0 0100 Velocity Control Proportional Gain until it becomes unstable again e Reduce the S 0 0100 Velocity loop proportional gain until the oscillation ends by itself The value found using this process is called the critical velocity loop proportional gain Determining the Critical Integral Action Time e Set S 0 0100 Velocity loop proportional gain 0 5 x critical proportional gain e Lower S 0 0101 Velocity loop integral action time until unstable behavior results e Raise S 0 0101 Velocity loop integral action time until continuous oscillation vanishes The value found using this process is called the Critical Integral Action Time DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 59 Determining the Velocity Controller Setting The critical values determined before can be used to derive a control setting with the following features e Independent from changes to the axis since there is a large enough safety margin to the stability boundaries e Safe reproduction of the characteristics in series production machines The following table shows many of the most frequently used application types and the corres
20. e the value of this data to be made compatible for exchange between control system and control drive or in other words the data can be exchanged in the control system s internal format The control system will not need to convert this data e this data to conform to machine kinematics Linear movements can be described with linear units for example and rotary movements can be described with rotary units It is possible to select between linear and rotary scaling and preferred and parameter scaling as well as between motor and load reference Linear Rotary Scaling Adjustable scaling allows either linear or rotary scaling to be selected Linear motors normally use a linear scale Rotary motors use either a rotary or linear scale if their rotary movement is converted into a linear movement with a ballscrew for example Preferred Scaling Parameter Scaling Adjustable scaling allows either preferred scaling or parameter scaling to be selected If preferred scaling is selected the appropriate scaling factor parameters and scaling exponent parameters in S 0 0128 C200 Communication phase 4 transition check are overwritten with preferred values This sets a pre defined scaling The scaling factor parameter and the scaling exponent parameter are not entered The preferred scaling adjusts itself to the selection of linear or rotary scaling The following preferred scalings are available Physical Value Rotary Preferred
21. 0x9004 Input cannot be identified 0x9005 data element number not defined 0x9006 error in write read r w 0x9007 nonsense symbol in data Fig 1 29 Error messages during ASCII communications Error with SIS Communication status byte Error code DOK ECODR3 SMT 02VRS FK01 EN P Error during Parameter Transmission If an error occurs during parameter transmission then error during pa rameter transmission is signalled in the status byte An error code is transmitted in the first two bytes of the user data It de scribes the type of error The following errors can occur during parameter transmission Error code Explanation 0x0000 no error 0x0001 service channel not open 0x0009 element 0 incorrectly accessed Service channel presently occupied BUSY 0x8001 The desired acces presently not possible as service channel is busy problem in service channel 0x8002 The requested drive cannot presently be ac cessed 0x800B Transmission terminated higher priority Unallowed access service channel not ac 0x800C tive A new request is started before the last one is completed Fig 1 30 Error messages in serial protocol Execution and Protocol Acknowledgement One status byte is transmitted with each reaction telegram The status byte supplies the results of a transmission in the form of a code number It generally applies Status byte results Code number transm
22. 155 0 C Those default values can be used to help set the parameters for all other motor types However you must ensure that the switch off limit is not set higher than the maximum permissible temperature of the motor The maximum input value for S 0 0201 Motor warning temperature is S 0 0204 Motor shutdown temperature If the temperature of the motor exceeds the value in S 0 0201 Motor warning temperature the warning message E251 Motor overtemp prewarning is generated If the temperature rises to the motor switch off temperature the error message F219 Motor overtemp shutdown is displayed The minimum input value for S 0 0204 Motor shutdown temperature is S 0 0201 Motor warning temperature Note To display the motor temperature the parameter S 0 0383 Motor Temperature is used The drive controller checks for proper functioning of the motor temperature monitoring system If discrepancies occur temperature drops below 10 celsius the warning E221 Warning Motor temp surveillance defective will be displayed for 30 seconds After that the error message F221 Error Motor temp surveillance defective is generated Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 7 4 Motor Configuration Load Default Feature ECODRIVE03 SMT 02VRS MHD MKD and MKE motors have a data memory in their feedbacks The data memory contains a set of default control parameters in addition to all motor dependent parameters
23. 5 Minimum Input Value contains the minimum input value of the operating data 6 Maximum Input Value contains the maximum input value of the operating data 7 Operating Data actual parameter value Fig 3 1 Data blocks or parameter structure Rexroth Indramat 3 2 General Instructions for Installation Write Accessibility Data Storage Rexroth Indramat ECODRIVE03 SMT 02VRS Only the operating data can be changed all other elements can only be read The operating data can be write protected either continuously or temporarily The write accessing of the operating data depends on the relevant communications phase Possible Error Messages when Reading and Writing Operating Data Error Reason 0x7002 data transmitted too short 0x7003 data transmitted too long 0x7004 Data not changeable 0x7005 Data currently write protected The operating data is write protected Supplement A Parameterdescription The operating data cannot be written to in this communication phase see 0x7006 Data smaller than minimum value minimal input value The operating data is smaller than its 0x7007 Data larger than maximum value The operating data is larger than its maximum input value 0x7008 Data is not correct 0x7009 data write protected with password The value could not be accepted as written because internal tests lead to a negative result The parameter cann
24. 7 26 Motor Configuration ECODRIVE03 SMT 02VRS Connecting the Motor Holding Brake See relevant Project Planning Manual for details Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 1 8 Operating Modes 8 1 Setting the Operating Mode Parameters Command communications parallel interface Command communication analog interface Command communication via SERCOS Depending on the type of command communication used different numbers of operating modes are available If the drive is controlled via parallel command communication then two different modes can be used namely e Primary Mode of Operation and e Secondary Operating Mode 1 The main operating mode is defined in parameter S 0 0032 Primary mode of operation Auxiliary operating mode 1 is permanently set to jog The drive switches from main to auxiliary modes if input jog positive or jog negative is actuated If analog command communication is used then the drive can only be operated in the main operating mode If a command communication via SERCOS is used then using the following four parameters e 0 0032 Primary Mode of Operation e 0 0033 Secondary Operating Mode 1 e 0 0034 Secondary Operating Mode 2 e 0 0035 Secondary Operating Mode 3 four different operating modes can be simultaneously pre selected The above parameters are listed in an overview and specify the input value for
25. 9 28 Basic Drive Functions Monitoring absolute encoder evaluation conditions ECODRIVE03 SMT 02VRS e the rotational direction of the measuring system set in parameters S 0 0277 Position feedback 1 type or S 0 0115 Position feedback 2 type in bit 3 e the position polarity set in S 0 0055 Position polarities e the multiplication in parameters S 0 0256 Multiplication 1 or S 0 0257 Multiplication 2 calculated using S 0 0278 Maximum travel range e the value stored in the parameters S 0 0177 Absolute distance 1 or S 7 0177 Absolute distance 1 If one of these four conditions changes then the position status of the relevant measuring system is cleared S 0 0403 Position feedback value status 0 and the error F276 Absolute encoder out of allowed window is generated Absolute Encoder Monitoring Functional principle of the absolute encoder monitor Rexroth Indramat If the absolute evaluation of a measuring system has been activated position encoder type parameter S 0 0277 or S 0 0115 01Xx xxxxb then in command S 0 0128 C200 Communication phase 4 transition check the actual position value is generated and monitored The monitoring of the actual position value is only active if the encoder is in reference When turning off the drive s power supply the current actual position of the axis is loaded into resident memory When switching the axis back on the difference of the stored position and the newly init
26. Case C1 Case C2 Case D1 ECODRIVE03 SMT 02VRS In the event that the co ordinate system switch does not automatically take place drive internally P 0 0612 bit 2 0 then proceed as follows e take the axis to the measured position e enter the actual position value wanted into the relevant reference dimension actual position value parameter e Start command P 0 0012 C300 Command Set absolute measurement write 11b into P 0 0012 There is no switching of position data as yet e Start command S 0 0148 C600 Drive controlled homing procedure command or remove drive enable This function recognizes that it is dealing with an absolute measuring system and conducts Setting the absolute dimension In other words the actual position value is set to the reference dimension The position command value is simultaneously set to the same value S 0 0047 Position command value If the drive is in Position control mode then the position command value must be read via the acyclic parameter channel e g service channel with SERCOS and the position command value of the control set to this value before the referencing command is cleared e Clearing command C300 Set absolute measuring the absolute dimension In the event that the co ordinate system is to be automatically and drive internally switched at the start of command Setting the absolute dimension P 0 0612 Bit 2 1 then proceed as follows e Bring the
27. Indramat ECODRIVE03 SMT 02VRS Determining the travel path in Run path mode If in bits 7 and 8 of S 0 0147 Homing parameter the Run path mode has been programmed see function sequence of Drive controlled referencing then the drive always runs a path defined by parameter S 0 0165 Distance coded reference offset 1 For the homing of a translatory motor encoder encoder 1 it applies S Re fen S 0 0165 S 0 0116 S 0 0165 Value in Parameter S 0 0165 Distance coded reference offset 1 S 0 0116 Feedback 1 Resolution Sreten Travel path Fig 9 97 Travel path when referencing with distance coded reference marks and in Run path mode for translatory measuring systems linear scales For the homing of a translatory optional encoder encoder 2 it applies S Re fen S 0 0165 S 0 O117 S 0 0165 Value in Parameter S 0 0165 Distance coded reference offset 1 l S 0 0117 Feedback 2 Resolution SRefen Travel path Fig 9 98 Travel path when referencing with distance coded reference marks and in Run path mode for translatory measuring systems linear scales For the homing of a rotary motor encoder encoder 1 it applies 360Deg S 0 0165 S Re fen S 0 0116 S 0 0165 Value in parameter S 0 0165 Distance coded reference offset 1 S 0 0116 Feedback 1 Resolution S kefen Travel path Fig 9 99 Travel path when referencing with distance coded reference marks and in Run path mode for rotary measur
28. P 0 0210 Analog input 1 z ay P 0 0217 Analog input 1 Offset P 0 0213 P 0 0214 Analog input 1 scaling per 10V Analog input 1 assignment Fig 10 6 Functional principle of assigning analog input 1 to a parameter Displaying analog value 1 The converted voltage signals of both differential inputs are stored in parameter P 0 0210 Analog input 1 respectively Configuring the analog input1 An assignment of an analog input to a parameter is activated if in parameter P 0 0213 Analog input 1 assignment a value not equal to S 0 0000 has been parametrized The contents of P 0 0210 Analog input 1 minus the contents of P 0 0217 Analog input 1 Offset is scaled with the scaling factor set in P 0 0214 Analog input 1 Scaling per 10V and then copied into the parameter with the ID number set for the assignment in P 0 0213 Analog input 1 Assignment Evaluation parameter unit The unit of the parameter P 0 0214 Analog input 1 Scaling per 10V complies with the unit of the assigned parameter Selection list Only those parameters can be assigned that are listed in P 0 0212 Analog inputs IDN list of assignable parameters Configuring analog input 2 Note The configuration or allocation of analog input 2 can be conducted accordingly Example Assignment of analog input 1 to S 0 0036 velocity command value with 10 V equal to 1000 rpm Parameter setting e P 0 0213 analog input 1
29. Position Motor and e controller mechanical system Position controller loop gt O S 0 0159 model Monitoring Pa Window Peak value ar rc P 0 0098 E Maximum Model The error F228 Excessive Deviation Control Deviation is generated Fig 9 69 Schematic of Position Control Loop Monitoring Note For accurate monitoring the actual feedback value from the position control is always used This means that for position control with the motor encoder position feedback value 1 is used and for position control with the external encoder the position feedback value 2 is used Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Requirements settings Basic Drive Functions 9 65 Setting the Position Control Loop Monitor Requirements for the setup of the position loop monitoring are e Check the velocity and position control loops for their appropriate settings e The axis in question should be checked mechanically and should be in its final state The position control loop monitor settings are performed e Through the connected control you should proceed in a typical operation cycle In this mode move at the maximum projected velocity e In parameter P 0 0098 Max Model Deviation the maximum deviation between the actual feedback value and the expected feedback value is always displayed Note The contents of this parameter are not saved After enabling
30. RS232 mode The drive address is set via the serial interface by write accessing com munications parameter P 0 4022 Drive address DriveTop or a PLC can be used for this purpose Exception If value 256 is entered into communication parameter P 0 4022 then the unit address set via the address switch will be used for serial commu nications and not the value used in P 0 4022 Switch S3 Set drive address 91 FP5032F1 FH7 Fig 1 1 Setting the address via the address switch on the programming module l It is only absolutely necessary to set the drive address if communi cations uses the RS485 bus because each bus participant will be ad dressed at a specific bus address Note To avoid accessing conflicts assign each drive address only once This mode does not necessitate the setting of drive address be cause only one participant is connected peer to peer connection DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 3 Communications via RS232 Interface Features The RS232 interface is intended for use when connecting a PC with the DriveTop startup program e Transmission rate 9600 and 19200 baud e Maximum transmission path 15m e 8 bit ASCII protocol or 8 bit SIS protocol e no parity bit e astop bit PC mit DriveTop command interface z B parallel I O bzw fieldbus PLC drive drive drive driv
31. e Reference signal gt Xon OR e Reference signal lt Xoff Reference value ae Fig 10 32 Programmable Limit Switch With Xon gt Xoff A switch hysteresis is available to avoid position switch flickering when the on or off switch level is reached Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 10 32 Optional Drive Functions The velocity of the drive should remain constant while using the lead time ECODRIVE03 SMT 02VRS Programmable Limit Switch Lead Time By setting a lead time compensation can be made for the delay of an external switch element that is controlled by a PLS bit In that way a theoretical adjustment value can be calculated from the lead time and the current drive velocity for the on and off switch positions The PLs bit switches by the lead time before reaching the corresponding position The assumption is that the velocity is constant in the range between the theoretical and real on or off switch position Reference value eee Peia s Actual reference value On or off switch threshold Peida eoeee s e Time Cam switch bit with l Derivative action time x 0 and without derivative i action time i lt _ j Derivative action time x Fig 10 33 Diagram for the Programmable Limit Switch Lead Time Parameterizing the Programmable Limit Switch Rexroth Indramat The P 0 0131 Signal Selection for Programmable L
32. e position control e drive internal interpolation e relative drive internal interpolation e jogging e positioning block mode e Stepper motor mode Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS System Overview 1 3 Supported Types of Motors e MKD e MHD e 2AD e ADF e 1MB e MBW e LAF e LAR e MKE e Rotary synchronous kit motor e Linear synchronous kit motor Supported Measuring Systems General Functions DOK ECODR3 SMT 02VRS FK01 EN P e HSF LSF e resolver e sine encoder with 1Vss signals e encoder with EnDat Interface e resolver without feedback data memory e resolver without feedback data memory with incremental sine encoder e gearwheel encoder with 1Vss signals e Hall encoder square wave encoder e Hall encoder sine encoder e ECI encoder Which combination is possible is outlined in section Setting the Measurement System e Extensive diagnostics options e Basic parameter block that can be activated for a defined setting of the drive parameters to default values e Customer passwords e Error memory and operating hour counter e Configurable signal status word e Supports five 5 languages for parameter names and units and diagnoses S 0 0095 e German e English e French e Spanish e Italian e Settable drive internal position resolution e Evaluation of option load side encoder for position and or velocity control e Evaluates absolute measuring syste
33. engineering mannesmann Rexroth ECODRIVE03 Drive for Machine Tool Applications With SERCOS Analog and Parallelinterface Functional Description SMT 0O2VRS SYSTEM200 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat About this Documentation ECODRIVE03 SMT 02VRS Title Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Rexroth Indramat Record of Revisions Copyright Validity Published by Note ECODRIVE03 Drive for Machine Tool Applications With SERCOS Analog and Parallelinterface Functional Description SMT 0O2VRS DOK ECODR3 SMT 02VRS FK01 EN P e Box 71 02V EN e Based on SMT 02V e 120 1000 B308 01 EN The following documentation describes the functions of the firmware FWA ECODR3 SMT 02VRS This documentation serves e for Description of all functional features Description Release Notes Date DOK ECODR3 SMT 02VRS FKO1 EN P_ 12 99 first release 1999 Rexroth Indramat GmbH Copying this document giving it to others and the use or communication of the contents thereof without express authority are forbidden Offenders are liable for the payment of damages All rights are reserved in the event of the grant of a patent or the registration of a utility model or design DIN 34 1 All rights are reserved with respect to the content of this documentation and the availability of the product Rexro
34. At which interface the motor encoder should be connected and what type it is set in parameter P 0 0074 Feedback type 1 If an optional encoder is also to be used the parameter P 0 0075 Feedback type 2 must be used to define encoder interface and encoder type The following table explains the relationship Value in Measuring system type Interface P 0 0074 75 digital servo feedback or resolver 1 1 incremental encoder with sine signals 2 2 from Heidenhain with 1V signals Incremental encoder with square wave 2 5 signals from Heidenhain Encoder with EnDat interface 2 8 gearwheel encoder with 1Vss signals 2 9 Resolver without feedback data storage 1 10 Resolver without feedback data storage 1 2 11 incremental encoder with sine signals Hall encoder square wave encoder 1 2 12 ECI encoder 1 13 Hall encoder plus sinus encoder 1 2 14 Fig 9 12 Measuring systems gt connections Rexroth Indramat ECODRIVE03 SMT 02VRS 9 12 Basic Drive Functions Motor Encoder The table illustrates that some combinations are not possible as each encoder interface is only physically present once To display the actual position value of the individual measuring systems use parameters e 0 0051 Position feedback 1 value e 0 0053 Position feedback 2 value To set the absolute reference of actual position value 1 2 to the machine zero point use commands e 0 0148 C600 Drive contro
35. FK01 EN P e 0 0134 Master control word e 0 0135 Drive status word e S 0 0099 C500 Reset class 1 diagnostic Digital inputs are read in every 500us and filtered with a digital filter so that the drive can detect a signal change within 2ms Due to the digital processing the signals are active in the drive within 10ms The digital input signals are stored in parameter S 0 0134 Master control word See section Master Control Word The drive is activated via a 0 1 edge of the drive enable signal which is displayed in bit 15 of the master control word For the drive enable signal to be accepted i e for the drive to switch from an off to an on state the following conditions must be met e no drive error e power section must be on The drive displays Ab in this state The diagnosis via parameter S 0 0095 Diagnostic message reads A012 Control and power sections ready for operation Once the drive enable is set then the 7 segment display reads AF The diagnosis then shows the activated state e g A101 Drive in VELOCITY control The signal is dependent on the state and zero active which means that if the signal OV then the drive is in Drive halt The input signal is illustrated in the master control word bit 13 See Section Drive Halt Rexroth Indramat 5 2 Command Communications with Analog Interface ECODRIVE03 SMT 02VRS Clear error LIMIT LIMIT E Stop Digital Outputs An Errors A War
36. Fig 9 79 Principle of drive halt with previously active position control without drive internal position command value generation Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 78 Basic Drive Functions Standstill in velocity control Drive halt acknowledgement Activating the operating mode ECODRIVE03 SMT 02VRS Note If an operating mode with position control with lag error was also previously activated then the position controlled standstill is conducted with position control with lag error Otherwise the function is conducted without lag error If either the velocity control or torque control modes were previously active then deceleration in velocity control uses parameters e P 0 1201 Ramp 1 pitch e P 0 1202 Final speed of ramp 1 e P 0 1203 Ramp 2 pitch Note In all cases the SS display reads AH and the diagnosis in S 0 0095 reads A010 Drive HALT If the actual velocity falls below the value of the parameter S 0 0124 Standstill window the bit 11 Drive Halt Confirmation will be set in S 0 0182 Manufacturer class 3 diagnostics The selected mode becomes active once again if e bit 13 in the master control word is set back to 1 e the drive halt input is set again with parallel or analog interface Connecting the drive halt input If command communication does not use a fieldbus e g SERCOS interface or Profibus then the hardware controls the drive halt function For more informat
37. Jmot ULast Jmot Motor moment of inertia Jiasi Load inertia Fig 9 43 Required torque Required torque generating motor current ip ason Jges Km Km Torque constant of motor ip Accel current Fig 9 44 Motor current The allowed maximum current thus equals Imax S 0 0092 Ipauermotor 1 00 Ip IDauerMotor S 0 0111 Motor current at standstill Fig 9 45 Maximum current or if the value is smaller than Imax P 0 01 09 Ioauentorod 100 Fig 9 46 Maximum current Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Limiting Velocity DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 37 Determining the torque constant and load moment of inertia The torque constant in Rexroth Indramat synchronous motors is in the motor data memory The tolerance especially via temperature equals about 5 20 The load moment of inertia can be set with the automatic control setting The tolerance error of the torque constant is automatically allowed for when determining the load moment of inertia by means of the automatic controller setting Note Error reactions leading to velocity to zero P 0 0119 Best possible deceleration 0 and fatal warnings mean that the torque is limited to the value set in P 0 0109 Torque force peak limit The following parameters limit the velocity of the drive e 0 0113 Maximum Motor Speed nmax e 0 0091 Bi
38. Note All four commutation conditions are constantly queried and evaluated to be able to switch to the correct following block even after the following block chain is interrupted Only the first commutation conditions occurring during a break is recognized however All others are not taken into account An interruption can occur with e a removal of the drive enable e or a removal of the drive start signal Depending on the block type of the following block sequence that was interrupted and the events causing this interruption the following block chain is processed differently after a restart Note In following block mode relative positioning blocks without residual path storage are not allowed as otherwise the chain dimension reference will be lost Rexroth Indramat 8 34 Operating Modes Interrupting a following block chain by selecting the same block number Reference position vt ECODRIVE03 SMT 02VRS Given an interruption e g with drive halt a restart will end the following block chain The reference position is the original start position of the block chain The chain is retained as only absolute and relative positioning blocks with residual path storage are used in following block mode S 0 0124 Standstill window speed profil P 0 4026 Process block selection 01 P 0 4051 AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 d
39. Observe the legal requirements given in the country of installation Rexroth Indramat 2 10 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 SMT 02VRS 2 12 Protection against pressurized Systems Rexroth Indramat Certain Motors ADS ADM 1MB etc and drives corresponding to the information in the Project Planning manual must be provided with and remain under a forced load such as compressed air hydraulic oil cooling fluid or coolant In these cases improper handling of the supply of the pressurized systems or connections of the fluid or air under pressure can lead to injuries or accidents Danger of injury when pressurized systems are han dled by untrained personnel Do not attempt to disassemble to open or to cut a pressurized system CAUTION Observe the operation restrictions of the respective manufacturer Before the disassembly of pressurized systems lower pressure and drain off the fluid or gas gt Use suitable protective clothing for example protec tive eyewear safety shoes and gloves Remove any fluid that has leaked out onto the floor immediately Note Environmental protection and disposal The fluids used in the operation of the pressurized system equipment is not envi ronmentally compatible Fluid that is damaging to the environ ment must be disposed of separate from normal waste Ob serve the national specifications of the country of installation DOK ECODR
40. Oooo AH START INBWG moving drive enable start autom control loop 4 adjust diagnostic display H1 1 start of the automatic control loop adjust via start buttom in Drivetop or via command P 0 0162 SV5008D1 fh7 Fig 9 74 Signal flow chart DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 73 Triggering motion with drive start Terminating command with drive halt velocity profile stand still window AH START INBWG moving drive enable start autom control loop 4 adjust diagnostic display H1 1 start of the automatic control loop adjust via start buttom in Drivetop or via command D9 P 0 0162 SV5010D1 Fh7 Fig 9 75 Signal flow chart velocity profile vA interrupt stand still window AH START INBWG moving drive enable start autom control loop 4 adjust diagnostic display 1 start of the automatic control loop adjust via start buttom in Drivetop or via command D9 P 0 0162 SV5009D1 Fh7 Fig 9 76 Signal flow chart Note A further run with change settings can be conducted either 1 by removing and then applying the drive enable or start signal drive start 2 or by ending and then restarting command D900 Note A further run with change settings can be conducted either 1 by removing and then applying the drive enable or start signal drive start 2 or by ending a
41. Operation of parameter S 0 0299 Home Switch Offset The parameter S 0 0299 Home switch offset can be set as follows Running the homing command with S 0 0299 Home switch offset 0 If the distance is not in the range between 0 5 1 5 P 0 0153 Optimal distance home switch reference mark the error message C602 Distance home switch reference mark erroneous will be generated In this case you have to enter the value S 0 0298 Reference cam shift into S 0 0299 Home switch offset Check You should see a 0 displayed in S 0 0298 Reference cam shift when homing is restarted Commissioning with Evaluation of distance coded reference marker If the encoder has distance coded reference markers type 4 then it must be set in S 0 0147 Homing parameter DOK ECODR3 SMT 02VRS FK01 EN P whether the home switch should be evaluated and or in which direction the drive should move at the start of the command Drive controlled homing and whether the drive should position at the position of the 2 overrun reference mark whether it should stop after the 2 reference mark is overrun or whether a specific path is to be run especially in the case of gantry axes Rexroth Indramat 9 94 Basic Drive Functions homing of a translatory motor encoder encoder 1 homing of a translatory optional encoder encoder 2 homing of a rotary motor encoder encoder 1 homing of a rotary optional encoder encoder 2 Rexroth
42. Output revolutions of load gear 2 Feed Constant The feed constant defines how far the load moves linearly per transmission output revolution It is specified in the parameter S 0 0123 Feed constant The value programmed here is used along with the transmission ratio for converting the position velocity and acceleration data from motor reference to load reference Transmission output lt gt DS Carriage Feed module AP5030f1 fh5 Fig 9 9 Feed constant parameterization DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 9 Example In the illustration above the feed module would cover 10 mm per transmission output revolution The proper parameterization for this would be S 0 0123 Feed Constant 10 mm Rev Modulo Feature When the modulo function is activated all position data are displayed in the range 0 modulo value Thus it is possible to implement an axis which can move infinitely in one direction There is no overrunning of the position data The modulo value is set with the parameter S 0 0103 Modulo Value The modulo function is activated by the parameter S 0 0076 Position Data Scaling Type See also Display Format of Position Data S 0 0076 Position data scaling mode COOCOO Bit 7 Processing format 0 absolute format 1 modulo format Fig 9 10 Setting absolute format modulo format Note Modulo processing of position
43. Requirements for a Correct Setting of the Acceleration Feed Forward e Velocity and position loop have to be set appropriately e For the Position Controller a lagless operation mode must be selected Setting the Acceleration Feed Forward Setting the correct acceleration feedforward can only be done by the user since it depends on the inertia Note With automatic control loop settings it is not only possible to determine inertia but also the value for S 0 0348 The setting is done in two steps e Calculation of the preset value for the acceleration feedforward For this purpose you need the size of the complete inertia momentum translated to the motor shaft JMotor JLoad of the axis This value is known approximately from the size and set up of the load Additionally you need the torque constant of the used motor This data can be retrieved from the motor data sheet or the parameter P 0 0051 Torque Force Constant Kt The preset value is calculated as J Motor T J Load Acceleration Feedforward Ku x 1000 Acceleration Feedforward mA rad s JMotor Inertia momentum of the motor kg m JLoad Inertia momentum of the load kg m Kt Torque constant of the motor Nm A Fig 9 70 Value for the Acceleration Feedforward The determined value is entered in parameter S 0 0348 Acceleration Feedforward prop Gain Checking the effect of the acceleration feedforward and if necessary fine tuning of the param
44. Rexroth Indramat 3 4 General Instructions for Installation ECODRIVE03 SMT 02VRS Rexroth Indramat Backup amp Restore Note By switching the programming module when devices are exchanged the characteristics of the device that has been exchanged can be easily transferred to the new device Data Saving To save the data of the axis all important and changeable parameters of the axis are stored in the list S 0 0192 IDN List of backup operation data By saving the parameters listed there with the control or parametrization surface you can obtain a complete data backup of this axis after the first setup Backup amp Restore function Parameter Buffer Mode The drive controller is capable of storing data that is transmitted via the user data channel e g service channel either temporarily or permanently Note Parameter S 0 0269 Parameter buffer mode is insignificant as of version FGP 02VRS as all the parameters are backed up from that point on ina NOVRAM Basic parameter block The drive parameters are fixed at delivery at the factory By executing the command P 0 4094 C800 Command Base parameter load it is possible to reproduce this state at any time The basic parameter block is constructed so that e all optional drive functions are deactivated e limit values for position are deactivated e limit values for torque force are set to high values e and limit values for velocity and acceleration are set to lower
45. Scaling Linear Preferred Scaling mm Linear Preferred Scaling Inch Position data Velocity Data Acceleration Data 0 0001 Degrees 0 0001 RPM or 10 6 Rev s 0 001 rad s 0 0001 mm 10 6 m min 10 6 m s 0 001 Inches 10 5 in min Rexroth Indramat Fig 9 2 Preferred scaling DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS load reference DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 3 Motor Reference Load Reference Either motor reference or load reference can be selected when adjusting the scaling With rotary load reference the scaled data from the motor format is converted to the transmission output format with the transmission ratio S 0 0122 Output revolutions of load gear S 0 0121 Input revolutions of load gear With linear load reference the scaled data from the motor format is converted to feed constant format with the transmission ratio S 0 0122 Output revolutions of load gear S 0 0121 Input revolutions of load gear and the feed constant S 0 0123 Feed constant The following restrictions apply in relationship to the motor type being used e Rotary motor reference cannot be set with linear motors e Linear motor reference cannot be set with rotary motors Rexroth Indramat 9 4 Basic Drive Functions ECODRIVE03 SMT 02VRS Display Format of Position Data The scaling of drive controller position data is adjustable
46. The command should be completed without error The machine zero point is at the position of the home switch or the referencing point as the reference distances S 0 0052 54 have been parametrized with 0 The position feedback value in S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value should now have absolute reference to this preliminary machine zero point To set the correct machine zero point you can now conduct the following steps gt Run the axis to the desired machine zero point and enter the feedback position value displayed there with opposite sign in S 0 0052 Reference distance 1 or S 0 0054 Reference distance 2 or Run the axis to position feedback value 0 measure the distance between the current position and the desired machine zero point Enter the distance in S 0 0052 Reference distance 1 or S 0 0054 Reference distance 2 Once the drive controlled reference command is again completed the position feedback value should refer to the desired machine zero point The reference point can be shifted relatively to the reference mark see Consideration of the reference offset Parameter S 0 0041 Homing velocity and S 0 0042 Homing acceleration can now be set to their final values Consideration of the Reference Offset If the evaluation of the reference mark is activated in the homing parameter then the reference point is always set on the position of the selected reference mark If
47. This is done with the parameters e 0 0076 Position Data Scaling Type e 0 0077 Linear Position Data Scaling Factor e 0 0078 Linear Position Data Scaling Exponent e 0 0079 Rotational position resolution This differentiates between linear and rotary scaling S 0 0079 Rotational position resolution sets the rotary position scaling S 0 0077 Linear Position Data Scaling Factor and S 0 0078 Linear Position Data Scaling Exponent set the linear position scaling The scaling type is set in S 0 0076 Position Data Scaling Type The parameter is defined as follows S 0 0076 Position Data Scaling Type AP RSEeS il Bits 2 0 Scaling mode 000 not scaled 001 linear scaling 010 rotary scaling Bit 3 0 Preferred scaling di Parameter scaling L Bit 4 Unit of measure for linear scaling 0 Meter m 1 Inch in Unit of measure for rotary scaling 0 Angle degrees 1 reserved L Bit5 reserved Bit6 Data relationship 0 to the motor cam 1 to the load Bit 7 Processing format 0 Absolute format 1 Modulo format Bits 15 8 reserved Fig 9 3 S 0 0076 Position Data Scaling Type The scaling type setting is checked for plausibility in S 0 0128 C200 Communication phase 4 transition check and the command error message C213 Position Data Scaling Error is generated if necessary Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Dri
48. and positioned to spindle angle position velocity v Start command spindle positioning S 0 0153 Spindle angle S 0 0152 detect spindle position reference signal braking with ramp P 0 1201 P 0 1202 P 0 1203 and filter P 0 1222 S 0 0222 Spindle position parameter S 0 0041 Homing velocity T decelerating and accelerating with S 0 0138 and S 0 0349 s 0 0042 Homing acceleration time t S 0 0403 Position feedback value status Bit 0 in reference time t S 0 0013 Class 3 diagnostics Bit 6 in position time t Fig 10 40 Velocity time diagram of spindle positioning with referencing Spindle positioning with drive already referenced The turning spindle brakes at the velocity command value ramp set or with active command value smoothing to the spindle positioning velocity and runs to the specified command position with that absolute positioning which has been set The drive holds the position in a position controlled manner until the command is completed or a new command position is set Once the command is completed the drive runs with the current velocity or torque command value Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P Fig 10 41 Velocity time diagram of spindle positioning braking with ramp Z P 0 1201 P 0 1202 P 0 1203 J Sh decelerating and accelerating with S 0 0138 and S 0 0349 Optional Drive Functions 10 41
49. is set in bit 7 of parameter S 0 0147 Homing parameter for Drive on reference point after drive guided referencing The reference point is defined in parameters S 0 0052 Reference distance 1 or S 0 0054 Reference distance 2 Triggering position feedback value switch with absolute dimension set If command P 0 0012 C300 Command Set absolute measurement is conducted with drive enable applied then the switching by the drive of the actual position value register S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value is not conducted until e command S 0 0148 C600 Drive controlled homing procedure command is also conducted after the start of P 0 0012 or e drive enable is switched off See section Setting the Absolute Dimension Sequence control Drive Controlled Homing DOK ECODR3 SMT 02VRS FK01 EN P The command profile depends on the parameters e 0 0041 Homing velocity e 0 0108 Feedrate override e 0 0042 Homing acceleration To limit the acceleration changes you can additionally activate a jerk limit You can do this by entering the parameter S 0 0349 Jerk limit bipolar The following diagram explains this S 0 0042 S 0 0108 S 0 0041 Homing Feedrate Homing acceleration Override velocity vi 0 xX Starting point Home point Sv5038f1 fh5 Fig 9 82 Position command profile with homing velocity and homing acceleration Rexroth Indramat 9 84
50. the data be assumed in the drive Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Serial Communikations 1 15 Reading Accessing List Parameters List parameters are read accessed in the same way as normal parame ters The drive supplies a list element as response however Step 1 Send request z B P 0 4006 7 r CR Communication with drive not possible gt check address gt check setting Vv gt check connection Step 2 T Drive received character lt no f Drive repeats request ja lt Timeout A no j suppa g Contents of receiver buffer Ch aracter sequence gt found in receiver buffer yes pe P 0 4006 7 r CR Yy aa element 1 CR element 2 CR Step 3 To check transmission compare element n CR E01 gt request with receiver or buffer string compare P 0 4006 7 r CR xxxx CR E01 gt ompare ok no gt Transmission error a e Step 4 Delete request in receiver buffer All characters to 1st CR inclusive Replace last CR with string end e g O in C Seperate list elements CR or an a _ _ error number now in receiver buffer Error occured during yes gt parameter access Error code Xxxxx Next character in receiver buffer no gt Evaluate list
51. then it shuts itself down with error message F260 Command current limit shutoff This function can be switched on via P 0 0538 Motor function parameter 1 bit 11 1 Load base parameters shuts the function off With main spindle axes the drives are generally accelerated to the current limit which is the reason why this function does not make sense Rexroth Indramat 9 36 Basic Drive Functions ECODRIVE03 SMT 02VRS Accel dependent current The function of accel dependent torque limitation is switched on with bit command value limitation 12 of parameter P 0 0538 Motor function parameter 1 The required accel torque is computed based on load moment of inertia torque constant and specified command value accel Parameter S 0 0092 Bipolar torque force limit value can then be set to the required machining torque Parameter P 0 0109 Torque force peak limit always limits the maximum available torque and is set to the maximum value appropriate to the machine Generating the accel command value with position controlled drives ason AVsou dt A Xeqy At Xsoll Command position at position controller Vso Command velocity on speed controller Aso Command accel Fig 9 41 Accel command values with position controlled drives Generaing the accel command value with speed controlled drives Asoll AVso1 dt Fig 9 42 Accel command value with speed controlled drives Required torque equals Me asol ges Aso
52. under torque Fig 4 2 Structure of the drive status word The Drive Status Word is transferred to the control cyclically with every Drive Telegram synchronously to the SERCOS cycle see S 0 0002 SERCOS cycle time TScyc For diagnostic purposes the Drive Status Word can be read back via the parameter S 0 0135 Drive status word Acknowledge of the Drive Enable The drive confirms the drive enable setting in the drive status word of the drive telegram Bits 14 and 15 of 10 control and power section enabled temporarily changes to 11 in operation temporarily enabled after the drive enable is activated and has been accepted The confirmation of the drive enable setting in the status word is acknowledged after the drive has sufficient time to prepare for its operation mode For example the asynchronous motor uses this time to magnetize itself If the drive enable is disabled the drive performs its reaction through parameter P 0 0119 Best possible deceleration Here time passes between resetting and confirming the reset This time depends on e the setting of the parameter P 0 0119 Best possible deceleration e the existence of a motor brake and its parameterization e the velocity of the axis before the reset of the drive enable Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Communication Through the SERCOS interface 4 5 1 MST 0 Control release 1 AT Control release ackn
53. 0 0200 or P 0 0201 it is possible to determine for both probe inputs whether an actual position value or an internal time is to be measured Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 23 Value of P 0 0200 201 Signal 0 position feedback value 1 2 1 time Fig 10 21 Probe function determining signals Depending on this choice the units and the decimal places of parameters for the measured values corresponding to the positive and the negative edges as well as the difference in these measured values of the relevant probe are switched If the position feedback value is selected in the signal select parameters then bit 4 in S 0 0169 Probe control parameter decides whether S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value will be used as signal Quick Stop with Probe Detection If S 0 0169 Probe control parameter bit 7 is set to 1 for quick stop with a positive edge of probe 1 then the drive upon detection of a positive edge automatically goes to Velocity command value to zero The drive decels at maximum possible torque The drive stays in this state until the probe enable for probe 1 is cleared by the control in parameter S 0 0405 Probe 1 enable The drive thereafter complies with the command value of the control Note The use of quick stop upon detection of probe 1 cannot be simultaneously set with continuous measu
54. 0 0370 Rexroth Indramat 4 14 Communication Through the SERCOS interface ECODRIVE03 SMT 02VRS Note Parameter S 0 0364 is not write accessible via the required data channel The display format is hexadecimal without decimal places Processing Single List Elements Using both addressing parameters e 0 0362 List index MDT data container A e 0 0366 List index AT data container A it is possible to access single elements of list parameters It is thus possible to cyclically and by element write into list parameters The element to be written into or read of a list parameter is written into both parameters Note The parameters become effective if in S 0 0368 Addressing for data container A a list parameter is addressed If the addressed parameter is not a list parameter then the evaluation of parameters S 0 0362 and S 0 0366 is terminated The following illustrates the processing of a list element with the use of the multiplex channel S 0 0368 Addressing for data container A 0 1 Addressing AT Addressing MDT 31 31 soo 1 L6Poa00e list gt prameter S 0 0051 0o S 0 0047 0 S 0 0371 Configuration list S 0 0370 Configuration list of the AT data container of the MDT data container S 0 0366 List index S 0 0362 List index AT data container A MDT data container A X 1 element n 32 el
55. 0037 Additive velocity command value Further it is limited to S 0 0091 Bipolar velocity limit value See also chapter Limiting to Bipolar Velocity Limit Value If the resulting command value is at the limit the warning E259 Command velocity limit active is displayed The velocity control difference is produced by including the feedback velocity in the control loop The unfiltered feedback velocities of the motor and if available the external encoder can be combined into an effective actual velocity value See also chapter Setting the Velocity Mix Factor Via P 0 0004 Velocity loop smoothing time constant you can limit the band of the control difference for the velocity controller This variable is then relayed to the current and torque limits See also chapter Current Limit and Torque Limit To filter mechanical resonance frequencies a notch filter can be applied to this torque force command value Using parameter P 0 0180 Rejection frequency velocity loop and P 0 0181 Rejection bandwidth velocity loop the frequency range which must be suppressed can be parametrized See also Setting the Velocity Controller Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 6 Operating Modes S 0 0101 Velocity loop integral action time P 0 0004 Velocity loop smoothing time constant Velocity command value OF S 0 0037 Additive velocity command value S 0 0100 Velocity loop proportional g
56. 0044 Reaction telegram access DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 29 Read access with following telegrams Service 0x01 Parameters or elements with a length exceeding maximum data field length of 245 bytes are read in several steps Bit 2 in the control byte Re action telegram designates the current transmission step as either run ning or last transmission The following is the control word for a transmission in several steps 1 step Control Device Param Parameter No Tel header byte address type LSB MSB ji Userdatahead 9 gt Ta0007f1 fh7 Fig 1 38 Following command telegram 1 38 aoe Devi el header Status Control Device 245 Data bytes I lt User data head ap User data gt Ta0008f1 fh7 Fig 1 39 Following command telegram 1 2 step 3C Control Device Param Parameter No Tel header byte address type LSB MSB lt Userdatahead Ta0007f1 fh7 Fig 1 40 Following command telegram 2 38 Status Control Device Tel header byte byte address 245 Data bytes k User data head gt lt User data gt Fig 1 41 Following command telegram 2 Last step Control Device Param Parameter No Te neaagr byte addres
57. 0148 0x0094 Reset C1D S 0 0099 0x0063 Communications phase 3 S 0 0127 0x007F transition check Communications phase 4 S 0 0128 0x0080 transition check Base load S 0 0262 0x0106 Set absolute measure P 0 0012 0x800C ment Load base parameters P 0 4094 Ox8FFE Communications phase 2 P 0 4023 Ox8FB7 transition check Set absolute dimension P 0 4032 Ox8FCO emulator Automatic control loop P 0 0162 Ox80A2 settings Fig 1 26 Commands in drive Always set parameter type to 0x00 Thus only S and P parameters are possible Default in user data byte Effects 0 clears command 3 Fig 1 27 Command default starts command Note Command status can be read by writing 0 into the first ele ment of the command parameter Rexroth Indramat 1 24 Serial Communikations ECODRIVE03 SMT 02VRS 1 6 Error Messages The error codes defined in the SERCOS interface specification are used See SERCOS Interface specification sec 4 3 2 3 Error messages in service channel These codes are also used with faulty accessing of control and system parameters Error code Explanation 0x1001 IDN not available 0x1009 element 1 incorrectly accessed 0x2001 name not available 0x2002 name transmission too short 0x2003 name transmission too long 0x2004 name cannot be changed 0x2005 name presently write protected 0x3002 attribute transmission too short 0x3003 attrib
58. 0182 Manufacturer class 3 diagnostics e 0 0259 Positioning Velocity Note S 0 0259 is used in positioning block mode to reduce positioning velocity See also Process block control word Rexroth Indramat 8 18 Operating Modes How it works Positioning block elements Positioning block control word Interrupting a positioning block ECODRIVE03 SMT 02VRS A positioning block is defined with e P 0 4006 Process block target position e P 0 4007 Process block velocity e P 0 4008 Process block acceleration e P 0 4009 Process block jerk e P 0 4019 Process block mode and fixes how the target position is to be processed absolute relative Note Each parameter has 64 elements whereby the elements of the same number write this number into the travel profile of the positioning block With parameter P 0 4060 Process block control word the positioning speed can be limited to the value set in parameter S 0 0259 Positioning Velocity Otherwise the speed set in P 0 4007 Process block velocity is used If a positioning block is completed then bit 12 End position reached is set in parameter S 0 0182 Manufacturer class 3 diagnostics gt target position actual position value lt positioning window An interruption can be the result of e removal of the drive enable e activation of drive halt Activating Positioning Blocks Block selection Rexroth Indramat Positioning block mode mus
59. 0212 Analog inputs IDN list of assignable parameters e P 0 0213 Analog input 1 Assignment e P 0 0214 Analog input 1 Scaling per 10V e P 0 0215 Analog input 2 Assignment e P 0 0216 Analog input 2 Scaling per 10V e P 0 0217 Analog input 1 Offset e P 0 0218 Analog input 2 Offset Functional principle of the analog inputs The two analog inputs are connected over two differential inputs E1 E1 and E2 E2 E1 A P 0 0210 E1 gt D Analog input 1 cmpl2 16 E2 gt a P 0 0211 E2 D Analog input 2 cmpl2 16 Fig 10 5 Functinal principle of the analog inputs The digitalized voltages of both differential inputs are displayed in the parameters P 0 0210 Analog input 1 and P 0 0211 Analog input 2 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 10 10 Optional Drive Functions ECODRIVE03 SMT 02VRS Assignment of analog inputs to Both P 0 0210 analog input 1 and P 0 0211 analog input 2 which parameters depict the analog to digital converted voltages can be assigned to other drive parameters i e they can be cyclically copied while taking e an offset and e aselectable scaling into account Processing of analog inputs Analog channel 1 is processed every 500 us e Analog channel 2 is processed every 8 ms Exception In modes velocity control or torque control the command values are read every 500 us The assignment applies the following principle
60. 3 20 SIS error of firmware loader Note While the firmware is being updated the display of the drive reads dL 0x9002 dL 00 Firmware was cleared a Programming the module FBC bootkernel or FIL firmware loader Firmware FIL is running or the bootkernel must be replaced To do so the command Drive firmware shutdown must be sent i e the control must go from the FIL module to the FGP SGP or SMT module During the transition it is checked whether the checksum of the FGP SGP or SMT is correct to ensure that the module was correctly programmed and can be called up This checksum check went wrong b Modules FGP SGP or SMT must be programmed Firmware FGP SGP or SMT must be replaced To do so the command Shutdown Loader must be sent This means that the control must change from module FGP SGP or SMT into module FIL During the transition it is checked whether the addition checksum of the FIL module is correct or not to ensure that the module was correctly programmed and can be conducted This checksum check went wrong On a Prior to programming the FIL it is necessary to program modules FGP SGP or SMT On b Prior to programming FGP SGP or SMT it is necessary to program FIL Rexroth Indramat 3 32 General Instructions for Installation Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors Description Cle
61. 3 31 Restrictions when determining the commutation offset 7 19 Results of automatic control loop settings 9 75 Results of Writing 10 21 Reversal backlash compensation 10 27 ring structure 4 7 Run the Load Default Settings feature as acommand 9 56 S S 0 0012 Class 2 diagnostics 3 27 S 0 0013 Class 3 diagnostics 3 28 S 0 0127 C100 Communication phase 3 transition check 3 14 S 0 0128 C200 Communication phase 4 transition check 3 15 S 0 0182 Manufacturer class 3 diagnostics 3 29 Safety Instructions for Electric Servo Drives and Controls 2 1 Scaling Linear Rotary 9 2 Motor Reference Load Reference 9 3 of the Acceleration Data 9 6 of the Position Data 9 4 of the Velocity Data 9 5 Preferred Scaling Parameter Scaling 9 2 Scaling Factor Pre Magnetizing 7 8 Select the download baud rate 3 35 Selecting Modulo Range 10 45 Selecting positioning process with spindle positioning command 10 41 Selection of Trigger Edges 10 15 Sequence 9 74 SERCOS compatibility class C 4 1 SERCOS interface connection of fiber optic cables 4 7 SERCOS Interface Allocation of Real Time Control Bit 4 5 Rexroth Indramat 12 12 Index Rexroth Indramat ECODRIVE03 SMT 02VRS Allocation of Real Time Status Bit 4 5 Drive Status Word 4 3 Master Control Word 4 2 transmission rate 4 8 SERCOS Interface Start Up for the SERCOS Interface 4 6 Servo brake 9 46 Setting absolute dimension 9 106 Setting Maximum Decel Time 7 24 Setting Position Command V
62. 4 Velocity control block diagram e 0 0037 Additive velocity command value e 0 0036 Velocity command value e 0 0091 Bipolar velocity limit value e P 0 1201 Ramp 1 pitch e P 0 1202 Final speed of ramp 1 e P 0 1203 Ramp 2 pitch e P 0 1222 Velocity command filter Command value processing Velocity control Rexroth Indramat The given S 0 0036 Velocity command value is limited to S 0 0091 Bipolar velocity limit value If the command value is higher the message E263 Velocity command value gt limit S 0 0091 is shown The command value is then accel limited via P 0 1201 Ramp 1 pitch If command velocity exceeds the velocity in parameter P 0 1202 Final speed of ramp 1 then the command value is accel limited in terms of value P 0 1203 Ramp 2 pitch The limit velocity command is jerk limited by means of a filter of the 1st order P 0 1222 Velocity command filter DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 5 E263 Velocity command value gt limit S 0 0091 S 0 0036 wan m Velocity command of velocity comman is active value P 0 1201 Ramp 1 pitch P 0 1222 Velocity command filter P 0 1202 Final speed of ramp 1 P 0 1203 Ramp 2 pitch Fig 8 5 Command value processing Velocity Controller See also chapter Velocity Controller See also chapter Current Controller Velocity Controller The effective velocity command value is added with S 0
63. 9 70 Drive status word 3 28 Drive Status Word Structure 4 3 Drive Controlled Homing 9 86 Drive internal format of position data 9 21 Drive s Error Response 3 10 DSF 9 11 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Index 12 5 E ECI encoder 9 11 Effect of jog signals 8 44 Einflu der Schalterhysterese 10 44 Emergency Stop Activation 9 52 Encoder emulation 10 33 Encoder initialization 3 17 Encoder with EnDat interface 9 11 EnDat 9 11 Error Drive Error Reaction 3 10 Error Classes 3 10 Error Counter for Telegram Interrupts 4 11 Exceeding the Travel Range 9 40 Error Classes 3 10 Error Conditions of the Load Default Settings Procedure 9 56 Error during flash verification 3 31 Error message in Firmware loader 3 30 Error message when setting the absolute dimension 9 111 Error messages when reading and writing the operating data 3 2 Error Messages during drive controlled homing 9 98 Error messages in multiplex channel 4 15 Error messages when configuring signal control word 10 4 Error messages while reading and writing operating data 3 2 Error messages with configurable signal control word 10 5 Error Number 3 25 Error reaction power off 9 48 Error Reaction Drive Error Reaction 3 10 NC Response in Error Situation 9 51 SERCOS Interface Error 4 11 to velocity command value deceleration to zero 9 44 Error when writing into RAM 3 31 E Stop Activation 9 52 functional principle 9 51
64. Basic Drive Functions Rexroth Indramat maximum velocity motional process S 0 0147 Bit 7 0 ECODRIVE03 SMT 02VRS The maximum velocity is influenced as with all drive controlled functions by the feedrate The effective maximum velocity is the result of the product of S 0 0041 Homing velocity and S 0 0108 Feedrate override Note If the parameter S 0 0108 Feedrate Override is set with zero the warning Warnung E255 _ Feedrate Override S 0 0108 0 will be output The motional process during drive controlled homing of non absolute encoders can be made up of up to three processes If the home switch evaluation process has been activated and there are no distance coded reference markers then the drive accelerates to the homing velocity in the selected homing direction until the positive home switch edge is detected If the drive is already on the home switch at the start of drive controlled referencing S 0 0400 Home switch 1 the drive at first accelerates in the opposite direction until the negative home switch edge is detected and then reverses the direction Make sure that the home switch trigger edge lies within the reachable travel range WARNING If reference markers are available type 2 to 4 see above and if the reference marker evaluation is activated then the drive runs in homing direction until it detects a reference marker In distance coded measuring systems type 4 two sequential refere
65. Basic Drive Functions ECODRIVE03 SMT 02VRS Note If the Run path mode is used with gantry axes then the gantry axes are not automatically run in parallel by the referencing procedure The mechanically coupled axes only run a relative path Their shared position reference does not change In contrast to the Positioning mode that is only possible with non distance coded encoders where the axes are automatically run in parallel by the driveside referencing procedure itself Actual Feedback Values After the Drive Controlled Homing Command The position feedback values from the motor and optional encoders after the drive controlled homing command is processed depend on bit 3 in S 0 0147 Homing parameter and on the availability of an absolute encoder as a motor or optional encoder Actual Actual Motor Ext S 0 0147 feedback feedback encoder encoder Bit 3 value 1 value 2 absolute Not 1 unchanged reference absolute distance 2 not absolute 0 reference unchanged absolute distance 1 not not 0 reference reference absolute absolute distance 1 distance 1 not not 1 reference reference absolute absolute distance 2 distance 2 Fig 9 84 Position feedback values after the drive controlled homing command Commissioning with Evaluation of reference marker home switch edge If the encoder does not have distance coded reference marks type 1 to 3 then select in S 0 0147 Homing parameter whether e home switch
66. Bit 0 PLS bit 1 status Bit 1 PLS bit 2 status Bit 2 PLS bit 3 status Bit 3 PLS bit 4 status Bit 4 PLS bit 5 status Bit 5 PLS bit 6 status Bit 6 PLS bit 7 status Bit 7 PLS bit 8 status Fig 10 35 Position Switch Status 10 13 Encoder Emulation Incremental encoder emulation Absolute encoder emulation DOK ECODR3 SMT 02VRS FK01 EN P It is possible with the help of encoder emulation to generate positions in the following standard formats e TTL format with incremental encoder emulation e SSI format with absolute encoder emulation This makes it possible to close the position control loop with an external control Incremental encoder emulation is the reproduction of a real incremental encoder by a driver controller From the emulated incremental encoder signal signals are relayed via a higher ranking numeric control NC with information about the velocity of the motor mounted to the controller By integrating this signal the control generates information for itself about position It is thus able to close a higher ranking position control loop Absolute encoder emulation means that the drive controller has the option of emulating a real absolute encoder in SSI data format The drive controller thus offers the possibility of transmitting the position in SSI data format to the connected control NC Thus the control is able to close the position control loop Rexroth Indramat 10 34 Optional Dr
67. Given an error the drive will stop with command value 0 The drive stops with its maximum permissible torque See also section Current Limit The procedure for the motor brake activation if mounted and the power stage disable with velocity command value deceleration to zero with spindle brake are displayed below Activating the set velocity command value o tozero e maximum braking time P 0 0126 Vbrake Actual velocity profile 10Rpm 1 Control Hite 4 1 motor brake _ 1 End stage release 0 i __ P 0 0526 Motor brake lag time gt t ms Sv5033f1 fh5 Fig 9 56 Time sequence of the velocity command value reset Note Activation of the motor holding brake depends on P 0 0525 bit 1 See section Motor Holding Brake DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 45 Note lf the value entered in P 0 0126 is too small then the error reaction could be terminated without axis standstill Danger of damaging the motor brake if P 0 0126 Maximum braking time is set too low The value for P 0 0126 Maximum braking time WARNING must always be set higher than the time needed to decelerate the axis with the velocity command value reset taking maximum possible velocity into account Disable Torque Best possible standstill In the event of an error the drive goes torque free and is braked only by P 0 0
68. GmbH Mannesmann Rexroth AG RidlerstraBe 75 80339 M nchen Telefon 49 0 89 540138 30 Telefax 49 0 89 540138 10 indramat mue t online de Vertriebsgebiet West Bd sates Germany West DA service Mannesmann Rexroth AG Vertrieb Deutschland Regionalzentrum West Borsigstrasse 15 D 40880 Ratingen 49 0 2102 409 0 49 0 2102 409 406 Telefon Telefax Vertrieb Deutschland VD BI Gesch ftsbereich Rexroth Indramat Regionalzentrum S dwest Ringstrasse 70 Postfach 1144 70736 Fellbach 70701 Fellbach Tel 49 0 711 57 61 100 Fax 49 0 711 57 61 125 Kieler StraBe 212 22525 Hamburg 49 0 40 85 31 57 0 49 0 40 85 31 57 15 Telefon Telefax SERVICE Hotline 7 Tage 24h Vertriebsniederlassung Region Nord Gesch ber Rexroth Indramat Wals roder Str 93 30853 Langenhagen Telefon 49 0 511 72 66 57 0 Telefax 49 0 511 72 66 57 93 ERSATZTEIL Hotline HELPDESK MO FR von 7 17 Uhr Telefax 49 0 9352 40 4941 Telefon 49 0 9352 40 Bernard A 4894 Kolb R 4922 Pfeffermann O 4808 Roeper P 4359 Scheiner W 4921 AUSSERHALB dieser Zeit Telefon 49 0 172 660 04 06 oder or Telefon 49 0 171 333 88 26 nur an Werktagen von 15 18 Uhr Tel 49 0 93 52 40 42 22 Kundenbetreuungsstellen in Deutschland Service agencies in Germany DOK ECODR3 SMT 02VRS FK01 EN P Rexroth Indramat 3 2 Kundenbetreuungsstellen Sales amp Serv
69. If there is a Class 1 Diagnostics error message at the start of the command the error D401 ZKL1 Error at command start will be generated The drive will acknowledge the command as properly executed when e the controller monitors are switched off e Md S 0 0084 gt MdLimit S 0 0092 and e Nnfeedback 0 Note The message nfeedback 0 is influenced by the parameter S 0 0124 Standstill Window If the command is cancelled by the control after execution then all regular controller monitors are reactivated Start Positiv stop drive procedure Command 0 NC Position command 0 values Torque for command values Velocity 0 Command 0 acknowledgement ra SV5001d1 fh7 Fig 10 25 Time sequence when activating the command Positive stop drive procedure Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 27 10 9 Reversal backlash compensation Pertinent Parameters Functional Principle DOK ECODR3 SMT 02VRS FK01 EN P With the help of backlash compensation it is easy to correct backlash in the axis mechanics Play between the tooth surfaces causes slack in the transmission of rotational motion Mb5001d2 fhS Fig 10 26 Backlash with toothed wheels an illustration e 0 0051 Position feedback 1 value e 0 0053 Position feedback 2 value e S 0 0058 Reversal clearance Reversal clearance e 0 0124 S
70. OxOF Invalid service is sent in the status byte of the des user data Telegram head User data head Fig 1 24 Structure des Reaction telegrams Service 0x80 read a parameter e Enter 0x80 in the service of the telegram head e Enter the parameter to be read in bytes Parameter type and Parame ter no of the user data head e Do not enter user data bytes e Using bit 2 the running final transmission is designated in the control byte of the reaction telegram Rexroth Indramat 1 22 Serial Communikations ECODRIVE03 SMT 02VRS Service 0x81 Read a List Segment Command telegram e Reaction telegram e Enter 0x81 in the service of the telegram head Parameter type and parameter no of the parameter to be read must be entered in the user data head in the user data bytes 0 and 1 of the offset within the list as word 16 Bit in user data bytes 2 and 3 the number of the words to be read Bit 2 identifies the running final transmission in the control byte of the reaction telegram Note The output of a following telegram is started by a renewed transmission of the unchanged command telegram Service Ox8E write a list segment Command telegram e Reaction telegram e Enter Ox8E in the service of the telegram head Enter parameter type and number of the parameter to be read in the user data head in user data bytes 0 and 1 of the offset within the list as word 16 Bit in user data bytes 2 and
71. P ECODRIVE03 SMT 02VRS Motor Configuration 7 1 7 Motor Configuration 7 1 Characteristics of the Different Motor Types You can use the following motor types MKD MHD 2AD ADF 1MB MBW MKE LAR MBS LSF LAF The individual motor types differ in the following points Availability of data memory in the motor feedback for all motorspecific parameters Synchronous motor Asynchronous motor Linear motor rotational motor Temperature check can be changed or not Basic load load default is possible when a Feedback Data Memory is present Motor encoder interface setting can be changed or one setting only Start of commutation offset setting command possible or not Motor temperature sensor with PTC or NTC features The individual motor types have the following characteristics Motor Motor feedback encoder Load Temp Motor type data memory Sync Async Temp check interface default Sensor MHD MKD MKE yes synchronous fixed fixed 1 possible PTC 2AD ADF no asynchronous param param no NTC 1MB no asynchronous param param no NTC LAF LAR no asynchronous param param no PTC LSF no synchronous param param no PTC 2AD with PTC no asynchronous param param no PTC MBS no synchronous param param no PTC Fig 7 15 Characteristics of the Motor Types part 1 S DOK ECODR3 SMT 02VRS FK01 EN P ee also parameter description P 0 4014 M
72. P 0 0420 Analog output 1 signal selection P 0 0421 Analog output 1 expanded signal selection P 0 0422 Analog output 1 scaling P 0 0423 Analog output 2 signal selection P 0 0424 Analog output 2 expanded signal selection P 0 0425 Analog output 2 scaling P 0 0426 Analog outputs IDN list of assignable parameters Rexroth Indramat 10 6 Optional Drive Functions ECODRIVE03 SMT 02VRS Direct analog outputs With the parameters P 0 0139 Analog output 1 and P 0 0140 Analog output 2 it is possible for the control to use the two 8 bit digital analog converters of the drive Voltage values written into these parameters ranging between 10 000 volts and 10 000 volts are output by the drive to the analog outputs The quantization equals 78 mV A precondition for the use of an analog output is that the signal selection P 0 0420 or P 0 0423 and the expanded signal selection P 0 0421 or P 0 0424 were deactivated by inputting 0 for the used channel Analog output of existing parameters selection list All parameters in the list P 0 0426 Analog output IDN list of assignable parameters can be output as analog value configuration This first requires that their ID number be input in the signal select for channel 1 P 0 0420 or 2 P 0 0423 The unit and the attribute number of decimal places of the relevant scaling P 0 0422 or P 0 0425 is set as per the selected parameter If the selected parameter depends on a scaling mode t
73. Parameter P 0 0532 Premagnetization factor is used to set this in asynchronous motors See section Asynchronous Motors Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 34 Basic Drive Functions Torque Limit Rexroth Indramat Variable torque limit Peak torque limit ECODRIVE03 SMT 02VRS Parameters e 0 0092 Bipolar torque force limit value e P 0 0109 Torque force peak limit specify the per cent value of S 0 0111 Motor current at standstill Factor cooling type that can be maximally made available The factor of the cooling type is derived from that cooling type of the motor which has been programmed in parameter P 0 0640 Cooling mode Parameter value Factor P 0 0640Cooling type uncooled o 100 cooled 1 150 water cooled 2 190 Fig 9 39 Factor cooling type Parameter S 0 0092 Bipolar torque force limit value is used to specify variable limits of the maximum drive torque to values smaller than the maximum possible one This makes sense for example given a successive and quick approaches to an end limit Due to the maximum allowable current of any motor controller combination there is a specific peak torque which is desirable with many applications for acceleration processes There are however cases where the maximum peak torques must be limited to lower values for application reasons Parameter P 0 0109 Torque force peak limit can be used to limit the maximum
74. Pos message Jogging input See also section Positioning Block Mode The parallel interface is needed to operate the drive in positioning block mode Positioning block select jogging inputs referencing input the start input and outputs are configured with command Load base parameters as per the terminal diagrams A positive edge at the start signal effects a toggling of parameter S 0 0346 Setup flag for relative command values The inputs for the position block select are mapped on the parameter positioning block selection By toggling parameter S 0 0346 Setup flag for relative command values the relevant positioning block is started The acknowledgement of the block selection ensues as soon as the positioning block is set The in pos message is simultaneously updated Selecting the jogging inputs effects an internal switch to jogging mode The switch can only be made every 8 ms which means that the reaction time to a jog input can equal up to 12 ms Application Analog Main Spindle with Parallelinterface DOK ECODR3 SMT 02VRS FK01 EN P See also section Spindle Positioning To operate as an analog unit with main spindle functions the spindle positioning command can be allocated to an input The main spindle messages must be allocated to the digital outputs Rexroth Indramat 6 8 Command Communication Using Parallel Interface ECODRIVE03 SMT 02VRS Notes Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN
75. Read Accessing a Parameter Read accessing a parameter looks like this ID number of parameter data block element number Carriage Re turn The drive plays back the contents of the addressed data block element To access the operating data of parameter P 0 4040 for example the following must be input Step 1 Communication with drive not Send request e g possible P 0 4040 7 r CR gt check address gt check setting if gt check connection Step 2 A Drive received character lt no yes Drive repeats request echo ll lt Ti meout 2 gt no __ tharacter sequence gt found in gt receive buffer ud P 0 4040 7 r CR xxxx CR E01 gt oder ae P 0 4040 7 r CR 1C3Fh CR E01 gt To check transmission compare request with receiver buffer String Compare Compare ok no B Transmission error yes Step 4 Delete request from receiver buffer All characters up to 1 There are now data or CR inclusive ___ error numbers in the Y Aue receiver buffer Error occurred during _ gt yes gt parameter access 2 Error code xxxx Next character in receiver buffer no v Evaluate parameter data Read access completed FD5000B1 WMF Fig 1 14 Read accessing a parameter Rexroth Oo Indramat DOK ECODR3 SMT 02VR
