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ECODRIVE DKC01.1/DKC11.1 Drive Controllers

1. Figure 9 41 RF and AH Start connections AP0211d1 drw 9 52 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 MEGAN ECODRIVE DKC01 1 DKC11 1 Drive Controllers 10 Serial Communication 10 1 General Information for Serial Communication The DKC01 1 DKC11 1 contains one serial interface Parameter and diagnostic information can be exchanged through this interface The interface can be operated alternatively in either RS232 mode or in RS485 mode 10 2 Communication over the RS232Interface The RS232 interface is intended for connection port to a PC with the DRIVETOP startup program A maximun cable length of 15m is possible RS232 PC with Drive Top Parallel UO EH Cut DKC DKC CH A O FS0004d1 drw Figure 10 1 Communication over the RS232 Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Serial Communication 10 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers CEA 10 3 Communication over the RS485 Interface Communication over the RS485 interface allows the realization of a serial bus with the following specifications e Up to 32 drives can be connected with a bus master e Transmission rate 9600 and 19200 baud e Maximum cable length 1000m e Half duplex operation over 2 wire transmission line Type of Data Exchange over RS485 e Parameters e Commands e Diagnostics Operation of Multiple Drives wit
2. cccccccccceasessseeeeeeeecesneeeseeses 1 10 F630 Travel Limit Value Exceeded AA 1 10 F644 Travel Limit Switch Detected sur 1 11 F822 Motor Encoder Failure Signal too Small 1 12 F860 Overcurrent Short in Powerstage nnna 1 13 F870 TEE 1 13 F873 Power Supply Driver Stage Fault sisi 1 14 F878 Velocity Loop E 1 14 F879 Velocity Limit Value Exceeded S 0 0092 1 15 F895 4 Ee TREI 1 15 1 3 Warning Diagnostic Messages is 1 17 E250 Heatsink Overtemperature Warning 1 17 E251 Motor Overtemperature Warning us 1 18 E252 Bleeder Overtemperature Warning 1 18 E253 Target Position Out of Le EE 1 19 E254 Drive not Referenced ie 1 20 E255 Feedrate Override S 0 0108 0 1 20 E256 Torque Limit Value 0 iii 1 21 E257 Continuous Current Limiting Active us 1 21 E258 Selected Process Block is not Programme 1 22 E259 Command Velocity Limit Active iii 1 22 E264 Target Position not Representable AAA 1 23 E825 Overvoltage ET e EE 1 23 E830 Position Limit Value Exceeded AA 1 24 E831 Position Limit Value Reached During Jogging 1 24 E844 Travel Limit Switch Activated is 1 25 1 4 Command Diagnostic Message C L 1 25 C100 Communication Phase 3 Transition Check 1 25 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Contents ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac C101 Invalid Communication Parameters S 0 0021 cececeeeeeeeeeee ee
3. The gear ratio is defined by Input Revolutions of load Gear S 0 0121 Output Revolutions of load Gear S 0 0122 Figure 2 10 Gear Ratio Example 5 motor rotations result is 2 output gear rotations S 0 0121 5 S 0 0122 2 S 0 0122 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Lastgetriebe Ausgangsumdrehungen Output revolutions of load gear S 0 0122 Parameter 4 Byte DEC_OV Rev 0 1 4294967295 Editability Memory validity check Extreme value check combination check cyc transmittable Default value P23 Param E2prom Phase3 yes no no 1 Rev 2 34 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 1 Pa CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0123 Feed Constant Description This parameter describes the conversion from rotary to linear motion It is defined as the linear displacement of the load measrued during one rotation of the loadside gear drive shaft Ball screw spindle Rack and pinion Feed constant actual pitch diameter for the pinion Feed constant pitch of screw typical value 10 00 mm Pi Figure 2 11 Characteristic value for the feed constant S 0 0123 Attributes Name in German Name in English Feed Constant Feed constant ID number S 0 0123 Editability P23 Function Par
4. 4 Byte validity check DEC_OV Extreme value check kg m2 kg m combination check 5 cyc transmittable 0 21474 83647 Default value P234 always Param E prom Phase 3 yes no no 0 With this parameter the switch frequency of the pulse switching controler can be set to the value of 4 and 16 kHz P 0 4011 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Schaltfrequenz Switch frequency P 0 4011 Editability Parameter Memory 2 Byte validity check DEC_OV Extreme value check kHz kHz combination check 0 cyc transmittable 4 8 Default value P23 Param E2prom Phase3 yes no no 4 3 28 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Pa CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4012 Slip Factor Description The parameter has no meaning P 0 4012 Attributes Name in German Schlupffaktor Name in English Slip factor ID number P 0 4012 Editability 7 Function Parameter Memory fixed Data length 2 Byte validity check Format DEC_OV Extreme value check no Unit German English Hz 100A Hz 100A combination check no Posit after the dec 2 cyc transmittable no Input value min max Default value 0 P 0 4013 Maximum Rotor Frequency Description The parameter has no meaning P 0 4013 Attributes Name in German Maximal
5. 5 Position actual value 1 P 0 0042 7 Following error P 0 0042 8 Sine signal of the motor 1 1 feedback 9 Cosine signal of the motor 1 1 feedback 23 Tonrque producing current 10V S 0 0110 Amplifier actual value peak current 24 Magnetization current 10V S 0 0110 Amplifier peak current 40 Bleeder load 10V 100 continous bleeder load Figure 3 4 predefined signals The following scaling parameters scaling should be considered e P 0 0041 Scaling for velocity data on analog channel 2 e P 0 0043 Scaling for position data on analog channel 2 P 0 0039 Attributes Name in German Signal Auswahl Analogkanal 2 Name in English Signal Selection for Analog Output Channel 2 ID number P 0 0039 Editability P234 Function Parameter Memory Param E2prom Data length 4Byte validity check no Format HEX Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value 2 3 8 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Pa CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0040 Scaling of Velocity Data on Analog Output Channel 1 Description With the selection numbers 2 and 3 in the parameter P 0 0038 Signal selection for analog output channel 1 the scaling of velocity data evaluated will be established with the parameter P 0 0040 The unit of Rpm 10V will alwa
6. Data length Format Unit German English Posit after the dec Input value min max P 0 4048 Stator Resistance Description Motorinduktivitat Motor inductance P 0 4047 Parameter 2 Byte decimal mH mH 2 0 65535 Editability Memory validity check Extreme value check combination check cyc transmittable Default value no Feedback yes no no no Measured stator resistance of the motor between two connection clamps The parameter will be determined during the manufacturing stage and cannot be changed P 0 4048 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Wicklungswiderstand Stator resistance P 0 4048 Parameter 2 Byte decimal Ohm Ohm 3 0 65 535 Editability Memory validity check Extreme value check combination check cyc transmittable Default value no Feedback yes no no no 3 48 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4049 Default Current Loop Integral Action Time Description The default value for the current loop integral action time The parameter will be determined during the manufacturing stage and cannot be changed With the default parameter load the value of the parameter will be copied into the parameter S 0 0107 cu
7. Description Bit O for this parameter will be set by the drive if the position feedback value whose origin was selected in bit 3 from S 0 0147 Homing Parameter is firmly referenced to the machine zero point If the commands S 0 0148 Drive controlled homing procedure or P 0 0012 Set absolute distance are performed the bit will be reset when they are started and then set 1 again once the command has been successfully completed The bit status position feedback value corresponds to the output In reference Structure of the parameter d Bit 0 Position feedback value 0 are relative 1 applies to the machine zero point eer Figure 2 20 S 0 0403 Position Feedback Value Status S 0 0403 Attributes Name in German Status Lageistwerte Name in English Position feedback value status ID number S 0 0403 Editability no Function Parameter Memory no Data length 2 Byte validity check no Format BIN Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 53 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE anc Notes 2 54 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 3 Specific Product Parameters P 0 0001 Diagnostic Message Number Description The
8. ECODRIVE DKC01 1 DKC11 1 Drive Controllers Preparations for Setting the Velocity Loop A number of preparations must be made in order to be able to set the velocity loop e The mechanical system must be set up in its final form in order to have true relationships while setting the parameters e The drive must be properly connected as described in the user manual e The safety limit switches must be checked for proper functioning if applicable e The velocity regulation operating mode must be selected in the drive Begin the adjustment procedure by setting the following parameters to the indicated values S 0 0100 Velocity Loop Proportional Gain Default value of the connected motor S 0 0101 Velocity Loop Integral Action Time 6500 ms P 0 0004 Velocity Loop Smoothing Time Constant Minimum value 500us P 0 1003 Velocity Feedback Value Filter Time Constant 500us Determining the Critical Proportional Gain and P 0 0004 Smoothing Time Constant e After turning on the controller enable let the drive move at a low speed 10 20 Rpm e Raise the S 0 0100 Velocity loop proportional gain until unstable operating behavior continuous limit cycle oscillations begins e Determine the frequency of the oscillation by measuring the actual velocity with an oscilloscope When the frequency of the oscillation is substantially higher than 500Hz raise the P 0 0004 Smoothing Time Constant until the oscillation goes awa
9. Extreme value check combination check cyc transmittable Default value P2 P3 P4 no no yes Serves for information about the product advancement in operation P 0 4024 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Description Pr fstatus Test status P 0 4024 Parameter 2 Byte HEX Editability Memory validity check Extreme value check combination check cyc transmittable Default value Amplifier E2Prom yes no no no no With version O2VRS there is a supervisor password in a fixed parameter to edit during operation P 0 4025 Attributes Name in German Name in English ID number Function Data length validity check Format Unit German English Posit after the dec Input value min max Passwort Password P 0 4025 Parameter Editability Memory 0 byte maximum 10 symbols yes ASCII oy Be SC Extreme value check combination check cyc transmittable Default value P2 P3 P4 parallel EEProm no no no DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 4026 Process Block Selection Description With this parameter it can be read from drive stop which of the input signals PO to P5 is the selected process block If the device finds
10. Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C203 Attributes SS Display C2 03 Diagnostic message C203 Parameter Calculation Error gt S 0 0022 C203 Parameter Calculation Error gt S 0 0022 Diagnostic message number C203 C207 Loading Error LCA C208 Cause Defective drive Remedy Power down and then on again If this in not successfull exchange drive C207 Attributes SS Display C2 07 Diagnostic message C207 Loading Error LCA C207 Loading Error LCA Diagnostic message number C207 Invalid SSI Parameter gt S 0 0022 Description When the motors are first distributed the parameter for absolute control emulation is purposely invalid to ensure that the Set Absolute Measurement Emulator Command will be executed after a motor is exchanged Cause The SSI emulation was selected The parameters required for emulation are invalid 1 28 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers Remedy Connect the control drive to a PC and activate DriveTop Actual Position Output menu with controller emulation type Absolute Controller Emulation SSI e Describe Homing Position Offset e Select Absolute Control Directional Counter C208 Attributes SS Display C2 08 Diagnostic message C208 Inval
11. torque can be limited by the S 0 0092 Bipolar Torque Limit parameter If the actual value of this parameter is equal to 0 the motor does not develop torque and does not follow the command value which has been entered 2 Torque reduction is set through an analog channel and the established current amounts to 10 V Remedy For 1 Set the torque limit to a value larger than 0 For 2 Establish the analog voltage so that it is smaller than 10 V E256 Attributes SS Display E2 56 Diagnostic message E256 Torque Limit Value 0 E256 Torque Limit Value 0 Diagnostic message number E256 Warning class Non fatal E257 Continuous Current Limiting Active Description The drive controller sets the peak current available for 400ms Thereafter the continuous current limit becomes active and dynamically limits the peak current to the continuous current Cause More continuous torque was required than was available Remedy 1 Check the drive installation 2 Check the installation of the motor For systems which have been in use for a long time check to see if the drive conditions have changed in regards to pollution friction components which have been moved etc DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac E257 Attributes SS Display E2 57 Diagnostic message E257 Continuous current limiting active E257 Continuous cu
12. 4 3 Drive Controller Selection Drive controller Controller type DKC1 1 030 3 Overload factor 100 PWM Frequency gt 4 kHz 8 kHz Figure 4 2 Drive Controller Selecting the Drive Controller For offline operation select the type of drive controller There are three which can be selected e DKC01 1 040 3 FW e DKC01 1 040 7 FW e DKC11 1 040 7 FW The type of drive controller selected determines the availability of modes of operation and functions This adjustment happens automatically during online operation by reading the Controller Type parameter of the connected drive controller Note The DKC11 1 limits the available functions only during online operation DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Motor and Drive Controller Selection 4 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Oe te fein a Selecting the Overload Factor The short term operating torque of the drive controller is defined via the overload factor The velocities and torques available with the different combinations of drive controller motors and power supply input voltages are provided in the DKC MKD selection lists The overload factor needed to obtain the drive controller data can be read off of the last column in each line of the selection list Note The projected selection data is necessary for the correct adjust ment Selecting the PWM Frequency The clock frequency of the power output PWM frequ
13. FKB1 EN P 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers Homing With Evaluation of the Home Switch and the Home Mark The drive moves in the home direction until it receives the home switch signal The control drive then positions itself on the next motor encoder homing mark which appears This point is the home point If the axis is on the home switch cam at the start of the drive controlled homing procedure it will first move away from the cam until the home switch signal is removed reverse direction and head back again in the direction of the home switch cam to find the home point Reference point ZS ZX Reference marks Reference point switch signal i g Starting point Reference mark SV0033d1 drw Figure 9 27 Homing with evaluation of the home switch and the home mark Note The homing velocity may not be greater than 1000 Rpm in reference to the motor shaft if it is greater the position of the home switch signal and the home reference of the motor transmitter will not be able to be unambiguously calculated Homing to the Current Actual Value The control drive is not in motion The actual position value is set equal to the value of the Reference Distance 1 parameter immediately after the homing procedure is activated DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 37 ECODRIVE DKC01 1 DKC11 1 Drive Controlle
14. FKB1 EN P 07 96 Standard parameters 2 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0052 Attributes Name in German ReferenzmaB Lage Istwert 1 Name in English Reference distance 1 ID number S 0 0052 Editability P234 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max S 0 0076 S 0 0076 Default value 0 00 Deg S 0 0055 Position Polarity Parameter Description This parameter can be used to invert the polarities of the given position data These polarities will be switched outside of the control system position regulator Le at the command and feedback valueinput to and actual value output from the control system Since the position data from the rotational feedback will be inverted a different numeric value will result The following applies to rotary motors Motor clockwise rotation the motor shaft turns in clockwise direction Facing the motor shaft if the position command value difference and the position feedback polarity are both positive Bit 4 is used to activate or deactivate product position limits Structure of the parameter Bit 0 Position feedback value 0 positive polarity 1 negative polarity Bit 1 Position feedback value additive 0 positive polarity 1 negative
15. Impulsdrahtgeber Zahlerstand impulse wire feedback PIC counter value P 0 4029 Parameter 4 Byte HEX 0 Editability Memory validity check Extreme value check combination check cyc transmittable Default value OLS aa es no Feedb E prom no no no no 100 0000 Limit value for the movement velocity during movement over the jog input The value must be smaller than what is in the parameter S 0 0091 limit velocity value bipolar The movement velocity will also be controled from feed rate override P 0 4030 Attributes Name in German Name in English ID number Function Data length Format Unit German English combination check Posit after the dec Input value min max Default value Tipp Geschwindigkeit Jog velocity P 0 4030 Parameter 4 Byte decimal Editability Memory validity check Extreme value check S 0 0044 S 0 0044 no S 0 0044 cyc transmittable S 0 0044 S 0 0044 100 0000 P2 P3 P4 parallel EEProm yes yes no 3 38 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CX EE an Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4031 Absolute Encoder Emulator Offset The parameter serves for the initializing position of the absolute encoder emulation SSl output The parameter will be edited by the absolute measurement emulator setting from the company product
16. Name of axis Operating mode Speed regulation with analog interface Figure 7 1 Speed Regulation with Analog Command Value DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 DKC11 1 Drive Controller with Analog Speed Interface 7 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers RANCE PAU 7 3 Analog Speed Command Value Processing The analog interface must be adapted to the connected NC control system The command value scaling the input offset and the command value smoothing must be set to do this anal speed command value processing Target value scaling Command value for required speed Command value filtering Smoothing Time Constant Figure 7 2 Analog Speed Command Value Processing Command Value Scaling In order to scale the analog velocity command value the maximum command voltage value must be entered in the parameter Command Value for Required Speed at which a specific speed is to be achieved The maximum speed is entered in the parameter Speed with Required Command Value The command and speed parameter values always refer to the motor shaft independent of the attached gears and the scaling setting 7 2 DKCO1 1 DKC11 1 Drive Controller with Analog Speed Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR CELF an ECODRIVE DKC01 1 DKC11 1 Drive Controllers Offset Setting of the Analog Velocity Command Value When the speed command value v
17. Parameter Memory 4 Byte validity check decimal Extreme value check Vs rad Vs rad combination check 4 cyc transmittable 0 0001 429496 7295 0 Editability Memory validity check Extreme value check combination check cyc transmittable Default value P23 fixed no no no no fixed no no no no DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 25 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 4006 Process Block Target Position Description List of the target positions for the command operated function positioning interface It can be given a maximum of 32 position values whereby the first elemet specifies the target position of the process block 0 and the second position specifies the target position of the second process block Ts es The number of the target positions must always be larger or equal to the number of the operational process block lf process block are selected of which there are no target positions then the warning non programmed process block will be given P 0 4006 Attributes Name in German Verfahrsatz Zielposition Name in English Process block Target Position ID number P 0 4006 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length list with 32 elements each with 4 Byte 128 Byte validity check yes Format S 0 0076 Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit
18. Position Data Scaling Type 2 17 Position Feedback 1 Type Parameter 2 51 Position Feedback Value 1 2 13 Position Feedback Value Status 2 53 Position Loop KV Factor 2 28 Position Polarity Parameter 2 14 Position Switch Flag Parameter 2 16 Position Switch Point 1 2 16 Position Window 2 15 Positioning Acceleration 2 49 Positioning Jerk 2 47 Positioning Velocity 2 48 Positive position limit value 2 12 Primary Mode of Operation 2 4 Proportional Gain 1 Current Regulator 2 28 R Reference Distance 1 2 13 Reference Offset 1 2 42 Reset Class 1 Diagnostic 2 26 Resolution of Rotational Feedback 2 33 Rotational Position Resolution 2 19 S Secondary Operation Mode 1 2 5 Standard parameters 2 1 Standstill window 2 35 4 2 Index DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 EEE PAT ECODRIVE DKC01 1 DKC11 1 Drive Controllers Structure of the Document 1 1 T Target Position 2 48 Torque Polarity Parameter 2 21 Torque Force Command 2 19 Torque Force Data Scaling Exponent 2 24 Torque Force Data Scaling Factor 2 23 Torque Force Data Scaling Type 2 22 Torque Force Feedback Value 2 20 V Velocity Command Value 2 5 Velocity Data Scaling Exponent 2 11 Velocity Data Scaling Factor 2 10 Velocity Data Scaling Type 2 9 Velocity Feedback Value 2 6 Velocity Loop Integral Action Time 2 27 Velocity Loop Proportional Gain 2 26 Velocity Polarity Parameter 2 8 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Index 4 3 ECODRIVE DKC01 1
19. S 0 0079 Attributes Name in German Rotations Lageaufl sung Name in English Rotational position resolution ID number S 0 0079 Editability P23 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 1 4294967295 Default value 36000 S 0 0080 Torque Force Command Value Description DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac This parameter shows the drive s current torque force command value The evaluation is dependent upon the scaling of the torque and force data z Z at present only percentage scaling is supported 100 Motor continous stand still torque Mdn S 0 0080 Attributes Name in German Drehmoment Kraft Sollwert Name in English Torque Force Command Value ID number S 0 0080 Editability P234 Function Parameter Memory no Data length 2 Byte validity check no Format DEC_MV Extreme value check yes Unit German English S 0 0086 S 0 0086 combination check no Posit after the dec S 0 0086 cyc transmittable MDT Input value min max S 0 0086 S 0 0086 Default value 0 0 S 0 0084 Torque Force Feedback Value Description This parameter represents the motor s current torque feedback value The evaluation is dependent upo
20. combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 11 b Default value S 0 0269 Parameter Buffer Mode Description The Parameter buffer mode is used to determine whether the data transmitted through the serial interface will be stored temporarily in RAM or permanently in EEPROM 1 Data will not be stored permanently 0 Data will be stored permanently After the control voltage supply has been switched on the drive will initialize bit O to 0 To activate temporary storage mode bit 0 must be forced to 1 S 0 0269 Attributes Name in German Speicherungsmode Name in English Parameter buffer mode ID number S 0 0269 Editability P234 Function Parameter Memory no Data length 2 Byte validity check no Format DEC_OV Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 1 Default value 0 For applications that wirte cylic or frequenct updates Note to the drive parameter data tempory storage made should be activated by the initialization procedure in the machine control This mode insures that the write cycle life of the Eeprom is not exceeded 2 50 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0277 Position Feedback 1 Type Parameter Description This parameter is used to det
21. e Switching between operational and parameterization modes S 0 0127 Switching from initializing phase 2 to 3 S 0 0128 Switching from initializing phase 3 to 4 P 0 4023 Switching from initializing phase 4 to 2 e Basic Load S 0 0262 e Clear Error S 0 0099 es Homing Procedure S 0 0148 e Setting Absolute Measurement P 0 0012 e Setting Absolute Measurement Emulation P 0 4032 A command can be started interrupted or ended over the serial interface Over thisinterface the status of the command status can be set The general form for executing a command is as follows A01 gt ID number of the parameter 7 w 11 carriage return Requesting the Statusof Commands The actual status of a command can be requested Using the request for the command status is especially important when it is necessary to establish that the driving side of the command process is completed before the connected control or the PC ends a command The general form for requesting the status of a parameter command is as follows A01 gt ID number of the parameter 1 w 0 carriage return The drive responds to the request to write to the ID number of the command parameter by returning the actual command status 11 For example meaning the command in the drive is set and enabled DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Serial Communication 10 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE PART Possible status messages e Command is se