76. Rexroth Indramat 9 108 Basic Drive Functions The command Switching the co ordinate system Case A1 Case B1 Rexroth Indramat ECODRIVE03 SMT 02VRS Setting the absolute dimension without drive enable Bit1 of P 0 0612 is used to select whether the command is started e by writing into parameter P 0 0012 with 1 1b if bit 0 or e a0 gt 1 flank at the zero switch input if bit 1 Note If the drive enable is not applied and command Seiting the absolute dimension is started then drive internally the co ordinate system is always automatically and immediately switched bit 2 is not relevant in this case Case P 0 0612 Behavior when executing the command Al Biti 0 Setting the absolute dimension by conducting Bit2 x P 0 0012 C300 Command Set absolute measurement e by writing 11b into P 0 0012 then in addition to command start Setting the absolute dimension the co ordinate system is also automatically switched B1 Bitt 1 Setting the absolute dimension with a 0 1 Bit2 x flank at the reference switch input e a 0 gt 1 flank at zero switch input stores the actual position e and the co ordinate system is also immediately switched Fig 9 114 Overview setting the absolute dimension without drive enable When activating the command by writing into the parameter proceed as follows e The axis must be brought into the precisely measured position e The actua
77. Rexroth Indramat drive controller ECODRIVE03 SMT 02VRS It is the task of the thermal current limit of the controller to protect the unit against overheating To do so the thermal controller load P 0 0141 is computed from e the controller specific data e the command current profile and e the selected switching frequency If this reaches 100 then the peak current is reduced The maximum current that can be continuously supplied by the controller is displayed in parameter P 0 4045 Active permanent current This current also leads to a 100 load To what extent and how quickly the current can be reduced depends on how the actual current supplied by exceeds the effective continuous current Should the current being supplied once again drop to under the effective continuous current then the load of the unit sinks and the maximum possible current increases To monitor the thermal controller load two warnings are issued e E257 Continuous current limit active is issued when the load reaches 100 e E261 Continuous current limit pre warning is issued when the load reaches the value set in parameter P 0 0127 Overload warning This means that a response to any eventual overload is possible even before a peak torque reduction It makes sense to parametrize a value of 80 for this purpose This value should not be exceeded when operating the drive under normal conditions Thermal A overload 100 Value in P 0
78. Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Example DOK ECODR3 SMT 02VRS FK01 EN P Optional Drive Functions 10 7 The following list shows which signal is output with which signal number Reference unit Evaluation factor 1 0000 Signal number P 0 0421 424 Output signal 0x00000001 motor encoder sine 0 5V 10V signal 0x00000002 motor encoder 0 5V 10V cosine signal 0x00000003 Opt enc sine signal 0 5V 10V 0x00000004 Opt enc sine cosine 0 5V 10V 0x00000005 Position command rot 1000rpm 10V poe ed lin gt 100m min 10V 0x00000006 DC bus power tkW 10V 0x00000007 absolute DC bus power amount 0x00000008 effective current S 0 0110 10V 0x00000009 relative current S 0 0110 10V 0x0000000a thermal load 100 10V 0x0000000b motor temperature 150 C 10V 0x0000000c magnetizing current S 0 0110 10V 0x0000000d velocity command at rot gt 1000rpm 10V he veloci I the velocity controller A 2 100m min 10V Fig 10 3 Signal selection list with pre defined signal selection See also Control loop structure in chapter General Information for Control Loop Settings This information is scaling independent and always relates to the motor shaft The scaling of the signals is possible via the parameters P 0 0422 Analog output 1 scaling and P 0 0425 Analog output 2 scaling These have been set as factors with 4 decimal places in the expanded sign
79. Settings Optimizing the regulator settings is generally not necessary DOK ECODR3 SMT 02VRS FK01 EN P The control loop settings in a digital drive controller are important for the characteristics of the servo axis Determining the control loop settings requires expert knowledge For this reason application specific control parameters are available for all digital Rexroth Indramat drives These parameters are either contained in the feedback data memory and can be activated through the command S 0 0262 C700 Command basic load with MHD MKD and MKE motors or they must be input via the setup service program See also Load Default Feature In some exceptions however it may be necessary to adjust the control loop settings for a specific application The following section gives a few simple but important basic rules for setting the control loop parameters in such cases In every case the given methods should only be seen as guidelines that lead to a robust control setting Specific aspects of some applications may require settings that deviate from these guidelines The control loop structure is made up of a cascaded nested position velocity and torque force loop Depending on the operating mode sometimes only the torque control loop or the torque and velocity control loops become operative The control is structured as depicted below Rexroth Indramat ed yewespu YROIXOY d N3 10Ms SHAZO LWS YdOO4 MOd
80. Technologies Corporation Burlington Division 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 1 905 335 55 11 1 905 335 41 84 Telefon Telefax Hongkong D sares Kl service Mannesmann Rexroth China Ldt Shanghai Parts amp Service Center 199 Wu Cao Road Hua Cao Minhang District PRC Shanghai 201 103 86 21 62 20 00 58 86 21 62 20 00 68 Telefon Telefax India X SALES X Service Mannesmann Rexroth China Ldt 15 F China World Trade Center 1 Jianguomenwai Avenue PRC Beijing 100004 Telefon 86 10 65 05 03 80 Telefax 86 10 65 05 03 79 India X SALES X Service Mannesmann Rexroth China Lat A 5F 123 Lian Shan Street Sha He Kou District PRC Dalian 116 023 86 411 46 78 930 86 411 46 78 932 Telefon Telefax Indonesia X SALES O Service Rexroth China Ldt 1 F 19 Cheung Shun Street Cheung Sha Wan Kowloon Hongkong 852 22 62 51 00 852 27 44 02 78 Telefon Telefax Japan O sares Xl service Mannesmann Rexroth India Ltd Rexroth Indramat Division Plot 96 Phase III Peenya Industrial Area IND Bangalore 560058 91 0 80 8 39 73 74 91 0 80 8 39 43 45 Telefon Telefax Japan KX sates Kl service Mannesmann Rexroth India Ltd Rexroth Indramat Division Plot A 58 TTC Industrial Area Thane Turbhe Midc Road Mahape Village IND Navi Mumbai 400 701 Telefon 91 0 22 7 61 46 22 Telefax 91 0 22 7 68 15 31 Mexico K SALES O Se
81. Torque Control Operating Mode Monitoring the Feedback Velocity in the Torque Control operating mode occurs at 1 125 times the value of S 0 0091 Bipolar Velocity Limit Value If this value is exceeded the fatal error e F879 Velocity limit S 0 0091 exceeded is generated The drive switches to torque free operation afterwards Limiting the Resulting Command Value in the Velocity Controller In all operating modes in which the velocity controller is active all operating modes except for Torque Control the given velocity command value is limited to the value of S 0 0091 Bipolar Velocity Limit Value If this condition is reached the warning e E259 Command Velocity Limit active is generated Limiting S 0 0036 Velocity Command Value in the Velocity Control Operating Mode In the velocity control operating mode the input of S 0 0036 Velocity Command Value is limited to S 0 0091 Bipolar Velocity Limit Value If the value entered in S 0 0036 exceeds this limit the warning e E263 Velocity command value gt limit S 0 0091 is generated To avoid accidents and damages to the machine many safety precautions are provided A part of these safety measures refers to limiting the allowed working range These limits can be introduced by following measures e Software limits in the control only active with axis in reference e Position limits in the drive only active with axis in reference e Limit switches in the drive e Safety limi
82. Torque Force command Torque power control Torque power command value Fig 8 2 Block diagram of torque control e 0 0080 Torque Force command e P 0 4046 Active peak current e P 0 0176 Torque Force command smoothing time constant The command value in S 0 0080 Torque Force command is limited with the effective peak current P 0 4046 Active peak current This current is based on the current and torque limits See section Current limits and Torque control The limited torque command value is filtered through a 1 order filter The time constant of the filter is set in parameter P 0 0176 Torque Force command smoothing time constant After limiting and filtering the effective torque generating command value is generated It is the command value for the effective current control Using Analog output of predefined signals the effective command current can be output as an analog value DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 3 S 0 0107 Current loop integral action time 1 S 0 0106 Current loop proportional gain 1 F S 0 0080 ene i ene _ C o m P 0 4046 Active Peak Current Actual current value P O 1o Torque orce Torque force creating Command current IGCOMM command smoothing time constant Fig 8 3 Torque control Diagnostic Messages Operating mode specific monitors are e Monitoring actual velocity for a 1 125 fo
83. Uchida Co Ltd No 1 Tsu Chiang Street Tu Cheng Ind Estate Taipei Hsien Taiwan R O C 886 2 2 68 13 47 886 2 2 68 53 88 Taiwan Telefon Telefax Kundenbetreuungsstellen au erhalb Europa Service agencies outside Europe DOK ECODR3 SMT 02VRS FK01 EN P Rexroth Indramat 3 4 Kundenbetreuungsstellen Sales amp Service Facilities AuBerhalb Europa USA XX sates RX service USA outside Europe USA USA XX sates A service USA XX sates A service ECODRIVE03 SMT 02VRS USA XX sates RX service Mannesmann Rexroth Corporation Rexroth Indramat Division 5150 Prairie Stone Parkway USA Hoffman Estates IL 60192 3707 Telefon 1 847 6 45 36 00 Telefax 1 847 6 45 62 01 service indramat com USA XX sates RX service Mannesmann Rexroth Corporation Rexroth Indramat Division Charlotte Regional Sales Office 14001 South Lakes Drive USA Charlotte North Carolina 28273 Telefon 1 704 5 83 97 62 1 704 5 83 14 86 Rexroth Indramat Mannesmann Rexroth Corporation Rexroth Indramat Division Central Region Technical Center USA Auburn Hills MI 48326 1 248 3 93 33 30 1 248 3 93 29 06 Telefon Telefax Mannesmann Rexroth Corporation Rexroth Indramat Division Southeastern Technical Center 3625 Swiftwater Park Drive USA Suwanee Georgia 30174 1 770 9 32 32 00 1 770 9 32 19 03 Telefon Mannesmann Rexroth Corporation Rexroth Indramat Division Nor
84. Use bit2 of P 0 0612 to select whether when executing command P 0 0012 C300 Command Setting the absolute dimension e there is also an immediate drive internal switch of the co ordinate system bit 2 1 or e the start of S 0 0148 C600 Drive controlled homing procedure command is delayed until the drive enable is removed by the control before the co ordinate system is switched bit 2 0 Case P 0 0612 Behavior when executing the command C1 Biti 0 e By writing 11b into P 0 0012 C300 Bit2 0 Command Set absolute measurement the command is started but the co ordinate system not switched e By starting the command S 0 0148 or removing RF the co ordinate system is switched C2 Biti 0 e By writing 11b into P 0 0012 C300 Command Set absolute measurement the Bit2 1 D Pa command is immediately started and the co ordinate system switched D1 Biti 1 e a 0 gt 1 flank at the zero switch input stores the Bit2 0 actual position e and starts command S 0 0148 but the control waits to switch the co ordinate system pE Biti 1 e a 0 gt 1 at the zero switch input stores the Bit2 1 actual position e and immediately switches the co ordinate system Fig 9 115 Overview setting the absolute dimension with drive enable Note Make sure that an encoder has been programmed in bit 3 of S 0 0147 Homing parameter Rexroth Indramat 9 110 Basic Drive Functions Rexroth Indramat
85. Values of Non Absolute Measurement Systems After Initialization 9 21 Actual position value after setting the absolute dimension 9 111 Rexroth Indramat 12 2 Index Rexroth Indramat ECODRIVE03 SMT 02VRS Actual position value of absolute encoders after power on 9 111 Addition checksum faulty 3 31 Additional Problems when Loading Firmware 3 33 Additional uses of parameter S 0 0173 Marker position A 10 29 Address range not within flash storage 3 31 Addressing the data container with multiplex channel 4 13 ADF 7 1 AF 7 18 After switching the unit on the display reads dL 3 33 Amplifier overtemperature shutdown 3 27 Amplifier overtemperature warning 3 27 Analog Inputs 10 9 Analog Inputs Connection 10 10 Analog output bit and byte output 10 8 function principle 10 5 Relevant parameters 10 5 terminal assignment 10 8 Assignment of analog inputs to parameters 10 10 Automatic check of motor holding brake 7 25 Automatic control loop setting prerequisites 9 69 Automatic control loop settings 9 69 9 75 Automatic controller settings 9 69 Automatic Execution of the Load Default Feature 9 55 Axis Limit Values Monitoring the allowable travel range 9 39 Axis Limit Values 9 42 Axis Limit Values Activation 9 42 Backlash 10 27 Baud rate 3 35 bb 3 13 BB contact 9 48 BB relay 9 48 BB contact 9 48 Best Possible Deceleration as velocity command value decelerated to zero 9 44 Drive Error Reaction 3 10 SERCOS Interface Error 4 11
86. anaal taa e E 10 9 Functional principle of the analog inputs ce eeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeaeees 10 9 Analog Inputs Connection naa int ental aa aaa aa eat aeaa A 10 10 10 5 Digital Output uaea a ei ee a N a ia 10 11 Pertinent Parameters ncniu nia na aii ii aE EA NAAA NEO 10 11 Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Contents VII Functional PrinGiple seeda ER canta haetle Sethe E ena eatin da tbeneiiend eared 10 11 Hardware Requirements oneone ean aT RA eee aioe ch anita ae EEA 10 11 10 6 Oscilloscope Feature sinr hae eee ee is ee ae eae ea de ls Aedes 10 12 Main Functions of the Oscilloscope Feature cc ccceccceeeeeeeeeeeeeeseeseeeeeceaeeeseaeeeaeeseeeeeeaees 10 12 Parameterizing the Oscilloscope Feature cccccccsceceeseeceeeeeeeaeeeeaeeceeeeeseaeeesaeeesaeeeeeeeeeaees 10 13 10 7 Probe Input Feature s a 84 site ads Hit avd Ate events laid Aves ain Hine eee 10 19 Pertinent Parameters for the Probe AnalySis ccccceeeeeeeeeeeeeeeeeseeeeeeeseneeeeeseneaeeeseneaees 10 19 Main Function of the Probe Analysis ceeceeseeeeeeeeenaeeeeeeaeeeeeeaaeeeeeeaaeeeeeeaeeeeeenaeeeeneaaes 10 20 Signal Edge Selection for the Probe Inputs ccccecseeceeeeeeeeeeeeaeeeeeeeceeeesaeeeeaaeseeeeeeaas 10 21 Signal Selection for the Probe Inputs ccceeeceeeeeceeeeeceeeeceeeeeeeaeeeeaaeseeeeeseaeeesaeeseeeeeaes 10 22 Quic
87. and jerk with positioning blocks 8 35 MKD 7 1 Automatic Setting of the Motor Type 7 4 Temperature Monitoring 7 3 MKE 7 1 Motor feedback data memory 7 2 mmand Parking Axis 10 29 Mode Relative drive internal interpolation 8 14 Velocity Control 8 4 Modulo Evaluation of Absolute Measuring Systems 9 29 Modulo Feature 9 9 Command Value Processing 9 10 Modulo Processing Limiting Conditions 9 10 Modulo format 8 21 Rexroth Indramat 12 8 Index Rexroth Indramat ECODRIVE03 SMT 02VRS Modulo function modulo function absolute measuring system 9 29 Modulo range error 3 16 Modulo Processing Limiting Conditions 9 10 Modulo value 8 21 Monitor velocity control loop 9 62 Monitoring Axis Limit Values 9 42 Position Command Values 8 10 Position Feedback Value 9 18 Position Loop 9 64 Monitoring actual velocity in torque control 8 3 Monitoring the Distance Between Home switch and Homing Mark 9 91 Monitoring the motor holding brake 7 25 Monitoring the thermal load of the controller 9 32 Motor Brake with velocity command value set to zero 9 44 Motor current limit 9 33 Motor Encoder 9 12 Characteristics 9 15 Encoder Interface 9 14 Parameterization 9 13 Resolution 9 14 Motor Encoder Resolution 9 14 Motor feedback Saved parameters 7 2 Motor holding brake 7 21 automatic check 7 25 command brake monitor 7 25 integral action time 7 23 type of brake 7 21 Motor holding brake connection 7 26 Motor holding brake monitor 7 25 Motor overtemperatu
88. as well as the direction of movement etc The parameter S 0 0051 Position feedback 1 value displays the position of the motor feedback The absolute measurement relative to the machine zero point is set with e 0 0148 C600 Drive controlled homing procedure command or for absolute encoders e P 0 0012 C300 Command Set absolute Measurement Note For Rexroth Indramat MHD MKD and MKE motors with housings all motor specific data is set up automatically no further user intervention is required for the installation of these motors Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 9 14 Basic Drive Functions ECODRIVE03 SMT 02VRS Determining the Feedback Interface of the Motor Feedback The encoder interface of the motor encoder is determined by the parameter P 0 0074 Feedback type 1 The number of the motor encoder type must be entered The motor encoder interface in P 0 0074 is automatically set in some motor types See also chapter Characteristics of the Different Motor Types The following measurement systems and modules may be used with motors with motor encoder interfaces that can be parameterized Encoder Value in For synchronous For asynchronous Measuring system interface P 0 0074 motors motors not available only with rotary E 0 no yes asynchronous motors digital servo feedback LSF HSF or 1 1 yes yes resolver Incremental encoder with sine 2 2 yes yes s
89. characteristic then the axis must be brought to operating temperature before determining the compensation value Determining the Compensation Torque 1 Move the axis in jog mode at the maximum projected operating velocity During this process the torque command should be recorded read in the phases of constant velocity 2 Do this procedure in both movement directions of the axis 3 The value to be set for the frictional torque compensation should be taken from the values determined above The following applies frict torque compens frict value pos frict value neg x 0 5 Fig 9 72 Frictional Torque Compensation Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 69 9 8 Automatic Control Loop Settings General Comments To expedite drive parametrization the firmware offers an automatic control loop setting Using parameters P 0 0163 Damping factor for autom control loop adjust and P 0 0164 Application for autom control loop adjust it is possible to control control loop dynamics the results Note It is necessary to move the drive in order to conduct the automatic control loop settings Prerequisites for starting the automatic control loop settings Inputting the limits P 0 0166 P 0 0167 Inputting P 0 0169 Travel range for automatic controller settings DOK ECODR3 SMT 02VRS FK01 EN P Check and make sure that the emergency stop travel
90. command S 0 0128 C100 Communication phase 4 transition check in S 0 0022 IDN list of invalid op data for comm Ph 3 must be corrected S 0 0018 IDN list of operation data for CP2 The ID numbers that were checked for validity in command S 0 0127 C100 Communication phase 3 transition check are stored in S 0 0018 IDN list of operation data for CP2 S 0 0019 IDN list of operation data for CP3 The ID numbers that were checked for validity in command S 0 0128 C200 Communication phase 4 transition check are stored in S 0 0019 IDN list of operation data for CP3 S 0 0025 IDN list of all procedure commands The ID numbers of all the commands in the drive are stored in this parameter 3 2 Parametrization Mode Operating Mode Command communication sets the communications phase and therefore the parametrization or operating modes Rexroth Indramat Given drive controllers without command communications interface or if the command communications is not active command communications could be SERCOS then the drive switches automatically into operating mode after the control voltage is switched on If the command communications is active then the drive controller does not automatically switch into operating mode after the control voltage is switched on Only the command communications master can switch between parametrization modes and operating modes Parametrization surfaces that communicate with the drive controller v
91. cycle k 2 cycle k 3 Fig 10 23 Probe enable probe signal probe latched and measurand with overrun for example a positive probe flank Note If the measuring rate exceeds the value of one measuring value per interface cycle then even the overrun counter cannot count every missing value Probe latched Probe latched Definition Parameter Bit 8 15 Parameter Bit 0 probe counter probe status not incremented 0 no new probe input and no overrun incremented by 1 1 new probe input and no overrun incremented 0 drive telegram failure in previous transmission cycle and new probe input no new measured value in current interface cycle incremented by more than 1 1 New probe input and overrun more than one edge per interface cycle Fig 10 24 Relationship between measurand status and overrun counter Connecting the Probe Inputs see project planning manual Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 10 26 Optional Drive Functions ECODRIVE03 SMT 02VRS 10 8 Positive stop drive procedure The command S 0 0149 d400 Positive stop drive procedure turns off all controller monitors that would lead to an error message in Class 1 Diagnostics during the blocking of a drive during a fixed limit stop If the command is started the drive generates the diagnostic message D400 Positive stop drive procedure command The controller monitors are switched off in all drive operating modes
92. data is only allowed with rotary motor types This is checked in 0 0128 C200 Communication phase 4 transition check and generates the command error C213 Position Data Scaling Error if necessary The following illustration shows the difference in displaying the position data in absolute format and modulo format Position e Position data with modulo f Modulo p g O E value a E a EM Sy cele Be Absolute position of the measurement system Position data with absolute format Fig 9 11 Display value of positions in absolute format and modulo format Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 10 Basic Drive Functions Rexroth Indramat S 0 0393 0 ECODRIVE03 SMT 02VRS Modulo Processing Limiting Conditions If modulo processing of position data is selected in connection with e the active operating mode and e the selected position scaling the following limiting conditions for error free processing of the position data must be observed The limiting conditions are as follows e The modulo range S 0 0103 Modulo Value may not be greater than the maximum travel range e f rotary or linear position scaling with load reference and without angle synchronization is used as the operating mode the product of S 0 0103 Modulo Value S 0 0116 Resolution of motor feedback and S 0 0121 Input revolutions of load gear must be smaller than 2 63 If in addition to this an external mea
93. drive enable removed After removing the drive enable the last accepted positioning block is output If the drive is at the target position of the last positioning block then the message end position reached is additionally generated The example below shows the same absolute positioning block being started once more time vt speed profil P 0 4026 Process block selection P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 Drive enable S 0 0134 Master control word Bit 15 S 0 0346 Setup flag for relative command values 01 XX X o1 xx X 01 01 X02 u O XX State of positive inputs irrelevant Positioning inputs valid for example positioning block 1 Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition for example positioning block 2 Sv0006d2 fh7 Rexroth Indramat Fig 8 35 Acknowledging and signalling End position reached after drive enable removed DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Absolute encoder Single turn encoder Operating Modes 8 39 Acknowledge with control vo
94. e P 0 0146 Expanded Trigger Address e P 0 0147 Expanded Signal K1 Address e P 0 0148 Expanded Signal K2 Address e P 0 0149 List of selectable signals for oscilloscope function e P 0 0150 Number of valid Samples for Oscilloscope Function Main Functions of the Oscilloscope Feature The oscilloscope feature can be activated with the parameter P 0 0036 Trigger Control Word by setting bit 2 From then on all data will be recorded that was selected through the parameters P 0 0023 Signal Selection Channel 1 and P 0 0024 Signal Selection Channel 2 The selection will be defined with numbers that are assigned to various signals The triggering is activated by setting the bit 1 in the Trigger Control Word parameter The trigger conditions can be set with the parameters P 0 0025 Trigger Source P 0 0026 Trigger Signal Selection and P 0 0030 Trigger Edge The signal amplitude that releases the trigger can be set with the parameters P 0 0027 P 0 0029 Trigger Level If a trigger event is recognized then the number of values in the parameter P 0 0033 Number of Samples after Trigger will be recorded and the function will end Parameters P 0 0031 Timebase and P 0 0032 Size of Memory can define the recording duration and the time intervals for the measurement samples The sampled values are stored in P 0 0021 and P 0 0022 List of scope data and can be read by the control Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03
95. edge from the home switch is detected the drive reverses its direction and continues as if started outside the home switch range Command Starting point t value profile Home switch Homing direction at start Sv5047f1 fh5 Fig 9 92 Command profile with start position on the home switch Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 91 Monitoring the Distance Between Home switch and Homing Mark If the distance becomes too small between the home switch edge and the reference mark then it is possible that the home switch edge will only be detected after the reference mark has already passed This leads to the detection of the following reference mark and the reference mark detection becomes ambiguous lt gt Reference marker selected by 1 Motor home switch revolution an Inaccuracy of the home switch detection gt Homing direction SV5070f1 fh7 Fig 9 93 Ambiguous detection of reference markers at small distances between home switch edge and reference mark The distance between the home switch edge and the reference mark is monitored for this reason If the distance between the home switch edge and the reference mark becomes smaller than a certain value the command error C602 Distance home switch reference mark erroneous will be generated The Critical Range for
96. element v no Set string pointer to 1st character after next CR gt new list element End of list reached yes y List succesfully read FD5004B1 WMF Fig 1 17 Read accessing list parameters Rexroth Indramat 1 16 Serial Communikations Rexroth Indramat ECODRIVE03 SMT 02VRS Starting a Command Numerous commands can be conducted in the drive controller Com mand execution takes place automatically in the drive There are commands for Switching between operating and parametrization modes S 0 0127 C100 Communication phase 3 transition check S 0 0128 C200 Communication phase 4 transition check P 0 4023 C400 Communication phase 2 transition S 0 0262 C700 Command basic load S 0 0099 C500 Reset class 1 diagnostic S 0 0148 C600 Drive controlled homing procedure command P 0 0012 C300 Command Set absolute measurement A command can be started terminated and completed via the serial in terface The status of command execution can also be read DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 17 A command is started as follows step 1 communication with drive not Send request possible z B P 0 0162 7 w 11b CR gt check address gt check setting v gt check connection step 2 A received signal from drive d n drive repeats request echo lt Timeout
97. error e C210 Feedback 2 required gt S 0 0022 appears Check whether no motor encoder is available P 0 0074 Feedback type 1 0 and a value of 2 has not been entered in function parameter P 0 0185 Function of encoder 2 for load side motor encoder If this is the case then command error e C236 Feedback 1 required P 0 0074 is generated If the encoder parametrized in parameter P 0 0074 Feedback type 1 is not available or its data cannot be read then this error message is generated e C217 Feedback1 data reading error Rexroth Indramat 3 16 General Instructions for Installation ECODRIVE03 SMT 02VRS Checking optional encoder settings Reading out feedback data memory Checking maximum travel range Checking scaling Checking all parameters for extreme values and possible bit combinations Checking modulo range Rexroth Indramat If the encoder interface selected in parameter P 0 0075 Feedback type 2 is already occupied by the motor encoder then this error message is generated e C234 Encoder combination not possible If a second encoder with feedback data memory is used but its data cannot be read then error message e C218 Feedback 2 data reading error is generated If load side motor encoder has been selected in parameter P 0 0185 Function of encoder 2 but no rotary asynchronous motor is available then error message e C235 Load side motor encoder with inductance motor only is gene
98. error i D reaction I L Drive Halt Li wt Drive ua T WONNI I i Da0001f1 fh7 operating mode Fig 3 10 Priority dependent diagnostic formation on the H1 display Diagnostic Message Composition Rexroth Indramat Each operating condition is designated with a diagnostic message which consists of a e diagnostic message number and a e diagnostic text For example the diagnostic message for the non fatal error Excessive Control Deviation is displayed as follows F228 Excessive Control Deviation S Diagnostic message Diagnostic message number Fig 3 11 Diagnostic message composition with a diagnostic message number and text The H1 display alternates F2 and 28 The diagnostic message number appears in hexadecimal format in the parameter S 0 0390 Diagnostic Message Number In this example this would be 0x F228 The diagnostic message number and the diagnostic text are contained as a string F228 Excessive deviation in the parameter S 0 0095 Diagnostic Message The parameter P 0 0009 Error message number contains 228 dec DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 25 H1 Display The diagnostic number appears on the two part seven segment display The form of the display emerges from the graphic Priority Dependent Display of the Diagnostic Message With the help of this display it i
99. f Optimized oc Basic Drive Functions 9 75 D901 Start requires drive enable D902 Motor feedback data not valid D905 Position range invalid D906 Position range exceeded D903 Inertia detection failed store default control loop setting successfully asia Step6 Optimize position control loop lt Optimized ne successfully Step7 l yes y y Store inertia P 0 4010 and max compute parametrizable accel also determinated control loop setting D904 Gain adjustment failed store default loop settings FD5023X1 FLO Fig 9 77 Automatic control loop setting sequence Results of Automatic Control Loop Settings Note The current control loop is not effected hereby as its setting is load dependent and set parameters at the factory to optimum current control The results of automatic control loop settings depends on the selection in P 0 0165 DOK ECODR3 SMT 02VRS FK01 EN P Rexroth Indramat 9 76 Basic Drive Functions 9 9 Drive Halt Rexroth Indramat ECODRIVE03 SMT 02VRS Parameter structure Bit 0 reserved Bit 1 set speed control Bit 2 set position control Bit 3 set precontrol Bit 4 determine load Bit 5 reserved Bit 6 determine maximum accel Bit 7 13 reserved Bit 14 0 oscillation 1 motion in one direction only Bit 15 Fixing travel range 0 input limit
100. for CP2 which are recognized as invalid in command S 0 0127 C100 Communication phase 3 transition check Parameters are recognized as invalid if e their checksums that are stored together with the operating data ina resident memory programming module amplifier or motor feedback data memory do not fit to the operating data e their operating data is outside of the minimum maximum input range or e their operating data has violated the plausibility rules In any event the parameters entered upon negative acknowledgement of command S 0 0127 C100 Communication phase 3 transition check in S 0 0021 IDN list of invalid op data for comm Ph 2 must be corrected Rexroth Indramat 3 12 General Instructions for Installation ECODRIVE03 SMT 02VRS S 0 0022 IDN list of invalid op data for comm Ph 3 The drive enters the ID numbers out of parameter S 0 0019 IDN list of operation data for CP3 into the data of this ID list which were detected in command S 0 0128 C200 Communication phase 4 transition check as invalid Parameters are detected as invalid if e their checksum stored together with the operating data in a resident memory programming module amplifier or motor feedback data memory do not match the operating data e their operating data are outside of the minimum maximum input limits or e their operating data has violated the plausibility rules In any event the parameters entered upon negative acknowledgement of
101. for them is automatic The compensation between the physical rotor position and the position supplied by the feedback is set at the factory in these motors The offset results are stored in parameter P 7 0508 Commutation offset in the motor feedback memory synchronous motor parameter INDRAMAT housing motors are configured ready for operation at the factory meaning that they can be run without having to make any motor settings Rexroth Indramat 7 10 Motor Configuration fo S New motor first instalation J NS oe lt motortype SO standard housed motor frameless motor with integrated feedback Input motor parameters For Indramat motors use the DriveTop data base otherwise supplier data sheet i set up feetback device input feedback device sense of direction l input commutation offset amp M K N motor ready set up installation complete device ECODRIVE03 SMT 02VRS Motorinstalation exchange motor for a new motor of the same type y lt motortype _ i ee standard frameless motor housed motor with integrated feedback feed back absolute incremental input commutation offset y motor ready set up installation complete Fd5030f1 flo Fig 7 21 Overview of starting up the motor Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 0
102. head structure in the command telegram e Reaction telegram Slave gt Master This is the telegram that the slave sends to the master Drive 1Byte 1Byte 1Byte Status Control Device Tel eau byte byte address k User data head gt lt User data gt Ta0002f1 fh7 Fig 1 9 User data head structure in reaction telegram The definition of the user data The user data head describes the mode of transmission in the command head telegram Control byte The data block element of a parameter which is being accessed is de scribed in the control byte Bit 2 is used to control the transmission of fol lowing telegrams the writing of lists in several increments Unit address The unit address set at the address switch must be entered here Parameter Number and Type The parameter number has the format set in the SERCOS interface specification To be able to address control parameters as well 1 byte is set in front of the address to identify the parameter type Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 9 Parameter type Parameter number Bit 0 11 Parameter number 0 0001 0 FFF Bit 12 14 Parameter set 0 7 0000 S Parameter drive Bit 15 Parameter type 0001 P Parameter drive 0010 not used in the drive Bit 0 2 Parameter type 0100 not used in the drive 1000 not u
103. internal resolution of linear motors Examples 1 MKD motor S 0 0116 4 S 0 0256 32768 therefore drive internal resolution 131072 increments motor revolution or 0 00275 degrees increment 2 Linear scale as optional measuring system S 0 0117 0 02 mm grid division 20um S 0 0257 32768 therefore drive internal resolution of approximately 1638400 increments mm_ or 0 00061 um How to compute the drive internal resolution if an optional encoder is used is described in greater detail below DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Setting the maximum travel range at start up Multiplication is only reduced if the travel range can no longer be described DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 23 Note The value for the multiplication is limited to 4 4194304 for technical reasons Setting the drive internal position data format To set the drive internal resolution use the parameter S 0 0278 Maximum travel range This parameter must be set at the time when an axis is commissioned to a value that equals at least the distance that the axis must travel While executing the command S 0 0128 C200 Communication phase 4 transition check the drive computes the values for S 0 0256 Multiplication 1 and if an optional measuring system is mounted for S 0 0257 Multiplication 2 as well These parameters thus help to display the resolution The maximum possible resolution
104. is called the commutation offset Once the offset is determined the value is stored in parameter P 0 0508 Commutation offset When determining the offset at start up the difference is made between absolute and incremental measuring systems used as motor encoder The motor has a motor encoder which makes the absolute rotor position known In this case it is necessary e with the initial start up of the axis e or after the measuring system has been replaced to determine the commutation offset one time Fault in motor control and moving parts Commutation offset must be determined every time the mechanical reference between motor feedback and motor has changed This is the case for WARNING example when the encoder or the motor have been exchanged The motor is equipped with an incremental measuring system Rotor position is unknown every time the control voltage is switched on Commutation offset must be determined with every transition into operating mode e g after control voltage is switched on Rexroth Indramat 7 12 Motor Configuration Setting the motor encoder How to determine the commutation setting Rexroth Indramat ECODRIVE03 SMT 02VRS This is automatic when the drive enable is applied With the help of P 0 0074 Feedback 1 type the measuring system type is parameterized The following illustrates whether it is an absolute or incremental system Value of P 0
105. l 4 IA i 02 l l l l o a gt 4ms t lt _ ms ag Positioning inputs valid Positioning acknow Positioning acknow position inputs are in an inverted condition ledgement outputs show the negated status of the positioning inputs ledgement outputs do not show that after valid record acceptance the Sv5006d1 fh7 Example Reference position Rexroth Indramat Behavior Fig 8 23 Relative positioning block with residual path storage after activating the drive enable Relative positioning block with residual path storage after interrupting with jog mode Interrupted relative positioning block with residual path storage after jogging with target position 600 without overrunning the target position while jogging The last End position reached message is used as reference position The stretch jogged between the interruption and restart of the positioning block is taken into account The drive continues to run to the already computed target position Note The chain dimensional reference is guaranteed DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 25 Example Interrupted relative positioning block with residual path storage after jogging with target position 600 with overrunning the target position while jogging Behavior The drive runs back to the target position set prior to the interruption Note T
106. ledgment I Command at work t abt 8msec Sbit command change in drive status message t abt 8msec t Sv5022d1 fh5 Fig 3 5 Input acknowledgement and Command Change Bit during erroneous execution A delay time of up to 8ms can occur in the drive between receiving the command input and setting the command acknowledgement DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes Warnings Warnings do not cause automatic shutdowns The warning class is evident from the diagnostic message DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 9 Operating modes define which command values will be processed in which format leading to the desired drive motion They do not define how these command values will be transmitted from a control system to the drive One of the four selectable operating modes S 0 0032 S 0 0035 is active when e the control and power supply is ready for operation and the controller enable signal is positive e The drive displays AF in the H1 display Note All implemented operating modes are stored in parameter S 0 0292 List of all operation modes See also Operating Modes Many areas are monitored in connection with operating modes and parameter settings A warning will be generated if a state is detected that allows proper operation for the time being but will eventually generate an error and
107. nominal torque If it is possible to move the motor with this torque then the brake is in order If the motor cannot be moved then the brake is closed Error F269 Error when releasing the motor holding brake is generated When switching drive enable off the holding torque of the brake is checked This means that the nominal brake torque is applied to the motor with the brake closed If no movement is possible then the brake is in order If the motor moves during the check then warning E269 Brake torque too low is generated The warning remains pending until the monitor recognizes one of the brakes as alright Command brake monitor With the activation of the command it is first checked whether the motor can be moved with a torque that is smaller than the nominal brake torque If this is not possible then the motor holding brake is closed Error F269 Error with motor brake release is generated If movement is possible then the nominal brake torque is generated by the motor with closed brake If the motor does not move then the brake is functional With movement the attempt is made to again achieve the holding torque of the brake by looping in the brake After this procedure the holding torque is again checked If nominal torque is again not achieved then command error B203 Brake torque too low is generated A monitoring of the holding brake generates axis movements ATTENTION Rexroth Indramat
108. off switch level is set The following parameters are available for this feature e P 0 0131 Signal Select Position Switch e P 0 0132 Switch On Treshold Position Switch e P 0 0133 Switch Off Treshold Position Switch e P 0 0134 Position Switch Lead Time e P 0 0135 Status Position Switch Function diagram for the Programmable Limit Switch This feature shows whether the selected reference signal lies within the range between the on and off switch position Inverting occurs by exchanging the on and off switch level Rexroth Indramat Reference value Switch off position s PE ictal ESEA Switch on position y Time PLS bit x Fig 10 30 General Function Diagram for the Programmable Limit Switch The corresponding bit in the status position switch can be inverted by setting the on and off switch level There are two different situations that apply DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 31 Switch on position smaller than the switch off position If the switch on position is programmed smaller than the switch off position then the following applies The position switch is 1 if e Reference signal gt Xon AND e Reference signal lt Xoff Xon Xoff Fig 10 31 Programmable Limit Switch With Xon lt Xoff Switch on Position larger than the switch off Position The programmable limit switch is 1 if the following applies
109. output scaling The parameters P 0 0422 Analog output 1 scaling and P 0 0425 Analog output 2 scaling either select the bit to be output or determine which least signifiant bit to begin with on the byte to be generated will start When selecting the bit number only values between 0 and 15 make sense If greater values are entered then only bits 0 3 are used When outputting bits 10 volt bit 0 or 10 volt bit 1 is output Byte output With byte outputs the MSB of the byte to be output is interpreted as sign bit Voltages ranging from 10 to 10 volts are output Terminal assignment analog output see project planning manual Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 9 10 4 Analog Inputs Pertinent Parameters Using the function Analog inputs two analog inputs can be used via analog digital converters in one parameter each The analog voltages in the form of both of these parameters can then either be e transmitted to the control and supports the control as an analog input function or e it can be assigned in the drive to a different parameter taking a settable scaling and a settable offset into account Note With the help of analog inputs it is also possible to set specific command values for velocity control mode The following parameters are available for the function e P 0 0210 Analog input 1 e P 0 0211 Analog input 2 e P 0
110. peak torque of a drive for an application This parameter ensures that the allowable maximum peak torque for an application then not exceeded even if S 0 0092 Bipolar torque force limit value is set to a high value The following illustrates the interplay of current limit and torque limit for determining the maximum output current DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Warning and Errors DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 35 F260 Command E260 Command current limit Current limit active shutoff S 0 0080 Torque Force Me Command Value proaucing command current IqCOM _ _ Imax P 0 4946 Active Peak Current MIN Current limit from Current limit from current limiting torque force limiting Current limiting __ _ Torque force Internal limiting calculation P 0 4046 Active i Peak Current P 0 4045 Active MIN permanent Current S 0 0092 Torque Force Limit P 0 0109 Torque Force Peak Limit Fig 9 40 Current limitation and torque force limitation The current and torque limits both effect the limit of the torque generating command current displayed in parameter P 0 4046 Active peak current Note The smaller of the two limit values is effective in this case If the peak current limitation is active then the drive generates warning E260 Command Current limit active If the drive remains here for more than 5s
111. protects against the danger of adding positive feedback into the control loop command and feedback values with opposing polarities due to incorrectly set command and feedback value polarities Rexroth Indramat 9 8 Basic Drive Functions ECODRIVE03 SMT 02VRS Mechanical Transmission Elements Example Example Rexroth Indramat Mechanical transmission elements are gearboxes and feed mechanisms between the motor shaft and the load Entering this data is necessary for the load to convert the position velocity and acceleration physical values if these are scaled for the load See also Adjustable Scaling for Position Velocity and Acceleration Data To see if this parameter has been entered correctly move the shaft and compare the path followed with the position feedback value and the path actually taken Transmission Ratio The transmission ratio can be set with the parameters e 0 0121 Input revolutions of load gear e 0 0122 Output revolutions of load gear The ratio between transmission input and transmission output is parameterized here transmission input motor shaft transmission output Fs5003f1 fh5 Fig 9 8 Transmission ratio parameterization In the illustration above 4 transmission input revolutions motor revolutions were equivalent to 2 transmission output revolutions The proper parameterization for this would be S 0 0121 Input revolutions of load gear 4 S 0 0122
112. range limit switch is working See section Safety Instructions for Electric Servo Drives and Controls WARNING During the command D900 Command automatic loop tuning the drive conducts its own external command value programmed motions Definition of travel range for control loop settings Since the axis must be moved in order to identify and set the control loop it is necessary to define a travel range There are two options e Define a travel range by inputting the limits P 0 0166 Lower position limit for autom control loop adjust and P 0 0167 Upper position limit for autom control loop adjust a downwardly compatible function e Input P 0 0169 Travel distance for autom control loop adjust needed with modulo axes Note The mode is selected with the use of parameter P 0 0165 Selection for autom control loop adjust If bit15 of P 0 0165 has not been set then the range in which the axis may move with an automatic control loop setting is defined with e an upper limit position P 0 0166 e anda lower limit position P 0 0167 This results in the value of P 0 0169 Travel distance for autom control loop adjust If Bit 15 of P 0 0165 is set then the range in which the axis may move with an automatic control loop setting is defined with e P 0 0169 Travel distance for autom control loop adjust and e Start position actual position at the start of a command Rexroth Indramat 9 70 Basic Drive Functio
113. related and which LSB valence these have e g position data with 0 001 degrees or 0 0001 inches and so on e Interfaces rotational directions and the resoluton of the motor encoder and where available optional encoders See also chapter Physical Values Display Format Mechanical Transmission Elements and Setting the Measurement System Rexroth Indramat 3 20 General Instructions for Installation ECODRIVE03 SMT 02VRS Rexroth Indramat IBS 4 Setting the error reactions and E stop In this step the reaction of the drive in the event of an error is set as well as the triggering of the drives own E stop input The following parametrizations must be performed e type and mode of error reactions in drive e selection whether NC reaction in error case should happen e selection whether and if so when the power supply is switched off and whether a package reaction is to be conducted e Configuration of the E stop input See also chapter Drive Error Reaction IBS 5 Pre setting Control Loop The parameters for current velocity and position control loops are set in this step This is done either by e Execute command P 0 0162 D900 Command Automatic control loop adjust During the execution of the command the setting for the velocity controller and the position controller is determined as well as the load inertia or e Execute command S 0 0262 C700 Command basic load or e by inputting the controller v
114. second encoder by moving the axis and examining the position feedback value of the external encoder in parameter S 0 0053 Position feedback 2 value it can be checked whether a distance is correctly displayed in this process S 0 0051 Position feedback 1 value and S 0 0053 Position feedback 2 value should run parallel when jogging a specific path If not then check the settings in P 0 0075 Feedback type 2 S 0 0117 Feedback 2 Resolution S 0 0115 Position feedback 2 type and P 0 0185 Function of encoder 2 See also chapter Physical Values Display Format Mechanical Transmission Elements and Setting the Measurement System IBS 7 Limits for position velocity and torque The limits for the travel range are conducted by setting e position limits values and or e travel range limit switches as well as the limit values for the axis velocity and maximum drive torque force are parametrized also See also chapter Torque Limit Travel Range Limits and Limiting Velocity IBS 8 Optimizing the control loop This step is only necessary if the settings for velocity and position control loops in IBS 4 did not achieve the needed quality As such optimize the control behavior as follows e modify the parameter for velocity and position control loops e possibly activate the acceleration pre control e possibly activate the friction torque compensation e possibly activate the velocity mixture and e possibly activat
115. set in the drive status word This change bit is cleared by reading S 0 0012 Class 2 diagnostics The functional principle at work when actuating the E Stop input is that of a series connection to an external drive enable When activating the E Stop input the drive responds as if the external drive enable switched off To re activate the drive the E Stop input must become inactive and another 0 1 edge must be applied to the external drive enable Rexroth Indramat 9 52 Basic Drive Functions Interpretation as error with adjustable reaction F434 Emergency Stop active Interpretation as error with reaction as Velocity command value to zero Rexroth Indramat ECODRIVE03 SMT 02VRS If bit 2 has been set to treat it as an error then the reaction selected in bit 1 is performed The error diagnosis F434 Emergency Stop or F634 Emergency Stop E stop activated appears and bit 15 is set in parameter S 0 0011 Class 1 diagnostics Bit 13 is set in the drive status word of the drive telegram i e drive interlock error with class 1 diagnostics is set The error can be cleared via command S 0 0099 C500 Reset class 1 diagnostic or the S1 button on the drive controller if the E stop input is no longer activated This function basically works as if an error had occurred in the drive The drive reaction is immediate independent of parameter P 0 0117 NC reaction on error If bit 1 0 the drive shuts down according to P 0 0
116. smoothing time constant S 0 0047 Position Stepper motor command value ___ a gt Position command value signals f E259 Command velocity limit active S 0 0091 Bipolar velocity limit value Fig 8 36 Processing stepper motor signals The operating mode always relate to the actual position values of encoder 1 Pertinent Parameters e P 0 4033 Stepper motor resolution e P 0 4034 Stepper motor interface mode e P 0 0099 Position command smoothing time constant Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 41 Stepper motor signal processing In Stepper motor mode the drive converts externally fed pulses into defined position changes Using parameter P 0 4034 Stepper motor interface mode various it is possible to select various modes e quadrature signals e forwards backwards signals e one step and one direction signal The pulses pending processing are applied at the relevant inputs of the parallel interface The number of steps per motor revolution can be set in parameter P 0 4033 Stepper motor resolution The steps are set in increments of mm in linear motors Note The drive only processes the fed in pulses if both drive enable and AH start signal are applied and no drive error is pending In other words fed in pulses are lost if the drive is without drive enable or in drive halt The processed pulses are given to the position cont
117. system needed as per the homing parameter spindle feedback or encoder 2 is either missing or not connected Check spindle feedback connection C905 Positioning with non init absolute encoder impossible Motor or spindle feedback is an absolute encoder The spindle however cannot position as command Set absolute dimension has not yet been executed Command P 0 0012 C300 Command Set absolute measurement must be executed see section Setting the Absolute Dimension Other fault causes If the spindle turns after command start without positioning e The spindle reference switch is not recognized Check spindle reference switch and wiring functions If the spindle runs to the wrong target position e The value in parameter S 0 0103 Modulo value is not equal to 360 e Gear ratio not correct with positioning via motor feedback with spindle reference switch Enter correct gear ratio in parameter S 0 0121 and S 0 0122 Output revolutions of load gear and Input revolutions of load gear or e Motor or spindle feedback faulty or not synchronous gt Motor or spindle feedback and its synchronization must be checked in the relevant parameters or e Parameter S 0 0076 Position data scaling type for position data is incorrectly set Rexroth Indramat 10 48 Optional Drive Functions ECODRIVE03 SMT 02VRS If the drive shuts down with error message F228 Excessive deviation The spindle canno
118. the axis to the travel limit at start of the command S 0 0148 C600 Drive controlled homing procedure command is greater than the max necessary travel distance Sretmax or e evaluate the home switch If the home switch is evaluated and if at the command start the home switch is already activated S 0 0400 Home switch 1 the drive automatically starts in the opposite homing direction Therefore the home switch must be mounted in such a way that it covers at least the max necessary travel distance Sretmax until reaching the travel range limit in the homing direction travel range limits SRefmax A correct mounting of the home switch A incorrect mounting of the home switch Homing direction SV5074f1 fh7 Fig 9 103 Mounting the home switch with distance coded reference markers Rexroth Indramat 9 98 Basic Drive Functions ECODRIVE03 SMT 02VRS Functions of the Control During Drive Controlled Homing The control s interpolator must be set to the position command value read from the drive During drive controlled homing the drive independently generates its position command values Preset command values of the control will be ignored If the command is confirmed by the drive as completed the position command value corresponding to the machine zero point will be made available in parameter S 0 0047 Position command value This value must be read through the service channel by the cont
119. the distance is 0 25 Distance between reference markers Optimaler distance critical distance 0 5 Distance of reference marks 0 25 Distance of reference marks lt _ Distance of the reference marks l Home switch in critical area Home switch in allowed area gt Homing direction SV5071f1 fh7 Fig 9 94 Critical and optimal distance between home switch and reference mark The optimal distance between the home switch edge and the reference marker is 0 5 Distance between reference markers To monitor the distance between the home switch and the reference mark the optimal distance is entered in P 0 0153 Optimal distance home switch reference mark Rexroth Indramat 9 92 Basic Drive Functions ECODRIVE03 SMT 02VRS The following requirements apply Encoder Rotary type P 0 0153 Function The distance between the home switch and the reference mark will be monitored The optimal spacing will be calculated internally and amounts to a 1 2 encoder rotation for DSF or incrementally rotational encoders or 1 2 encoder revolution S 0 0116 Feedback 1 Resolution for resolvers Rotary Linear The distance between the home switch and the reference mark will be monitored Half the reference mark spacing must be entered in P 0 0153 Optimal distance home switch reference mark The distance between the home switch and the ref
120. the drive this parameter equals zero e This value can be used to help set the monitoring window Parameter S 0 0159 Monitoring Window should be set to P 0 0098 Max Model Deviation multiplied by a safety factor A safety factor between 1 5 and 2 0 is recommended Example Content of P 0 0098 Maximum Model Deviation 0 1 mm Determination for the parameter S 0 159 Monitoring Window 0 2 mm 2 x 0 1 mm Deactivation of the Position Control Loop Monitoring It is strongly recommended to activate the position loop monitoring However there are exceptions for which the position loop monitoring must be deactivated You can do that with the parameter S 0 0159 Monitoring Window if it is set to very high values Note By default the Position Control Loop Monitoring is active Setting the Acceleration Feed Forward DOK ECODR3 SMT 02VRS FK01 EN P For Servo applications where high precision at high speeds counts you have the option to greatly improve the precision of an axis during acceleration and brake phases through activation of the acceleration feed forward Typical applications for the use of the acceleration feed forward e Free form surface milling e Grinding To set the acceleration feed forward use the parameter e 0 0348 Proportional Gain Acceleration Feed Forward This value can be determined as follows Rexroth Indramat 9 66 Basic Drive Functions Rexroth Indramat ECODRIVE03 SMT 02VRS
121. the machine are fixed by the peak current of the machine and the peak current of the motor These values may not be exceeded And as these are the total flowing currents the magnetization current is deducted from these values for display in parameter P 0 4046 Active peak current The current is dynamically reduced to 2 2 times of the standstill current of the motor to protect the motor against overheating Motor current limitation To protect the controller from overheating the current is dynamically reduced to P 0 4045 Active permanent current Thermal current limit of the controller Note At high speeds the maximum possible motor current is also reduced by the pullout current limit The smallest value derived from all these limitations is displayed in parameter P 0 4046 Active peak current The controller can supply this maximum current momentarily DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Thermal load of the controller S 0 0110 Amplifier Peak Current S 0 0109 Motor Peak Current motor Thermal load o Basic Drive Functions 9 31 pull out current limit f the P 0 0109 Peak Torque Force Limit P 0 4004 Magnetizing S 0 0092 Bipolar Current Torque Force Limit P 0 4046 peActive Peak Current wank Smallest value of Reduction in Dynamic reduction Reduction by S 0 0109 and dependence on because of thermal bipolar torque force S 0 0110 magnetizing current
122. the position data is activated then the following restrictions apply The distance which can be traversed when all is shutdown must be smaller than one half maximum travel range set in parameter S 0 0278 Maximum travel range Actual position values of absolute measuring systems after initialization The condition of the position feedback values of the motor feedback and if available of the optional feedback after initializing the position feedback values in the command S 0 0128 C200 Communication phase 4 transition check depends on e Bit 3 in S 0 0147 Homing parameter e Availability of an absolute feedback as the motor or optional feedback e The reference of the relevant absolute encoder Motor S 0 0147 DOK ECODR3 SMT 02VRS FK01 EN P Optional S 0 0051 Position S 0 0053 Position S 0 0403 feedback feedback Bit 3 feedback value 1 feedback value 2 Pos status absolute not absolute 0 absolute value of absolute value of 1 motor feedback motor feedback absolute not absolute 1 absolute value of absolute value of 0 motor feedback motor feedback not absolute absolute 0 absolute value of absolute value of 0 optional feedback optional feedback not absolute absolute 1 absolute value of absolute value of 1 optional feedback optional feedback absolute absolute arbitrary absolute value of absolute value of 1 motor feedback optional feedback Fig 9 34 Position feedback values of ab
123. the protective low voltage type PELV Protective Extra Low Voltage may be connected to all termi nals and clamps with 0 to 50 Volts Only safely isolated voltages and electrical circuits may be connected Safe isolation is achieved for example with an isolating transformer an opto elec tronic coupler or when battery operated DOK ECODR3 SMT 02VRS FK01 EN P Rexroth Indramat 2 6 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 SMT 02VRS 2 7 Protection against dangerous movements Rexroth Indramat Dangerous movements can be caused by faulty control or the connected motors These causes are be various such as unclean or wrong wiring of cable connections inappropriate or wrong operation of equipment malfunction of sensors encoders and monitoring circuits defective components software errors Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble free operation The monitors in the drive components make faulty operation almost im possible Regarding personnel safety especially the danger of bodily harm and property damage this alone should not be relied upon to en sure complete safety Until the built in monitors become active and effec tive it must be assumed in any case that some faulty drive movements will occur The extent of these faulty drive movements depends upon the type of control and the state of operation DOK
124. then the signal data will be stored as sign extended 32 bit values Oscilloscope Feature Trigger Source The P 0 0025 Trigger Source parameter makes it possible for the user to choose between two trigger types The trigger is activated by the control through bit 0 in the Trigger Control Word This makes it possible to transmit a trigger event to several drives This parameterization supports parameter P 0 0035 which is needed to visualize the recording data Triggering occurs through the monitoring of the parameterized trigger signal If the selected edge is recognized then the trigger will be released The Delay from Trigger to Start parameter will be set to zero DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Optional Drive Functions 10 15 Selection of Trigger Edges Various trigger edges can be selected with the parameter P 0 0030 Trigger Edge The following options are available Number Trigger Edge 1 Triggering on the positive edge of the trigger signal 2 Triggering on the negative edge of the trigger signal 3 Triggering on both the positive and negative edge of the trigger signal 4 Triggering when the trigger signal equals the trigger level Fig 10 10 Trigger edge selection Selection of Fixed Trigger Signals The parameter P 0 0026 Trigger Signal Selection determines the signal that is monitored for the parameterized edge reversal Just a
125. to the machine zero point Note If the drive once the reference command has been conducted is in parameter mode again then parameter S 0 0403 Position feedback value status is set to 0 because the feedback values in command S 0 0128 C200 Communication phase 4 transition check are re initialized See also the functional description Commissioning with Evaluation of reference marker home switch edge See also the functional description Commissioning with Evaluation of distance coded reference marker DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 83 Functional Principle of Drive Guided Referencing with Absolute Measuring Systems If the referenced measuring systems per bit 3 of S 0 0147 is to be evaluated as an absolute measuring system i e in the relevant encoder type parameter S 0 0277 S 0 0115 bit 6 is at 1 and bit 7 on 0 then command S 0 0148 C600 Drive controlled homing procedure command supports two different purposes e drive guided traveling to the reference point e triggering the switch of the position feedback value if absolute measurement is conducted with drive enable applied Drive guided traveling to reference point If the absolute encoder is referenced i e parameter S 0 0403 Position feedback value status is set to 1 then the drive after the start of command S 0 0148 C600 Drive controlled homing procedure command runs to the reference point if 1
126. unless the timing behavior of the linear interpolator is required see parameter description of P 0 0187 The cubic interpolator is superior to the linear one in particular with lagless position control because it offers a clearly higher quality of the velocity and acceleration feedforward precontrol P 0 0099 Position command smoothing time constant See also Position Controller S 0 0047 Position command value Fine interpolator F237 Excessive position i command difference S 0 0091 Bipolar velocity limit value Fig 8 10 Command value processing position control See also Current Controller See also Velocity Controller See also Position Controller Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 9 Position Controller The position controller error is computed from the effective position command value from the generator function of the active operating mode and the position feedback value encoder 1 or encoder 2 used for the controller This is given to the position controller whose control loop gain is set with S 0 0104 Position Loop Kv Factor Bit 3 in the operating mode parameters S 0 0032 35 indicates if positioning should be subject to the following errors Definition of bit 3 of operating mode parameters S 0 0032 to S 0 0035 Bit 3 1 lagless with velocity precontrol Bit 3 0 with lag without velocity precontro
127. value It is recommended to move the position into the center of the SSI display range by means of the S 0 0052 Reference distance 1 This offers the option of running 2048 revolutions to the left and to the right 10 14 Spindle Positioning Spindle positioning in milling and drilling spindles were used e to prepare the change of the workpiece while the spindle remained a defined position Spindle positioning in lathe main spindles support the orientation of the spindle e when changing the workpiece if necessary e the putting into place of balancing drill holes in workpieces that are to be balanced e to index the workpiece for further machining In rotary tables spindle positioning e the relaying of the rotary table to bring the workpieces in the machining stations into a defined machining position Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Pertinent parameters DOK ECODR3 SMT 02VRS FK01 EN P Optional Drive Functions 10 39 A command from the control makes the drive move the spindle in terms of the zero position of the spindle The command position can be set by means of parameters It can be set as either an absolute or a relative position The spindle positioning command can for example position the spindle in velocity control mode in a position controlled manner without having to switch from velocity to position control mode The velocity command set by the control is ignor
128. word A read access to both parameter clears this change bit By setting the change bit as a result of a bit toggle in S 0 0012 or S 0 0013 it is possible to mask with the help of parameter S 0 0097 Mask class 2 diagnostic or S 0 0098 Mask class 3 diagnostic DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS General Instructions for Installation 3 29 ane ee Pa S 0 0012 Class 2 Diagnostics Z LIII I1 1 S 0 0012 at last read access CANAN 0 0097 Masked Class 2 unequal to 0 Yes Bit change set in drive status message Fig 3 16 Generating the change bit of class 2 diagnostics S 0 0182 Manufacturer class 3 diagnostics In parameter S 0 0182 Manufacturer class 3 diagnostics various messages about the operating states are stored there as well If the state of a message changes then this is not signalled with a change bit The following bits are supported in manufacturer s class 3 diagnostics S 0 0182 Manufacturer class 3 diagnostics i Bit 1 1 Feedback Velocity lt S 0 0124 Standstill window Bit 6 IZP S 0 0258 Target position Feedback position lt S 0 0057 Position window amp amp S 0 0189 Following error lt S 0 0057 Position window amp amp S 0 0040 Feedback velocity lt S 0 0124 Standstill window Bit 7 Message 90 load Amplifier is producing 90 of its current maximum torque Bit 10 IN_TARGET_POSITION L 0 0258 Target position S 0 0051 51
129. 0 0026 Configuration list signal status word ID number list with variable length to configure the bit strip e 0 0328 Assign list signal status word e Bit number list with variable length to configure the bit strip Configuration of the Signal Status Word Feedback Configuration of the ID number The ID numbers of the parameters which contain the original bits sources are specified in parameter S 0 0026 Configuration list signal status word The position of an ID number in the list determines the bit in the signal status word to which the ID number applies So the first list element informs as to what parameter bit O of the signal status word comes from Configuring the bit numbers Which bit of the parameters selected in S 0 0026 Configuration list signal status word is to be copied into the signal status word is determined in S 0 0328 Assign list signal status word Note If this list remains empty then bit O of the parameter is automatically copied Otherwise the bit taken out of the source parameter is specified here Bit number 0 LSB to 31 MSB can be specified For each bit number of this list there must be an ID number in the same list position in list S 0 0026 Otherwise the drive when writing the bit number list will issue the error message ID number not available This is why list S 0 0026 Configuration list signal status word must be written into before S 0 0328 Assign list signal status word
130. 0 4002 Current amplify trim phase U e P 0 4003 Current amplify trim phase V e P 0 4015 Intermediate DC bus voltage e P 0 4024 Test status e P 0 4035 Trim current e P 0 4053 Intermediate DC bus voltage gain adjust e P 0 4054 Resolver input offset e P 0 4055 Resolver input amplitude adjust e P 0 4058 Amplifier type data e P 0 4059 Braking resistor data e P 0 4088 Serial number e P 0 4089 Production index Parameter Storage in Motor Feedback All motor dependent parameters are stored in the motor feedback with MHD MKD and MKE motors Additionally parameters for the Load Default function and the position encoder are stored here All parameters stored in the motor feedback data memory are there with both parameter block number 0 and 7 In parameter block 7 e g S 7 0100 the original data without write access are stored in the motor feedback data memory These are copied after powering up into the parameters of parameter block 0 e g S 0 0100 Note The parameters of parameter block 0 take effect All application parameters are stored in the programming module control loop mechanical system interface parameters and so on All ID numbers backed up in this module are listed in parameter S 0 0192 IDN list of backup operation data If the programming module is exchanged then these application parameters must be read out before hand so that they can be written into the new module after the exchange
131. 0074 Feedback 1 type Absolute rotor information 1 Yes 2 No 3 No 5 No 8 Yes 9 No 10 Yes 11 Yes Fig 7 22 Absolute rotor information as dependent on encoder type There are three different ways to determine the commutation offset outlined in the firmware The following illustrates the relationship between the motor encoder used and the procedure used DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Motor Configuration 7 13 fe Determing the ie commutation offset of frameless synchronous motors I Pa motorfeedback with yes lt absolute rotor position Re information Te linear or rotational a N I motor with lt linear or 5n S incremental rotational gt feedback motor lt LSF motor a MBS motor with with absolute absolute rotor linear measure position information FESS SS alternative a z at initial set up y y application type 1 application type 2 application type 3 1 determing the commutation current applied current applied offset by measuring the start with command automatic start after drive relation between the primary P 0 0524 D300 command enable and secondary and starting commutation set up command P 0 0524 Fd5029f1 flo Fig 7 23 Determining commutation offset in synchronous motors 1 Application no 3 synchronous motors with incremental encoder may not be
132. 0127 Overload warning a Duration current Duration current limiting active E257 limiting and pre warning active E261 P 0 4046 Active peak current Command Current_Profile P 0 4045 Active permanent current gt Sv5031f1 fh7 Fig 9 37 Monitoring the thermal load and continuous current limit Parameter P 0 0141 Thermal drive load can be used to check the extent of the controller load A correct layout would mean that this would never exceed 80 To check the load it is possible to subject the machine to a test run The time until the load achieves a stationary condition must be greater than 10 minutes DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 33 Motor current limit Pull out current limit To check the thermal load of a drive at the time of a start up without having to run a machining process it is possible to pre set the controller load to 80 To do so write any value into parameter P 0 0141 Thermal drive load It is necessary to briefly and simultaneously run a typical processing cycle however The thermal load should be observed and it must demonstrate a falling tendency as otherwise the drive has been incorrectly sized for the application To check the further increase of the thermal load beyond 80 use e the overload warning P 0 0127 Overload warning and or e the P 0 0141 Thermal drive load output using the ana
133. 02VRS If the expanded trigger feature is activated then the trigger signal address must be defined via the parameter P 0 00146 Expanded Trigger Address The associated trigger level is entered in the parameter P 0 0145 Expanded Trigger Level This parameter is defined as follows P 0 0145 Trigger Level for Expanded Oscilloscope Function 313029282726 252423222120191817161514131211109 8 7 6 543 210 16 Bit mask for 16 Bit threshold for trigger signals trigger signals Fig 10 13 Structure of parameter P 0 0145 The 16 bit value of the trigger edge is monitored and the trigger signal will be ANDed with the trigger signal screen mask Setting the Time Resolution and the Memory Depth The recording ranges for the oscilloscope feature can be defined with parameters P 0 0031 Timebase and P 0 0032 Size of Memory The maximum memory depth is 512 samples If you need fewer samples you can change the value in the memory size parameter The time resolution can be set from 500 us to 100 ms in steps of 500 us This determines the time intervals in which the samples are recorded The minimum recording duration is 256 ms the maximum recording duration is 51 2 s In general Recording duration Time resolution x Size of Memory us Fig 10 14 Determining of the recording duration Setting the Trigger Delays By setting the parameter P 0 0033 Number of Samples after Trigger it is possible to record probe values before the tr
134. 0502 Encoder emulation resolution The input range and unit depends on S 0 0076 Position data scaling type The following combinations are possible e 12 24 bit revolution e 4 24bit mm e 8 24 bit inch The output direction is set in parameter S 0 0055 Position polarities Note The unit of the parameter is switched when selecting SSI emulation via parameter P 0 4020 Encoder emulation type Referencing with Absolute Encoder Emulation Using parameter P 0 0012 C300 Command Set absolute measurement it is posible to reference the absolute position output by the absolute encoder emulator With set absolute dimension the value of parameter S 0 0052 Reference distance 1 is set Rexroth Indramat 10 38 Optional Drive Functions ECODRIVE03 SMT 02VRS Position jumps at the Display Limits of Absolute Encoder Emulation Using SSI emulation it is possible to illustrate 4096 revolutions absolutely If when using SSI emulation the limit has been reached then small position fluctuations lead to large jumps in the emulated SSI position This is the case with position 0 and 4096 revolutions emulated position position jump x t gt 0 2048 4096 motorposition in i noming point revolution a S 0 0052 reference distance Sv5089f1 fh5 Fig 10 39 SSI display limits To avoid this then use commando P 0 0012 C300 Command Set absolute measurement to shift the SSI position
135. 1 Interface mode 8 41 IZP 3 29 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Index 12 7 J Jogging mode functional sequence 8 43 K Kit motors 7 11 L LAF 7 1 Lag error 3 28 3 29 Language Selection 3 30 LAR 7 1 Limit 5 2 Limit 5 2 Limiting the incremental encoder emulation 10 36 Limiting the Velocity of the command value in the velocity controller 9 38 Limiting to Bipolar Velocity Limit Value 9 37 Limiting to Maximum Motor Velocity 9 37 Limiting Velocity Associated Parameters 9 37 Bipolar Velocity Limit Value 9 37 Maximum Motor Velocity 9 37 Monitoring 9 38 Linear Rotary Scaling 9 2 Linear motors Commutation offset 7 14 List elements of multiplex channel 4 14 List of diagnostic numbers 3 25 Load 9 32 Loading into phase 3 not allowed 3 31 Loading into phase 4 not allowed 3 31 LSF 7 1 Magnetization current 7 20 Main spindle functions with Parallel Interface 6 7 Manufacturer class 3 diagnostics 3 29 Manufacturer specific error 3 27 Manufacturer s class 3 diagnostics 3 29 Master Control Word Structure 4 2 MBS 7 1 MBW 7 1 Meaningful Use of Frictional Torque Compensation 9 68 Mechanical Transmission Elements 9 8 Message 90 LOAD 3 29 Message with faults with command spindle positioning 10 47 Messages with error free execution with command spindle positioning 10 47 MHD 7 1 Automatic Setting of the Motor Type 7 4 Temperature Monitoring 7 3 Minimum values for accel
136. 1 Motor warning temperature will be set to 145 0 C and the S 0 0204 Motor shutdown temperature will be set to 155 0 C e The value of P 0 0525 Type of motor brake is set to 0 The value of P 0 0526 Brake control delay is set to 150 ms This procedure is followed right after switching on as in the command S 0 0128 C200 Communication phase 4 transition check The command error message C204 Motor type P 0 4014 incorrect will be generated in case an MHD MKD and MKE motor is selected in P 0 4014 Motor type but the corresponding character sequence cannot be found in the motor feedback data memory DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Motor Configuration 7 5 Setting of the Motor Type through P 0 4014 Motor Type For motors without motor feedback data memory you have to set the motor type through P 0 4014 Motor type See also Characteristics of the Different Motor Types 7 3 Asynchronous Motors With the Firmware you can use asynchronous motors in the entire rpm range including constant power range In addition to the general motor parameters you have to set the following asynchronous motor parameters for specific motors according to the Indramat default P 0 4004 Magnetizing current P 0 4012 Slip factor P 0 0530 Slip Increase P 0 0531 Stall Current Limit P 0 0533 Flux Loop Prop Gain P 0 0534 Flux Loop Integral Action Time P 0 0535 Motor voltage at no load P 0 0536 Motor voltag
137. 1 Pull out current limit 9 33 Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Index 12 11 R Ramp 9 47 Rated current Saving in the motor feedback 7 2 Reaction to undervoltage 9 50 Reaction to Undervoltage DC bus voltage too small 9 50 Read access 3 28 Read error 3 31 Real Time Control Bit 4 5 Real Time Status Bit 4 5 Referencing parametrization 9 79 reference marker 9 79 Referencing with absolute encoder emulation 10 37 rejection filter 9 61 Relative drive internal interpolation 8 14 diagnostic messages 8 16 pertinent parameters 8 14 Relative positioning block with residual path after activating drive enable 8 23 Relative positioning block with residual path storage 8 22 Relative positioning block with residual path storage after interrupting with jog mode 8 24 Relative positioning block with residual path storage after switching drive controller control voltage on and off 8 26 Relative positioning blocks without residual path storage 8 20 Relevant parameters of the E Stop function 9 51 Requirements for a Correct Setting of the Acceleration Feed Forward 9 66 Reset only in loader possible 3 31 Resolution 9 22 Resolution with absoute encoder emulation 10 37 Resolver 9 11 Resolver without feedback data storage 9 11 Resolver without feedback data storage incremental encoder with sine signals 9 11 Restart in phase 3 not allowed 3 31 Restart in phase 4 not allowed
138. 1 28 Serial Communikations SIS Protocol ECODRIVE03 SMT 02VRS Parameter read access Service 0x80 A single read is concluded with 1 transmission step The master enters the following information into the command telegram The desired element is selected in the control byte in bits 3 5 Ele ment Bit 2 is set to 1 last transmission The unit address is entered Parameter type and number are entered No user data are transmitted The answer to a read access is put together as follows The acknowledgement to a request is written in to the status byte The control byte is read out of the command telegram and copied into the reaction telegram The unit address is read out of the command telegram and copied into the reaction telegram The requested data is written into the user data Example Read parameter S 0 0044 Velocity data scaling type out of drive with address 3 The value of the parameter is 0x0042 Command telegram 3C 03 00 2C 00 Control Device Param Parameter No Tel header byte address type LSB MSB User data head W WW gt Ta0005f1 fh7 Fig 1 36 Read S 0 0044 Command telegram Reaction telegram 00 3C 03 42 00 Status Control Device User data Tel header byte byte address LSB MSB k User data head gt Rexroth Indramat Fig Ta0006f1 fh7 1 37 Read S 0
139. 10 28 Command communications interface 1 2 Command Communications with Analog Interface 5 1 Command error 3 14 Command Input and Acknowledgment 3 7 Command Polarities and Actual Value Polarities 9 6 Command settings 9 71 Command settings with automatic control loop settings 9 71 Command Types 3 7 Command value processing Position Control 8 8 Command value processing Velocity control 8 4 Command value profile with actuated home switch at the start of the command 9 90 Commands 3 7 Change Bit Command 3 8 Command Input and Acknowledgment 3 7 Command Types 3 7 Load Default Command 9 55 Probing Cycle Procedure Command 10 21 Commissioning Guidelines 3 17 Commissioning instructions 3 17 Communications error 3 27 Communications phase operating mode 3 13 parametrization phase 3 13 Communications phase 3 transition check 3 14 Communications phase 4 transition check 3 15 Commutation offset 7 11 Compensation Torque 9 68 Condition for Power On 9 50 Conducting automatic control loop settings 9 72 Conducting Automatic Control Loop Settings 9 72 Configurable inputs of the parallel interface 6 6 Configurable outputs of the parallel interface 6 5 Configurable signal control word 10 3 Configurable signal status word 10 1 Configuration of the Home switch 9 99 Configuration of the signal status word 10 1 Configuration with multiplex channel 4 12 Configuring the signal control word 10 3 Connecting Signals to DKCxx 3 5 3 Connecting the motor holding
140. 119 Best possible deceleration The diagnosis upon activating the E stop input then reads F434 Emergency Stop Status of the Emergency Stop Input If bit 1 is set to 1 then the drive is braked at maximum torque if an E Stop of the drive is triggered until the speed 0 regardless of the error reaction set in parameter P 0 0119 This corresponds to the best possible standstill Velocity command value to zero The diagnosis with the activation of the E Stop input then reads F434 Emergency Stop The state of the E Stop input can be controlled via parameter P 0 0223 Status Input E Stop function The state of the E stop input is stored there in bit 0 Activation and Polarity of the E Stop Input For the activation of the E Stop input and the selection of a response for shutdown of the drive use parameter P 0 0008 Activation E Stop function The following applies P 0 0008 Activating E stop function BitO Activating E Stop 0 inactive 1 active Bit 1 Error class with interpretation as error Bit 2 0 0 best possible standstill P 0 01 19 1 velocity command value to zero Bit 2 Interpretation 0 as non fatal error 1 fatal warning Fig 9 62 P 0 0008 Activation of E Stop Function Connection of the Emergency Stop Input see project planning manual DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 53 9 6 Control Loop Settings General Information for Control Loop
141. 119 1 the frictional force i e it coasts The actual time to standstill can be or fatal error considerable particularly with spindles Note It is not sensible to set the best possible standstill to torque disable when using a motor holding brake at the same time In this case when performing the best possible standstill the drive does not brake actively but only with the holding brake After 20000 turns the brake is at the end of its life Note The error reaction Torque disable is absolutely necessary with fatal errors F8xx because braking with a defective end stage or feedback is no longer possible Drive continues to move unbraked with error Danger to life from parts in motion if the machine safety doors are open Check drive for motion e g using S 0 0040 Velocity DANGER feedback value if possible and await standstill Note Activation of the motor holding brake depends on P 0 0525 bit 1 See section Motor holding brake The temporal behavior of the brake in conjunction with an error reaction depends on the brake Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 46 Basic Drive Functions ECODRIVE03 SMT 02VRS Torque disable with brake type Spindle brake The motor holding brake is not activated until the motor speed drops below 10min Activating the torque to zero Actual vel value path n 10 min Motor holding brake rel Motor holding brake applie
142. 12 Pertinent Parameters risorte ener a tives EET RE E TA EE ET ERAKETAREN EATER 4 12 Functional Principle Multiplex Channel ccc ccccccceeeeeeeeeeeeeeeeceeeeeseaeeeeneeseeeeesaeeesaeeeeeeesaas 4 12 Diagnostic Messages ocra aai i a aa a i 4 15 5 Command Communications with Analog Interface 5 1 ST OVON OW a a abl ue thad teat ianbates bees Geesadeeducadieneuens 5 1 5 2 Pertinent Parameters aao Raae AAA EA PLR AA De AOLA AEKA RACER ESEA RAA AARAL ADE ENARAK KA EIRAS 5 1 DiS MOWIE WOMK S arere anane AEEA EPEA E LANE EAA I Aa Ee Ar AEAEE LAIDE PAARE AARDE EATE TOARE E KAARE RAER 5 1 Digital PUts aaia ere ine E E EAEE E EEA ER E E daneecl cat 5 1 Digital Qutputs agn iaa ie iaria iar a ln We es 5 2 Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Acknowledge of the Drive Enable ccceceeeeeneeeeeeneeeeeeaeeeeeeaeeeeeeaeeeeeeaas 5 4 Connecting Signals to DKCXX 3 ecccecccececeeeseeceeeeeceaeeeeaaeseeaeeeeeeeesaaeeeeeaesseneeseneeseas 6 Command Communication Using Parallel Interface 6 1 MOVEN IEW enia aien aene aa a aa ia Sif fete Pade 6 2 Pertinent Parameters re rrira Es E E AEE TEA 0 3 HOWL WOMSncsiiada leas eis anda tie Configurable outputs ccccceeececeeeeeceeeeeeaeeeeeeeseeeeeseaeeeeaaeseeeeeseaeeseaesseaeeseeeeess Configurable Mputs sn icasecee ees nangen ausa aaan aa e aa a aaa EEA eee Application Stepper Motor Mode with Parallel Interface 0 cseeeeee Appl
143. 259 gt S 0 0091 If the positioning velocity set in S 0 0259 Positioning velocity exceeds maximum allowable velocity set in S 0 0091 Bipolar Velocity Limit Value then the warning E249 Positioning velocity S 0 0259 gt S 0 0091 is generated The set travel path is not accepted if the acceptance toggels e E247 Interpolation velocity 0 If the positioning velocity set in S 0 0259 Positioning velocity equals 0 then warning E247 Interpolation velocity 0 is generated e E255 Feedrate override S 0 0108 0 If the factor affecting the positioning velocity in S 0 0108 Feedrate override equals 0 then warning E255 Feedrate override S 0 0108 0 is generated e E248 Interpolation acceleration 0 If the positioning acceleration set in S 0 0260 Positioning acceleration equals 0 then the warning E248 Interpolation acceleration 0 is generated Status messages during operating mode Relative drive internal interpolation see chapter Status messages during operating mode Drive internal interpolation Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 17 8 8 Positioning Block Mode Pertinent Parameters DOK ECODR3 SMT 02VRS FK01 EN P Positioning blocks that have been pre programmed can be run with this mode The drive runs position control to a target position while maintaining speed acceleration and jerk limits as defined for each block The positioning blocks are actuated by t
144. 2VRS Communicating with an ASCII Protocol Actuating a Specific Bus User To communicate with a bus user then it must be directly addressed with a CHANGE DRIVE command specifying the drive address With each CD command the drive specified by the address is activ All other ddrives are switched into passive mode The addressed drive signals with a prompt As of this point all further communication takes place with this drive until another CHANGE DRIVE command switches to another drive Step 1 Sn ae Send request e g BCD 01 CR Communication with drive not with address 1 possible gt check address Vv gt check setting gt check connection Step 2 Drive received character drive sends no prompt if address is the same yes il lt Timeout A iz Character sequence gt found in SS receive buffer no Receive buffer contents yes BCD 01 E01 gt The characters in only appear if Step 3 another unit on bus is open Check receive buffer for pattern A gt Pattern found no gt Transmission error yes y Drive is open gt ready for communication FD5002B1 WMF Fig 1 12 Actuating a bus user Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Serial Communikations 1 11 Write Accessing a Parameter The w
145. 2VRS Motor Configuration 7 11 Starting up Synchronous Kit Motors Synchronous kit motors necessitate the additional setting of the following prior to start up e motor parameters must be input e the motor encoder programmed see section Motor Encoder e the rotational motion of the motor encoder must be set see section Command Polarities and Actual Value Polarities e Commutation offsets must be determined The motor parameters can be input via the motor data bank in the start up program DriveTop The commutation offset is determined with command P 0 0524 D300 Commutation adjustment command This is done automatically in drives with an incremental motor encoder after the drive enable is applied See Determining commutation offset Determining commutation offset Motor with absolute measuring system Motor with incremental measuring system DOK ECODR3 SMT 02VRS FK01 EN P A condition for a constant torque through the complete motor rotation of a synchronous machine is the permanent offset setting between stator current vector and the rotor flow vector If the angle between these two vectors y 90 then the machine generates maximum torque The synchronous machine is operated in this state To set the stator current vector see the information about absolute rotor positions The difference between the motor position encoder rotor raw position and that of the absolute rotor position in terms of the stator
146. 3 Optimal distance home switch reference mark S 0 0177 Absolute distance 1 S 0 0178 Absolute distance 2 S 0 0165 Distance coded reference offset 1 S 0 0166 Distance coded reference offset 2 The following parameters S 0 0108 Feedrate override S 0 0057 Position window S 0 0349 Jerk limit bipolar S 0 0403 Position feedback value status also can be used Setting the referencing parameters The basic sequence is dependent on how parameter S 0 0147 Homing parameter has been parametrized The following settings are performed DOK ECODR3 SMT 02VRS FK01 EN P referencing direction positive negative referencing with motor or optional encoder evaluation of the home switch yes no evaluation of the marker yes no go to reference point yes no Rexroth Indramat 9 80 Basic Drive Functions ECODRIVE03 SMT 02VRS The parameter is structured as follows S 0 0147 Homing parameter CO C O L Bit 0 Start direction 0 positive clockwise with view towards motor shaft 1 negative counter clockwise with view towards motor shaft Bit 3 Feedback selection Homing 0 with motor feedback feedback 1 1 with external feedback feedback 2 L Bit5 Home switch evaluation The home switch is 0 detected 1 not detected L Bit 6 Reference mark evaluation The Reference mark is 0 detected 1 not detected Bit 8 7 Stop positioning run path 0 0 once the reference switch or referen
147. 3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS General Instructions for Installation 3 1 3 General Instructions for Installation 3 1 Definition of Terms Introduction Parameter The Data Status Paramter structure DOK ECODR3 SMT 02VRS FK01 EN P It is helpful to explain the terms used in this document so that they will be better understood Communication with the drive occurs with a few exceptions with the help of parameters They can be used for e Setting the configuration e Parameterizing the control drive settings e Accessing control drive functions and commands e Cyclical or acyclical depending on requirements transmission of command and actual values Note All of the drive s operating data are identified by ID numbers Each parameter is provided with a data status which can also be read It serves the following purposes e Identifying the validity invalidity of the parameter e Contains the command acknowledgement if the parameter acts as a command see also Commands There are seven different data block elements for each parameter These can be read write accessed either via a user data interface by a higher ranking control or a parametrization surface Element No Designation Remarks 1 ID Number Parameter identification 2 Name can be changed in language selection 3 Attribute contains data length type and decimal places 4 Unit can be changed in language selection
148. 3 and 3 to 4 it is necessary to activate transition checks in the drive first This includes a number of checks and parameter conversions The causes and help with transition command errors are specified in the diagnostics description Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 3 14 General Instructions for Installation ECODRIVE03 SMT 02VRS Checking telegram configurations of the command communications Checking validity of communications parameters Extreme value check of communications parameters Checking plausibility and maintaining marginal conditions of command communications Rexroth Indramat S 0 0127 C100 Communication phase 3 transition check In transition command C1 checks command communications timing For units without command communications these checks are irrelevant Command communications can include e g SERCOS and so on The following checks are conducted in command C1 This checks whether the parameters selected for the configurable data block in the master data telegram or drive data telegram can be configured It is also checked whether the allowable lenth of the configurable data block has been maintained Command errors e C104 Config IDN for MDT not configurable e C105 Configurated length gt max length for MDT e C106 Config IDN for AT not configurable e C107 Configurated length gt max length for AT can occur in this case If a parameter needed for transition to ph
149. 3 the number of the words to be written Any occurring errors are entered in the user data of the reaction tele gram Note Only list segments can be processed with this service that are contained in the present list If the actual list length is to be changed then this change must be specified It is not possible to operate in following telegram mode Service 0x8F write a parameter Command telegram e Reaction telegram Enter Ox8F in the service of the telegram head Enter the parameter to be written into into in parameter type and num ber bytes of the user data head Enter the value to be written into the user data head Note This service can be used to start all commands in the drive Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Serial Communikations 1 23 Starting a command Via the SIS interface all commands in the drive can be started with Service 0x8F write a parameter User data Telegram head head 1 byte user data Fig 1 25 Structure of the command telegram e Enter Ox8F in the service of the telegram head e Enter the actuating command in parameter type and number bytes of the user data head e Enter the default of the command in the user data head Possible commands in the drive Parameter no in Command Drive parameter telegram Drive guided referencing S 0
150. 5 and X11 14 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Signal line BBdrive Basic Drive Functions 9 49 The Structure of the Parameter P 0 0118 Power off on error ESS eee BitO Package reaction or power off on error 0 no package reaction on error and therfore no power off on error exception bleeder overload always switches power off 1 package reaction and power off on error Condition power on 0 power on possible with no error and operating mode comm phase 4 1 power on possible if no error passive axis Bit 2 Instant of power off on error only if bit 0 1 0 message generated immediately when error occurs package reaction of all controllers on same power supply module preferred setting 1 message not generated until error reaction completed This means that power will not be shut off until the end of the error reaction L Bit3 Reaction to DC bus undervoltage 0 undervoltage is treated as if it were an error of non fatal warning 1 undervoltage treated as if it were a fatal warning and prevents operation of motor Bit 4 Automatic clearing of the undervoltage error 0 undervoltage error is stored 1 undervoltage error deleted by drive upon removal of drive enable Bit 5 Undervoltage as non fatal warning 0 undervoltage as error or fatal warning 1 undervoltage error treated as if it were a non fatal warning Fig 9 60 P 0 0118
151. 6 W Write access with following telegrams Service 0xFE 1 31 Write accessing list parameters 1 13 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Kundenbetreuungsstellen Sales amp Service Facilities 3 1 3 Kundenbetreuungsstellen Sales amp Service Facilities Deutschland Germany Vertriebsgebiet Mitte Ld sates Germany Centre X service Vertriebsgebiet Mitte Ld sates Germany Centre O senice vom Ausland from abroad X SALES X Service Vertriebsgebiet Ost Germany East 0 nach Landeskennziffer weglassen don t dial 0 after country code X SALES o Service Vertriebsgebiet Ost Germany East Rexroth Indramat GmbH Bgm Dr Nebel Str 2 97816 Lohr am Main Mannesmann Rexroth AG Gesch ber Rexroth Indramat LilistraBe 14 18 63067 Offenbach Rexroth Indramat GmbH BeckerstraBe 31 09120 Chemnitz Mannesmann Rexroth AG GB Rexroth Indramat GmbH Holzh user Str 122 04299 Leipzig Telefon 49 0 9352 40 0 Telefon 49 0 371 35 55 0 Telefax 49 0 9352 40 4885 Telefon 49 0 69 82 00 90 0 Telefax 49 0 371 35 55 333 Telefon 49 0 341 86 77 0 Telefax 49 0 69 82 00 90 80 Telefax 49 0 341 86 77 219 Vertriebsgebiet Sid Xl sates Gebiet S dwest d sates Vertriebsgebiet Nord X sates Vertriebsgebiet Nord X sares Germany South O service Germany South West KX service Germany North O service Germany North El service Rexroth Indramat GmbH Mannesmann Rexroth AG Rexroth Indramat
152. 62 Acceleration data scaling exponent The scaling type is set in S 0 0160 Acceleration data scaling type The parameter is defined as follows e 0 0160 Acceleration data scaling type OOOO COO C O i Bits 2 0 Scaling mode 000 percentual scaling 001 linear scaling 010 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling L Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 radians rad 1 reserved L Bit5 Unit of time 0 second s 1 reserved Bit6 Data relationship 0 to the motor shaft a to the load Bits 15 7 reserved Fig 9 5 S 0 0160 Acceleration data scaling type The actual scaling type is set in bit 0 2 The scaling type setting is checked for plausibility in S 0 0128 C200 Communication phase 4 transition check and the command error message C215 Acceleration Data Scaling Error is generated if necessary Command Polarities and Actual Value Polarities The drive internal polarities of position velocity torque force and actual value are fixed The following applies Motor type Drive internal positive direction definition Rotary motors Clockwise rotation facing the motor shaft Linear motors Move in the direction of the connection of the power cable on the primary component Fig 9 6 Drive internal positive direction definition Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01
153. 7 Homing parameter e Referencing direction positive A clockwise rotation of the spindle means the right cam edge is detected as rising edge and set as reference position A counterclockwise rotation means the right cam edge is seen as a falling edge and is set as reference position e Reference direction negative With counterclockwise rotating of the spindle the left cam edge is seen as a rising edge and set as reference position With clockwise the left cam edge is seen as a falling edge and set as reference position Rexroth Indramat 10 44 Optional Drive Functions ECODRIVE03 SMT 02VRS E O Sc nO oF 3 EE 96 ae 24V cae homing start direction spindle homing switch right cam slope results reference spindle homing start direction results reference spindle Fs5005f1 fh7 Fig 10 46 Reference position with spindle positioning Einflu der Schalterhysterese Because the different rotation directions of the spindle see the selected des Spindelreferenzschalter flank of the spindle reference switch as either rising or falling the accuracy of positioning increases by the switching hysteresis of the spindle reference switch Positioning type The type of spindle positioning can be set in Parameter S 0 0154 Spindle position parameter It is possible to individually set e Positioning direction clockwise e Positioning direction counterclockwise e Positioning direction shortest p
154. 91 11 Telefax 358 0 9 84 91 13 60 Italy px SALES Xl Service Mannesmann Rexroth S A Division Rexroth Indramat Parc des Barbanniers 4 Place du Village F 92632 Gennevilliers Cedex 33 0 141 47 54 30 33 0 147 94 69 41 33 0 6 08 33 43 28 Telefon Telefax Hotline Italy DA sares Xl service Mannesmann Rexroth S A Division Rexroth Indramat 270 Avenue de Lardenne F 31100 Toulouse Telefon 33 0 5 61 49 95 19 Telefax 33 0 5 61 31 00 41 Italy X SALES O Service Mannesmann Rexroth S A Division Rexroth Indramat 91 Bd Ir ne Joliot Curie F 69634 V nissieux Cedex Telefon 33 0 4 78 78 53 65 Telefax 33 0 4 78 78 53 62 Italy O SALES X Service Mannesmann Rexroth S p A Divisione Rexroth Indramat Via G Di Vittoria 1 20063 Cernusco S N MI Telefon 39 02 92 36 52 70 Telefax 39 02 92 36 55 12 Italy px SALES O Service Mannesmann Rexroth S p A Divi sione Rexroth Indramat Via Borgomanero 11 l 10145 Torino 39 011 7 50 38 11 39 011 7 71 01 90 Telefon Telefax Netherlands XJ SALES O Service Mannesmann Rexroth S p A Divi sione Rexroth Indramat Via del Progresso 16 Zona Ind 35020 Padova 39 049 8 70 13 70 39 049 8 70 13 77 Telefon Telefax Netherlands O SALES X Service Mannesmann Rexroth S p A Divi sione Rexroth Indramat Via Mascia 1 80053 Castellamare di Stabia NA Telefon 39 081 8 71 57 00 Telefax 39 081 8 71 68 86
155. Best possible standstill Programming drive reaction 9 43 Torque disable 9 45 Best possible standstill as speed command to zero with filter and ramp 9 47 Bipolar Velocity Limit Limiting the Command Value 8 5 Bipolar Velocity Limit Value Limiting Velocity 9 37 Block transition 8 28 Block transition at old positioning speed 8 28 Block transition with intermediate halt 8 30 Block transition with new positioning speed 8 29 Brake with velocity command value set to zero 9 44 Brake monitor 7 25 C Checking for existing ID numbers in multiplex channel 4 15 Checking the configuration list with multiplex channel 4 15 Checking the configured IDN order with multiplex channel 4 15 Checking the indices of multiplex channel 4 16 Checking the thermal load of the drive controller 9 32 Checks in the transition commands 3 13 Chronological sequence of automatic control loop setting 9 74 Chronological sequence of automatic control loop setting 9 74 Chronological Sequence of Automatic Control Loop Setting 9 74 Class 1 diagnostics 3 26 Class 1 Diagnostics 10 26 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Index 12 3 class 2 diagnostics 3 27 Clear error with analog interface 5 2 Clearing Errors 3 10 Clearing Errors When Controller Enable Is Set 3 10 Collective indication 3 26 Command automatic control loop settings 9 69 brake monitor 7 25 set absolute dimension 9 106 Command detect marker position
156. Bit 1 S 0 0346 Setup flag for relative command values XX State of positive inputs irrelevant Positioning inputs valid for example positioning block 1 Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition for example positioning block 2 01 itt gt 1 K gt lt 4ms t Sv0003d2 fh7 Selecting and activating a following block Conditions to continue in following block mode DOK ECODR3 SMT 02VRS FK01 EN P Fig 8 25 Example Infinite travel in positive negative direction Following block processing Selecting and activating a block with following block is performed in the usual manner The following block is that block with the next highest block number A following block can also have a following block so that after a start block up to 63 following blocks can be set The potential following block of the block with number 63 is block 0 There are two possibilities for continuing block mode These are also broken down into 1 Position dependent continue block mode With position dependent continue block mode the following block is switched into at the target position of the start block Rexroth Indramat 8 28 Operating Modes ECODRIVE03 SMT 02VRS There are three different types of block trans
157. COS interface 4 9 Setting the optical Transmission Power Transmission power is set via switches S20 2 and S20 3 on the interface module cable length 0 15m 15m 30m 30m 50m 20 2 OFF 20 2 ON 20 2 ON 20 3 OFF 20 3 OFF 20 3 ON Fig 4 7 Setting transmission power with plastic fiber optic cables cable length 0 500 m 20 2 ON S20 3 ON Fig 4 8 Setting the transmission power with glass fiber optic cables Checking the Fiber Optics When the transmission rate and power are correctly set and there is still no communication the fiber optic connection can be defective In this case the distortion indicator lamp will light too Reason for a faulty connection can be damage or bad manufacturing connector mounting Sometimes it is possible to recognize a defective cable when hardly any light comes out at its end or that for example the optical fiber has been torn back into the connector check the face of the connector Further examinations cannot be done with simple means The only remedy is an exchange of the defective fiber optic cable 4 6 SERCOS Telegram Configuration To operate the drive properly the settings of the telegram send and receive times their lengths and content have to be transmitted from the SERCOS master to the drive Configuration of the Telegram Send and Receive Times DOK ECODR3 SMT 02VRS FK01 EN P The requirements to calculate the time slot parame
158. Chronological Sequence of Automatic Control Loop Settings ccccceceeseeeeseseseeeeeeeeees 9 74 Results of Automatic Control Loop Settings c cccccceeseeeeeeeeeeeeeeeseaeeeeaeeseeeeeseaeeesaeeeeneeeaas 9 75 DriveiFlaltes s leb tiscedegesshcteetest neeteant beagasaccbaduunehcdashas efetuand beaged acethaved Seguaisie Stalined oePuasecceudvace Gadeasdedbetian 9 76 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat VI Contents ECODRIVE03 SMT 02VRS 10 Pertinent Parameters naiera a a RAT bese e eel gM candace a T 9 77 The Functional Principle of Drive Halt ertitek ia EEN AAAA aa 9 77 Connecting the drive halt input sssssssesesisesrnssrnssrrssrrssrnssisstisstissrisstnnstnnsnnnntnnttnnntnnntnnnennnnt 9 78 9 10 Drive Controlled HOMIN ccccccccceeececeeeeeeeeeeeeaeeceeeeecaeeesaaeeseaeeseeeeeeaaeeesaaesseaeeseeeseeeesiaeeseeneeess 9 78 Permen Paramotor aa Ss iehs dp yua ete EET se cebe A E dessin tes 9 79 Setting the referencing parameters cccecececeeeeeeeeeeeeeeeceeeeeeeaeeeeaaeseeeeeeeeeeseeeesaeeteeeeeeeeess 9 79 Overview of the Type and Allocation of Reference Marks of Non Absolute Measuring Systems9 80 Functional Principle of Drive Controlled Referencing in Non Absolute Measuring Systems 9 81 Functional Principle of Drive Guided Referencing with Absolute Measuring Systems 9 83 Sequence control Drive Controlled HOMING ccccceeeecceceeeeeeeeeeeeeaeceeeeeseaeesaeeesaeeseneeeeae
159. D No S 0 0165 entered in parameter ID No S 0 0166 Setting up of distance coded Heidenhain length measuring systems taken from Catalog for NC length measuring systems September 1993 Length measuring Distance Pitch unit Input in Input in system Type travelled in mm in um ID No S 0 0166 ID No S 0 0165 LS 403C LS 406C LS 323C LS 623C LS 106C ULS 300C LS 103C LS 405C ULS 300C LID 311C LID351C Pi5005f1 fh5 Fig 9 101 Distance coded measuring system specified with greater and smaller distance Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 9 96 Basic Drive Functions Result of the Drive Controlled Rexroth Indramat Home Command ECODRIVE03 SMT 02VRS The greater distance is entered in S 0 0165 Distance coded reference offset 1 in S 0 0166 Distance coded reference offset 2 the smaller distance The unit of these two parameters is division periods Typical values for a linear scale with distance coded reference marks are 20 02 mm for the greater distance and 20 00 mm for the smaller distances with a resolution of 0 02mm In parameter S 0 0165 166 enter the value 1001 or 1000 The further steps are outlined below Check the relevant position encoder type parameter S 0 0277 S 0 0115 to the correct setting The parameters S 0 0177 Absolute distance 1 or S 0 0178 Absolute distance 2 must be parametrized with 0 The parameters S 0 0041 Homing vel
160. Drive Controlled Interpolation Encoder 2 e A108 Drive Controlled Interpolation Encoder 1 Lagless e A109 Drive Controlled Interpolation Encoder 2 Lagless Current controller Drive Internal Position Velocity controller interpolation controller Target Position Velocity command Torque power position command value value command value Fig 8 13 Drive internal interpolation diagram Functional Principle Drive Internal Interpolation The target value is entered in the parameter S 0 0258 Target Position The drive generates the position command profile necessary to move to the target position using the following parameters as limits e 0 0259 Positioning velocity e 0 0260 Positioning acceleration e 0 0193 Positioning jerk e 0 0108 Feedrate override Note If operating mode Drive internal interpolation is activated then set in parameter S 0 0393 Command value mode whether the drive remains in the actual position or immediately positions to the value in parameter S 0 0258 Target position Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 12 Operating Modes ECODRIVE03 SMT 02VRS S 0 0258 Target position S 0 0259 Positioning velocity S 0 0260 Positioning eee Interpolation S 0 0047 Position command value acceleration S 0 0193 Positioning jerk the S 0 01 08 Feedrate override Varn Pos
161. ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Safety Instructions for Electric Servo Drives and Controls 2 7 DANGER Dangerous movements Danger to life and risk of injury or equipment damage gt Personnel protection must be secured for the above listed reason by means of superordinate monitors or measures These are instituted in accordance with the specific situation of the facility and a danger and fault analy sis conducted by the manufacturer of the facility All the safety regulations that apply to this facility are in cluded therein By switching off circumventing or if safety devices have simply not been activated then random machine movements or other types of faults can occur Avoiding accidents injury or property damage gt Keep free and clear of the machine s range of mo tion and moving parts Prevent people from acci dentally entering the machine s range of movement use protective fences use protective railings install protective coverings install light curtains or light barriers Fences must be strong enough to withstand maxi mum possible momentum Mount the emergency stop switch E stop in the immediate reach of the operator Verify that the emergency stop works before startup Don t operate the machine if the emergency stop is not working Isolate the drive power connection by means of an emergency stop circuit or use a start inhi
162. EN P ECODRIVE03 SMT 02VRS encoder 2 Basic Drive Functions 9 7 The positive direction is specified by the manufacturer for MHD MKD and MKE motors Asynchronous motors linear synchronous motors and MBS motors should be set in this direction during installation see Other Motor Encoder Characteristics The command polarity and actual value polarity of the drive is thereby fixed If the motor definition of the positive direction does not conform to the requirements of the machine the parameters e 0 0055 Position Polarity Parameter e S 0 0043 Velocity polarity parameter e 0 0085 Torque Force polarity parameter can invert the command and actual value polarities Note If the polarity needs to be changed all 3 parameters should always be inverted at the same time so that the polarities of the position velocity and torque have the same sign The following illustration shows the operating characteristics of the polarity parameters S 0 0043 Bit 0 S 0 0043 Bit 1 Velocity controller Position Torque force controller controller DOK ECODR3 SMT 02VRS FK01 EN P Fig 9 7 Polarity parameter operating characteristics The polarity parameters affect only the display values not the control feedback values The drive software only allows all bits within a polarity parameter to be inverted If bit O is inverted all other bits of the parameter are also inverted This
163. Interference at the serial connections could be the problem or the deactivated COM interface FIFO This can be activated as follows Windows 95 Start Settings System control gt System Unit manager gt Connections COM and LPT COM connections COMx gt Connection settings Expanded Activate FIFO Use standard setting Windows NT Start gt Settings System control Connections COMx gt Settings Expanded Activate FIFO Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS General Instructions for Installation 3 35 Select the download baud rate Depending on the length of serial interface cable there is a physical limit for the maximum baud rate at which serial communications runs without a fault The factory sets the maximum download baud rate at 19 2 kBd The baud rate can be increased considerably in some applications which helps achieve a reduction in the time needed for a firmware update The following baud rates can be implemented at the specified cable lengths Cable length m max baud rate kBd 2 115 2 5 57 6 10 57 6 15 38 4 Fig 3 21 Maximum baud rate as dependent on the cable length Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 3 36 General Instructions for Installation ECODRIVE03 SMT 02VRS Notes Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Communication Throug
164. Munro Buenos Aires Telefon 54 0 11 4756 01 40 Telefax 54 0 11 4762 6862 e mail mannesmann impsat1 com ar Brazil Xl SALES X Service NAKASE Servicio Tecnico CNC Calle 49 No 5764 66 RA 1653 Villa Balester Prov Buenos Aires 54 0 11 4768 36 43 54 0 11 4768 24 13 nakase usa net nakase infovia com ar Telefon Telefax e mail Brazil O SALES K Service AIMS Australian Industrial Machi nery Services Pty Ltd Unit 3 45 Horne ST Campbellfield VIC 3061 AUS Melbourne 61 0 3 93 59 02 28 61 0 3 93 59 02 86 Telefon Telefax Canada X SALES Xl Service Mannesmann Rexroth Pty Ltd No 7 Endeavour Way Braeside Victoria 31 95 AUS Melbourne Telefon Telefax Email 61 0 3 95 80 39 33 61 0 3 95 80 17 33 mel rexroth com au China Oo SALES X Service Mannesmann Rexroth Automagao Ltda Divis o Rexroth Indramat Rua Georg Rexroth 609 Vila Padre Anchieta BR 09951 270 Diadema SP Caixa Postal 377 BR 09901 970 Diadema SP Telefon 55 0 11 745 90 60 55 0 11 745 90 70 Telefax 55 0 11 745 90 50 e mail awittwer rexroth com br China K SALES O Service Mannesmann Rexroth Automa o Ltda Divis o Rexroth Indramat R Dr Humberto Pinheiro Vieira 100 Distrito Industrial BR 89220 390 Joinville SC Caixa Postal 1273 Tel Fax 55 0 47 473 58 33 Mobil 55 0 47 974 66 45 e mail prochnow zaz com br China X SALES O Service Basic
165. Norway KX sates O service Mannesmann Rexroth S p A Divi sione Rexroth Indramat Viale Oriani 38 A 40137 Bologna Telefon 39 051 34 14 14 Telefax 39 051 34 14 22 Poland X SALES Oo Service Hydraudyne Hydrauliek B V Kruisbroeksestraat 1 P O Box 32 NL 5281 RV Boxtel Telefon 31 0 411 65 19 51 Telefax 31 0 411 65 14 83 e mail indramat hydraudyne nl Russia O SALES X Service Hydrocare B V Kruisbroeksestraat 1 P O Box 32 Rexroth Mecman AS Rexroth Indramat Division Berghagan 1 or Box 3007 Mannesmann Rexroth Sp zo o Biuro Poznan ul Dabrowskiego 81 85 Tschudnenko E B Arsenia 22 RUS 153000 Ivanovo Division Rexroth Indramat Centro Industrial Santiga Obradors s n E 08130 Santa Perpetua de Mogoda Barcelona Telefon 34 937 47 94 00 Telefax 34 937 47 94 01 Turkey KX sates XI service Mannesmann Rexroth Hidropar A S Fevzi Cakmak Cad No 3 TR 34630 Sefak y Istanbul Telefon 90 212 541 60 70 Telefax 90 212 599 34 07 Rexroth Indramat Divisi n Rexroth Indramat Jolastokieta Herrera Apartado 11 37 E 20017 San Sebastian Telefon 34 9 43 40 01 63 Telefax 34 9 43 39 17 99 Switzerland Bd sares East K Service Rexroth Indramat Division Varuv gen 7 S 125 81 Stockholm Telefon 46 0 8 727 92 00 Telefax 46 0 8 647 32 77 Switzerland Asares West O Service Mannesmann Rexroth Schweiz AG Gesch ber Rexroth Indramat Gewerbest
166. ODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 19 Position feedback value 1 S 0 0051 Position feedback 1 value Position feedback value 2 S 0 0053 Position feedback 2 value S 0 0391 Monitoring window feedback 2 The error F236 Excessive Position Feedback Value Difference is generated Fig 9 21 Position feedback value monitoring schematic Setting the Position Feedback Monitoring Window The requirements for setting the position feedback value monitor are e All drive regulator loops must be set correctly e The axis mechanical system must be in its final form e The axis must be homed The monitoring window must be determined according to the application The following basic procedure is recommended for doing this e Run a typical operating cycle While doing this set the planned acceleration and velocity data of the axis e Enter progressively smaller values in the parameter S 0 0391 Monitoring window feedback 2 until the drive gives the error message F236 Excessive position feedback difference Depending on the mechanical system you should start with 1 2 mm and decrease the window in steps of 0 3 0 5 mm e The value at which the monitor is triggered should be multiplied with a tolerance factor of 2 3 and entered in parameter S 0 0391 Monitoring window feedback 2 When determining the monitoring window make sure that th
167. ODRIVE03 SMT 02VRS Optional encoder DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 15 Other Motor Encoder Characteristics To parameterize the other motor encoder characteristics use S 0 0277 Position feedback 1 type The structure of this parameter is as follows S 0 0277 Position feedback 1 type l Bit 0 Encoder type 0 rotary 1 linear Bit 1 Distance coded reference marker 0 no distance coded reference marker 1 distance coded reference marker L Bit 3 Rotational direction 0 non inverted 1 inverted Bit 6 Absolute evaluation possible 0 Absolute evaluation not possible 1 Absolute evaluation possible Bit 7 Absolute evaluation activated 0 Absolute evaluation activated only if bit 6 1 1 Absolute evaluation deactivated Fig 9 16 Parameter S 0 0277 Note The bits in the position encoder type parameter are partially set or deleted by the drive itself There are following criterias e f the connected motor has a motor feedback memory MHD MKD or MKE then bits 0 1 and 3 are cleared e lf the connected motor is a linear motor then bit O is set to 1 e Depending on the absolute encoder range and the maximum travel range or modulo value bit 6 is either set or cleared See also chapter Supplementary Settings for Absolute Measuring Systems A control with a direct measuring system facilitates higher positioning accuracy and thus higher contour precision o
168. P Rexroth Indramat 10 42 Optional Drive Functions ECODRIVE03 SMT 02VRS Note Spindle reference switch equals reference point switch spindle feedback equals an optional encoder Positioning Accuracy Positioning accuracy with motor encoder If the spindle positioning command is conducted only over the motor feedback then the following factors are decisive for the accuracy of positioning e the absolute accuracy of the measuring system used as motor encoder e the accuracy of the mechanical transmission elements gearbox etc Positioning accuracy with spindle encoder If the command spindle positioning is conducted via a spindle encoder then inaccuracies of the mechanical transmission elements can be eliminated to a considerable degree The achievable positioning accuracy of the spindle then depends on e the absolute precision of the measuring system used as spindle encoder Positioning accuracy with spindle reference switch The accuracy of this type of positioning is less than with positioning with a spindle encoder The following factors play a roll e direct dependent on reference velocity see below e the switching hysteresis of the spindle reference switch e the precision of the mechanical transmission elements gearbox etc Mechanical arrangement of the f the spindle is coupled to the motor via a slip free gearbox then spindle reference switch POSitioning to an operating cam mounted to the spindl
169. Position feedback 1 2 lt S 0 0057 Position window Bit 11 AHQ Drive_stop amp amp Feedback velocity lt S 0 0124 Bit 12 Endposition reached S 0 0258 Targetpos actual pos lt S 0 0057 Position window amp amp End of chained blocks reached only relevant in process block operation mode Fig 3 17 Structure of S 0 0182 Manufacturer class 3 diagnostics Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 3 30 General Instructions for Installation ECODRIVE03 SMT 02VRS 3 5 Language Selection With the parameter S 0 0265 Language Selection you can switch between several languages for e Parameter names and units e Diagnostic texts The following languages are implemented Value of S 0 0265 Language 0 German 1 English 2 French 3 Spanish Fig 3 18 Language Selection 3 6 Firmware Update with the Dolfi Program With the help of the Dolfi program it has become possible to conduct firmware updates for a drive controler via the serial interface The program can be ordered from Indramat with item number SWA DOL PC INB 01VRS MS C1 44 COPY or material number 279804 This includes an extensive description of the program as well Error Message in the Firmware Loader Rexroth Indramat If a firmware update is conducted with a serial interface using the SIS protocol then the drive can generate error messages Dolfi and the display on the drive read as fo
170. Power off on error Power off and package reaction on error In the case of drive packages this is defined as a collection of multiple drives that have a power supply common to all and which can execute errors commonly it is possible to inform the individual controllers and any power supply module which may be present as to whether the drive has detected an error as a result of which the power source must be shutdown This communication utilizes signal line BBdrive x11 5 and X11 14 If the controllers without error detect the error state on the signal line BB drive then they will in turn also conduct the error reaction and shut power off The point in time at which the drive package is signalled at start or end of the error reaction is set in bit 2 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 50 Basic Drive Functions passive axis Undervoltage as fatal warning Automatic deleting of the undervoltage Undervoltage as warning Rexroth Indramat Mains error ECODRIVE03 SMT 02VRS Condition for Power On Using bit 1 of P 0 0118 Power off on error it is possible to set that point in time at which the drive signals its readiness to operate and therefore at which power can be switched on If bit 1 then power can be switched on immediately after initialization of the drive in other words in communication phase 0 passive axis If bit 0 then the drive must be in communications phase 4 and
171. R procedure restrictions Application 2 and 3 into account This procedure is automatically conducted in linear and_ rotary synchronous motors with incremental encoders systems whenever the unit is started up e P 0 0508 Commutation offset e P 0 0524 D300 Commutation adjustment command e P 0 0560 Commutation adjustment current e P 0 0562 Commutation adjustment periodic time The commutation offset only has to be re determined if the motor encoder has been re initialized This is conducted while switching from parameterization into operating mode The automatic commutation determined after applying drive enable thus only takes place if the drive power is turned off and switched back on again or if the drive was switched into parameterization mode After setting the drive enable the motor moves rapidly for about 2 seconds to the left and right The determined commutation offset is stored in parameter P 0 0508 Commutation offset Rexroth Indramat 7 18 Motor Configuration Rexroth Indramat Initial start up ECODRIVE03 SMT 02VRS If commutation offset has been successfully determined the drive switches into the parameterized operation mode Diagnosis AF is displayed The drive simultaneously signals in parameter S 0 0135 Drive status word status In operation under torque Note Maximum motion equals Linear motor 1 pole width Rotary motor 360 degrees number of pole pairs The drive starts the se
172. S FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Serial Communikations 1 13 Write Accessing List Parameters There are a number of lists in the drive These can be addressed when writing in a modified way Step 1 Send request Communication with drive not z B P 0 4007 7 w gt CR are een gt he list i g Cropons the ist gt check setting y gt check connection Step 2 A Received signal from drive lt q no ia Drive repeats request echo PaE J Vv lt Timeout gt _ Character sequence or gt founa A no in receiver buffer See Contents of receiver _ _ buffer P 0 4007 7 w gt CR oder ja i P 0 4007 7 w gt CR xxxx CR E01 gt Step 3 To check transmission compare request with receiver buffer string compare no gt transmission error next character after Error occured during CR 2 no parameter access Error ee code Xxxx ja ATN Ai z Part 2 A next page Step 4 Enter list element and end with CR Step 5 Drive received character Drive repeats no request echo l lt Timeout E character sequence oder im nein _Empfangsbuffer gefunden F keine Kommunikation mit ja Antrieb m glich y gt Adresse pr fen Schritt 6 gt Einstellungen pr fen Zur berpr fung der ber
173. S 0 0036 e P 0 0214 analog input 1 evaluation per 10V 1000 0000 rpm Analog Inputs Connection See also project planning manual Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS 10 5 Digital Output Pertinent Parameters Functional Principle Parameter structure P 0 0124 P 0 0124 Assignment IDN gt Digital output a Optional Drive Functions 10 11 The drive controller has two digital outputs available to it with the basic unit independent of command communications e P 0 0124 Assignment IDN gt Digital output e 0 0097 Mask class 2 diagnostic With parameter P 0 0124 Assignment IDN gt Digital output it is possible to assign any parameter to these outputs This parameter is a 4 byte parameter The lowword contains the ID number of the assigned parameter the highword the number of digital interfaces Bit 0 15 ID number Lowwort Bit 16 31 Interface number Highwort Fig 10 7 P 0 0124 Assignment IDN gt Digital output Example Parameter S 0 0144 is to be brought to the digital outputs of the drive controller 1 interface number 1 gt highword 1 2 ID number S 0 0144 gt lowword 0x90 The value 0x10090 must therefore be written into P 0 0124 Note With a DKCx 3 the number of digital interfaces is always 1 If ID number 0 in P 0 0124 is entered then the drive automatically puts the READY signal power section re
174. SMT 02VRS Optional Drive Functions 10 13 Parameterizing the Oscilloscope Feature DOK ECODR3 SMT 02VRS FK01 EN P Oscilloscope feature with defined recording signals Preset signals and state variables can be selected through the P 0 0023 and P 0 0024 Signal Selection parameters The selection can be made by entering the signal number hex format in the corresponding signal selection parameter The selected signal number defines the unit of data stored in the list of scope data The following signals are predefined with numbers Number Signal selection Unit of the probe value list 0x00 Channel not activated 0x01 Actual position feedback dependent on position scaling value dependent on operating mode S 0 0051 or S 0 0053 0x02 Velocity feedback value velocity scaling dependent Parameter S 0 0040 0x03 Velocity control velocity scaling dependent deviation S 0 0347 0x04 Following error dependent on position scaling Parameter S 0 0189 0x05 Torque force command Percent value Parameter S 0 0080 0x06 Position feedback 1 value S 0 0051 0x07 Position feedback 2 value S 0 0053 Position command value dependent on position scaling S 0 0047 Fig 10 8 Selection of predefined signals dependent on position scaling dependent on position scaling 0x08 Note Parameter P 0 0149 List of selectable signals for oscilloscope function was introduced so that the control can detect the n
175. T A Gace A a gba 10 1 Configuration of the Signal Status Word sseseeeseseeeeessiesississsissrisstnnsttnttnnttnnntnnntnnnnnnnt 10 1 Diagnostic Error M ssag sS nocar a e a Eea E R E A E A 10 2 10 2 Configurable Signal Control Word ccccececeeeeeeceeeeeeeeeeeeeeeaeeeeaaeseeeeeaeeesaaeeesaaeseeeeeseaeessnaeeneneees 10 3 Involved Paramet rsS enoni iiien iaa a erae a E a 10 3 Configuring the Signal Control Word cccceceeeceeeeeeeeeeeeeeeeeceaeeesaaeseeaeeseeeeesaeeeseaeeseneeseaees 10 3 Diagnostic Error MOSSAQE S cceeeecceeeeeeeeeeeeeeeeeteeeaeeeeeeaaeeeeeeaaeeeeeeaaeeeseeaeeseegeeseneesenaeees 10 5 HOLS Andog OUP UE a a eta vin ghee abc cea et itera bids aa a a a ra ra A 10 5 Possible Output fUNCtIONS eaei krecie iaer REALE Ere E AAI EE ALEAGA AANA T AEA RAS KAARE R kai AR AERAR ARERR 10 5 Direct analog oUt arra re aane te AG a eee 10 6 Analog output of existing parameters eee cece ee enne cece eee ee ee eeaeeeeeeaaeeeeetaeeeeetaeeeeeeaeeeenaa 10 6 Outputting pre set signals s sies aided Ail anis iii ia iieiaei aii danse eee 10 6 Bit and byte outputs of the data Memory o oo cece cece teeter eeeeeeeeeeeaaeeeeeaaeeeeeeaaeeeeseaeeeeeeaaes 10 8 Terminal assignment analog Output eee eee eeeeee ee enne ee ee eae ee ee teae este eaaeeeeetaaeeeeetaaeeeeneaeeeenaa 10 8 10 4 Analog Inps aeee EE des dudiean p siey aca duties bdvaay E S E 10 9 Pertinent Parameters akcionare eur neea a aen ear aaa baara
176. These parameters are activated with the load default feature See also Load Default Feature 7 2 Setting the Motor Type The setting of the motor type is done either e it depends on the used motor type e automatically by reading the motor feedback memory or e through the input of the parameter P 0 4014 Motor type The motor type should be set before start up because the motor type affects the drive functions See also Chapter Characteristics of the Different Motor Types Automatic Setting of the Motor Type for Motors with Feedback Memory Rexroth Indramat MHD MKD and MKE motors have a motor feedback data memory in which the motor type is stored along with other information The drive controller recognizes these motor types automatically and the following is executed e the value of the parameter P 0 4014 Motor type is set to its proper value and will be write protected e the value of the parameter P 0 0074 Feedback 1 type is set to the defined value for the corresponding motor type e all bits except bit 6 for absolute not absolute are set to 0 in the parameter S 0 0277 Position feedback 1 type e all motor dependent parameters are read out of the motor feedback data storage see Motor Feedback Data Memory The parameter in the motor feedback memory are set with parameter block number 7 These are retrieved and copied into the relevant parameters with parameter block number 0 e the value of S 0 020
177. VRS FK01 EN P Technical data connections and operational conditions are specified in the product documentation and must be followed at all times Rexroth Indramat 2 4 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 SMT 02VRS 2 5 Protection against contact with electrical parts Rexroth Indramat Note This section refers to equipment with voltages above 50 Volts Making contact with parts conducting voltages above 50 volts could be dangerous to personnel and cause an electrical shock When operating electrical equipment it is unavoidable that some parts of the unit conduct dangerous voltages DANGER High electrical voltage Danger to life severe electrical shock and severe bodily injury gt Only those trained and qualified to work with or on electrical equipment are permitted to operate main tain or repair this equipment Follow general construction and safety regulations when working on electrical installations Before switching on power the ground wire must be permanently connected to all electrical units accor ding to the connection diagram Do not operate electrical equipment at any time if the ground wire is not permanently connected even for brief measurements or tests Before working with electrical parts with voltage po tentials higher than 50 V the equipment must be disconnected from the mains voltage or power sup ply The following should be observed with
178. a die a E ed 3 9 EON aii iadi deinen ta a a vee Paiva ellie a ae act a dada 3 10 IDN LCistof Parameters smsni ernen a a a a RE 3 11 3 2 Parametrization Mode Operating MOdeC cceccceeeeeeeeeeeeeeeeceeeeeceaeeesaaeseeeeeseeeeseaeeesaeeeeneeees 3 12 Checks in the Transition COMMAMNAS ccccceceeeeeeeeeeeeeeceeeeeceaeeesaaeeseneeseeeeesaeeeeaeeseneeenaees 3 13 3 3 Commissioning Guideline Ssi niaii sia aiid Maden eed neces ae i aaa 3 17 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat Il Contents ECODRIVE03 SMT 02VRS 3 4 Diagnostic ContiguratiOns vie pests teas eara aa a aa E aaa a aa a aa e eave erara eaaa 3 23 Overview of Diagnostic Configurations ccccccceceeeeeeeeceeeeeeeaeeeseaeeeeneeseeeeceaeeetaaeenaeeeenees 3 23 Drive Internal Diagn s ties siae aiae ieni i a aAA E A 3 23 Diagnostic Message Composition cccccccceceeeeeeeeeeeeeeeeeeaeeeeeeeceaeeeeaaeedeaeeseeeeesaeeesaeeeeeeeseas 3 24 Permanently Configured Collective Indication cccccceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeseaeeesaeeeeeeeees 3 26 3 5 Language Selection irnia t a anaia ia lives evened ie eieaa Irada aa aa taipad onnaa NE ieee 3 30 3 6 Firmware Update with the Dolfi Program ssessssssssssssssrrssssrnssrnsstirnsstinnnstinnnntennnntennnntennnntnnnnannn 3 30 Error Message in the Firmware Loader asssssssssesssrnesssnnnsrennesrrnnentennnnnnnnnntnnnnannnnnnnannnennnnnt 3 30 Additional Problems when Loadin
179. a following block chain with absolute following blocks when selecting a new block number with selecting the same block number Operating Modes 8 35 Current actual position value Note The chain dimension reference is lost if the following block is interrupted The conditions for the interruption of following blocks also apply after the control voltage is switched off if an absolute encoder is used An interruption with absolute positioning blocks represents no problem as the absolute dimension is always guaranteed If a new block number is selected with an interruption then the interrupted following block is not completed if S 0 0346 Set up flag for relative command values is toggled Instead the current block is executed If the same block number is selected with an interruption then the interrupted following block is completed if S 0 0346 Set up flag for relative command values is toggled Parametrization notes for positioning blocks General information DOK ECODR3 SMT 02VRS FK01 EN P Taking drive limits into account When parametrizing following blocks the maximum values of the drive must be taken into account These are e maximum accel capability e maximum speed mains voltage dependent If blocks are parametrized that demand values greater than the maximum value of the drive then this will generate an excessive lag error The drive will signal error F228 Excessive deviation to indicate
180. a measurement system of type 1 3 is present not distance coded you can shift the position of the reference point relatively to the reference marker Doing so you can select any position after homing The offset is set with the parameters e Reference Offset 1 for motor encoder e Reference Offset 2 for optional encoder If the reference offset is positive then its drive internal direction is positive see Command Polarities and Actual Value Polarities In other words the reference point is moved in terms of the reference mark in a clockwise direction when looking towards the motor shaft If the homing direction is also positive then the drive does not reverse the direction after passing the reference marker Rexroth Indramat 9 88 Basic Drive Functions ECODRIVE03 SMT 02VRS Reference distance offset vt gt X Starting Reference marker Home point Sv5040f1 fh5 Fig 9 85 Command value profile for positive reference offset and positive homing direction If the reference direction is negative then the drive must reverse the direction with types 2 and 3 after passing the reference marker Reference Offset vt x Reference Reference point Starting point Sv5043f1 fh5 Fig 9 86 Command profile for positive reference offset and negative homing direction Negative reference offset f the reference offset is negative then its drive internal direction is negati
181. a status This serves safety purposes and helps in diagnosing errors DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 57 Setting the Current Controller The parameters for the current loop are set by Rexroth Indramat and cannot be adjusted for specific applications The parameter values set at the factory are activated with the command S 0 0262 C700 Command basic load for MKD MHD motors or must be retrieved from the motor data sheet The parameters for the current controller are set via the parameters e 0 0106 Current loop proportional gain e 0 0107 Current Loop Integral Action Time Changing the values defined by Rexroth Indramat can result in damages to the motor and the drive controller Changes to the current controller parameters are not Warning permitted Setting the Velocity Controller Pre requisites DOK ECODR3 SMT 02VRS FK01 EN P The current control must be correctly set The velocity controller is set via the parameters e 0 0100 Velocity Loop Proportional Gain e 0 0101 Velocity Loop Integral Action Time e P 0 0004 Smoothing Time Constant as well as the parameters e P 0 0180 Rejection frequency velocity loop e P 0 0181 Rejection bandwidth velocity loop The setting can be made by e conducting the load base values function once e in accordance with the procedure described below e by starting the command automatic control loop settings
182. acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV0002D2 fh7 Fig 8 20 Relative positioning block without residual path storage Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 22 Operating Modes Example ECODRIVE03 SMT 02VRS Relative positioning without residual path storage with target position 700 current position 200 Terminate and start a relative positioning block without residual path storage again S 0 0124 Standstill window speed profil P 0 4026 Process block selection P 0 4051 5 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 S 0 0346 Setup flag for relative command values Prerequisite Chain dimensional reference Rexroth Indramat lt 4ms gt K gt lt 4ms Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition V5002d1 Fh7 Terminating a relative positioning block without residual path
183. ady and no error and WARNING one bit of class 2 diagnostics is set and masked with S 0 0097 on the outputs Hardware Requirements DKC 3 DKC01 3 DOK ECODR3 SMT 02VRS FK01 EN P The following applies with a DKC 3 P 0 0124 Assignment IDN gt Digital output Bit 0 gt Ausgang X3 8 Bit 1 gt Ausgang X3 10 Note The freely configurable signal status word are assigned to digital outputs X15 14 to X15 23 in a DKC01 3 Rexroth Indramat 10 12 Optional Drive Functions ECODRIVE03 SMT 02VRS 10 6 Oscilloscope Feature The oscilloscope feature is used to diagram internal and external signals and output variables Its function is comparable to a 2 channel oscilloscope The following parameters are available to set the oscilloscope feature e P 0 0021 List of Scope Data 1 always 4 byte data e P 0 0022 List of Scope Data 2 always 4 byte data e P 0 0023 Signal Select Scope Channel 1 e P 0 0024 Signal Select Scope Channel 2 e P 0 0025 Trigger Source e P 0 0026 Trigger Signal Selection e P 0 0027 Trigger Level for Position Data e P 0 0028 Trigger Level for Velocity Data e P 0 0029 Trigger Level for Torque Force Data e P 0 0030 Trigger Edge e P 0 0031 Timebase e P 0 0032 Size of Memory e P 0 0033 Number of Samples after Trigger e P 0 0035 Delay from Trigger to Start cannot be written e P 0 0036 Trigger Control Word e P 0 0037 Trigger Status Word e P 0 0145 Expanded Trigger Level
184. ain S 0 0091 bipolar velocity value limit S E259 Command velocity limit active ECODRIVE03 SMT 02VRS P 0 4046 Active peak current P 0 0180 Rejection frequency velocity loop P 0 0181 Rejection bandwidth velocity loop 4 Torque Actual velocity 4 P 0 0004 Velocity loop smoothing time constant Current Controller Fig 8 6 Velocity Controller See also chapter Command value processing Velocity control See also chapter Current Controller The current controller is parameterized with S 0 0106 Current loop proportional gain 1 and S 0 0107 Current loop integral action time 1 See also chapter Setting the Current Controller Diagnostic Messages Rexroth Indramat S 0 0107 Current loop integral action time 1 S 0 0106 Current loop proportional gain 1 ral S 0 0080 Torque force command O gt Actual current value Fig 8 7 Current Controller Operating mode specific monitors are e E259 Command velocity limit active If the resulting command value is in the limit then warning E259 Command velocity limit active is displayed e E263 Velocity command value gt limit S 0 0091 Parameter S 0 0036 Velocity command value is set to the value of parameter S 0 0091 Bipolar velocity limit value The warning E263 Velocity command value gt limit S 0 0091 is generated DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 7 Velo
185. al control word is accessed in various ways e With parallel interface DKC01 3 the 10 digital inputs X15 1 10 on the lowest ten bits are copied into the signal control word e With SERCOS and fieldbus interface S 0 0145 Signal control word must be relevantly configured in cyclical data so that the mechanism can be used Note The bits in the signal control word are effective in each interface cycle at S 0 0008 Command valid time T3 The following parameters are used for the functions e 0 0027 Configuration list signal control word e 0 0329 Assign list signal control word e 0 0145 Signal control word e S 0 0399 IDN list of configurable data in the signal control word Configuring the Signal Control Word Selection lists Configuration of the ID numbers Configuration of the bit numbers DOK ECODR3 SMT 02VRS FK01 EN P Only those parameters in list S 0 0399 IDN list of configurable data in the signal control word can be allocated to configuration list S 0 0027 Configuration list signal control word The ID numbers of the parameters which are to be configured with the help of the signal control word target are specified in parameter S 0 0027 Configuration list signal control word The position of an ID number in the list determines which bit in the signal control word is allocated to which ID number target For example the first list element fixes which parameter bit 0 of the signal control
186. al selection If the evaluation factors are 1 0000 then the standards specified in the table apply Output of the position command difference with a value of 150rpm 10V on channel 1 Input P 0 0420 Analog output 1 signal selection S 0 0000 P 0 0421 Analog output 1 expanded signal selection 0x00000005 P 0 0422 Analog output 1 scaling 0 1500 Rexroth Indramat 10 8 Optional Drive Functions ECODRIVE03 SMT 02VRS Bit and byte outputs of the data memory Note Use of this feature is meaningful only with information about the structure of the internal data memory therefore this feature can be used effectively only by Rexroth Indramat employs activation of the bit and byte The bit and byte output is only possible if the signal selection for the used output channel P 0 0420 or P 0 0423 is deactivated by inputting the ID number 0 configuration The selection of the function and the storage address takes place in the parameters e P 0 0421 Analog output 1 expanded signal selection and e P 0 0424 Analog output 2 expanded signal selection In the high nibble half byte with bits 28 31 byte output is activated with a 1 and bit output with a 2 The least significant 24 bits of the parameter inputs the storage address 31 30 29 282726 252423 2221 2019 1817 1615 1413 12111098 7 6 5 43210 Bit 0 23 24 Bit adress Bit 28 31 Byteoutput 0x1 Bitoutput 0x2 Fig 10 4 Parametrizing bit or byte
187. also have default settings or must be parameterized in a sensible way Application 1 Measuring the reference between primary and secondary parts linear motors Determining commutation offset in linear synchronous motors LSF with absolute encoder systems can be determined by measuring the distance between the front of the primary part and the set screw of the motor secondary Note Commutation offset is determined without axis motions P 0 0508 Commutation offset P 0 0523 Commutation probe value P 0 0524 D300 Commutation adjustment command To successfully execute a command the following additional conditions must be satisfied The power cables of the motor must be correctly attached correct rotation of the three phases The drive must be in state A013 Ready for power on A suitable primary part constant Kmx value must have been determined Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Sequence DOK ECODR3 SMT 02VRS FK01 EN P Motor Configuration 7 15 Once the listed conditions have been met then the value for parameter P 0 0523 Commutation probe value is entered using the following formula P 0 0523 d K P 0 0523 Value determined for parameter P 0 0523 d Measured value of distance between front of primary part and the secondary set screw Kmx Primary constant value Fig 7 24 Determining the value or commutation offset setting with linear servo mo
188. alue Monitoring 8 11 Setting the absolute dimension Actual position value 9 111 error message 9 111 Function principle 9 106 without drive enable 9 108 Setting the Absolute Encoder Monitor 9 28 Setting the Acceleration Feed Forward 9 66 Setting the measuring system 9 11 Setting the Motor Brake Integral Action Time 7 23 Setting the Motor Brake Type 7 21 Setting the Operating Mode Parameters 8 1 Setting the Position Control Loop Monitor 9 65 Setting the position controller 9 63 Setting the Time Resolution and the Memory Depth 10 16 Setting the Trigger Delays 10 16 Signal control word 10 3 Signal status word 10 1 Smoothing Time Constant Determining the Smoothing Time Constant 9 58 Limiting the command value for current control 8 5 Spindle brake 9 46 Spindle positioning 10 38 Messages with error free execution 10 47 Messages with faults 10 47 Other fault causes 10 47 Spindle positioning with already referenced drive 10 40 Spindle positioning with non referenced drive 10 40 Spindle positioning with spindle reference switch 10 40 Spindle reference signal detection 10 43 Spindle motor coupling 10 41 Square wave encoder 9 11 SSI format 10 37 Standstill window 3 28 3 29 Start command 9 72 Start command D900 9 72 Start command with automatic control loop settings 9 72 Start inhibit 3 29 Starting up synchronous kit motors 7 11 Starting interrupting and completing the command 9 98 Status class class 1 diagnostics 3 27 class 2 diagnos