22. engineering mannesmann Rexroth ECODRIVE DKC01 1 DKC11 1 Drive Controllers Functional Description ASE 02VRS DOK ECODRV ASE 02VRS FKB1 EN P 271634 E Indramat ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Title Type of Documentation Document Type Description Internal Filing Notation What is the purpose of this documeniation Change Notice Copyright Mark Publisher Liability ECODRIVE DKC01 1 DKC11 1 Drive Controllers Functional Description DOK ECODRV ASE 02VRS FKB1 EN P e Mappe 56 02V EN Register 3 e 209 0073 4302 00 The following document describes the functions of the fimware FWA ECODRV ASE 02VRS MS The document serves e to describe all of the functional characteristics e for parameterization of the drive controller e for data security of the drive parameter e for error diagnosis and error removal Document identification of previous Release Remarks and current releases Date DOK ECODRV ASE 02VRS FKB1 EN P 07 96 First Release INDRAMAT GmbH 1996 Distibution as well as reproduction of this documentation commercial use or communication of its contents will not be permitted without expressed written permission Violation of these stipulations will require compensation All rights reserved for the issuance of the patent or registered design DIN 34 1 INDRAMAT GmbH e Bgm Dr Nebel Str 2 e D 97816 Lohr a Main Telephone 09352 40 0 e Tx 689421 e Fa
23. like e Drive controlled homing procedure command e Programmed positioning block operating mode e Jogging operation In such instances the drive calculates the velocity command value itself The feedrate override has a multiplying effect on the homing velocity the block velocity and the jog velocity S 0 0108 Attributes Name in German Feedrate Override Name in English Feedrate override ID number S 0 0108 Editability P4 Function Parameter Memory no Data length 2 Byte validity check no Format DEC_OV Extreme value check no Unit German English combination check no Posit after the dec 2 cyc transmittable no Input value min max 0 655 35 Default value 100 00 Note Feedrate override may be controlled either by this parameter or by the analog E E2 input depending on the value set in Bit 0 of the function parameter P 0 4027 Bit 0 0 Feedrate override set in parameter S 0 0108 1 Feedrate override via analog channel E1 E2 S 0 0109 Motor Peak Current Description Describes the maximum current that can flow in the motor without damaging the motor If the motor s peak current is less than the amplifiers peak current the maximum current that is available will be automatically limited to the motor s peak current This value is stored in motor feedback for MDD and MKD motors and will be uploaded to the controller ram when the controller is turned on 2 30 Standard parameters DOK ECODRV
24. logic 0 5 14 DKCo1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA ERE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 6 Desired Positioning Manipulation through Modulus Scaling Because the scaling of the position data is in modulus format the desired position can only be in the range of zero to the given modulus value The operation distance of a positioning command can also have the maximum amount of the modulus value Example 1 SB0001D1 ds4 Figure 5 10 Positioning through Modulus Scaling positive direction The modulus value in this example is set at 360 The drive controller is positioned at 90 Through activation of an absolute positioning command of desired position 180 or through activation of a relative positioning command 90 the drive moves from 90 to 180 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pano Example 2 SB0001d1 drw Figure 5 11 Positioning through Modulus Scaling negative direction Through activation of a absolute positioning command with desired position of 0 or through activation of a relative positioning command with desired position of 270 the drive moves 90 backwards Note A specific rotation can be selected if the Command Value Mode for Modulo Format is installed only
25. max 0 200 Default value 0 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 49 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc P 0 4094 Command Parameter Default Set Description With the operation of this command all parameters will be placed in the parallel EEProm with the EEProm stored values Invalid parameters will be corrected After the trade of the company version all parameter will be set as invalid THe drive calls then PL on the seven segment display the serial interface is still not active By pressing the button S1 this command will also be started so that all the parameters stay on the default value P 0 4094 Attributes Name in German Kommando Parameter Default Setting Name in English Command Parameter Default Set ID number P 0 4094 Editability P2 Function Command Memory no Data length 2 Byte validity check no Format binary Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 0 11 b Default value 3 50 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Oe Goals al ECODRIVE DKC01 1 DKC11 1 Drive Controllers 4 Index A Acceleration Data Scaling Exponent 2 45 Acceleration Data Scaling Factor 2 44 Acceleration Data Scaling Type 2 43 Additive Velocity Command Value 2 6 Amplifier Nominal Current 2 32 Amplifier Peak Current 2 31 Application T
26. torque ie for acceleration operations This parameter will calculate during heavy switching in the drive mode from the drive control and is not changeable With the activation of this limit the following current and torque limitations and settings shrink ID Number Name Unit S 0 0109 Motor peak current A S 0 0110 Amplifier peak current 1 A P 0 0519 Amplifier peak current 2 A S 0 0092 Torque limit bipolar P 0 0006 Overload factor 3 Figure 3 17 Active peak current dependence The dependence on the overload factor is not linear It can be seen in connection with peak current 1 and peak current 2 P 0 4046 Attributes Name in German Wirksamer Spitzenstrom Name in English Active peak Current ID number P 0 4046 Editability no Function Parameter Memory no Data length 4 Byte validity check no Format DEC_OV Extreme value check no Unit German English A A combination check no Posit after the dec 3 cyc transmittable no Input value min max Default value DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 47 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4047 Motor Inductance Description ODS aa es Measured inductance of the motor between two clamped connections The parameter will be determined during the manufacturing stage and cannot be changed P 0 4047 Attributes Name in German Name in English ID number Function
27. 2 28 S 0 0107 Current Controller Integral Action Time 1 2 29 S 0 0108 Feedrate Override is rrnnnnnnnnnnnnnnnnneneennnnnnnnnnnee 2 30 S 0 0109 Motor Peak Current a e i N 2 30 S 0 0110 Amplifier Peak Current sise 2 31 S 0 0111 Motor Current at Grande 2 31 S 0 0112 Amplifier Nominal Current nnne tanane nnmnnn ennn nne 2 32 S 0 0113 Maximum Motor Speed nmax 2 32 S 0 0116 Resolution of Rotational Feedback 1 Vu 2 33 S 0 0121 Input Revolutions of Load Gear sise 2 33 S 0 0122 Output Revolutions of Load Gear sis 2 34 S 0 0123 Feed Constant rte ent dde Dentelle rousse n dance se Ed 2 35 S 0 0124 Standstill WINGOW 00 0 cece i T a T a aa a aaa a aaa aa aa aa aa 2 35 S 0 0127 C1 Communication Phase 3 Transition Check 2 36 S 0 0128 C2 Communication Phase 4 Transition Check 2 36 S 0 0135 Dive Sta ER e Tee EE 2 37 S 0 0138 Bipolar Acceleration Limit Value ss 2 38 S 0 0140 Gontr ller Types tek lente iin E 2 38 S 0 0141 Motor Type EE 2 39 5 0 0142 Application Typa sinan nee ai eee i ave i ae ety aaa nana 2 40 5 0 0147 Hommg GE EE 2 40 S 0 0148 C6 Drive Controlled Homing Procedure ss 2 41 0 0150 Reference Offset ds nan ne ir raid anti ete ane an tt la rare in ae lan tan 2 42 S 0 0159 Monitoring Window ss 2 42 S 0 0160 Acceleration Data Scaling Type ss 2 43 S 0 0161 Acceleration Data Scaling Factor 2 44 S 0 0162 Acceleration Data Scaling Exponent ccceccceeeeeeeeeeeceeeeecaeeeeaaeseeeeesee
28. 3 Instability in the velocity loop DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc Remedy For 1 Check the installation of the motor If the system has been in operation for a long time check to see if the the operating conditions have changed in regards to pollution friction moved components etc For 2 Check wires and cables to the motor temperature monitor for wire breaks and short circuits For 3 Check velocity loop parameters F219 Attributes SS Display F2 19 Diagnostic message F219 Motor Overtemperature Shutdown F219 Motor Overtemperature Shutdown Error number 219 Diagnostic message number F219 Error class Non fatal F220 Bleeder Overtemperature Shutdown Description The regenerated energy from the mechanism of the machine via the motor has exceeded the power capability of the bleeder resistor By exceeding the maximum resistance energy the drive will shutdown according to the set error reaction Thereby protecting the bleeder from temperature damage Cause The reflected energy from the machine s mechanism over the motor is too large Remedy With too much power gt reduce the acceleration value With too much energy gt reduce the velocity Check the drive installation May require installation of an additional bleeder module F220 Attributes SS Display F2 20 Diagnostic messag
29. 9 2 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Data References When using linear scaling all output variables such as position velocity and acceleration are interpreted in reference to the load Units of Measure When using linear scaling the unit of measure in which position data velocity data and acceleration data will be displayed is selectable to be either inch or mm The feed constant should be entered in the unit per revolution that has previously been selected Example Unit of Measure mm Unit for feed constant mm revolution Negating Position Velocity and Torque Data Position velocity and torque data can be negated in order to adapt the output variables to the logical direction of motion of an axis Negating this data has absolutely no effect in the control logic sense Positive feedback in the velocity or position control loops cannot be caused by changing these polarities Note To reverse the direction of motion in the torque control and velocity control modes exchange the analog input signals E1 E2 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers ROTARY SCALING HP CEO ek Scaling mechanical system Type of scaling linear rotary _ Negation of position velocity and torque data Data positioning with respect to mo
30. A descriptive name for the drive can be stored in this parameter eg swivel axis It has no functional significance S 0 0142 Attributes Name in German Anwendungsart Name in English Application type ID number S 0 0142 Editability P234 Function Parameter Memory Param E2prom Data length 1Byte variable max 40 characters validity check Phase3 Format ASCII Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value Default S 0 0147 Homing Parameter Description The processes for the Drive controlled homing procedure S 0 0148 in relation to the machine layout NC and drive installation will be set in this parameter Structure of the parameter BEBE BEES Bit 0 Direction of movement 0 positive Clockwise with view of motor shaft 1 negative Counter clockwise with view of motor shaft L Bit5 Home switch analysis 0 home switch is being analyzed 1 home switch is not being analyzed Bit 6 Home mark analysis 0 home mark is being analyzed 1 home mark is not being analyzed eege Figure 2 13 S 0 0147 Homing Parameter Note Only the bits named here are supported by the product 2 40 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0147 Attributes Name in German Referenzfahr Paramet
31. Diagnostic message A013 Ready for Power A013 Ready for Power Diagnostic message number A013 A100 Drive in Torque Mode Description The drive is functioning in torque mode The drive follows the given torque command value received over the analog channels E1 and E2 A100 Attributes SS Display AF Diagnostic message A100 Drive in torque mode A100 Drive in torque mode Diagnostic message number A100 1 42 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CEFA rA ECODRIVE DKC01 1 DKC11 1 Drive Controllers A101 Drive in Velocity Mode Description The drive is functioning in velocity mode The drive follows the given velocity command value received over the analog channels E1 and E2 A101 Attributes SS Display AF Diagnostic message A101 Drive in velocity mode A101 Drive in velocity mode Diagnostic message number A101 A203 Position Control Stepper Drive Interface Description The drive is functioning in position control with Stepper interface The device follows the position command which will be developed out of the stepper motor signals A203 Attributes SS Display AF Diagnostic message A203 Position Control Stepper Drive Interface A203 Position Control Stepper Drive Interface Diagnostic message number A203 A204 Position Regulation without Lag Stepper Drive Interface Description The drive is functioning in position regulation without lag Stepper Drive i
32. F879 Velocity Limit Value Exceeded Error number 879 Diagnostic message number F879 Error class Fatal DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pace F895 4 kHz Signal Error Description The 4kHz signal is synchronized with the software processing for creation of the resolver signal This error message is created when synchronization occurs improperly Cause 1 The synchronization of the resolver controller voltage is invalid in regards to the software 2 The error can be produced through an electrical discharge Remedy For 1 Exchange drive controller and return for testing For 2 Power down and then on If this in not successful exchange drive controller F895 Attributes SS Display F8 95 Diagnostic message F895 4kHz Signal Error F895 4kHz Signal Error Error number 895 Diagnostic message number F895 Error class Fatal 1 16 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 3 Warning Diagnostic Messages E250 Heatsink Overtemperature Warning Description The temperature of the heatsink in the drive controller has reached the maximum allowable temperature Within a time frame of 30 seconds the drive follows the command value input Consequently there exists the possibility to shut down the motor with the control s
33. P 0 4031 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Description Absolutgeber Emulator Offset Absolute encoder emulation offset P 0 4031 Parameter 4 Byte HEX f ef s Editability Memory validity check Extreme value check combination check cyc transmittable Default value P 0 4032 C3 Command Set Emulation Absolute Value no parallel EEProm only with SSI Emulation no no no With this command the position which is recorded in parameter P 0 0515 will be given in the absolute encoder interface The command can only be processed if the control opening in turned off see also Function description Disengagement of a command P 0 4032 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max C3 Kommando AbsolutmaB Emulator setzen C3 Command set emulation absolute value P 0 4032 Command 2 Byte binary f 0 11 Editability Memory validity check Extreme value check combination check cyc transmittable Default value P4 no no no yes no DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers ODS a es P 0 4033 Steps per Revolution Description The num
34. Parameter Memory no Data length Byte validity check no Format binary Extreme value check no Unit German English combination check no Posit after the dec 5 cyc transmittable no Input value min max Default value e Description Bit list for reading by the digital output signals of the DKC 1 means At the output there is 24V BESS BE BitO free Bit1 ready relay control Bit 2 brake relay control Bit 3 position switch point X2 19 Bit 4 software start relay control Bit5 X2 20 in reference Bit 6 X2 21 in motion Bit7 X2 22 in position Bit8 free L Bit9 free L Bit 10 free Bit 11 X2 6 select position 1 acknowledgement Bit 12 X2 7 select position 2 acknowledgement Bit 13 X2 8 select position 3 acknowledgement Bit 14 X2 9 select position 4 acknowledgement L Bit 15 X2 10 select position 5 acknowledgement Figure 3 15 P 0 4041 digital outputs P 0 4041 Attributes Name in German Digitale Ausgange Name in English Digital outputs ID number P 0 4041 Editability no Function Parameter Memory no Data length 2 Byte validity check no Format binary Extreme value check no Unit German English combination check no Posit after the dec cyc transmittable no Input value min max Default value 3 44 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4042 Default Velocity Loop Delay Time Desc
35. Position regulation with stepper motor interface without lag D Figure 6 1 Position Control with Stepping Motor Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Stepping Motor Interface 6 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Position Control with Following Error When positioning in this mode a speed dependent difference between the command position and the actual position will be created Following Error This synchronized action when positioning is dependent on the Kv factor setting and causes a crawling towards the desired position especially with small Kv factors Position Control Without Following Error In the position control with following error mode a speed control ensures that the command position and actual position are always the same There is no speed dependent difference between command position and actual position Selecting the Appropriate Position Control Mode Because the drive controller simulates the behavior of an actual stepping motor in the position control without following error mode this mode should be given preference In less rigid mechanical systems the acceleration knee points created by this mode cause undesireable mechanical vibrations The position control with following error mode should nevertheless be used if the application allows this disadvantage Vibration will then be dampened by reducing the Kv factor Doing this crea
36. Speed command value to zero Torque release Figure 9 8 Error handling Error Classes Errors are divided into different classes 7 Segment Display Error Class Message Drive Response Fatal F8 xx Switch to torque free state Traverserange F6 xx Velocity command value set to zero Interface F4 xx may be selected Non fatal F2 xx may be selected Figure 9 9 Error Classes DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pano Drive Response If the drive is in controlled mode and an error is detected an error response is automatically carried out An alternating indicator is visible on the H1 display Fx xx If the error allows for a variable response either switching to a torque free state or setting the velocity control value to zero can be selected as the error response After the drive has responded to the error it will automatically switch to a torque free state and open theinternal Bb ready to operate relay U B gt Drive error gt bb bi i bb tb1 5s if no initializing error exists t lt 10ms if a fatal drive error occurs bb 500ms if a non fatal drive error occurs SV0028d1 drw Figure 9 10 bb Timing when switching on the supply voltage 9 12 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1
37. drive a start command to do this Prior to this the drive must be enabled and in motion C600 Attributes SS Display C6 Diagnostic message C600 Drive controlled homing procedure C600 Drive controlled homing procedure Diagnostic message number C600 C601 Homing Procedure not Possible without Drive Enable Cause The command would be started without drive enable being turned on Remedy 1 Enable Drive 2 Restart the command C601 Attributes SS Display C6 01 Diagnostic message C601 Homing Procedure not Possible without Drive Enable C601 Homing Procedure not Possible without Drive Enable Diagnostic message number C601 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 37 ECODRIVE DKC01 1 DKC11 1 Drive Controllers KEE t C602 Zero Switch to Home Reference Error Cause During the drive controlled homing procedure an ambiguous position for the home reference of the feedback and the switch flank of the home switch was determined Remedy The cam of the home switch must be shifted in such a manner such that an accurate homing procedure is possible e Read the contents of parameter P 0 0020 Shifting of the Homing Cam e Mechanically shift the homing cam by the amount in the parameter e Re perform the drive controlled homing procedure C602 Attributes SS Display C6 02 Diagnostic message C602 Zero Switch to Home Reference Error C602 Zero Switch to Home Referen
38. i14 Tomb JOG i Cm JOG ct WSP Lech INREF Gees INBWG eeh INPOS 0 Vext tov ee Inputs ens l Input voltage min max HIGH 16 V 30 V LOW 0 5 V DV Input resistance approx 8 KOhm AP0223d1 drw Figure 9 29 Connecting the home command and switch inputs DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers AMENER al Ending the Drive Controlled Homing Procedure The homing procedure can be interrupted by the following series of signals The homing procedure is selected at the NF signal input Activating the START signal begins the homing procedure After successful complete of the procedure the message INREF In Reference is given Deactivating the NFsignal and the AH STARTsignal can terminate the homing procedure Regulator release RF Control drive guided homing NF Start boir ee In reference INREF e 7 gt gt t k t1 gt 2ms SV0034d1 drw Figure 9 30 Drive controlled homing procedure 9 40 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 AEA rail ECODRIVE DKC01 1 DKC11 1 Drive Controllers Homing When Using a Motor With Integrated Absolute Encoder Function Optional When using a motor with an integrated absolute encoder function optional the measurement relationship is available immediately after turning on the supply voltage assuming that the Set Abs
39. no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value empty DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers ODS aa es P 0 4037 Default Velocity Loop Proportional Gain Description The default value for the velocity encodere proportional amplifier The parameter will be determined during the manufacturing stage and cannot be changed With the default parameter load the value of the parameter will be copied into the parameter S 0 0100 velocity loop proportional gain With the default values a drive of the motor is possible for optimal adaptation on the machine connection the parameter S 0 0100 must sill be optimized P 0 4037 Attributes Name in German Default Drehzahlregler Proportionalverstarkung Name in English Default velocity loop proportional gain Kp ID number P 0 4037 Editability no Function Parameter Memory Feedback Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English As rad As rad combination check no Posit after the dec 1 cyc transmittable no Input value min max 0 32767 Default value P 0 4038 Default Velocity Loop Integral Action Time Description The default value for the velocity loop integral action time The parameter will be determined during the manufacturing stage a
40. no Posit after the dec 0 cyc transmittable no Input value min max Description Default value P 0 0500 Velocity Command Voltage for Max Motor Speed Parameter for setting the scale factor of the analog velocity command value Along with the parameter P 0 501 the scaling for the velocity command value is determined P 0 0501 Motor speed for maximum velocity command voltage Rpm P 0 0500 Velocity command voltage for Max motor speed V validity of the analog velocity command value P 0 0501 P 0 0500 Figure 3 8 Scale factor of the analog velocity command value 3 14 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0500 Attributes Name in German Sollwert Vorgabe f r gew nschte Drehzahl Name in English Velocity command voltage for max motor speed ID number P 0 0500 Editability P2 Function Parameter Memory Param E Prom Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English V V combination check no Posit after the dec 1 cyc transmittable no Input value min max 1 10 0 Default value 10 0 V P 0 0501 Motor Speed for Maximum Velocity Command Voltage Description Parameter for setting the scale factor of the analog velocity command value Along with the parameter P 0 501 the scaling for the velocity command value is determi
41. to Set default values Figure 9 12 Regulator loop settings current loop The parameters for the current control loop are set by INDRAMAT and cannot be adjusted for specific applications The predefined parameter values are set during the basic load command Set default values The parameters for the current regulator are set via the parameters e S 0 0106 Proportional Gain 1 Current Regulator e S 0 0107 Current Regulator 1 Integral Action Time Note Any change from the INDRAMAT defined values is unacceptable and can lead to damage to the motor and drive controller DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers OD ae aa Setting the Velocity Loop P 0 1003 n actual Regulator loop setting VELOCITY LOOP CURRENT LOOP i actual ri CURRENT PARAMETER Name lt No parameter selected gt Set default values Figure 9 13 Regulator loop settings velocity loop The velocity loop is set via the parameters e 0 0100 Velocity Loop Proportional Gain e S 0 0101 Velocity Loop Integral Action Time e P 0 0004 Velocity Loop Smoothing Time Constant e P 0 1003 Velocity Actual Value Smoothing Time Constant These can be set by either executing the basic load function once or by completing the following procedure 9 16 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai
42. Controllers 9 9 Jogging The axis can be moved with the jog function in the Position Control with Step Motor Interface and Position Control with Positioning Interface operating modes The parameters relevant to the jog function can be entered in the Jog dialog Jog speed 1000 000 mm min Jog accelaration 1000 000 mm s Positioning jerk 0 000 mm s Feedrate override 100 00 kv Feedr override via analog input Figure 9 33 Entering the jogging parameters Override Feature While Jogging Note The speed at which the control drive moves while jogging can be controlled with the feedrate override feature Detailed information on this can be found in the chapter Feedrate Override Function DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 45 ECODRIVE DKC01 1 DKC11 1 Drive Controllers ODS aa es 9 10 Feedrate Override Function The velocity of the positioning sets the homing velocity and the jogging velocity are controlled by the feedrate override function The Feedrate override parameter determines at what velocity in proportional relation to the programmed velocity the drive should move In other words at 100 the drive will move at precisely the programmed velocity A continuous reduction of the positioning velocity can be made via the analog command value input To do this the Feedrate Override Variable via Analog Input field must be activated To conv