189. alues specified in the data sheet Setting the control loop in this way ensures a good level of quality for most applications Should additional optimization of the control loop parameters become necessary velocity and position control loop parameters compensation functions and precontrol then use commissioning step no 8 See also chapter Control Loop Settings IBS 6 Checking axis mechanics and measuring system The presettings made in IBS 3 are checked here and modified if necessary This means that the axis must be moved by jogging The following checks must be made e check the rotational direction of the motor encoder With non inverted position polarity S 0 0055 Position polarities 0 the values in parameter S 0 0051 Position feedback 1 value should have a rising order with a clockwise rotation of the motor This check need not be performed in MHD and MKD motors If this is not the case then bit 2 in S 0 0277 Position feedback 1 type must be inverted e By moving the axes and examining the position feedback value of the motor encoder in parameter S 0 0051 Position feedback 1 value it can be checked whether a distance is correctly displayed in this process If not then the settings for mechanical gear ratio feedrate constants and encoder resolution must be checked DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 21 e Given a
190. ameter is started in the drive with a following tele gram then this must be concluded of terminated before a different serv ice can be started If a different service was started anyway then error code 0x800C unallowed access is sent in the reaction telegram The previously started service with following telegrams can then be processed as usual in the next command telegram or terminated A difference is made between e general and e special services DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Command telegram Reaction telegram Reaction telegram Command telegram Reaction telegram DOK ECODR3 SMT 02VRS FK01 EN P Serial Communikations 1 21 Service 0x01 Terminating a Data Transmission e Enter 0x01 in the service of the telegram head e Enter the terminated service in the user head If there is no error then the reaction telegram has the following structure Telegram head Status byte Fig 1 22 Structure of the reaction telegram If there is an error then user data containing the error codes are sent The user data head corresponds to the SIS specificaiton Telegram head head User data User data Fig 1 23 Structure of the reaction telegram Note If no following telegrams are processed but this service is sent anyway then no error reaction telegram will be sent Service 0x0F Token Passing Note This service is not suppported in ECODRIVE Error code
191. and Communication Using Parallel Interface ECODRIVE03 SMT 02VRS Configurable Inputs All inputs are digitally filtered The read in cycle takes 2ms In other words the filtering and probing results in a reaction time equal to a minimum of 1 5 and a maximum of 4ms The digital inputs of the parallel interface are mapped on bits 0 9 of the signal control word Allocation of signal control word to digital inputs Bit number in the signal Digital input of the parallel interface status word X15 1 X15 2 X15 3 X15 4 X15 5 X15 6 X15 7 X15 8 X15 9 X15 10 Fig 6 14 Allocation of signal control word to digital inputs MN See also section Configurable Signal Control Word Application Stepper Motor Mode with Parallel Interface See also section Operating Mode Stepper Motor Operations The parallel interface is needed to operate the drive as if it were a stepper motor The inputs for the stepper motor signals are permanently allocated to the function The inputs for jogging and referencing must be allocated accordingly Note The command Load base parameters configures the inputs as specified in the terminal diagrams Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Command Communication Using Parallel Interface 6 7 Application Positioning Block Mode with Parallel Interface Positioning block select start signal Block select acknowledgment In
192. and the primary control system or user interface occurs by reading and writing controller parameters Information about the unit and the number of decimal places see also Parameter is necessary for interpreting the operating data of a parameter The value of the operating data is produced from these data The following illustration shows this with an example Operating data 100 Drive control Fig 9 1 Example for interpreting operating data in the drive The operating data of the parameter S 0 0109 is given the value 100 in the picture shown above When combined the unit A ampere that belongs to this parameter and the number of decimal places produce the physical value 0 100 A Each parameter can therefore be called up with a unit and the number of decimal places The combination of these two criteria is united under the term scaling When interpreting operating data these must always be included in the analysis Units and number of decimal places are listed along with all other parameter attributes in the Parameter Description Rexroth Indramat 9 2 Basic Drive Functions ECODRIVE03 SMT 02VRS Adjustable Scaling for Position Velocity and Acceleration Data The parameter scaling for position velocity and The value of position velocity and acceleration data can be set by adjustable scaling acceleration data can be adjusted It can be set by the user with scaling parameters It enables
193. aring errors Description Clearing errors Description Clearing errors Description Clearing errors ECODRIVE03 SMT 02VRS 0x9003 Loading into phase 3 not allowed The drive is in phase 3 A change to the firmware loader is necessary because the firmware is to be replaced This can only be done in phase 2 Switch the drive into phase 2 0x9004 Loading into phase 4 not allowed The drive is in phase 4 A change to the firmware loader is necessary because the firmware is to be replaced This can only be done in phase 2 Switch the drive into phase 2 0x9102 dL 03 Firmware was cleared The drive firmware is to be restarted after the firmware was replaced The programming of modules FGP SGP or SMT was incomplete addition checksum check went wrong Modules FGP SGP or SMT must be reprogrammed 0x9103 Restart in phase 3 not allowed The drive is in phase 3 and the drive firmware must be restarted This can only be done in phase 2 Switch the drive into phase 2 0x9104 Restart in phase 4 not allowed The drive is in phase 4 and the drive firmware must be restarted This can only be done in phase 2 Switch the drive into phase 2 0x9200 dL 06 Read error A memory module is to be read An error occurred while making the attempt Check address range in the ibf file If it is alright i e a memory module is actually at that address then the error can only be cleared by replacing the firmware modu
194. arking Axis 10 29 Pertinent parameters of the parallel interface 6 5 Pertinent Parameters Setting the absolute dimension 9 107 Plastic LWL 4 9 Polarity Actual Value Polarity 9 6 Command Value Polarity 9 6 Pos limit value exceeded 3 27 Position Command Value Interpolator Associated Parameters 8 8 Block diagram 8 8 Position Command Value Monitoring 8 10 Position Control Associated Diagnostic Messages 8 7 Block diagram 8 7 Setting the Position Controller 9 63 Rexroth Indramat 12 10 Index ECODRIVE03 SMT 02VRS Position Controller 8 9 Associated Parameters 8 9 Block diagram 8 9 Critical Position Controller Gain 9 63 Setting the Acceleration Feed Forward 9 65 position feedback values after switching on 9 29 Position limit value 8 20 8 26 Position of the zero pulse as relates to motor position 10 35 position switch function principles 10 30 lead time 10 32 parameterizing 10 32 parameters 10 30 switch off level 10 30 switch on level 10 31 Positioning accuracy 10 42 Positioning Accuracy 10 42 Positioning accuracy with motor encoder 10 42 Positioning accuracy with spindle encoder 10 42 Positioning accuracy with spindle reference switch 10 42 Positioning block mode 6 7 8 17 Acknowledge positioning block selected 8 37 Activating positioning blocks 8 18 Diagnostic messages 8 39 Following block mode 8 27 Hardware 8 39 How it works 8 18 Infinite running in a positive negative direction 8 26 Parallel int
195. as parameterized in bit 0 of S 0 0115 Position feedback 2 type the unit and number of digits after the decimal is switched by S 0 0117 Feedback 2 Resolution Rotary Cycles Rev Linear 0 00001 mm Actual Feedback Value Monitoring In applications where an optional measurement system is used the position feedback monitor can offer an additional margin of safety The actual position monitor compares S 0 0051 Position feedback 1 value and S 0 0053 Position feedback 2 value and is thus capable of diagnosing the following axis error e Slip in the drive mechanical system e Measurement system errors as far as this is not recognized by the other measurement system monitors To set the monitor function use the parameter e 0 0391 Monitoring window feedback 2 If an error occurs the error message F236 Excessive position feedback difference is generated Basic Operating Characteristics of the Position Feedback Monitor The position feedback monitor compares the position feedback value of the encoder 1 with the encoder 2 If the deviation of both position values is greater than S 0 0391 Monitoring window feedback 2 the error F236 Excessive position feedback difference is generated As a result the motor and optional encoder home mark bits are cleared The position feedback value is only active if an optional encoder is available and evaluated and if S 0 0391 Monitoring window feedback 2 is not parameterized with a 0 DOK EC
196. ase 3 has never been written into or the backup is faulty then command error e C101 Invalid communication parameter S 0 0021 is generated The ID no of the faulty parameters are listed in e 0 0021 IDN list of invalid op data for comm Ph 2 They are made valid by writing into them If during the extreme value check of the parameters relevant to command communications an error is generated then command error e C102 Limit error communication parameter S 0 0021 is generated The ID numbers of the faulty parameters are listed in e 0 0021 IDN list of invalid op data for comm Ph 2 and must be corrected Check timing parameters of command communications in phases 3 and 4 for plausibility and maintaining marginal conditions Command errors e C108 Time slot parameter gt Sercos cycle time only with Sercos e C109 Position of data record in MDT S 0 0009 even only with Sercos e C110 Length of MDT S 0 0010 odd only with Sercos e C111 ID9 Record length 1 gt length MDT S 0 0010 only with Sercos e C112 TNcyc S 0 0001 or TScyc S 0 0002 error e C113 Relation TNcyc S 0 0001 to TScyc S 0 0002 error e C114 T4 gt TScyc S 0 0002 T4min S 0 0005 e C115 T2 too small only with Sercos can occur DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Checking P 0 4014 for plausibility Checking validity Reading the controller memory Checking whether optional encoder is needed C
197. ata container A e 0 0368 Addressing for data container A e 0 0370 Configuration list for the MDT data container e 0 0371 Configuration list for the AT data container Functional Principle Multiplex Channel S 0 0370 Configuration list for the MDT data container S 0 0371 Configuration list for the AT data container Rexroth Indramat Configuration The IDNs are entered in parameter S 0 0370 Configuration list for the MDT data container which are dependent on the index in S 0 0368 Addressing for data container A low byte and transmitted to S 0 0360 MDT Data container A Write accessing S 0 0370 is only possible in communications phase 2 The IDNs are entered in parameter S 0 0371 Configuration list for the AT data container A that are dependent on indices in S 0 0368 Addressing for data container A high byte and transmitted to S 0 0364 AT Data container A Write accessing S 0 0371 is only possible in communications phase 2 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS S 0 0368 Addressing data container A S 0 0360 MDT Data container A S 0 0364 AT Data Container A DOK ECODR3 SMT 02VRS FK01 EN P Communication Through the SERCOS interface 4 13 Note A maximum of 32 IDNs can be configured in S 0 0371 Addressing the Data Container Parameter S 0 0368 Addressing for data container A contains indices for the selection of the parameters transmitted in the data container T
198. ate The relevant encoder interface is also listed Measuring system Absolute as motor as optional Interface input encoder range no encoder encoder Single Multiturn 1rev 4096rev Standard 1 yes yes DSF HSF Single Multiturn 1TP 65535TP Standard 1 yes no resolver Linear scale made by depends on Optional 8 yes yes Heidenhain encoder lengths with EnDat interface Single Multiturn rotary 1rev 4096rev Optional 8 yes yes encoder made by Heidenhain with EnDat interface Fig 9 31 Absolute measuring systems and their interfaces Absolute encoder range and absolute encoder evaluation Motor and or optional encoders can be used as absolute encoders Rexroth Indramat Measuring systems that supply absolute position information within one or several revolutions single or multiturn encoder or a within a specific traversing distance absolute linear scales can be used as motor and or optional measuring systems The range absolute encoder range in which a measuring system can supply absolute position information is stored in the data memory of the measuring system or the drive software Note The absolute encoder range which the drive can evaluate can be limited with the use of S 0 0278 Maximum travel range In parameters S 0 0378 Absolute encoder range 1 or S 0 0379 Absolute encoder range 2 the drive displays those absolute encoder ranges which can be evaluated Absolute measurin
199. ath e absolute positioning e relative positioning Spindle turning clockwise or The rotational direction of the drive is set in Bits 0 and 1 counterclockwise shortest path Note The positioning direction clockwise or counterclockwise is only noted if the spindle is standing still prior to start of the command or moving at a speed smaller than set in S 0 0124 Standstill window If the spindle is already turning then positioning takes place out of the current rotational direction Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Absolute relative positioning Optional Drive Functions 10 45 Bit 2 sets whether a spindle angle position is to be approached absolute positioning or whether the spindle path is to be run relative positioning Note It makes sense to have the spindle standing still before switching from absolute to relative positioning to start the traversing angle with a defined start position The switch from absolute to relative positioning and vice versa is immediate even if the spindle positioning command is running Selecting Modulo Range DOK ECODR3 SMT 02VRS FK01 EN P S 0 0103 Modulo value is generally set to one spindle revolution 360 physical modulo value By setting as a modulo axis maximum velocity in cyclic position control is limited to Vmax S 0 0103 modulo value 2 NC cycle time If the velocity is too low then the modulo value must be increa
200. ating mode drive internal interpolation and so on are generated The format of the drive internal position data affect the maximum acceleration limit which can be pre defined for the interpolator The following relationships apply for rotary motors 51 471 854 040 rad amax aes encoder resolution x multiplication s amax maximum acceleration of position command of the interpolator l encoder resolution value in S 0 0116 multiplication value in S 0 0256 Fig 9 29 Maximum acceleration of the position command interpolator as dependent on the drive internal position data format for linear motors 8 192 000 000 x encoder resolution mm amax TSE multiplication s amax maximum acceleration of position command of the interpolator l encoder resolution value in S 0 0116 in mm multiplication value in S 0 0256 Fig 9 30 Maximum acceleration of the position command interpolator as dependent on the drive internal position data format Example MHD motor with S 0 0116 512 multiplication 32768 equalling a maximum acceleration of the position command interpolation of 3067 rad s Rexroth Indramat 9 26 Basic Drive Functions ECODRIVE03 SMT 02VRS 9 3 Supplementary Settings for Absolute Measuring Systems Encoder Types and Relevant Interfaces The table below shows the absolute measuring systems which can be used as motor encoder or optional encoder and the range which they can absolutely evalu
201. axis to the measured position e Enter the desired actual position value in the relevant reference dimension actual position value parameter e Start command C300 Set absolute measuring the absolute dimension write 11b into P 0 0012 and position data are also automatically switched e Drive internally and automatically command S 0 0148 C600 Drive controlled homing procedure command is started With command execution the drive recognizes that it is dealing with an absolute measuring system and conducts Setting the absolute dimension In other words the actual position value is set to the reference dimension The position command value is simultaneously set to the same value S 0 0047 Position command value In position control mode this automatically leads to the automatic switch of the co ordinate system but as the control cannot bring its command value immediately up to the new actual value there is an abrupt transition e Clear command P 0 0012 C300 Command Set absolute measurement In the event that the co ordinate system switch is not automatic and drive internal P 0 0621 Bit 2 0 then basically the same procedure as with case C1 should be followed but the command is here activated by a flank at the zero switch input e Activate the zero switch input by setting P 0 0612 Biti 1 e Run the axis to the measured position e g jog it there e andso on Note Both biti of P 0 0612 and the command it
202. back value should refer to the desired machine zero point Parameters S 0 0041 Homing velocity and S 0 0042 Homing acceleration can now be set to their final values DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Higher security with a home switch Home switch evaluation DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 97 Home switch Evaluation with Distance coded Reference Markers To evaluate a home switch together with homing of a distance coded measuring system serves only one purpose staying within the allowed travel range If the home switch is not evaluated the drive always covers the distance in the selected homing direction which is necessary to capture 2 adjacent marker positions This distance is 2 S S 0 0165 Feedback Resolution ar i Re f max 2 xa S 0 0165 Distance coded reference offset 1 S 0 0165 Distance coded reference offset 1 v value in S 0 0041 Homing velocity a value in S 0 0042 Homing acceleration SRe f max maximum travel distance for homing with distance coded reference markers S 0 0116 Feedback 1 Resolution S 0 0117 Feedback 2 Resolution Fig 9 102 Travel distance for homing with distance coded reference markers If the drive is closer to the travel limit in homing direction than the necessary travel distance Srefmax it can leave the allowed travel range and do mechanical damage to the machine To avoid this e make sure that the distance of
203. band suppressor provided in the drive By suppressing the mechanical resonance frequency the dynamics of the velocity and position control loops in terms of control can be significantly improved compared to without a band suppression filter This results in greater contour accuracy and smaller cycle times for positioning processes leaving sufficient stability margin The rejection frequency and bandwidth can be set The rejection frequency is the one with highest attenuation the bandwidth determines the frequency range at whose borders the attenuation is 3dB less Greater bandwidth leads to smaller band attenuation of the center frequency The following parameters can be used to set both e P 0 0180 Rejection frequency velocity loop e P 0 0181 Rejection bandwidth velocity loop Rexroth Indramat 9 60 Basic Drive Functions Pre settings Determing resonance frequency Determining the initial state of the loop Turn rejection filter on and Rexroth Indramat check the effect ECODRIVE03 SMT 02VRS Attenuation in dB Bandwidth Frequency f 0 3 1 1 1 A Rejection frequency fsperr Sv5052f1 fh7 Fig 9 66 Amplitude response of the rejection filter in terms of bandwidth qualitative To set the band filter we recommend the procedure described as follows Set rejection filter inactive Set 0 in parameter P 0 0181 Rejection bandwidth velocity loop Connect oscilloscope to anal
204. ber not available is generated If an ID number specified in S 0 0026 Configuration list signal status word does not exist then error message 0x1001 ID number not available is generated Check whether the IDN variable data length list parameters specified in S 0 0026 Configuration list signal status word exists or a so called online read function Parameters with online read function are generally parameters with physical units position speed acceleration and currents as well as parameters S 0 0135 Drive status word and S 0 0011 Class 1 diagnostics If yes then service channel error message 0x7008 Data not correct is generated Note In each of these cases only the inputs up until the faulty element is accepted Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 3 10 2 Configurable Signal Control Word Application Accessing signal control word Involved Parameters With the signal control word it is possible to write access single control bits in the various parameters by using a freely configurable collective parameter The configurable signal control word supports acceptance of a maximum of16 copies of bits from other drive parameters This mechanism can be used for example for e positioning block mode via parallel interface e main spindle mode via parallel interface e Depending on the command communications parameter S 0 0145 Sign
205. bf file must be programmed with Dolfi The drive firmware is started by pressing the separate button Rexroth Indramat 3 34 General Instructions for Installation ECODRIVE03 SMT 02VRS Dolfi can be used to establish a connection a A baud rate other than Dolfi was set in parameter P 0 4021 P 0 4021 Baud Rate RS 232 485 Baud rate Baud Setting in parameter P 0 4021 9600 0 19200 1 It is advisable to set parameter P 0 4021 to 0 for Connecting process 9600 Baud The baud rate for the download can be set to a different value in Dolfi If the programming of a module was terminated e g due to interference at a serial interface then the baud rate for the download is still set in a DKC For Dolfi to be able to re establish a connection it is necessary to set the connect rate to the same value with which the most recent download occurred If the unit was switched back on and if the display reads dL then a baud rate of 9 600 is always set b The receiver and unit address is not identical with the address set at the controller via switches S2 and S3 Dolfi can not open the ibf file Dolfi signals Wrong ibf format when opening the ibf file The ibf file was generated with a different release and the ibf format has changed To open the file the correct Dolfi version must be used This can be obtained from the manufacturer Dolfi signals timeout Timeout messages appear while the ibf files are being transmitted
206. binary value 8388608 thus S 0 0256 8388608 However the technical maximum resolution is 4194304 Therefore we set the value in S 0 0256 to 4194304 The resolution is 0 0002146 Degrees The resolution can never exceed 4194304 e S 0 0116 Example MHD motor with linear optional encoder Resolution of the motor encoder 256 Resolution of the optional encoder 0 02 mm Travel range 5m feed constant 10mm Gear transmission ratio 3 1 1 Calculating the multiplication of the optional encoder 2431 0 02mm 5000mm 8589 Technically reasonable is a maximum of 8192 therefore S 0 0257 8192 This gives a resolution of 0 00244 um 2 Calculation of the Multiplication of the motor encoder 5m of travel range give 500 gear output revolutions and therefore 1500 gear input revolutions motor revolutions 2431 256 e 1500 5592 the nearest smaller binary value 4096 therefore S 0 0256 4096 This results in a resolution of 0 000343 Degrees referred to the motor shaft DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS The limits are not valid for cyclic command values e g in operation mode Position control DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 25 Processing format of the drive internal position command interpolator In the drive internal position command interpolator the position command profile for the drive controlled travel commands such as drive halt drive controlled homing oper
207. bit system to prevent unintentional start up Make sure that the drives are brought to standstill before accessing or entering the danger zone Disconnect electrical power to the equipment using a master switch and secure the switch against recon nection for maintenance and repair work cleaning of equipment long periods of discontinued equipment use Avoid operating high frequency remote control and radio equipment near electronics circuits and supply leads If use of such equipment cannot be avoided verify the system and the plant for possible malfunc tions at all possible positions of normal use before the first start up If necessary perform a special electromagnetic compatibility EMC test on the plant Rexroth Indramat 2 8 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 SMT 02VRS 2 8 Protection against magnetic and electromagnetic fields during operations and mounting Magnetic and electromagnetic fields generated by current carrying con ductors and permanent magnets in motors represent a serious health hazard to persons with heart pacemakers metal implants and hearing aids Health hazard for persons with heart pacemak ers metal implants and hearing aids in proxim ity to electrical equipment WARNING gt Persons with pacemakers metal implants and hear ing aids are not permitted to enter following areas Areas in which electrical equipment and parts are mount
208. ble signal The value entered in parameter Reference distance 1 is transferred to S 0 0051 feedback value 1 5 Reset the command Drive contollers Axis X1 Axis X2 Ref Ref ov oV External power supply Ref 1 one home switch for both drive controllers 2 R reference mark 3 A recorded distance A from machine zero point Ap5148f1 fh7 Fig 9 107 Connecting the home switch to the drive controllers of gantry axis X1 X2 Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 103 lll Setting the reference distance of the direct position measuring system if installed Procedure Set the homing procedure parameters S 0 0041 homing velocity S 0 0042 homing acceleration S 0 0147 homing parameter S 0 0108 feedrate override in both axis to the same values Check the connection of the home switch as illustrated below e Check that the home switch works correctly Home switch function check Parameter S 0 0400 Home switch If necessary move the axis away from the reference cam Parameter S 0 0400 Home switch 0
209. brake 7 26 Connecting the parallel interface in stepper motor operations 8 42 Connecting the Probe Inputs 10 25 Connecting the reference switch 10 48 Connection of drive halt input 9 78 Connection of the Emergency Stop Input 9 52 Connection of the Home switch 9 99 Control enable with automatic control loop settings 9 70 Control loop dynamics 9 69 Control loop settings 9 70 Control voltage error 3 27 Cooling error 3 27 Co ordinate system 9 109 CRC32 checksum faulty 3 31 Criteria for triggering the monitor 9 62 Current Controller Associated Parameters 8 6 Block diagram 8 6 Setting the Current Controller 9 57 Current flow procedure 7 16 Rexroth Indramat 12 4 Index Rexroth Indramat ECODRIVE03 SMT 02VRS Current Limit 9 30 D Data container 4 12 Data Saving 3 4 Deactivation of the Position Control Loop Monitoring 9 65 Definition of the Critical Proportional Gain and P 0 0004 Smoothing Time Constant 9 58 Detect marker position 10 28 Determining backlash 10 28 Determining commutation offset 7 11 Determining encoder interface of optional encoder 9 17 Determining the Critical Integral Action Time 9 58 Determining the Critical Position Controller Gain 9 63 Determining the Encoder Interface of the Optional Encoder 9 17 Determining the Feedback Interface of the Motor Feedback 9 14 Determining the Position Controller Setting 9 63 Determining the torque constant and load moment of inertia 9 37 Determining the Velocity Controlle
210. braking time is not important bit1 1 start error reaction 0 velocity command value 0 1 0 brake released break engaged i l power stage enabled power stage disabled 0 _ gt t ms P 0 0526 brake delay Sv5078f1 fh5 Fig 7 28 Chronological diagram with command value to zero and P 0 0525 Holding brake type Bit 1 1 Spindle brake Behavior with servo brake The brake is activated P 0 0525 Type of motor brake as soon as the velocity of 10 rom is exceeded during an error reaction bit1 0 or braking time lt P 0 0126 NO later than upon completion of the maximum decel time Correct braking time start error reaction 0 v 10mm min or n 10U min 0 1 0 brake released brake engaged i f 0 power stage l brake delay aa ea Tms l t ms P 0 0526 Brake control delay Sv5082f1 fh5 Fig 7 29 Chronological diagram with command value to zero and P 0 0525 Holding brake type Bit 1 0 Servo brake and actual braking time lt P 0 0126 Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Motor Configuration 7 23 Behavior with servo brake Incorrect braking time P 0 0525 Type of motor brake bit 1 0 braking time gt P 0 0126 start error reaction velocity command value ae aie cee ete cancel error reaction due to small value in P 0 0126 brake engaged 0 1 0 power stage brake delay Ik a
211. brought to a precise position The value of the actual position of the measuring system is entered in parameters S 0 0052 Reference distance 1 for motor encoders or S 0 0054 Reference distance 2 for any other encoders Upon successful completion of command P 0 0012 C300 Command Set absolute measurement the actual position value is set to that value entered in the relevant Reference dimension and after S 0 0403 Position feedback value status has been set to 1 The execution of the command depends on P 0 0612 Control word for setting absolute measurement the absolute dimension Bit 0 fixes whether the current coordinate system is retained even after the control voltage is switched on and off i e whether the current P 7 0514 Absolute encoder offset is stored in the feedback data memory and is resistant to change Note Given frequence Setting of absolute dimension bit 0 1 should be set as feedback data memory is only suited for a limited number of write accessing procedures For bits 1 and 2 the difference as to whether drive enable is given or not must be made Parameter Structure P 0 0612 Control word setting absolute dimension Bit 0 Save absolute encoeder offset 0 resistant 1 not resistant Bit 1 Activating the command setting absolute dimension 0 Parameter Bit 2 Switching the coordinate system 0 manual 1 automatic Fig 9 113 P 0 0612 Control word setting the absolute dimension
212. cation phase 4 transition check The results are displayed in bit 6 of the relevant position encoder type parameter S 0 0277 S 0 0115 Activating the absolute encoder f the absolute evaluation of a measuring system is possible but not evaluation wanted this can be deselected in bit 7 The measuring system is then treated as if it were a non absolute encoder The position encoder type parameter is structured as follows S 0 0277 S 0 0115 Position encoder type parameter 1 2 EES oa L Bit 0 Encoder type 0 rotary 1 linear Bit 1 Distance coded reference mark 0 not distance coded reference marker 1 distance coded reference marker L Bit 3 Rotational direction 0 not inverted 1 inverted L Bit 6 Absolute evaluatoin possible 0 Absolute evaluation not possible 1 Absolute evaluation possible Bit 7 Absolute evaluation activated 0 Absolute evaluatoin activated only if bit 6 1 1 Absolute evaluation deactivated Fig 9 33 Structure of the position encoder type parameter Pre requisites for correctly The correct generation of the machine zero point related feedback generating absolute position position value is only possible if the relevant conditions have not changed information The conditions for the correct conversion of the measurement system related position information into the machine zero point related actual position value are made up of Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat
213. cceptance the position inputs are in an inverted condition for example positioning block 2 SV5020d1 fh7 Fig 8 34 Parametrizing a following block with directional change Note In this case it is necessary to take the rule of thumb into account for minimum acceleration to avoid overshooting of position Acknowledge positioning block selected Acknowledging with active operating mode After the positioning block mode is activated the complement of the block number of the selected positioning block is acknowledged until a start signal condition change S 0 0346 Setup flag for relative command values is generated As of the first start signal and if operating is problem free the block number of the positioning block that has started is generated If an error is detected at the start of a positioning block then the faulty positioning block is acknowledged with the complement of the block number The drive generates a warning and remains standing Acknowledge with drive halt If drive halt is active then the complement of the block number of the selected positioning block is output in parameter P 0 4051 Process block acknowledge Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 8 38 Operating Modes ECODRIVE03 SMT 02VRS Acknowledge with auxiliary modes error reaction or command settings Acknowledgement is not effected i e parameter P 0 4051 Process block acknowledge retains its value Acknowledge with
214. ce marker have been overtravelled the drive stops and switches into the coordinate system 0 1 after the reference swtich of marker have been overtravelled the drive positions at the reference point and switches into the coordinate system 1 0 drive always run path that is needed to overrun two sequential reference markers and then switches into coordinate system only with distance coded reference marks 11 Not allowed Fig 9 80 Structure of parameter S 0 0147 Homing parameter Note The sequence also depends on the type and arrangement of the reference markers in terms of the referenced encoder see next section Overview of the Type and Allocation of Reference Marks of Non Absolute Measuring Systems For better a understanding you can divide the measurement systems into 4 groups according to the type and configuration of their reference marks e Type 1 Measurement systems with absolute singleturn range such as the Singleturn DSF or Resolver These measurement systems have an absolute range of one encoder revolution or fractions of it resolver Typical systems are e the encoders for the MHD MKD and MKE motors e the GDS measurement system e Singleturn encoder with ENDAT Interface from Heidenhain e Type 2 Incremental rotational measurement systems with a reference mark for each encoder rotation such as the ROD or RON types from the Heidenhain Company e Type 3 Incremental translation measurement sys
215. city Control with Analog Command Communications To activate the operating mode in conjunction with analog command communications note the following procedure e Select the mode with S 0 0032 Primary mode of operation e Parametrize the analog channel P 0 0213 Analog input 1 assignment to parameter S 0 0036 Velocity command value e Define the resolution with the help of P 0 0214 Analog input 1 scaling per 10V full scale e f necessary set offset compensation via P 0 0217 Analog input 1 offset 8 5 Operating Mode Position Control A position value is commanded to the drive every NC cycle time in the Position Control operating mode The timebase is defined here in S 0 0001 NC Cycle time TNcyc When this mode is activated the diagnostic message is one of the following e A102 Position Control Encoder 1 e A103 Position Control Encoder 2 e A104 Position Control Encoder 1 Lagless Positioning e A105 Position Conitrol Encoder 2 Lagless Positioning The command value is specified in the parameter S 0 0047 Position Command Value Monitors specific to this operating mode are e Monitoring the command velocity versus the value of the parameter S 0 0091 Bipolar velocity limit value If this value is exceeded the error F237 Excessive position command difference is generated The command value specified in S 0 0047 Position Command Value is interpolated within the NC cycle time and is then given to the position con
216. controller a preset error response occurs This drive error response depends on e the error class of the current error e and the setting of the parameters P 0 0117 NC reaction on error P 0 0118 Power off on error P 0 0119 Best possible deceleration Note The error class defines the behaviour in the event of a fault There are 4 error classes which have different priorities see also Error Classes Error Diagnostic Class Messages Drive Response Fatal F8xx The error response parameter settings in P 0 0117 NC reaction on error and P 0 0119 Best possible deceleration will be ignored since a driver response is impossible Torque force is instantly cut off Travel range F6xx Independently of the settings in parameters P 0 0117 NC Reaction on Error and P 0 0119 Best possible deceleration the velocity command value is immediately set to zero This response corresponds to the settings P 0 0117 0 no NC Reaction P 0 0119 0 Velocity Command Value Reset This setting provides the fastest stop of the axis if the drive range is exceeded Interface FAxx A response from the control is impossible since the communication to the control became inoperative The drive proceeds instantly with P 0 0119 Best possible Deceleration Non fatal F2xx The drive conducts the decel procedure set in P 0 0117 NC reaction on F3xx error and P 0 0119 Best possible deceleration If NC reaction is set as an error response th
217. cover the travel range of the axis depends Note The longer the distance to be represented the smaller the drive internal position resolution These parameter values are used to compute the drive internal resolution e 0 0116 Feedback 1 Resolution and e 0 0256 Multiplication 1 The parameters for the encoder resolution are listed in the data sheets of the measuring system or they are automatically read out of the feedback memory if such a measuring system is present The number of lines per encoder revolution or the grid constant of a linear scale distance per division period is set there The parameter values for the multiplication are calculated by the drive during command S 0 0128 C200 Communication phase 4 transition check They describe the resolution per division period dp It thus applies for the drive internal resolution for rotary motors resolution multiplication encoder resolution Resolution drive internal resolution of position data Incr rev multiplication value in S 0 0256 or S 0 0257 Incr dp encoder resolution value in S 0 0116 or S 0 0117 dp Incr Fig 9 25 Drive internal resolution of rotary motors and for linear motors multiplication resolution encoder resolution Resolution drive internal resolution of positon data Incr mm multiplication value in S 0 0256 or S 0 0257 Incr dp encoder resolution value in S 0 0116 or S 0 0117 mm dp Fig 9 26 Drive
218. d Endstage locked Endstage enabled t Fig 9 57 Time diagram with torque to zero and P 0 0525 Type of motor brake Bit 1 1 Torque disable with brake type Servo brake The motor holding brake is immediately activated Activating the torque to zero Actual vel value path n 10 min Motor holding brake enabled Motor holding brake applied Endstage locked Endstage enabled t Fig 9 58 Time diagram with torque to zero and P 0 0525 Type of motor brake Bit 1 0 See also chapter Motor Holding Brake Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Best possible standstill P 0 0119 2 Best possible Deceleration P 0 0119 3 DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 47 Velocity command value to zero with filter and ramp In the event of an error the drive is brought to a standstill with velocity control with a command value ramp with end value zero The velocity command value passes through a jerk limiting command value smoothing filter The parameters used in this case are e P 0 1201 Ramp 1 pitch e P 0 1202 Final speed of ramp 1 e P 0 1203 Ramp 2 pitch e P 0 1222 Velocity command filter These parameters work as described in section Operating Mode Velocity Control Note Activation of the motor holding brake depends on P 0 0525 bit 1 See section Motor Holding Brake Return motion If a 3 has b
219. d profil target position target position block 1 block 2 P 0 4026 Process block selection 01 P 0 4051 7 Process block acquittance A AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 S 0 0346 Setup flag for relative command values t DOK ECODR3 SMT 02VRS FK01 EN P Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV0008d2 fh7 Example Position dependent block commutation Mode2 Fig 8 27 Rexroth Indramat 8 30 Operating Modes Definition ECODRIVE03 SMT 02VRS c Block transition with intermediate halt P 0 4019 Process block mode 41h absolute block with following block P 0 4019 Process block mode 42h relative block with following block With block commutation with intermediate stop the drive positions at the target position of the start block Once the position command is at the target position the following block is automatically started without a new start signal generated externally As the drive approaches the target position the drive is decelerated to speed 0 at the target position and then accelerated to the new positioning speed Note Commutation takes place if the internal command
220. diagnostics Via parameter S 0 0098 Mask class 3 diagnostic warnings can be masked in terms of their effect on the change bit The following bits are supported in class 3 diagnostics S 0 0013 Class 3 diagnostics Bit0 velocity feedback value velocity command value S 0 0330 S 0 0040 S 0 0036 S 0 0037 lt S 0 0157 Bit 1 Feedback velocity lt Standstill window S 0 0124 S 0 0331 S 0 0040 lt S 0 0124 L Bit2 velocity feedback value lt velosity threshold S 0 0332 S 0 0040 lt S 0 0125 L Bit3 Md gt Mdx S 0 0126 0 0333 Bit 4 Md gt MdLIMIT S 0 0092 S 0 0333 L Bit 6 In position if P 0 0525 Bit 1 0 Following error S 0 0189 lt Position window S 0 0057 S 0 0336 In position if P O 0525 Bit 1 1 only with the spindle positioning command active S 0 0040 lt S X 0124 and internal pos Com Val target pos S 0 0258 and S 0 0036 S 0 0037 lt S X 0124 Bit7 P gt Px S 0 0158 S 0 0337 Bit 12 Target position reached Internal position command value target position S 0 0258 S 0 0342 Fig 3 15 Structure of S 0 0013 Class 3 diagnostics Each of these messages is stored in turn in its own parameter S 0 0330 S 0 0342 Change bit of class 2 and 3 diagnostics in the drive status word If the state of a bit changes in S 0 0012 Class 2 diagnostics or S 0 0013 Class 3 diagnostics then the change bit status class 2 or 3 is set in the drive status
221. drive the drive s error response will automatically be executed as long as the drive is in control The H1 display flashes Fx xx The drive s reaction to interface and non fatal errors can be parameterized with P 0 0119 Best possible deceleration The drive switches to torque free operation at the end of each error reaction Clearing Errors Errors are not automatically cleared they are cleared externally by e Initiating the command S 0 0099 C500 Reset class 1 diagnostic or e Pressing the S1 key If the error state is still present then the error will be immediately detected again Clearing Errors When Controller Enable Is Set If an error is discovered while operating with set controller enable the drive will execute an error response The drive automatically deactivates itself at the end of each error response in other words the power stage is switched off and the drive switches from an energized to a de energized state To reactivate the drive e clear the error and e enter a 0 1 edge bit into the controller enable DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Error memory operating hour IDN List of Parameters DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 11 Error memory and operating hour counter Once errors are cleared they are stored in an error memory The last 19 errors are stored there and the times they occurred Errors caused by a shutdown of the co
222. drive then the drive reacts independently by executing an error reaction At the end of each error reaction there is a deactivation of the drive The error reaction type is dependent on the error class of the error that occurred as well as the setting in parameters P 0 0117 119 E Stop E Stop Emergency Stop is the determination for a hardware input at the drive controller It is used to trigger the emergency stop function in the drive External encoder An external measuring system is optional It is generally mounted directly to the load The position feedback value of the encoder can be seen in S 0 0053 Position feedback 2 value By activating the position control operating mode with encoder 2 the position control loop is closed with the help of the position feedback value of the external encoder Ident Number Every parameter is designated unambiguously by its ident number IDN It consists of these 3 components S Sercos P Product specific parameter set 0 7 and a number 1 4096 Load default or basic load The control parameters are stored in the motor feedback data memory in both MDD and MKD motors This makes it possible for the drive controller to work trouble free with this motor The control parameters have not been optimized for the application Modulo format Both position feedback and command values can be processed in modulo or absolute format If modulo processing has been set then the position data move w
223. e n n 1 n 2 n 3 FS0004d1 fh7 Fig 1 2 Communications via RS 232 interface Communications via RS485 Interface Features Communications via RS485 interface helps implement a serial bus with the following data e Upto 31 drives can be connected to one bus master e Transmission rates of 9600 and 19200 baud e Maximum transmission path 500m e Half duplex mode over a 2 wire line e 8 bit ASCII protocol or 8 bit SIS protocol e no parity bit e astop bit Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 1 4 Serial Communikations Rexroth Indramat ECODRIVE03 SMT 02VRS Operting Several Drives with DriveTop Application advantages e Starting up several drives without replugging an interface cable cen tral parametrization and diagnostics connection e Implementing a central PC supported visualization unit RS232 RS232 RS485 RS485 Bus Converter PC with drivetop command interface z B parallel I O bzw fieldbus PLC drive drive drive drive n n 1 n 2 n 3 FS0005d1 fh7 Fig 1 3 Operating several drives with DriveTop Parametrization and Diagnosing with a PLC Application advantages e Parameters can be changed with a PLC e g adjuting positioning blocks e Expanded diagnostics options for the PLC by reading in error codes RS485 bus command interface z B parallel I O bzw fieldbus
224. e 4 not allowed 3 32 0x9200 dL 06 Read error 3 32 0x9400 dL 07 Timeout during reset 3 32 0x9402 dL OF Address range not in flash 3 32 0x940A Reset only possible in loader 3 33 Ox96E0 dL Ob Error when verifying the flash 3 33 0x96E1 dL OC Timeout when programming the flash 3 33 Ox96FF dL 09 Error when write accessing the RAM 3 33 0x9701 dL Od Wrong checksum 3 33 0x9702 dL 0e CRC32 checksum faulty 3 33 1MB 7 1 2AD 7 1 7 7 Segment Display Diagnostic Number 3 25 A Absolute encoder modulo evaluation 9 29 Absolute encoder emulation 10 37 Absolute encoder emulation 10 37 10 38 Absolute Encoder Monitor Deactivating 9 28 Absolute encoder monitoring checking transition command 3 17 Absolute Encoder Monitoring 9 28 Absolute measuring systems interfaces 9 26 Modulo evaluation 9 29 types of encoders 9 26 Absolute Positioning 8 20 Acceleration Feed Forward Setting 9 65 Accuracy of spindle reference switch detection with command spindle positioning 10 42 Acknowledge of the Drive Enable 4 4 Acknowledge the drive enable with analog interface 5 2 Acknowledge with control voltage interrupt with positioning block mode 8 39 Acknowledge with drive enable removed in positioning block mode 8 38 Activating encoder emulation 10 34 Activating the Oscilloscope Feature 10 17 Activating the velocity control loop monitor 9 62 Activation of the E Stop Input 9 52 Actual Feedback Value Monitoring 9 18 Actual Feedback
225. e Parameterization and e Diagnostic Rexroth Indramat 4 6 Communication Through the SERCOS interface ECODRIVE03 SMT 02VRS 4 5 Startup for the SERCOS Interface To start the interface you have to connect the fiber optic cable set the drive address check the distortion indicator set the transmission rate set the transmission power Adjustments of the SERCOS Interface All settings can be done with switches on the front plate of the interface Rexroth Indramat The settings should be complete before connecting communication to the fiber optic ring fiber optic connection for SERCOS ring distortion LED of SERCOS interface switch to set transmitting power switch to set data rate FA5031F1 FH7 Fig 4 4 View of interface to command communication See also Troubleshooting Guide E410 Slave not scanned or adress 0 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Communication Through the SERCOS interface 4 7 Connecting the Fiber Optic Cables of the SERCOS Interface The connection between the control and the digital drives is done with fiber optic cables SERCOS interface IEC 1491 The used topology is a ring structure according to SERCOS interface IEC 1491 Fas044f1 fh7 Fig 4 5 Ring topology The ring starts and ends at the control The optical output of the cont
226. e as a warning is handled with setting the velocity command value to zero The drive does not turn off its internal drive enable If the error condition is still present that is if the limit switch is still activated or if the axis limits are still exceeded only command values that go back into the allowable range will be accepted Monitoring the command values is dependent on the active operating mode See previous chapter DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 41 Travel Zone Limit Switch Monitoring The state of the travel range limit switch is illustrated in parameter P 0 0222 Status Inputs travel range limits Bit 0 in this case is the positive end switch bit 1 the negative one The monitor for exceeding the travel zone limit switch is only activated if e the monitor is switched on in bit 1 of P 0 0090 Travel limit parameter Exceeding the travel zone limit switch is recognized when these are activated The diagnostic message depends on the type of reaction How handled SS display Diagnostic message As an error F643 F643 Positive travel limit switch detected F644 F644 Negative travel limit switch detected As a warning E843 E843 Positive limit switch activated E844 E844 Negative limit switch activated Fig 9 50 Diagnostic message when travel zone limit switch is exceeded Travel Zone Limit Switches Activation and Polarity The travel zone limit swi
227. e is possible Pe on gt homing switch spindle homing switch connection load gear motor shaft spindle Fs5004f1 fh7 Fig 10 43 Cam angle of the spindle reference switch Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Accuracy of Spindle Reference Switch Detection minimum effective switching cam angle Detecting the Spindle Reference Switch Signal DOK ECODR3 SMT 02VRS FK01 EN P Optional Drive Functions 10 43 Positioning accuracy depends directly on the referencing velocity 360 min AQ max Nref 250 us S AQ max greatest inaccuracy with the detection of the spindle reference signal Nret referencing velocity in min Fig 10 44 Computing the systematic inaccuracy of spindle reference signals detection To make sure that the spindle reference signal is correctly read in the operating cam must cover a minimum angle 360 min Nocken x Nref 250 us S Nocken angle of the operating cam Nret referencing velocity in min Fig 10 45 Computing the cam angle The minimum angle of the operating cam computed as above simultaneously represents the systematic inaccuracy of spindle reference switch detection The spindle reference switch signal is always detected at the same cam edge independent of the rotational direction of the spindle The cam edge is set with the reference direction in parameter S 0 014
228. e is travelled after the interrupted relative positioning block with residual path storage is activated If a single turn encoder is used then the remaining path is discarded and added to the actual position The last End position reached message is used as reference position Note If a positioning block is not accepted then the drive behaves as if it had never been started Infinite running in a positive negative direction If an axis is to be run with defined speed acceleration and jerk without a specific target position then the travel block mode Travelling in a positive direction or Travelling in a negative direction must be specified The drive runs in the set direction until the start signal is reset or the position limit value or the travel range limit switch is reached The set target position is not used in this positioning mode Parameter P 0 4019 Process block mode e 4h travel in positive direction e 8h travel in negative direction See also section Operating Mode Jogging DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS vt Operating Modes 8 27 S 0 0124 Standstill window speed profil 3 A3 P 0 4026 Process block selection 01 XX P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics
229. e max The user has one additional parameters to adjust the drive to his requirements P 0 0532 Premagnetization factor Basics for the Asynchronous Motor Asynchronous motors are divided in three working ranges PA Pimax Psy See a Sah n2 n Sv5025f 1 fh7 Fig 7 17 Subsections of Work Ranges DOK ECODR3 SMT 02VRS FK01 EN P Rexroth Indramat 7 6 Motor Configuration Rexroth Indramat ECODRIVE03 SMT 02VRS Range 1 The Basic RPM Range is defined by a constant torque and a fixed torque force constant parameter P 0 0051 In idle the programmed magnetization current flows The motor voltage is less than the maximum control output voltage The corner RPM n1 is directly proportional to the DC bus voltage Range 2 Range of Constant Power The motor voltage is constant the idle voltage and the corresponding magnetization and torque constants fall with increasing velocity The slip is increased correspondingly The adjustment of magnetization current and slip is executed automatically by the vector control The voltage is decreased during idle to the motor idle voltage P 0 0535 and when fully in use it is increased to the maximum motor voltage P 0 0536 Range 3 Range of decreasing Peak Power The motor works at the stability limit through the vector control the current is maintained at an efficient and stable level According to the parameter current
230. e monitors whether the index shows non initialized locations in lists S 0 0370 Configuration list for the MDT data container or S 0 0371 Configuration list for the AT data container If it does then warnings e E408 Invalid addressing of MDT data container A e E409 Invalid addressing of AT data container A is generated Note The warnings can only occur if the lists has fewer ID number entries than is maximumly possible S 0 0368 Addressing for data container A E409 Invalid 1 0 addressing of AT data container A S 0 0371 Configuration list S 0 0370 Configurationlist for the AT data container for the MDT data container Tb0207f1 fh7 Fig 4 11 Invalid addressing of MDT data container A DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Command Communications with Analog Interface 5 1 5 Command Communications with Analog Interface 5 1 Overview In DKC01 3 or DKC11 3 the drive enable drive halt and clear errors are specified via a digital input Diagnoses such as drive errors and warnings are output via digital outputs Note If the SERCOS interface is not active with a DKC02 3 or the fieldbus interface with the DKC03 3 DKC04 3 DKC05 3 or DKC06 3 then the analog interface can be used in both of these units as well 5 2 Pertinent Parameters 5 3 How it works Digital inputs Drive enable Drive Halt DOK ECODR3 SMT 02VRS
231. e of the Optional Encoder Determining the encoder interface of the optional encoder uses parameter P 0 0075 Feedback type 2 The number of the encoder type must be entered there The following measuring systems and modules are permitted for the evaluation of the optional encoder Value in Measuring system Interface P 0 0075 not available 0 digital servo feedback 1 1 Incremental encoder with sine signals 2 2 from Heidenhain with 1V signals Incremental encoder with square wave 2 5 signals from Heidenhain encoder with EnDat interface 2 8 gearwheel encoder with 1Vss signals 2 9 Fig 9 20 Encoder interface of the optional encoder If 0 is entered in P 0 0075 Feedback type 2 as encoder type then the encoder evaluation of the optional encoder is switched off Rexroth Indramat 9 18 Basic Drive Functions Rexroth Indramat ECODRIVE03 SMT 02VRS Optional Encoder Resolution To parameterize the resolution of the optional encoder use the parameter S 0 0117 Feedback 2 Resolution This parameter indicates the number of lines of the optional encoder If using a measurement system with intrinsic feedback data storage the resolution will be taken from this and does not need to be entered Measurement systems with feedback storage are available if e DSF HSF e Encoder with EnDat Interface is used as the optional encoder interface Depending on whether a rotary or linear measurement system w
232. e position feedback monitor works dynamically This means that even dynamic deviations of both position feedback values in acceleration and braking phases are registered This is why it is not enough to use statical axis errors as the basis for the setting Rexroth Indramat 9 20 Basic Drive Functions ECODRIVE03 SMT 02VRS Deactivating the Position Feedback Monitor It is possible to turn off the position feedback monitor in applications where the optionally connected measurement system does not control the axis position but is used for other measurements To do this enter O in the parameter S 0 0391 Monitoring window feedback 2 Other Optional Encoder Characteristics To parameterize any other characteristics of the optional encoder use S 0 0115 Position feedback 2 type The structure of this parameter is as follows S 0 0115 Position feedback 2 type ESE RE HE ER SEA L Bit 0 Encoder type 0 rotary 1 linear Bit 1 Distance coded reference mark 0 no distance coded reference mark 1 distance coded reference mark Bit 3 Rotational direction 0 non inverted 1 inverted L__ Bit 6 Absolute evaluation possible 0 Absolute evaluation not possible 1 Absolute evaluation possible L Bit 7 Absolute evaluation deactivated 0 Absolute evaluation activated only if bit 6 1 1 Absolute evaluation deactivated Fig 9 22 Parameter S 0 0115 Note The bits in the position encoder type
233. e the notch filter See also chapter Control Loop Settings Rexroth Indramat 3 22 General Instructions for Installation ECODRIVE03 SMT 02VRS IBS 9 Establishing absolute reference measuring Here the absolute reference measuring is set in terms of the machine zero point of the position feedback value from motor encoder and possibly optional encoder At first the position feedback values show any value not machine zero point related values By conducting e setting absolute measuring with absolute encoders or e drive controlled homing the coordinate systems of the position encoder and the coordinate system of the machine are made congruent See also chapter Drive Controlled Homing and Setting the Absolute Dimension IBS 10 Other settings Here e drive halt function is parametrized e the language selected e general status message settings and e the optional drive function settings are conducted See also chapter Drive Halt S 0 0013 Class 3 diagnostics S 0 0182 Manufacturer class 3 diagnostics Optional Drive Functions Language Selection IBS 11 Controlling drive dimensions The power related drive checks are conducted here It is checked whether the continuous and peak power of drive amplifier and motor meet the requirements The following checks are conducted for this purpose e generated torque force of motor is checked At a constant speed 60 and in rapid traverse 75 of the con
234. eaaeeeeeeaeeeeeeaeeeeneaa 9 1 Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Contents V 9 2 9 3 9 4 9 5 9 6 9 8 9 9 Adjustable Scaling for Position Velocity and Acceleration Data ccccceccessseeeeeseeeeeeaes 9 2 Display Format of Positlon Dataices scrccciieeechs cavescehavese gebednieedd crac gbbearieeviabelegibede seed TE 9 4 Velocity Data Display Format aenieei iia ii i E 9 5 Acceleration Data Display Format conania eriari a A iE E EE 9 6 Command Polarities and Actual Value Polarities 0 cccccecececeeeeeeeeeeeeeeeeeeeeeeeesaeesseeeeenees 9 6 Mechanical Transmission Elements 0 cccceecceeeeeeeeeeeeeeeeeeeeaeeeesaeeeeeseeeeeeseneeeeeeeeeaeeeeenaaees 9 8 Modulo Fedia anro asic stacsi oeist eie nae E A 9 9 Setting the Measurement System cecccccececsceceeneeeeeneeceaeeeeaaeseeneeseaeeeeaaeseeaaeseeeeeseeeesaeeseneeeeaes 9 11 MOtormEnCOder oto aini a a AA Ae ae ace cet GA ete as 9 12 Optional encoder kra ssj iisu nanii aa aan a aaa hai aie 9 15 Actual Feedback Values of Non Absolute Measurement Systems After Initialization 9 21 Drive internal format Of POSITION Data ee ceeeeeeeeeeeeeeteeeeeeeeeeeeeeaeeeeeseeeeeeseneeeeeteneaeeeseeeaeees 9 21 Supplementary Settings for Absolute Measuring SyYStEMS ccccccccecssecesesseeeessseeeeessaeeeessaaes 9 26 Encoder Types and Relevant Interfaces ececeeeeeeeeeeeeeeeeeeeeeeeeeeeseneeeeeseneeeeesene
235. each parameter 8 2 Determining detecting the active mode Command communication analog interface or parallel interface Command communication via SERCOS DOK ECODR3 SMT 02VRS FK01 EN P Depending on the type of command communication parameter S 0 0134 Master control word has various definitions If an analog or parallel command communication are used then bits 8 and 9 in the master control word display which mode is active If command communication via SERCOS is used then bits 8 and 9 in the master control word are used to determine which of the four pre selected modes is actually working Rexroth Indramat 8 2 Operating Modes ECODRIVE03 SMT 02VRS Bit 8 and 9 in the master control word Active operating mode 00 Primary Mode of Operation 01 Secondary Operating Mode 1 10 Secondary Operating Mode 2 11 Secondary Operating Mode 3 Fig 8 1 Determining detecting the active mode in the master control word Note If O is entered in one of the operating mode parameters and that operating mode is activated then the error F207 Switching to uninitialized operation mode will be generated 8 3 Operating Mode Torque Control Pertinent Parameters Torque Control Rexroth Indramat In the operating mode torque control the drive is given a torque command value The diagnostic message reads A100 Drive in TORQUE control when this operating mode is active The command value is set in parameter S 0 0080
236. ection bandwidth velocity loop to 1 The notch filter as well as the assigned parameter P 0 0180 Rejection frequency velocity loop are deactivated Instead of the notch filter a smoothing filter is activated in the control loop This uses the same smoothing time constant Tg as the smoothing filter with P 0 0004 Velocity loop smoothing time constant Together with the smoothing filter at the input of the velocity controller you obtain a low pass filter of 2nd order 2 poles Frequencies greater than the cutoff frequency fy 1 2xTg are much more suppressed and cannot excite oscillations in the control loop any more The parameter for the filter is P 0 0004 Velocity loop smoothing time constant i E gt Ww 0 1 1 10 100 Sv5053f1 fh7 Fig 9 67 Frequency response of low pass filters with 1 pole and with 2 poles Note The adjustment is the same as described under Definition of the Critical Proportional Gain and Smoothing Time Constant Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 62 Basic Drive Functions ECODRIVE03 SMT 02VRS Velocity Control Loop Monitoring If the velocity control loop monitor detects a fault in the velocity control loop then error e F878 Error in velocity control loop is generated Note The velocity control loop monitor is only active if an operating mode is active with which the velocity control loop in the drive is closed and monitoring activated always exc
237. ed being operated or started up Areas in which parts of motors with permanent magnets are being stored operated repaired or mounted If it is necessary for a person with a pacemaker to enter such an area then a physician must be con sulted prior to doing so Pacemaker that are already implanted or will be implanted in the future have a considerable deviation in their resistance to interfer ence Due to the unpredictable behavior there are no rules with general validity Persons with hearing aids metal implants or metal pieces must consult a doctor before they enter the areas described above Otherwise health hazards will occur 2 9 Protection against contact with hot parts Housing surfaces could be extremely hot Dan ger of injury Danger of burns gt CAUTION Do not touch surfaces near the source of heat Danger of burns Wait ten 10 minutes before you access any hot unit Allow the unit to cool down Do not touch hot parts of the equipment such as housings heatsinks or resistors Danger of burns Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Safety Instructions for Electric Servo Drives and Controls 2 9 2 10 Protection during handling and installation 2 11 Battery safety DOK ECODR3 SMT 02VRS FK01 EN P Under certain conditions unappropriate handling and installation of parts and components may cause injuries Risk of injury through incorrect
238. ed for the duration of the command The following parameters are needed for setting up spindle positioning and to execute the command e 0 0013 Class 3 diagnostics Bit 6 e 0 0041 Homing velocity e 0 0042 Homing acceleration e 0 0057 Position window e 0 0103 Modulo value e 0 0124 Standstill window e 0 0138 Bipolar acceleration limit value e 0 0147 Homing parameter e 0 0152 C900 Position spindle command e 0 0153 Spindle angle position e 0 0154 Spindle position parameter e 0 0180 Spindle relative offset e 0 0222 Spindle positioning speed e 0 0294 Divider for modulo value e S 0 0349 Jerk limit bipolar e 0 0403 Position feedback value status e P 0 1201 Ramp 1 pitch e P 0 1202 Final speed of ramp 1 e P 0 1203 Ramp 2 pitch e P 0 1222 Velocity command filter Rexroth Indramat 10 40 Optional Drive Functions ECODRIVE03 SMT 02VRS Functional Principle The command spindle positioning entails two different cases Spindle positioning with non referenced drive If the drive is not in reference S 0 0403 Position feedback value status bit 0 0 then referencing is automatically started prior to positioning The drive first brakes to referencing speed At this speed it searches for the reference pulse As soon as it is located the actual position values are displayed in terms of the reference pulse also see the section Drive Controlled Referencing
239. ed part of the frame protocol byte 1 8 i e telegram length DatLW 8 5 Cntrl Bit 0 2 Number of subaddresses in the address block 0 7 Bit 3 running telegram number 0 gt not supported 1 gt additional byte Bit 4 0 gt command telegram 1 gt reaction telegram Bit5 7 Status data for the reaction telegram 000 no error request was processed 001 transmission request being processed 010 transmission cannot presently be processed 100 warning 110 error 6 Service This specifies the service that the sender is requesting of the receiver or which the receiver is conducting 0x00 OxOF general services 0x00 participant ID 0x01 terminate a data transmission 0x02 Flash operation 0x03 Initialization of SIS communication 0x0F Token Passing 0x10 Ox7F presently reserved 0x80 Ox8F special services for ECODRIVE 0x90 Ox9F special services for SYNAX OxA0 OxAF special services for MT CNC or MTC200 OxBO OxBF special services for ISP200 OxCO OxCF special services for CLC GPS OxDO OxDF special services for HMI system OxE0 OxFF presently reserved Adrs AdrE AdrES1 AdrES2 AdrES3 AdrES4 AdrES5 AdrES6 AdrES7 PaketN Address of the sender station number 0 127 Adress of the receiver AdrE 0 127 gt specifies a single station AdrE 128 254 gt addresses logical groups AdrE 255 gt fixes a broadcast Telegrams with AdrE 128 255 are not answered wit
240. ee also chapter Setting the Measurement System Functional Principle of Drive Controlled Referencing in Non Absolute Measuring Systems To establish congruency between drive measuring system and machine coordinate system it is necessary that the drive has precise information about its relative position within the machine coordinate system The drive receives this information by detecting the home switch edge and or the reference mark Note To evaluate only the home switch is not recommended as the position of the home switch edge has a lesser precision compared to the detection of the reference mark Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 82 Basic Drive Functions Definition of the reference point Rexroth Indramat ECODRIVE03 SMT 02VRS Coordinate system alignment is achieved by comparing the desired feedback position at a specific point within the machine coordinate system with the actual feedback position old drive coordinate system A differentiation in this case is made between Evaluation of a reference mark home switch edge type 1 3 and Evaluation of distance coded reference marks e With Evaluation of a reference mark home switch edge the specific point within the coordinate system is the so called reference point The desired feedback position is set at this point via parameter S 0 0052 Reference distance 1 for motor encoders or S 0 0054 Reference distance 2 for optional encode
241. eed control must be correctly set The position controller can be set with the parameter e 0 0104 Position Controller Kv Factor This can be set by either executing the load default settings procedure or by following the process below Preparations for Setting the Position Control Loop A number of preparations must be made in order to be able to set the position controller properly e The mechanical system must be completely assembled and ready for operation e The drive controller must be properly connected as described in the user manual e The safety limit switches must be checked for correct operation if available e Operate the drive in a mode that closes the position loop in the drive Operating Mode Position Control e The velocity controller must be properly tuned The start value chosen for the K factor should be relatively small Kv 1 e For the determination of the position controller parameter no compensation function should be activated Determining the Critical Position Controller Gain e Move axis at a slow velocity i e with a jog function at a connected NC Control Rotating Motors 10 20 Rpm linear Motors 1 2m min e Raise the K factor until instability appears e Reduce the K factor until the continuous oscillation ends by itself The Kv factor determined through this process is the Critical position control loop gain Determining the Position Controller Setting In most applica
242. eeeeeeeaaeees 9 26 Absolute encoder range and absolute encoder evaluation ccccceceeeeeeeeeceeeeeeeeeestnaeess 9 26 Absolute Encoder MOnitoring ceccccceeesseceeeeeeaeeeeeeaeeeeeeaaeeeeeeaaeeeeeeaaeeesesaaeeeenaaeeeseeaeeeeneaas 9 28 Modulo Evaluation of Absolute Measuring Systems ccccceeecceeeeeeeeeeeeeeeeeeeeeeseaeeteeeeeenees 9 29 Actual position values of absolute measuring systems after initialization eee 9 29 Drive Limitations corsu aa AEE A E ata iedasd Sedaana hetenie T 9 30 Current LiM e a hii eee bene sat a eevee bees 9 30 Torgus Limiteen itive a eines kien bite ee eee 9 34 Limiting Velocity stat ce atan vices nce date ata ee tah ees ada Rete ints 9 37 Travel Range Umils nicon eha aa a NE i a a ai 9 38 Drive Error Reactoren a N aa a aa Na e 9 43 Best Possible Deceleration c cccccecseececeeeeeceeeeeeeeeeeeneneeeeesaeeeseeseneeseeseneeeeeneeseseenenaeeetnaaes 9 43 P OWS OMIOMCITOM oa A T tleoeefhabeshhd suethe phys ubeite eee oan 9 48 NC Response in Error Situation ccecccecceeeeseeceeeeeceeeeeeaeeseeeeceaeeesaaesseaeeseeeeeseaeeesaeeeeeeeseas 9 51 EM rgency stop features secccacisechesisccecepeclsivedceecntaei ese Mohd escent seven de eseaaceanedcaeseee 9 51 Control Loop Settings io enan aaa tate eed cis devi ght aaa a a ae ee aa a aaant 9 53 General Information for Control Loop Settings cceccceeeceeeeeeeeeeeeeeeaeeseeeeeseaeeseeaeeneneeeeaees 9 53 Load Detau
243. eeeirresrirnssirnnstinnsntinnnntnnnnnenn nne Fieldweakening range for Synchronous MOtOrS ssssesssssessseressserrssrrnssrernssne LO Motor Holding Brake sieer eraai e E E EET Pertinent Parameters nasser ir iieii tAn EAEE EEEE VaT Setting the Motor Brake Type cccccceceeeeeeseeceeeeeeeaeeeeaaeseeeeeseeeeseaeeeeneeseeneess Setting the Motor Brake Integral Action Time ccceceeeseeeeeeeeeeeeeeeteeeeeeeees Setting Maximum Decel Time ccccccceseeeceeseeeeeeeeceeeeeesaeseeeeeseeeesaeeeseeeeeeees Command Release motor holding brake c ccceeceeeseeceeeeeseeeeeesaeeeeeeeeeeees Monitoring the Motor Holding Brake eececeeeeeteeeeeeeneeeeeeeeeeeeeeaeeeeeenaeeeeee Connecting the Motor Holding Brake cc ccceecceeeeeeeeeeeeeeeeseeeeeseaeeeeeeseeeeees 8 Operating Modes 8 1 Setting the Operating Mode Parameters c ccccecceceeeeeeeeeeeeeeceeeeeseaeeeeeaeeeneeeee 8 2 Determining detecting the active MOdE ececceeeeeneeeeeeteeeeeeenaeeeseenaeeeeeenaeeeenas 8 3 Operating Mode Torque Control ccccccceeeeeceeeeeeeeeeeeaeeeeaaeeeeeeeseaeeesaeeeeaeeseeeeeeaas Pertinent Parameters acca e a a e A RE Torque Gontrol nice aa aaae i hen a a e aaa a DOK ECODR3 SMT 02VRS FK01 EN P Contents III E 5 3 Rexroth Indramat IV Contents ECODRIVE03 SMT 02VRS Diagnostic Messages 6 ceeiccitede sci E EAE A E E E prangeheartacehaytt 8 3 Torque Control with Analog Command C
244. een set for Best possible Deceleration as a return motion then the drive generates a position command profile to complete the desired travel distance in the case of an error In other words in the case of an error a relative process travel block is activated Note If P 0 0096 is positive then in reference to the machine coordinate system the drive moves in the positive direction This travel block is defined by the parameters e P 0 0096 Distance to move in error situation e 0 0091 Bipolar velocity limit value e 0 0138 Acceleration bipolar e S 0 0349 Jerk limit bipolar Once the drive has covered the distance i e has reached the desired target position then the motor holding brake is activated if mounted and the drive is switched torque free at the end of the motor brake delay time The distance to move is considered as completed i e the motor holding brake is activated if e target position active position command value i e bit 12 in S 0 0013 class 3 diagnostics 1 and e Vactual 0 i e bit 1 in S 0 0013 class 3 diagnostics 1 feedback velocity smaller than S 0 0124 Standstill window Rexroth Indramat 9 48 Basic Drive Functions Power off on error Rexroth Indramat BB contact ECODRIVE03 SMT 02VRS A P 0 0126 maximum braking time Start of error reaction t Velocity command profile S 0 0138 bipolar acceleration S 0 0349 jerk limit bipolar Mo
245. el zone limit switch is activated or one of the two axis limit values is exceeded by the homed position feedback value that is the value referring to the machine zero point The drive s response to exceeding the travel range is selectable The following possibilities exist e An error with a Set Velocity Command Value to Zero reaction and automatic drive enable shutoff e A warning with a Set Velocity Command Value to Zero reaction and automatic reset when the error conditions are gone This is set in bit 2 of P 0 0090 Travel limit parameter P 0 0090 Travel limit parameter Bit 0 Negation 0 Travel range switch input 24V gt travel range exceeded 1 Travel range switch input 0V gt travel range is exceeded L Bit 1 Activation 0 Travel range switch is not active 1 Travel range switch is active Bit 2 Response 0 Exceeded travel range is handled as error 1 Exceeded travel range is handled as warning Fig 9 48 Setting the drive reaction to exceeding the travel range bit 2 Rexroth Indramat 9 40 Basic Drive Functions Rexroth Indramat ECODRIVE03 SMT 02VRS Note Decelerating the axis with the use of a velocity command value ramp is not possible Braking always occurs at maximum allowable torque see P 0 4046 Active peak current Exceeding the Travel Range as an Error If a O is entered in bit 2 of P 0 0090 then exceeding the travel range is handled as an error
246. electrical drives power supplies and filter components Wait five 5 minutes after switching off power to allow capacitors to discharge before beginning work Measure the voltage on the capacitors before begin ning work to make sure that the equipment is safe to touch Never touch the electrical connection points of a component while power is turned on Install the covers and guards provided with the equipment properly before switching the equipment on Prevent contact with live parts at any time A residual current operated protective device r c d must not be used on an electric drive Indirect con tact must be prevented by other means for example by an overcurrent protective device Equipment that is built into machines must be se cured against direct contact Use appropriate hous ings for example a control cabinet European countries according to EN 50178 1998 sec tion 5 3 2 3 U S A See National Electrical Codes NEC National Electrical Manufacturers Association NEMA and local building codes The user of this equipment must observe the above noted instructions at all times DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Safety Instructions for Electric Servo Drives and Controls 2 5 To be observed with electrical drives power supplies and filter compo nents DANGER High electrical voltage High leakage current Danger to life danger of injury and bodily harm from electrical shock
247. ely after recognition of an error 1 Drive continues for 30 sec in the selected operating mode then follows the best possible deceleration Fig 9 61 NC Reaction on Error Note Activating the NC Reaction on Error is only recommended for controls that have a corresponding error reaction procedure Emergency stop feature Interpretation as warning E834 Emergency Stop active DOK ECODR3 SMT 02VRS FK01 EN P The E Stop function supports the braking of the drive via a hardware input on the drive controller It thus represents the option of shutting down the drive parallel to command communication in an emergency Activation and how to set the deceleration is parametrizable The following parameters are used e P 0 0008 Activation E Stop function e P 0 0223 Status Input E Stop function Functional principle of the E Stop function By activating the E Stop function bit O 1 the drive executes upon actuation of the E stop input the selected reaction for deceleration This reaction depends on bit 2 of P 0 0008 If the interpretation fatal warning has been parametrized there bit 2 1 then the drive responds by switching off the external drive enable with the reaction parametrized in P 0 0119 Best possible deceleration The warning diagnosis E834 Emergency Stop appears Bit 15 is set in S 0 0012 Class 2 diagnostics manufacturer specific warning Simultaneously the bit change bit class 2 diagnostics is
248. ement n 1 n ustada ing AT element 2 1 lt ist addressing AT i S don t care a element 1 0 at aT because Addressing AT has gt p 0 4006 not selected any parameter Tb0206f2 fh7 Fig 4 10 Processing list elements with the multiplex channel here for the MDT container Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Diagnostic Messages Checks in transition command Checking the input DOK ECODR3 SMT 02VRS FK01 EN P Communication Through the SERCOS interface 4 15 In conjunction with the multiplex channel various checks are conducted Checking the Configured IDN Order The temporal sequence of the processing of cyclical MDT data in the drive has an order specified with which the configured IDNs are entered in parameter S 0 0024 Config list of the master data telegram If both the parameter S 0 0360 MDT Data container A and S 0 0368 Addressing for data container A are configured in the MDT then the MDT data container will only be properly processed if the addressing was previously processed To maintain the correct order when configuring the MDT the drive checks in command S 0 0127 C100 Communication phase 3 transition check whether the IDN S 0 0368 is configured before S 0 0360 If not then the drive generates a command error message e C118 MDT order for configuration faulty Checking the Configuration Lists It must be ensured that the ID numbers in the configuration
249. en segment display changes to AF After that it displays the drive diagnostic for the activated operation mode i e A101 Drive in VELOCITY control If the drive enable is activated without a DC bus voltage Ab doesn t appear on the H1 display the error message F226 Undervoltage in power section will be displayed The drive status word is part of the drive telegram All important status information from the drive is contained here e Readiness for use of the control and power sections e Drive error e Change bits for diagnostics class 2 and 3 e Current operation mode e Real time status bits 1 and 2 e Status information for the service channel The drive status word is structured as follows Rexroth Indramat 4 4 Communication Through the SERCOS interface ECODRIVE03 SMT 02VRS Drive Status Word COOCOO Bits 0 2 Control information for service channel Bit 5 Bit change command Bits 6 amp 7 Real time status bits 1 amp 2 Bits 8 amp 9 Actual type of operation 00 Main type of operation active 01 1 Secondary type of operation etc Bit 11 Bit change class 3 diagnostics Bit 12 Bit change class 2 diagnostics Bit 13 Drive lock error in Class 1 Diagnostics Bits 14 amp 15 Ready to operate 00 Drive not ready for power to be switched on since internal checks are not positively connected 01 Ready to switch on power 10 Control and power supplies ready for operation torque free 11 In operation
250. en the drive continues to operate for 30 seconds after detecting an error as if no error had been detected The NC has this time to bring the axis to a controlled standstill The drive then conducts the response set in P 0 0119 Fig 9 54 Error Response of the Drive Best Possible Deceleration DOK ECODR3 SMT 02VRS FK01 EN P The drive reaction P 0 0119 Best possible deceleration is conducted automatically with e interface errors F4xx e non fatal errors F2xx At the end of each error response the drive s torque is cut off with e fatal errors F8xx e travel range errors F6xx P 0 0119 Best possible deceleration is ignored Rexroth Indramat 9 44 Basic Drive Functions Best possible deceleration P 0 0119 0 Failure reaction sequence Rexroth Indramat with spindle brake present ECODRIVE03 SMT 02VRS The following settings are possible Value of P 0 0119 Response 0 Velocity Command Value Reset 1 Torque Disable Velocity command value to zero with 2 command ramp and filter 3 Return motion Fig 9 55 Setting options for Best possible Deceleration The drive response which is defined as Best possible Deceleration controls the response of the drive if e the drive enable signal changes from 1 to 0 disable the drive enable e the operating mode is switched to parameter mode while the drive is enabled Reset of the communication phase Velocity Command Value Reset
251. ept with torque control Activating the monitor The monitor is activated with parameter P 0 0538 Motor function parameter 1 The structure of the parameter P 0 0538 Motor function parameter 1 Ee DEEP ESEEe se sel L Bit8 Velocity control loop monitor 1 deactivated Fig 9 68 P 0 0538 Motor function parameter 1 See also the parameter description P 0 0538 Motor function parameter 1 Note It is highly recommended not to deactivate the velocity control loop monitor activated at the factory as it represents a basic safety function of the drive The causes of a monitor trigger The velocity control loop monitor is designed to monitor for those faults that could lead the motor torque in the wrong direction The following options are basically possible e incorrect poles with motor connection e wrong commutation angle e faults in the velocity encoder Note This prevents the runaway effect of the motor Criteria for Triggering the Monitor The following criteria must be met for the velocity control loop monitor to be triggered e Current command value limited by P 0 4046 Active peak current e motor accelerating in the wrong direction e and actual velocity control value is gt 0 0125 Nnmax Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 63 Setting the position controller Pre requisite DOK ECODR3 SMT 02VRS FK01 EN P Current and sp
252. er emulator is locked e The increment output is activated It is assumed that the motor can now be run via the position control loop by the control homing going to zero or referencing The drive can also conduct drive guided referencing if the control permits it As soon as the motor encoder internal reference point is detected the following is conducted e general release of zero pulse output e immediate output of a zero pulse by the emulator e initialization of zero pulse so that it is always output at this absolute motor position Note The output of the zero pulse occurs after referencing is successfully completed It is output at the same position however reference marker With rotary motors it is possible to offset the zero pulse using P 0 0503 Marker pulse offset within a electrical or mechanical rotation in a clockwise direction The unit of P 0 0503 is degrees The input range for motor encoders that are absolute after their initialization with unequivoal positions within a motor revolution of 0 359 9999 degrees The input range for resolvers with an absolute unequivocal position within an electrical revolution is 0 359 9999 degrees number of pole pairs Rexroth Indramat ECODRIVE03 SMT 02VRS 10 36 Optional Drive Functions Maximum output frequency Compensation of delay deadtime between real and emulated positions Pulse breaks at the end of the pulse output cycle Limiting Incre
253. er mode also is displayed The current operating condition can be determined from e the 2 part seven segment display H1 display e the diagnostic parameter S 0 0095 Diagnostic Message e the parameter S 0 0390 Diagnostic Message Number e the parameter P 0 0009 Error Message Number e the parameter S 0 0375 List of diagnostic numbers The current diagnostic message with the highest priority is always shown in the e H1 display e S 0 0095 Diagnostic Message and e 0 0390 Diagnostic Message Number The parameter P 0 0009 Error Message Number will contain a value unequal to 0 if an error is present The last displayed diagnostic numbers are displayed in chronological order in parameter S 0 0375 List of diagnostic numbers An overview of all diagnostic messages can be found in the diagnostic description Troubleshooting Guide Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 3 24 General Instructions for Installation ECODRIVE03 SMT 02VRS E flo AON error e ACE e a R wa F city l Warning O i ma j L al N Command error T r ommand active L Cc d act Ready to d aay yes no Operation lock DIT D i J J active tt Lio i L l l Ready to L L Communicationphase operate Li rive rea i L omer 0 Drive automatic r check h L Drive
254. erence mark will not be monitored The linear scale does not affect reference marks with consistent intervals The real distance between the home switch and the reference mark must be big enough to achieve a sure recognition of the home switch edge when considering the maximum homing velocity and the cycle time for the home switch input polling Linear The distance between the home switch and the reference mark will be monitored Half the reference mark spacing must be entered in P 0 0153 Optimal distance home switch reference mark Fig 9 95 Monitoring the distance Home switch Reference Mark For every homing with home switch evaluation the difference between actual distance and optimal distance is monitored The difference is saved in parameter S 0 0298 Reference cam shift The home switch edge can be shifted mechanically for this value To avoid a mechanical shifting of the home switch edge you can set this procedure in the software with the parameter S 0 0299 Home switch offset The value in parameter S 0 0298 Reference cam shift is transferred to parameter S 0 0299 Home switch offset Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 93 Optimal distance 0 5 Distance of reference marks A A A A Distance of reference marks S 0 0299 Home switch offset Actual home switch Homing direction at start SV5072f1 fh7 Fig 9 96
255. erences into a velocity If the command velocity resulting from the position command value exceeds S 0 0091 Bipolar Velocity Limit Value the error e F237 Excessive position command difference is generated For diagnostic purposes both of the parameters e P 0 0010 Excessive Position Command Value e P 0 0011 Last valid Position Command Value will be saved The velocity produced by the difference of the two values generated the error S 0 0047 Position command value gt i 4 ni S 0 0091 Bipolar Velocity limit resulting velocity position command value difference gt Generating the error F237 excessive position command value difference Sv5028f1 fh5 Fig 8 12 Monitoring the position command value differences and generating the error F237 Excessive position command difference Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 11 Setting Position Command Value Monitoring The position command value monitor works with the parameter S 0 0091 Bipolar Velocity Limit Value It should be set to approximately 5 to 10 above the planned maximum velocity of the motor 8 6 Operating Mode Drive Internal Interpolation The drive is given a target position in Drive Internal Interpolation mode When it is activated the diagnostic message is one of the following e A106 Drive Controlled Internal Interpolation Encoder 1 e A107
256. erface 6 1 Overview The DKC01 3 is outfitted with freely configurable inputs and outputs in addition to the digital inputs of its basic unit drive enable drive halt start delete error The outputs are allocated by configuring the signal status word Bits O through 9 are in this case the digital outputs of the parallel interface X15 14 to X15 23 The inputs are allocated by configuring the signal control word Bits O through 9 in this case are the digital inputs of the parallel interface X15 1 to X15 10 6 2 Pertinent Parameters 6 3 How it works Configurable outputs DOK ECODR3 SMT 02VRS FK01 EN P e 0 0144 Signal status word e 0 0145 Signal control word e 0 0026 Configuration list signal status word e 0 0027 Configuration list signal control word e 0 0328 Assign list signal status word e 0 0399 IDN list of configurable data in the signal control word The signal status word in a DKCO01 3 is generated every 2ms Bits 0 9 are mapped on the parallel interface Allocation of signal status word to digital outputs Bit number in the signal status Digital output of the parallel word interface 0 X15 14 1 X15 15 2 X15 16 3 x15 17 4 X15 18 5 x15 19 6 X15 20 7 x15 21 8 X15 22 9 X15 23 Fig 6 13 Allocation of signal status word to digital outputs See also section Configurable Signal Status Word Rexroth Indramat 6 6 Comm
257. erface 8 19 Pertinent Parameters 8 17 Position dependent continue block mode 8 27 Positioning block modes 8 19 status messages 8 39 positioning block transfer 8 14 Positioning type 10 44 Positioning velocity gt Ngrenz 3 27 Positioning window 3 28 3 29 Positioning with command spindle positioning 10 41 Positioning with spindle reference switch with spindle positioning command 10 42 Possible Error Messages when Reading and Writing Operating Data 3 2 Possible operating modes 1 2 Power Failure Bit 10 37 Power off power off on error 9 48 Power off and package reaction on error 9 49 Power off on error 9 48 Preferred Scaling Parameter Scaling 9 2 Preparations for Setting the Position Control Loop 9 63 Preparations for Setting the Velocity Controller 9 57 Prerequisites for starting the automatic control loop settings 9 69 Prerequisites for the execution of absolute positioning blocks 8 20 Pre requisites when determining commutation offsets 7 14 Prerequisities for automatic control loop settings 9 69 Probe Main Function 10 20 Probing Cycle Procedure Command 10 21 Relevant parameters 10 19 Signal Edge Selection 10 21 Probe functions 10 19 Processing Command Values in Modulo Format Shortest Path Direction Selection 9 10 Processing single list elements of multiplex channel 4 14 Programmable Limit Switch Lead Time 10 32 Programming only possible in loader 3 31 Proportional Gain Determining the Critical Proportional Gain 9 58 PTC 7
258. ers Every change in contents of S 0 0390 Diagnostic message number means that the old contents are transferred into S 0 0375 List of diagnostic numbers If S 0 0375 List of diagnostic numbers is read then the last replaced diagnostic number appears in the first element the diagnostic number displayed penultimately is displayed in the second element and so on The following illustration explains the relationship between S 0 0375 List of diagnostic numbers and S 0 0390 Diagnostic message number with the use of an example Rexroth Indramat 3 26 General Instructions for Installation S 0 0390 Diagnostic numbers 0xA013 ECODRIVE03 SMT 02VRS 0xA012 OxA101 drive ready for power on H1 Display ob S 0 0390 Diagnostic number changes to A013 XXXX 50 gt time Drive enable is switched on operation mode e g velocity control AF S 0 0390 Diagnostic number changes to A101 Power is switched on power and control section are ready for operation S 0 0390 Diagnostic number changes to A012 XXXX 50 XXXX 50 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX 2 A013 2 A013 1 A012 1 S 0 0375 S 0 0375 Tb0208f1 fh7 Fig 3 12 Example for generating S 0 0375 List of diagnostic numbers Permanently Configured Collective Indicatio
259. es DOK ECODR3 SMT 02VRS FK01 EN P For commissioning drive controllers the parametrization interface DriveTop can be used The procedures for commissioning a drive controller with DriveTop entail 11 steps IBS 1 11 The sequence is illustrated below Rexroth Indramat 3 18 General Instructions for Installation ECODRIVE03 SMT 02VRS Initial start up Establishing the initial state using command P 0 4094 C800 Load base parameters command Velocity and acceleration values limited to small values Position and torque limits not active Operating mode velocity control All optional functions are deactivated N d Pe N IBS 1 Motor configuration MDD MKD MHD a Set motor type motor dependent parameters from data motor eee sheet temperature monitoring possible asynchronous _ parameters possible motor holding brake yes IBS 2 Determining the Operating Mode Selection of the primary and secondary mode Operating mode specific settings y IBS 3 Pre setting mechanical system of axia and the measuring system Gears feed rate constant and maximum travel range illustrative formats for position velocity acceleration motor measuring system possible external measuring system y IBS 4 Setting Error Reations and Emergency Stops Best possible deceleration NC reaction power off with fault Emergency stop function v IBS 5 Pre setting control loop Automatic loop tuning by loadin
260. es 9 83 Commissioning with Evaluation of reference marker home switch edge 9 86 Commissioning with Evaluation of distance coded reference marker a se 9 93 Functions of the Control During Drive Controlled HOMiINQ ccccceeeeeeeteeeeteeesteeeeneeeeees 9 98 Possible Error Messages During Drive Controlled Homing c cceeeceeeeeeeeeeeeeeteeeeeeeeees 9 98 Configuration of the Home SWItCN ccccccececeeeeceeeeeeeaeeeeaeeceeeeeceaeeesaaeseeeeeseeeeesaeeesaaeeeenees 9 99 Connection of the Home switch cecececeeeceeeeeceee cece aeeeeeeeceaeeceeeeecaaeeeeaaesseeeeseaeeesaeeeseeeeenees 9 99 Homing of Gantry axis ninenin aae eigi aia EEE E A diel athena 9 100 9 11 Setting the Absolute Dimension c cccccceeecceceeeeeeeeeeeeeeeeeeeeceaeeesaaeeeaaesseaeeseaeeesaeeesaeeseeeesenees 9 106 PErtiniont PAraMeters saors iea e cceds T ATT a becdee cadets ee Nests 9 107 Functional Principle c i nhieu sini ae iaa R aie has Sed 9 107 Actual Position Value after Setting the absolute dimension cceessceeeesteeeeesneeeesenaes 9 111 Diagnostic Messages is dati cui nee ieee niente 9 111 Hardware Connections ccccceceeceeeeeeeeeeeeeeeeecaeeeeaaeeeeneeseeeeecaaeeesaaeseeaeeseeeesaeeseaeeseneeseaees 9 111 Optional Drive Functions 10 1 10 1 Configurable Signal Status WOrd cccccecccececeeesneeeeeeeceeeecaaeeeeaae sense ceaeeesaaeeseneeseaeeescaeeesaeseneees 10 1 Pernimnent ParamateiSeucasu iee a a
261. es the number of valid samples for the current recording 10 7 Probe Input Feature Measuring the absolute signals and the difference between measured values for positive and negative flanks Automatic rapid halt with positive edge from probe 1 Two digital inputs are available for measuring positions and times The measured values are determined with the positive and negative edges The following measured values can be determined e Position feedback value 1 e position feedback value 2 e relative internal time in usec Note The probe inputs are read every 1 msec The measured signals are generated every 500 usec Linear interpolation taking place between these two steps with an accuracy of 1 usec Through the parameters you can read the absolute values of these signals at the time of a positive or negative edge as well as the difference in their parameters There is also the option upon detection of a positive flank of probe 1 to execute an automatic quick halt of the drive Pertinent Parameters for the Probe Analysis DOK ECODR3 SMT 02VRS FK01 EN P e 0 0170 Probing cycle procedure command e 0 0401 Probe 1 e 0 0402 Probe 2 e 0 0169 Probe control parameter e P 0 0200 Signal select probe 1 e P 0 0201 Signal select probe 2 e 0 0405 Probe 1 enable e 0 0406 Probe 2 enable Rexroth Indramat 10 20 Optional Drive Functions ECODRIVE03 SMT 02VRS e 0 0130 Probe value 1 pos
262. esolver 300 rpm Fig 9 24 Velocity allowed during initialization Drive internal format of position data DOK ECODR3 SMT 02VRS FK01 EN P There are two different formats in the drive used to display position data We differentiate between e display format and e drive internal format The display format defines the unit i e the value with which the position data are exchanged between drive and control surface When a position data parameter is read it is sent in the display format to the control The display format is set with parameter S 0 0076 Position Data Scaling Type S 0 0077 Linear Position Data Scaling Factor S 0 0078 Linear Position Data Scaling Exponent and S 0 0079 Rotational position resolution The control generally sets the format See also Physical Values Display Format Rexroth Indramat 9 22 Basic Drive Functions The drive internal position resolution depends on the travel range to be described Rexroth Indramat ECODRIVE03 SMT 02VRS The drive internal format determines the value the position command and feedback value editing as well as how the position control loop in the drive is performed The drive uses the value of parameter S 0 0278 Maximum travel range to calculate the drive internal format Functional principle of the drive internal position data formats Position data processing in the drive has a constant data width from which the resolution of the position data to
263. essive command values is greater than half of the modulo value the drive moves toward the command value in the opposite direction DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS S 0 0393 1 S 0 0393 2 Basic Drive Functions 9 11 Modulo Mode Positive Direction The command value is always approached in a positive direction regardless of whether or not the difference between two successive command values is greater than half of the modulo value Modulo Mode Negative Direction The command value is always approached in a negative direction regardless of whether or not the difference between two successive command values is greater than half of the modulo value 9 2 Setting the Measurement System Encoder interface 1 Encoder interface 2 DOK ECODR3 SMT 02VRS FK01 EN P The drive controller is equipped with two permanently installed encoder interfaces i e X4 and X8 The encoder interface 1 X4 is designed so that the following encoder types can be evaluated e digital servo feedback DSF HSF e resolver e resolver without feedback data memory Using encoder interface 2 X8 it is possible to evaluate the following encoder types e incremental encoder with sine signals 1Vss e incremental encoder with square wave signals TTL e measuring system with EnDat interface e gearwheel encoder with 1Vss signals Both encoder interfaces can be used to connect either a motor or an optional encoder
264. eter S 0 0348 Acceleration Feedforward prop Gain The deviation of the actual feedback value to the position command can be displayed through the analog diagnostic output of the drive controller or the oscilloscope function To check the effect of the acceleration feed forward you must oscilloscope the signal during movement of the axis along the desired operation cycle In acceleration and brake phases the feedforward must reduce the control deviation drastically DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 67 Setting the Velocity Mix Factor With the help of the velocity mix factor you can combine the velocity feedback value used for velocity control from the motor and the external measurement system This might be an advantage when there is play or torsion between motor and load To set the mixing ratio use the parameter e P 0 0121 Velocity Mixfactor Feedback1 amp 2 Precondition The function is only applicable when there is an external measurement system If this is not available P 0 0121 is automatically setto 0 The mixture of the velocity feedback value can be continuously varied between e 100 Velocity feedback value of the motor encoder 0 actual value of the external encoder P 0 0121 0 and e 0 Velocity feedback value of the motor encoder 100 actual value of the external encoder P 0 0121 100 Rotary table
265. etizing scaling factor is at 100 the motor is completely magnetized There is a linear connection between set current and torque according to the torque constant P 0 0051 The torque builds up without delay The drive has perfect servo properties The disadvantages are the high iron loss and the higher noise under no or partial load especially at 4kHz switching frequency when the full magnetization current is flowing For main spindle applications it has proven successful to reduce the pre magnetizing scaling factor to 50 Through this procedure the motor stays cooler and is not as noisy while peak power is maintained The extended start control time only for jumps that exceed half the peak torque and the missing linearity of torque and voltage do not distort the main spindle drives With a 50 pre magnetizing factor the qualitative connection between the pre magnetizing scaling factor pmf and drive behavior is displayed in the following graphic MdA 100 pmf N 50 pmf gt Iq gt t Dg5005f1 fh7 Fig 7 20 Connection of pre magnetizing scaling factor and drive behavior Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Motor Configuration 7 9 The torque buildup is delayed by about 200ms during pre magnetizing because the air gap range can only increase slowly in relation to the rotor time constant By reduc
266. evaluation is desired or not and or e reference mark evaluation is desired Additionally it must be defined e in which direction the drive should move with the start of the command Drive controlled homing as well as whether e the drive should go to the reference point or not If a home switch evaluation becomes necessary then the necessary settings must first be made see Evaluation of the Home Switch All additional steps can then be conducted as follows Check the relevant position encoder type parameter S 0 0277 S 0 0115 to make sure it has been correctly set Parametrize the following parameter with 0 e 0 0052 Reference distance 1 or e 0 0054 Reference distance 2 e 0 0150 Reference offset 1 or e 0 0151 Reference offset 2 Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Result of the Drive Controlled Homing Command positiv reference offset DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 87 Set parameters S 0 0041 Homing velocity and S 0 0042 Homing acceleration to small values e g S 0 0041 10 Rpm S 0 0042 10 rad s Conduct the drive controlled homing command Note If the command is cleared then the original operating mode becomes active If drive internal interpolation is set then the drive immediately runs to the value set in S 0 0258 Target position This value relates to the new machine zero point coordinate system
267. f the machined workpieces in terms With setting the operation mode you can determine that the position control in the drive is done with the position feedback of the optional encoder Additionally the velocity control can be completely or partially done with the velocity feedback signal of an optional measurement system See also sections Operating Modes and Setting the Velocity Mix Factor Typical application examples are shown in the following two pictures Rexroth Indramat 9 16 Basic Drive Functions ECODRIVE03 SMT 02VRS 1 Power connectopn of motor 2 Connection of motor encoder 3 Connection of optional encoder direct positon acquisition Ap5133f1 fh7 Fig 9 17 Application Optional encoder by linear servo axis 1 Direct position acquisition with external encoder Ap5136 f1 fh7 Fig 9 18 Application Optional encoder by rotary servo axis The optional encoder is parameterized with the e P 0 0075 Feedback type 2 e 0 0117 Feedback 2 Resolution e 0 0115 Position feedback 2 type e P 0 0185 Function of encoder 2 parameters These specify e the feedback type which is used e the resolution of the optional encoder e the direction of movement etc Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P
268. ference unchanged dimension 1 absolute absolute 1 unchanged Reference dimension 2 Fig 9 116 Actual position value after setting the absolute dimension Actual position value of absolute encoders after power on See section Actual position values of absolute measuring systems after initialization While executing the command it is possible that command error C302 Absolute measuring system not installed is generated once command P 0 0012 C300 Command Set absolute measurement is started without an absolute measuring system having been installed See project planning manual zero switch input terminal X3 pin Rexroth Indramat 9 112 Basic Drive Functions ECODRIVE03 SMT 02VRS Notes Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 1 10 Optional Drive Functions 10 1 Configurable Signal Status Word The configurable signal status word supports the acceptance of a maximum of 16 copies of bits from other drive parameters This makes it possible for a user to put a bit list together which contains drive status information that is important to the control Note The bits in the signal status are put together in every command communication cycle at S 0 0007 acquisition starting time T4 Pertinent Parameters These parameters are used with this function e 0 0144 Signal status word The desired bits are applied there e
269. g Firmware ssssssssssssssirssesrrsssirnsstrnsrinnnnrnnnnntennnnrennnnnnnn 3 33 4 Communication Through the SERCOS interface 4 1 4 1 Overview of SERCOS Communication ccccccceceecceeeeeeeeeaeeeeeeeseeeeeseaeeesaaeseeeeeseaeeesaeseaeeeeeeeeaas 4 1 4 2 Data Transfer Cycle through SERCOS essssssesssesiresinssrrssirssrnssirssrnssinssinastnnstnstnnntnnntnnntnnntnn nnt 4 1 Master Control Word ras tiiteernriia hia aaeeea apan aaraa a a aa a ae aal earraidh Paia bena eieaa aads 4 2 Dive enable nanta a hil Ae a a a a A 4 3 Drive Status Word eet tan eee ine ate a iat eh ata e a a aa 4 3 Acknowledge of the Drive Enable ceeccecececceceeeeeceeeeeseeeeeeneeeeeeeneceeeenseeeeeenneeeeeeneeeeeennnnees 4 4 4 3 Real Time Control and Status BitS ceccceccceeeeeeeeeseeceeeeeceaeeeeaaeeeeeeeseaeeesaaeeeeaeeseeeeesaeessaeeeeeeeeaes 4 5 4 4 Transmission of non cyclical Data through SERCOS cccceceeeeeeeeeeeeeesaeeeeeeeseeeeeseaeeesaeeeeeeeees 4 5 4 5 Startup for the SERCOS Interface cccceccceceeeeeeeeeeeeeeeeeeeee cae eesaaeeeeeeeseaeeesaaeeseaeeseeeeeseeessnaeeseaes 4 6 Adjustments of the SERCOS Interface ceccccecceeeeeeeeneeceeeee cae eeeeaeeeeeeeseaeeeeaaeeeseaeseneeeeeatess 4 6 Connecting the Fiber Optic Cables of the SERCOS Interface cc eceecceseeseeeesseteeeeeseeees 4 7 Setting the Drive Address of the SERCOS Interface ce ceccsceceesseeeeeeseeeesenaeesessseeeeesaaes 4 7 Chec
270. g base values using data sheet Motor encoder can move axis v IBS 6 Check mechanical system of axis and meauring system Gears feed rate constant polarity of position velocity and acceleration motor measuring system possible external measuring system v IBS 7 Position Velocity and Torque Limitations Position limit values and travel range limit switch velocity limit values torque limit values v IBS8 Possible optimizing the control loop Velocity and position control loop possible torque friction compensation possible acceleration pre control y IBS 9 Establishing the absolute referenc dimension Set absolute dimension or use drive controlled referencing y IBS 10 Other settings Drive halt Status messages Optional drive functions y IBS 11 Checking Drive Dimensions Torque force check Weight compensation Regenerated energy y C End of Initial Start Up D FD5020x1 FLO Fig 3 9 Commissioning guidelines Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS motor without data memory motor with data memory DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 19 IBS 1 Motor configuration These guidelines are needed in the case where the motor used does not have a motor feedback memory It is necessary with these motors to enter e
271. g systems do not have to be homed after initialization of the drive firmware The actual position value lies within the absolute encoder range machine zero related after initialization It is only necessary to conduct a single set up procedure setting absolute dimension Whether a motor or an optional measuring system are to be evaluated as absolute encoders depends on the following variables e the absolute encoder range S 0 0378 Absolute encoder 1 range S 0 0379 Absolute encoder 2 range of the relevant encoder e the set position scaling position data represented absolute or in modulo formats in S 0 0076 Position data scaling type DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 27 e the travel range set in S 0 0278 Maximum travel range or e the modulo value set in parameter S 0 0103 Modulo value Note the following relationships Position scaling S 0 0278 Max Absolute encoder Bit 6 of S 0 0076 travel range S 0 0103 Modulo value evaluation possible Absolute format lt S 0 0378 not relevant yes S 0 0379 gt S 0 0378 not relevant no S 0 0379 Modulo format S 0 0103 lt S 0 0378 S 0 0379 yes S 0 0103 gt S 0 0378 S 0 0379 no Fig 9 32 Absolute encoder evaluation as depends on position format modulo format and maximum travel range The check whether a measuring system can be evaluated as an absolute system is conducted during command S 0 0128 C200 Communi
272. h a reaction telegram Subaddress 1 of the receiver if for Bit 0 2 if for byte control it applies that gt 000 Subaddress 2 of the receiver if for Bit 0 2 if for byte control it applies that gt 001 Subaddress 3 of the receiver if for Bit 0 2 if for byte control it applies that gt 010 Subaddress 4 of the receiver if for Bit 0 2 if for byte control it applies that gt 011 Subaddress 5 of the receiver if for Bit 0 2 if for byte control it applies that gt 100 Subaddress 6 of the receiver if for Bit 0 2 if for byte control it applies that gt 101 Subaddress 7 of the receiver if for Bit 0 2 if for byte control it applies that gt 110 running telegram number package number if bit 3 in byte cntrl has been set Fig 1 7 SIS Telgram head Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 1 8 Serial Communikations ECODRIVE03 SMT 02VRS Structure of the User Data Head Note The structure of the user data head depends on the transmis sion direction Also the user data headers described here are only used for the services 8x80 0x8F It is differentiated between e Command telegram Master gt Slave This is the telegram that the master sends to the slave drive 1Byte 1Byte 1Byte 1Byte 1Byte Control Device Param Tel header byte addres type Parameter No User data head gt lt User data gt Ta0001f1 fh7 Fig 1 8 User data
273. h the SERCOS interface 4 1 4 Communication Through the SERCOS interface 4 1 Overview of SERCOS Communication The basic features of the SERCOS interface are e Cyclicyl data exchange command and feedback values with exact time intervals e Synchronization of measurement point and command value input e Overall synchronization of all drives connected to the control e Minimum cycle time 0 5 ms maximum cycle time 65 ms e Baud rate selectable either 2 or 4 MBaud e Service channel for settings and diagnostics e Data transfer through fiber optic ring e Configuration of the telegram contents e SERCOS compatibility class C Granularity 1 i e a multiple of 1000 usec can be programmed as cycle time The features of the interface are mentioned here briefly More detailed information is included in the SERCOS interface specification 4 2 Data Transfer Cycle through SERCOS You can configure the master data and drive telegram To synchronize the drives in a ring the Master Synchronization Telegram MST is sent at the beginning of every SERCOS cycle The MST contains only the preset communication phase information from the master Once during every Sercos cycle a Master Data Telegram MDT is sent from the control to every drive The master control word the service channel and a configurable data block are included here In this data block the command and limit values are contained which are sent by the control according to
274. h velocity loop causes an improvement Or check whether a change in the value of P 0 0180 Rejection frequency velocity loop means an improvement DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 61 If the step response results in the same behavior then Check the resonance frequency analysis or clearly increase the value in P 0 0181 Rejection bandwidth velocity loop Optimize rejection filter or with the pre optimized values of P 0 0180 Rejection frequency velocity loop velocity loop and P 0 0181 Rejection bandwidth velocity loop optimize the velocity controller again see above The step responses defined above must have a similar appearance with higher values for S 0 0100 Velocity loop proportional gain and or smaller values for S 0 0101 Velocity loop integral action time An additional optimizing run may be necessary for P 0 0180 Rejection frequency velocity loop and P 0 0181 Rejection bandwidth velocity loop using the step response see above Optimization of the control loop with a notch filter band suppression Filtering with double does not always make the regulation good enough This happens for smoothing filter example when the closed loop does not have significant resonance frequencies Activation of a second smoothing filter with low pass response can depending on the case improve the regulation quality as desired To do this set the parameter P 0 0181 Rej
275. handling Bod ily harm caused by crushing shearing cutting and mechanical shock CAUTION Wy y Y J U Observe general instructions and safety regulations during handling installation Use only appropriate lifting or moving equipment Take precautions to avoid pinching and crushing Use only appropriate tools If specified by the product documentation special tools must be used Use lifting devices and tools correctly and safely Wear appropriate protective clothing e g safety glasses safety shoes and safety gloves Never stay under suspended loads Clean up liquids from the floor immediately to pre vent personnel from slipping Batteries contain reactive chemicals in a solid housing Inappropriate handling may result in injuries or equipment damage Risk of injury through incorrect handling Do not attempt to reactivate discharged batteries by heating or other methods danger of explosion and CAUTION corrosion Never charge batteries danger from leakage and explosion Never throw batteries into a fire Do not dismantle batteries Handle with care Incorrect extraction or installation of a battery can damage equipment Note Environmental protection and disposal The batteries con tained in the product should be considered as hazardous ma terial for land air and sea transport in the sense of the legal requirements danger of explosion Dispose batteries sepa rately from other refuse
276. he block selection Digital inputs can be used to select the blocks in units with positioning interface DKC01 3 Following block processing permits execution of several positioning blocks processed in direct sequence without having to re issue a start signal each time Typical applications are positioning processes which cover long distances at high speeds rapid traverse and then position at end position at low speeds without any intermediate stops e Taking up or putting down transport goods by robots e Execution of joining processes in assembly facilities A following block chain is made up of a start block and one or more following blocks The start block is selected and activated in the usual manner The transition to a following block however can vary Note Following block mode is possible with absolute and relative positioning blocks The distance remaining is stored The final block of a chain is not defined as a following block This identifies the end of the chain e P 0 4006 Process block target position e P 0 4007 Process block velocity e P 0 4008 Process block acceleration e P 0 4009 Process block jerk e P 0 4019 Process block mode e P 0 4026 Process block selection e P 0 4051 Process block acknowledge e P 0 4052 Positioning block last accepted e P 0 4057 Positioning block input linked blocks e P 0 4060 Process block control word e 0 0346 Set up flag for relative command values e 0
277. he chain dimensional reference is guaranteed Reference position The last End position reached message is used as reference position speed profil S 0 0124 Standstill window P 0 4026 Process block selection P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 S 0 0346 Setup flag for relative command values Jog P 0 4056 Jog inputs Bit 0 ie Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs om EEN Sv5005d1 fh7 Fig 8 24 Relative positioning block with residual path storage after jogging Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 26 Operating Modes Rexroth Indramat Behavior Reference position ECODRIVE03 SMT 02VRS Relative positioning block with residual path storage after switching drive controller control voltage on and off If an absolute encoder is used then it is possible that the chain reference is retained after switching control voltage on and off The previously computed target position is stored at power shutdown The rest of the distanc
278. he converter voltage With a fieldweakening range for synchronous motors it has become possible to operate motors outside of this limitation If fieldweakening is to be used with synchronous motors then the following parameters must be set motor specifically as stated in the Indramat specifications e P 0 4004 Magnetizing current e P 0 0531 Stall current factor e P 0 0533 Flux loop prop gain e P 0 0534 Flux loop integral action time e P 0 0535 Motor voltage at no load e P 0 0536 Motor voltage max e P 0 0532 Premagnetization factor e P 0 0538 Motor function parameter 1 Note The motor must be suited for operating in the fieldweakening range The fieldweakening function for synchronous motors is activated with parameter P 0 0538 Motor function parameter 1 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Motor Configuration 7 21 7 5 Motor Holding Brake Pertinent Parameters The parameters for the motor holding brake are automatically set in motors with motor feedback data memory A motor holding brake can be mounted via a potential free contact built into the drive controller It prevents unwanted axis movements when the drive enable signal is off e g for a vertical axis without a counterweight Note The holding brake for Rexroth Indramat motor types MHD and MKD is not a working brake It wears down after about 20 000 motor revolutions if the brake is closed To set the motor holdi
279. he direction without overshoot Following block n 1 with mode 1 following by following block n with intermediate halt because a change in direction occurs when changing from block n to block n 1 This means there is a sign change for the speed for target position n If the accel parametrized in block n is too small to decel within the path difference X X 1 from speed v to value 0 then the parametrized target position X will be overrun This can cause software or hardware limit switches to trigger DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 37 passing the target position S 0 0124 Standstill window vt I area equals distance by which target position block 2 is overrun speed profil target position target position P 0 4026 block n 1 block n Process block selection 01 target position block n 1 el Process block acquittance 01 LN A AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer l l class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 L T E 4 S 0 0346 Setup flag for relative command values Positioning inputs valid for example positioning block 1 Positioning acknowledgement outputs show the negated status of the positioning inputs a Positioning acknowledgement outputs do not show that after valid record a
280. he graph below illustrates the configuration lists with the maximum number of elements 32 S 0 0368 Addressing for data container A cs Addressing AT Addressing MDT 31 31 S 0 0053 1 lt S 0 0048 1 S 0 0051 0 L gt S 0 0047 0 S 0 0371 Configuration list S 0 0370 Configuration list for the AT data container for the MDT data container Tb0205f2 fh7 Fig 4 9 Functional principle of addressing data container A Note Only bits 0 5 for MDT and bits 8 13 for AT are used for addressing with parameter S 0 0368 The other bits are cut off This is why no value exceeding 31 can be used for addressing Note Parameter S 0 0368 Addressing for data container A can depending on requirements be configured in MDT write accessed via the required data channel or some other interface Using the Data Container In parameter S 0 0360 MDT Data container A the master transmits the data which will be written to the target parameter in the drive The target parameter is that parameter addressed via S 0 0368 in the configuration list S 0 0370 Note Parameter S 0 0360 is not write accessible via the requried data channel The display format is hexidecimal without decimal places The drive copies the data of the source parameter into parameter S 0 0364 AT Data container A The source parameter is that parameter addressed via S 0 0368 in the configuration list S
281. hecking whether motor encoder is availablet Checking motor encoder settings DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 15 S 0 0128 C200 Communication phase 4 transition check During this command the following checks are run If in parameter P 0 4014 Motor type 1 MHD or 5 MKD MKE are selected and the motor feedback data memory has not found that type then command error e C204 Motor type P 0 4014 incorrect is generated If a parameter needed for transition to phase 4 has never been written into and its backup is faulty then command error e C201 Invalid parameter s gt S 0 0022 is generated The ID number of the faulty parameters are listed in e 0 0022 IDN list of invalid op data for comm Ph 3 and are made valid by writing into The drive controller reads the EEPROM memory of the drive controller operating data If an error occurs during this process then command error e C212 Invalid amplifier data gt S 0 0022 appears The ID number of the faulty parameter is written in e 0 0022 IDN list of invalid op data for comm Ph 3 Checking as per operating mode parameters S 0 0032 35 or referencing parameter S 0 0147 whether a second encoder is needed but there isn t one as 0 is entered in parameter P 0 0075 Feedback type 2 The faulty operating parameters or referencing parameters are listed in e 0 0022 IDN list of invalid op data for comm Ph 3 Command
282. hen the actual position value of the relevant encoder has a defined reference point for its machine zero point Establishing the absolute reference Activating the function The command can be triggered by e writing into parameter P 0 0012 C300 Command Set absolute measurement e or with a zero switch input flank Command reference point If there is only one absolute measuring system then the command automatically references this one system Given two absolute systems however then the selection must be set in Bit 3 of S 0 0147 Homing parameter Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Saving the data Pertinent Parameters Functional Principle Control word setting the absolute dimension DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 107 All information is retained by buffering all the data of the system in a feedback memory or a parameter memory The actual position value retains its reference to the machine zero point each and every time the machine is switched on after being switched off The following parameters are relevant to the execution of commands e P 0 0012 C300 Command Set absolute measurement e P 0 0612 Control word for setting absolute measurement e S 0 0147 Homing parameter e 0 0052 Reference distance 1 e 0 0054 Reference distance 2 e 0 0403 Position feedback value status e P 7 0514 Absolute encoder offset The motor is
283. hen the settings there apply to the scaling as well scaling With P 0 0422 Analog output 1 scaling or P 0 0425 Analog output 2 scaling is it then fixed at what value 10 volts are output For example for rotary preferred position scaling and signal selection position command S 0 0047 the unit of the scaling factor is set to degrees and the number of decimal places is set to four Inputting 90 0000 degrees in the evaluation factor means that 10 volts per 90 degrees at the load will be output If signals with a binary format are selected e g S 0 0134 Master control word then the display format of the scaling is set to decimal without fractional part There is no unit With this scaling a bit number between 0 and 15 is selected The state of this bit of the set parameter is then output in such a way that for logical O 10 volts are output and for logical 1 10 volts bit output Outputting pre set signals To be able to show such signals in an analog manner which do not exist as a parameter there is a way to select these via predefined signal numbers and to output these via the expanded analog output The parameters e P 0 0421 Analog output 1 expanded signal selection and e P 0 0424 Analog output 2 expanded signal selection do the selection Activation of the expanded The expanded output only functions if the signal select for the channel output used P 0 0420 or P 0 0423 is deactivated by inputting the ID number 0
284. hing signal for block If the start block of a switching signal dependent following block is an commutation absolute or relative positioning block then the drive positions on target position if the switching signal for block commutation does not arrive The drive thus generates the message End position reached after the following block chain is completed If a switching signal is applied during the course of processing then the drive will execute the following block Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS speed profil Operating Modes 8 33 S 0 0124 Standstill window ahed mE P 0 4026 Process block selection P 0 4051 Ol Process block acquittance cam 1 P 0 4057 Positioning block input linked blocks Bit 0 AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 ai S 0 0346 Setup flag for relative command values Ea Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs 01 y SV0011d2 Fh7 Interrupting a following block chain DOK ECODR3 SMT 02VRS FK01 EN P Fig 8 31 Example Switching signal dependent block expansion behavior with no switching signal
285. i A Character sequence gt found in receiver buffer no contents of receiver buffer P 0 0162 7 w 11b CR stig xxxx CR E01 gt step 3 to check transmission compare request with receiver buffer no gt transmission error step 4 delete request from receive buffer All characters up to 1 CR inclusive y ngn Error occured during next character in yes gt parameteraccess receiver buffer Z se Error code xxxx no Drive accepted command ae rA Command being processed read command a A status P 0 0162 1 w 0 CR 4 partl 2 A next page y step 6 drive received character Drive repeats no request echo ae D y Timeout ry character sequence gt found in 7 H no receiver buffer communication not possible oo gt check address B gt check setting gt check connection partl 2 B next page FD5003B1 WMF Fig 1 18 Starting a command part 1 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 1 18 Serial Communikations Rexroth Indramat ECODRIVE03 SMT 02VRS part 1 B previous page partl 1 A previous pagg B A j a yes T l no no __ ommand statuss _ Command status 3h a POR Fh ja ja y y command successfully J Sonar completed command completed with error
286. iagnostics Bit 12 Standstill S 0 0182 Manufacturer S 0 0346 Setup flag for relative command values Process block acquittance FoK p01 class 3 diagnostics Bit 1 Lo 4 lt 4ms Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV5014d1 fh7 Changing into jog mode Terminating a following block chain and selecting a new block number Rexroth Indramat Fig 8 32 Note Example Following block interrupt with same block selected Given a change into a different mode with an interrupt the previously interrupt chain is completed upon restart unless a new block is selected Given a following block with commutation due to target position means that only the overrunning of the target position of the current position block will be detected The following block is completed from this position The commutation conditions due to switching signals is always detected If a new block number is selected during an interruption e g with drive halt then the previously interrupted following block chain is not completed after a restart Instead the current block is executed DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Reference position Interrupting
287. ialized position of the measuring system is calculated If this difference is greater than the parametrized position window in parameter P 0 0097 Absolute encoder monitoring window the error message F276 Absolute encoder out of allowed window is given The absolute encoder monitor is appropriate for the following applications e The motor is equipped with a holding brake e The drive mechanical system is self locking and cannot be moved manually Setting the Absolute Encoder Monitor The absolute encoder monitoring window must be set by the user Always select a value greater than the maximum allowable motion of the axis when shutdown Assuming that the axis has a brake or is self locking you can enter 0 1 motor revolutions 36 in reference to the motor shaft as a standard value for the parameter P 0 0097 Absolute encoder monitoring window Deactivating the Absolute Encoder Monitor The absolute encoder monitor cannot be effectively used with axis that can or must be moved manually when switched off The absolute encoder monitor should be turned off in such situations in order to prevent unnecessary error conditions The absolute encoder monitor can be turned off by writing 0 to P 0 0097 Absolute encoder monitoring window DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 29 Modulo Evaluation of Absolute Measuring Systems If measuring systems are evaluated absolutely and modulo evaluation of
288. ication Positioning Block Mode with Parallel Interface eee Application Analog Main Spindle with Parallelinterface c c cseeeeeeees 7 Motor Configuration 7 1 Characteristics of the Different Motor TyP s cccccceeesteeeeceeceeeeeseeeeseaeeteeeeeaes Motor Feedback Data Memory cccesctcceceeeteeeeeeeteeeeetaeeeeesnaeeeeeeaeeeeeenaeeeeneaa Linear Rotational esai ean ERE EE A E AEE ERAS Synchronous ASyNChronous ss paiana an aa aaa iiis Temperature MOnitOring ccceccceeeeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeseeeaeeeeeeaaeeeseeaeeeeeeaas Load Default Feature anean aA caste ee abedsddeted Gees eidned A T 7 2 Setting the Motor Type ccccccccsscecseeeeceeeeeesaeeeeneeceeeeeceaeeeeaaesseneeseaeeesaaesseaaeeneeeenees Automatic Setting of the Motor Type for Motors with Feedback Memory Setting of the Motor Type through P 0 4014 Motor Type ccccesseeeesrees Ta ASYNCHTONOUS MOIE rasia a audiSactiantecad ARS Basics for the Asynchronous Motor cccceeeeceeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeeeeeeeeaeees Torque Evaluatori erine aiieieo ar EEE N E AA EEEa E ia User defined Settings for the Asynchronous Motor s eseeseeseeseerrereeee 7 4 Synchronous Motors eseesseeseseeseesnesnttnntnnetn netr nesrnstnnssnnsstnnotnsstnnstnnsrnssrennnnno Starting up Synchronous Kit Motors sseeseeseeeeeessriesriesrissrissrissrresrrnsrnnennnt Determining commutation offset seseeseseeeeee
289. ice Facilities ECODRIVE03 SMT 02VRS Europa Europe 0 nach Landeskennziffer mitwahlen dial 0 after country code vom Ausland 0 nach Landeskennziffer weglassen from abroad don t dial 0 after country code Austria X SALES O Service Austria K SALES O Service Belgium DA sares Xl service Denmark Xl SALES X Service Mannesmann Rexroth Ges m b H Gesch ber Rexroth Indramat Hagelingasse 3 A 1140 Wien Telefon 43 0 1 9852540 400 Telefax 43 0 1 9852540 93 Chechia X SALES Oo Service Mannesmann Rexroth G m b H Gesch ber Rexroth Indramat Industriepark 18 A 4061 Pasching Telefon 43 0 7221 605 0 Telefax 43 0 7221 605 21 England XX sates Xl service Mannesmann Rexroth N V S A Gesch ber Rexroth Indramat Industrielaan 8 B 1740 Ternat Telefon 32 0 2 5830719 Telefax 32 0 2 5830731 Finland X SALES O Service BEC AS Zinkvej 6 DK 8900 Randers Telefon Telefax 45 0 87 11 90 60 45 0 87 11 90 61 XxX SALES Xl Service France Mannesmann Rexroth spol s r o Hviezdoslavova 5 CS 627 00 Brno Telefon 420 0 5 48 126 358 Telefax 420 0 5 48 126 112 France K SALES O Service Mannesmann Rexroth Ltd Rexroth Indramat Division Broadway Lane South Cerney GB Cirencester Glos GL7 5UH Telefon 44 0 1285 863000 Telefax 44 0 1285 863030 France K SALES O Service Rexroth Mecman Oy Rexroth Indramat division Ansatie 6 SF 017 40 Vantaa Telefon 358 0 9 84
290. ics 9 20 Overload warning 3 27 Parametrize the pre warn threshold 9 33 Overview Command Communications with Analog Interface 5 1 Overview about Command Communication Using Parallel Interface 6 5 P PA 10 30 Parallel interface 8 19 Parallel Interface 6 5 Parameter 3 1 Parameter Buffer Mode 3 4 Parameter involved when configuring signal control word 10 3 Parameter Storage in Motor Feedback 3 3 Parameters pertinent in encoder emulation 10 34 Parameters pertinent in the multiplex channel 4 12 Parameters Stored in DSM Programming Module 3 3 Parameters Stored in the Digital Drive 3 3 Parametrization operating mode 3 12 Parametrization mode 3 12 Parametrization notes for positioning blocks 8 35 Paramter structure 3 1 Password 3 5 Peak current Saving in the motor feedback 7 2 Peak torque 9 34 Pertinent parameter with current limits 9 30 Pertinent Parameter with Drive Controlled Homing 9 79 Pertinent Parameters Motor holding brake 7 21 Pertinent Parameters Backlash compensation 10 27 Pertinent Parameters Command Communications with Analog Interface 5 1 Pertinent Parameters Digital Output 10 11 Pertinent Parameters for jogging mode 8 43 Pertinent parameters for the Command Spindle Positioning 10 39 Pertinent Parameters for the Probe Analysis 10 19 Pertinent parameters for the system status word 10 1 Pertinent parameters of stepper motor mode operations 8 40 Pertinent Parameters of the analog inputs 10 9 Pertinent Parameters of the Command P
291. igger event occurs trigger delay function of an oscilloscope The setting occurs in units of the parameterized time resolution The input value determines the number of probe values still recorded after a trigger event By entering O time resolution only data available before a trigger event will be recorded If the value of the P 0 0032 Size of Memory parameter is entered then only the probe values occurring after the trigger event will be recorded DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Optional Drive Functions 10 17 Trigger threshold Trigger signal Trigger status Bit 0 P 0 0033 Number of Samples after Trigger Trigger delay R Recording length i Fig 10 15 Trigger delay Number of samples after trigger Activating the Oscilloscope Feature The oscilloscope feature can be activated with the parameter P 0 0036 Trigger Control Word The parameter is defined as follows P 0 0036 Trigger Control Word Input with external triggering Bit1 Trigger release Bit 0 Trigger action Bit 2 Oscilloscope function active Fig 10 16 Structure of Parameter P 0 0036 The oscilloscope feature is activated by writing 1 into bit 2 i e the internal probe value memory is continually written with the selected measurement signals If bit 1 is set then the trigger monitor is activated and the oscilloscope featu
292. ignals from 1V signals Incremental encoder with square 2 5 yes yes wave signals from Heidenhain encoder with EnDat interface from 2 8 yes yes Heidenhain gearwheel encoder with 1Vss signals 2 9 no yes resolver without feedback data 1 10 yes no memory resolver without feedback data 1 2 11 yes no memory plus incremental encoder with sine signals Hall encoder plus square wave 1 2 12 yes no encoder ECI encoder 1 13 yes yes Hall encoder plus sinus encoder 1 2 14 yes no Fig 9 15 Determining encoder interface for the motor encoder Note The motor encoder is only then unnecessary if you work with a loadside motor encoder This is only possible with rotary asynchronous motors P 0 4014 Motor type 2 or 6 In this case the external encoder is the only control encoder see also Optional encoder Rexroth Indramat Motor Encoder Resolution The motor encoder resolution is parameterized in the parameter S 0 0116 Feedback 1 Resolution Enter the graduation scale of the motor feedback If using a measurement system with intrinsic feedback data storage the resolution will be taken from this and does not need to be entered Measurement systems with feedback storage DSF HSF Resolver EnDat Depending on whether a rotary or linear motor is used the units and the number of decimal places are changed via S 0 0116 Feedback 1 Resolution see also chapter Linear Rotational DOK ECODR3 SMT 02VRS FK01 EN P EC
293. imit Switch parameter is used to activate the programmable limit switch and to select a signal The following values can be entered P 0 0131 Feature 0 The programmable limitswitch is not activated 1 The programmable limit switch is activated the reference signal is S 0 0051 Position feedback 1 value 2 The programmable limit switch is activated the reference signal is S 0 0053 Position feedback 2 value Fig 10 34 Programmable Limit Switch Activation and Setting the ReferenceSignal DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS The P 0 0134Programmable Limit Switch Lead Time parameter always should be parameterized completely i e with all 8 elements even if not using the delay Optional Drive Functions 10 33 The programmable limit switch parameters P 0 0132 Switch On position P 0 0133 Switch Off position and P 0 0134 Lead Time can be used to set the on and off switch thresholds as well as the lead time Each of these parameters contains 8 elements Element 1 is assigned for position switch bit 1 element 2 for bit 2 and so forth If one or more switch bits are not given a delay then 0 should be set for these elements in P 0 0134 Programmable Limit Switch Lead Time The status of the position switch bits are shown in parameter P 0 0135 Status Position Switch The following diagram shows the structure of this parameter P 0 0135 PLS Control Mechanism Status Word
294. important axis specific parameters are stored in the programming module If e g a controller is replaced because of a defect then the features can be transferred to the new controller by simply using the old module The affected parameters are stored in S 0 0279 IDN list of password protected operation data To secure these parameters against unwanted or non authorized changes the customer password can be activated By editing S 0 0279 IDN list of password protected operation data the user can select the parameter which are to be protected with a password Note The default value of S 0 0279 IDN list of password protected operation data corresponds to the contents of S 0 0192 IDN list of backup operation data The password is accessed with parameter S 0 0267 Password The password has to have e atleast 3 symbols e no more than ten symbols e can only use the letters a z andA Z e andthe numbers 0 to 9 The password function can have three different states Depending on the sequence of symbols entered for S 0 0267 the current password status can be changed The following illustrates possible password states and the symbol sequence for parameter S 0 0267 Rexroth Indramat 3 6 General Instructions for Installation ECODRIVE03 SMT 02VRS No customer password active writing to parameter contents S 0 0267 007 Input string Kpassw _ 007 _ 007 Input string 007 _Kpassw _ Kpassw Customer password acti
295. ing systems For the homing of a rotary optional encoder encoder 2 it applies 360Deg S 0 0165 S Re fen S 0 0117 S 0 0165 Value in parameter S 0 0165 Distance coded reference offset 1 l S 0 0117 Feedback 2 Resolution S kefen Travel path Abb 9 100 Travel path when referencing with distance coded reference marks and in Run path mode for rotary measuring systems In parameters e S 0 0165 Distance coded reference offset 1 and e S 0 0166 Distance coded reference offset 2 the greater and smaller distance of the reference mark must be entered These values can be retrieved from the encoder specification DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 95 1001 1001 me aE 1000 aS 1000 L Distance coded reference dimension 2 l Distance coded reference dimension 1 smaller value SERCOS ID No S 0 0166 larger value SERCOS ID No 3 0 0165 Input unit pitch Input unit pitch unit The manufacturer of the length measuring system indicates distance travelled up to the absolute position value 20 mm pitch unit 20 um 0 02 mm For Heidenhein length measuring system the larger value is the product of distance travelled pitch unit pitch unit therefore 20 02 mm 0 02 mm 1001 pitch units 20 mm 0 02 mm 1000 pitch units ee This value 1001 pitch units is to be entered This value 1000 pitch units is to be in parameter I
296. ing the pre magnetizing scaling factor you can achieve a better synchronous operation in the one thousandth degree range This will reduce distorted torques which result from saturation effects in the motor and from unavoidable deviations from an ideal sine form To keep the torque linear in this case the slip factor must be increased in the same measure at which the pre magnetizing scaling factor was decreased Warning Torque constant continual torque and peak torque are reduced Example The synchronous operation should be improved in a servo drive The pre magnetizing scaling factor is set to 40 and the slip factor is set to 2 5 times of the original value The continuous and peak torque decrease to approximately 40 The base speed increases to 2 5 times the rated base speed 7 4 Synchronous Motors Automatic detection and parameterization of INDRAMAT housing motors MHD and MKD motors DOK ECODR3 SMT 02VRS FK01 EN P With this drive firmware it is possible to run INDRAMAT housing motors e MHD e MKD and MKE motors plus rotary and linear synchronous kit motors MBS and LSF Indramat housing motors have stator rotor bearings and feedback built into the housing They are equipped with a motor feedback data memory in which e motor parameters e motor feedback parameters e synchronous motor specific parameters and e default control parameters are stored These motors are recognized by the firmware and the correct setting
297. ion on this see the Project Planning Manual sec Drive halt and drive enable 9 10 Drive Controlled Homing Rexroth Indramat The position feedback value of the measuring system to be referenced forms a coordinate system referencing the machine axis If absolute encoders are not used the system does not correspond to the machine coordinate system after the drive has been initialized S 0 0148 C600 Drive controlled homing procedure command thus supports e the establishing agreement between drive measuring system and the machine coordinate system in non absolute measuring systems e and a drive controlled running to the reference point in absolute measuring systems Drive controlled homing means that the drive independently generates the necessary motion which corresponds to the homing velocity settings and homing acceleration settings Note It is possible to perform this for either the motor encoder or the optional encoder DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Pertinent Parameter Basic Drive Functions 9 79 To run this feature use the following parameters S 0 0148 C600 Drive controlled homing procedure command S 0 0147 Homing parameter S 0 0298 Reference cam shift S 0 0299 Home switch offset S 0 0052 Reference distance 1 S 0 0054 Reference distance 2 S 0 0150 Reference offset 1 S 0 0151 Reference offset 2 S 0 0041 Homing velocity S 0 0042 Homing acceleration P 0 015
298. iple of command detect marker position e Once the command P 0 0014 D500 Command determine marker position is activated the following is done e The diagnosis D500 detect marker position command is generated e f anincremental measuring system is selected then the detection of a reference marker is activated and the drive waits for the next reference marker e f a reference marker is detected i e the position of a reference marker has been runover then its position feedback value is stored in parameter S 0 0173 Marker position A This command is now signalled as completed Note The drive generates no command values The mode active at command start remains unchanged To override the reference marker the control must generate command values e g by jogging that cause a motion in the direction in which the reference markers are to be detected Additional uses of parameter S 0 0173 Marker position A In parameter S 0 0173 Marker position A the position of the reference marker is also stored during the command S 0 0148 C600 Drive controlled homing procedure command This relates however to the old coordinate system before the coordinate system was switched while performing a homing function 10 11 Command Parking Axis Pertinent Parameters Functional principle DOK ECODR3 SMT 02VRS FK01 EN P The command Parking Axis supports the operational decoupling of an axis This may for example be necessa
299. ipolar velocity limit value P 0 0004 Velocity loop smoothing time constant Velocity loop proportional gain P 0 0121 Velocity mixfactor feedback 1 amp 2 Velocity loop integral action time P 0 0180 Rejection frequency velocity loop Current loop proportional gain 1 P 0 0181 Rejection bandwith velocity loop Current loop integral action time 1 P 0 0538 Motor function parameter P 0 4046 Active permanent current and disignation of signal for analog output suolouny aAlig d1Seg YS 6 SYAZCO LINS EOSAIHNGOOS ECODRIVE03 SMT 02VRS Load Default DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 55 With the command Basic Load you can activate the default control parameters for motor types with motor feedback data memory such as e MHD e MKD e MKE With these parameters the relevant control parameters can be set for the motor type used Note The parameters are pre defined by the manufacturer for the moment of inertia relationship of Jmotor Jload Most applications can work with these values Default values can be set for the following parameters e 0 0106 Current loop proportional gain 1 e 0 0107 Current loop integral action time 1 e 0 0100 Velocity loop proportional gain e 0 0101 Velocity loop integral action time e P 0 0004 Smoothing Time Constant e 0 0104 Position loop Kv factor e P 0 0181 Rejection bandwidth velocity loop The feature Load Default Settings can be activated i
300. is activated then the drive does not follow the command values of the active mode but rather brings the drive to a halt while maintaining the parameterized accel The manner in which the standstill takes place depends on the previously activated operating mode Bringing to standstill in position If a mode with drive internal position command generation was active control with the previously then the standstill is in position control with the use of the previously active limit accel and jerk active limit accel and limit jerk Operating modes with drive internal position command generation are e drive internal interpolation e relative drive internal interpolation e positioning block mode e jog mode Bringing to standstill in position If previously a position control mode without drive internal position control with S 0 0138 and command generation was active then the standstill takes place in S 0 0349 position control with the use of accel in S 0 0138 Bipolar acceleration limit value an the jerk in S 0 0349 Jerk limit bipolar Operating modes without drive internal position command generation are e position control e angle synchronization e step motor mode and so on Jerk according to S 0 0349 Acceleration according to S 0 0138 Jerk limit bipolar bipolar acceleration limit value Velocity command value vt Operating mode Drive HALT Operating mode activ activ activ j t ms Sv5037f1 fh5