43. DKC01 1 DKC11 1 Drive Controllers 2 Standard parameters S 0 0014 Interface Status Description The current communication phase can be requested through the first three bits 0 1 2 2 The drive is in the parameter mode 4 The drive is in the operate mode Structure of the parameter Ill Bit 0 2 Communication phase Bit 3 reserved Bit4 reserved Bit 5 reserved Bit6 reserved Bit 7 reserved Bit 8 reserved Bit9 reserved Bit 10 reserved Bit 11 reserved Bit 12 reserved Bit 13 reserved Bit 14 reserved Bit 15 reserved Figure 2 1 S 0 0014 Interface Status Note This parameter is not available for DKC01 1 DKC11 1 firmware DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers URI Ce ER PA S 0 0014 Attributes Name in German Schnittstellen Status Name in English Interface Status ID number S 0 0014 Editability no Function Parameter Memory no Data length 2Byte validity check no Format BIN Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value S 0 0017 IDN List of all operational Data Desrciption The identification numbers of all drive data are included in this list The parameters included in this IDN list are displayed by IDN number name and value in DriveTop through the menu selection
44. DKC11 1 Drive Controllers Pa CREE anc Notes 4 4 Index DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Supplement B Diagnostic message description ASE 02VRS DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 iP CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA ER ERO PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Contents 1 DIAGNOSTIC MESSAGE DESCRIPTION 1 1 1 1 TIPS FOR ELIMINATING MALFUNCTIONS iii 1 1 Reser E tel RE 1 1 Condition Display CA TEE 1 2 1 2 Error Diagnostic OT EE 1 3 UL Motor Type not Reported sise 1 3 PL Default Value of the Parameter Load 0 00 eee ceeeceeeenneeeeeeneeeeeeaaeeeeeeaaeeeeeeaaeeeseeaaeeeeeeaeeeeneaaes 1 3 F207 Switching to an Uninitialized Operating Mode 1 4 F218 Heatsink Overtemperature Shutdown 1 5 F219 Motor Overtemperature Shutdown si 1 5 F220 Bleeder Overtemperature Shutdown c ccceeececeeeeeeeeeeeeeeeceaeeeseaeeeeaeeeeneeeseaeeesaeeeeeeeeeeees 1 6 F226 Undervoltage Error aia at init daisies AA Rats devas eel Rees 1 7 F228 Excessive Deviation sise 1 7 F229 Motor Encoder Error Quadrant Error iii 1 8 F248 Low Battery Voltage fiston nn en ne nn tin etes 1 9 F262 Status Outputs Short Circuited iii 1 9 F276 Absolute Encoder Error Position Deviation gt P 0 0097
45. EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4003 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max P 0 4004 Magnetization Current Description StrommeBverstarkungsabgleich Phase V Current Amplify Trim Phase V P 0 4003 Parameter 2 Byte DEC_OV 4 0 0001 2 0000 Editability Memory validity check Extreme value check combination check cyc transmittable Default value no Verst E2prom Phase3 no no no In this parameter someone from Indramat will install the set nominimal or servo magnetization current for asynchronous motors With synchronous motors this parameter will automatically be set to 0 The DKC controller can be functioned with MKD or MDD motors P 0 4004 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max P 0 4005 Back EMF Constant Description Magnetisierungsstrom Magnetizing current P 0 4004 Parameter 4 Byte DEC_OV A A 4 0 400000 This parameter has no meaning P 0 4005 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Default value EMK Konstante Back emf constant P 0 4005 Editability
46. Grad 10V Deg 10V combination check no Posit after the dec 1 cyc transmittable no Input value min max 0 1 6553 5 Default value 360 0 P 0 0051 Torque Constant Description The torque constant determines what driving torque of the motoris given by a specified motor current With a synchronous motor this value is exclusive of the motor construction The value is stored in the motor feedback memory and cannot be changed MA Nm N P 0 0051 P 0 0080 MA Drivel torque P 0 0051 Torque constanst N A S 0 0080 Torque power command value a Formula 3 5 Drive torque 3 10 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Pa CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0051 Attributes Name in German Drehmoment Konstante Name in English Torque Constant ID number P 0 0051 Editability P3 Function Parameter Memory Feedb E2prom Data length 2Byte validity check Phase3 Format DEC OV Extreme value check no Unit German English Nm A Nm A combination check no Posit after the dec 2 cyc transmittable no Input value min max 0 1000 Default value P 0 0090 Travel Limit Parameter Description The activation of the travel limit switches reaches in the parameter P 0 0090 In addition to this one can invert the polarity of the signal input The drive response to a travel limit can be selected by testing it as either an error or as a
47. Korea Mexico Rexroth Seki Co Ltd 1500 12 Da Dae Dong Saha Gu Pusan 604 050 Telefon 051 264 90 01 Telefax 051 264 90 10 USA Rexroth Corporation INDRAMAT Division 5150 Prairie Stone Parkway Hoffman Estates Illinois 60192 Telefon 847 645 36 00 Telefax 857 645 62 01 Seo Chang Corporation Ltd Room 903 Jeail Building 44 35 Yoido Dong Youngdeungpo Ku Seoul Korea Telefon 02 780 82 07 9 Telefax 02 784 54 08 USA Rexroth Corporation INDRAMAT Division 2110 Austin Avenue Rochester Hills Michigan 48309 Telefon 810 853 82 90 Telefax 810 853 82 90 Motorizaci n y Dise o de Controles S A de C V Av Dr Gustavo Baz No 288 Col Parque Industrial la loma Apartado Postal No 318 54060 Tlalnepantla Estado de Mexico Telefon 5 397 86 44 Telefax 5 398 98 88 Directory of Customer Service Locations outside of Europa Directory of Customer Service Locations DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA ER EPROM PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Notes DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Directory of Customer Service Locations e Indramat
48. P 0 4011 Switch Frequency iii 3 28 P 0 40 12 Slip Ee e 3 29 P 0 4013 Maximum Rotor Frequency ses 3 29 P 0240 14 Motor We 3 30 SEN ere Ee Ee ET 3 30 P 0 4016 Dynamic Compensation usa 3 31 P 0 4017 Offset of the Analog Torque Commande 3 31 P 0 4018 Offset of the Analog Velocity Command Input 3 31 P 0 4019 Process Block Mode sis 3 32 P 0 4020 Encoder Emulation Type sise 3 33 P 0 4021 Baud Rate RS232 485 iii 3 33 P 0 4022 Driv ee 3 34 P 0 4023 C4 Command Switch to Parameter Mode 3 34 R 024024 TESt Stas A En EE 3 35 P 0 4025 GE ele DEE 3 35 P 0 4026 Process Block Gelecon nnne 3 36 P 0 4027 Function Parameter 3 36 P 0 4028 Impulse Wire Feedback Oiteet tnnt ttnrnnttnnnntttn nentrn nentrn nnne ennan 3 37 P 0 4029 Impulse Wire Feedback PIC Counter Value 3 37 P2024030 JOG VEIG arree rr EA EEEE ETE O tn ee ee UNeeeB een tonne Reese 3 38 P 0 4031 Absolute Encoder Emulator Ofteet 3 39 P 0 4032 C3 Command Set Emulation Absolute Value ccccccsesssesesesescseseesscssessesessssrerees 3 39 P 0 4033 Steps per Revolution iii 3 40 P 0 4034 Stepper Motor Interface Mode 3 40 P 0 4035 Anbalanced Current 1r 1n 111r rnrn rnrn EnEn En EnEn En EnEn nnna nnna nnna 3 41 P 0 4036 Contacted Motor Type iii 3 41 P 0 4037 Default Velocity Loop Proportional Gain 3 42 P 0 4038 Default Velocity Loop Integral Action Time 3 42 P 0 4039 Default Current Loop Proportional Gain ssssesseessesesreerternern
49. Parameter List of all Parameters S 0 0017 Attributes IDN Liste Betriebsdaten IDN List of All Operation Data Name in German Name in English ID number S 0 0017 Editability no Function Parameter Memory fixed Data length 2Byte variable validity check no Format IDN Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value S 0 0021 IDN List of Invalid Op Data for Comm Ph 2 Description Before the drive executes the delayed phase switch from 2 to 3 that was initiated with the command Communication phase 3 transition check S 0 0127 it will check to see if all communication parameters are complete and correct If the drive identifies one or more IDN s that are invalid it will write the operating data that is still needed or is invalid in this ID No list This will be displayed to the drive through the command error diagnostic message C101 Communication parameters incomplete S 0 0021 Attributes IDN Liste ung ltige Betriebsdaten Phase 2 IDN List of Invalid Op Data for Comm Ph 2 Name in German Name in English ID number S 0 0021 Editability no Function Parameter Memory no Data length 2Byte variable validity check no Format IDN Extreme value check no 2 2 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LACE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Unit Ge
50. S 0 0182 Attributes Name in German Hersteller Zustandsklasse 3 Name in English Manufacturer Class 3 Diagnostics ID number S 0 0182 Editability no Function Parameter Memory no Data length 2 Byte validity check no Format BIN Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable AT Input value min max Default value 2 46 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR CX EEO PA Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0192 IDN List of Backup Operation Data The ID numbers for all of the operating data that must be loaded in the drive for proper operation are backed up in the IDN list Customarily these are the parameters that are buffered in the parameter E Prom The control and to a file Drive Top use this IDN list to create a backup copy of the drive parameters S 0 0192 Attributes IDN Liste der zu sichernden Betriebsdaten Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max S 0 0193 Positioning Jerk Description IDN List of backup operation data S 0 0192 Parameter 2Byte variable IDN UE 0 Editability Memory validity check Extreme value check combination check cyc transmittable Default value no fixed no no no no The positioning jerk limits the acce
51. Setting of Absolute Measurement Emulator was started with the given drive enable Remedy End the command and deactivate the control enable C301 Attributes SS Display C3 01 Diagnostic message C301 Setting Absolute Measuring not Allowed Drive Enabled C301 Setting Absolute Measuring not Allowed Drive Enabled Diagnostic message number C301 C302 Absolute Measuring System not Installed Description The command P 0 0012 command set absolute measurement would be started without an existing absolute measurement system The command can not be processed because there is no existing absolute measurement system Cause 1 The command was falsely activated 2 The connected motor does not contain an absolute encoder Option Remedy For 1 Stop the command process For 2 Equip the motor or external measurement system with an absolute encoder function DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac C302 Attributes SS Display C3 02 Diagnostic message C302 Absolute Measuring System Not Installed C302 Absolute Measuring System Not Installed Diagnostic message number C302 C400 Switch from Operational to Parameter Mode Description The command for transition is in parameter mode While editing the parameters that can be edited only in parameter mode this command must be processed C400 Attributes SS Dis
52. The velocity control deviation does not become smaller over a time frame of 20ms Cause Jk 2 8 4 Motor cable is connected incorrectly Defective controller section of the drive Defective feedback Velocity loop paramaterized incorrectly 1 14 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Remedy For 1 Check motor cable connection For 2 Exchange drive controller For 3 Exchange motor For 4 Check velocity controller to see if it is within operational parameters F870 Attributes SS Display F8 70 Diagnostic message F870 24 Volt Error F870 24 Volt Error Error number 870 Diagnostic message number F870 Error class Fatal F879 Velocity Limit Value Exceeded S 0 0092 Description The actual velocity is monitored in torque regulation mode This error is generated if the programmed velocity in the S 0 0091 bipolar velocity limit value parameter is exceeded by 1 25 times or a maximum of 100 Rpm Cause The load torque was smaller or larger than the torque command value for too long a time This leads to an increase in the actual velocity up to the maximum possible motor velocity Remedy Check the primary control loop see also in functional description Velocity Supervision in Torque Regulation F879 Attributes SS Display F8 79 Diagnostic message F879 Velocity Limit Value Exceeded
53. Torque Limit S 0 0092 parameter and set it equal to the maximum allowable value for the application For 2 Check the mechanical system and eliminate any jamming of the motor shaft For 3 Check the drive parameters For 4 Parameterize S 0 0159 Monitoring Window DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pace F228 Attributes SS Display F2 28 Diagnostic message F228 Excessive Deviation F228 Excessive Deviation Error number 228 Diagnostic message number F228 Error class Non fatal F229 Motor Encoder Error Quadrant Error Description An encoder signal error was found during the encoder evaluation Cause 1 Defective encoder cable 2 Insulation disturbance on the encoder or the encoder cable 3 Defective drive controller Remedy For 1 Check the encoder cable and change if necessary For 2 Use only insulated motor cable and power cables Separate encoder cable from power cables For 3 Exchange drive controller F229 Attributes SS Display F2 29 Diagnostic message F229 Motor Encoder Error Quadrant Error F229 Motor Encoder Error Quadrant Error Error number 229 Diagnostic message number F229 Error class Non fatal 1 8 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers F248 Low Battery Voltage Cause The connec
54. activated 2 In the Drive Internal Interpolation operating mode the S 0 0258 Target Position will be checked to determine if it s in the possible travel range of the drive 3 In the Command Controlled Operation operating mode the target position of the selected process block will be checked to see if it lies within the travel range The possible travel range is defined through the two parameters S 0 0049 Position Limit Positive and S 0 0050 Position Limit Nega tive The E253 message will be generated if the target position lies outside of the travel range Remedy For 1 Deactivate the position limit monitor For 2 Check the entered S 0 0258 target position and correct if necessary For 3 Check the target position of the process block Add the relative path of travel to the actual position Additionally check the position limit value E253 Attributes SS Display E2 53 Diagnostic message E253 Target position out of range E253 Target position out of range Diagnostic message number E253 Warning class Non fatal DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pace E254 Drive not Referenced Description If Absolute Positioning Commands are selected while in Command Controlled Operation the control drive must be homed If this is not the case an absolute position cannot be reached The drive rejects this
55. after the dec S 0 0076 cyc transmittable no Input value min max S 0 0076 S 0 0076 Default value P 0 4007 Process Block Velocity Description List of the process block velocity for command controled operation positioning interface It can be given a maximum of 32 velocities whereby the first element specifies the maximum velocity of the process block 0 the second element specifies the maximum velocity of the process block ee The number of the process block velocities must always be larger or equal to the number of operational process block lf process blocks is selected of which there are no process block velocities then the warning non programmed process block will be given P 0 4007 Attributes Name in German Verfahrsatz Geschwindigkeit Name in English Process block Velocity ID number P 0 4007 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length list with 32 elements each with 4 Byte 128 Byte validity check yes Format S 0 0044 Extreme value check yes Unit German English S 0 0044 S 0 0044 combination check no Posit after the dec S 0 0044 cyc transmittable no Input value min max S 0 0044 S 0 0044 Default value 100 0000 3 26 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Pa CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4008 Process Block Acceleration Description List of the acceleration for the command controled oper
56. be set with a defined homing procedure e Absolute position measurement optional After the power supply has been turned on the absolute actual position value in relation to a fixed reference point is immediately available Thus completing the homing procedure is unnecessary Actual Position Value Output The DKCO1 1 has an actual position value output for transmission of the actual position value to an NC control Actual position values can be transmitted in either incremental or absolute format e Incremental Actual Position Value Output 5V TTL incremental encoder signals with an adjustable counter are given as an output Incremental actual position value output is possible with both actual position value and absolute actual position value acquisition e Absolute Actual Position Value Output The absolute actual position value is transmitted in the standard SSI format for position encoders The output of the absolute actual position value is only possible when using a motor with an absolute encoder optional Integrated Diagnostic Display All internal condition and error analysis is displayed via a dual position seven segment display Easy Installation The installation and diagnostic program DRIVETOP helps with a user friendly installation via the serial RS 232 interface on a PC running Windows 3 1 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 System Overview 1 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Functi
57. been exceeded Exceeding the travel area as an error The drive controller brakes with maximum torque After it has been stopped the drive controller shifts to torque free operation After the error has been cleared the drive can be once again activated and moved into the allowable travel area Cause One of the travel limit switches was tripped Remedy 1 Input a command value in the direction of the travel area 2 Move the travel limit switches if necessary DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Oe te fein ey 3 Turn off the position limit monitor when displaying the position data in modulo format F644 Attributes SS Display F6 44 Diagnostic message F644 Travel Limit Switch detected F644 Travel Limit Switch detected Error number 644 Diagnostic message number F644 Error class Travel range F822 Motor Encoder Failure Signal too Small Description The motor encoder signals are monitored If the signal amplitudes as measured via AK1 and AK2 are outside of the allowable region between Uss 12 0V and Uss 18 0 V then the error message appears The drive becomes torque free and an optional brake is immediately activated Cause 1 Defective feedback cable 2 Defective feedback Remedy For 1 Check the feedback cable Lay the power cables separate from the feedback cable The cable shield must be connected to t
58. check Phase3 Format DEC OV Extreme value check no Unit German English Zykl Umdr bzw mm von P 0 4014 abh ngig Cycl Rev or inch depending on P 0 4014 combination check no Posit after the dec cyc transmittable no Input value min max Default value S 0 0121 Input Revolutions of Load Gear Description A mechanical gear will often be employed between the motor and the load The gear ratio is defined by Output Revolutions of load Gear Input Revolutions of load Gear Figure 2 9 Gear Ratio see also Function description Bondary conditions for modulo processing Example 5 motor rotations result is 2 output gear rotations S 0 0121 5 S 0 0122 2 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 33 ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0121 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Description Input revolutions of load gear Input revolutions of load gear S 0 0121 Parameter 4 Byte DEC OV Rev 0 1 4294967295 S 0 0122 Output Revolutions of Load Gear Editability Memory validity check Extreme value check combination check cyc transmittable Default value ODS aa es P23 Param E2prom Phase3 yes no no 1 Rev A mechanical gear will often be employed between the motor and the load
59. checked for validity All of the incorrect parameters and those that will lead to boundary value problems are placed in an invalid parameter list and can be corrected within the list The drive controller recognizes parameter mode and drive mode Under this menu one can switch between the modes Under this menu the connected motor data can be read and displayed With offline operation this activity must be performed manually 3 8 Preparation for Startup Procedure DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LME EE an Control Device Type Type of Operation Additional Parameter Displays Startup Procedure Drive Hardware Connection Parameter Settings Scan Select Offline ECODRIVE DKC01 1 DKC11 1 Drive Controllers Under this menu drive controller information can be read From this information the value of the overload factors and the PWM frequency within which the drive should run are read With offline operation all of these activities must be done manually by the user The installation of the desired type of operation Additional parameter windows appear in the parameter menu They are independent of the selected type of operation The mentioned parameter windows are self explanatory and will not be discussed further Under this menu one will find the help system where the connection to the drive controller is shown The parameters regarding the set up procedure leads the user through a series of dia
60. e S 0 0104 Position Loop KV Factor e P 0 1003 Velocity Feedback Value Filter Time Constant DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers RME Era Executing the Basic Load Function After Changing the Motor or Drive Controller The drive controller will recognize if it is operating with a changed motor type for the first time The drive will read UL on the 7 segment display Pressing the S1 key on the drive controller or the reset button in the DRIVETOP diagnostic display will activate the standard control parameters in the drive Executing the Basic Load Feature as a Command in the Regulator Loop Setting Dialog The standard control loop parameters can be activated in the Regulator loop setting dialog This can create a stable default condition if the basic tuning valueshas been lost while changing the control settings Regulator loop setting VELOCITY LOOP CURRENT LOOP i actual P 0 1003 CURRENT PARAMETER Name lt No parameter selected gt Set default values Figure 9 11 Setting standard control parameters 9 14 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Oe Gale al ECODRIVE DKC01 1 DKC11 1 Drive Controllers Setting the Current Regulator Regulator loop setting CURRENT LOOP S 0 0106 i command i actual CURRENT PARAMETER Name lt No parameter selected gt Range
61. negative or always positive See parameter description With modulo format there are no installable negative desired positions In spite of the actual backward desired position one must follow the given instructions in order for the desired position to move T arg et Position to be entered Modulo value path which shouldbe followed Formula 5 3 Calculation of a relative desired position through movement in the negative direction 5 16 DKCo1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 7 Connection Illustration of the Positioning Interface max 20 m lt a We X2 a gt iadf pos TT POS2 gt ch POS3 gt oC POS gt o POSS lt Ge POS Q1 eeh POS a2 lt sot POS Q3 lt o POS 04 lt o POS Q5 AG DV Dbmm SE Inputs Input voltage min max HIGH 16 V 80 V LOW 0 5 V 8V Input resistance approx 5 kOhm POS1 5V POS2 200 POS3 POS4 5V1 4k7 10k ost gt eg D d SCH POS5 6k3 10k o gt D gt Outputs Output voltage min max HIGH 16 V Uext LOW 0 V 1V Output current lout 80 mA Leading time fall time approx 5 us Overload protection at lout gt 300 mA the outputs switch to LOW AP0217d1 drw Figure 5 12 Positioning interface POS1 POSS Positioni
62. no Data length 2 Byte validity check no Format binary Extreme value check no Unit German English combination check no Posit after the dec cyc transmittable no Input value min max Default value S 0 0060 Position Switch Point 1 The position switches are made up of a position switch point and a position switch point flag If the position feedback value is less than the position switch point the corresponding flag will be set to 0 If the position feedback value is larger than or equal to the position switch point the corresponding flag will be set to 1 S 0 0060 Attributes Name in German Positionsschaltpunkt 1 Name in English Position Switch point 1 ID number S 0 0060 Editability P2 P3 P4 Function Parameter Memory Param E2prom Data length 4 Byte validity check yes Format S 0 0076 Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max Default value 0 00 Deg 2 16 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0076 Position Data Scaling Type Description Various scaling types for the position data in the drive can be set as described below This parameter determines the scaling of all parameters with units of linear or rotary position or displacement Structure of the parameter Bit 2 0 Scal
63. no no no P2 yes yes no no 3 20 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0516 Attributes Name in German Feedback Interface Name in English Feedback interface ID number P 0 0516 Editability Function Parameter Memory fixed Data length 2 Byte validity check yes Format binary Extreme value check no Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 0 100 Default value 0 P 0 0518 Amplifier Nominal Current 2 Description The parameter specifies the maximum nominal current of the amplifier with reduced peak current It specifies within the parameters S 0 0110 amplifier peak current S 0 0112 amplifier nominal current and P 0 0519 amplifier peak current 2 the length of the peak current characteristics for the peak current limit of the amplifier The value is not editable because it is permanently programmed within the amplifier P 0 0518 Attributes Name in German Verstarker Nennstrom 2 Name in English Amplifier Nominal Current 2 ID number P 0 0518 Editability no Function Parameter Memory Verst E2prom Data length 4 Byte validity check Phase3 Format DEC_OV Extreme value check no Unit German English A A combination check no Posit after the dec 3 cyc transmittable no Input value min max 0 001 500 Default va
64. of the analog velocity command value can be set in the DKC e The output of the actual position value can be either incremental or absolute e Regardless of the command value the drive controller can be brought to a standstill via a logic input and kept drift free under active control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 System Overview 1 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Oe Gale a Servo Drive with Stepping Motor Interface Control with stepping impulse generator Interpolation Stepping impulse generator RS 232 A RS 485 Forwards lt Eod Position actual value MS DOS PC Control drive DKC01 1 AC servo motor with stepping motor interface MKD Parameter Diagnosis Operating dat Control drive processor Stepping motor interface gt Fine interpolation gt Position control e gt Speed control Field oriented 4 gt Stator voltage regulator High resolution position interface FS0202d1 drw Figure 1 3 Servo drive with stepping motor interface The number of steps per rotor revolution is freely adjustable between 16 and 65536 The maximum stepping frequency is independant of the load Because the position of operation is monitored it is technically impossible for steps to be left out The Stepper Motor interface can be set to three standard signal definit