301. ission no error 0x00 protocol error OxFO OXFF execution error 0x01 OxEF Fig 1 31 Definition of status bytes Rexroth Indramat 1 26 Serial Communikations ECODRIVE03 SMT 02VRS Code Protocol error Number Error description The requested service is not speci fied or is not supported by the ad Invalid service OxFO dressed user The command telegram cannot be General protocol evaluated violation OxF 1 Example wrong telegram length Fig 1 32 Definition of protocol error Code Execution error Number Error description Error during pa rameter transmis An error occurred during read write sion 0x01 of a parmeter Error during phase The specified target phase was not transition 0x02 reached Fig 1 33 Definition of execution errors Example Write accessing a write protected parameter S 0 0106 Current loop proportional gain 1 The master is trying to write 0 to the parameter The drive acknowledges with error message 0x7004 data cannot be changed Command telegram 3C 00 04 oB 00 00 00 Control Device Param Parameter No Tel header byte address type LSB MSB User data Ji User data head gt Ta0003f1 fh7 Fig 1 34 Write S 0 0106 Command telegram Reaction telegram 01 3C 00 04 70 Status Control Device Tel header byte byte add
302. it 12 4 target position SS reached t S 0 0182 Bit 10 ae In target position 0 es t S 0 0182 Bit 6 1 C IZP 0 gt t to new start state is given Sv5050f2 fh7 Fig 8 16 Generating the status bit of the operating modes with drive internal interpolation Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 8 14 Operating Modes ECODRIVE03 SMT 02VRS 8 7 Mode Relative drive internal interpolation Pertinent Parameters In operating mode Relative drive internal interpolation the drive is given a path in parameter S 0 0282 Travel distance If bit O of the acceptance parameter S 0 0346 Setup flag for relative command values toggels change then it is added to the target position in S 0 0258 Target position The drive generates the needed position command value profile to bring itself to the target position It hereby maintains the velocity accel and jerk limit values In units equipped with parallel interface or parallel inputs the positioning block transfer input effects parameter S 0 0346 Setup flag for relative command values A positive edge at positioning block transfer input toggles parameter S 0 0346 e 0 0258 Target position e 0 0282 Travel distance e 0 0259 Positioning Velocity e 0 0260 Positioning Acceleration e 0 0193 Positioning Jerk e 0 0346 Setup flag for relative command values e 0 0393 Command value mode e 0 0108 Feedrate override
303. it 3 Activating Negative Edge Probe 2 0 negative edge is not analyzed 1 negative edge is analyzed Bit 4 Position Feedback Value Selection 0 S 0 0053 is always used as the measurement if an optional feedback is connected and position feedback values are chosen in the signal selection 1 S 0 0051 is always used as the measurement if position feedback values are chosen in the signal selection Bit 5 Enable Mode Probe 1 0 Single measurement after each measuring another measuring must be released with a 0 1 edge of the enable 1 Continuous measurement the measuring is done as long as the enable stays 1 Bit 5 Enable Mode Probe 2 0 Single measurement after each measuring l another measuring must be released with a 0 1 edge of the enable 1 Continuous measurement the measuring is done as long as the enable stays 1 Bit 7 Quick Stop when Probe 1 is latched positive 0 Recognition of probe 1 does not lead to a quick stop of the drive 1 Quick stop when the positive edge of probe 1 is latched Fig 10 20 S 0 0169 Probe control parameter Signal Selection for the Probe Inputs Values to be measured are e actual position value 1 motor encoder e actual position value 2 optional encoder if mounted e internal time The choice is made via parameters e P 0 0200 Signal select probe 1 e P 0 0201 Signal select probe 2 as well as in bit 4 of e 0 0169 Probe control parameter Using P
304. it 3 of the parameter S 0 0147 Homing parameter determines whether the position feedback value of the encoder 1 or of encoder 2 is monitored If drive internal interpolation is used as the active operating mode the drive checks to see if the target position is outside of the axis limit values If it is the drive will not move and the warning E253 Target position out of travel range is generated and bit 13 in parameter S 0 0012 Class 2 diagnostics is also set The diagnostic message for the case that the axis limit values have been exceeded depends on the type of reaction How handled SS display Diagnostic message Asan error F629 F629 Positive travel limit exceeded F630 F630 Negative travel limit exceeded As a warning E829 E829 Positive position limit exceeded E830 E830 Negative position limit exceeded Fig 9 52 Diagnostic message when axis limits have been exceeded Axis Limit Values Activation The axis limit value monitor is activated in bit 4 of S 0 0055 Position polarities S 0 0055 Position polarities EE Bit 4 Position limit values 0 not active 1 active Fig 9 53 Activating the axis limits Travel Zone Limit Switches Connection see project planning DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 43 9 5 Drive Error Reaction The error response depends on the current error class If an error is recognized in the drive
305. it is possible to mount circuits at the jogging inputs which can be moved to use the axes e P 0 4030 Jog velocity e P 0 4056 Jog inputs e 0 0260 Positioning Acceleration e 0 0193 Positioning Jerk e S 0 0403 Position feedback value status e 0 0055 Position polarities e 0 0049 Positive position limit value e 0 0050 Negative position limit value Activating the operating mode ogging In units with SERCOS interface jogging can be parametrized as any operating mode In units with parallel interface these can only be parametrized as the 1 auxiliary mode If the jog inputs are connected to switches in the case of parallel interface then the drive automatically goes into the 1st auxiliary mode once these inputs are actuated The state of the inputs is reflected in parameter P 0 4056 jogging inputs Also see section Command Communication Using Parallel Interface Functional Sequence of operating mode jogging Upon activation of the mode the drive runs position controlled while maintaining the e speed limit value P 0 4030 Jog velocity e acceleration limit value S 0 0260 Positioning Acceleration e jerk limit value S 0 0193 Positioning Jerk The Jogging direction is fixed in parameter P 0 4056 Jog inputs Jog inputs Drive Display 00b stand still AF 01b moving forward JF 10b moving backward Jb 11b stand still AF Fig 8 38 Relationship of jog input to travel direction
306. itching signal dependent block commutation P 0 4019 Process block mode 81h absolute block with following block P 0 4019 Process block mode 82h relative block with following block P 0 4019 Process block mode 84h infinite block in positive direction with following block P 0 4019 Process block mode 88h infinite block in negative direction with following block Block commutation to a block with the next highest block number is triggered with an externally applied switching signal The switching signal dependent block commutation makes a transition to a following block possible based on an external switching signal As signal input the two following block inputs are available The state of the hardware signals is shown in parameter P 0 4057 Positioning block input linked blocks The drive switches to the next travel block n 1 as soon as the input for the following block cam 1 goes from 0 gt 1 If the target position is not reached then the new positioning block is switched into while travelling The drive switches to the penultimate travel block n 2 as soon as the input for the following block cam 2 goes from 0 gt 1 If a following block cam is actuated during this run then the drive switches to the positioning block after the next A following relative positioning block references that position at which the following block cam was switched Note The following block cams are checked ever 2 ms The accuracy of the posi
307. ith an ASCII Protocol c cccceceseeeeeeeeeeteeeeseeeeeeeees Communicating with the SIS protocol cccccceseeeeeeeeceeeeseeeeeeeaeeeeeeeees 16 Error Mossada roysni rdnr EAK AREE A TA EATE Error with ASCII Communication cece ce cseececesteeeceesaeeeeeeaeeeessaeeeeseaas Error with SIS COMMUNICATION cccecceceeseeceeeesteeeeesseeeeesseeeeseseeeeess 1 7 Application Examples Changing Position Block Data eeeeee ASGIl ProtoColl Seri he Sevaca E TAA SIS Protocoll cs tess teense batistertia hata ate lee aint ave a le 1 8 Connection Techniques ccccccceceeeeeeeeeeeeee cee eeesaeeeeeeeseeeeeseaeeeeaaeseeaeeseenee 2 Index 3 Kundenbetreuungsstellen Sales amp Service Facilities DOK ECODR3 SMT 02VRS FK01 EN P Contents Rexroth Indramat Il Contents ECODRIVE03 SMT 02VRS Notes Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 1 1 Serial Communikations 1 1 An Overview Interface mode Interface protocol The drive controller is equipped with a serial interface It supports the parametrization of the drive Using this interface it is possible to alter e Parameters e Commands and e Diagnoses The interface can be operated in either e RS232 mode or e RS485 mode Two different protocols are supported e the Indramat SIS protocol The usable data are transmitted in INTEL format e and an ASCII protocol Its p
308. ithin the range of 0 S 0 0103 modulo value With this function it is possible to realize an endlessly turning axis Motor encoder The motor encoder is the measuring system that is used during commutation A measuring system is absolutely necessary The position feedback value of the encoder can be seen in S 0 0051 position feedback value 1 By activating the position control operating mode with encoder 1 the position control loop is closed with the help of the position feedback of the motor encoder Operating data The operating data is data block element 7 of a parameter The value of the parameter is stored there Rexroth Indramat 11 2 Glossar Rexroth Indramat ECODRIVE03 SMT 02VRS Operating mode Operating mode is set in parameters S 0 0032 35 It determines in what way a command value is processed in the drive and eventually initiates an axis movement The operating mode does not define how the command value reaches the drive Parameterization mode The drive is in parameterization mode if communication phases 1 3 have been set The drive cannot be activated drive enable signal applied Operating mode must first be switched into Some parameters can only be written into during parameterization mode Programming module The programming module contains the software and parameter memory It is mounted in slot U5 When exchanging the controller a simple insertion of the programming module out of the old into
309. itioning velocity S 0 0259 gt S 0 0091 E253 Target position out of travel zone E247 Interpolation velocity 0 E248 Interpolation acceleration 0 E256 Feedrate override S 0 0108 0 Fig 8 14 Generator function drive internal interpolation See also Position Controller See also Velocity Controller See also Current Controller Monitoring in mode Drive internal interpolation The following checks are executed Rexroth Indramat If axis limit value monitoring is activated Bit 4 of S 0 0055 Position Polarity Parameter is set and the measurement system used for the operating mode has been homed the parameter S 0 0258 Target Position is monitored for staying within the axis limit values S 0 0049 and S 0 0050 If these are exceeded the warning E253 Target position out of travel zone is generated The prescribed target position will not be accepted If the prescribed positioning velocity S 0 0259 Positioning velocity exceeds the maximum allowable limit value S 0 0091 Bipolar Velocity Limit Value the warning E249 Positioning velocity S 0 0259 gt S 0 0091 will be generated The drive will move at the velocity S 0 0091 Bipolar Velocity Limit Value to the new target position If the positioning velocity specified in S 0 0259 Positioning velocity equals 0 then warning E247 Interpolation velocity 0 is generated If the factor affecting positio
310. itioning window S 0 0153 S 0 0051 lt S 0 0057 with motor encoder or S 0 0153 S 0 0053 lt S 0 0057 spindle encoder Note that the state of this signal cannot be made current any sooner than 10 ms after the start of spindle positioning or the change of spindle position Spindle in Position velocity v Start command spindle positioning 8 0 0152 S 0 0153 Spindle angle braking with ramp _ position P 0 1201 P 0 1202 P 0 1203 and filter P 0 1222 Message In Position if act pos value within ositioning window S 0 0222 Spindle position S 0 0153 S 0 0057 parameter Peccccccce decelerating and accelerating a with S 0 0138 and S 0 0349 S 0 0124 I ea L es time t I I time t Fig 10 47 Velocity time diagram with in position message when spindle positioning Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Diagnostic messages DOK ECODR3 SMT 02VRS FK01 EN P Optional Drive Functions 10 47 While executing command spindle positioning the following diagnostic messages can occur Messages with error free execution While the command is being executed the H1 display of the controllers reads C9 Messages with faults C902 Spindle positioning requires drive enable Drive enable not set at the start of the command Set drive enable prior to command start C904 Encoder 2 not present The direct measuring
311. itions a Block transition at old positioning speed Mode 1 P 0 4019 Process block mode 11h absolute block with following block P 0 4019 Process block mode 12h relative block with following block P 0 4019 Process block mode 14h infinite block in positive direction with following block P 0 4019 Process block mode 18h infinite block in negative direction with following block In this mode the target position of the start block is run through at the speed of the start block and then switched to the positioning speed of the following block Definition With relative and absolute blocks with sequential processing the drive runs in the direction of the target position As soon as the target position is exceeded it switches to the next block n With infinite blocks the drive runs positive or negative As soon as the target position is exceeded the drive switches to next positioning block n 1 n represents the block currently in process Note If the target position is not in travel direction then it will never be reached The drive does not switch to the next positioning block vt speed profil target position target position block 1 block 2 P 0 4026 01 Process block selection P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 S 0 0346 Setup flag for relative command values
312. itive edge e 0 0131 Probe value 1 negative edge e 0 0132 Probe value 2 positive edge e 0 0133 Probe value 2 negative edge e P 0 0202 Difference Probe Values 1 e P 0 0203 Difference Probe Values 2 e 0 0409 Probe 1 positive latched e 0 0410 Probe 1 negative latched e 0 0411 Probe 2 positive latched e 0 0412 Probe 2 negative latched Main Function of the Probe Analysis Rexroth Indramat S 0 0170 Probing cycle procedure command activates the feature The feature is activated as a command but does not send a command acknowledgement The Command Change bit is not used To activate the feature S 0 0170 must be written with 3 decimal 11 binary From this point on the status of the probe signals will be displayed in the parameters S 0 401 Probe 1 and S 0 402 Probe 2 A probe input is enabled with parameter S 0 0405 Probe 1 enable or S 0 0406 Probe 2 enable With a 0 1 switch of the signal the trigger mechanism is activated to evaluate the positive and or negative edge of the probe signal It must be set in parameter S 0 0169 Probe control parameter which probe inputs are to be evaluated and whether the positive or negative flanks From this point on when a probe signal edge is recognized the selected signal will be stored in the positive or negative probe value parameter At the same time the difference between the positive probe value and the negative probe value will be computed and
313. ive Functions ECODRIVE03 SMT 02VRS Pertinent Parameters e P 0 4020 Encoder emulation type e P 0 0502 Encoder emulation resolution e P 0 0012 C300 Command Set absolute measurement Parameter e P 0 0503 Marker pulse offset is used for incremental encoder emulation Parameter e 0 0052 Reference distance 1 is used for absolute encoder emulation Activating Encoder Emulation It is possible to control the behavior of the function with the help of parameter P 0 4020 Encoder emulation type P 0 4020 Type of encoder emulation Enea Be i Bit 1 0 Selecting the emulation type 0 0 no output 0 1 incremental encoder emulation 1 0 absolute encoder emulation Bit 4 Deadtime compensation 0 deadtime compensation is switched off 1 deadtime compensation is active Bit 10 8 Selecting the emulated position 0 0 0 output of the position of the motor encoder 0 0 1 output of the position of the optional encoder 0 1 0 output of the position command value S 0 0047 All other bit positions are always 0 Fig 10 36 Parameter encoder emulation type P 0 4020 Functional principle Incremental Encoder Emulation Number of lines The number of lines of the emulated incremental encoder is fixed in parameter P 0 0502 Encoder emulation resolution e 1to 65536 2416 lines revolution Note If a motor with resolver feedback is mounted then the emulator generates as many ze
314. k Stop with Probe Detection c ccccceceecceceeeeeeeeeeeeeeeseeeeecaeeeeaaeeeeeeeseeeeseeesaeeseeeeeaes 10 23 Mode Continuous Measure ccccccceceeeeeeeceeeeeeeceaeeeeaaeseeaeeceaeeesaaeeseaaeseneeeseaeeesaeeseneeseaees 10 23 Connecting the Probe Inputs cccecececeeeeeeeeeceeeeeceeeeeeaaeeeeneeseeeeeseaeeesaaeeeeeeeseaeeesiaeeseeeeeaes 10 25 10 8 Positive stop rive PrOCOCUre on eee ceeeeeeeeeeeeenneeeeeeneeeeeeaeeeeeeaaeeeeeeaaeeeeesaaeeeeeeaeeeeeaeeeentaeeeeeneaa 10 26 10 9 Reversal backlash compensation ceecceeeceseccceteeceeeeeeeaeeeeeaeeeeeseaaeeeesaeeeeeseaaeeeseeeaeeeeneeaeeeees 10 27 Pertinent Parameters ccceeeecceeeeeenee iietra tari OaE EVAAA NE 10 27 Functional PrinCiple sanii cine eeii aA E EAE AEA E i EA 10 27 10 10Command detect marker position ceccceceeeceeeeeceeeeeceaeeeeaae cease caeeeeaaeeeeaeeseeeeesaeeeeaeseeeeeeaes 10 28 Functional principle of command detect marker position ccccccceeeseceeceeeeeeeeeeeteeeeeees 10 29 10 11 Command Parking AXiS ccccccccceeeseceeeeeeeeeeceaeeeeaeeseeeeecaaeeecaaeseeeesaeeesaaesdeaeeseeeesaeessaeseeeenees 10 29 Pertinent Parameters uakina ki eee tiga ei eee iin 10 29 Functional principle 2s twas tian ae vaulter vanes 10 29 10 12 Programmable Limit Switch ce ccce eee eeeeee cence eeeeeeeeeee eae eeeaaeeeeaeeseaeeeseaeeesaaeseeeeeseaeeessaeeseaeeeeaes 10 30 Function diagram for the Programmable Limit S
315. king the Distortion Indicator of the SERCOS Interface c ceceeeeeeeeeeeeeeeeeeeetaeeeeeeeees 4 8 Using the Distortion INGiCAtOr 0 eee eee ee eeeeeeeeeeeeeeeeeeaeeeeeseaeeeeeeeaeeeeeseaeaeeesaeeeeeseeeaeeeeeenaeees 4 8 Transmission Rate of the SERCOS interface ecccceeseeeeeeeeceeeeeeeaeeeeeeeseeeesaeeesaeeeeneeesaees 4 8 Setting the optical Transmission POWED ccccccceeeeeceeeeeceeeeeeeaeeeeeaeeeeneeseeeeeeaeeeeaaeseneeeeeaeess 4 9 Checking the Fiber OptiCs cc ceceecceeseeeeesaeseeeeeeeeeeeeaaeseeaaeseeeecaaeeeeaaeseaaeseeeeeeeaeeeeaeseeaaeeees 4 9 4 6 SERCOS Telegram Configuration ccccccccccceeeeeceeseeceeeeecaeeeeeaeeeeeeeceeeeseaeeesaaeseeeeeseeesenaeeneaeeseaes 4 9 Configuration of the Telegram Send and Receive Times ccccececceeseeeeeeeeeeeeeseneeseeeeeeaees 4 9 Configuration of Telegram Content ccccceeeceeceeeeeeeaeeeeaeeeeeeeeceaeeeeaaeseeneeseaeeessaeeeeaeeeenees 4 10 4 7 SERCOS Interface Error ionini nit eaaa ane ied 4 11 Diagnostic of the interface Status 0 eccccecceeeeeceeeee eee eeeeaeeeeeeeeeaeeesaaeeseaeeseeeeesaeeesaeteneeeeaes 4 11 Error Count for Telegram Interrupts cc ccceecceceeeeeeeeeeeeeeeeeeeceaeeeeaaeseeeeseeeeesaeeesaeeeeneeeeaees 4 11 4 8 Multiplex Channel 3 25 cc desve al edaci ed ashes ade adheg cases ae dednddetiaddacvus ied tached epeeetedvadtaddarsescevesadiealrees 4 12 OVEIVIOW EEEE iad clase aA dian TT EEEE E ETE 4
316. l With lagless position control an acceleration feed forward component can be included with parameter S 0 0348 Acceleration Feedforward prop Gain See also Setting the Acceleration Feed Forward S 0 0348 Acceleration feedforward proportional gain S 0 0032 arena 0034 0035 arena mode bit 3 Acceleration feedforward TE I E D see Velocity control is S 0 0036 Velocity command value Position p command value be S 0 0104 Position loop Position actual value KV factor Fig 8 11 Position controller See also Current Controller See also Velocity Controller Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 10 Operating Modes ECODRIVE03 SMT 02VRS Position Command Value Monitoring If the drive is operated in the position control mode with cyclical position commands new position values are transmitted to the drive every NC cycle S 0 0001 NC Cycle time TNcyc The difference between the current and the last position command value is checked for validity Reasons monitoring is activated e Erroneous control system command values e Command value transmission error If the Position Control operating mode is active the velocity produced by the difference in successive values of parameter S 0 0047 Position Command Value is compared to e 0 0091 Bipolar Velocity Limit Value S 0 0001 NC Cycle Time TNcyc acts as the time base for converting the position command value diff
317. l t ms P 0 0526 Brake control delay Sv5122f1 fh7 Fig 7 30 Chronological diagram with command value to zero and P 0 0525 Holding brake type Bit 1 O Servo brake and actual braking time gt P 0 0126 Setting the Motor Brake Integral Action Time In P 0 0526 Brake control delay it is necessary to set the time that the motor brake control needs to actually apply the brake Note A standard value for the direct connection of holding brakes of Rexroth Indramat motors equals 150msec 1 Activating the o _motor brake Motor brake 1 l becomes 0 effective 1 End stage 0 release EERS P 0 0526 Brake control delay H f H m 0 50 100 150 200 t ms Sv5027f1 fh5 Fig 7 31 Setting motor brake integral action time Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 7 24 Motor Configuration ECODRIVE03 SMT 02VRS Setting Maximum Decel Time Parameter P 0 0126 Maximum braking time supports decel time monitoring and activation of the motor holding brake if the theoretical decel time is exceeded due to an error The motor holding brake is activated if the time since the start of the error reaction exceeds the time set in P 0 0126 Maximum braking time Note The value in P 0 0126 Maximum braking time must be set so that the drive can come to a standstill with the greatest possible moment of inertia and force from maximum speed If the value in P 0 0126 Maximum braking
318. l are enrenar A ee ee ERA 9 55 Setting the Current Controller cccccceceeeeeseeeeeeeee cece eeeeaeeeeaeeseeeeeseaeeeeaaeeeeeeeseeeseaeeseaeeseeneess 9 57 Setting the Velocity COntroller cccecccceeeeeeeeeceeeeeceeeeeeaeeeeaeeeeeeeceaeeesaaeseeneeseeeeseaeeeeaeeeenees 9 57 Velocity Control Loop Monitoring cccececeesceceeeeeeeeeeeeaeceeeeesaeeeseaeeseaeeseeeeeaeeesaeeseneeseaees 9 62 Setting the position CONtrOM L 2 cece ceeceeeee cece eeeeeeceeeeeeaaeseeneeceeeeeceaeseeaaesdeneeseaeeesaaesteaaeesenees 9 63 Position Control Loop MONitOring cccccceccceceeeceeeeeeeeaeeseneeecaeeeeaaeseeeeeseeeeesaeeesaaeeeeeeseneeesaas 9 64 Setting the Acceleration Feed Forward c cccccsceceeeeeeeeeeeeeeeeeeeecaeeeeaaeeeeneeseaeeesaeeeeeeeeenees 9 65 Setting the Velocity Mix Factor ceccceceseceeeeeceeeeeeeaeeeeaaeceeeeeceaeeeseaesseaeeseneeseaeeesaeeesaeeeeeees 9 67 Setting the Frictional Torque Compensation ccccceecceceeeeeceeeeeeeeeeeeeeseaeeecaeeesaeeteneessaees 9 68 Automatic Control Loop Settings cceccceeeeeeeneeceeeeeceaeeeeeaeeeeeeeeeaeeesaaeeseaaeseeeeeeneeetaeeesaeeeeneeee 9 69 General Comments iarradas hae aan aaia aoaaa iaaa aair iadaa inedia iaa ia 9 69 Prerequisites for starting the automatic control loop settings eessseseeeseseeeesrresssrneserrnssns 9 69 Conducting Automatic Control Loop Settings ccccceeseeeceeceeeeeeeeeeeeeeeseeeeesaeeeeaeeneneeenaees 9 72
319. l position value of the position wanted must be entered e The command can be started by writing 11b into P 0 0012 C300 Command Set absolute measurement e The command immediately sets the actual position value of the measuring system to the reference dimension and the position status becomes 1 The drive completes the command which can now be cleared P 0 0012 0 Basically same procedure as with case A1 but the command is activated by the flank at the zero switch input Note Biti of P 0 0612 and the command itself are deleted automatically and drive internally upon completion of Setting the absolute dimension DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS The command Switching the co ordinate system DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 109 Setting the absolute dimension with drive enable If the application uses a so called vertical axis or the position approached without drive enable cannot for whatever reason be held then the command can also be executed with drive enable With bit1 of P 0 0612 it is set whether the command is started by e writing 11b into P 0 0012 bit 1 0 or e a0O gt 1 flank at the zero switch input bit 1 1 Note For safety reasons flank evaluation is automatically deactivated after Setting the absolute dimensions has been completed This means that applications in systems with slip must cyclically use bit 1 in P 0 0612
320. ld value of parameter S 0 0091 Bipolar velocity limit value See section Limiting to Bipolar Velocity Limit Value If this value is exceeded then error F879 Velocity limit S 0 0091 exceeded is generated Torque Control with Analog Command Communications To activate the operating mode in conjunction with analog command communications note the following procedure e Select the mode with S 0 0032 Primary mode of operation e Parametrize the analog channel P 0 0213 Analog input 1 assignment to parameter S 0 0080 Torque command e Define the resolution with the help of P 0 0214 Analog input 1 scaling per 10V full scale e f necessary set offset compensation via P 0 0217 Analog input 1 offset Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 4 Operating Modes ECODRIVE03 SMT 02VRS 8 4 Operating Mode Velocity Control A velocity value is commanded to the drive in the Velocity Control operating mode The velocity command value is limited with ramps and a filter The diagnostic message reads A101 Drive in Velocity Mode when this operating mode is active The command values are specified in the parameters S 0 0036 Velocity command value and S 0 0037 Additive velocity command value processing Velocity command value Command value Velocity control Current Velocity controller controller Torque power command value Pertinent Parameters Fig 8
321. le Procedure Command The probe feature begins when 3 decimal 11 binary is written into the parameter S 0 0170 Probing cycle procedure command The following will happen e The data status will be set to 7 by S 0 0170 Probing cycle procedure command e All probe values and probe value differences will be set to 0 e All probe latched parameters will be cancelled e The external voltage monitor will be activated if it has not yet been activated Signal Edge Selection for the Probe Inputs A positive probe value and a negative probe value are available for every probe input The positive probe value is assigned the 0 1 rising edge of the probe signal and the negative probe value is assigned the 1 0 falling edge The S 0 0169 Probe control parameter determines whether both occurring edges will be evaluated and will lead to the positive negative probe values being saved The parameter should be set before activating this feature Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 10 22 Optional Drive Functions ECODRIVE03 SMT 02VRS parameter structure S 0 0169 Probe Control Parameter Bit0 Activating Positive Edge Probe 1 0 positive edge is not analyzed 1 positive edge is analyzed Bit 1 Activating Negative Edge Probe 1 0 negative edge is not analyzed 1 negative edge is analyzed Bit 2 Activating Positive Edge Probe 2 0 positive edge is not analyzed 1 positive edge is analyzed B
322. le ESF02 1 0x9400 dL 07 Timeout during reset An error occurred while trying to reset a flash Repeat the reset command If the error continues to appear then it can only be cleared by replacing firmware module ESF02 1 0x9402 dL OF Address range not in flash An address range not in the flash must be cleared Correct address range in the SIS or check the range in the ibf file DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors Description Clearing errors DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 33 0x940A Reset only possible in loader Drive firmware is running and the flash is to be cleared Change into firmware loader 0x96E0 dL Ob Error when verifying the flash An error occurred during the programming process A memory cell in the flash could not be write accessed The flash must be cleared prior to the programming command If the error continues then the firmware module ESF02 1 must be replaced 0x96E1 dL OC Timeout when programming the flash An error occurred during programming A memory cell in the flash could not be write accessed Programming command repeated If the error continues then the firmware module ESF02 1 must be replaced Ox96FF dL 09 Error when write accessing
323. lists can be cyclically configured This is why it is checked in command S 0 0127 C100 Communication phase 3 transition check whether ID numbers in S 0 0187 List of configurable data in the AT or S 0 0188 List of configurable data in the MDT are contained in the list The following errors are possible If list S 0 0370 Configuration list for the MDT data container has one or more IDNs which are not available are not in S 0 0188 List of configurable data in the MDT then error message e C104 Configured ID number for MDT not configurable is generated If list S 0 0371 Configuration list for the AT data container contains one ore more IDNs that are not available or not in S 0 0187 List of configurable data in the AT then error message e C106 Configurated ID numbers for AT not configurable is generated Checking for Existing ID Numbers When inputting S 0 0370 and S 0 0371 the following checks are conducted e It is checked whether the entered IDN is available If not then the data channel error message 0x1001 ID number not available is generated e It is checked whether the entered IDN in parameter S 0 0188 List of configurable data in the MDT is available If not then the data channel error message 0x7008 Data not correct is generated Rexroth Indramat 4 16 Communication Through the SERCOS interface ECODRIVE03 SMT 02VRS Checking while running Rexroth Indramat Checking the Indices The driv
324. lled homing procedure command or e P 0 0012 C300 Command Set absolute measurement The measurement system which is directly coupled with the motor shaft without a gearbox between them is called the motor encoder As the motor is usually coupled to the load with a mechanical gearbox and possibly a feed unit this is an indirect measurement system If a second measurement system is attached directly to the load than this direct measurement system see Optional encoder Hereafter are shown typical applications of indirect distance measuring 1 Power connectopn of motor 2 Connection of motor encoder indirect position acquisition Ap5134f1 fh7 Fig 9 13 Application Motor encoder with linear servo axis Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 13 1 Indirect position acquisition with internal encoder Ap5135f1 fh7 Fig 9 14 Application Motor encoder with rotary servo axis The following parameters e P 0 0074 Feedback type 1 e 0 0116 Feedback 1 Resolution e 0 0277 Position feedback 1 type are used to parameterize the motor feedback These specify the interface number to which the measurement system is connected the motor feedback resolution
325. llows Dolfi32 C INDRAMAT Dolfi Download FwWA_ECODR3_SMT01 07 ibf File Transmit Options Extras Help a Al Sir s Messages Header Read ini file COM1 9600 Transmit C INDRAMAT Dolfi Download FYV A_ECODR3_SMT01V07 ibf Modul FWC ESP02 1 FBC 01 V07 Firmware is erased Do not switch OFF Power Connect No PCCard O o o cOm1 9600 Fig 3 19 Example An illustration of how an error firmware was cleared DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Description Clearing the errors DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 31 The table below lists the error messages 7 segment display Error message SIS error message 0x9002 dL 00 Firmware was cleared 0x9003 Loading into phase 3 not allowed 0x9004 Loading into phase 4 not allowed 0x9102 dL 03 Firmware was cleared 0x9103 Restart in phase 3 not allowed 0x9104 Restart in phase 4 not allowed 0x9200 dL 06 Read error 0x9400 dL 07 Timeout during reset 0x9402 dL OF Address range not within flash storage 0x940A dL 08 Reset only in loader possible 0x960A Programming only possible in loader Ox96E0 dL 0b Error during flash verification Ox96E1 dL 0C Timeout when programming flash Ox96FF dL 09 Error when writing into RAM 0x9701 dL 0d Addition checksum faulty 0x9702 dL 0E CRC32 checksum faulty Fig
326. log output A typical curve of the thermal load as can be observed with analog output is displayed below Note By pre setting P 0 0141 Thermal drive load to 80 the processing cycle is set to this load Thermal Tendency of the thermal overload Overload P 0 0141 to fall during a typical in percent operation cycle 100 Treshold for overload pre warning P 0 0127 Writing an arbitrary value to P 0 0141 here 80 per cent Sv5032f1 fh7 Fig 9 38 Checking the thermal load The motor may be loaded for a maximum of 400 msec with the 4 fold value of S 0 0111 Motor current at standstill During continuous operation a 2 2 fold value is permitted If the maximum value is exceeded for an extended period however then the motor current limit reduces the maximum motor current to 2 2 times the motor standstill current For the maximum motor current to increase again it is necessary to first reduce the load on the motor i e the current must drop below the 2 2 fold motor standstill current If the motor overload limit is active then e warning E225 Motor overload is generated and e Bit 0 overload warning in S 0 0012 Class 2 diagnostics is set For physical reasons it is necessary to limit the maximum actual current of the motor to a specific speed The pull out current limit is used for this purpose This limit is limited purely by the technical structure of the motor and cannot be influenced
327. ltage interrupt If the control voltage is switched off then the last positioning block secured is stored in parameter P 0 4052 Positioning block last accepted This means that after powering up the last positioning block is output If an Absolute encoder is used then it can be decided after the control voltage is switched off and on whether the drive is at the target position of the last positioning block End position reached The End position reached message is fixed as soon as the drive is ready to operate again bb contact closed lf a Single turn encoder is used then the End position reached message is not clearly defined after a power interrupt until the first target position is approached or referenced Note The End position reached message is only retained if the axis is not moving during the interruption If the axis is moved into the positioning window during the interruption then the IN POS message will also be generated After activating the drive enable positioning block acknowledge changes to as described in Acknowledge with drive enable removed Status Messages in Positioning Block Mode Diagnostic messages Hardware Connections DOK ECODR3 SMT 02VRS FK01 EN P In addition to the messages listed in section Status messages during drive internal interpolation the following status messages are also generated in positioning block mode e End position reached Bit 12 of S 0 0182 Manufacturer s
328. m with setting of absolute dimension e Modulo function Rexroth Indramat 1 4 System Overview Rexroth Indramat ECODRIVE03 SMT 02VRS Parametrizable torque limit Current limit Velocity limit Travel range limit via travel range limit switch and or position limit values Drive side error reactions error reaction return limit best possible standstill velocity command to zero best possible standstill Torque free best possible standstill velocity command to zero with ramp and filter power shutdown with fault NC reaction with fault E Stop function Control loop settings base load function acceleration precontrol velocity mix factor velocity precontrol automatic control loop settings Velocity control loop monitor Position control loop monitor Drive halt Command Drive controlled homing Command Set Absolute Measuring Analog output Analog input Oscilloscope function Probe function Command Detect marker position Dynamic cam switch group Encoder emulation absolute encoder emulation SSI format incremental encoder emulation Command Positive Stop Drive Procedure Command Parking Axis Command Spindle Positioning Frictional compensation Corrective functions reverse backlash correction DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Safety Instructions for Electric Servo Drives and Controls 2 1 2 Safety Instructions for Electric Servo Drives and Controls 2 1 Introduction Read these instructions bef
329. mand S 0 0262 C700 Command basic load will appear Also see section Error Conditions of the Load Default Settings Procedure Run the Load Default Settings feature as a command With parameter S 0 0262 C700 Basic load the feature can be run as a command This might be useful if manually changed control parameters are to be set back to the default values Error Conditions of the Load Default Settings Procedure If the function started by running the command S 0 0262 C700 Basic load is not successfully processed then the reason for this error is displayed either on the 7 segment display or with the diagnostic parameter S 0 0095 The following could cause an error during basic load SS Display Diagnostic Message Cause C702 Default parameters not Basic load or load defaults available is impossible for the motor type selected load defaults is only possible for MHD MKD and MKE Connection of drive to motor encoder data memory is interrupted or feedback is defective C703 Default parameters invalid C704 Parameters incorrect The existing default value cannot be processed since for example the extreme value limit was exceeded in the default value C705 Locked with password A customer password has been set which locks out changes to parameters Fig 9 64 Possible errors during Basic Load command Note If a parameter can not be set to its default value the parameter is set invalid in its dat
330. mental Encoder Emulation In contrast to the conventional incremental encoder with which the pulse output frequency is practically infinitely seperated into very fine increments i e the pulses are allocated to a fixed position emulated incremental encoder signals are subject to certain restrictions These are primarily the result of how the digital process of the drive controller works The maximum pulse frequency for devices is 1024 kHz If this frequency is exceeded then pulses could be lost The non fatal error F253 Incr encoder emulator pulse frequency too high is generated A position offset of the emulated position in contrast to the real position takes place fmax 60 max 7 a n max Imax maximum line number Nmax allowable maximum speed in 1 min Fig 10 37 Computing the maximum number of lines Between position measurement and pulse output there is a dead time delay of about 1ms in devices If in parameter P 0 4020 Encoder emulation type bit 4 is set to 1 then this time is compensated in the drive At the end of each time interval the signal level for a specific period can remain constant The output frequency may not be changed during the time interval of Ta This is especially true of high frequencies i e with a large number of lines and or at high speeds Diagnostic Messages with Incremental Encoder Emulation Cause Remedy The following diagnoses are generated with incremental encoder emulatio
331. meter S 0 0151 reference offset 2 must be selected so that the reference point shifts in the direction of the reference travel That means with negative homing direction in one or both axis also the reference offset must be input with neg sign This avoids a direction reversal after passing the reference mark See Consideration of the Reference Offset Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 106 Basic Drive Functions ECODRIVE03 SMT 02VRS Reference Axis X1 pulse offset Braking Vref 7 distance Reference pulse 1 t gt Axis X2 f Braking Vref distance it Reference pulse 2 t gt t time Vref homing velocity Sv5023f1 fh5 Fig 9 112 Velocity paths of gantry axis during homing 9 11 Setting the Absolute Dimension When commissioning an absolute measuring system the initial actual position value represents just any point on the machine and not the machine zero point Note The value of S 0 0403 Position feedback value status is or In contrast to non absolute measuring systems finding the absolute dimension of an absolute measuring system is something that only has to be done once namely at the time that the axis is commissioned With the use of command C300 Set absolute measuring the actual position value of this measuring system can be set to the desired value After Setting the absolute dimension procedure has been completed t
332. mples after Trigger Trigger delay 5l Trigger control Bit 0 P 0 0035 Delay from Trigger to Start Recording length Fig 10 17 Delay from trigger to start Status Messages for the Oscilloscope Feature Information about the status of the oscilloscope feature is shared with the control by means of parameter P 0 0037 Trigger Status Word P 0 0037 Trigger Status Word CO Bit 0 Trigger action external message to control system internal activating the trigger delay function Bit 1 Signal lt Trigger threshold Bit 2 Recording is running __Bit 3 Signal gt Trigger threshold Fig 10 18 Structure of Parameter P 0 0037 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 19 Number of Valid Probe Values As soon as bit 2 is set by the P 0 0036 Trigger Control Word the drive starts to record probe values If the trigger event is recognized after the bit is set the oscilloscope feature records the number of samples after the trigger event and then stops recording The total probe value memory for the current measurement will not always be written dependent on the memory size setting the time resolution the number of samples after trigger and the time when the trigger event occurs This means that the memory can contain samples which are not valid for the measurement The parameter P 0 0150 Number of valid Samples indicat
333. n Upon activating the operating mode depend on S 0 0393 Command value mode the traversing path relates to the actual position or the value in parameter S 0 0258 Target position Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 16 Operating Modes ECODRIVE03 SMT 02VRS Diagnostic Messages The diagnoses read as follows upon activation of an operating mode e A146 Relative drive controlled interpolation encoder 1 e A147 Relative drive controlled interpolation encoder 2 e A148 Relative drive contr interpolation enc 1 lagless e A149 Relative drive contr interpolation enc 2 lagless Given an activated operating mode the following checks are conducted e E253 Target position out of travel range If position limit value monitor is active bit 4 of S 0 0055 Position Polarity Parameter is set and the measuring system used for the mode is in reference S 0 0403 Position feedback value status 1 then the sum of S 0 0282 Travel distance and S 0 0258 Target Position is monitored to ensure that it maintains the position limit value Otherwise the sum of the overtravelling of the drive internally depicted numeric range visible in the minimum and maximum input values of the travel distance parameter is monitored In either case if the allowable range is exceeded the warning E253 Target position out of travel zone is generated The set travel path is not accepted if the acceptance toggles e E249 Positioning velocity S 0 0
334. n e F253 Incr encoder emulator pulse frequency too high The output frequency at the chosen number of lines exceeds the value of 1024 kHz e Decrease input for P 0 0502 Encoder emulation resolution e Drop travel speed Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 37 Functional Principle Absolute Encoder Emulation SSI Format The following illustrates the format of SSI data transmission Cycle T Tp gt tm T 2 Monoflop P S Data 1 e23 e22 G21 e20 a19 a18 G17 arefeisfara arsjar2 ari ro co ae G7 G6 65 G4 cs c2 Gt co Pre 0 E e28 ez2 t Resolution for 4096 revolutions Resolution for 1 revolution T L e 1 r a cs cee ce a ee a O delay time for the first cycle max 540ns for all others max 360ns Power Failure Bit is not used and is logically always 0 GO lowest value bit in the Gray Code G23 highest value bit in the Gray Code m saved parallel information T cycle signal period duration tm monoflop time 15 us to 25us Tp cycle rest tv PFB ap5002d1 fh7 DOK ECODR3 SMT 02VRS FK01 EN P Fig 10 38 SSI format as pulse diagram Note The Power Failure Bit is not evaluated in the drive Resolution with Absolute Encoder Emulation The output data format number of bits revolution for the emulated SSI position is fixed in parameter P 0
335. n Rexroth Indramat There are parameters that represent a collective indication for the display of operating states These are individually listed e 0 0011 Class 1 diagnostics e 0 0012 Class 2 diagnostics e 0 0013 Class 3 diagnostics e 0 0182 Manufacturer class 3 diagnostics S 0 0011 Class 1 diagnostics In parameter S 0 0011 Class 1 diagnostics there are bits for the various errors A bit is set in this parameter in the event of a drive error Simultaneously bit Drive lock error in class 1 diagnostics is set in the drive status word All bits in class 1 diagnostics are cleared upon execution of the command S 0 0099 C500 Reset class 1 diagnostic See section Clearing Error DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS General Instructions for Installation 3 27 The following bits are supported in status class 1 S 0 0011 Class 1 diagnostics Bit 1 Excess amplifier temperature switching off Bit 2 Excess motor temperature switching off see also S 0 0204 Bit 4 Control voltage error Bit5 Feedback error Bit 9 Under running voltage error Bit 11 Excessive control deviation Bit 12 Communication error Bit 13 Position limit has been exceeded Bit 15 Manufacturer error Fig 3 13 S 0 0011 Class 1 diagnostics S 0 0012 Class 2 diagnostics There are bits for various warnings in this parameter In the event of a warning a bit is set in this parameter Simulta
336. n signal status word e Bit 0 5 positioning block acknowledge P 0 4051 Bit 0 5 PosQ0 Q5 e Bit6 S 0 0182 Bit 12 End position reached e Bit7 S 0 0182 Bit 1 Standstill e Bit8 S 0 0403 Bit 0 in reference e Bit9 P 0 0135 Bit 0 position switching point Note With Load default parameters the signal control word is preset as described above See also the project planning manual Inputs and outputs for positioning block mode Note To monitor the block selection lines with parallel control the acknowledgement P 0 4051 Process block acknowledge must be evaluated Positioning Block Modes Parameter P 0 4019 Process block mode is used to set the manner in which the target position is processed in parameter P 0 4006 Process block target position Possible positioning block modes e Absolute Positioning e Relative Positioning e Relative Positioning with residual path memory e Infinite travel in positive negative direction e Following block processing Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 20 Operating Modes Prerequisites for the execution of absolute positioning blocks Example vt ECODRIVE03 SMT 02VRS Absolute Positioning Prerequisite Parameter P 0 4019 Process block mode 1 In an absolute positioning block the target position is a fixed absolute position within the machine co ordinate system e The drive must be referenced e The travel range can be limited wi
337. n two different ways e Automatic activation during the command procedure S 0 0128 C200 Communication phase 4 transition check for the first operation of this motor type with this drive e With the command procedure S 0 0262 C700 Basic Load Automatic Execution of the Load Default Feature If a controller has been operated with a specific type of motor then the controller will detect this from that point forward During the execution of command S 0 0128 C200 Communication phase 4 transition check it compares parameter S 7 141 Motor type which is read out of the data memory with the value for parameter S 0 0141 Motor type which is backed up in the parameter memory of the controller If these two parameters are different then error F208 UL The motor type has changed is generated UL appears in the 7 segment display Note Before the user can reset the error and thus start the base load function the option of saving a specific set of controller parameters is available Error F208 UL The motor type has changed can be reset in three different ways 1 executing the command S 0 0099 C500 Reset class 1 diagnostic 2 Actuating key S1 3 Applying 24 V at error reset input In all three cases the load base values function is activated Rexroth Indramat 9 56 Basic Drive Functions Rexroth Indramat ECODRIVE03 SMT 02VRS If the execution of load base values is not possible then the relevant command error of com
338. nce markers must be passed The reference markers are always evaluated there independent of bit 6 in S 0 0147 The further action depends on how bit 7 has been set in S 0 0147 Homing parameter If bit 7 0 is programmed any position after homing then the drive brakes with the programmed homing acceleration up to standstill If the value of the velocity feedback is less than the value set in S 0 0124 Standstill window then the coordinate system of the referenced encoder is set and the command is signalled as completed DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 85 Bit 8 7 Stop positioning run path 0 0 once the reference switch or reference marker have been overtravelled the drive stops and switches into the coordinate system 0 1 after the reference swtich of marker have been overtravelled the drive positions at the reference point and switches into the coordinate system 1 0 drive always run path that is needed to overrun two sequential reference markers and then switches into coordinate system only with distance coded reference marks 1 1 Not allowed Fig 9 83 Bit 7 and 8 of S 0 0147 Homing parameter Motion profile prior to The further course depends on what was set in bits 7 and 8 S 0 0147 coordinate system switching Homing Parameter There are three options e Stopping After the necessary motions to detect the reference switch or marker have been executed
339. nd then restarting command D900 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 74 Basic Drive Functions ECODRIVE03 SMT 02VRS Chronological Sequence of Automatic Control Loop Settings Rexroth Indramat 1 step 2 step 3 step 4 step 5 step 6 step END Sequence Check for command errors at command start Determine total and extrinsic inertia by evaluating accel and decel procedures Calculate and use controller parameters in drive The Parameters P 0 0163 Damping factor for autom control loop adjust and P 0 0164 Application for autom control loop adjust will be checked Check speed conirol loop and correct controller parameter if need be until correct behavior appears depends on dynamics programmed Check position control loop and correct controller parameters if need be until aperiodic behavior in control loop appears Wait for new start or end of command This drive here is idle velocity 0 and the display reads D9 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Step1 a ohh Su yes _ Error at Se lt command start gt Step2 i no go to middle position y Determine moment of inertia y VA Bs Step3 oe Sat Kr Pa Moment of Se no lt inertia s successfully determined ae Pa ie eo Step4 y Compute control parameter Step5 l Optimize velocity control loop y S
340. neously bit Change bit class 2 diagnostics is set in the drive status word This change bit is cleared by reading S 0 0012 Class 2 diagnostics Via parameter S 0 0097 Mask class 2 diagnostic warnings can be masked in terms of their effect on the change bit Toggeling a bit is signalled with a change bit in the drive status word The following bits are supported in class 2 diagnostics S 0 0012 Class 2 Diagnostics Bit 0 Overload warning S 0 0310 Bit 1 Excess amplifier temperature warning S 0 0311 Bit 2 Excess motor temperature warning S 0 0312 Bit 3 Cooling error warning S 0 0313 Bit 4 reserved Bit5 Positioning speed gt Nimt S O 0315 Bit 6 reserved Bit 7 reserved Bit 8 reserved Bit9 reserved Bit 10 reserved Bit 11 reserved Bit 12 reserved Bit 13 Target position exceeds position limits S 0 0323 Bit 14 reserved Bit 15 Manufacturer error Fig 3 14 Structure of parameter S 0 0012 Class 2 diagnostics Each of these messages is stored in turn in its own parameter S 0 0310 S 0 0323 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 3 28 General Instructions for Installation ECODRIVE03 SMT 02VRS Rexroth Indramat S 0 0013 Class 3 diagnostics Various messages about operating states are stored here If the state of a message changes then a bit is set here as well in drive status word Change bit class 3 diagnostics This change bit is cleared again by reading S 0 0013 Class 3
341. nfavourable position Damage to the system is possible Travel range limits Correct home switch order A a Incorrect home switch order gt Homing direction at start SV5073f1 fh7 Fig 9 104 Configuration of the home switch in reference to the travel range Connection of the Home switch see project planning manual Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 9 100 Basic Drive Functions ECODRIVE03 SMT 02VRS Homing of Gantry axis Gantries are used to process workpieces with large surfaces The digital AC servo drive with SERCOS interface is equipped with a Gantry Axis function allowing gantries to be traversed without the danger of skewing Digital AC servo drive gantry axis X1 X2 control unit Eee z 3 a F an Re SERCOS interface Motor 1 with Motor 2 with absolute absolute encoder encoder feedback feedback Ref 1 2 Optional direct position measurement using ternal measurement systems for high precision positioning 3 Evalution of the reverence point switch Ap5147f1 fh5 Fig 9 105 Schematics of a Gantry axis with digital intelligent INDRAMAT AC servo drives Rexroth
342. ng brake use parameters e P 0 0126 Maximum braking time e P 0 0525 Type of motor brake e P 0 0526 Brake control delay e P 0 0538 Motor function parameter 1 e P 0 0541 B200 Brake check command e P 0 0542 B100 Command Release motor holding brake Parameters P 0 0525 and P 0 0526 are automatically set in MHD MKD and MKE motors For all other motor types the values which must be entered are specified in the data sheet of the motor or the motor brake Parameter P 0 0126 must be parametrized to meet machine requirements Setting the Motor Brake Type DOK ECODR3 SMT 02VRS FK01 EN P Using parameter P 0 0525 Type of motor brake it is possible to set the motor brake type It must be identified in terms of e self releasing or self holding brake e spindle brake or servo brake P 0 0525 Type of motor brake fa SBE SRG Hela BitO 0 electrically released brake OV applied engages the brake 1 electrically engaged brake 24V applied engages the brake Bit 1 0 Servo brake The brake will be engaged after max braking time 1 Main spindle brake The brake will only be engaged below 10 Rpm Fig 7 27 Setting the motor brake type Rexroth Indramat 7 22 Motor Configuration ECODRIVE03 SMT 02VRS The behavior with aspindle The motor holding brake is always activated if the actual speed of the brake motor drops to less than 10 rpm or 10mm min linear motor P 0 0525 Type of motor brake The P 0 0126 Maximum
343. ning An 0 1 edge at the error input starts the reset error command Activating the error clear command resets all drive errors The inputs LIMIT and LIMIT are in parameter P 0 0222 Status Travel Range Limit Switch See Section Travel Range Limits This input is on parameter P 0 0223 Status E stop input See section Emergency stop feature If the drive is ready to activate the drive enable then this means that no drive error is pending and the power section is on then this output is set If there is a drive error or if the power section is not ready then the output Ab is cleared If there is a warning diagnosis which generates a change in the status bit as set in status class 2 mask or status class 3 mask then the digital output A warning is set If there is no masked warning then the output is cleared See section Permanently Configured Collective Indication Acknowledge of the Drive Enable Rexroth Indramat The drive acknowledges the drive enable in the drive status word Bits 14 and 15 change from 10 control and power sections ready to operate torque free to 11 in operation with torque if drive enable is activated and accepted The duration between setting and acknowledging the setting of the drive enable equals that time that the drive needs to establish complete operational readiness For example an asynchronous motor uses this time to magnetize When removing the drive enable the dri
344. ning velocity as set in S 0 0108 Feedrate override equals 0 then warning E255 Feedrate override S 0 0108 0 is generated If the positioning acceleration specified in S 0 0260 Positioning acceleration equals 0 then warning E248 Interpolation acceleration 0 is generated DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 13 Status messages during operating mode Drive internal interpolation In parameters S 0 0013 class 3 diagnostics and S 0 0182 manufacturers class 3 diagnostics there are the following status messages for this mode e target position reached bit 12 of S 0 0013 Class 3 Diagnostics e In target position bit 10 of S 0 0182 Manufacturer Class 3 Diagnostics e IZP bit 6 of S 0 0182 Manufacturer Class 3 Diagnostics Also see parameter description Status class bits The following profile explains how the status messages work vt Start state target position xX Sv5051 2 fh7 Fig 8 15 Profile to explain how the interpolation status messages work In this example the drive is at the start position when the new target position is given The following time diagram result vel feedback value 0 standstill 7 window Xt target Positioning position position com window position start state feedback __ Positioning we window AXxt following ION _ or lag Positioning distance gt window magnified t 0 0013 B
345. ns D905 Position range invalid P 0 0166 amp P 0 0167 D906 Travel range exceeded Rexroth Indramat ECODRIVE03 SMT 02VRS This results in the value of P 0 0166 lower limit for automatic CL start position travel range and of P 0 0167 upper limit for automatic CL start position travel range in which the axis may move to execute the command to moduloA value limited P 0 0166 Lower P 0 0167 Upper PE position limit for position limit for position autom control loop autom control loop S 0 0103 adjust adjust Modulo value 1 2 travel distance position if _ P 0 0169 2 absoluteA position i e E a P 0 0169 travel distance for autom control loop adjust Sv5100f1 fh7 Fig 9 73 Verfahrbereich bei autom Regelkreiseinstellung bei Modulowichtung Note The travel range defined here is only monitored during the time that the command is being executed Possible errors If the defined travel path equals less than six motor revolutions then command error D905 Position range invalid P 0 0166 amp P 0 0167 will be generated If the axis is not within the above defined range at the start of the command then command error D906 Position range exceeded is generated Control loop settings Before executing the command set the default control parameters stored in the motor feedback The setting of the axis must be stable so that the command can be executed without an
346. nstructions for Installation Change Bit Command Rexroth Indramat ECODRIVE03 SMT 02VRS The Change Bit Command in the Drive Status Word helps the control recognize a change in the command acknowledgement by the drive The bit is set by the drive if the command acknowledgement changes from the condition in process 7 to the condition error command execution not possible OxF or command properly executed 3 The bit is cleared if the master clears the input 0 The control system will recognize if the drive sets the Command Change Bit command It can read the corresponding data status of the command or the command itself which was set sometime but has not been cleared The control system will recognize from this if the command ended with or without an error in the drive Afterwards this command should be cleared by the control Date of A command parameter Beginning of Command finished handcap the command Handicap 0 lt gt t Data status of A the command parameter Command at work acknow Command finished without error ledgment al Command cleared Sbit command A change in drive status message re ie ee Sv5021d1 fh5 Fig 3 4 Input acknowledgement and Command Change Bit during proper execution Date of A command ee parameter oe of the handcap comman 37 Command cleared 0 A t Data status of OxF Command finished the command Handicap parameter 7 acknow
347. ntrol voltage e g F870 24Volt DC error are not stored in the error memory Simultaneously there is an operating hour counter for control and power sections of the drive controller This function has the following parameters e P 0 0190 Operating hours control section e P 0 0191 Operating hours power section e P 0 0192 Error recorder diagnosis number e P 0 0193 Error recorder operating hours control section There are parameters in the drive that in turn contain ID numbers of drive parameters These support the handling of the drive parameters with parametrization programs e g DriveTop S 0 0017 IDN list of all operation data The ID numbers of all parameters in the drive are in this parameter This list supports for example the parametrization program in the menu of which All drive parameters the information as to which ID number is in this drive firmware is stored S 0 0192 IDN list of backup operation data In parameter S 0 0192 IDN list of backup operation data the ID numbers of all those parameters are stored that are stored in the programming module These are the parameters that are needed for a proper operation of the drive The control or the parametrization program uses this ID number list to secure a copy of the drive parameters S 0 0021 IDN list of invalid op data for comm Ph 2 In the data of these ID lists the drive enters the ID numbers out of parameter S 0 0018 IDN list of operation data
348. ocity and S 0 0042 Homing acceleration must be set to smaller values e g S 0 0041 10 rpm S 0 0042 10 rad s Execute command drive controlled reference P If the command is cleared then the original operating mode becomes active again If drive internal interpolation is set then the drive immediately goes to the value set in S 0 0258 WARNING Target position This value relates to the new machine zero point related coordinate system The command should be completed without error The machine zero point is at the position of the first reference mark of the distance coded measuring system as the absolute offset S 0 0177 0178 was parametrized with 0 The relevant position feedback value in S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value should now have the absolute reference to this preliminary machine zero point To set the correct machine zero point the following steps can be conducted Move the axis to the desired machine zero point and enter the position feedback value displayed there with the opposite sign in S 0 0177 Absolute distance 1 or S 0 0178 Absolute distance 2 Or gt Run the axis to position feedback value 0 and measure the distance between the current position and the desired machine zero point Enter the distance in S 0 0177 Absolute distance 1 or S 0 0178 Absolute distance 2 Once the drive controlled reference command is again completed the position feed
349. of the command All commands used are stored in parameter S 0 0025 IDN list of all procedure commands Command Types There are 3 command types e Drive Controlled Command Eventually leads to an automatic drive operation or motion Can be started only when controller enable is set Deactivates the active operating mode during its operation e Monitor Command Activates or deactivates monitors or features in the control drive e Management Command executes management tasks is not interruptable Command Input and Acknowledgement Control and monitoring of command execution occurs via the command input and command acknowledgement The command input tells the drive if the command should be started interrupted or ended The commanded value is the operating data of the applicable parameter The command input value can be e not set and not enabled 0 e interrupted 1 e set and enabled 3 In the acknowledgement the drive informs about the extent to which a command has been executed This is then displayed in the data status of the command parameter Also see Data block structure Note The command status can be obtained by conducting a write error on parameter element 1 data status The condition can be e not set and not enabled 0 e in process 7 e error command execution not possible OxF e command execution interrupted 5 e command properly executed 3 Rexroth Indramat 3 8 General I
350. of the position feedback value of a position encoder for technical reasons equals 32768 increments per division period of the measuring system This maximum resolution is only reduced if the travel range is set so large that it can no longer be described with the maximum resolution To compute the multiplication the following calculations are conducted in the command S 0 0128 C200 Communication phase 4 transition check for rotary measuring systems 931 multiplication travel range x encoder resolution travel range travel range shown in encoder revolutions multiplication value in S 0 0256 or S 0 0257 encoder resolution value in S 0 0116 or S 0 0117 Fig 9 27 Relationship between maximum travel range and multiplication with rotary measuring systems Examples 1 MHD motor with S 0 0116 512 maximum travel range 2048 motor revolutions therefore a multiplication of 2 31 2048 e512 2048 2 MHD motor with S 0 0116 512 maximum travel range 20 motor revolutions therefore a multiplication of 2431 20 e 512 209715 The highest possible value equals 32768 thus a multiplication 32768 for linear scales 231 x encoder resolution travel range multiplication travel range travel range shown in mm multiplication value in S 0 0256 or S 0 0257 encoder resolution value in S 0 0116 or S 0 0117 Fig 9 28 Relationship between maximum travel range and multiplication in linear scales Rexroth
351. og output channels Assign velocity feedback value to analog output 1 in P 0 0420 Analog output 1 signal selection S 0 0040 and in P 0 0422 Analog output 1 scaling enter the scaling e g 100 Rpm 10 Volts or Use the oscilloscope function of the drive to display velocity feedback value This can be read out directly by an FFT of the frequency response Excite the drive mechanics e g tap lightly with a rubber hammer Record the time of the velocity oscillations with an oscilloscope or oscilloscope function and analyze the clearly salient frequencies If the oscilloscope function is used then the resonance frequency can be directly read out of the frequency readout Set the drive enable signal and optimize the velocity loop with inactive rejection filter see Setting the Velocity Controller Record step response of the velocity feedback and the torque force generating command current with a small velocity command step The torque generating command current is not allowed to reach the limit during this process Enter the most salient frequency in Hz in parameter P 0 0180 Rejection frequency velocity loop Enter a minimum bandwidth in parameter P 0 0181 Rejection bandwidth velocity loop e g 25 Hz Record the previous step response again U If the step response features less overshoot and shorter periods of oscillation then Check whether increasing the value of P 0 0181 Rejection bandwidt
352. ome switch Homing of a motor encoder with 1 reference mark per revolution represented reference marker selected by home switch Ap5047f1 fh7 Fig 9 89 Selection of a reference mark depending on the homing direction If home switch evaluation is activated the drive searches at first for the positive edge of the home switch If the home switch is not actuated at the beginning of the command the drive moves in the preset homing direction Note The homing direction must be set so that the positive edge can be found vt Command value profile 0 gt X Home switch C a Homing direction at start Sv5048f1 fh5 Fig 9 90 Correct setting of homing direction Rexroth Indramat 9 90 Basic Drive Functions ECODRIVE03 SMT 02VRS If the homing direction setting is incorrect the drive command value moves away from the positive home switch edge In this case the danger exists that the drive reaches the travel range limits This may result in WARNING damage to the system vt Command value profile 0 gt X Home switch ge Homing direction at start Sv5049f1 fh5 Fig 9 91 Incorrectly set homing direction Command value profile with actuated home switch at the start of the command If the home switch is actuated already when the command is started the drive generates command values in the opposite direction to move away from the home switch As soon as a 1 0
353. ommunications c cccccccsceeceeeeeseeeeeseeeesneeeeenees 8 3 8 4 Operating Mode Velocity Control cecccccccceeeseeeeeeeeceeeeecaeeeeaeeseeeeeceeeeseaeeesaaeeseeeeseeeeessaeesenaeeseaes 8 4 Pertinient Parameters ocasione a AE elec A aiid eae 8 4 Command value processing Velocity CONtIOL cccceceesceeeeeeceeeeeeeaeeeeeeeseeeeeaeeesaeeseeeteeeeess 8 4 Velocity Controllers nis ie irna ete etaa denea dite eee eee cee 8 5 Current Controller iisi e iat tents a eee han a ead Wi eke 8 6 Diagnostic MESSageS enek r a tunis a ra EE oA dated a E EN A AE a aa a 8 6 Velocity Control with Analog Command Communications cccccccseeceeeeeceeeeeseeeesneeeennees 8 7 8 5 Operating Mode Position Control cccccccceceeeeeeceeeeeeeeeeecaeeeeaeeseeeeeeeaeeesaaesseaaeseeeeseeeeeseaeeesnaeeseaes 8 7 Command value processing Position Control cccccceesceeeeeeceeeeeeaeeeeeeseceeeseaeeesaeeseaeeseeeees 8 8 Position COMO E a a ca aia eases tee ic alle ca aaa a ra a Aaa Eiaa 8 9 Position Command Value Monitoring cesccceeeeeeeeeeeeeeeeeeeeeceaeeesaaeeeeneeseeeeesaeeesaeeeeeeeeaas 8 10 Setting Position Command Value Monitoring ssssssssssessssssinssrrssrrssrrssrrssrnssrnssrrssrnssrnssrnssrnnt 8 11 8 6 Operating Mode Drive Internal Interpolation cccccceeeeeeeseeceeeeeceeeeeeaeeeeneeseeeeesaaeeeeaaeseeeeeeaas 8 11 Functional Principle Drive Internal Interpolation ssssssssssseesssins
354. on telegram step 1 2 step Control Device Param Parameter No byte address type LSB MSB 243 Data bytes k User data head gt lt User data Ta0011 f1 fh7 Fig 1 48 Write following command telegram step 2 38 Status Control Device Tel header byte byte address lt User data head Ta0012f1 fh7 Fig 1 49 Write following reaction telegram step 2 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 1 32 Serial Communikations ECODRIVE03 SMT 02VRS Final step 3C Parameter No LSB MSB Device address Control byte el Header 1 243 Data bytes User data head lt User data Ta0013 f1 fh7 Fig 1 50 Write with following reaction telegram step 3 Status Control Device Tel header byte byte address i User data head gt Ta0014f1 fh7 Fig 1 51 Write with following reaction telegram step 3 1 8 Connection Techniques See Project Planning Manual Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS 2 Index DOK ECODR3 SMT 02VRS FK01 EN P Index 2 1 0 OxFD and OxFF 1 30 A A control unit 1 5 Actuating a drive via an SIS protocol 1 20 Actuating a specific bus user 1 10 ASCII protocol 1 3 1 27 Base load 1 16 Basic sta
355. or counter For this purpose these two parameters are used S 0 0028 MST error counter and S 0 0029 MDT error counter These parameters are cancelled by switching the communication phase from 2 to 3 S 0 0028 or from 3 to 4 S 0 0029 Rexroth Indramat 4 12 Communication Through the SERCOS interface ECODRIVE03 SMT 02VRS 4 8 Multiplex Channel Overview Pertinent Parameters The multiplex channel makes it possible to update a limited cyclical data channel This also enables cyclical list element accessing with index changes Note To be able to use the mechanism it is necessary to use command communications via SERCOS or Profibus and configure the multiplex parameter in the cyclical telegrams With the help of the multiplex channel it is possible e to cyclically exchange more parameter contents despite limited maximum number of transmittable bytes in the master data telegram and drive telegram e to access individual list elements using both indices S 0 0362 and S 0 0366 e by incrementing index S 0 0368 to transmit in each cycle the multiplexed data with a cycle time of Tscyc number of multiplex data e to structure the index in terms of the operating mode and thus to transmit only those parameters needed for the activated mode The following parameters are used e 0 0360 MDT Data container A e 0 0362 List index MDT data container A e 0 0364 AT Data container A e 0 0366 List index AT d
356. or is dark go direction of the light to the next drive Do this up to the last drive and then at the master s input control If one of the indicators is lit check the following e ls the transmission baud rate set correctly e ls the transmission power of the predecessor in the ring correct too high or too low e Is the fiber optic cable to the predecessor defective Using the Distortion Indicator A distortion indicator H20 lights in the following cases e wrong transmission baud rate e wrong transmission power e fiber optic connection defective Therefore in the case of a lit distortion indicator lamp check the following Checking the transmission rate Check the transmission rate at the control and at the effected drive Checking the Check the transmission power at the control and at the physical transmission power predecessor of the effected drive See Setting the optical Transmission Power Checking the fiber optics Check the fiber optic cable and its connectors from the physical predecessor to the effected drive Transmission Rate of the SERCOS interface The baud rate is set at factory to 2Mbaud It can be programmed via switch S20 1 on the interface module Baud rate Switch S20 1 Comment 2 Mbaud state at delivery 4 Mbaud ON Fig 4 6 Programming the transmission rate Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Communication Through the SER
357. ore the equipment is used and eliminate the risk of personal injury or property damage Follow these safety instruc tions at all times Do not attempt to install use or service this equipment without first read ing all documentation provided with the product Read and understand these safety instructions and all user documentation of the equipment prior to working with the equipment at any time If you do not have the user documentation for your equipment contact your local Rexroth In dramat representative to send this documentation immediately to the per son or persons responsible for the safe operation of this equipment If the product is resold rented or transferred or passed on to others then these safety instructions must be delivered with the product Inappropriate use of this equipment failure to follow the safety instructions in this document or tampering with the product including dis WARNING 4 bling of safety devices may result in product damage personal injury severe electrical shock or death 2 2 Explanations The safety warnings in this documentation describe individual degrees of hazard seriousness in compliance with ANSI Warning symbol with signal word Degree of hazard seriousness The degree of hazard seriousness de scribes the consequences resulting from non compliance with the safety guidelines DANGER Bodily harm or product damage will occur WARNING Death or severe bodil
358. orque In range 2 the torque value corresponds to the power 100 rated power according to selection list The rated power of the motor rating plate is not relevant here since it could relate to another DC bus voltage Range 3 is similar to the evaluation of range 2 except that the preset torque decreases in correspondence to the increasing velocity of the peak power For high velocity the maximum torque value can drop below 100 In braking mode you can reach 50 higher torque values in this range than in driving mode Rexroth Indramat 7 8 Motor Configuration ECODRIVE03 SMT 02VRS User defined Settings for the Asynchronous Motor To operate an asynchronous motor you have to set the specific motor parameters in the controller The Parameters are stored in the Parameterstorage and are therefore transferable to another controller Note Motor specific parameters are used by all controls in the same manner The resulting power characteristics curve depends on the current and especially on the DC bus voltage Several additional parameters are available so the user can optimize the drive to his requirements Scaling Factor Pre Magnetizing With P 0 0532 Premagnetization factor you can set the active magnetization current The following applies Effective magnetization current magnetization voltage e scaling factor pre magnetizing Fig 7 19 Calculation of the Effective Magnetization Current If the pre magn
359. ositioning Block Mode cccsseeeeceeeeeeeeeeaeeeeaeeseeeeeseaeeesaeeeeaeeeeaes 8 39 Hiagnostie MESSAGES cx secs ce sec naa 2ndetey deeds si eaeds sua scdaedehega cg dee decease beds E A E O 8 39 Hardware Connections cccccccceeceenceceeeeecaeeeeaeeegceeceaeeeeaaeseeaeecaeeesaaeseeaeeseeeeesiaeseeaaesseneeseas 8 39 8 9 Operating Mode Stepper Motor Operations ceccccecccceeeeeeeeeeceeeeeceaeeesaaeeeeneeseeeesaeeseaaeseeeeeeaas 8 40 Pertinent Parametersyiicsecees conics ascedevs nbs utieeeteel a T EEN 8 40 Stepper motor Signal processing ccceecceseeeceeeeeeeeeeeeeaeeeeneeceeeeceaeeesaaesdeeeeseaeeesaeeeeeeeeenees 8 41 Diagnostic Messages aniue ani aiei aE ee eea ESNE E Ei 8 42 Connecting the Parallel InterfaCe cccccccececeeeeeeeceeeeeeaeeeeeeeeeneeecaaeeeeaaeeeeeeeseaeeesaeeeeeeseeeeess 8 42 8 10 Operating Mode JOGGING ccccceeeececeeeeeceeeeeeseeceeeeeceaeeecaaeeeeaaeeeeeeecaeeeseaeseeaeeseeeeeeeesiaeeseeneeees 8 43 Pertiniont Parameters susr n nni AEE AE E E EEN 8 43 HOW ICWOKS eiro enara REET EROE EAE E AREKEA R RERAN HAARE E ELOA R AAA A EARE 8 43 Diagnostic Messages eari Aas a Sebeatdectietudgebeiedscs E ETARE REAST ORANA E EA EEEE 8 44 Hardware Requirements for operating mode jogging ssssseessssrrssssrrssssrrssrirnssrirnssrinnssrnnnne 8 44 9 Basic Drive Functions 9 1 9 1 Physical Values Display Format 0 cc ceecceeeeeeeneeeeeeene ee ee eens ee eee aeeeeeeaeeeeeeaaeeeee
360. ossible if Bit 14 and 15 1 Bit 14 Drive ENABLE 1 0 change torque off without delay independent of bit 15 or 13 Bit 15 Drive ON 1 0 change best possible standstill only possible of Bit 14 1 Fig 4 1 Structure of the master control word The Master Control Word is transferred to the drive cyclically with every Master Data Telegram synchronously to the SERCOS cycle see S 0 0002 SERCOS cycle time TScyc For diagnostic purposes the Master Control Word can be read back via the parameter S 0 0134 Master Control Word DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Drive enable Drive Status Word DOK ECODR3 SMT 02VRS FK01 EN P Communication Through the SERCOS interface 4 3 The activation of the drive is done through a 0 1 edge of the drive enable signal For drive controllers with a SERCOS Interface the drive enable signal corresponds to bit 15 in the master control word of the master data telegram To have the drive enable signal accepted meaning that the drive is ready to accept commands from the control the following requirements must be fulfilled e SERCOS Interface in operating mode Communication phase 4 e No drive error e Power section enabled In this condition the drive displays Ab on the seven segment display and the drive diagnostic from the parameter S 0 0095 Diagnostic message is A012 Control and power sections ready for operation If the drive enable is set the sev
361. ot be write accessed as the customer password was activated in parameter S 0 0267 Password All parameters listed in S 0 0192 IDN list of backup operation data are therefore locked Fig 3 2 Error messages while reading writing operating data Non Volatile Parameter Storage Registers Various non volatile parameter storage registers that buffer operating data are contained in the drive The operating data apply to e setting the configuration or e parameterizing the control drive settings Each time operating data is written to it is stored The following modules contain non volatile memory e Control drive e Motor feedback optional e Programming module DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Parameters Stored in the Digital Drive Parameters Stored in DSM Programming Module DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 3 All operating data that apply only to the drive controller and that cannot be changed by the user are stored in the digital drive This consists of the following parameters e 0 0110 Amplifier peak current e 0 0140 Controller type e P 0 0190 Operating hours control section e P 0 0191 Operating hours power section e P 0 0192 Error recorder diagnosis number e P 0 0193 Error recorder operating hours control section e P 0 0520 Hardware code e P 0 4000 Current zero trim phase U e P 0 4001 Current zero trim phase V e P
362. otor type Rexroth Indramat 7 2 Motor Configuration ECODRIVE03 SMT 02VRS Motor Feedback Data Memory The motor feedback data memory contains all motor related parameters Linear Rotational Units are motordependent Rexroth Indramat For MHD MKD and MKE motors a motor feedback data memory is provided in which all motor dependent parameters are stored The drive controller recognizes this automatically and reads those parameters after turning on the device from the data memory with the command S 0 0128 C200 Communication phase 4 transition check The data memory contains values for the following parameters e 0 0109 Motor peak current e 0 0111 Motor current at standstill e 0 0113 Maximum motor speed nmax e 0 0141 Motor type e P 0 0018 Number of Pole Pairs Pole Pair e P 0 0051 Torque Force constant e P 0 0510 Moment of inertia of the rotor e P 0 0511 Brake current Note Motor types without motor feedback memory necessitate that these parameters are input at the initial start up using the data sheet Depending on whether a linear or rotary motor is being used changes in the units and the number of decimal places of the parameters will be made The following table displays the differences in scaling of these parameters ID number Rotational Linear S 0 0100 0 1 As rad 0 1As m S 0 0113 0 0001 RPM 0 0001 mm min S 0 0116 Cycles Rev 0 00001 mm P 0 0018 Pole
363. ous kit motors Also see parameter description P 0 0074 Feedback 1 type DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS More pre requisites Sequence Use with Parameters involved Sequence DOK ECODR3 SMT 02VRS FK01 EN P Motor Configuration 7 17 Note There is no feedback memory with this type of encoder This is why the commutation offset is stored in parameter P 0 0508 Commutation offset in the programming module Upon replacement of the module the value of parameter P 0 0508 Commutation offset has to be re entered or the parameter from the old module must be saved and loaded into new module To execute this command the drive must be in state A012 Control and power sections ready for operation The 7 segment display reads Ab in this case To determine commutation offset the control sets command P 0 0524 D300 Commutation adjustment command Upon completion of the command the drive enable is shut off internally To start the drive again though the control must complete the command and set the drive enable again The precise sequence is identical to the description in Application 3 Current flow procedure Automatic Sequence after applying drive enable Application 3 Current flow procedure Automatic Sequence after applying drive enable The machine can be damaged if the procedure is performed incorrectly used Take the restrictions listed in section Current flow DANGE
364. ous measuring of probe 1 In other words bits 7 and 5 of S 0 0169 cannot be simultaneously set to 1 Introducting a measurand To detect any overruns during the continuous measuring a probe counter counter in Measurand latched is inserted in bits 8 through 15 of the relevant probe latched parameter parameter This is then incremented once a probe input is detected If the maximum value of 28 1 255 is reached then the counter starts at 0 again With the help of this parameter it is ensured that e measured values are not lost e g AT failure e with an excessive measuring rate more than one measuring cycle per SERCOS cycle the available measurements can still be allocated within a given framework and e overflow detection can be executed for an excessive measuring rate Probe enable Probe signal Probe input latch ed bit interface interface interface interface cycle k cycle k 1 cycle k 2 cycle k 3 Fig 10 22 Probe enable probe signal probe latched and measurand without overrun for example a positive probe flank Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 25 Probe enable Ti Probe signal Lt a Measured value Ne Measuring value not transmitted Probe input latched Bit 0 E a Cad tt Pe input latched Bit 8 15 i Interface i Interface i Interface i Interface cycle k cycle k 1
365. overload limit Fig 9 35 Value displayed in P 0 4046 actual peak current P 0 4045 Active permanent current That current displayed in parameter P 0 4045 Active permanent current is the continuous current value available from the drive This current depends largely upon e the machine type and e the switching frequency of the output stage This unit specific value is additionally reduced by the magnetization current as parameter P 0 4045 Active permanent current only displayed the torque generating portion of the motor current Note If the effective peak current is smaller than the effective continuous current then the effective continuous current is set to the value of the effective peak current This can be the case if the peak motor current is smaller than the continuous current of the controller or the current limit of the motor reduces the current to under the continuous current of the controller P 0 4011 P 0 4004 Switching Frequency J Magnetizing Current P 0 4046 Active Peak Current P 0 4045 Active Permanent Current Reduction by magnetizing current Selection of permanent current from switching frequency and device data Fig 9 36 Parameter value of the effective continuous current Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 32 Basic Drive Functions Thermal current limit of the controller Checking the thermal load of the
366. owlegment Release the motor brake Fig 4 3 Confirmation of the drive enable t ms Sv5024f1 fh7 Typical values for trron are about 8 ms for synchronous motors or 300ms for asynchronous motors Note During the time trren the control should set its command values to reach a set velocity of 0 The activation of the optional motor brake takes place after the drive enable confirmation time 0 1 edge from confirmation of drive enable 4 3 Real Time Control and Status Bits In the master control and drive status words there are 2 configurable real time bits The configuration of these binary signals is achieved through parameters e 0 0301 Allocation of real time control Bit 1 e 0 0303 Allocation of real time control Bit 2 e 0 0305 Allocation of real time status Bit 1 e 0 0307 Allocation of real time status Bit 2 The parameter number that will be assigned to the corresponding real time status bit is set here Bit O of this parameter will be sent cyclically to the master or the drive via the real time status or control bit 4 4 Transmission of non cyclical Data through SERCOS DOK ECODR3 SMT 02VRS FK01 EN P The non cyclical data data that is not time critical is transmitted via the service channel The transmission via the service channel is done in several steps for the MDT and AT and the transmission of an element could last over several Sercos cycles The service channel is used for
367. p or when the encoder is exchanged on rotary synchronous motors with motor encoders containing absolute rotor position information e With linear motors with absolute encoder systems at initial start up as alternative to Application 1 e With linear or rotary synchronous motors with incremental encoders this procedure should be used at initial start up of axis In this case parameters P 0 0560 Commutation adjustment current and P 0 0562 Commutation adjustment periodic time are determined and stored in the drive With each new start of the axis the commutation must be determined if synchronous motors with incremental encoders are used Application 3 is used to do this As start values for the third procedure the parameter values determined at the initial start up for P O 0560 and P 0 0562 are used e P 0 0508 Commutation offset e P 0 0524 D300 Commutation adjustment command e P 0 0560 Commutation adjustment current e P 0 0562 Commutation adjustment periodic time The following encoder types are available as motor encoders with absolute rotor position information Values for P 0 0074 feedback 1 type with kit motors Motor encoder interface digital servo feedback DSF or resolver with feedback data memory Heidenhain encoder with EnDat Interface Resolver without feedback data memory Resolver incremental encoder with sine signals without feedback data memory Fig 7 26 Possible motor encoders for synchron
368. pairs 0 1mm P 0 0051 Nm A N A S 0 0348 mAs rad mAs mm Fig 7 16 Scaling in Linear or Rotary Motors The selected motor type also affects the scaling of the position data For example it is impossible to set rotary motor settings for linear motors and linear motor settings for rotary motors This would generate the command error C213 Position data scaling error during a phase progression DOK ECODR3 SMT 02VRS FK01 EN P Motor Configuration 7 3 ECODRIVE03 SMT 02VRS Synchronous Asynchronous Synchronous Asynchronous Specific parameters are used only for synchronous motors others only for asynchronous motors There are differences in the use and review of the parameters in the command S 0 0128 C200 Communication phase 4 transition check They are e P 0 4004 Magnetizing current is set to 0 if need be e P 0 0508 Commutation offset is checked for validity e P 0 4047 Motor inductance is initialized e P 0 4004 Magnetizing current is initialized e P 0 0508 Commutation offset is not checked Temperature Monitoring The switch off limit for the motor temperature check is fixed at one point for MHD MKD MKE motors The following parameters are used to monitor the motor temperature S 0 0201 Motor warning temperature S 0 0204 Motor shutdown temperature For MHD MKD and MKE motors the parameter default values are S 0 0201 Motor warning temperature 145 0 C S 0 0204 Motor shutdown temperature
369. parameter are partly set or cleared by the drive itself depending on the following criteria e Depending on the absolute encoder range and the maximum travel range or modulo value bit 6 is either set or cleared See also chapter Supplementary Settings for Absolute Measuring Systems Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 21 Actual Feedback Values of Non Absolute Measurement Systems After Initialization If there is no absolute measuring system then the initialization value can be changed via parameter P 0 0019 Position start value It hereby applies If the parameter is write accessed in either phase 2 or 3 then this value is assumed as the initialization value P 0 0019 Position feedback Position feedback written value 1 value 2 no init motor encoder value init motor encoder value yes position start value position start value Fig 9 23 Non absolute measurement system position feedback values after initialization No valid position feedback values exist before the measurement system is initialized Initialization is performed during the transition check for communication phase 4 Warning Some measurement systems have limitations concerning the maximum velocity during their initialization Measurement system DSF HSF Maximum initialization velocity 300 rpm EnDat Initialization should occur at standstill Multiturn r
370. played correction value relates to the encoder selected in S 0 0147 Homing parameter Bit 3 Determining the backlash The following procedure will determine the correct value for the parameter S 0 0058 Reversal clearance 1 Move axis in a positive direction in jog mode 2 Put the micrometer to an appropriate point on the mechanical system of the axis and set it to zero 3 Jog the axis in a negative direction until the micrometer registers a change in position Then the following calculation determines the reversal clearance Reversal backlash AXcontrol AXmeas AXcontrol Path travelled according to control display AXmeas Path travelled according to measurement Fig 10 29 Calculating the reversal play 10 10 Command detect marker position Rexroth Indramat The command Detect marker position supports e the control of a error free detection of the reference marker in an incremental measuring system or e determining the position of the reference marker if the referencing procedure is conducted by the control In this case this information is used to switch the coordinate system in the control e Areference switching evaluation is not run with this command e The following parameters are provided for this function e S 0 0173 Marker position A e P 0 0014 D500 Command determine marker position DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 29 Functional princ
371. polar Velocity Limit Value The parameter S 0 0091 Bipolar Velocity Limit Value is designed to allow variable limits of the maximum velocity to values smaller than the maximum allowable velocity during operation The parameter S 0 0113 Maximum Motor Speed nmax designates the maximum possible motor velocity It is contained in the motor encoder data storage of MHD MKD and MKE motors and does not need to be entered but with other types of motors this value must be taken from the motor parameter specifications Limiting to Maximum Motor Velocity The maximum motor velocity defines the maximum velocity of the drive It becomes active and is included in the calculation of e the maximum value entered in the parameter S 0 0091 Bipolar Velocity Limit Value Limiting to Bipolar Velocity Limit Value The bipolar velocity limit value defines the maximum velocity of the drive for the user It becomes active as e the monitor of the encoder velocity in the torque control operating mode e the limit for the resulting command value in the velocity controller e the monitor of the position command value difference in the position control operating mode see also Position Command Value Monitoring e the limit of S 0 0036 Velocity Command Value in the velocity control operating mode Rexroth Indramat 9 38 Basic Drive Functions Travel Range Limits Rexroth Indramat ECODRIVE03 SMT 02VRS Monitoring the Feedback Velocity in the
372. ponding control loop settings Velocity controller Velocity loop Application Type proportional gain Integral Action Time Comments Feed axis on standard Kp 0 5 Kpcrit Tn 2 Tncrit Good stiffness and good command response Feed axis on perforating Kp 0 8 Kpcrit Tn 0 High proportional gain no l tool machine press or chip cutter machines part to achieve shorter transient periods Feed drive for flying Kp 0 5 Kpcrit Tn 0 Relatively undynamic control cutting devices DOK ECODR3 SMT 02VRS FK01 EN P setting without I part to avoid structural tension between the part to cut off and the machine Fig 9 65 Identification of Velocity Controller Settings Filtering oscillations from mechanical resonance The drives are able to suppress oscillations caused by the drive train gear between the motor and the axis or by the spindle mechanics even in a narrow band Thus an increased drive dynamics with good stability can be achieved The mechanical system of rotor drive train load is induced to generate mechanical oscillations as a result of position velocity feedback in a closed control loop This behavior identified as a two mass oscillator is generally within the 400 to 800 Hz range depending on the rigidity or elasticity and spatial volume of the mechanical system This two mass oscillation usually has a clear resonance frequency which can be specifically suppressed by a notch filter
373. r Setting 9 59 Determining detecting the active mode 8 1 Diagnoses when setting the commutation offsets 7 19 Diagnostic error messages of the system status word 10 2 Diagnostic Message 3 25 Composition of the Diagnostic Message 3 24 Diagnostic Message Display 3 23 Diagnostic Number 3 25 Diagnostic Message Number 3 25 Diagnostic Messages Diagnostic of the Interface Condition 4 11 Diagnostic messages in multiplex channel 4 15 Diagnostic messages of jog mode 8 44 Diagnostic messages of the stepper mode 8 42 Diagnostic messages when setting the absolute dimension 9 111 Diagnostic messages with command spindle positioning 10 47 Diagnostic messages with configurable signal control word 10 5 Digital inputs with analog interface 5 1 Digital Output 10 11 digital servo feedback 9 11 Directional change within a following block chain 8 36 Disable Torque 9 45 Display Format of the Acceleration Data 9 6 of the Position Data 9 4 of the Velocity Data 9 5 Displaying the active correction value 10 28 Distortion display 4 8 Dolfi 3 30 Dolfi can be used to establish a connection 3 34 Dolfi cannot open the ibf file 3 34 Dolfi signals timeout 3 34 Drive enable 4 3 Drive enable or drive start 9 70 Drive enable with analog interface 5 1 Drive halt pertinent parameters 9 77 Drive halt with analog interface 5 1 Drive Internal Interpolation Associated Parameters 8 11 Block Diagram 8 11 Diagnostic Messages 8 11 Drive start with auatomatic control loop settings
374. r designation DOK GENERL DRIVEHELP GExx MS D0600 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat About this Documentation ECODRIVE03 SMT 02VRS Notes Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Contents Contents 1 System Overview 1 1 1 1 ECODRIVE03 the Universal Drive Solution for Automation cccccceeeeeeeeeeeeeeeeeeeaeeeeeeteeneeaes 1 1 1 2 EGODRIVEO3 a Drive Family cc02 0 0 acini a i i Ea E a aa 1 1 1 3 Drive Controllers and MOtors cerecrennraninriiie a a ia i a a ea deve kid i ea 1 2 1 4 Function Overview FWA ECODR3 SMT O2VRS MSG cccceeeceeeeeceeeeeeeaeeeeeeeseeeeesaeeeeaeeeeneeeaas 1 2 Command Communications Interface ccccccceccceceeeeeeeeeeeeeeeceeeeeeeaeeecaeeeeaeeseeeeesaeeesaeeeeneeees 1 2 Possible Operating MOCES ccccccseceeeeeceeeeeeeaeeeeneeceeeecaaeeesaaeseeeeeseaeeesaaesseaeeeeeeescaesenaeeeenees 1 2 Supported Types of Motors si c autotest en nthe tienda aiden eetdbann teint eet 1 3 Supported Measuring SyStOms cccccccccesceeseeceeeeeceaeeeeeaeeeeeeeceaeeesaaeseeaaeeeeeeesaeeeaeseeaaeeseneesaas 1 3 General Funcions iiss acid a aa de Nee aa te ed a ele ee 1 3 2 Safety Instructions for Electric Servo Drives and Controls 2 1 Ql 1 MtFOQUCTIONS Ass Sea a ar aaa ata tteus ara a ua bergasasehane sua a a E a a a aa 2 1 22 Expanse ES a A OAS 2 1 2 3 Hazards by inappropriate Senesi aaaea aaraa EA aaa a
375. raBe 3 CH 8500 Frauenfeld 41 0 52 720 21 00 41 0 52 720 21 11 Telefon Telefax Mannesmann Rexroth Suisse SA D partement Rexroth Indramat Rue du village 1 CH 1020 Renens 41 0 21 632 84 20 41 0 21 632 84 21 Telefon Telefax NL 5281 RV Boxtel N 1405 Ski Langhus N 1402 Ski PL 60 529 Poznan RuBland Telefon 31 0 411 65 19 51 Telefon 47 0 64 86 41 00 Telefon 48 061 847 67 99 Telefon 7 093 223 96 33 Telefax 31 0 411 67 78 14 Telefax 47 0 64 86 90 62 Telefax 48 061 847 64 02 oder or 7 093 223 95 48 Telefax 7 093 223 46 01 Spain XX sates KX service Spain KX sates Kl service Sweden X sares Kl service Slowenia X sares Xl service Mannesmann Rexroth S A Goimendi S A Rexroth Mecman Svenska AB Rexroth Indramat elektromotorji d o o Otoki 21 SLO 64 228 Zelezniki 386 64 61 73 32 386 64 64 71 50 Telefon Telefax Europ ische Kundenbetreuungsstellen ohne Deutschland European Service agencies without Germany DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Kundenbetreuungsstellen Sales amp Service Facilities 3 3 AuBerhalb Europa outside Europe vom Ausland from abroad 0 nach Landeskennziffer weglassen don t dial 0 after country code Argentina XX sates L serice Argentina Dx SALES X Service Australia Xx SALES X Service Australia X SALES O Service Mannesmann Rexroth S A 1 C Division Rexroth Indramat Acassusso 48 41 7 RA 1605
376. rated The parameters stored in the memory of motors with feedback data memory are read If an error occurs during this process then command error e C211 Invalid feedback data gt S 0 0022 is generated Check whether an internal position resolution has been set via parameter S 0 0278 Maximum travel range which guarantees the correct commutation of the motor If not then this command error appears e C223 Input value for max range too high Check internal ability to illustrate conversion factors from display format to an internal one and vice versa for scaling dependent data If an error occurs then one of the following command errors can be generated e C213 Position data scaling error e C214 Velocity data scaling error e C215 Acceleration data scaling error e C216 Torque force data scaling error All parameters are checked for maintaining extreme values or permissible bit combinations If can error occurs then command error e C202 Parameter limit error gt S 0 0022 is generated The ID number o the faulty parameter is listed in e 0 0022 IDN list of invalid op data for comm Ph 3 and must be corrected Checking whether an activated modulo scaling of the position of parameter S 0 0103 Modulo value can be processed If so then command error e C227 Modulo range error is generated DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Checking the conversion of internal formats Checking encoder ini
377. re 3 27 Motor Reference Load Reference 9 3 Motor Types Characteristics of the Motors 7 1 Linear Rotary 7 2 Setting the Motor Type 7 4 Supported Motor Types 7 1 Synchronous Asynchronous 7 3 Mounting the spindle reference switch with command spindle positioning 10 42 Multiplex Channel 4 12 Multiplex Channel Overview 4 12 N Non Volatile Parameter Storage Registers 3 2 notch filter 8 5 NTC 7 1 Number of Valid Probe Values 10 19 O Operating cam 10 43 Operating mode 3 12 jogging 8 43 torque control 8 2 Operating modes 3 9 Operating Modes 8 1 Optional encoder encoder interface 9 17 Optional Encoder Characteristics 9 20 Parameterization 9 16 Resolution 9 18 Optional Encoder Resolution 9 18 Oscilloscope Feature Activating the Feature 10 17 defined recording signals 10 13 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Index 12 9 Expanded Function 10 14 Expanded Trigger Signals 10 15 External Trigger and Internal Trigger Condition 10 17 Fixed Trigger Signals 10 15 Functional Principle 10 12 Status Messages 10 18 Trigger Delay 10 16 Trigger Edge 10 15 Triggering 10 14 Oscilloscope Feature Trigger Source 10 14 Oscilloscope feature with defined recording signals 10 13 Oscilloscope Feature With External Trigger and Internal Trigger Condition 10 17 Other fault causes with command spindle positioning 10 47 Other Motor Encoder Characteristics 9 15 Other Optional Encoder Characterist
378. re to observe the warnings given in these documentation Order operating maintenance and safety instructions in your language before starting up the machine If you find that due to a translation er ror you can not completely understand the documentation for your product please ask your supplier to clarify Proper and correct transport storage assembly and installation as well as care in operation and maintenance are prerequisites for opti mal and safe operation of this equipment Trained and qualified personnel in electrical equipment Only trained and qualified personnel may work on this equipment or within its proximity Personnel are qualified if they have sufficient knowledge of the assembly installation and operation of the product as well as an understanding of all warnings and precautionary meas ures noted in these instructions Furthermore they should be trained instructed and qualified to switch electrical circuits and equipment on and off to ground them and to mark them according to the requirements of safe work practices and common sense They must have adequate safety equipment and be trained in first aid Only use spare parts and accessories approved by the manufacturer Follow all safety regulations and requirements for the specific applica tion as practiced in the country of use The equipment is designed for installation on commercial machinery European countries see directive 89 392 EEC machine guideline
379. re waits for the selected edge to occur If a valid edge is recognized then the probe value memory will be completed as set in parameter P 0 0033 and the oscilloscope feature will be deactivated by resetting bits 1 amp 2 in the trigger control word Oscilloscope Feature With External Trigger and Internal Trigger Condition If triggering is selected in parameter P 0 0025 Trigger Source with the control bit of the trigger control word then the trigger will be initiated with the 0 1 rising edge of bit 0 in the trigger control word With this drive it is also possible to monitor a trigger signal for the trigger condition If the trigger condition is recognized then bit 0 will be set in the trigger status but it will not trigger In this way it is possible to signal the trigger event for several drives simultaneously using the real time status and control bits via the control and to release the trigger Rexroth Indramat 10 18 Optional Drive Functions Rexroth Indramat ECODRIVE03 SMT 02VRS Since there is a delay between the recognition of the trigger event and the enabling of this trigger the delay is measured by the drive controller and stored in the parameter P 0 0035 Delay from Trigger to Start A time correct display of the signal can be guaranteed by using this parameter for the visualization of the probe values Trigger threshold i Trigger signal Trigger status Bit 0 P 0 0033 Number of Sa
380. recise structure is outlined in the following section Note If an ASCII protocol is used then the number of bytes differs from the data length in the parameter description internal number format 1 2 Pertinent Parameters The data exchange which implements the serial interface is controlled by means of the following parameters e P 0 4021 Baud rate RS 232 485 e P 0 4022 Drive address e P 0 4050 Delay answer RS 232 485 1 3 Function Principle Basic State once the Control Voltage is Switched On Selecting a Protocol DOK ECODR3 SMT 02VRS FK01 EN P After the control voltage is switched on serial communications in the drive is in Passive mode Communications is not possible in passive mode To be able to take up serial communications with the drive it is necessary to set the communications mode protocol e with a Change Drive command with ASCII protocol e ora valid Start telegram with SIS protocol Note Internally the first detected protocol that is valid SIS or ASCII is switched into If a different protocol is to be used at some later point in time then this is only possible by switching the 24 volt power supply off Rexroth Indramat 1 2 Serial Communikations ECODRIVE03 SMT 02VRS Note The two listed options for establishing a connection are ex tensively described in the section on Communications proce dures Setting the Drive Address Rexroth Indramat RS485 mode
381. relevant parameters 9 51 Evaluation of the Home Switch 9 89 Exceeding the Travel Range Warning 9 40 Exceeding the Travel Range as a Warning 9 40 Exceeding the Travel Range as an Error 9 40 Excessive control deviation 3 27 Executing spindle positioning 10 46 Expanded Oscilloscope Recording Function 10 14 Explanation of Terms 3 1 F Feed Constant 9 8 Feedback error 3 27 Fiber optics connection to a SERCOS interface 4 7 Fieldweakening 7 20 Firmware loader 3 30 Firmware Update with the Dolfi program 3 30 Firmware was cleared 3 31 Following block chain interruption 8 33 Following block mode 8 17 8 27 for write access 3 2 Frictional Torque Compensation 9 68 Function Principle Drive Internal Interpolation 8 11 Functional principle drive halt 9 77 Functional principle multiplex channel 4 12 Rexroth Indramat 12 6 Index Rexroth Indramat ECODRIVE03 SMT 02VRS Functional Principle of backlash compensation 10 27 Functional principle of command detect marker position 10 29 Functional Principle of Command Spindle Positioning 10 40 Functional principle of the analog inputs 10 9 Functional principle of the command parking axis 10 29 Functional principle of the current limits 9 30 Functional principle Setting the absolute dimension 9 107 Funtional principle E stop function 9 51 G Gantry axes Commutation offset 7 19 Gearwheel encoder 9 11 General commands on automatic control loop settings 9 69 General commands on spindle po
382. ress User data k User data head gt Ta0004f1 fh7 Fig 1 35 Read S 0 0106 Reaction telegram Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 27 1 7 Application Examples Changing Position Block Data ASCII Protocol DOK ECODR3 SMT 02VRS FK01 EN P Suppositions e Several drives are connected with a PLC via an RS485 interface The drive address is 1 e Drive working in positioning mode Four positioning blocks are used e The target positions of the positioning blocks are to be changed via RS485 interface Taking up communications with the relevant drive BCD 01 CR Command to switch to drive A01 gt Echo of connected drives All other drives remain passive Note There is no echo by symbol Not until after the receipt of the CR does the drive send the entire input sequence back Write list of target positions into drive The target positions of all axes are stored in the form of a list in parameter P 0 4006 Process block target position To change one or more val ues in this list it is necessary to write all relevant values of this list If therefore four target positions are used then all four positions must be written even if only one position is changed Drive reaction Input P 0 4006 7 w gt CR 100 0 CR target position blockO 200 0 CR target position block1 etc lt CR A01 gt Rexroth Indramat
383. ring of probe 1 In other words bits 7 and 5 of S 0 0169 cannot be simultaneously set to 1 Note If the drive is operated in Position control then prior to clearing Probe 1 enable the drive internal interpolation must be set to the position feedback value Mode Continuous Measure DOK ECODR3 SMT 02VRS FK01 EN P Principle Enable mode is activated with bits 5 and 6 in S 0 0169 Probe control parameter If a probe edge is detected then bit 0 is latched into the relevant Probe latched parameter e 0 0409 Probe 1 positive latched e 0 0410 Probe 1 negative latched e 0 0411 Probe 2 positive latched e 0 0412 Probe 2 negative latched By configuring these parameters in the cyclical feedback value telegram of the drive together with the relevant measured value itself the information as to whether a new probe is latched or not is available in the next interface cycle of the control If a probe edge was detected then the next measurement of this edge is automatically enabled in the drive as long as the relevant probe enable parameter has not been cleared e 0 0405 Probe 1 enable or e 0 0406 Probe 2 enable Rexroth Indramat 10 24 Optional Drive Functions ECODRIVE03 SMT 02VRS If there were no probes latched in the previous cycle then bit 0 of the relevant probe latched parameter is cleared Note The use of quick stop upon detection of probe 1 cannot be simultaneously set with continu
384. rite accessing of a parameter generally takes place as follows ID number of parameter data block element number with operating data Carriage Return Once a write operation is completed the drive signals with a prompt To access the parameter value of parameter P 0 4037 for example the following must be input Note All data entered must correspond to the data type set in the attribute HEX BIN DEZ Step 1 Communication with drive not Send request possible e g P 0 4037 7 w 1 000 CR gt check address gt check setting i gt check connection Step 2 i Drive received character lt q no Drive repeats request echo oN i l lt Timeout gt character sequence gt found in no receiver buffer ew oe Contents of receiver buffer al P 0 4037 7 w 1000 CR Ja xxxx CR E01 gt Step 3 To check transmission compare request with receiver buffer String compare no Transmission error ja y Step 4 Delete request in receiver buffer All characters to 1st CR inclusive Next character in Error occurred during a yes gt parameter access receiver buffer 3 Error code xxxx no y Parameter succesfully written FD5001B1 WMF Fig 1 13 Write accessing a parameter Also see Error Messages Rexroth Indramat 1 12 Serial Communikations ECODRIVE03 SMT 02VRS
385. ro pulses per revolution as the resolver has pairs of poles It must therefore be noted that the input for P 0 0502 Encoder emulation resolution must be divisible by the number of resolver pole pairs without a remainder otherwise the zero pulse will run away Unit The parameter unit depends on the motor type i e e rotary motors lines revolution e linear motors lines mm or lines inch Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Absolute encoder Non absolut encoder Drive guided referencing Zero pulse offset DOK ECODR3 SMT 02VRS FK01 EN P Optional Drive Functions 10 35 Position of the Zero Pulse as Relates to Motor Position With motor encoders that achieve an absolute position within one motor revolution after initialization or within one electrical revolution with resolvers the zero pulse is always generated at the same motor position each time the unit is switched on Non absolut encoders do not have an automatic method of determining position after powering up This is why it is necessary to home Homing uses the incremental encoder emulator zero pulse With non absolut encoders e g sine gearwheel encoders the following occurs automatically with each progression of phases 2 to 4 in other words after each powering up of the drive controller e The detection of the motor encoder internal reference point is activated e The zero pulse output of the incremental encod
386. rol before ending the command and the control interpolator must be set to this value If this command is completed by the control and if the command values of the control for the drive become active again these values should be added to the value read out of the drive Starting interrupting and completing the command Drive Controlled Homing This feature is implemented as a command To start the feature you must set and execute the command by writing to the parameter S 0 0148 C600 Drive controlled homing procedure command Input 3 11bin The drive confirmation has to be received from the data status out of the same parameter The command is finished when the command change bit in the drive status word is set and the confirmation changes from in process 7 to command executed 3 or to command error OXF If the command is interrupted Input 1 during processing when confirmation 7 the drive responds by activating the drive halt feature The program continues if the interruption is cancelled See also chapter Drive Stop Possible Error Messages During Drive Controlled Homing Rexroth Indramat During the execution of the command the following command errors can occur e C601 Homing only possible with drive enable While starting the command the controller enable was not set e C602 Distance home switch reference mark erroneous The distance between home switch and reference mark is too small
387. rol is connected with the optical input of the first drive X21 The output of the latter X20 is connected with the input of the next drive and so on The output of the last drive is connected with the input of the control Setting the Drive Address of the SERCOS Interface The drive address is set via switches S2 and S3 on the programming module Addresses ranging from 0 to 99 can be programmed The drive address is not dependent on the sequence of drive connections through the fiber optic ring After setting all the addresses you can switch on the arrangement Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 4 8 Communication Through the SERCOS interface ECODRIVE03 SMT 02VRS Checking the Distortion Indicator of the SERCOS Interface The next step is to check whether every station gets a sufficient optical signal level in other words whether the receiver is not under or overloaded Distortion indicator may not be For normal operation the distortion indicator LED H20 stays dark lit nor glow flicker f it s lit examine the transmission path in front of that station To do so the distortion display of the drives are checked in signal flow direction starting from the sender output of the master control See Fig 4 4 View of interface to command communication The distortion display of the drives is the LED H20 Check distortion indicator in At first check the 1st drive in the ring If its distortion indicat
388. roller without filtering Interface Mode The stepper motor signals must meet the demands illustrated in the figure below 1 Quadrature signals ti 1 4 us 2 Seperate signals for forward backward count SM 1 SM 2 turning ccw turning cw t2 5 6us 3 Count and direction signals SM 1 SM 2 turning ccw turning cw tL t3 adi r gt tL 2 8 us t3 5 6 us SV0200d1 Fh7 Fig 8 37 Stepper motor interface Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Oo Indramat 8 42 Operating Modes ECODRIVE03 SMT 02VRS Diagnostic Messages With the step motor mode it makes sense to put the message In Position S 0 0013 Class 3 diagnostics Bit 6 lag error lt positioning window on the signal status word and thus on the Digital Outputs Also see section Configurable Signal Status Word Connecting the Parallel Interface The allocation of the parallel interface connections is described in detail in the Project Planning Manuals See Project Planning Manual Control inputs for Stepper Motor Operations Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 43 8 10 Operating Mode Jogging Pertinent Parameters Additional parameters How it works DOK ECODR3 SMT 02VRS FK01 EN P Operating mode is used to run an axis in Manual mode i e without the use of the control program In units with positioning interface or step motor interface
389. rs The physical position of the reference point derives from the position of the reference marker plus the value in S 0 0150 Reference offset 1 or S 0 0151 Reference offset 2 Once the reference marker is detected the drive knows the position of this marker and therefore also that of the reference point in the old drive coordinate system The desired position in the new coordinate system referring to the machine s zero point is in parameter S 0 0052 Reference distance 1 and S 0 0054 Reference distance 2 e With Evaluation of distance coded reference marks the specific point is the zero point position of the first reference mark of the distance coded measuring system By detecting the position difference between two adjacent reference marks the position of the first reference marker in the old drive coordinate system can be determined The desired feedback position at this point is defined by the position of the first reference mark in the machine coordinate system at this point plus the value in S 0 0177 Absolute distance 1 for motor encoders or S 0 0178 Absolute distance 2 for optional encoders In both cases the difference between both coordinate systems is added to the old drive coordinate system The coordinate systems will then correspond to one another By switching the position command and feedback value S 0 0403 Position feedback value status is set to 1 This means that the feedback position value now refers
390. rta aa eaaa a a ek 2 2 24 General ntonmmnmatiorn se E E ten edi E A 2 3 2 5 Protection against contact with electrical parts sssesesssssirssssrrssrirrssinnnstinnnstinnntnnnnntennantnn nanten 2 4 2 6 Protection by protective low voltage PELV against electrical shock ssssseessrssreresreessns 2 5 2 7 Protection against dangerous MOVEMENNS ceeeceeeeeeeeeeeeeeeeeeeteeeeeeeeeeeeeeeeaeeeeeseeaeeeeeeeaeeneeenaees 2 6 2 8 Protection against magnetic and electromagnetic fields during operations and mounting 2 8 2 9 Protection against contact with hot Parts 0 ce cece ee eeeee erence ee eeeeeeeeeeteaeeeeeeaeeeeeseaeeeeeseeeaeeeeeeeaeees 2 8 2 10 Protection during handling and installation 2 0 0 ec eeeeeeee eset ee eeeeeeeeeeeeeeeeeeeeeeeeseeeaeeeeeeeaeeeeeeetens 2 9 2 11 Battery SEY aera a E a R E RE E 2 9 2 12 Protection against pressurized SySteMS cccccceceeesceeeeeeeeeeeeeeeeeceeeeecaeeeeaaeecaaeseeeeeseaeeesaeeeeneeees 2 10 3 General Instructions for Installation 3 1 3 1 Definition of Terms Introduction c ce ceeeeeeccececeecesneesseeeececeanessseceeeeeeseauseseceeeeseauaasaeseeeseeeeeanens 3 1 EEE Greer Renee Cer E reer E A A A E E ener eer 3 1 DEIRE oe A E A eee E E E T E 3 2 AANO La EEPE EEA TTEA E T O OEO E EET 3 5 COMMANGS EE T ET E E EE T A E A AE O EN 3 7 Operating MOdeS aires th A E A Hbaey Mleaaxteteiartegtedelecees ieee iet eae 3 9 WANNINGS osetia E A tee ies ae E lees Vande aa
391. rvice PT Rexroth Wijayakusuma Jl Raya Bekasi Km 21 Pulogadung RI Jakarta Timur 13920 62 21 4 61 04 87 62 21 4 61 04 88 62 21 4 60 01 52 Telefon Telefax Korea X SALES X Service Rexroth Automation Co Ltd Service Center Japan Yutakagaoka 1810 Meito ku NAGOYA 465 0035 Japan 81 0 52 777 88 41 81 0 52 777 88 53 81 0 52 777 88 79 Telefax 81 0 52 777 89 01 Telefon Korea X SALES X Service Rexroth Automation Co Ltd Rexroth Indramat Division 1F I R Building Nakamachidai 4 26 44 Tsuzuki ku YOKOHAMA 224 0041 Japan 81 0 45 942 72 10 81 0 45 942 03 41 Telefon Telefax South Africa K sates Kl service Mannesmann Rexroth Mexico S A de C V Calle Neptuno 72 Unidad Ind Vallejo MEX 07700 Mexico D F Telefon 525 75417 11 52 5 754 36 84 52 5 754 12 60 Telefax 525 754 50 73 52 5 752 59 43 e mail gsoria rexroth mexico com Mannesmann Rexroth Seki Co Ltd 1500 12 Da Dae Dong ROK Saha Ku Pusan 604 050 82 0 51 2 60 06 18 82 0 51 2 60 06 19 Telefon Telefax Seo Chang Corporation Ltd Room 903 Jeail Building 44 35 Yeouido Dong Yeoungdeungpo Ku C P 0 Box 97 56 ROK Seoul Telefon 82 0 2 7 80 82 08 82 0 2 7 80 82 09 Telefax 82 0 2 7 84 54 08 TECTRA Automation Pty Ltd 28 Banfield Road Industria North RSA Maraisburg 1700 27 0 11 673 20 80 27 0 11 673 72 69 Telefon Telefax X SALES O Service Rexroth
392. ry if an axis is temporarily brought to a standstill The start of the command switches off all monitoring functions of the measuring system and the control loops The following parameter is available for this function e 0 0139 D700 Command parking axis The command may only be started without drive enable If the command is activated with drive enable applied then the drive generates command error D701 Park axis only without drive enable After starting command S 0 0139 D700 Command Parking axis it follows e that the measuring system monitors e the control loop monitors and e the temperature monitors are deactivated Rexroth Indramat 10 30 Optional Drive Functions ECODRIVE03 SMT 02VRS The measuring system initializations are conducted at the end of the command This means all initializations as with command S 0 0128 C200 Communication phase 4 transition check are conducted The display reads PA This drive no longer accepts the drive enable 10 12 Programmable Limit Switch The reference signal for the PLS can be selected The Programmable Limit Switch feature allows for 8 PLS points An individual on and off switch position and a delay time are available for each PLS point The reference signal can be either S 0 0051 Position feedback 1 value or S 0 0053 Position feedback 2 value The cycle time for evaluation is 2msec The corresponding PLS bit can be inverted depending on how the on and
393. s 1 input travel range Fig 9 78 Select parameter for automatic control loop settings Possible results are Set velocity control loop Set position control loop P 0 4010 Load inertia reduced to motor shaft The load determined for automatic control loop settings is stored here P 0 0168 Maximum acceleration Maximum drive acceleration for loop settings is stored here S 0 0348 Acceleration feedforward gain As the results of the automatic settings the value for accel precontrol is calculated in accordance with the formula S 0 0348 P 0 4010 P 0 0510 S 0 0051 The drive halt function is used to bring an axis to a standstill with a defined accel and defined jerk The function is activated by clearing the drive halt bit bit 13 in the master control word of command communication SERCOS by setting drive halt input with parallel or analog interface to zero or by interrupting a drive control command e g drive guided referencing DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 77 Pertinent Parameters e 0 0138 Bipolar acceleration limit value e 0 0349 Jerk limit bipolar e P 0 1201 Ramp 1 pitch e P 0 1202 Final speed of ramp 1 e P 0 1203 Ramp 2 pitch The following parameters are used for diagnostic purposes e 0 0124 Standstill window e 0 0182 Manufacturer s status class 3 The Functional Principle of Drive Halt If the drive halt function
394. s are run 10 3 Analog Output If more elements are programmed in S 0 0329 Assign list signal control word then in S 0 0027 Configuration list signal control word then error message 0x1001 ID number not available is generated If an ID number specified in S 0 0027 Configuration list signal control word is not available then error message 0x1001 ID number not available is generated If an ID number specified in S 0 0027 Configuration list signal control word is not on the list of the configured data S 0 0399 then error message 0x7008 Data not correct is generated Note In each of these cases only that input prior to the faulty element will be accepted With the help of the function Analog output drive internal signals and state variables can be generated as analog voltage signals These can be examined with an oscilloscope connected to the analog outputs The conversion of the digital values from the drive is done via two 8 bit digital to analog converters The maximum output voltage equals 10 volts There is an output every 500 usec Possible output functions 1 Direct writing into the analog outputs DOK ECODR3 SMT 02VRS FK01 EN P 2 Assigning ID numbers to analog outputs 3 Output of pre set signals 4 Byte output of RAM memory cell 5 Bit output of RAM memory cells To parametrize the function the following parameters are available P 0 0139 Analog output 1 P 0 0140 Analog output 2
395. s for the signal selection there are drive internal fixed trigger signals for the trigger signal selection These are activated by entering the corresponding number The following signal numbers are possible Trigger signal Associated number Trigger signal trigger edge 0x00 no trigger signal not defined 0x01 Actual position feedback Position data P 0 0027 according to active operating mode 0x02 Velocity feedback value Velocity data P 0 0028 Parameter S 0 0040 0x03 Velocity deviation Velocity data P 0 0028 Parameter S 0 0347 0x04 Following error Position data P 0 0027 Parameter S 0 0189 0x05 Torque command value Torque data P 0 0029 Parameter S 0 0080 Fig 10 11 Selection of fixed trigger signals Selection of Expanded Trigger Signals In addition to a trigger signal selection with preset signals the drive also allows for triggering on any desired internal signal Use of this feature is meaningful only with information about the structure of the internal data memory therefore this feature can be used effectively only by the corresponding developer This feature can be activated with the parameter P 0 0026 Trigger Signal Selection by setting bit 12 to 1 P 0 0026 Trigger Signal Selection Po Bit 12 Expanded trigger function ON Fig 10 12 Structure of parameter P 0 0026 Rexroth Indramat 10 16 Optional Drive Functions Rexroth Indramat ECODRIVE03 SMT
396. s possible to quickly determine the current operating status without using a communication interface The operating mode cannot be seen on the H1 Display If the drive follows the operating mode and no command was activated then the symbol AF appears on the display Diagnostic Message The diagnostic message contains the diagnostic number followed by the diagnostic text as shown in the example Excessive Control Deviation It can be read with the parameter S 0 0095 Diagnostic Message and directly displays the operation status on an operator interface The diagnostic message language can be changed Diagnostic Message Number The diagnostic message number contains only the diagnostic number without the text It can be read with the parameter S 0 0390 Diagnostic Message Number Error Number The error number contains only the error number without the diagnostic text It can be read with the parameter P 0 0009 Error Message Number and can indicate an error condition without a language barrier This parameter contains a value unequal to 0 if an error is present in the drive An error is formed from the bottom 3 digits of the diagnostic number For example the error F228 Excessive deviation with the diagnostic message number 0x F228 would produce the error number 228 List of diagnostic numbers The 50 previously displayed diagnostic numbers are displayed in chronological order in parameter S 0 0375 List of diagnostic numb
397. s type LSB MSB Jl User data head gt Fig 1 42 Following command telegram 3 DOK ECODR3 SMT 02VRS FK01 EN P Ta0008f1 fh7 Ta0007f1 fh7 Rexroth Indramat ECODRIVE03 SMT 02VRS 3C Tel header Status byte Control byte Device address 1 245 Data bytes k User data head ap User header gt Ta0015f1 fh7 Fig 1 43 Following command telegram 3 Parameter Write Service Ox8F As ingle write access is concluded with one transmission step The master enters the following information into the command telegram The unit address is entered In the control byte in bits 3 5 Element the operating data is se lected Bit 2 is set to 1 last transmission The ID number of the parameter to be written into the parameter number The value of the operating data is entered in the user data The response to a write accessing is put together as follows The acknowledgement of a request is written into the status byte The control byte is read out of the command telegram and copied into the reaction telegram The unit address is rad out of the command telegram and copied into the reaction telegram No user data are transmitted Example Transmit parameter S 0 0044 Velocity data scaling type to drive with address 3 The value 0x0042 is written into the parameter Command telegram
398. saaeeseaaeseeeeeceaeeesaeeseneeeeaees 10 48 11 Glossar 11 1 12 Index 12 1 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat VIII Contents ECODRIVE03 SMT 02VRS Supplement A Serial Communication Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS System Overview 1 1 1 System Overview 1 1 ECODRIVEO3 the Universal Drive Solution for Automation The universal automation system ECODRIVEO3 is an especially cost effective solution for drive and control tasks Exceptional power data extensive functions and an excellent price performance ratio are characteristic of this system Further features of ECODRIVEO3 are its easy assembly and installation extreme machine accessing and the elimination of system components ECODRIVEO03 can be used to implement numerous drive tasks in the most varying of applications Typical applications are e machine tools e printing and paper processing machines e handling systems e packaging and food processing machines e handling and assembly systems 1 2 ECODRIVEO3 a Drive Family FWA ECODR3 SMT 0xVRS MS FWA ECODR3 SGP 0xVRS MS FWA ECODR3 FGP 0xVRS MS FWA ECODR3 SMT 02VRS MS DOK ECODR3 SMT 02VRS FK01 EN P There are three application related firmware variants available for the ECODRIVE03 family e Drive for Machine Tool Applications With SERCOS Analog and Parallelinterface e Drive for General Automation With SERCOS Analog and Parallelin
399. saved in the probe value difference parameter The following status messages will be set to 1 S 0 0409 Probe 1 positive latched and S 0 0410 Probe 1 negative latched or S 0 0411 Probe 2 positive latched and S 0 0412 Probe 2 negative latched When the probe enable is cancelled the following status messages will be erased S 0 0409 Probe 1 positive latched and S 0 0410 Probe 1 negative latched or S 0 0411 Probe 2 positive latched and S 0 0412 Probe 2 negative latched Note Only the first positive and the first negative signal edge of the input will be evaluated after the 0 1 rising edge of the probe enable For each new measurement the probe enable must be reset to 0 and then to 1 When the probe enable is cancelled the corresponding probe value latched parameters are also cancelled DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 21 Probing Cycle Procedure Command 3 0 Probe Emable Probe Probe negative latched Laiching the selected signal here at the negative edge creates a new measurement l difference Probe pasitiv latched _ gt t ms Latching the selected signal here at the positive edge creates a new measurement difference Sv5081f1 fhS Fig 10 19 Evaluation of probe signal edges when positive and negative signal edge evaluation are set in the probe control parameter Results of Writing 3 to the S 0 0170 Probing Cyc
400. sed as start values for commutation settings in the future DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Restrictions when using holding brakes or clamps Restrictions with axes with dead stops Peculiarities of Gantry axes DOK ECODR3 SMT 02VRS FK01 EN P Motor Configuration 7 19 Current flow procedure restrictions Application 2 and 3 For the procedure it is necessary to ensure that the axis can move freely after drive enable is set by the control If a holding brake or clamp is used then it must be opened before the control sets the drive enable This is guaranteed to occur if the holding brake is connected to the controller The machine can be damaged if the procedure is performed incorrectly Procedure not to be used with DANGER gt Hanging axes Permanently clamped or blocked axes Note the following with axes with dead stops The machine can be damaged if the procedure is performed incorrectly Make sure that the axis is not at the dead stop when DANGER the drive enable is set Gantry axes require that the commutation is determined for each individual drive This means that Gantry axes must be mechanically constructed so that each drive can run the arrangement If commutation is not yet known after going from parameter mode into operating mode then only one drive can generate the drive enable The second or other axes must be torque free If the commutation setting of the fir
401. sed in the drive Bit 3 7 Reserve always 0 Parameter type uses bit 15 in Parameter number and three further bits in the byte Parameter type BI0001f1 fh7 Fig 1 10 Parameter number and type in user data head Structure of the User Data Field Values of any kind can be entered in the user data byte These cans can be interpreted as needed by a specific service For example binary sym bols are entered into the user data during flash programming and the decimal value when writing a parameter The length of the user data field is set with both the DatL and DatLW bytes in the telegram head 1 5 Communications procedures General Information on the Parameter Structure DOK ECODR3 SMT 02VRS FK01 EN P All parameters of the drive controller are stored in a uniform parameter structure Each parameter is made up of 7 elements The table below describes the individual elements and access possibilities The parameter structures illustrated here will be referenced in the following sections Element no Data block element Access posibilities ID number read name read attribute read unit read min input value read max input value read operating data read write po oe AJo J N Fig 1 11 Parameter structure Note Attached is a parameter description with detailed data of the features of all available parameters Rexroth Indramat 1 10 Serial Communikations ECODRIVE03 SMT 0
402. sed to a multiple integer of a spindle revolution To get short positioning durations the spindle angle position always reference the physical modulo value The ratio between S 0 0103 Modulo value and the physical modulo value can be illustrated in parameter S 0 0294 Divider for modulo value Example Spindle axis physical modulo value 1 revolution 360 NC cycle time 4ms S 0 0103 Modulo value 360 S 0 0294 Divider for modulo value 1 Vmax 360 2 0 004 sec 45000 sec 7500 U min If maximum value is to equal 20 000 rpm then the following values result Modulo value gt 20000 U min 360 60 0 004sec 2 960 S 0 0103 Modulo value 3 360 1080 S 0 0294 Divider for modulo value 3 Rexroth Indramat 10 46 Optional Drive Functions ECODRIVE03 SMT 02VRS Executing spindle positioning The command is started with parameter S 0 0152 C900 Position spindle command Once it is completed the spindle is held in position control at the command position S 0 0153 Spindle angle position or it has turned by the relative position S 0 0180 Spindle relative offset Upon completion of command the drive sets Bit 6 in parameter S 0 0013 Class 3 diagnostics Conditions for S 0 0013 Class 3 diagnostics Bit 6 spindle in position 1 Value of actual velocity smaller than standstill window S 0 0040 lt S 0 0124 2 Value of spindle angle position minus spindle position is smaller than pos
403. see Monitoring the Distance Between Home switch and Homing Mark on page 9 99 e C604 Homing of absolute encoder not possible The homing encoder is an absolute encoder The command Drive Controlled Homing was started without first starting the command Setting the Absolute Dimension DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 99 e C606 Reference mark not detected For incremental encoders the recognition of the reference mark captures the actual position While searching the reference mark during homing the performed distance is monitored If the performed distance is greater than the calculated max distance necessary to detect a reference mark the error message C606 Reference not detected is generated The monitoring is done with the following encoder types e Rotary incremental encoders the max distance is 1 revolution of the encoder e Distance coded measuring systems the max distance is defined by S 0 0165 Distance coded reference offset 1 The cause for this error message can be e No recognition of the reference marks possible because of wire break defective encoder etc e S 0 0165 Distance coded reference offset has a wrong value Configuration of the Home switch Note The home switch should be set up so that the activation range remains within the travel range of the axis Otherwise the travel range may be overrun at command start if the start position is in an u
404. self are automatically drive internally deleted after Setting the Absolute Dimension DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Case D2 Basic Drive Functions 9 111 If the co ordinate system is to be switched drive internally and automatically at the start of command Setting the absolute dimension P 0 0621 Bit 2 1 then basically proceed as with case C2 but here the command is activated by a flank at the zero switch input e Activate the zero switch input with P 0 0612 Bit1 1 e Run the axis to the measured position e g jog it there e andsoon Both biti of P 0 0612 and the command itself automatically drive internally deleted after Setting absolute dimension Note are the Actual Position Value after Setting the absolute dimension Diagnostic messages Hardware Connections DOK ECODR3 SMT 02VRS FK01 EN P The state of the actual position value of the motor encoder and any other encoders that might be mounted after the execution of the setting the absolute dimension command depends on bit 3 in S 0 0147 Homing parameter and whether the absolute encoder is a motor or an optional encoder Actual Actual Motor Optional S 0 0147 position position encoder encoder Bit 3 value 1 value 2 absolute not any Reference Reference absolute or dimension 1 dimension 1 not there not absolute any Reference Reference absolute dimension 2 dimension 2 absolute absolute 0 Re
405. sitioning 10 38 General Comments 9 69 General functions 1 3 General information about jogging 8 43 General Operating Characteristics of Position Control Loop Monitoring 9 64 Generator function Relative drive internal interpolation 8 15 Glass LWLs 4 9 H H1 Display 3 25 Hall encoder 9 11 Hardware Connections 9 111 Hardware Requirements Digital Output 10 11 Home switch Connection to the connector X3 9 99 Use during Homing 9 89 Homing Error Messages 9 98 Home switch 9 89 Position Feedback Values 9 86 Reference Offset 9 87 How backlash compensation works 10 27 How it works Command Communications with Analog Interface 5 1 HSF 9 11 ID number not available 10 4 IDN List of Parameters 3 11 IDN list of all operation data 3 11 IDN list of all procedure commands 3 12 IDN list of backup operation data 3 11 IDN list of invalid op data for comm Ph 2 3 11 IDN list of invalid op data for comm Ph 3 3 12 IDN list of operation data for CP2 3 12 IDN list of operation data for CP3 3 12 IN_ SYNCHRONIZATION 3 29 IN_TARGET POSITION 3 29 Incremental encoder emulation 10 33 10 34 Incremental encoder with sine signals from Heidenhain with 1V signals 9 11 Incremental encoder with square wave signals from Heidenhain 9 11 Index with multiplex channel 4 12 Integral action time 7 23 Integral Action Time Determing the Critical Integral Action Time 9 58 Interface Start Up for the SERCOS Interface 4 6 Interface Error SERCOS Interface Error 4 1
406. solute measurement systems after initialization Note When changing polarity scaling gearbox and so on it is possible to lose the absolute reference see also S 0 0403 Status Actual position values Rexroth Indramat 9 30 Basic Drive Functions ECODRIVE03 SMT 02VRS 9 4 Drive Limitations Current Limit P 0 4046 Active peak current Motor current limitation Thermal current limit of the Rexroth Indramat controller Controllers motors and machines are subject to various limits to protect them against damage from overload This protection is based on a dynamic drop of the current computed for the output stage of the controller and the motor in addition to parameters set by the user for another purpose The maximum current that may flow for a short period of time or that is available as continuous current is specified in the relevant parameters e P 0 4046 Active peak current and e P 0 4045 Active permanent current Pertinent Parameters e 0 0110 Amplifier peak current e P 0 4004 Magnetizing current e 0 0109 Motor peak current e S 0 0111 Motor current at standstill e 0 0092 Bipolar torque force limit value e P 0 0109 Torque force peak limit e P 0 4011 Switching frequency Functional Principle Using parameters S 0 0092 Bipolar torque force limit value and P 0 0109 Torque force peak limit the user limits current and torque to a fixed maximum value The maximum possible currents for
407. ssible Bit 8 0 operating data is valid 1 operating data invalid Fig 1 21 Command acknowledgement data status Ending a command A command is ended as follows ID number of command 7 w 0 Carriage Return Rexroth Indramat 1 20 Serial Communikations ECODRIVE03 SMT 02VRS Communicating with the SIS protocol General information about read accessing General information for following telegram accessing Rexroth Indramat Actuating a Drive via an SIS protocol When communicating with SlSprotocols a difference is made between comand telegram and reaction telegramm depending on transmission direction A user can only be addressed if a specific telegram format frame is maintained at his address see programming module Note Only after the drive has received at least a valid SIS telegram is the SIS channel free for further communications The individual access modes are described briefly below before the indi vidual services are explained If acommand telegram is used to start a read of a parameter then the drive checks whether a following telegram is needed In this case the reaction telegram in the control byte is retained in Bit 2 running final transmission at 0 until the final reaction telegram is sent Bit 2 is set to 1 herein The transmission of a following reaction telegram is triggered by the re newed transmission of an unchanged command telegram If write or read of a par
408. sssrrssesrrssrsrnssrirnnsnnnssrennssrnns 8 11 Monitoring in mode Drive internal interpolation sesessesssssssserrsssrrssrrrssrinrssrrnnsnnnnsnnnne 8 12 Status messages during operating mode Drive internal interpolation cceeeeeeeee 8 13 8 7 Mode Relative drive internal interPOlation ecccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseneaeeeseeeaeeeeeneaees 8 14 Pertinent Parameters menai e a e E a a a 8 14 Function principle Relative drive internal interpolation sssssssssseseseesserrsserrresrrrrererrssreens 8 15 Diagnostic Messages tit ctw ain iva tia a civil a T a T 8 16 Status messages during operating mode Relative drive internal interpolation 8 16 8 8 Positioning BIOCK MOde e ee eeeeeeeeeeeneeeee teen eter ee a aN a A ENE a aN LEANE 8 17 PertiniontiParameters ir knra TA suas eee ease 8 17 FLOW IE WOIK Ss sue a esea tas eeu a eA er eeL th erate A IAS 8 18 Activating Positioning BIOCKS 00 ceeeceeeeeeeneceeeeeneee ee kidaan perat aa LEAKE AA PE ARAE ENSE enp iin ARRE FECR A RAA Ta 8 18 Positioning BlOCK Modes oroia ararnir acha ece artik AAE eKA ndk E EA Ae Pe PESKARA N KIAR LATERA S EA PENTRA ARER AARRE 8 19 Parametrization notes for positioning DIOCKS 0 ee ce eeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeteeeeeeeseneeeeeeeeeaeees 8 35 Acknowledge positioning block selected eee ceeeeeeeeeenneeeeeeeteeeeeeaeeeeetaaeeeeeeaaeeeetaeeeeeeaeeeene 8 37 Status Messages in P
409. st drive is over then it has to go torque free before the second drive of the axis with commutation setting still applicable sets the drive enable Diagnoses In conjunction with the commutation setting the following diagnoses can occur e D300 Command adjust commutation The commutation setting command is set Determining commutation offset is running or has been executed e D311 Commutation offset could not be determined Or e F811 Commutation offset could not be determined Commutation offset has not been determined because encoder rotational direction was wrong axis mechanically blocked brake closed axis at dead stop Rexroth Indramat 7 20 Motor Configuration ECODRIVE03 SMT 02VRS e D301 Drive not ready for commutation command At command start Application 2 the drive must be in torque control If not then this error is generated e D312 Motion range exceeded during commutation Or e F812 Motion range exceeded during commutation The axis has moved more than one pole width or 360 number of pole pairs because Parameter for commutation setting is too big mechanical motion generated from outside velocity controller incorrectly parameterized Fieldweakening range for synchronous motors Rexroth Indramat The working range of synchronous motors is limited in conventional mode on converters by the converter voltage The motor reaches maximum speed once its no load voltage has reached t
410. stability limit the peak current will be decreased enough so that the maximum power cannot be exceeded An increase in current would lead only to wasted power and reduced output power The peak power in range 3 is proportional to the square of the DC bus voltage It is ensured that the maximum power always is reached for each DC bus voltage without parameter adjustment The power in range 3 cannot be extended through the use of more powerful controllers DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Torque Evaluation DOK ECODR3 SMT 02VRS FK01 EN P Motor Configuration 7 7 100 torque refers to the motor s nominal torque according to the ID plate Since the peak torque of asynchronous motors is limited to 2 5 times of the nominal value you can reach torques up to 250 The significance of the torque values changes in the field weakening range since the torque in the controller is set equal to the torque producing current Iq The torque however is the product of Iq and air gap induction which decreases in the field weakening range The assignment of the torque values in the different velocity ranges is displayed in the following picture 100 i ee lt 100 an n1 n2 n MA In this case160 per cent corresponds to the 160 effective peak current 160 1 be 1 M N Sv5026f 1 fh5 Fig 7 18 Torque assignment In range 1 the torque value is the actual torque 100 rated t
411. storage Fig 8 21 Relative positioning with residual path storage Parameter P 0 4019 Process block mode 102h Relative positioning blocks with residual path storage are also executed if the drive is not referenced In a relative positioning block with residual path storage the target position is a relative path which relates to the target position which last generated the message end position reached By sequencing relative positioning blocks it is possible to position with chain dimensional reference If a relative block is interrupted with residual path storage then this chain reference is retained Note If a second positioning block is started while such a positioning block is being executed then the remainder of the path is discarded If this is a new block a relative positioning block with residual path memory then the target position is related to the current actual position as if it were a relative path DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Example vt Operating Modes 8 23 Relative positioning with residual path storage with target position 700 without interruption message End position reached with position 200 S 0 0124 window speed profil 200 x 900 P 0 4026 01 Process block selection P 0 4051 1 Process block acquittance 0 N AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bi
412. surement system is used the additional requirements are e f rotary position scaling with motor reference and no angle synchronization operating mode is used the product of S 0 0103 Modulo Value S 0 0117 Feedback 2 Resolution and S 0 0122 Output revolutions of load gear must be smaller than 2 63 e f rotary position scaling with motor reference and angle synchronization operating mode is used the product of S 0 0237 Slave drive 1 revs S 0 0117 Feedback 2 Resolution and S 0 0122 Output revolutions of load gear must be smaller than 2 63 Compliance with the limiting conditions is checked in S 0 0128 C200 Communication phase 4 transition check and the command is terminated with the error C227 Modulo Range Error if necessary Processing Command Values in Modulo Format Shortest Path Direction Selection The interpretation of position command values such as S 0 0047 Position Command Value and S 0 0258 Target Position when the modulo function has been activated is dependent on the selected mode The following possibilities exist e Shortest Path e Positive Direction e Negative Direction Parameter S 0 0393 Command value mode is used to set the mode This parameter is effective only if modulo format has been activated in S 0 0076 Position data scaling type The following settings can be entered Modulo Mode Shortest Path The next command value is reached with the shortest path If the difference between two succ