65. outputs show after valid record acceptance the number of the active position records SV0037d1 drw Figure 5 5 Relative Positioning Command after the Jogging Operation DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers NACRE FN PARU Relative Positioning Command after Activation of the Drive Controller Enable Example Interruption of relative method command after activation of the RF with desired position 600 Speed profiles STANDSTILL WINDOW _ POS1 POS5 SS EE S AH START E e gt INPOS a en INBWG E Regulator release ti ti gt 10ms Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs show after valid record acceptance the number SS of the active position records SV0038d1 drw Figure 5 6 Relative Positioning Command after Activation of Drive Controller Enable 5 8 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 VEER ECODRIVE DKC01 1 DKC11 1 Drive Controllers Continuas Movement in Positive Negative Direction Should a motor with a defined speed acceleration and jerk move without a specific desired position then the method command mode must be specified as Movement in the pos
66. polarity Bit 2 Position command value 1 0 positive polarity 1 negative polarity Bit 3 Position command value 2 0 positive polarity 1 negative polarity Bit 4 Position limits 0 not active 1 active Figure 2 5 S 0 0055 Position Polarity Parameter Note Only the bits named here are supported by the product If bit O is altered by the control system the drive will also set the value for bits 1 3 to match the value of bit 0 2 14 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0055 Attributes Name in German Name in English Lage Polaritaten Parameter Position Polarity Parameter ID number S 0 0055 Editability P23 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format BIN Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 31 Default value 0b S 0 0057 Position Window Description The drive will set the ouput In Position when the amount of the the position feedback value and the position command value is less than the value of the position window During the command S 0 0148 C6 Drive controlled homing procedure this parameter is used to signal the end of the command through the INPOS output if the position feedback value enters into the home region S 0 0057 diffe
67. position regulator The mechanical system must be set up in its final form in order to have true relationships while setting the parameters The drive must be properly connected as described in the user manual The safety limit switches must be checked for proper functioning if applicable The Position Regulation operating mode must be selected in the drive controller The underlying velocity controller must be properly adjusted The beginning value selected for the Kv factor should be relatively small Kv 1 Determining the Critical Position Loop Gain Run the drive in a mode in which the position regulation loop is closed in the drive Run the shaft at a low speed 10 20 Rpm via the jog function of the connected NC control for example Raise the Kv factor until operation begins to be unstable Reduce the Kv factor until the continuous oscillation disappears by itself The Kv factor determined through this process is the Critical Position Regulator Loop Gain Determining the Position Regulator Setting In most applications an appropriate position regulator setting will lie between 50 and 80 of the critical position regulator loop gain This means S 0 0104 Position Loop KV Factor 0 5 0 8 x KVerit 9 20 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 ee Goebel ECODRIVE DKC01 1 DKC11 1 Drive Controllers 9 5 Loop Monitoring The following loop monitors are provided to
68. positioning gt relative positioning Move to positive direction no target position gt Move to negative direction no target position Figure 5 8 Positioning Command Input Command Number The command number indicates the address of the positioning commands where these commands can be pulled up under the command choice directory Positioning Command Data Desired Position The position where the drive controller should be positioned is supplied from the input array of desired positions The desired position independent of the positioning mode can be relative or absolute 5 10 DKCo1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai Instruction for Installation of the Positioning Jerk ECODRIVE DKC01 1 DKC11 1 Drive Controllers Positioning Velocity The positioning velocity with which the desired position will be reached can be established here With the Feedrate override function the speed during the positioning can be dynamically changed Positioning Acceleration The positioning acceleration with which the drive accelerates and decelerates can be defined for every positioning command The jerk of the acceleration happens under allowance of the following points of consideration e Maximum torque of the motor in response of the motor and drive controller combination e Inertial torque and frictional torque of the connected mech
69. positioning command and stops The warning will be given Cause Absolute positioning command was selected without the drive being referenced Remedy 1 Reference the drive 2 Select Relative Positioning Command E254 Attributes SS Display E2 54 Diagnostic message E254 Drive not Referenced E254 Drive not Referenced Diagnostic message number E254 Warning class Non fatal E255 Feedrate Override S 0 0108 0 Description The transversing velocity can be changed while jogging homing and while in positioning operation with the S 0 0108 Feedrate Override parameter Since the drive controller cannot follow command values which do not move the warning will be given if the value of this parameter is 0 Cause 1 Feedrate override is set at zero 2 The Feedrate Override Via Analog Output field is activated and the voltage there is OV Remedy For 1 Set the S 0 0108 parameter to the correct value for the application For 2 Deactivate the field or establish a voltage larger than OV 1 20 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers E256 Torque Limit Value 0 E255 Attributes SS Display E2 55 Diagnostic message E255 Feedrate Override S 0 0108 0 E255 Feedrate Override S 0 0108 0 Diagnostic message number E255 Warning class Non fatal Cause 1 For protection against mechanical overload the maximum
70. positioning speed can be changed by the Velocity Override Function see 9 10 5 2 Setting the Operation Mode Position Control with Position Interface The operational mode of Position Control with Positioning Interface is standardized through the operational mode window Operating mode selection The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveTop and helps you to identify the actual online drive Name of axis Operating mode Position regulation with positioning interface without lag Figure 5 1 Position Control with Positioning Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Position Control with Following Error When positioning in this mode a speed dependent difference between the command position and the actual position is created Following Error The time relation between positioning depends on the fixed Kv factor and may cause a creeping into the desired position especially with a small Kv factor Position Control without Following Error An anticipitory speed control will position the drive controller without following error thereby causing the command position and the actual position to be the same Therefore positioning is not dependent on a speed difference between the co
71. this operating type the position command will be compared with the position feedback The maximum deviation which occurs will be stored in P 0 0098 A model for the controled system is not be necessary in this case 3 12 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Note The parameter is only descriptive so that one can for example reset it back to 0 P 0 0098 Attributes Name in German max Name in English Maximum Model Deviation ID number P 0 0098 Editability P234 Function Parameter Memory no Data length 4Byte validity check no Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max 0 S 0 0076 Default value P 0 0119 Error Reaction Best Possible braking Description This parameter specificies the type of breaking to standstill of the drive following e non fatal error e interface error e switching off of the controller enable signal P 0 0119 Reaction type Velocity command is set to zero value that means the motor will be braked under control of the bipolar torque limit parameter value The braking time may amount to a maximum of 500ms 100 milliseconds before the operation of the brake time the holding brake will be activated Should the velocity already have fallen below the value
72. value min max 0 S 0 0076 Default value 360 00 Deg S 0 0104 Position Controller KV Factor closed loop control Description This parameter contains the value for the proportional gain of the position loop Controller The option is available to load a default value for this control parameter with the Basic load command loop see also Function description Determining the position controller setting S 0 0104 Attributes Name in German Name in English Lageregler KV Faktor Position Loop KV Factor ID number S 0 0104 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English 1000 min 1000 min combination check no Posit after the dec 2 cyc transmittable no Input value min max 0 02 239 Default value 1000 min S 0 0106 Current Controller Proportional Gain 1 Description 2 28 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai S 0 0107 Current Controller ECODRIVE DKC01 1 DKC11 1 Drive Controllers This parameter represents the proportional gain of the current controller The current controller proportional gain is determined for each of the motor drive combinations It depends on the type of motor and may not be changed It can be determined with the Basic load command or from the motor data sheets see also Function description Setting the current control
73. 0098 Maximum model deviation S 0 0159 Attributes Name in German Uberwachungsfenster Name in English Monitoring Window ID number S 0 0159 Editability P234 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max 0 S 0 0076 Default value 30 00 Deg 2 42 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREPE PAR ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0160 Acceleration Data Scaling Type Description Various scaling types can be set as described be pw for the acceleration data in the drive as defined by the bit values of this parameter Structure of the parameter LLL Bit 2 0 Scaling type 0 0 0 unscaled 0 0 1 linear scaling 0 1 0 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 degree angles 1 reserved Bit5 Unit of time 0 seconds s 1 reserved Bit6 Data reference 0 to the motor shaft 1 to the load Bit 15 7 reserved PO Figure 2 14 S 0 0160 Acceleration Data Scaling Type Note Only the bits named here are supported by the product Notes 1 Same as S 0 0044 Note 1 2 Same as S 0 0044 No
74. 02VRS FKB1 EN P 07 96 OLS aa an 9 12 Motor Brake ECODRIVE DKC01 1 DKC11 1 Drive Controllers Servo axes must be secured against unwanted movement when the power is off if movement could cause damage INDRAMAT motors are available with optional integrated brakes ECODRIVE DKC drive controllers have an integrated brake control Note INDRAMAT motors have optional holding brakes which are not designed to be operating brakes Under closed use brakes become worn out after approx 20000 motor revolutions It is therefore important to pay attention to the proper function of a brake when installing a control drive with an integrated brake Proper operation of the brake can be checked by a clack noise when activating the control enable Connecting the Motor Brake A regulated dc voltage is necessary for the brake s power supply 24V 10 I DKC conf Cable MKD control dive IKG 006 1 servo motor Internal brake control Voltage connection for brake DC 24V 10 AP0209d1 drw Figure 9 38 Connecting the motor brake DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 49 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pano Brake Reaction After Switching Off the Control Enable and in Error Conditions The brake is controlled via the drive controller The diagrams below show the chronological reaction of the brake control after the control enable is turned off and in err
75. 07 96 LR EX EE an ECODRIVE DKC01 1 DKC11 1 Drive Controllers 10 4 Communication Procedures Communication Parameters P 0 4022 Drive Address P 0 4021 Baud Rate The data exchange over the serial interface is controlled with three parameters e Drive Address P 0 4022 e Baud rate P 0 4021 e Answer Delay P 0 4050 If multiple drives are connected over the RS485 interface then the data exchange must be organized through the allocation of drive addresses to the individual units on thebus The parameter P 0 4022 establishes the address where a drive can be contacted There are admissible addresses from 1 to 99 With the use of the RS232 interface an explicit setting of the drive address is not required because in this case only one drive at a time can be connected to the interface If multiple drives are connected via RS485 the drive address must be established over the RS232 interface before making the RS485 connection This is done in order to ensure that only one drive functions for each given address on the serial bus The baud rate of the serial interface is set by parameter The following settings are possible 0 9600 Baud 1 19200 Baud All the devies on the bus must be set to the same baud rate The RS485 interface operates in half duplex mode The direction of the P 0 4050 Answer Delay data must be switched during the data exchange The switch of the data direction happens in less tha
76. 1 DKC11 1 Drive Controllers S 0 0140 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Description Control Device Type Controller Type S 0 0140 Parameter 1Byte variable ASCII 0 Editability Memory validity check Extreme value check combination check cyc transmittable Default value no Fixed E prom Phase3 no no no The company name and the motor type of the connected motor can be found in the operating data for the motor type in text form This value is stored for MDD and MKD motors in the motor feedback and will be loaded from thereinto the controller Ram when the drive is started for the first time Example MDD 065A N040 N2L 095GBO MKD 071B 061 KP1 BN S 0 0141 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Motortyp Motor Type S 0 0141 Parameter 1Byte variable ASCII 0 or Editability Memory validity check Extreme value check combination check cyc transmittable Default value P23 Feedb E2prom Phase3 no no no DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0142 Application Type Description
77. 3 4004 4005 5001 5002 5003 5004 5005 6001 6002 6003 6004 6005 7002 7003 7004 7005 7006 7007 7008 9001 9002 9003 9004 9005 9006 9007 Error description ID number missing Invalid access to element 1 Namemissing Transmitted name is too short Transmitted name is too long Name cannot be written to Name is currently not editable Transmitted attribute is too short Transmitted attribute is too long Attribute is not changeable Attribute is currently write protected Unit missing Transmitted unit is too short Transmitted unit is too long Unit is not changeable Unit is currently not changeable Min value missing Transmitted min value is too short Transmitted min value is too long Min value is not changeable Min value is currently not changeable Max value missing Transmitted max value is too short Transmitted max value is too long Max value is not changeable Max value is currently write protected Transmitted datum is too short Transmitted datum is too long Datum cannot be written to Datum cannot currently be written to Datum lt min value Datum gt max value Datum is not correct Input is not identifiable Parameter type error Invalid data set number Invalid data block number Data element number is not defined Error in read write recognition r w Invalid character in the data DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Serial Communication 10 11 ECODRIVE DKC01 1 DKC11 1 Dr
78. 34 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max S 0 0076 S 0 0076 Default value 10000 00 Deg S 0 0051 Position Feedback Value 1 Motor Feedback Description The Position feedback value 1 Motor feedback represent the current position of the rotational feedback This value is updated each 500ms This can be read over the serial interface S 0 0051 Attributes Name in German Lage lstwert 1 Name in English Position Feedback Value 1 Motor Feedback ID number S 0 0051 Editability no Function Parameter Memory no Data length 4 Byte validity check no Format DEC_MV Extreme value check no Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable AT Input value min max Default value S 0 0052 Reference Distance 1 Description This parameter represents the distance between the machine zero point and the home point for the motor measurement system Position feedback value 1 After the command S 0 0148 C6 Drive controlled homing procedure has been executed the drive will set the Position Command Value S 0 0047 and the Position feedback value 9 8 Drive Controlled Homing Procedure S 0 0051 to this value DOK ECODRV ASE 02VRS
79. 5 and 7 in parameter P 0 0038 Signal selection for analog output channel 1 the scaling of the position data will be established in parameter P 0 0042 The unit of Deg 10V is given in reference to the motor shaft DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 0042 Attributes Name in German Wichtg von Lagedaten Analogausgabe Kanal1 Name in English Scaling for position data on Analog output Channel 1 ID number P 0 0042 Editability P234 Function Parameter Memory Param E prom Data length 4Byte validity check Phase3 Format DEC_OV Extreme value check no Unit German English agrad 10V Deg 10Vcombination check no Posit after the dec 1 cyc transmittable no Input value min max 0 1 6553 5 Default value 360 0 P 0 0043 Scaling for Position Data on Analog Output Channel 2 Description With the selection in parameter P 0 0039 Signal selection for analog output channel 2 the scaling of the position data will be established in parameter P 0 0043 The unit of Deg 10V is given in reference to the motor shaft P 0 0043 Attributes Name in German Wichtg von Lagedaten Analogausgabe Kanal2 Name in English Scaling for position data on analog output Channel 2 ID number P 0 0043 Editability P234 Function Parameter Memory Param E2prom Data length 4Byte validity check Phase3 Format DEC_OV Extreme value check no Unit German English
80. AGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers C201 Invalid Parameter Block gt S 0 0022 Cause Parameters which are necessary for the operation of the drive in operating mode are invalid Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C201 Attributes SS Display C2 01 Diagnostic message C201 Invalid Parameter gt S 0 0022 C201 Invalid Parameter gt S 0 0022 Diagnostic message number C201 C202 Limit Error Parameter gt S 0 0022 Cause Parameters which are necessary for the operation of the drive in operating mode are outside of its minimum or maximum input values Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C202 Attributes SS Display C2 02 Diagnostic message C202 Limit Error Parameter gt S 0 0022 C202 Limit Error Parameter gt S 0 0022 Diagnostic message number C202 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 27 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac C203 Parameter Calculation Error gt S 0 0022 Cause Parameters which are required for operation of the drive in the operation mode found errors in the conversion that do not permit an orderly operation
81. ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0109 Attributes Name in German Spitzenstrom Motor Motor Peak Current Name in English ID number S 0 0109 Editability no Function Parameter Memory Feedb E2prom Data length 4 Byte validity check Phase3 Format DEC OV Extreme value check yes Unit German English A A combination check no Posit after the dec 3 cyc transmittable no Input value min max 0 500 Default value S 0 0110 Amplifier Peak Current Description Peak current available from the drive controller The value will be set by the drive itself This current is only available for short dusations S 0 0110 Attributes Spitzenstrom Verst rker Name in German Name in English Amplifier Peak Current ID number S 0 0110 Editability no Function Parameter Memory Fixed E prom Data length 4 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English A A combination check no Posit after the dec 3 cyc transmittable no Input value min max 0 001 500 Default value S 0 0111 Motor Current at Standstill Description The motor current at standstill is the continous motor current capability at standstill according to the motor data sheet This value is stored in motor feedback for MDD and MKD motors and will be loaded into the controller ram when the controller is turned on All torque force d
82. B1 EN P 07 96 Index 11 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers MERE Peace S selection lists 4 1 4 4 Set Absolute Measure 9 41 9 43 Set Absolute Unit of Measure 9 26 Setting Absolute Measurement 10 9 Setting the Absolute Position 9 42 Setting the Absolute Transmitter Monitoring Window 9 44 Setting the Position Loop Monitor 9 23 setting the velocity control value to zero 9 12 special applications 8 1 speed control 5 2 SSl format 1 5 9 31 startup procedure 5 11 Startup procedure parameters setup through online operation 3 6 Startup prodecure parameters setup through offline operation 3 6 stepping motor controls 6 1 T Terminals from components 8 1 travel region is exceeded 9 7 U unit of measure 9 2 9 3 V Velocity loop monitoring 9 21 9 22 vibration 5 11 vibrational inducement 5 11 vibrations 5 2 7 3 11 4 index DOK ECODRV ASE 02VRS FKB1 EN P 07 96 ECODRIVE DCK01 1 DKC11 1 Drive Control Devices Supplement A Parameter description ASE 02VRS DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 ECODRIVE DKC01 1 DKC11 1 Drive Control Devices Pa CECE ac DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Control Devices Contents 1 General Information 1 1 Structure of this Doc ment Eessen Ee EES 1 1 DefintiOns ssiis sin ina nn Pull M nn dent re dde ie And nana tan EA 1 2 2 Standard parameters 2 1 S 0 0014 Interface Status iii 2 1 S 0 0017 IDN List o
83. C11 1 Drive Controllers F218 Heatsink Overtemperature Shutdown Description The temperature of the DKC heatsink will be monitored If the temperature of the heatsink is too high the drive will power down in order to protect against damage Cause 1 Ambient temperature is too high The specified operational data is valid up to an ambient temperature of 45 2 The DKC s heatsink is dirty 3 Air flow is prevented by other assembly parts or a control cabinet panel assembly 4 Heatsink blower may be defective Remedy For 1 Reduce the ambient temperature for example through cooling of the control cabinet For 2 Remove any obstruction or dirt from the heatsink For 3 Install the device vertically and clear a large enough area for proper heatsink ventilation For 4 Exchange drive F218 attributes SS Display F2 18 Diagnostic message F218 Heatsink overtemperature shut down F218 Heatsink overtemperature shut down Error number 218 Diagnostic message number F218 Error class Non fatal F219 Motor Overtemperature Shutdown Description The motor is too hot The drive controller has issued the warning E251 Motor Overtemperature Warning for approx 30 seconds The drive immediately shuts down Cause de The motor was overloaded The effective torque demanded from the motor was above its allowable continuous torque level for too long 2 The motor thermal connection is shorted or grounded
84. China China China Basic Technologies Corporation Burlington Division 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 Telefon 905 335 55 11 Telefax 905 335 41 84 China Rexroth China Ldt A 5F 123 Lian Shan Street Sha He Kou District Dalian 116 023 P R China Telefon 0411 46 78 930 Telefax 0411 46 78 932 Rexroth China Ldt Shanghai Office Room 206 Shanghai Intern Trade Centre 2200 Yanan Xi Lu Shanghai 200335 P R China Telefon 021 627 55 333 Telefax 021 627 55 666 Honkong Rexroth China Ldt 19 Cheung Shun Street 1st Floor Cheung Sha Wan Kowloon Honkong Telefon 741 13 51 54 und 741 14 30 Telex 3346 17 GL REX HX Telefax 786 40 19 786 07 33 Rexroth China Ldt Shanghai Parts amp Service Centre 199 Wu Cao Road Hua Cao Minhang District Shanghai 201 103 P R China Telefon 021 622 00 058 Telefax 021 622 00 068 India Mannesmann Rexroth India Ltd INDRAMAT Division Plot 96 Phase III Peenya Industrial Area Bangalore 560058 Telefon 80 839 21 01 80 839 73 74 Telex 845 5028 RexB Telefax 80 839 43 45 Rexroth China Ldt 1430 China World Trade Centre 1 Jianguomenwai Avenue Beijing 100004 P R China Telefon 010 50 50 380 Telefax 010 50 50 379 Japan Rexroth Co Ltd INDRAMAT Division LP Building Nakamachidai 4 26 44 Tsuzuki ku Yokohama 226 Japan Telefon 045 942 72 10 Telefax 045 942 03 41 Korea
85. D number P 0 0004 Editability P234 Function Parameter Memory Param E prom Data length 2Byte validity check Phase3 Format DEC OV Extreme value check yes Unit German English us us combination check no Posit after the dec 0 cyc transmittable no Input value min max 500 65535 Default value 500 ms DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 0005 Language Selection Description Within the drive controller there are parameter names units and diagnostic warning messages collectively stored in more than one language This parameter will establish in which language the text should be given e 0 German e 1 English Additional languages are in preparation P 0 0005 Attributes Name in German Sprachumschaltung Name in English Language Selection ID number P 0 0005 Editability P234 Function Parameter Memory Param E prom Data length 2Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 1 Default value S P 0 0006 Overload Factor Description The overload factor parameter value influences and determines the values for the torque releated drive parameters Mmax MkB and the short duration torque percent duty cycle ED Increasing the overload factor corresponds to a reduction of the
86. DKC01 1 DKC11 1 Drive Controllers The following paramter operating data are stored in the motor feedback e P 0 0018 e P 0 0508 e P 0 0509 e P 0 0510 e P 0 0511 e P 0 0512 e P 0 0513 e P 0 4014 e P 0 4005 e P 0 4037 e P 0 4038 e P 0 4039 e P 0 4042 e P 0 4047 e P 0 4048 e S 0 0109 e S 0 0111 e S 0 0113 e S 0 0116 Validity check no the operating data will not be checked for validity Phase2 the operating data will be checked in the command Communication phase 3 transition check Phase3 the operating data will be checked in the command Communication phase 4 transition check Extreme value check no the operating data will not be checked for extreme values when it is written to yes the operating data will be checked for extreme values when it is written to Combination check no the operating data will not be checked bitwise for valid combination with other paramter values when it is written to yes the operating data will be checked bitwise for valid combination with other parameter values when it is written to cyc transmittable only in SERCOS devices Default Value The default value indicates the value of the parameter loadedinto fixed memory with the current version of firmware installed on the drive following the PL program load command and prior to user edits or loading saved parameter files DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 General Information 1 3 LA CREE PART ECODRIVE