413. t 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 S 0 0346 Setup flag for relative command values gt lt 4ms t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition 4 Sv0000f1 fh7 Reference position DOK ECODR3 SMT 02VRS FK01 EN P Fig 8 22 Relative positioning block with residual path storage Relative positioning block with residual path storage after activating drive enable The last End position reached message is used as reference position Note The chain reference dimension is guaranteed Rexroth Indramat 8 24 Operating Modes Example ECODRIVE03 SMT 02VRS An interrupted relative positioning block with residual path storage after active drive enable with target position 600 speed profil P 0 4026 S 0 0124 Standstill window Process block selection P 0 4051 Process block acquittance 02 AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 1 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 Drive enable S 0 0134 Master control word Bit 15 S 0 0346 Setup flag for relative command values
414. t 9 34 Torque limit of maximum allowable torque 9 34 Transmission Feed Constant 9 8 Transmission Ratio 9 8 Transmission power 4 9 Transmission Ratio 9 8 Travel range limit switch monitor 9 41 Travel range limit switch in positioning block mode 8 26 Travel range limits Relevant parameters 9 38 Travel Range Limits 9 38 Monitoring as a Warning 9 40 Parameterization 9 39 Travel range limits with automatic control loop settings 9 70 Travel Zone Limit Switch Activation and Polarity 9 41 Connection 9 42 Monitoring 9 41 Monitoring the allowable travel range 9 39 Trigger causes of the velocity control loop monitor 9 62 Triggering a motion with automatic control loop setting 9 72 Tripping a motion 9 72 U Undervoltage 9 50 Undervoltage error 3 27 Using the data container with multiplex channel 4 13 V Velocity Command Value Reset 9 44 Velocity Command Value Set to Zero Time Elapsed 9 44 Velocity command value to zero drive error reactions 9 43 Velocity control diagnostic messages 8 6 pertinent parameters 8 4 Velocity Control Diagnostic Messsages 8 4 Limiting the Command Value 8 4 Rexroth Indramat 12 14 Index Rexroth Indramat ECODRIVE03 SMT 02VRS Velocity control loop monitor 9 62 trigger causes 9 62 Triggering causes 9 62 Velocity Controller 8 5 8 6 Settings 9 57 Velocity Limit of the Command Value in the Velocity Controller 8 5 Velocity limit value bipolar monitoring actual velocity in torque control 8 3 Veloci
415. t are relevant to the configurable signal control word Example Bit no ID number of the Bit no In of the target target S 0 0145 parameter parameter Definition 0 P 0 4026 0 select positioning block 1 P 0 4026 1 select positioning block 2 P 0 4026 2 select positioning block 3 P 0 4026 3 select positioning block 4 P 0 4026 4 select positioning block 5 P 0 4026 5 select positioning block 6 S 0 0346 0 start strobe 7 S 0 0148 0 start referencing command 8 P 0 4056 0 jog positive 9 P 0 4056 1 jog negative Fig 10 2 Example for configuration signal control word default setting Parameters S 0 0027 Configuration list signal control word and S 0 0329 Assign list signal control word must be configured as follows to obtain the wanted assignment of the control word Note Up to 16 Bits can be configured Configuration takes place from the lowest to the highest value bit In other words The position of the bit copy in the signal control word is derived from the continuous configuration in S 0 0027 Note The illustrated assignment of the control word is the same as the assignment of the parameter interface in DKC01 3 Also see Project Planning Manual Section Terminal diagram of parallel interface DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Optional Drive Functions 10 5 Diagnostic Error Messages When inputting one of the parameters S 0 0027 or S 0 0329 the following check
416. t be entered as the main mode By activating drive enable and setting drive halt 1 the drive is in primary mode of operation A positioning block is started by e Status change of bit O of parameter S 0 0346 Set up flag for relative command values Note As long as the parameter is not toggled the drive will remain on the actual position or brought to a position controlled standstill In positioning block mode a positioning block is selected e by writing into P 0 4026 Process block selection e or via the parallel inputs with parallel interface in the DKC DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Operating Modes 8 19 Positioning block mode with parallel interface With parallel interface the DKC has special hardware available and acknowledgement of positioning blocks and the status messages is available With a parallel interface ten freely configurable digital inputs and ten freely configurable digital outputs are available By configuring parameters S 0 0145 Signal control word and S 0 0144 Signal status word the positioning interface is determined The signal control word and status word must be configured with a hardware allocation to connector X20 parallel interface Configuration signal control word e Bits 0 5 of positioning block select P 0 4026 Bit 0 5 e Bit 6 S 0 0346 bit 0 e Bit 7 command drive guided referencing S 0 0148 e Bit 8 and 9 jogging input P 0 4056 bit 0 and 1 Configuratio
417. t follow the internally set position command values Check whether the spindle is mechanically blocked Check whether the parameter value in S 0 0159 Monitoring window is sufficiently high and increase if necessary Reduce value in parameter S 0 0138 Bipolar acceleration limit value If the spindle is in the desired position but S 0 0336 Message In position is not signalled The spindle position cannot be held by position control in the positioning window around the position command value Check whether S 0 0057 Position window on 0 if yes change Check whether S 0 0124 Standstill window correctly parametrized Stabilize an erratic actual position value by changing position and speed control parameters gt If actual position value cannot be stabilized increase the value in parameter S 0 0057 Position window Check configuration of S 0 0144 Signal status word and S 0 0013 Class 3 diagnostics Connecting the reference switch Rexroth Indramat See the Project Planning Manual DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS 11 Glossar DOK ECODR3 SMT 02VRS FK01 EN P Glossar 11 1 Data status Every parameter has at its disposal a data status It can be read by the control via the required data channel The information on the validity of the parameter or the command acknowledgment of the command are contained therein Error reaction or response If an error is detected in the
418. t parameters These can however only be used as multiplex data Such IDNs may not be entered in S 0 0024 Config list of the master data telegram If such are entered then C104 Config IDN for MDT not configurable is generated 4 7 SERCOS Interface Error If conditions are detected in the drive that prevent the correct operation of the interface or if error values are recognized during the initialization phase the drive responds by resetting to communication phase 0 This means that no drive telegrams will be sent The drive proceeds with the programmed error reaction see P 0 0119 Best possible deceleration and waits for the reinitialization of the SERCOS ring through the master Possible errors could be e F401 Double MST failure shutdown e F402 Double MDT failure shutdown e F403 Invalid communication phase shutdown e F404 Error during phase progression e F405 Error during phase regression e F406 Phase switching without ready signal Diagnostic of the interface Status The parameter S 0 0014 Interface status is used to analyze the existing initialization error and the current communication phase Error Count for Telegram Interrupts DOK ECODR3 SMT 02VRS FK01 EN P The drive checks every received master synchronization and master data telegram for e the correct receive time set point e the assigned telegram length and e the correct CRC check sum A telegram interrupt is registered with an incrementation in the err
419. t switches in the emergency safety chain Relevant Parameters e 0 0049 Positive position limit value e 0 0050 Negative position limit value e 0 0055 Position polarities e 0 0403 Position feedback value status e P 0 0090 Travel limit parameter e P 0 0222 Status Inputs travel range limits DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 39 Functional principle of travel range limits Type of working Working range limitations Effect of working range limitation range limitation lt Working range z m Machine table Software limitation Software limit switches Axis shut down via NC control unit lt active after see NC control homing cycle unit manual Software limitation go li voue 5 Power down drive package via drive controller after homing cycle see Section 7 6 Power down drive Switch evaluation Travel range gt package brakes at by drive controller maximum acceleration Switch incorporated Safety limit switch Master in master E Stop circuit E Stop circuit l power down Xx0002f1 fh5 Fig 9 47 Effect and ways of limiting the working range There are two methods in the drive itself These are the monitors for e Travel zone limit switches and e Position Limit Values for the axis The travel range is exceeded when either a trav
420. tandstill window e 0 0147 Homing parameter e P 0 0401 Pos corr active correction value How backlash compensation works The function is activated by entering the backlash into parameter S 0 0058 Reversal clearance With this value the actual position value selected via S 0 0147 Homing parameter is corrected while allowing for the motional direction Note Backlash compensation becomes effective if the encoder has its reference dimension Backlash compensation is only active when reference encoder has been referenced This can be done with the help of drive internal referencing procedures It applies For v soll gt S 0 0124 standstill window then x ist x ist For v soll lt S 0 0124 standstill window then x ist x ist corrected value x ist actual position value 1 or 2 Fig 10 27 The affect of backlash compensation on the actual position value Rexroth Indramat 10 28 Optional Drive Functions ECODRIVE03 SMT 02VRS S 0 0051 53 Position feedback 1 2 value p S 0 0051 53 Position feedback 1 2 value corrected S 0 0124 Standstill window PES Fig 10 28 Reversal backlash compensation Displaying the active correction value Parameter P 0 0401 Pos corr active correction value displays the value with which the actual position value has been corrected In other words the parametrized value of S 0 0058 Reversal clearance or 0 is displayed The dis
421. tatus class 3 is 1 it applies if message In target position S 0 0182 Bit10 is active and no slave block has been selected e E248 Interpolation acceleration 0 e E249 Positioning velocity S 0 0259 gt S 0 0091 e E253 Target position out of travel range e E254 Not homed e E255 Feedrate override S 0 0108 0 e E258 Selected process block is not programmed e E264 Target position out of num range See project planning manual Rexroth Indramat 8 40 Operating Modes ECODRIVE03 SMT 02VRS 8 9 Operating Mode Stepper Motor Operations In Stepper motor mode the drive behaves like a conventional stepper motor drive This means that conventional stepper motor controls can be used to control the drive The operating mode is only available in conjunction with the parallel interface This is why it is only used with DKCO1 3 units Note Due to the digital limitation of a stepper motor drive the use of the controller in precision applications is not recommended Rexroth Indramat offers exceptionally well suited drive systems with SERCOS interface for applications such as these It is only available in the main operating mode S 0 0032 Primary mode of operation The drive is in this mode in position control The position command values are set by the relevant stepper motor signals The read in steps are added up and smoothed with a PT1 filter and then specified to the position controller P 0 0099 Position command
422. tches are activated with the parameter P 0 0090 Travel limit parameter Additionally the inputs can be inverted in this parameter OV on E2 3 gt Travel range exceeded P 0 0090 Travel limit parameter C OOOO Bit 0 Negation 0 Travel range switch input 24V gt travel range exceeded 1 Travel range switch input 0V gt travel range is exceeded L Bit 1 Activation 0 Travel range switch is not active 1 Travel range switch is active Bit 2 Response 0 Exceeded travel range is handled as error 1 Exceeded travel range is handled as warning Fig 9 51 Activating and negating the limit switches bit 0 or 1 Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 42 Basic Drive Functions Rexroth Indramat ECODRIVE03 SMT 02VRS Axis Limit Values The monitor for exceeding the axis limit parameters e 0 0049 Positive position limit value e 0 0050 Negative position limit value is executed only if e the encoder system of the active operating mode has been homed i e the position encoder values are in relation to the machine s zero point The S 0 0403 Position feedback value status is therefore 1 and e the monitor for the axis limit values in S 0 0055 Position polarities bit 4 was activated It is recognized that the axis limit values have been exceeded if the position feedback value of the active operating mode exceeds the travel range set by the axis limit values B
423. te after switching control voltage on 1 1 C Communicating with ASCII protocol 1 10 Communicating with SIS protocol 1 20 Communications via RS232 interface 1 3 Communications via RS485 interface 1 3 Connection techniques 1 32 E Ending a command 1 19 Error during parameter transmission 1 25 Error with ASCII communication 1 25 Error with SIS communication 1 25 Execution and protocol acknowledgement 1 25 F Features 1 3 Features 1 3 1 6 G General parameter structure 1 9 O Operating several drives with DriveTop 1 4 P Parametrization and diagnosing with a PLC 1 4 Parametrization mode 1 16 Passive mode 1 1 Possible commands in drive 1 23 Q Querying command status 1 18 R Read accessing a parameter 1 12 Read accessing list parameters 1 15 Read accessing with following telegrams Service 0x01 1 29 RS232 mode 1 1 RS485 mode 1 1 Rexroth Indramat 2 2 Index Rexroth Indramat ECODRIVE03 SMT 02VRS S Service 0x01 Terminating a data transmission 1 21 Service 0x80 read parameter 1 21 Service 0x81 read a list segment 1 22 Service 0x8E write a list segment 1 22 Service 0x8F write eines Parameters 1 22 Set absolute measurement 1 16 Setting the drive address 1 2 Single read access Service 0x00 1 28 SIS protocol 1 6 1 28 Starting a command 1 16 1 23 Structure des Telegram heades 1 7 Structure of the user data field 1 9 Structure of the User Data Head 1 8 Structure Telegram frame 1
424. telegram frame is used but instead the transmitted AS Cll symbol is converted and interpreted It is only necessary to maintain a specified order Features This is a binary protocol A checksum test is conducted higher Hamming distance D All telegrams are identified by an unequivocal start symbol There is a defined telegram frame structure It is possible to trigger movements via an SIS telegram e g jogging Structure Telegram frame An SIS telegram is basically broken down into three blocks Telegram head user data head user data head Telegram head User data User data head Fig 1 6 The structure of an SIS telegram DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 7 Byte name Telegram Head Structure Definition of the individual telegram bytes Start symbol STX 0x02 This is the checksum byte It is generated by adding all subsequential telegram symbols as well as the start symbol StZ and concluding negation In other words the sum of all telgram symbols always equals 0 if the transmission was successful 1 siz 2 CS DatL The length of the subsequential user data and the variable part are in the frame protocol Up to 247 bytes 255 7 subaddresses 1 running telegram number user data can be transmitted in one telegram 4 DatLW The repetition of DatL takes place here The telegram length is generated from the DatLW and the fix
425. tems with one or several reference marks such as the LS linear scaling of the Heidenhain Company Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 81 e Type 4 Incremental measurement systems with distance coded reference marks such as the LSxxxC linear scaling of the Heidenhain Company The drive internal detection for the configuration of the reference marks is done with the settings of the corresponding position encoder type parameter S 0 0277 Position feedback 1 type for motor encoder or S 0 0115 Position feedback 2 type for optional encoder In these parameters you set with bit O whether it s a rotary or a linear measurement system and bit 1 decides whether the measurement system has distance coded reference markers Bit 0 encoder type 0 rotary 1 linear Bit 1 distance coded measuring system 0 no distance coded reference marker 1 distance coded reference marker S 0 0165 S 0 0166 Bit 3 direction of movement 0 non inverted 1 inverted Bit 7 6 absolute evaluation x 0 no absolute evaluation possible Bit 7 irrelevant 0 1 absolute evaluation possible and permitted gt encoder treated as absolute encoder 1 1 absolute evaluation possible but not Fig 9 81 Structure of the position feedback type parameters S 0 0115 S 0 0277 Note For measurement systems with their own data memory Type 1 this setting is done automatically S
426. ter telegram send and receive times are stored in the following parameters within the drive e 0 0003 Minimum AT transmit starting time T1min e S 0 0004 Transmit receive transition time TATMT e 0 0005 Minimum feedback acquisition time T4min e S 0 0088 Receive to receive recovery time TMTSG e S 0 0090 Command value transmit time TMTSG The SERCOS Master calculates from the information received from all drives the time slot parameters for the operation of the communication phase 3 Those values are transferred to the drive in communication phase 2 through the parameters Rexroth Indramat 4 10 Communication Through the SERCOS interface ECODRIVE03 SMT 02VRS e 0 0002 SERCOS Cycle time Tscyc e 0 0006 AT Transmission starting time T1 e 0 0007 Feedback acquisition starting time T4 e 0 0008 Command valid time T3 e 0 0009 Beginning address in master data telegram e S 0 0010 Length of master data telegram e 0 0089 MDT Transmit starting time T2 The drive checks these settings while processing the command S 0 0127 C100 Communication phase 3 transition check The following error messages may appear e C101 Invalid communication parameter S 0 0021 e C108 Time slot parameter gt Sercos cycle time e C109 Position of data record in MDT S 0 0009 even e C110 Length of MDT S 0 0010 odd e C111 ID9 Record length 1 gt length MDT S 0 0010 e C112 TNcyc S 0 0001 or TSc
427. terface e Drive for General Automation With Fieldbus Interfaces The following function description relates to the firmware variant e Drive for Machine Tool Applications With SERCOS Analog and Parallelinterface For each listed variant there is individual documentation Rexroth Indramat 1 2 System Overview ECODRIVE03 SMT 02VRS 1 3 Drive Controllers and Motors Available controllers The drive controller family of the ECODRIVE03 generation is at present made up of eight different units These differentiate primarily in terms of which interface is used command communications e DKCO01 3 Parallel interface e DKC11 3 Analog interface e DKC21 3 Parallel interface 2 e DKC02 3 SERCOS interface e DKCO03 3 Profibus DP interface e DKC04 3 InterBus interface e DKC05 3 CANopen interface e DKCO06 3 DeviceNet interface Each of these drive controllers is in turn available in a 40 A 100 Aora 200 A version Supported motor types With ECODRIVEO3 firmware it is possible to operate e synchronous motors for standard applications up to 48 Nm e synchronous motors for increased demands of up to 64 Nm e asynchronous motors for main spindle applications e asynchronous kit motors e linear synchronous and asynchronous motors 1 4 Function Overview FWA ECODR3 SMT 02VRS MS Command Communications Interface e SERCOS interface e Parallel interface e Analog interface Possible Operating Modes e torque control e velocity control
428. th Indramat GmbH Bgm Dr Nebel Str 2 e D 97816 Lohr a Main Telephone 09352 40 0 e Tx 689421 e Fax 09352 40 4885 http www rexroth com indramat Dept ECD MK JR This document has been printed on chlorine free bleached paper DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS About this Documentation Summary of Documentation Box Functional Description Description of all implemented Function based on SERCOS Parameters Order designation DOK ECODR3 SMT 02VRS FK01 EN P re Parameter Description A description of all parameters used in the firmware PA Order designation DOK ECODR3 SMT 02VRS PA01 EN P Troubleshooting Guide Explanation of the diagnostic states How to proceed when eliminating faults gt er WA Order designation DOK ECODR3 SMT 02VRS WA01 EN P Firmware Version Notes Description of new and changed functions Bae in terms of the derivatives Z Order designation FWA ECODR3 SMT01VRS M 9 SMS DOK ECODR3 SMT 02VRS 7101 EN P Order designation DOK ECODR3 SMT 02VRS FV01 EN P Project Planning Manual Planning control cabinet construction Planning the electric layout in the control cabinet Order designation DOK ECODR3 DKC 3 PR01 EN P A CD DRIVEHELP G Collection of Windows help systems which oe contain documents on firmware derivatives Orde
429. th position limit value Absolute positioning blocks are only executed if the target position lies within the allowable travel range Absolute positioning with target position 700 S 0 0124 a window speed profil x 200 x 700 ae i 1 II I l P 0 4026 01 i Process block selection l l P 0 4051 Process block acquittance 0M II I II AH l S 0 0134 Master control word Bit 13 L target position reached TE i i S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill oe S 0 0182 Manufacturer class 3 diagnostics Bit 1 i Il S 0 0346 Setup flag for relative command values gt le lt 4ms t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV0001D2 fh7 Prerequisite Reference position Rexroth Indramat Fig 8 19 Absolute positioning block Relative positioning Parameter P 0 4019 Process block mode 2 Relative positioning blocks are executed if the drive has not been referenced In relative positioning blocks without residual path storage the target position in the positioning blocks are added to the current position DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Residual path Chain dimensional reference Operating Modes 8 21
430. th this parameter e 0 0259 Positioning Velocity This sets the speed for the control loop settings If the value is not high enough the command error D903 is generated e 0 0260 Positioning Acceleration The maximum positioning speed is set here If the value is not high enough then command error D903 is generated Note The reasons that command error D903 Inertia detection failed is generated can either be an excessive inertia a too slow speed acceleration or torque Rexroth Indramat 9 72 Basic Drive Functions ECODRIVE03 SMT 02VRS Conducting Automatic Control Loop Settings Triggering a motion by starting command D900 Rexroth Indramat Note 1 The execution of the settings is connected with a drive motion This means that the drive moves in terms of the travel range fixed in parameters P 0 0166 and P 0 0167 or P 0 0169 2 The parameter settings needed to conduct the command must be generated prior to command start Start command Initiated by writing into parameter P 0 0162 D900 Command Automatic control loop adjust with binary numeric value 3 11b command start Tripping a motion An axis motion and thus the execution of a setting is only possible if the signal Drive halt has not been set Otherwise D900 Command automatic loop tuning at the appears in the display start of the command and the axis does not move velocity profile vA Sandi wihdby SLE ee ee fon f
431. that it cannot comply with the position command value Minimum values for accel and jerk Accel values that are too small can also cause problems which is why the following should be taken into account with fixing the positioning blocks e Minimum accel value 2 3 speed difference Vin V 2t arg etpositiondifference E x X acceleration gt n l Xn 1 targetposition of the block n 1 Vn block speed n Vn 1 blockspeedn 1 Fig 8 33 Minimum accel value with following block mode translatory Rexroth Indramat 8 36 Operating Modes Rexroth Indramat Explanation ECODRIVE03 SMT 02VRS Note The above relationship applies to a very large jerk i e a jerk filter that has been switched off 0 If such a filter is used then the computed values are doubled The stretch to be run with a block and its speed are generally fixed in percents If the minimum accel value computed already causes the maximum value of the previous section to be exceeded then a lower positioning speed must be selected e Minimum jerk value If accel values are parametrized too small then this could mean that the parametrized speed is not reached What results is a Triangular mode Directional change within a following block chain Note If a directional change takes place when changing block n to block n 1 of a following block then mode Switching at target position with halt should be used to reverse t
432. that the drive does not remove the enable fast enough Using Bit5 1 it is possible to switch off every response to undervoltage in the DC bus mains errors or mains section errors Only one warning is generated If either the mains section or controller detect undervoltage in the supply network mains error then a softstart is initiated by the mains section for the power supply mains coupled via the bleeder resistor If the control does not response by bringing the machine to a standstill then in response to this warning error F220 Shutdown due to bleeder overload could be generated DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 51 NC Response in Error Situation NC response during an error situation is only possible during non fatal errors Otherwise the drive reacts immediately with an error response If the drive control device recognizes an error it sends a message to the control CNC The control can then decelerate the servo axis of the machine thus preventing damage If this is desired you have to delay the drive error reaction to allow the axis to continue movement to the values set by the control This is achieved by setting the time delay between the recognition of the error and the drive s error reaction This can be set in parameter P 0 0117 NC Reaction on Error The following applies Value of P 0 0117 Function 0 Drive proceeds the error reaction immediat
433. the RAM An error occurred during programming A memory cell in the flash could not be write accessed Check whether the target address is actually in the RAM If the error continues then the firmware module ESF02 1 must be replaced 0x9701 dL 0d Wrong checksum The programmed checksum is checked at the end of the updating of the firmware module This check went wrong Reprogram the module check the checksum of the source file ibf 0x9702 dL 0e CRC32 checksum faulty The programmed CRC32 checksum is checked at the end of the updating of the firmware module This check went wrong Reprogram the module check the checksum of the source file ibf Additional Problems when Loading Firmware The programming of a module was terminated Problems on the serial interface can lead to the termination of a transmission In the event that the loading procedure of the FBC module was terminated then do not switch the unit off This module is responsible for starting the firmware and therefore absolutely necessary A module that has not been completely programmed can simply be reprogrammed open ibf file press transmit button in the Send window select Module single and by skipping find the right module Now press the send button After the unit is switched on the display reads dL The last programming procedure with Dolfi was not correctly completed To leave the firmware loader on one or all of the modules of an i
434. the drive stops with the programmed homing acceleration Once a speed is reached that is less than the value set in S 0 0124 Standstill window then the switch to the coordinate system position feedback value switching is performed and the successful completion of the command is signalled e Positioning After the necessary movements to detect the reference swtich or marker have been completed the drive positions at the reference point This point for non distance coded measuring systems is the sum of the position of the relevant reference mark switch trigger edge plus the reference dimension offset The reference point for distance coded encoders is the position of the 2 overtravelled reference marker e Running paths During the homing procedure the drive runs a specific path This mode is only possible with distance coded measuring systems The path is fixed by what has been set in parameter S 0 0165 distance coded reference 1 By following off the path that has been programmed here it is assured that the drive will always overrun two sequential markers This function makes sense for example in gantry axes parallel mechanically coupled axes equipped with distance coded measuring systems By activating this mode in all of the coupled axes it is ensured that at the simultaneous start of command S 0 0148 C600 Drive guided reference every drive will run the same profile Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 9 86
435. the new unit means that the features of the replaced unit have been transferred to the new one Home Switch If during the command S 0 0148 C600 Drive controlled homing several reference marks can be reached within the travel range it s the home switch which must specify one singular mark The home switch is connected to the respective input at the drive and activated by bit 5 in S 0 0147 Homing Parameter This input is mirrored in the parameter S 0 0400 Home switch Scaling The combination of unit and number of decimal places of a parameter are defined as scaling It can be set for position velocity and acceleration data SERCOS interface Digital interface for communication between control and drives in numerically controlled machines One or multiple ring structures are implemented The physical connection of the participants generally implements a fiber optic cable Service Channel The non cyclic reading and writing of parameters via the SERCOS Interface is done in the service channel DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS 12 Index DOK ECODR3 SMT 02VRS FK01 EN P Index 12 1 0 0x1001 ID number not available 10 5 0x7008 Data not correct 10 5 0x9002 dL 00 Firmware was cleared 3 31 0x9003 Loading into phase 3 not allowed 3 32 0x9004 Loading into phase 4 not allowed 3 32 0x9102 dL 03 Firmware was cleared 3 32 0x9103 Restart in phase 3 not allowed 3 32 0x9104 Restart in phas
436. the operation mode of the drive The contents of this data block can be configured through the telegram settings The master data telegram is received by all drives in the ring at the same time In addition a Drive Telegram AT is sent during each Sercos cycle time from every drive to the control The drive status word the service channel and a configurable data block are contained here This data block contains mainly feedback and status values which are needed to operate the corresponding drives by the control Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 4 2 Communication Through the SERCOS interface ECODRIVE03 SMT 02VRS Master Control Word Rexroth Indramat The master control word is part of the Master Data Telegram The most important control information for the drives is contained here such as e Drive ON and Drive enable e Drive Stop e interpolator cycle e Set operation mode e Real time control bit 1 and 2 e Control information for the service channel The master control word is structured as follows aaa control word TREE Bit 0 5 control information for service channel Bit 6 u 7 Real time control bits 1 and 2 Bit 8 u 9 Command mode 00 main operating mode 01 1 auxiliary operating modes etc Bit 10 IPOSYNC interpolator pulse toggles if new command values to be transmitted Bit 13 Drive HALT 1 0 change standstill of drive while maintaining maximum acceleration S 0 0138 only p
437. the parameters for motor features peak current maximum velocity etc using the data sheet or with DriveTop using data from the motor data bank e the parameters for the motor temperature warning and off thresholds must be parametrized as well e and given a motor holding brake these parameters must be properly set also Those motors with data memory such as e MHD MKD MKE motors are recognized by the drive and motor parameters are automatically set See also chapter Setting the Motor Type IBS 2 Determining the Operating Mode In this step the main and auxiliary operating modes are selected Operating mode specific settings must be made In particular necessary limit values optionally usable filters and the available operating modes must be defined Note The initialization of the operating mode in drives with SERCOS interface is set automatically by the control Also see section Operating Modes IBS 3 Presetting the axis mechanics and measuring systems In this step the parameters needed for determining and processing position velocity and acceleration data are set These include the following parameters for the following settings e mechanical gear ratio between motor and load as well as any existing feedrate constants of the drive of linear slides e scaling settings for showing position velocity and acceleration parameters of the drive This sets for example whether the data is motor shaft or load
438. the relevant corresponding marker position S 0 0173 Marker position A Once the reference marks have been acquired the drive acknowledges the command Determine marker position When both gantry axes have acknowledged the command the NC control must brake the drives to a standstill Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Basic Drive Functions 9 105 3 Determining the reference mark offset AS AS Markerposition axis X1 Marker position axis x2 S 0 0173 Marker position A S 0 0173 Marker position A e Compute and enter reference offset 2 of each axis For the axis whose reference mark occurs first it applies 2 S 0 0151 Reference offset 2 Se AS 2 x aref AS reference mark spacing V S 0 0041 Homing velocity ref a S 0 0042 Homing acceleration Fig 9 110 Computing S 0 0151 reference offset 2 for the axis whose reference mark occurs first For the axis whose reference mark occurs last it applies Vref 2 X aref S 0 0151 Reference offset 2 Viep 970 0041 reference travel velocity a S 0 0042 reference travel acceleration Fig 9 111 Computing S 0 0151 reference offset 2 for the axis whose reference marks occurs last Danger A reversal of direction of travel of one of the two drives may lead to accidents This will happen when the values entered in Reference Offset 2 are lower than the computed ones The polarity of para
439. theastern Technical Center 99 Rainbow Road USA East Granby Connecticut 06026 1 860 8 44 83 77 1 860 8 44 85 95 Telefon Service HOTLINE 1 800 860 1055 7 days 24hrs Kundenbetreuungsstellen auBerhalb Europa USA Service agencies outside Europe USA DOK ECODR3 SMT 02VRS FK01 EN P 285849 Printed in Germany Rexroth ndramat
440. thereby lead to a shutdown of the drive if this state continues Warning Classes Warnings can be separated into 2 classes They are differentiated by whether the drive executes an automatic reaction when the warning appears Diagnostic Warning Class Message Drive Response With drive response E8xx reacts on its own specifically in terms of any occurring warnings Without drive response E2xx e Fig 3 6 Breakdown of the Warning Classes Note Warnings cannot be cleared externally They pend until the conditions that lead to the warning are no longer present Rexroth Indramat 3 10 General Instructions for Installation ECODRIVE03 SMT 02VRS Error The error class is evident from the diagnostic message Errors must be externally cleared Rexroth Indramat Many areas are monitored in connection with operating modes and parameter settings An error message is generated if a condition is encountered which no longer allows proper operation Error Classes Errors are separated into four different drive s error response Diagnostic Error Class Message Drive Response Fatal F8xx Torque free switching Travel range F6xx Velocity command value switched to zero Interface F4xx In accordance with best possible deceleration Non fatal F2xx In accordance with best possible deceleration Fig 3 7 Error class divisions Drive s Error Response If an error state is detected in the
441. tialization Checking controller type Absolute encoder monitoring General Instructions for Installation 3 17 The physical values of parameters input format with decimal places and units are converted to internal formats This conversion is monitored If incongruencies are detected during this process then command error e C203 Parameter calculation error gt S 0 0022 is generated The ID number of the faulty parameter is listed in e 0 0022 IDN list of invalid op data for comm Ph 3 and must be corrected Encoder initialization is listed Errors can occur depending on encoder type e g index length wrong in DSF feedback Then one of the following command errors e C220 Feedback 1 initializing error e C221 Feedback 2 initializing error are generated Depending on controller type various internal settings are performed if parameter S 0 0140 Controller type cannot be read then command error e C228 Controller type S 0 0140 wrong is generated If the actual position of an absolute encoder is outside of the range of the last actual position prior to the last shutdown P 0 0097 Absolute encoder monitoring window then error e F276 Absolute encoder out of allowed window is generated The transition command is wrongly acknowledged but instead the error must be cleared with the execution of command S 0 0099 C500 Reset class 1 diagnostic Also see section Clearing Error 3 3 Commissioning Guidelin
442. tics 3 27 class 3 diagnostics 3 28 mask class 2 diagnostics 3 28 mask class 3 diagnostics 3 28 Status Messages for the Oscilloscope Feature 10 18 Stepper motor controls 8 40 Stepper motor mode 6 6 8 40 Stepper motor signal processing 8 41 Stop 5 2 Supplementary settings for absolute measuring systems 9 26 Supported measuring systems 1 3 Supported motor types 1 3 Switching signal dependent block commutation 8 31 Switching the co ordinate system 9 108 9 109 Switching to zero 9 47 Switch on Position larger than the switch off Position 10 31 Switch on position smaller than the switch off position 10 31 Synchronization 3 29 Synchronous kit motors 7 11 Synchronous motors 7 9 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P Index 12 13 Synchronous motors LSF Commutation offset 7 14 Synchronous motors MBS Commutation offset 7 17 T Taking drive limits into account with following blocks 8 35 Telegram Configuration SERCOS Telegram Configuration 4 9 Telegram Contents 4 10 Telegram Transmit and Receive Times 4 9 Temperature check 7 1 Temperature Monitoring of the motor temperature 7 3 The Data Status 3 1 The programming of a module was terminated 3 33 Thermal overload Controller check 9 33 Timeout during reset 3 31 Timeout when programming flash 3 31 Torque control 8 2 limiting the command value 8 2 monitoring the actual velocity 8 3 relevant diagnosis 8 2 structure 8 2 Torque limi
443. time is too small then the error reaction is terminated and the motor holding brake activated at a speed greater than 10 UPM This will damage the brake if permitted to continue over ATTENTION extended periods of time Command Release motor holding brake Rexroth Indramat The open holding brake command as specified in P 0 0542 B100 Command Release motor holding brake is used to release the holding brake if the drive enable has been switched off First the command must be enabled using bit 9 in the P 0 0538 Motor function parameter 1 The motor holding brake is opened upon activation of the command Upon completion of the command the brake is again applied Given an active command to switch drive enable on and off then the brake is again closed Releasing the holding brake on a vertical axis may lead to unwanted motion ATTENTION DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Motor Configuration 7 25 Monitoring the Motor Holding Brake Applying drive enable Removing drive enable DOK ECODR3 SMT 02VRS FK01 EN P The holding brake monitor can be executed each time the drive enable is switched off or on or by executing command Brake monitor An automatic check necessitates that bit 10 is set in motor function parameter P 0 0538 Motor function parameter 1 Automatic Checks When applying the drive enable the opening of the brake is checked This means that the drive is run at maximum decel
444. tinuous torque at standstill of the motor should not be exceeded e during the acceleration phase 80 of the maximum torque of the motor controller combination may not be exceeded e the thermal load of the drive amplifier should equal a maximum of 80 See also chapter Current Limit With vertical axis the weight compensation must be set so that the current consumption with upwards and downwards motions of the axes have the same minimum value Check the regenerated peak power and regenerated continuous power Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS General Instructions for Installation 3 23 3 4 Diagnostic Configurations Overview of Diagnostic Configurations The diagnostics are configured into 2 groups e options for recognizing the current operating states of the priority dependent drive internal generation of diagnoses e collective messages for diverse status messages Additionally there are parameters for all important operating data that can be transmitted both via the command communications SERCOS Profibus as well as the parametrization interface RS 232 485 in the ASCII protocol or SIS serial Rexroth Indramat protocol Drive Internal Diagnostics The current operating condition of the drive is evident by which errors warnings commands and drive stop signals are available and which operating mode is active Whether the drive is in preparation for operation or in paramet
445. tion detected therefore depends considerably on the speed at the time of overrun Cam 2 Can 1 Drive reaction 0 drive runs to target position of block n xX 0 gt 1 block n 1 started 0 gt 1 X block n 2 started Fig 8 29 Drive reaction with different switching signal sequences X Don t Care n positioning block selected via parallel inputs or parameter P 0 4026 Process block selection Rexroth Indramat 8 32 Operating Modes ECODRIVE03 SMT 02VRS S 0 0124 Standstill window vt speed profil target position block 3 P 0 4026 l Process block selection 02 l l P 0 4051 Process block acquittance 02 A cam 2 l l P 0 4057 Positioning block input linked blocks Bit 1 cam 1 P 0 4057 Positioning block l input linked blocks Bit 0 AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 l S 0 0346 Setup flag for relative command values gt t Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition Sv0010d2 fh7 Fig 8 30 Example switching signal dependent block commutation No switc
446. tions an appropriate position controller setting will lie between 50 and 80 of the critical position controller loop gain This means S 0 0104 Position Loop KV Factor 0 5 0 8 Kvcrit Rexroth Indramat 9 64 Basic Drive Functions ECODRIVE03 SMT 02VRS Position Control Loop Monitoring The position control loop monitor helps to diagnose errors in the position control loop Reasons for errors in the position control loop can be e Exceeding the torque or acceleration capability of the drive e Blocking of the axis mechanical system e Disruptions in the position encoder The monitoring of the position circuit is only active when an operation mode with closed position loop is active in the drive To set and check the monitoring function two parameters are used e 0 0159 Monitoring Window e P 0 0098 Max Model Deviation If the drive detects an error in the position control loop the error message e F228 Excessive deviation is issued General Operating Characteristics of Position Control Loop Monitoring To monitor the position control loop a model actual position value is computed which depends only on the commanded position profile and the set position loop parameters This model position is compared continuously to the actual position If the deviation exceeds S 0 0159 Monitoring Window for more than 8msec an error F228 Excessive deviation will be generated Position command value Position feedback value
447. tor LSF Note The distance is measured from the end which the motor power cable is not attached distance to be measured between primary and mounting screws on secondary part power connection gt north pole marked d iinaiy secondary part Ek5021f1 fh7 Fig 7 25 Overview determining commutation offset with an LSF After the value has been entered it is necessary to start command P 0 0524 D300 Commutation adjustment command The commutation offset is computed at this time Note If the drive is in control at the time the command is started i e drive enable is set and drive is in torque control mode then the commutation offset is determined with current flow procedure Application 2 See Alternative in Fig Determining commutation offset in synchronous motors The command must be reset to 0 at completion Rexroth Indramat 7 16 Motor Configuration Used Parameters involved Rexroth Indramat ECODRIVE03 SMT 02VRS Application 2 Current flow procedure start using command P 0 0524 D300 Commutation adjustment command The machine can be damaged if the procedure is performed incorrectly Restrictions noted in section Current flow DANGER procedure restrictions Application 2 and 3 must be taken into account This procedure is used in the following situations e The commutation procedure must be completed only once at first start u
448. tor holding brake control t gt P 0 0526 Brake control delay Power stage enable is switched off Fig 9 59 Time sequence of the error reaction return motion Error reaction Return motion with position limit values activated If the drive internal position limit values S 0 0049 positive position limit value and S 0 0050 negative position limit value have been activated in other words e in S 0 0055 position polarity parameter bit 4 for activating the position limit value has been set to 1 and e the encoder set in S 0 0147 homing parameter bit 3 is in reference S 0 0403 position status 1 then the drive will not leave the travel range set when executing the error reaction return motion Note If the drive is in a position that would take it outside of the position limit values when executing a return motion then the drive will in this case move to a position just in front of the relevant position limit value precisely by S 0 0057 Positioning window in front of the position limit value Project planning prescribes that power must be turned on via the BB contact This means that power can only be switched on if the BB relay is closed On the other hand powering up requires the BB contact to open The signalling of a drive error to the drive package or the power supply module can be activated via parameter P 0 0118 Power off on error Communication utilizes signal BBdrive X11
449. tragung Zeichen gt Verbindung pr fen kette aus Schritt 4 mit Empfangsbuffer vergleichen String Compare y Compare ok nein P Ubertragungsfehler ja y Schritt 7 T Request aus dem Empfangs gt B X buffer l schen Alle Zeichen bis KA zum 1 CR inclusive Teil 2 B nachste Seite FD5005B1 WMF Fig 1 15 Write accessing list parameters part 1 Rexroth Indramat 1 14 Serial Communikations ECODRIVE03 SMT 02VRS A N Part 1 B page before B y _ Next character in receiver Error occurred during lt buffer yes parameter access Error code xxxx v Part 1 A page before More elements gt yes gt A no y Step 8 Close list send end character lt CR no Step 9 character received Character sequence gt found in receiver buffer SES E Contents of receiver buffer yes 77 lt CR xxxx CR E01 gt Step 10 Clear request from receiver buffer All characters to 1st CR inclusive A er Sa Error occurred during received _ gt yes P parameter access N D pA Error code Xxxx nee i no v Parameter list successfully written FD5006B1 WMF Fig 1 16 Write accessing list parameters part 2 It is important to conclude the input with a lt symbol as only then will be
450. troller Command value a l 5 processing Position Velocity urrent Position control controller controller controller Position Velocity command Torque power value command Fig 8 8 Position control block diagram Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 8 8 Operating Modes ECODRIVE03 SMT 02VRS Command value processing Position Control A command velocity is formed from two successive position command values The S 0 0001 NC Cycle Time TNcyc acts as the time base The instructions for calculating the command velocity are as follows Position command value k Position command value k 1 S 0 0001 Vcommand Vcommand Command velocity Fig 8 9 Calculating the command velocity This velocity is monitored to see if it exceeds S 0 0091 Bipolar Velocity Limit Value see also Position Command Value Monitoring If S 0 0091 is exceeded the error F237 Excessive position command difference is generated The commanded position profile can be filtered with the parameter P 0 0099 Position command smoothing time constant The position loop is closed every 1000usec The position command value is also fine interpolated within the NC cycle time There is either a linear or a cubic interpolator available Switching between the two is implemented through bit O of P 0 0187 Position command value processing mode In general the cubic interpolator is recommended
451. tting of the commutation offset with the values stored in parameters P 0 0560 Commutation adjustment current and P 0 0562 Commutation adjustment periodic time If commutation offset cannot be determined with these values then they are changed and a new attempt is started This means that first P O 0560 Commutation adjustment current is increased to twice the motor standstill current Then P 0 0562 Commutation adjustment periodic time is increased to 128 milliseconds Note By changing the parameter values the time that the drive needs for the commutation setting can increase considerable up to two minutes This is why an initial start up is recommended The values described above for P 0 0560 Commutation adjustment current and P 0 0562 Commutation adjustment periodic time are determined and stored in the parameter module These are then available as start values for setting the commutation offset which is started after transition into operating mode This means that the drive saves the time needed to determine the best parameter for the commutation setting Conducting the initial start up 1 Switch drive into operating mode and power on 2 Execute command P 0 0524 D300 Commutation adjustment command The drive runs the commutation setting At the end the determined values are stored in the parameter memory in parameters P 0 0560 Commutation adjustment current and P 0 0562 Commutation adjustment periodic time They can be u
452. ty loop control criteria for triggering 9 62 Velocity Mix Factor Functional Principle 9 67 Velocity threshold 3 28 3 29 W Warning Classes 3 9 Warnings 3 9 Exceeding the Travel Range 9 40 Warning Classes 3 9 Write Accessibility 3 2 X X3 Connection of the Emergency Stop Input 9 52 Z Zero pulse 10 35 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 Drive for Machine Tool Applications With SERCOS Analog and Parallelinterface Supplement A Serial Communication SMT 02VRS DOK ECODR3 SMT 02VRS FK01 EN P About this documentation ECODRIVE03 SMT 02VRS Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Contents 1 Serial Communikations ET ATONEN uea a E E a a E EE 1 2 Pertinent ParameteiSi coiere iiai aiei a iiia t3 Function Prmneiple nerc eaea ati a eee A i Basic State once the Control Voltage is Switched ON seeeee Setting the Drive Address ccccceeeeeeeeeeeeeeeaeeeeeeeeeeeeesaeeesaeeeeeeeeeeees Communications via RS232 Interface ccccccceeeeeeeeeeeeeeeeeeeeteeeeeeeeees Communications via RS485 Interface ccccceeeeeeeeeeereeeeeeeeeneeeeeeeeees 14 Transmission Protocols 63 60 see feeielectih wii stellen eet eee ASCII ProtoCol ii en a dokete esis a an SIS Protocol sat ni eana eli ated 1 5 Communications procedures cccccccceeeeeeeeeeceeeeeeeeeeeeeeseaeeeseaeeeeneeeeneeess General Information on the Parameter Structure Communicating w
453. ua the RS232 485 can switch from parametrization and operating mode as long as the drive is not in control mode and command communications is not active DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS General Instructions for Installation 3 13 The switch from parametrization to operating mode is controlled by starting and ending commands e 0 0127 C100 Communication phase 3 transition check e 0 0128 C200 Communication phase 4 transition check e P 0 4023 C400 Communication phase 2 transition If the drive reaches phase 4 without an error then on the 7 segment display on the front of the drive amplifier the message H1 bb appears The corresponding diagnosis is A013 Ready for power on ommunications phase 4 transition check S 0 0128 communication phase 3 phase 4 to 2 P 0 4023 ommunications phase 3 transition check 0 0127 communication phase 2 communication phase 1 communication phase 0 Only with SERCOS Fig 3 8 The communications phases Note The evaluation of the measuring systems as well as the processing of the encoder emulation s only takes place in operating mode Switching from operating mode into parametrization mode means that these functions are no longer active The switch into operating mode always starts a new initialization of all the functions within the drive Checks in the Transition Commands To switch from communications phase 2 to
454. umber of preset numbers This parameter is constructed in terms of a list parameter and transmits the ID numbers of the possible signals Rexroth Indramat 10 14 Optional Drive Functions Rexroth Indramat External trigger P 0 0025 0x01 Internal trigger P 0 0025 0x02 ECODRIVE03 SMT 02VRS Expanded Oscilloscope Recording Function In addition to the oscilloscope feature with preset signals the drive also allows for recording of any desired internal signals Use of this feature is meaningful only with information about the structure of the internal data memory therefore this feature can be used effectively only by the corresponding developer The feature can be activated with the Signal Selection P 0 0023 amp P 0 0024 parameters by setting bit 12 1 The format for the data to be saved can be defined with bit 13 P 0 0023 amp P 0 0024 Oscilloscope Function Signal Selection ai ane a Bit 12 Expanded oscilloscope function ON Bit 13 Data width of the measurement values 0 16 Bit 1 32 Bit Fig 10 9 Structure of Parameters P 0 0023 and P 0 0024 If the expanded signal selection is parameterized then the desired signal address can be defined in parameters P 0 0147 Expanded signal K1 address and P 0 0148 Expanded signal K2 address During the recording process the contents of the selected addresses are saved in the lists of scope data Note If a 16 bit data width is selected
455. used in conjunction with the following applications vertical axis without weight compensation Hanging DANGER axes or a jammed or blocked axis This application may only be used after the drive developer has been consulted and given permission Rexroth DOK ECODR3 SMT 02VRS FK01 EN P Indramat 7 14 Motor Configuration ECODRIVE03 SMT 02VRS Pre requisites Overview Parameters involved Additional pre requisites To successfully conduct this procedure the following conditions must first be met The rotational direction of the encoder must be set first for rotary motors If the motor moves clockwise looking onto motor drive shaft then the value in parameter S 0 0051 Position feedback 1 value must be increasing for linear motors If the primary part is moving to the direction of the front where the power cable of the motor branches off see Fig 7 25 Overview determining commutation offset with an LSF then the value in parameter S 0 0051 Position feedback 1 value must be increasing The position polarity in S 0 0055 Position polarities may not be inverted in this case If the value moves in the wrong direction then the motional direction of the motor encoder has to be inverted Bit 3 of S 0 0277 Position feedback 1 type is used for this purpose Also see section Command Polarities and Actual Value Polarities or Motor Encoder The current and velocity control loop parameters must
456. ute transmission too long 0x3004 attribute cannot be changed 0x3005 attribute presently write protected 0x4001 unit not available 0x4002 unit transmission too short 0x4003 unit transmission too long 0x4004 unit cannot be changed 0x4005 unit presently write protected 0x5001 minimum input value not available 0x5002 minimum input value transmission too short 0x5003 minimum input value transmission too long 0x5004 minimum input value cannot be changed 0x5005 minimum input value presently write pro tected 0x6001 maximum input value not available 0x6002 maximum input value transmission too short 0x6003 maximum input value transmission too long 0x6004 maximum input value cannot be changed 0x6005 maximum input value presently write pro tected 0x7002 data transmission too short 0x7003 data transmission too long 0x7004 data cannot be changed 0x7005 data presently write protected 0x7006 data smaller than minimum input value 0x7007 data greater than maximum input value 0x7008 data not correct 0x7009 data password protected Fig 1 28 Error specification per SERCOS Rexroth Oo Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Serial Communikations 1 25 Error with ASCII Communication The following error messages specifically occur when communicating with an ASCII protocol Error code Explanation 0x9001 fatal error symbol cannot be identified 0x9002 parameter type error 0x9003 invalid data block number
457. value generator reaches the target position Very small jerk values result in a creeping to target position which is like a dwell time S 0 0124 Standstill window speed profil target position block 1 target position block 2 P 0 4026 Process block selection P 0 4051 Process block acquittance AH S 0 0134 Master control word Bit 13 target position reached S 0 0182 Manufacturer class 3 diagnostics Bit 12 Standstill S 0 0182 Manufacturer class 3 diagnostics Bit 1 S 0 0346 Setup flag for relative command values Rexroth Indramat Y 01 y Positioning inputs valid Positioning acknowledgement outputs show the negated status of the positioning inputs Positioning acknowledgement outputs do not show that after valid record acceptance the position inputs are in an inverted condition SV5012d1 Fh7 Example Following block commutation with target position with intermediate halt Fig 8 28 DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Switching with cams Definition Reference position Allocation table for cams DOK ECODR3 SMT 02VRS FK01 EN P Operating Modes 8 31 Note This mode should be used if there is a change in direction with two sequential following blocks within one following block change Otherwise the position at which the direction is to be changed will be overrun 2 Sw
458. values Velocity control is the mode set Note The basic parameter block does not guarantee a matching of the drive to the machine as well as in some cases to the motor connected and the measuring systems The relevant settings must be made when first starting up the axis See also Basic Drive Functions and Commissioning Guidelines Running the load basic parameter block function automatically The drive firmware is on the programming module In the event of a firm ware exchange the drive controller will detect this the next time the ma chine is switched on In this case the message PL appears on the 7 segment display By pressing the S1 key the basic parameter block is activated DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Password S 0 0279 IDN list of password protected operation data Accessing the password Allowable symbols and length 3 different password states are possible DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 5 Note Any previous parameter settings are lost with the replacement of the firmware followed by load base parameter block If this is to be prevented then the parameters must be stored prior to an exchange and must be reloaded after exchange and load base parameter block Note As long as the drive displays PL and the command is active then communications via the serial interface with DriveTop is not possible All
459. ve see chapter Command Polarities and Actual Value Polarities In other words the reference point is shifted counterclockwise looking towards the motor shaft If the reference direction is negative then the drive does not reverse the travel direction once it has passed the reference marker Reference offset 4 0 gt Reference point Reference mark Starting point a Sv5042f1 fh5 Fig 9 87 Command profile with negative reference offset and negative homing direction If the referencing direction is positive then the drive must reverse the travel direction with types 2 and 3 after passing the reference marker Reference distance lt lt vt i x Starting point Reference marker Home point Sv5041f1 fh5 Fig 9 88 Command profile with negative reference offset and positive homing direction Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Home switch evaluation Example DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 89 Evaluation of the Home Switch With the help of a home switch it is possible to identify a certain reference mark in the case where an unspecific arrangement of reference marks are used If bit 5 in S 0 0147 0 then the reference mark that follows the positive edge of the home switch will be evaluated if the drive is moving towards the homing point Note The home switch input is pictured in parameter S 0 0400 H
460. ve Functions 9 5 Velocity Data Display Format DOK ECODR3 SMT 02VRS FK01 EN P The scaling of the drive controller s velocity data is adjustable This is done with the parameters e S 0 0044 Velocity data scaling type S 0 0045 Velocity data scaling factor S 0 0046 Velocity data scaling exponent The scaling type is set in S 0 0044 Velocity data scaling type The parameter is defined as follows S 0 0044 Velocity data scaling type EOL i Oooo ll Bits 2 0 Scaling mode 000 not scaled 001 linear scaling 010 rotary scaling Bit 3 0 Preferred scaling 1 Parameter scaling L Bit 4 Unit of measure for linear scaling 0 Meter m 1 Inch in Unit of measure for rotary scaling 0 Revolutions 1 reserved L Bit5 Unit of time 0 minute min 1 second s Bit6 Data relationship 0 to the motor cam 1 to the load L Bits 15 7 reserved Fig 9 4 S 0 0044 Velocity data scaling type The scaling type setting is checked for plausibility in S 0 0128 C200 Communication phase 4 transition check and the command error message C214 Velocity Data Scaling Error is generated if necessary Rexroth Indramat 9 6 Basic Drive Functions ECODRIVE03 SMT 02VRS Acceleration Data Display Format The scaling of the drive controller s acceleration data is adjustable This is done with the parameters e 0 0160 Acceleration data scaling type e 0 0161 Acceleration data scaling factor e S 0 01
461. ve and open writing to parameter contents S 0 0267 Input customer password Input any string without space or switch off Customer password active and closed parameter write protected contents S 0 0267 Kpassw customer password Space FS0212f1 fh7 Fig 3 3 Possible password states Note If the user s password is activated and unlocked content of S 0 0267 then the drive is locked after switching the machine off contents of S 0 0267 Note As long as the drive displays PL and the command is active then communications via the serial interface with DriveTop is not possible Master password Rexroth Indramat retains the rights to the master password function Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Commands Each command that is started must also be cleared list of all procedure commands data status DOK ECODR3 SMT 02VRS FK01 EN P General Instructions for Installation 3 7 Commands are used to control complex functions in the drive For example the functions Drive Controlled Homing Procedure or Transition Check for Communication Phase 4 are defined as commands A primary control can start interrupt or erase a command Each command has a parameter with which the command can be controlled While a command is being executed the diagnostic message Cx or dx appears in the H1 display where x is the number
462. ve conducts the reaction parameterized in P 0 0119 Best possible deceleration Here as well this takes a certain length of time between resetting and acknowledging the reset This depends on e Setting in parameter P 0 0119 Best possible deceleration e whether there is a motor brake and its parameterization e the velocity of the axis at the time of drive enable reset DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Command Communications with Analog Interface 5 3 1 MST 0 Control release 1 AT 0 1 i Control release fae acknowlegment tRFON tRFOFF _ t ms Release the motor brake Fig 5 12 Acknowledge drive enable Sv5024f1 fh7 Typical values for trrein are about 10msec in synchronous and 300msec in asynchronous motors Note During time tgren the drive should set the command value so that a command speed of 0 results Any cooling of an existing motor brake does not occur until after the point in time when drive enable is acknowledged trreiy brake delay time 5 4 Connecting Signals to DKCxx 3 See Project Planning Manual Section Electrical connections unit type dependent Rexroth DOK ECODR3 SMT 02VRS FK01 EN P O Indramat 5 4 Command Communications with Analog Interface ECODRIVE03 SMT 02VRS Notes Rexroth oO Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Command Communication Using Parallel Interface 6 5 6 Command Communication Using Parallel Int
463. witch eccccccceeeeseeceeeeeeeeeeeseaeeeeneeeeenees 10 30 Parameterizing the Programmable Limit Switch cecccecceeeeeseeceeeeeeeeeeeeeaeeeseaeeeeeeeeaees 10 32 10 13 Encoder Emulation ist sive ate atin aii rahe eae A arate at athe ee 10 33 Pertinent Parameters agea enaa ALE sE ein A iepa AARAA ADE ETEA RA AA AERALA LASNE AA Raie 10 34 Activating Encoder Emulation s erdir riererariiri rerea pin idan Paue E APARRA AARE KAKARA RNE PTA KRE KAGAN AS 10 34 Functional principle Incremental Encoder Emulation sssssssssseessssiessssrrssrrrssrrrssrernsrennsens 10 34 Diagnostic Messages with Incremental Encoder Emulation eseeseeessessserresrrresrrrssnnn 10 36 Functional Principle Absolute Encoder Emulation sseesssseeeessessesirsserresrirnssrirrssrrnssrennns 10 37 1014Spindle POSITIOMING 25 2 cfc aa a ces a a a aaae iaaa a ea a ee aaea sidia daars 10 38 Pertinent paranmioter Sear snair aN A RETE EA R E T AE 10 39 Functional PIMPE nsee AE E E ON 10 40 POSILIOMMMAG 2 eccivteceat e A E E E a a a 10 41 POSITIONING ACCuUrACy aeaee r EE A a a a a 10 42 POSITIONING type risna Ei aiea inde delice EESE AENA E NE E EANA 10 44 Selecting Modulo RANQe ccsccceccceceeeceeeeceeeeeceeeeeaaeeeeaeeseeeeecaeeeseaesseaeeseeeesaeeeeiaeseeeeeaes 10 45 Executing Spindle positioning oriri EE EAE EA E A E TE 10 46 Diagnostic MESSAGES a r E EE AEEA S 10 47 Connecting the reference SWItCh ccceecceeseceeeeeeeeeeeeeeeseeeeceeeee
464. with the reaction of the velocity command value being set to zero See also chapter Velocity Command Value Reset After the velocity command value has been set to zero the drive turns off the internal drive enable and becomes torque free The ready to operate contact opens For re installation e Clear the error with the command S 0 0099 C500 Reset class 1 diagnostic or press the S1 button e Reactivate the drive with the 0 1 edge of the drive enable signal If the error condition is still present that is if the limit switch is still activated or if the axis limits are still exceeded only command values that go back into the allowable range will be accepted Monitoring the command values is dependent on the active operating mode The following applies Operating Mode Command Value Check Torque control Polarity of S 0 0080 Torque Force command All operating modes with drive Polarity of the internal velocity internal velocity control command value All operating modes with drive Polarity of the velocity created by the internal position control given position command values Fig 9 49 Monitoring the command values in error conditions If command values are given that would lead out of the allowable travel range the travel range error will be generated again Exceeding the Travel Range as a Warning If a 1 is entered in bit 2 of P 0 0090 Travel limit parameter then exceeding the travel rang
465. without error before the power can be switched on for the first time In units that cannot release energy generated during brake by means of bleeders or a mains regenerated power supply bit 2 should be set to 1 to prevent the drive coasting Reaction to Undervoltage DC bus voltage too small Bits 3 4 and 5 of P 0 0118 Power off on error offer various options on how to handle Undervoltage Undervoltage is present if the drive has been enabled subject to torque and the DC bus voltage drops below the minimum value about 75 of the mean value of a periodic quantity Using Bit3 1 treats undervoltage as a fatal warning This makes sense if the energy in the DC bus must be retained for that period of time which a control needs to start a synchronized deceleration of several drives The drive does not signal a class 1 diagnostics error and the reaction parametrized in P 0 0119 Best possible deceleration is also not conducted Switching the motor off leads to a slower drop in the DC bus voltage This means that asynchronous motors can still have a magnetic field when the control starts the synchronized deceleration of the drive Braking then takes place in generator mode If undervoltage is treated as an error bit 3 5 0 then bit 4 can be used to set an automatic delete of the error once the control removes the drive enable signal This makes sense if the error occurs even with normal shutdowns and the cause is simply
466. word is allocated to Which bit of the selected parameters target in S 0 0027 Configuration list signal control word is set by the signal control word or reset is set in S 0 0329 Assign list signal control word Note If this list remains empty then bit 0 is automatically set in the specified parameters Otherwise the bit which is allocated to the target parameters is specified here Rexroth Indramat 10 4 Optional Drive Functions Exceptions ID number not available Rexroth Indramat ECODRIVE03 SMT 02VRS Bit numbers from 0 LSB to 31 MSB are entered here If the allocated parameter is a command then the bit number in parameter S 0 0329 Assign list signal control word is not relevant If the allocated parameter is parameter S 0 0346 Setup flag for relative command values then a positive edge in the relevant bit of the control word effects a toggling of the parameter S 0 0346 Setup flag for relative command values For every bit number in list S 0 0329 Assign list signal control word there must be an ID number at the same list position in the list in S 0 0027 Configuration list signal control word Otherwise when writing the bit number list from the drive error message ID number not available will be generated Note This is why list S 0 0027 must be written prior to list S 0 0329 When the firmware is delivered basic parameter block the following values are defined for the parameters tha
467. y faults Drive enable or drive start The oscillations and thus the automatic control loop settings are only conducted if e the drive enable is present and e drive start is issued Note If there is no drive enable at command start then command error D901 Start requires drive enable is generated DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Possible causes for command errors D903 Inertia detection failed DOK ECODR3 SMT 02VRS FK01 EN P Basic Drive Functions 9 71 Command settings All parameters used in the execution of the command must be programmed before command start so that they are effective in the automatic control loop setting e P 0 0163 Damping factor for autom control loop adjust Use this parameter to select the desire control loop dynamics e P 0 0164 Application for autom control loop adjust helps taking the mechanical conditions with controller optimization into account e P 0 0165 Selection for autom control loop adjust Used to select functinalities modes of the automatic control loop settings e 0 0092 Bipolar torque force limit value The maximum torque for the automatic control loop settings can be programmed with parameter S 0 0092 Bipolar torque force limit value This can help limit the torque to prevent mechanical wear and tear e 0 0108 Feedrate override The velocity of the automatic control loop settings can be programmed via the analog channel Poti wi
468. y harm may occur CAUTION Death or severe bodily harm may occur Fig 2 1 Classes of danger with ANSI DOK ECODR3 SMT 02VRS FK01 EN P Rexroth Indramat 2 2 Safety Instructions for Electric Servo Drives and Controls ECODRIVE03 SMT 02VRS 2 3 Hazards by inappropriate use High voltage and high discharge current Dan ger to life risk of severe electrical shock and risk of injury Dangerous movements Danger to life and risk of injury or equipment damage by unintentional motor movements High electrical voltage due to wrong connec tions Danger to life severe electrical shock and severe bodily injury Health hazard for persons with heart pacemak ers metal implants and hearing aids in proxim ity to electrical equipment o o gt gt T gt T gt T gt D D 2 Z zZ zZ Q Q m m 5 5 5 5 CAUTION Surface of machine housing could be extremely hot Danger of injury Danger of burns gt CAUTION Risk of injury due to inappropriate handling Bodily injury caused by crushing shearing cut ting and mechanical shock gt CAUTION Risk of injury due to inappropriate handling of batteries Rexroth Indramat DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Safety Instructions for Electric Servo Drives and Controls 2 3 2 4 General Information Rexroth Indramat GmbH is not liable for damages resulting from fail u
469. yc S 0 0002 error e C113 Relation TNcyc S 0 0001 to TScyc S 0 0002 error e C114 T4 gt TScyc S 0 0002 T4min S 0 0005 e C115 T2 too small Configuration of Telegram Contents Rexroth Indramat The telegram contents are set through these parameters e 0 0015 Telegram Type Parameter e 0 0016 Custom Amplifier Telegram Configuration List e 0 0024 Config List of the Master Data Telegram However the drive directed conditions for the type and number of configured data must be in the set range Those are provided by the drive in e 0 0185 Length of the configurable data record in the AT e 0 0186 Length of the configurable data record in the MDT e 0 0187 List of configurable data in the AT e S 0 0188 List of configurable data in the MDT The drive checks these settings while processing the command S 0 0127 C100 Communication phase 3 transition check The following error messages may appear e C104 Config IDN for MDT not configurable e C105 Configurated length gt max length for MDT e C106 Config IDN for AT not configurable e C107 Configurated length gt max length for AT DOK ECODR3 SMT 02VRS FK01 EN P ECODRIVE03 SMT 02VRS Communication Through the SERCOS interface 4 11 Note Parameter S 0 0188 List of configurable data in the MDT is also used for the configuration of the multiplex channel There are therefore parameters in S 0 0188 that have a variable data length lis

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