87. DKC11 1 Drive Controllers 9 4 Selecting the Control Loop Settings General Information for Selecting the Control Loop Settings The control loop settings in a digital drive controller are important for the performance characteristics of the servo axis Determining the control loop settings requires expert knowledge Optimizing the control For this reason all INDRAMAT digital drive controllers have application settings is usually not specific control parameters necessary For 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 rules for setting the control loop parameters in cases such as these In each situation the prescribed methods should only be viewed as guidelines which lead to a robust control setting Specific aspects of some applications may require settings which deviate from these guidelines Loading Default Parameters The Load Default Parameter function can activate defined control parameters The parameters are determined for a matched moment of inertia relationship Of Umotor Jioa These parameters will work with standard applications Default values exist for the following parameters e S 0 0106 Current Loop Proportional Gain e S 0 0107 Current Loop Integral Action Time e S 0 0100 Velocity Loop Proportional Gain e S 0 0101 Velocity Loop Integral Action Time e P 0 0004 Smoothing Time Constant
88. DRV ASE 02VRS FKB1 EN P 07 96 LR Ex EE PA Limiting the Velocity Torque Limits ECODRIVE DKC01 1 DKC11 1 Drive Controllers The maximum velocity to be reached by the drive can be set via the bipolar velocity limit value parameter If the requested velocity is greater than this limit the drive will automatically contain the velocity at the limit value Limiting Velocity in Torque Regulation Mode In the torque regulation mode the velocity is monitored at 1 125 times the value of the given limit If this value is exceeded the drive switches to a torque free state If the motor has a brake it will be applied The following error message will be given e F879 Velocity Limit Value Exceeded in Torque Regulation Mode In order to protect the components of the machine it may be necessary to reduce the maximum torque of the drive There are two ways to do this e Permanently limiting torque via parameters e Variable limits via an analog torque reduction input Limiting Torque via Parameter The maximum torque to be produced by the control drive can be set via the bipolar torque limit value parameter This value is to be entered proportionally One hundred percent corresponds to the torque produced by the motor in the use at a standstill Limiting Torque Via Analog Input The effective peak torque can be continuously reduced via the analog torque reduction input DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Funct
89. Diagnostic message F276 Absolute encoder error F276 Absolute encoder error Error number 276 Diagnostic message number F276 Error class Non fatal 1 10 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PAR ECODRIVE DKC01 1 DKC11 1 Drive Controllers F630 Travel Limit Value Exceeded Description The drive controller has been given a position command value which lies outside of the allowable travel area The drive controller has been instructed to give an error when the travel range has been exceeded Exceeding the travel area as an error The drive controller brakes with maximum torque After it has been stopped the drive controller shifts to torque free operation After the error has been cleared the drive can be once again activated and moved into the allowable travel area Cause Position feedback value lies outside of the travel area Remedy 1 Input a command value in the direction of the travel area 2 Shift the position limits 3 Turn off the position limit monitor F630 Attributes SS Display F6 30 Diagnostic message F630 Travel Limit Value exceeded F630 Travel Limit Value exceeded Error number 630 Diagnostic message number F630 Error class Travel range F644 Travel Limit Switch Detected Description The motor was moved and tripped one of the two travel limit switches The control drive has been instructed to give an error when the travel range has
90. Drive Controllers P 0 0038 Signal Selection for Analog Output Channel 1 Description Two outputs make it possible to read internal drive operational signals and output variables as analog voltage signals Through a oscilliscope connection to the analog outputs these signals can be investigated The maximum output voltage is or 10 volts with a definition of 8 bits To select a specific signal a predefined channel number is available For the analog channel 1 the choice is indicated through the display of the channel selection number in the parameter P 0 0038 The following predefined signals are available bleeder energy 100 continuous bleeder Number Signal choice Scaling 0 No analog output 1 Established torque power 10V S 0 0110 Amplifier peak current 2 Velocity feedback actual value P 0 0040 Velocity command value P 0 0040 Position value 1 P 0 0042 7 Following error P 0 0042 8 Sine signal of motor feedback 1 1 9 Cosine signal of motor 1 1 feedback 23 Torque producing current 10V S 0 0110 actual value Amplifier peak current 24 Magnetization current 10V S 0 0110 Amplifier peak Current 40 Bleeder load 10V Maximum load Figure 3 3 Possible analog outputs The following scaling parameters should be considered e P 0 0040 Scaling for velocity data on analog channel 1 e P 0 0042 Scaling for position dat
91. ECODRIVE DKC01 1 DKC11 1 Drive Controllers 9 13 Activating the Drive Controller Enable Drive Stop Start The drive is activated via the controller enable signal Requirements for Activating the Drive The drive must be ready for operation and the power supply must be turned on for the drive to be activated Condition display Ab If the controller enable is set while missing the power supply the control drive will register F226 Under voltage error Drive Stop Start in Velocity and or Torque Control With Analog Command Value If the drive stop signal is active OV on X4 3 the drive will not follow the analog command value and will instead remain in velocity control with velocity command value 0 If the drive is in motion when the drive stop is activated the controlled braking will be applied with maximum torque until the drive reaches standstill If the drive stop signal is not active 24V on X4 3 then the drive will follow the analog command value on X3 1 2 Starting in Position Control With Step Motor Interface If the drive stop signal is active OV on X4 3 the drive will not follow the stepping signal and will instead stay in position control at the current position H the drive is in motion when the drive stop is activated then drive controlled braking will be applied with maximum torque until the control drive reaches standstill When the drive stop command has been given the drive can still be moved via
92. ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0512 Attributes Name in German Defaultwert f r Lageregler Kv Faktor Name in English Default position loop Kv factor ID number P 0 0512 Editability no Function Parameter Memory Feedb E2prom Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English 1000 min 1000 min combination check no Posit after the dec 2 cyc transmittable no Input value min max 0 01 327 67 Default value 1 00 1000 min P 0 0513 Feedback Type Description This value is available with all measuring systems with feedback data memory and diagramed next to the control analysis of important properties of the measuring system The coding of the parameter is set by the drive dealer The parameter is not describeable and serves exclusively the information of the connected feedback With motors with single turn resolver the value is 0 With motors with multi turn resolver the value is 16 P 0 0513 Attributes Name in German Feedbacktyp Name in English Feedbacktype ID number P 0 0513 Editability no Function Parameter Memory Feedb E2prom Data length 2 Byte validity check no Format DEC ON Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 100 Default value P 0 0514 Absolute Encoder Of
93. General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Transverse range limits ECODRIVE provides two internal methods to monitor the travel range of an axis e Travel limit switches e Position limits A travel region is exceeded when a directional travel limit switch is activated or when a position feedback value referenced to the machine zero point exceeds one of the position limit values Activation and Parameters for Position Limit Monitoring The drive must be homed before the position limit can be monitored The position limit monitor can be either activated or deactivated In particular the position limit monitor must be deactivated in applications with continually rotating shafts The positive and negative position limit values can be independently entered To assist with setup the current position feedback value is displayed DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREO PAR Traverse Range Violations as a Warning Response Traversing Range Violations as an Error Response Activation and Parameterization of Travel Limit Switches Travel limit switches are available to limit the travel range These limit switches can be activated and deactivated The logic of the of the limit switch operation can be selected when actively using the limit switches Limit switch inputs ma
94. KD motors the technical control adaptation of the mechanical system on the digital drive relates to the activation of the stored velocity control parameter in the motor feedback The drive controller signals with the message C7 that the command C7 basic load was activated with the command S 0 0262 command basic load C700 Attributes SS Display C7 00 C700 Basic load C700 Basic load Diagnostic message number C700 Diagnostic message DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 39 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pace C800 Load Basic Parameters Description By pressing the S1 button on the controller with display PL or by starting the Load Basic Parameters Command all parameters will be erased and set with the default value The process blocks are lost also C800 Attributes SS Display C8 00 Diagnostic message C800 Load Basic Parameters C800 Load Basic Parameters Diagnostic message number C800 1 40 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Pa CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 5 State diagnostic message A002 Communication Phase 2 Parameter Mode A002 Attributes Diagnostic message Diagnostic message number A003 Communication Phase 3 Parameter Mode A003 Attributes Diagnostic message Diagnostic message number A010 Drive Halt Description A002 Communication Pha
95. List Type Parameter sise 10 9 Executing Parameter Commands us 10 9 Requesting the Statusof Commands seeeeeeeeeeeeeireeieesstrssrrssrnstrnsttnssrnnssnnstnnnnnnnnnnnnnnnennnnna 10 9 Ending a Parameter Command ss 10 10 Error Messages tint tnt a Gee che ana i ale A stunt 10 11 10 5 Operation EXAMP EE 10 12 Changing of the Positioning Command Data 10 12 10 6 Connection Technique iii 10 13 RSA485 CoONNeCtiOnm EE 10 13 RS 232 COnnectiOn asiri niin teh anata ont AA aie ete ied ene 10 14 11 Index 11 1 Supplement A Parameter description Supplement B Diagnostic message description Directory of Customer Service Locations IV Contents DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 System Overview 1 1 Ecodrive the Economical Control Drive for Automation ECODRIVE is a digital intelligent automation system which provides a cost effective way to control single and multiple axis control tasks ECODRIVE can be used to accomplish all kinds of control tasks in different fields It is typically used in applications such as e Handling systems e Packaging machinery e Assembly systems 1 2 Ecodrive a Family of Control Drives An ECODRIVE consists of a drive controller and an MKD servomotor There are presently four drive controllers available each with different control interfaces e DKCO01 1 with Analog Stepper Motor and Positio
96. Negative direction Figure 3 2 parameter P 0 0013 WARNING With the step motor interface only 0 shortest path can be set 3 4 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0013 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max P 0 0017 Parameters Group List Description Sollwertmodus im Moduloformat Command value mode for modulo format P 0 0013 Editability P234 Parameter Memory Param E2prom 2Byte validity check Phase3 DEC OV Extreme value check yes combination check no 0 cyc transmittable no 0 2 Default value 0 The parameter no longer has any significance for the firmware to the version DKC01 1 ASE 02VRS P 0 0017 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Parameter Gruppierungsliste Parameter group list P 0 001 Editability no Parameter Memory fixed 1 byte variable validity check no HEX Extreme value check no K combination check no cyc transmittable no Default value no P 0 0018 Numbers of Motor Pole Pairs Pole Pair Distance Description With rotating motors the number of pole pairs per motor revolution will be given Th
97. Numbers of Motor Pole Pairs Pole Pair Distance 3 5 P 0 0019 Position Start Value iii 3 6 P 0 0020 Reference Cam Shifting sisi 3 6 P 0 0038 Signal Selection for Analog Output Channel 1 3 7 P 0 0039 Signal Selection for Analog Output Channel 2 3 8 P 0 0040 Scaling of Velocity Data on Analog Output Channel 1 3 9 P 0 0041 Scaling of Velocity Analog Output Channel 2 3 9 P 0 0042 Scaling for Position Data on Analog Output Channel 1 3 9 P 0 0043 Scaling for Position Data on Analog Output Channel 2 3 10 P 0 0051 Torgus CONSTANT fs Siincisescieasassccdesacdcacesassddvesdaddiedessslsiecasdudeawesavdeesnadatedecurecdecstacieente te 3 10 P 0 0090 Travel Limit Parameter 3 11 P 0 0097 AbsoluteEncoderMonitoring Window eccccceeeeeeeeeeeeeeeeeeeeaeeeeeeaaeeeseeaaeeeeeeaeeeeeeaas 3 12 P 0 0098 Maximum Model Deviation sisi 3 12 P 0 0119 Error Reaction Best Possible braking 3 13 P 0 0123 Absolute Encoder Buffer sis 3 14 P 0 0500 Velocity Command Voltage for Max Motor Speed ssssssssnssssnnnnennnnnennnnnennnnnenn nnne 3 14 P 0 0501 Motor Speed for Maximum Velocity Command Voltage 3 15 P 0 0502 Line Count for the Incremental Encoder 3 15 P 0 0503 Reference Pulse Offset n a E E a A aai 3 16 P 0 0504 Command Filter Smoothing Time Constant 3 16 P 0 0508 Commutation Offset iii 3 17
98. ODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac C227 Modulo Range Error Cause The given modulo value is larger than half of the represented positioning area of the drive Half of the represented positioning area for the DKCO1 is 2048 rotations Remedy Select a smaller modulo value see also functional description Border requirements for modulo processing C227 Attributes SS Display C2 27 Diagnostic message C227 Modulo range error C227 Modulo range error Diagnostic message number C227 C300 Command Set Emulation Absolute Value Description The actual position of the motor can be given by means of an SSI emulation The zero point of a given position can be fixed with the C3 Command set emulation absolute value command C300 Attributes SS Display C3 Diagnostic message C300 Command set emulation absolute value C300 Command set emulation absolute value Diagnostic message number C300 1 34 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Pa CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers C300 Set Absolute Measuring Description The command P 0 0012 Set Absolute Measurement was activated via the control system C300 Attributes SS Display C3 Diagnostic message C300 Set absolute measuring C300 Set absolute measuring Diagnostic message number C300 C301 Setting Absolute Measuring not Allowed Drive Enabled Cause The command C300 Command
99. OK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 DKC11 1 Drive Controller with Analog Torque Interface 8 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pacer rato 8 2 Setting the Operating Mode Torque Regulation with an Analog Command Value The Torque Regulation with an Analog Command Value operating mode can be set through the Operating Mode Selection dialog box Operating mode selection The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveTop and helps you to identify the actual online drive Operating mode Torque regulation with analog interface Figure 8 1 Torque Regulation with an Analog Command Value 8 2 DKCO1 1 DKC11 1 Drive Controller with Analog Torque Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 OLE ae ea ECODRIVE DKC01 1 DKC11 1 Drive Controllers 8 3 Analog Torque Command Value Processing Scaling the Analog Torque Command Value The following stipulation is always in force for analog voltage at the command value input in Torque regulation The maximum effective peak torque is emitted when the input voltage is at 10V The maximum effective peak torque is dependent upon the motor drive controller combination and the current torque limit value Adjusting the Offset of the Analog Torque Input In order to adapt the offset voltages to the analog command value transmission an offset can be set in the dr
100. P 0 0509 Slot Angle nra a tn te ai ada a a heeds 3 17 P 0 0510 Moment of Inertia of the Rotor 3 18 P0205 11 Brake CHE ease ebessi geg See Geste np a a Eege Eege 3 18 P 0 0512 Default Position Loop Kv factor nnt 3 18 SE AE Feedback KEE 3 19 P 0 0514 Absolute Encoder Offset 3 19 P 0 0515 Home Reference Position ss 3 20 P 0 0516 Feedback Interface 3 20 P 0 0518 Amplifier Nominal Current 2 sise 3 21 P 0 0519 Amplifier Peak Current 2 iii 3 21 P 0 0520 Hardware Number 3 22 P 0 0522 Absolute Encoder Count Direction 3 22 P 0 1003 Velocity Feedback Value Filtertimebase 0 cccecececceceeeeeeeeeneeceeeeeeeeecenaeeeeeeeeeeee 3 23 P 0 4000 Current Zero Trim Phase Un 3 23 P 0 4001 Current Zero Trim Phase V iii 3 24 P 0 4002 Current Amplify Trim Phase Us 3 24 P 0 4003 Current Amplify Trim Phase Vis 3 24 P 0 4004 Magnetization Current sise 3 25 P 0 4005 Back EMF Constant iii 3 25 P 0 4006 Process Block Target Position 3 26 P 0 4007 Process Block Velocity 2 0 eeeececeeeeeneeeeeeeeeeeeeaaeeeeeeaaeeeeeaaeeeeeeaaeeeeeeaaeeeseeaaeeeeneaeeeenaas 3 26 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Contents III ECODRIVE DKC01 1 DKC11 1 Drive Control Devices Pa CREPE Pace 4 Index P 0 4008 Process Block Acceleration 3 27 P20 4009 Process BIOCK dere airs ie Re et AE eer 3 27 P 0 4010 Load ME ete tintin ts ing tit nt rite te 3 28
101. Pa CREE Pac S 0 0044 Attributes Name in German Wichtungsart f r Geschwindigkeitsdaten Name in English Velocity data scaling type ID number S 0 0044 Editability P23 Function Parameter Memory Param E2prom Data length 2Byte validity check Check_P3 Format BIN Extreme value check no Unit German English combination check yes Posit after the dec 0 cyc transmittable no Input value min max Default value 1010b S 0 0045 Velocity Data Scaling Factor Description The scaling factor for all velocity data in the drive will be determined in this parameter If a preferred scaling is set with S 0 0044 Velocity data scaling type this parameter will be set to 1 Example Suppose that loadside linear scaling is desired with velocity units in meters min The DriveTop application parameter scaling mechanical program sets the preferred velocity scaling values through the value dialog S 0 0045 velocity data scaling factor 1 S 0 0046 Velocity data scaling expanent 6 S 0 0049 Velocity data scaling type 100 1001b Bit 2 0 001 linear scaling Bit 3 1 Preferred Parameter Bit 4 0 Dimensional unit is meters m Bit 5 0 Time unit is minutes min Bit 6 1 Data referenced al load Now suppose that a value of 1234567 is stored in the relavent velocity datum register This datum value will be interpreted and displayed as 41234567 X 1 X 10 m minor or 1234467 X 10 mm min or As the value would
102. Remarks Feed axison Good load rigidity and good standard Kp 0 5 x Kpcrit Tn 2 x VE drive characteristics device Feed axis on High proportional gain no l gain perforating machines Kp 0 8 x Kpcrit Tn 6500 to achieve short transient periods or punch machines Feed drive on Kp 0 5 x Kpcrit Tn 6500 relatively undynamic control setting cut off without I gain to avoid bracing the materialto be separated with the separation device Figure 9 14 Application specific velocity regulator loop settings 9 18 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 ERA Cerrar ECODRIVE DKC01 1 DKC11 1 Drive Controllers Regulator loop setting POSITION LOOP VELOCITY LOOP CURRENT LOOP S 0 0100 P 0 0004 S 0 0106 S 0 0107 Ch x actual i actual 2 0 CURRENT PARAMETER Name Velocity loop smoothing time constant ts Range 500 to 65535 us n actual Set default values Figure 9 15 Regulator loop setting Position loop Setting the position loop is done with the parameter e S 0 0104 Position Loop KV Factor This can be set by either executing the basic load function once or by following the process which follows DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Preparations for Setting the Position Control Loop A number of preparations must be made in order to be able to set the
103. S 101 7 SN EENS RD ee RxD 7 TxD DS LLA 2 ome TxD GIETA jy Lae ov DTR Lt f Dep 5 KEE EE 4 RTS el eel I CTS ec ca oe PC with 9 pin 1 Le D SUB connector i DKC I max 15m Cable IKS 102 x1 RxD ey DOE 1 ts RD e Xe ex TxD d DC o TxD GND J IL pom ov DTR LD 20 nee FT DSR 8 oes A e RTS gt t o GTS etc I PC with 25 pin pis 1 ies D SUB connector hb DKC l 1 Set the external screen on top of the device AP0224d1 drw Figure 3 2 Connection of a PC via the RS232 interface on the DKC Note Please pay close attention so that the connection of the relative potential OV GND is made to the internal cable shields DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Preparation for Startup Procedure 3 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac 3 6 Minimal Installation for Operation of a DKC with DriveTop Command for the first parameter setup for a DKC is shown in the following minimal installation MS Dos PC x1 Cp x4 i let up AN 1 x AC 230V X5 TE GTE VA 50 60 Hz xz fay o pu IKS 374 IKL MKD FP0021d1 drw Figure 3 3 Minimal installation for simple parameter setup With this installation the parameter setup can be easily accomplished To ac
104. SE 02VRS FKB1 EN P 07 96 RARES NPA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Absolute Encoder Emulation SSI When absolute encoder emulation is selected the absolute position value is emitted in the standard SSl format for absolute position encoders The absolute actual position value output is only of use when using a motor with absolute encoder optional Absolute position output offers the advantage of making the absolute position of the axis in reference to a machine home point available immediately to the connected control after the control voltage has been switched on The position which is given out is always in reference to the motor shaft and cannot be given in reference to the load through mechanical transmission elements Actual position output Encoder emulation type gt Incremental encoder simulation Absolute encoder imitation SSI gt No emulation Reference impulse offset 0 Deg counting direction abs enc clockwise Q gt counterclockwise sei ebvokde oncode emeuiatio Figure 9 22 Actual position output Requirements for Using Absolute Encoder Emulation The NC control system which is connected must have a SSI input and be able to process SSI data in 25 bit format The MKD motor used must be equiped with a multiturn absolute encoder Ordering option DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 31 ECODRIVE DKC01 1 DKC11 1 Dri
105. Type us 2 17 S 0 0077 Linear Position Data Scaling Factor ssssnnssssnnssesenneeernnsttnrnnrtnnnnttnnnnrnn nnne nn nnne nn nnne 2 18 S 0 0078 Linear Position Data Scaling Exponent cccceceeeceeeeeceeeeeeeaeeeeeeeseeeeesaeeeeaaeeeeeeeeaas 2 19 S 0 0079 Rotational Position Hesohtlon 2 19 S 0 0080 Torque Force Command Value sis 2 19 S 0 0084 Torque Force Feedback Value ss 2 20 S 0 0085 Torque Polarity Parameter sis 2 21 S 0 0086 Torque Force Data Scaling Type cccccccceeeesseeceeeeceeeeeeaeeeeaaeeeeeeeseaeeeseaeeeeeeseaeeeeaes 2 22 S 0 0091 Bipolar Velocity Limit Value iii 2 22 S 0 0092 Bipolar Torque Force Limit Value ss 2 23 S 0 0093 Torque Force Data Scaling Factor seesseesseesseesseerieeissiettnnttnrttnntrtnntnssnnsnnssensnnn 2 23 S 0 0094 Torque Force Data Scaling Exponent ccccccseeeeeeeeceneeesaeeeeaeeseeeeeseaeeesaeeneaeeseaes 2 24 S 0 0095 Diagnostic Message iii 2 24 S 0 0097 Mask Class 2 Diagnostic 2 25 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Contents ECODRIVE DKC01 1 DKC11 1 Drive Control Devices Pa CREPE Pace S 0 0098 Mask Class 3 Diagnostic 2 25 S 0 0099 Reset Class 1 Diagnostic iii 2 26 S 0 0100 Velocity Loop Proportional Gain 2 26 S 0 0101 Velocity Loop Integral Action Time 2 27 S 0 0108 Modulo Value han ENEE Ne NEEN 2 27 S 0 0104 Position Controller KV Factor closed loop control 2 28 S 0 0106 Current Controller Proportional Gain 1
106. V Extreme value check no Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max S 0 0076 S 0 0076 Default value P 0 0020 Reference Cam Shifting Description P 0 0020 is also referred to as Displacement of the Home Switch During drive controlled homing S 0 0148 the home switch is evaluated by the drive An optimal location exists from the relative position where the home switch signals to the marker pulse of the motor feedback In order to assist in the adjustment positiioning the mechanical cam during the first start up the distance from the home switch cam to the optimal switch position is given in this parameter The value displayed is dependent on the selectedset position data scaling type S 0 0076 position data scaling type and is displayed in units degree or inch P 0 0020 Attributes Name in German Verschiebung des Refernzknockens um Name in English Reference cam shifting ID number P 0 0020 Editability no Function Parameter Memory no Data length 4Byte validity check no Format DEC_MV Extreme value check no Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max S 0 0076 S 0 0076 Default value 3 6 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LR Ee Rod PA ECODRIVE DKC01 1 DKC11 1
107. V control voltage If the maximum allowable tolerance of 20 is exceeded then the drive is immediately switched to torque free operation An optional brake is activated Cause Disturbance or overload of the 24 V supply voltage Measure control voltages Remedy Check wiring and or replace power supply module DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 13 F870 Attributes SS Display Diagnostic message Error number Diagnostic message number Error class F873 Power Supply Driver Stage Fault Description URI Ee EE PA ECODRIVE DKC01 1 DKC11 1 Drive Controllers F8 70 F870 24 Volt Error F870 24 Volt Error 870 F870 Fatal The voltage supply of the driver stage is monitored and if the voltage is too low then the drive is turned off Cause Voltage supply of the driver stage is too low Remedy Exchange drive controller F873 Attributes SS Display Diagnostic message Error number Diagnostic message number Error class F878 Velocity Loop Error Description F8 73 F873 Power supply driver stage fault F873 Power supply driver stage fault 873 F873 Fatal The velocity loop monitor will appear when the following conditions occur simultaneously e The current command value is at the peak current limit e The difference between the actual velocity and the command velocity is larger than 10 of the maximum motor velocity e
108. a on analog channel 1 P 0 0038 Attributes Name in German Signal Auswahl Analogkanal 1 Name in English Signal Selection for Analog Output Channel 1 ID number P 0 0038 Editability P234 Function Parameter Memory Param E prom Data length 4Byte validity check Phase3 Format HEX Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value 1 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 0039 Signal Selection for Analog Output Channel 2 Description Two output channels make it is possible to read internal drive operational signals and output variables as analog voltage signals Through an oscilliscope connection to the analog outputs these signals can be investigated The maximum output voltage is or 10 volts with a definition of 8 bits To select a specific signal a predefined channel number is available For the analog channel 2 the choice is indicated through the display of the channel number in parameter P 0 0039 The following predefined signals are available Number Signal choice Scaling 0 No analog output 1 Torque producing current 10V S 0 0110 amplifier command peak current 2 Velocity feedback actual P 0 0040 value 3 Velocity Command value P 0 0040
109. able assembly and transportation arrangements Prevent pinching and squeezing through proper precautions gt Use only the proper tools In addition use only the described special tools gt Lifting devices and tools should be inserted properly If necessary use appropriate protective equipment for example protective eyewear safety shoes safety gloves Do not stand under hanging freight Clean up all liquids on the floor due to slipping danger DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Safety Instructions for Electrical Drive Controller 2 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE PART Notes 2 6 Safety Instructions for Electrical Drive Controller DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LR CEEP an ECODRIVE DKC01 1 DKC11 1 Drive Controllers 3 Preparation for Startup Procedure 3 1 General Instruction for Startup Procedure In this chapter the initial operation and diagnostic system DriveTop will be introduced In general it is necessary to install DriveTop on the PC for the commissioning of the DKC to run Drive Top follows this handbook to run concurrently offline In the following chapters the document will refer often to this program Note If you would like to see a short summary of the functioning qualities of the ECODRIVE you can jump to chapter 9 3 2 Drive Top Startup Procedure and Diagnostics DriveTop is a WINDOWS based application program used in the initial
110. agnostic text message If there is not an error then the value of this parameter is 0 Example Queued error F822 Motor feedback error signal amplitude error P 0 0009 error number 822 P 0 0009 Attributes Name in German Fehler Nummer Name in English Error Message Number ID number P 0 0009 Editability no Function Parameter Memory no Data length 2Byte validity check no Format HEX Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value P 0 0012 Command Set Absolute Measurement Description With the startup of an absolute measuring system the drive will indicate a position feedback value that is arbitrary and not referenced to the machine zero point The value of the parameter S 0 0403 Position feedback value status will be 0 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Through the command Set absolute measurement the position feedback of this measuring system will be set on the desired value After the end of the command Set absolute measurement the position feedback of the measurement supplied encoder bares a defined reference to the machine zero point Through the buffering of all the required data of the absolute measuring system in the feedback data memory eg parameter data memory all information
111. ameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_OV Extreme value check no Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec 5 cyc transmittable no Input value min max Default value S 0 0124 Standstill window Description SE 10 000 00 mm rev The motor s standstill is defined by that condition that the value of the Velocity Feedback Value S 0 0040 remains below the threshold for which can be set in this parameter the Standstill window In standstill the output signal In motion will be removed S 0 0124 Attributes Name in German Name in English Stillstandsfenster Standstill window ID number S 0 0124 Editability P234 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0044 S 0 0044 combination check no Posit after the dec S 0 0044 cyc transmittable no Input value min max 0 S 0 0044 Default value 10 0000 Rpm DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0127 C1 Communication Phase 3 Transition Check Description The commands S 0 0127 C1 Communication phase 3 transition check and S 0 0128 C2 Communication phase 4 transition check are used to switch form the parameteri mode to the operating mode When the S 0 0127 C1 Communi
112. an English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 11 b Default value DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0150 Reference Offset 1 Description This parameter describes the distance between the Position feedback reference mark 1 and the Reference distance 1 S 0 0052 At the end of the coming drive controlled homing procedure the drive will position itself at the point equal to the Reference distance 1 Reference offset 1 S 0 0150 Attributes Name in German ReferenzmaB Offset 1 Name in English Reference offset 1 ID number S 0 0150 Editability P234 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max S 0 0076 S 0 0076 Default value 0 00 Deg S 0 0159 Monitoring Window Description The monitoring window makes it possible to set the maximum tolerable deviation between the measured position and the calculated position feedback value If the position exceeds crosses into the monitoring window the drive will set the error F228 Excessive control deviation in class 1 diagnostics The largest deviation that occurs will be stored in parameter P 0
113. anical system Positioning Jerk A jerk will represent the acceleration change of a movement ECODRIVE presents the opportunity to limit the jerk of a movement The jerk limit will advantageously be set in order to avoid vibration through which the acceleration or deceleration will generate This specific effect can be caused especially with a moveable stiff mechanical system In most cases the jerk limit is not required and should be turned of during the startup procedure The jerk limit will be deactivated if set to a value of zero If there appears to be an unacceptable vibration in the acceleration and deceleration phase of the positioning procedure one can minimize the vibrational inducement of the mechanical system through the gradual change of the positioning jerk Thereby the maximum value of the jerk should begin and be reduced until an acceptable positioning movement arises DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pano A rough approximation validating the jerk limit S ma Acceleration eel 60 s Jerk 27 gt 2 S Speed TT SE Fain Formula 5 1 Jerk Limit through Linear Scaling Acceleration pee E s rad min SS eg do Umdr rad Pere min PE Omar Formula 5 2 Jerk Limit through Rotary Scaling Positioning Mode The positioning mode establi
114. ansmittable no Input value min max 0 312 9 Default value 07 A rad s 2 26 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0101 Velocity Loop Integral Action Time Description The velocity controller forms a current command value from the difference between the velocity command value and the velocity feedback value speed regulation deviation This current command value consists of a proportional component and an integral component The Velocity Loop Integral Action Time corresponds to the time in which the integral component of the current command value is growing on the value of the proportional component Definition of the Integral Action Time A icom dw kP Integral component dw kP Proportional component gt TN Integral action time with TN Velocity controller action time ms TN KP KI KP Velocity controller proportional ampl A sec rad KI Integral ampl A rad icom Current command value dq Velocity controller deviation Figure 2 8 Integral Action Time The value of the time axis for which the integral component is equal to the proportional component is described as integral action time ie t TN when icmd 2xdw KP The integral gain component is disabled with the input value TN Osec see also Function description Setting the velocity loop S 0 0101 Attributes Name in G
115. ar preferred scaling has been setin Bit 3 of S 0 0076 Position Data Scaling Type Example Suppose that loadside linear scaling is desried with dimensional units in meters the parameter 1 Scaling mechanical system dialog in DriveTop will set the position data scaling options on the drive as follows Parameter S 0 0076 Position Data Scaling Type Value 01001001 Bit 2 0 001 linear scaling Bit 3 1 Preferred Parameter Scaling Bit 4 0 Dimensional unit is meters m Bit 6 1 Data Referenced at the load Bit 7 0 Absolute processing format S 0 0077 Linear Position Data Scation Factor 1 S 0 0078 Linear Position Data Scaling Exponent 6 Now supposeth that the decimal value of 1234567 is stored in the relavent position datta register This datum value will be interpreted and displayed as 1234567X1X10 mm Millimeters or as the value would be displayed in the IDN lists 1234 567 mm with respect ot the laod Note that the least significant decimal value is determined by the scaling exponent in this example as 10 m or 10 mm S 0 0077 Attributes Name in German Wichtungs Faktor transl Lagedaten Name in English Linear Position Data Scaling Factor ID number S 0 0077 Editability P23 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input va
116. arameter serves the display of the determined result of the zero trim procedure of the current feedback sensor of the V phase P 0 4001 Attributes Name in German Name in English StrommeB Nullabgleich Phase V Current Zero Trim Phase V ID number P 0 4001 Editability no Function Parameter Memory Verst E2prom Data length 2 Byte validity check no Format DEC_MV Extreme value check no Unit German English combination check no Posit after the dec 2 cyc transmittable no Input value min max 100 00 100 00 Default value Description P 0 4002 Current Amplify Trim Phase U For trimming of the current sensors regarding its amplifier error this parameter will specify testing areas with DKC devices P 0 4002 Attributes Name in German Name in English StrommeBverstarkungsabgleich Current Amplify Trim Phase U ID number P 0 4002 Editability no Function Parameter Memory Verst E2prom Data length 2 Byte validity check Phase3 Format DEC ON Extreme value check yes Unit German English combination check no Posit after the dec 4 cyc transmittable no Input value min max Description 0 0001 2 0000 P 0 4003 Current Amplify Trim Phase V Default value For trimming of the current sensors regarding the amplifier error this parameter will specify the test field for DKC drives 3 24 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LR Ce
117. ata S 0 0162 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Wichtungs Exponent f r Beschleunigungsdaten Acceleration data scaling exponent S 0 0162 Parameter 2 Byte DEC_MV 0 32 32 Editability Memory validity check Extreme value check combination check cyc transmittable Default value P23 Param E2prom Phase3 yes no AT 3 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 45 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc S 0 0182 Manufacturer Class 3 Diagnostics Description Different messages regarding operating status will be stored here every 8ms If the status of a message were to change this would not be signalled by an editing bit Structure of the parameter PS SuSE Bit 0 1 active Bit 1 Feedback velocity lt S 0 0124 Standstill window Bit 6 IZP S 0 0258 Target pos Feedback pos lt S 0 0057 Posit window amp amp S 0 0189 Following error lt S 0 0057 Positioning window amp amp S 0 0040 Feedback velocity lt S 0 0124 Stillstand window L Bit 11 AHQ Drive stop amp amp Feedback velocity lt S 0 0124 Figure 2 17 S 0 0182 Manufacturer Class 3 Diagnostics Note Only the bits named here are supported by the product
118. ata refer to motor current at standstill 100 S 0 0111 Attributes Stillstandstrom Motor Motor Current at Standstill Name in German Name in English ID number S 0 0111 Editability no Function Parameter Memory Feedb E prom Data length 4 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English A A combination check no Posit after the dec 3 cyc transmittable no Input value min max 0 500 Default value DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 31 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0112 Amplifier Nominal Current Description Allowable continious current output for the drive controller The value will be set by the drive itself S 0 0112 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Description Nennstrom Verstarker Amplifier Nominal Current S 0 0112 Editability Parameter Memory 4 Byte validity check DEC_OV Extreme value check A A combination check 3 cyc transmittable 0 001 500 Default value S 0 0113 Maximum Motor Speed nmax no Fixed E prom Phase3 no no no The maximum velocity for the motor cannot be exceeded It also limits the S 0 0091 Bipolar velocity limit value parameter This value is stored in motor feedback for MDD and MKD motors and will be loaded into
119. atal E830 Position Limit Value Exceeded Description A position command was given the drive which lies outside of the allowable travel area The reaction of the drive regarding the travel area being exceeded would be selected as a warning Travel Area being exceeded as a warning The drive brakes with maximum torque until it is standing still and stays at that brake point in the activated state If command values are given that lead into the allowable travel area the drive will once again follow these commands and the warning will be disappear E830 Attributes SS Display E8 30 Diagnostic message E830 Position Limit Value exceeded E830 Position Limit Value exceeded Diagnostic message number E830 Error class fatal E831 Position Limit Value Reached During Jogging Description If the position limit value monitor is activated and the drive is IN REFERENCE then it will be positioned during movement in the jogging operation on the position limit value If the drive is positioned on the position limit value or on the other side of the position limit value then the drive stays still and signals position limit value reached during jogging Remedy 1 Move the motor back within the allowable travel area with the jog function 2 Turn off the position limit value monitor E831 Attributes SS Display E8 31 Diagnostic message E831 Position Limit Value Reached During Jogging E831 Position Limit Value Reache
120. ation positioning interface It can be given a maximum of 32 acceleration values whereby the first element specifies the maximum acceleration of the process block 0 the second element specifies the maximum acceleration of the process block 1 The number of accelerations must always be larger or equal to the number of operation process blocks If process blocks are selected of which there are no acceleration then the warning non programmed method operation will be given P 0 4008 Attributes Name in German Verfahrsatz Beschleunigung Name in English Process block Acceleration ID number P 0 4008 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length list with 32 elements each with 4 Byte 128 Byte validity check yes Format decimal Extreme value check yes Unit German English S 0 0160 S 0 0160 combination check no Posit after the dec S 0 0160 cyc transmittable no Input value min max S 0 0160 S 0 0160 Default value 1000 000 P 0 4009 Process Block Jerk Description List of the jerk limit value for command controled operation positioning interface It can be given a maximum of 32 jerk limit values whereby the first element specifies the maximum jerk limit value of the process block 0 the second element specifies the maximum jerk value of the process block 1 The number of the jerk limit values must be larger or equal to the number of operation process blocks If process blocks ar
121. be displayed in the IDN lists 1234 567 mm min with respect to the load Note that the least significant decimal value is determined by the scaling exponent in this example as 10 6 m min or 10 3 mm min 2 10 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0045 Attributes Name in German Wichtungs Faktor f r Geschwindigkeitsdaten Name in English Velocity data scaling factor ID number S 0 0045 Editability P23 Function Parameter Memory Param E prom Data length 2Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable MDT Input value min max 1 65535 Default value 1 S 0 0046 Velocity Data Scaling Exponent Description The scaling exponent for all velocity data in the drive will be determined in this parameter S 0 0046 Attributes Name in German Wichtungs Exponent Geschwindigkeitsdaten Name in English Velocity data scaling exponent ID number S 0 0046 Editability P23 Function Parameter Memory Param E2prom Data length 2Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable MDT Input value min max 32 32 Default value 4 See also example under S 0 0045 Velocity Data Scaling Factor S 0 0047 Position Command Value Descrip
122. ber of revolutions which will be required in order for the mechanical motor rotation movement with the motor interface P 0 4033 Attributes Name in German Schritte pro Umdrehung Name in English Steps per revolution P 0 4034 Stepper Motor Interface Mode ID number P 0 4033 Editability P23 Function Parameter Memory parallel EEProm Data length 4 Byte validity check yes Format binary Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 16 65536 Default value 1250 Description Setup of the mode of stepper motor control signals Stepper motor signals Setting Quadrature signals 1 Forward backward signals 2 Step and direction signals 3 Figure 3 13 Stepper motor modes P 0 4034 Attributes Name in German Modus Schrittmotorschnittstelle Name in English Stepper motor interface mode ID number P 0 4034 Editability P2 Function Parameter Memory parallel EEProm Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 1 3 Default value 1 3 40 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4035 Anbalanced Current Description In this parameter the current value is stor
123. button on the drive or through starting of the command load basic parameters all the parameters will be erased and restored with the default values Cause Product was exchanged and the number of parameters of the new product had changed in regards to the old Remedy Press S1 button on the drive controller and all the paramters will be erased and restored with default values DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers URI Ee EE PA WARNING With this procedure all parameters and process blocks will be overwritten F209 Attributes SS Display Diagnostic message Diagnostic message number Error class PL PL Default Value of the Parameter Load PL Default Value of the Parameter Load PL Non fatal F207 Switching to an Uninitialized Operating Mode Description A valid operating mode has not been defined In the DKC 01 this error cannot occur because the input of the operating mode will be tested when entered Remedy Input correct operating mode F207 attributes SS Display Diagnostic message Error number Diagnostic message number Error class F2 07 F207 Switching to an uninitialized operating mode F207 Switching to an uninitialized Operation Mode 207 F207 Non fatal 1 4 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DK
124. c Input value min max Default value S 0 0098 Mask Class 3 Diagnostic Description Maske Zustandsklasse 2 Mask class 2 diagnostic S 0 0097 Editability Parameter Memory 2 Byte validity check BIN Extreme value check combination check 0 cyc transmittable aps 1111 1111 1111 1111 b This parameter is not used in DKC01 DKC11 S 0 0098 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Default value Maske Zustandsklasse 3 Mask class 3 diagnostic S 0 0098 Editability Parameter Memory 2 Byte validity check BIN Extreme value check combination check 0 cyc transmittable TES 111111111111 1111 b P234 Param E prom Phase3 no yes no P234 Param E prom Phase3 no no no DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 25 ECODRIVE DKC01 1 DKC11 1 Drive Controllers ODS aa es S 0 0099 Reset Class 1 Diagnostic Description This command can be activated with the S1 key on the controller or through the serial interface All errors in the drive will be cleareddeleted when this command is started through the serial interface The drive will switch to the ready for operation status if no further errors exist If the Reset class 1 diagnostic command is started with the S1 key only one error will be deleted at a time If th
125. c Input value min max Zwischenkreisspannung Circle Voltage P 0 4015 Editability Parameter Memory 2 Byte validity check DEC_OV Extreme value check V V combination check 0 cyc transmittable 1 1000 Default value no Verst E2prom Phase3 yes no no 3 30 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Oe efile a ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4016 Dynamic Compensation Description The parameter has no meaning P 0 4016 Attributes Name in German Dynamischer Kommutierungsoffset Name in English Dynamic compensation ID number P 0 4016 Editability a Function Parameter Memory Amplifier E2Prom Data length 2 Byte validity check yes Format DEC_OV Extreme value check no Unit German English Grad 1000Upm Grad 1000Upm combination check no Posit after the dec 2 cyc transmittable no Input value min max 0 00 3 80 Default value 0 P 0 4017 Offset of the Analog Torque Command Description With this parameter a offset of the analog torque command can be set An available offset which lies in the signal path of the analog signal can be regulated P 0 4017 Attributes Name in German Offset des analogen Momenteneingangs Name in English Offset of the analog torque command input ID number P 0 4017 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length 2 Byte validity check yes Format decimal Extreme value check yes Un
126. cation phase 3 transition check command is used the validity of all of the interface parameters will be checked If any of the parameters are found invalid the drive ends the command with an error message see also Function description Initiating a command S 0 0127 Attributes Name in German C1 Umschaltvorbereitung auf Komm Phase3 Name in English C1 Communication phase 3 transition check ID number S 0 0127 Editability P2 Function Command Memory no Data length 2 Byte validity check no Format BIN Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 11 b Default value S 0 0128 C2 Communication Phase 4 Transition Check Description The commands S 0 0127 C1 Communication phase 3 transition check and S 0 0128 C2 Communication phase 4 transition check are used to switch form the parametermode to the operatemode When the S 0 0128 C2 Communication phase 4 transition check command is executed all parameters will be checked for validity and limit value encroachments If any invalid parameters or any limit values have been encroached upon the drive would end the command with an error message see also Function description Initiating a command 2 36 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0128 Attributes Name in German C2 Umscha
127. cations 1 1 B Basic Load 9 14 9 15 9 16 9 19 10 9 Border Requirements for Modulo Processing 9 6 brake 1 5 9 9 Brake Behavior After Switching Off the Control Enable and in Error Conditions 9 50 brake control 9 49 9 50 C 9 32 cam switch 9 27 command choice controls 5 13 command choice directory 5 10 Command Choice Reception 5 13 Connecting the Home Switches 9 39 Connecting the Limit Switch 9 8 Connecting the Motor Brake 9 49 Control Drive Response 9 11 9 12 Control Drive Stop Start During a Drive Controlled Homing Procedure 9 51 Control Drive Stop Start During Positioning Operation 9 51 Control Drive Stop Start in Velocity and or Torque Control With Analog Command Value 9 51 Control Enable and Control Drive Stop Connections 9 52 D Data references 9 3 9 4 Deactivating the Velocity Loop Monitor 9 22 Desired Position 5 1 5 4 Determining the Critical Integral Action Time 9 18 Determining the Critical Position Loop Gain 9 20 Determining the Direction of Movement During the Homing Procedure 9 34 Determining the Position Regulator Setting 9 20 Determining the Velocity Regulator Loop Setting 9 18 diagnostic outputs 9 47 9 48 Direct power supply connection 1 5 drive mode 3 8 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Index 11 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Oe ral E Easy Installation 1 5 Error Classes 9 11 F Frictionless switching 9 11 9 12 G Graticule Value of the In
128. ce Error Diagnostic message number C602 C603 Homing Procedure not Possible in this Operating Mode Cause During operation of the drive in torque control or velocity control the homing command can not be processed Remedy Clear the homing command Set another operating mode C603 Attributes SS Display C6 03 Diagnostic message C603 Homing Procedure not Possible in this Operating Mode C603 Homing Procedure not Possible in this Operating Mode Diagnostic message number C603 1 38 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR EX EE an ECODRIVE DKC01 1 DKC11 1 Drive Controllers C604 Homing Procedure not Possible with Absolute Measurement Control C700 Basic Load Cause If the homing command is called up by the absolute value encoder without previously processing the command P 0 0012 setting the absolute measurement the reference command will be discontinued with this error If the encoder was able to be homed through the set absolute measurement a position on the home value will be erased with the homing command Remedy Home the absolute encoder with the command Set Absolute Measurement C604 Attributes SS Display C6 04 Diagnostic message C604 Homing Procedure not Possible with Absolute Measurement Control C604 Homing Procedure not Possible with Absolute Measurement Control Diagnostic message number C604 Description When using MDD and M
129. ce of a positioning command is rejected the drive acts as if it had never been started If a string of relative positioning commands would be positioning continuously forwards or backwards transport belt then the scaling of the position data must be fixed in module format Module value Transport belt length 5 4 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Example Relative positioning with a desired position ECODRIVE DKC01 1 DKC11 1 Drive Controllers 700 actual position 200 Relative positioning commands will also be executed if the drive had not been homed Speed profile STANDSTILL WINDOW _ POS1 POS5 POSQ1 POSQ5 AH START INPOS INBWG Regulator release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an inverted condition lt i4ms SV0002_d1 drw Figure 5 3 Relative Positioning Command DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers NACRE FN PARU Interruption of Relative Positioning Commands Example Interruption of relative positioning command with a selected position 600 S
130. closed position The control drive indicates that no internal error is present through the operating condition contact Bb After the supply voltage is switched on the control drive initializes itself If the initialization is successful the Bb contact will close after several seconds After this the mains power supply can be switched on and the control drive can be put into operation When an internal error occurs the Bb contact opens The time delay between the occurrence of the error and the opening of the Bb contact depends on the type of error For fatal errors the contact is opened immediately while for non fatal errors the internal error handling routine is executed first Drive error gt bb i b1 bb tb1 5s if no initializing error exists t lt 10ms if a fatal drive error occurs bb 500ms if a non fatal drive error occurs SV0028d1 drw Figure 9 17 bb Timing when switching on the supply voltage 9 24 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 HP EEA PAIE In Position INPOS ECODRIVE DKC01 1 DKC11 1 Drive Controllers The message INPOS applies for positioning operation and drive controlled homing procedures The message INPOS is given by the drive if the following requirement has been satisfied e The difference between the target position and the actual position is less than the value set in the position window parameter This message can h
131. connect the drive system to ground The outer case can have a voltage across it if not grounded 2 3 Protection from the Safe and Seperated Low Voltages Explanation The voltages on the power components which are found on the connections and the interface for signal voltages are in the voltage range of 5 to 30 volts and are within securely seperated circuits Warning High voltage through false connection Possible Results Life threatening or bodily harm The signal voltage connection and interface of this device may only be connected to apparatuses electrical components or wires which exhibit a sufficient safe seperation from the active circuit according to standard IEC 364 4 41 413 5 or according to DIN EN 50178 12 94 Secion 5 2 18 2 4 Protection from Dangerous Movements Explanation Dangerous movements can be produced through mistakes in the control of the connected motors The causes can be different types Errors in the software Production errors in the components Wiring errors Errors in the test result and signal transmitter Errors in the servicing of the components DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Safety Instructions for Electrical Drive Controller 2 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers OL aa ail These errors can apprear directly after the device is turned on or after unknown time length Warning Dangerous Activity Possible Results Life threatening bodi
132. cremental Transmitter 9 29 H home direction 9 35 9 37 home point 9 35 9 38 home point switching signal 9 35 Home Switch Configuration 9 39 home switch signal 9 37 Homing Impulse Offset 9 30 Homing Parameters 9 38 homing procedure 1 2 9 26 9 33 9 37 9 39 9 41 9 43 9 51 Homing to the Current Actual Value 9 37 Homing with Analysis of the Home Switch 9 35 9 37 Homing With Analysis of the Home Switch and the Home Reference 9 37 Homing with Analysis of the Position Transmitter Home Reference 9 36 Illustration of Absolute Actual Position Value Output Connections 9 32 Illustration of the Incremental Actual Position Value Output Connections 9 30 INBWG message 9 26 initial installation 9 41 initial operation 2 4 INPOS message 9 25 INREF message 9 26 Integrated brake activation 1 5 Integrated Diagnostic Display 1 5 interference resistance 6 6 Interrupting the Drive Controlled Homing Procedure 9 40 Interruption of relative method commands 5 6 K Kv factor 5 2 Kv factor 6 2 9 13 9 19 9 20 L Limit switch 1 2 1 4 limit switches 9 7 9 8 limit switchs 5 9 Limiting Torque Via Analog Inputs 9 9 Limiting Torque via Parameters 9 9 Limiting Velocity in Torque Regulation Mode 9 9 load side 9 4 11 2 Index DOK ECODRV ASE 02VRS FKB1 EN P 07 96 RARES NPA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Master slave operation for multiple axes 8 1 Maximum Display Area with Absolute Position Data Process
133. ct eeeeeeeeeeeeeseaeeetaeeseenees 1 25 C102 Limit Error Communication Parameter S 0 0021 1 26 C200 Communication Phase 4 Transition Check 1 26 C201 Invalid Parameter Block gt S 0 0022 us 1 27 C202 Limit Error Parameter gt S 0 0022 ue 1 27 C203 Parameter Calculation Error gt S 0 0022 0 ceecceeeeeeeeeeeeeeeeeaeeeeeeeseeeeesaeeesaaeeeeneeeenees 1 28 C207 Loading Error GA iesse nee ee E e ee 1 28 C208 Invalid SSI Parameter gt S 0 0022 us 1 28 C211 Invalid Feedback Data gt S 0 0022 eeececccececeeeeeeeeeeee cere ceaeeeseaeeeeaeeseeeeeseaeeesaeeneaeeeeaes 1 29 C212 Invalid Amplifier Data gt S 0 0022 us 1 29 C213 Position RE e Une NEE 1 30 C214 Velocity Data Scaling Error iii 1 31 C215 Acceleration Data Scaling Error issus 1 31 C216 Torque Data Scaling Error siens 1 32 C217 Motor Feedback Data Reading Error us 1 33 C220 Motor Feedback Initializing Error 1 33 C227 Modulo Range Error sise 1 34 C300 Command Set Emulation Absolute Value ccccccceeeeeeeeeeeeeaeeeeneeseeeeeseaeeesaeeeeeeeeeaees 1 34 C300 Set Absolute Measuring ins 1 35 C301 Setting Absolute Measuring not Allowed Drive Enabled 1 35 C302 Absolute Measuring System not Installed eese eesr nesr nestnernssrnssrnssrrssrnssrnssrns 1 35 C400 Switch from Operational to Parameter Mode sseess
134. d During Jogging Diagnostic message number 831 Warning class Fatal 1 24 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 TP CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers E844 Travel Limit Switch Activated Description The drive was moved to one of the two travel limit switches The reaction of the drive regarding the travel area being exceeded would be selected as a warning Exceeding the Travel Area as a Warning The drive brakes with maximum torque until it reaches a standstill and stays in an activated condition at this position If command values are entered which lead into the allowable travel area the drive will once again follow these commands and the warning will disappear E844 Attributes SS Display E8 44 Diagnostic message E844 Travel Limit Switch activated E844 Travel Limit Switch activated Diagnostic message number E844 Warning class Fatal 1 4 Command Diagnostic Message C C100 Communication Phase 3 Transition Check Description The command S 0 0127 C1 Communication Phase 3 Transition Check is activated The drive switches from parameter mode into operating mode C100 Attributes SS Display C1 00 Diagnostic message C100 Communication phase 3 transitioncheck C100 Communication phase 3 transition check Diagnostic message number C100 C101 Invalid Communication Parameters S 0 0021 Cause Invalid parameters were found during the switch fro
135. d is stored in the feedback with motors with feedback memory P 0 0510 Attributes P 0 0511 Brake Current Name in German Name in English ID number Function Memory Data length Format Unit German English Posit after the dec Input value min max Description The parameter is not operational with DKCO1 DKC1 1 Rotortr gheitsmoment Moment of inertia of the rotor P 0 0510 Parameter Editability Param E prom Feedb E2Prom 4 Byte DEC_OV kgm kgm 5 0 1 00000 P 0 0511 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Haltebremsenstrom Break Current P 0 0511 Parameter 4 Byte DEC OV A A 3 0 500 000 P 0 0512 Default Position Loop Kv factor Description Default value for the position loop proportional gain This parameter is determined during the manufacturing stage and cannot be changed The Load default parameters command will copy the value of this parameter to the parameter S 0 0104 position loop Kv factor validity check Extreme value check combination check cyc transmittable Default value Editability Memory validity check Extreme value check combination check cyc transmittable Default value OL aa es no Phase3 no no no no Param E2prom Phase3 yes no no 0 000A 3 18 Specific Product Parameters DOK
136. device e A person is qualified if they are sufficiently experienced with assembly installation and operation of the product as well as all the warnings and precautions according to the user s manual e Furthermore it is explained how to turn on and off ground and designate the service circuit and devices in accordance with safety techniques The drive controller contains safety functions that are triggered at the time of fault conditions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Safety Instructions for Electrical Drive Controller 2 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers ODS aa es 2 2 Protection against Contact with Electrical Components Explanation The voltage across some electrical parts will be larger than 50 volts which can be dangerous During operation of electrical devices there are guided motion parts which have dangerous voltage across them High voltage Life threatening or bodily harm Danger The general assembly and safety instructions must be followed when working in high voltage area After the installation of the drive controller to all the electrical devices one should re check the connection schematic An operation is only allowed with a insulated wire connected to predescribed points of a component also for test measurements Before servicing electrical components with a voltage higher than 50 volts disconnect the device from the power source Also protect against the d
137. diagnostic message number will be stored in parameter P 0 0001 Diagnostic message number as well as the visual seven segment display The controls will make it possible so that specific diagnostics with the aid of the diagnostic message number can be generated for example diagnostics in additional languages which are not stored in the drive The machine control may utilize the diagnostic number to generate its own specfic set of diagnostic messages Example Diagnostic Message F822 Motor Feedback error Signals too small in paramater S 0 0095 Seven Segment Display variable F8 lt gt 22 Diagnostic message number _ F822 hex in paramter P 0 0001 P 0 0001 Attributes Name in German Diagnose Nummer Name in English Diagnostic Message Number ID number P 0 0001 Editability no Function Parameter Memory no Data length 2Byte validity check no Format HEX Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value P 0 0004 Smoothing Time Constant Description This time contstant parameter functions to influence the output of the velocity loop regulator in order to suppress quantization effects and limit the bandwidth of the velocity loop see also Function description Setting the velocity loop P 0 0004 Attributes Name in German Gl ttungszeitkonstante Name in English Smoothing Time Constant I
138. direction 4h Movement in negative direction 8h Figure 3 9 adjustable process block modi The number of process block modi must always be larger or equal to the number of operation process blocks lf process blocks are selected of which there are no process modes then the warning non programmed process block will be given P 0 4019 Attributes Name in German Verfahrsatz Modus Name in English Process block Mode ID number P 0 4019 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length list with 32 elements each with 4 Byte 64 Byte validity check yes Format HEX Extreme value check no Unit German English combination check yes Posit after the dec cyc transmittable no Input value min max Default value 1 3 32 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4020 Encoder Emulation Type Description Setup if incremental or absolute feedback position output should be reached Feedback positional output Encoder Emulation Type P 0 4020 Incremental control emulation 1 Absolute control emulation SSI 2 emulation noouput 0 Figure 3 10 control emulation types P 0 4020 Attributes Name in German Geberemulationsart Name in English Encoder emulation type ID number P 0 4020 Editability P2 Function Parameter Memory parallel EEProm Da
139. e F220 Bleeder overtemperature shut EE Bleeder overtemperature shut down Error number 220 Diagnostic message number F220 Error class Non fatal 1 6 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers F226 Undervoltage Error Description The level of the DC bus voltage will be monitored by the drive controller If the DC bus voltage falls below a minimal threshold the drive independently shuts down according to the set error reaction Cause d The power source has been interrupted without first switching off the drive enable RF 2 Disturbance in the power supply Remedy For 1 Check the logic regarding the activation of the drive within the connected control For2 Check the power supply The error can be cleared by removing the control enable signal F226 Attributes SS Display F2 26 Diagnostic message F226 Undervoltage Error F226 Undervoltage Error Error number 226 Diagnostic message number F226 Error class Non fatal F228 Excessive Deviation Description The drive could not process the given command value and reacted according to the set error reaction Cause 1 The acceleration ability of the drive was exceeded 2 The motor shaft was blocked 3 Parameterization error in the drive parameters 4 S 0 0159 Monitoring Window was parameterized incorrectly Remedy For 1 Check the Bipolar
140. e status feedback 0 is defined as a bit in class 3 diagnostics IDN 0 0013 and is set when the velocity feedback value is found within the standstill window IDN 00124 Only bit 0 is defined in the operating data The output In motion corresponds to this bit S 0 0331 Attributes Name in German Meldung nist 0 Name in English Status feedback 0 ID number S 0 0331 Editability no Function Parameter Memory SE Data length 2 Byte validity check Format binary Extreme value check Unit German English combination check Posit after the dec cyc transmittable no Input value min max Default value Description This IDN is assigned to the home switch status external signal with this parameter Structure of the parameter Bit 0 Home switch 0 not activated 1 activated Figure 2 19 S 0 0400 Home Switch S 0 0400 Attributes Name in German Referenzpunktschalter Name in English Home switch ID number S 0 0400 Editability no Function Parameter Memory no Data length 2 Byte validity check no Format BIN Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value 2 52 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0403 Position Feedback Value Status
141. e Moge EE 6 4 Stepping Motor Interface usine 6 4 6 5 Types of Stepping Motor Signal Connections ssseesseesseesseessttetstentnntnustnnntnnstrnntnnsnnnnnnsrnnsensnns 6 5 7 DKC01 1 DKC11 1 Drive Controller with Analog Speed Interface 7 1 7 1 General Notes for Operating with an Analog Speed Interface 7 1 7 2 Setting the Operating Mode Speed Regulation with Analog Interface esseesseesseesseesseeeeneereese nens 7 1 7 3 Analog Speed Command Value Processing 7 2 Command Value Scalig E 7 2 Offset Setting of the Analog Velocity Command Value 7 3 Command Value Smoothing iii 7 3 Analog Wl e 7 3 8 DKC01 1 DKC11 1 Drive Controller with Analog Torque Interface 8 1 8 1 General Instructions for Operation with Torque Interface 8 1 Il Contents DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Pa CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 8 2 Setting the Operating Mode Torque Regulation with an Analog Command Value 8 2 8 3 Analog Torque Command Value Processing 8 3 Scaling the Analog Torque Command Value sssessesisesieesiresiresiresinssinsstinttnnstinstnntnnntennen nnn nent 8 3 Adjusting the Offset of the Analog Torque Input 8 3 Analog lun 8 4 8 4 Velocity Supervision in Torque Regulation 8 4 9 General Drive Functions 9 1 9 1 Scaling and Mechanical System Data sisi 9 1 Blue ne DEEN 9 1 ROTARY SCALING ET 9 4 Proc ssing Position EE 9 5 GR Ri nn EE Ade ne i ai ee
142. e Rotorfrequenz Name in English Maximum rotor frequency ID number P 0 4013 Editability S Function Parameter Memory fixed Data length 2 Byte validity check S Format DEC ON Extreme value check no Unit German English Hz Hz combination check no Posit after the dec 2 cyc transmittable no Input value min max Default value 0 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4014 Motor Type Description ODS aa es With this parameter the motor type will be selected The parameter is not changeable because the operation of synchronous motors is only possible e 1 Synchronous motor P 0 4014 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max P 0 4015 Circle Voltage Description Motorart Motor Type P 0 4014 Editability Parameter Memory 2 Byte validity check DEC_OV Extreme value check combination check 0 cyc transmittable 1 5 Default value no Param E2prom Phase3 yes no no The circle voltage is stored as a parameter in the amplifier The parameter is not editable and serves only the display as well as internal calculations PWM P 0 4015 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the de
143. e The safety information in this user s manual must be fundementally followed e Improper use of this device and disregard of the given warnings can lead to damaging the device injury or death in the extreme case e In case of damage due to neglecting the warnings in this user s manual INDRAMAT GmbH does not assume any liability e f the documentation in the following manual can not be understood one can request documentation in another language before proceeding with the startup procedure e The accurate and safe operation of this device requires proper transport storage assembly and installation as well as careful sevicing and maintenance e Use replacement parts only from the manufacturer e Follow the saftey instructions and specifications for the operations stated e The devices are installed in machines that will be used for industrial applications e Initial operation is prohibited until it is shown that the machine in which the device is installed complies with EG Standard 89 392 EWG machine standard e Operation is allowed only through observance of the national EMV instructions for the following applications In the EU the EMV standard 89 336 EWG is required e The technical data connection requirements and the installation requirements are found within the user s manual and must be followed Qualified Personnel e Only qualified personnel should work on this device or work within the area of this
144. e drive has stored several errors up to 4 errors a diagnostic message that corresponds to each error will appear sequentially each time the S1 key is pressed see also Function description Initiating a command S 0 0099 Attributes Name in German Reset Zustandsklasse 1 Name in English Reset class 1 diagnostic ID number S 0 0099 Editability P234 Function Command Memory no Data length 2 Byte validity check no Format BIN Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 11 b Default value Exception Erro F2 26 undervoltage in the power section is cleared by removing the drive enable signal Rf 0 at pin X2 2 S 0 0100 Velocity Loop Proportional Gain Description This parameter contains the value for the velocity loop proportional gain The option is available to load motor specific default values for the control loop parameters with the Basic load command see also Function description Setting the velocity loop S 0 0100 Attributes Name in German Geschwindigkeitsregler Proportionalverstarkung Name in English Velocity Loop Proportional Gain ID number S 0 0100 Editability P234 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English As rad As rad combination check no Posit after the dec 1 cyc tr
145. e following current and torque limitations and settings shrink ID Number Name Unit S 0 0111 Still stand active current motor 1 A S 0 0112 Amplifier active current 1 A P 0 0518 Amplifier nominal current 2 A S 0 0092 Torque limit bipolar 2 P 0 0006 Overload factor 3 Figure 3 16 Active durration current Dependence 1 The standstill active current of the motor is that value of which the procentage specifications pocess it corresponds to 100 2 Shrinks if less than 100 3 The dependence on the overload factor is not linear It is observeable in connection with the active current 1 and the nominal current 2 3 46 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LR Ce EEO an ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4045 Attributes Name in German Wirksamer Dauerstrom Name in English Active continuous Current ID number P 0 4045 Editability no Function Parameter Memory no Data length 4 Byte validity check no Format DEC_OV Extreme value check no Unit German English A A combination check no Posit after the dec 3 cyc transmittable no Input value min max P 0 4046 Active Peak Current Description Default value This parameter show how much current the drive can supply in the actual combination momentarily 0 4s of operation Multiplied with the P 0 0051 torque constant of the motor yields the momentary operation
146. e min max HIGH 16 V Uext LOW OV 1V Output current 1 out 80 mA Rise time fall time approx u5 s Overload protection at 1 out gt 300 mA the outputs switch to LOW AP0220d1drw Figure 9 19 Status outputs 9 28 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Oe Goals al ECODRIVE DKC01 1 DKC11 1 Drive Controllers 9 7 Actual Position Output The DKC has an actual position value output to transmit the actual position value to a NC control Actual position values can be transmitted in either incremental or absolute form Incremental Encoder Emulation Selecting incremental encoder emulation as the actual position output gives out 5V TTL incremental encoder signals with an adjustable line count value Incremental actual position value output is possible with both relative position actual value representation as well as with absolute actual position value representation Actual position output Encoder emulation type Incremental encoder simulation Absolute encoder imitation SSI Incremental encoder lines 1250 Reference impulse offset aT Figure 9 20 Actual position output Line Count of the Incremental Encoder Emulation The line count value of the incremental encoder to be emulated determines the number of cycles to be emitted per rotor revolution This number is equivalent to the graticule line count value which the code plate of a conventional incremental encode
147. e motor is needed for offline operation Drive Top needs this motor specific data to determine specific parameter settings Motor current velocity standard control parameters feedback type etc DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Motor and Drive Controller Selection 4 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers RANCE PAT UE Motor selection Connected motor type MKD112B 048 GP1 Name AC Servomotor MKD Motor size motor length windings i d gt 025B 144 090B 047 gt 041B 144 112B 048 gt 071B 061 Motor feedback Resolver feedback Resolver feedback with integral multiturn absolute encoder Drive shaft Brake gt plain shaft with shaft with keyway without Figure 4 1 Motor selection Note If false motor data is entered here the diagnostic UL appears on the drive controller display after the parameter settings have been loaded This means that the type of motor in the parameters is not identical with the type of motor that is actually connected If this happens do the following e Acknowledge the error by pushing the S1 button on the drive controller If the drive controller does not discover any additional errors bb is displayed e Reset the installation parameters and recalculate the parameters of the drive controller limits 4 2 Motor and Drive Controller Selection DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Aral ECODRIVE DKC01 1 DKC11 1 Drive Controllers
148. e number C216 1 32 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers C217 Motor Feedback Data Reading Error Cause All MKD and MDD motors contain feedback data memory From this the settings for the controller will be read By processing these values an error is detected Remedy Check the feedback cable Exchange the motor C217 Attributes SS Display C2 17 Diagnostic message C217 Motor feedback data reading error C217 Motor feedback data reading error Diagnostic message number C217 C220 Motor Feedback Initializing Error Description A number of tests are performed when the motor feedback is initialized An error was detected while doing this This error can be 1 Disturbance in the communication with the controller 2 Invalid offset between the high and low dissipating path 3 Error in the micro controller of the measuring system Cause 1 Defective motor feedback cable 2 Defective motor feedback 3 Defective measurement system interface Remedy For 1 Check the motor feedback cable For 2 Exchange the motor For 3 Exchange the measuring system interface module C220 Attributes SS Display C2 20 Diagnostic message C220 Mot Feedback Initializing Error C220 Mot Feedback Initializing Error Diagnostic message number C220 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 33 EC
149. e selected of which there are no jerk limit values then the warning non programmed process block will be given With an input of 0 the jerk limitation can be turned off DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 27 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4010 Load Inertia P 0 4009 Attributes Name in German Name in English ID number Function Data length validity check Format Unit German English Posit after the dec Input value min max Description Verfahrsatz Ruck Process block Jerk P 0 4009 Parameter Editability Memory list with 32 elements each with 4 Byte 128 Byte yes Parameter S 0 0160 S 0 0160 combination check S 0 0160 cyc transmittable S 0 0160 S 0 0160 Default value Extreme value check OL aa es P2 P3 P4 yes no no no 0 The determined load inertia is within this parameter independent of P 0 0510 moment of inertia of the rotor The load inertia is used for the optimizing of the meaning of the rotation velocity control which will not be used in the available versionThe load functions rotationally on the referred motor P 0 4010 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max P 0 4011 Switch Frequency Description Lasttragheitsmoment Load Inertia P 0 4010 Editability Parameter Memory
150. e the allowable standstill continuous torque for too long Remedy Check the installation of the motor For systems which have been in use for a long time check to see if the drive conditions have changed in regards to pollution friction components which have been moved etc E251 Attributes SS Display E2 51 Diagnostic message E251 Motor Overtemperature Warning E251 Motor Overtemperature Warning Diagnostic message number E251 Warning class Non fatal E252 Bleeder Overtemperature Warning Description see cause Cause The dampening resistance in the DKC is balanced through the energy that is reflected from the motor about 90 The bleeder overtemperature warning shows that an overload of the bleeder is expected with continued increasing feedback energy Remedy Reduce acceleration value or velocity Check the drive installation 1 18 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers E252 Attributes SS Display E2 52 Diagnostic message E252 Bleeder Overtemperature warning E252 Bleeder Overtemperature warning Diagnostic message number E252 Warning class Non fatal E253 Target Position Out of Range Description If a position is entered which would exceed the target position it will not be accepted With command controlled operation the drive will not move Cause 1 Position limit value monitor was
151. eceeeeeeeeeaeeeeeeaaeeeeeeaaeeeseeaaeeeseeaaeeeeeeaeeeeseaaes 1 44 JB Jogging in the Negative Direction ss 1 44 2 Index 1 44 Il Contents DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 DIAGNOSTIC MESSAGE DESCRIPTION 1 1 Tips for Eliminating Malfunctions The following diagnostic descriptions explain the meaning of the Hi condition display on the DKC The meaning possible causes for the error and the means of prevention are described in this section If a malfunction cannot be eliminated with the help of the diagnostic descriptions please contact INDRAMAT customer service Reset Button S1 After the error has been eliminated the error message must be cleared by pressing the clear error button S1 The drive controller has an error memory which works on the first in first out principle If several errors occur in a row the first 4 will be saved The error which occurred first is displayed on H1 Each time the S1 key is pressed the error which is displayed will be cleared and the next error will appear in the display until all of the saved errors have been cleared Clear error button S1 yee display H1 Figure 1 1 Condition diagnosis H1 and clear error button S1 on the DKCO1 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 1 ECODRIVE DKC01 1 DKC11 1 Drive Condition Display H1 Controllers VE ELSE The H1 condition display
152. ed which with the scaling of the current measurement of the drive control is precisely compared With this system errors in the current measurement will be eliminated The value has no meaning to the user and it is not changeable P 0 4035 Attributes Name in German Abgleichstrom Name in English Unbalanced Current ID number P 0 4035 Editability no Function Parameter Memory Verst EEPROM Data length 4 Byte validity check Phase 3 Format DEC_OV Extreme value check yes Unit German English A A combination check no Posit after the dec 3 cyc transmittable no Input value min max 0 500 Default value P 0 4036 Contacted Motor Type Description In this parameter the drive control marks itself as the type of the contacted motor type in text format If this locked type during heavy switching in the drive mode deviates from out of the read feedback S 0 0141 motortype a new motor would be contacted The the server will be required to show the display UL basic load for initialization of the motor dependent parameter see command S 0 0262 basic load Under this parameter the Contacted Motorype will be overwritten with the basic load P 0 4036 Attributes Name in German Angeschlossener Motortyp Name in English Contacted Motor Type ID number P 0 4036 Editability P234 Function Parameter Memory Parameter EEPROM Data length up to 40 symbols validity check Phase 3 Format ASCII Extreme value check
153. edback 1100 0000 0000 001 1 Position regulation step motor interface with following error rotational feedback Figure 2 2 Mode of Operation 2 4 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0032 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Description Hauptbetriebsart Primary Mode of Operation S 0 0032 Parameter 2Byte BIN 0 S 0 0033 Secondary Operation Mode 1 Editability Memory validity check Extreme value check combination check cyc transmittable Default value P23 Param E prom Phase3 no yes no 10b The first secondary operation mode is reserved for the jogging operation for DKC The secondary operation mode is a fixed setting and cannot be changed S 0 0033 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max S 0 0036 Velocity Command Value Description Nebenbetriebsart 1 Secondary Operation Mode 1 S 0 0033 Parameter 2 byte binary Editability Memory validity check Extreme value check combination check cyc transmittable Default value 1100000000011011 b no Param E Prom yes no yes no Thi
154. eesaeeneneeeeaes 2 45 S 0 0182 Manufacturer Class 3 Diagonoestce nesete nert tr netetat rnnt tn nnnt tn nnnt tn nnnr rnane ennn 2 46 S 0 0192 IDN List of Backup Operation Data 2 47 S 0 0193 Positioning Jerk sacia aa A T E T E a a aA 2 47 e DOE Target Postion mon eie aE T ENE rends a i ai e De Dee 2 48 S 0 0259 Positioning Velocity sisi 2 48 S 0 0260 Positioning Acceleraton sise 2 49 S 0 0262 Command Basic Load 2 49 S 0 0269 Parameter Buffer Mode ssssssrsrrrnrirrrrrrrrrrrururururururussssssususussnsnnnnnnnnnn nnana nananana nnr nna 2 50 S 0 0277 Position Feedback 1 Type Parameter nena 2 51 S 0 0331 Status Feedback 2 0 2 a ei ae a a AT A a Ean 2 52 S 0 0400 Home SWItCh ii a e aar a a raaa a a ara ia deas iaaiiai 2 52 S 0 0403 Position Feedback Value Status nn 2 53 3 Specific Product Parameters 3 1 P 0 0001 Diagnostic Message Number 3 1 Il Contents DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA ER EEO PART ECODRIVE DKC01 1 DKC11 1 Drive Control Devices P 0 0004 Smoothing Time Constant sise 3 1 P 0 0005 Language Selection sisi 3 2 P 0 0006 Overload Factor 251 884 Seege ee arbitre titre th ti tte et tree 3 2 P 0 0009 Error Message Number ses 3 3 P 0 0012 Command Set Absolute Measurement 3 3 P 0 0013 Command value mode for modulo format iii 3 4 P 0 0017 Parameters Group List sus 3 5 P 0 0018
155. ei Se adds 9 6 Transverse range limits siennes 9 7 Limiting th Velocity EE 9 9 Torqu En EE 9 9 O53 Error Handing EE 9 11 9 4 Selecting the Control Loop Settings sis 9 13 General Information for Selecting the Control Loop Settings eeseeseeeseeesresrresrrnssrresrresrrnsene 9 13 Loading Default Parameters eors senig issues 9 13 Executing the Basic Load Function After Changing the Motor or Drive Controller s sssssssesss 9 14 Executing the Basic Load Feature as a Command in the Regulator Loop Setting Dialog 9 14 Setting the Current Regulator sise 9 15 Setting the Velocity Loop EE 9 16 9 5 Loop Monitoring ris eege EAR EENS EEN 9 21 Veedel BO len EEN 9 22 Position Loop MONIOFNG c iscccesscseccescacecneescccetecevesvadsczenssacescensacauseesdcabeveadcaberseacdessvetdccdenenccberts 9 23 9 6 Status MESSAGE EE 9 24 Ready for WOR ee EE 9 24 Ir Ge ts Il TEE 9 25 In Motion INBWG ge rar mnt nn nn ANE 9 26 In R terence INREF annee le ue ere ture ire ist 9 26 Position Switch Point WSP iii 9 27 Illustration of Status Output Connections 9 28 9 7 Act al Position Output sisi ifsc laden nl eg tig dee pee ee 9 29 Incremental Encoder Emulapon ss 9 29 Absolute Encoder Emulation SSI iii 9 31 9 8 Drive controlled Homing Procedure sise 9 33 Homing When Using a Motor With Resolver Feedback Standard seesseeeeeeeseeeeeeseessenees 9 33 Homing When Us
156. elp a superordinate control system determine the correct completion of a positioning command Note The INPOS message defaults to being inactive during jogging and when the controller enable is switched off A Desired position 1 Desired position 2 Speed i profile i Ss En Positioning lt D window l POS1 POS5 p o lt 02 a Bes Dre n 1 gt AH START INPOS ES n E INBWG ee Regulator release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs show after valid record acceptance the number of the ri active position records SV0039d1 drw Figure 9 18 INPOS message response during positioning procedures Note After a positioning command is started the INPOS message is set to zero at the same time as the output of the command selection acceptance POSQ as long as the target position has not yet been reached DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 25 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pan In Motion INBWG In Reference INREF The INBWG message is given if the drive is moving at a velocity which is larger than the value set in the standstill window parameter Note If an extremely small value is selected for the standstill window the drive may display INBWG even t
157. ency of the drive controller can be set to either 4kHz or 8kHz The PWM frequency determines the noise level of the motor the permanent current carrying capacity of the drive controller and also the available short term operating torque of the control drive The following rules apply to the settings e The 4 kHz PWM frequency should be used in standard applications to maintain the high short term operating torque of the drive controller e The 8kHz setting should be used in applications where the environment requires a low noise level It is important to note that when using the 8kHz PWM frequency the drive controller has a lower permanent current carrying capacity as well as reduced short term torque All permanent current and permanent torque data will be reduced by a factor of approximately 0 9 4 4 Motor and Drive Controller Selection DOK ECODRV ASE 02VRS FKB1 EN P 07 96 ECODRIVE DKC01 1 DKC11 1 Drive Controllers HP RO Poe Ve 5 DKC01 1 Drive Controller with Integrated Positioning Control 5 1 Fundemental Method of Operation for Position Control The DKCO01 1 can store up to 32 different position commands Five selectable binary inputs POS1 POS5 choose one of these position commands A start signal initiates the position command The following are allowable motion changes to the position commands Desired Position Positioning velocity Positioning acceleration Positioning jerk Positioning mode Note The
158. ensure that the control drive functions properly e Velocity loop monitoring e Position loop monitoring Loop monitoring Figure 9 16 Loop Monitoring DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pac Velocity Loop Monitoring The velocity loop monitor can be activated in the following operating modes e Velocity control with analog command value e Position control with step motor interface e Position control with positioning interface Primary Mode of Operation for the Velocity Loop Monitor The velocity loop monitor functions according to the following principle As soon as the peak current limit peak torque limit is active the difference between the velocity command value and the velocity actual value is checked to see if it is larger than 10 of the maximum motor velocity If this is the case the velocity loop monitor checks to see if the control drive is accelerating in the given direction The velocity loop monitor will react over a time period of 20ms an acceleration in the opposite direction is not detected Possible reasons for triggering the velocity loop monitor e Faulty wiring in the motor power cables e Defect in the power supply of the control drive e Defect in the feedback system e Insufficient gain in the velocity regulator parameters Deactivating the Velocity Loop Monitor Control drive errors or faulty wir
159. ent Kraftdaten Name in English Torque Force data scaling exponent ID number S 0 0094 Editability P23 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format DEC_MV Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value 1 S 0 0095 Diagnostic Message Description The operating status for the drive that is relevant at the moment can be read in text form in this parameter The respective diagnostic message number from P 0 0001 Diagnostic Message Nummer will appear in front of this parameter Example A010 Drive Halt S 0 0095 Attributes Name in German Diagnostic Name in English Diagnostic Message ID number S 0 0095 Editability no Function Parameter Memory no Data length 1 byte variable up to 40 characters validity check no Format ASCII Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value 2 24 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR EX EE an S 0 0097 Mask Class 2 Diagnostic Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers This parameter is not used in DKCO1 DKC11 S 0 0097 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the de
160. er Name in English Homing Parameter ID number S 0 0147 Editability P23 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format BIN Extreme value check no Unit German English combination check yes Posit after the dec 0 cyc transmittable no Input value min max Default value 100 b S 0 0148 C6 Drive Controlled Homing Procedure Description When this command is set NF X2 13 1 and enabled AH Start XA 3 1 the drive automatically switches into position control and accelerates using the Homing acceleration S 0 0041 to the Homing velocity S 0 0042 Bit 0 in the Position feedback value status S 0 0403 will be reset to zero The process for the homing procedure can be determined with the Homing Parameter S 0 0147 After the command drive is at stand still and position feedback value is related to the homing position has been properly executed the drive sets bit 0 1 in the Position feedback value status S 0 0403 parameter The position feedback value status parameter corresponds to the output In reference see also Function description Initiating a command S 0 0148 Attributes Name in German C6 Kommando Antriebsgef hrtes Referenzieren Name in English C6 Drive controlled homing procedure command ID number S 0 0148 Editability P4 Function Command Memory no Data length 2 Byte validity check no Format BIN Extreme value check yes Unit Germ
161. erman Geschwindigkeitsregler Nachstellzeit Name in English Velocity Loop Integral Action Time ID number S 0 0101 Editability P234 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English ms ms combination check no Posit after the dec 1 cyc transmittable no Input value min max 2 3276 7 Default value 15 0 ms S 0 0103 Modulo Value DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 27 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Description When Modulo format that is set Parameter S 0 0076 Position scaling bit 7 the position data in the range from 0 to the module value S 0 0103 can be represented For monotonicly increasing position data when the position value equals the module vlaue the position data is set to and overflows fro zero If the position data are represented in modulo format the input range for all position data must be between zero and the modulo value see also Function description Boundary conditions for modulo processing S 0 0103 Attributes Name in German Modulowert Name in English Modulo Value ID number S 0 0103 Editability P23 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input
162. ermine the significant properties of the motor feedback Position feedback 1 For DKC the parameter will be set automatically by the drive Structure of the parameter ENEN COO OI Bit 0 Encoder type 0 rotary 1 linear Bit 1 Reserved Bit 3 Direction of movement 0 not inverted 1 inverted Bit 6 Encoder resolution 0 not absolute 1 absolute Figure 2 18 S 0 0277 Position Feedback Parameter Remark For absolute measurment systems with data memory bit 6 will be set automatically When MDD and MKD motors are used bit 0 1 and 3 will be set and write protected by the drive Note Only the bits named here are supported by the product S 0 0277 Attributes Name in German Lagegeberart Parameter 1 Name in English Position feedback 1 type parameter ID number S 0 0277 Editability P23 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format BIN Extreme value check no Unit German English combination check yes Posit after the dec 0 cyc transmittable no Input value min max Default value 0b DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 51 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0331 Status Feedback 0 S 0 0400 Home Switch Description This parameter sets an IDN for the status feedback 0 which can be used to allocate it to a real time status bit IDN 0 0305 Th
163. ert the voltage at the analog input use OVolt Velocity 0 10Volt Velocity Velocity determined proportionally via the override factor Connection of the Analog Override Signal Figure 9 34 Connection of the analog override signal max 20 m ren LoG E1 2 r 05mm oy GE Geck IRED 1 J i ep IRED 2 2 AK1 E o 0V o AK2 OC rh Inputs Inputs voltage min max between IRED1 IRED2 10 V 15 V between IRED1 0V IRED2 0V 10 V 15 V Input current E1 E2 0 5 mA Input resistance approx 20 kOhm Input drift 18 UV C AD converter 12 Bit Resolution per bit 4 8 mV 20k 20k ADC 12 Bit 20k AP0214d1 drw 9 46 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 EEE PA ECODRIVE DKC01 1 DKC11 1 Drive Controllers 9 11 Analog Output DKC drives operate digitally This means that all output variables are available as digital information from the DKC The DKC has two analog diagnostic outputs to make velocity values speed values current values etc visible via an oscilloscope The selection of the output signals include the following values Analog output Analog output 1 Signal Torque producing current command Scaling of position data Deg 10 Scaling of velocity data 3000 Rpm 10 Analog output 2 Signal Position actual value Scaling of position data zz Scal
164. evice being turned back on prematurely Wait for 5 minutes after the device has been turned off to handle the device so that the capacitors can completely discharge Do not touch the electrical connector plugs of the components while the device is on Cover the parts of the device which have a voltage across them before the device is turned on in order to avoid them being touched An FI circuit breaker earth leakage circuit breaker can not be inserted using an AC input The protection against indirect touching must be produced through other ways for example through an overload circuit breaker according to EN 501787 1994 Section 5 3 2 3 For flush mounting instruments the protection against indirect contact of an electrical part can be made through an outer case for example a switch gear cabinet according to EN 501787 1994 2 2 Safety Instructions for Electrical Drive Controller DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai Danger ECODRIVE DKC01 1 DKC11 1 Drive Controllers High Leakage Current Possible Results Life threatening or bodily harm Before turning on the device all components and the motor must be grounded or connected to ground points by insulated wires The leakage current is larger than 3 5 mA It is required therefore that the device has a fastened connection on the main power supply EN 50178 1994 Section 5 12 11 1 gt Before initial operation or testing operations
165. example in order to access the operating data of the parameter P 0 004 the following input is required A01 gt P 0 0004 7 r Carriage Return 1000 The drive returns the value 1000 as the operating data data block element 7 Writing to a List Type Parameter There is a series of list tyoe parameters in the drive These lists are written to in a modified manner A01 gt ID number of the parameter data block element number w gt carriage return List element 1 carriage return List element 2 carriage return List element x carriage return lt Carriage Return It is important that the input is terminated with the lt symbol only then will the data be wrtten to the drive Note When wrting to list type parameter all the list elements and the element order must be maintained If a list element is removed or not included then the location of subsequent list elements values will be displaced by element number 10 8 Serial Communication DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Reading a List Type Parameter Reading a list parameter is done in the same manner as with a normal parameter The drive responds however with an answer of all the list elements Executing Parameter Commands With the DKC a series of commands can be processed The execution of commands happens automatically within the controller There are commands for the following
166. f all operational Data 2 2 S 0 0021 IDN List of Invalid Op Data for Comm Dh 3 2 2 S 0 0022 IDN List of Invalid Op Data for Comm Dh 3 2 3 S 0 0080 Manufacturer Versions hear gebei ee EES EENS dee 2 4 S 0 0032 Primary Mode of Operation sisi 2 4 S 0 0033 Secondary Operation Mode 1 ins 2 5 S 0 0036 Velocity Command Value sisi 2 5 S 0 0037 Additive Velocity Command Value ss 2 6 S 0 0040 Velocity Feedback Value iii 2 6 S 0 0041 Homing Velocity sise 2 7 S 0 0042 Homing Acceleration iii 2 7 S 0 0043 Velocity Polarity Parameter sisi 2 8 S 0 0044 Velocity Data Scaling Type sis 2 9 S 0 0045 Velocity Data Scaling Factor cccccceecceceeeceeeeeeeeeeeceeeeesaeeeeaeeseeeeeseaeeeaeeeeaeeeeeeesaas 2 10 S 0 0046 Velocity Data Scaling Exponent sesssesssessisssiessssisstinttinttnnttntttnnntnnntnnnennnnnnnn nenn 2 11 S 0 0047 Position Command Value sisi 2 11 S 0 0049 Positive position limit value 2 12 S 0 0050 Negative position limit value sus 2 12 S 0 0051 Position Feedback Value 1 Motor Feedback ssssesseesseesseeennssrnsrnsrnssrnssrnssrnssns 2 13 0 0052 Reference Distance Visseccccssicldavdeetaaducaasivewntavaacees oaavcucananecaeoeaavanenaleaanSeeaducedeaaveaagenaaned 2 13 S 0 0055 Position Polarity Parameter 2 14 S 0 0057 Position Window iii 2 15 S 0 0059 Position Switch Flag Parameter is 2 16 S 0 0060 Position Switch Point A 2 16 S 0 0076 Position Data Scaling
167. fset Description The parameter function for the initializing position of the absolute encoder P 0 0514 cannot be edited DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 19 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0514 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max P 0 0515 Home Reference Position Description Absolutgeber Offset Absolut Encoder Offset P 0 0514 Editability Parameter Memory 4 Byte validity check HEX Extreme value check Inkr Inkr combination check 0 cyc transmittable Default value Reference position for the SSI emulation Here the position in degrees will be placed on the motor which should be read after the absolute measurement emulator setting from the SSI emulator P 0 0515 Attributes Name in German Name in English ID number Function Memory Data length Format Unit German English Posit after the dec Input value min max P 0 0516 Feedback Interface Description Referenz Position Offset Home Reference position P 0 0515 Editability Parameter Parameter EEProm 4 Byte validity check DEC_MV Extreme value check Grad Degree combination check 2 cyc transmittable 0 1474559 99 Default value This parameter has no meaning with DKC URI Ce ER PA no Feedb E prom no
168. fset between raw value of the rotational feedback and the resulting absolute electrical angle between the stator current vector and the rotor flux vector The commutator offset is stored in the motor feedback data memory and does not need to be entered P 0 0508 Attributes Name in German Name in English ID number Function Memory Data length Format Unit German English Posit after the dec Input value min max Description The utilization of this parameter is not currently available Kommutierungs Offset Commutation Offset P 0 0508 Editability Parameter Param E prom Feedb E Prom 2 Byte validity check DEC_OV Extreme value check combination check 0 cyc transmittable 0 10000 Default value P 0 0509 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max PaBfedernutwinkel SlotAngle P 0 0509 Editability Parameter Memory 4 Byte validity check DEC_MV Extreme value check combination check 0 cyc transmittable 0 3599 Default value no Phase3 no no no no Param E2prom Phase3 no no no DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0510 Moment of Inertia of the Rotor Description This parameter gives the moment of inertia of the rotor without a load an
169. g the operating mode command controlled operation the target position of the selected additive process block will be verified to see if it lies within the represented range Remedy 1 Check the target position and correct if necessary 2 Select the position data display channel in modulo format E264 Attributes SS Display E2 64 Diagnostic message E264 Target position not Representable E264 Target position not Representable Diagnostic message number E264 Warning class Non fatal E825 Overvoltage Warning Cause 1 The mechanical system energy reflected via the motor was so large for a moment that it could not be completely converted to heat by the bleeder As a result the DC Bus voltage rose above the maximum allowable value The motor is then switched to torque free operation If the DC Bus voltage falls below the maximum allowable value the controller will be turned on again 2 DC Bus voltage is too high Remedy For 1 Reduce the acceleration value and check the drive controller layout if necessary Install an auxiliary bleeder if necessary For 2 Check the supply voltage if necessary DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac E825 Attributes SS Display E8 25 Diagnostic message E825 Overvoltage Warning E825 Overvoltage Warning Error number 825 Diagnostic message number E825 Error class Non f
170. h DRIVETOP Operational Advantages e Startup of multiple DKCs without reconnection of the interface cable Central parameterization and diagnostic connection e Realization of a central PC supported visualization unit RS485 Bus l PC with Drive Top D Parallel l O FS0005d1 drw Figure 10 2 Operation of Multiple Drive with DRIVETOP 10 2 Serial Communication DOK ECODRV ASE 02VRS FKB1 EN P 07 96 CEA ECODRIVE DKC01 1 DKC11 1 Drive Controllers Parameterization and Diagnostics via a SPS PLC Operational Advantages e Changing of parameters is possible via a PLC for example the adaptation of the positioning commands e Expanded diagnostic possibilities for the PLC through processing of the error codes RS485 Bus Profibus DP FS0016d1 drw Figure 10 3 Parameterization and Diagnostics over a SPS DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Serial Communication 10 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers CEA Parameterization and Diagnostics for Drive Group through the Operator Interface Operational Advantages e Implementation of a central visual display unit RS232 RS485 Bus Parallel UO FS0007d1 drw Figure 10 4 Parameterization and diagnosis of the drive group through a control unit 10 4 Serial Communication DOK ECODRV ASE 02VRS FKB1 EN P
171. he controller resolution The factor for the conversion of the position data from the internal drive format into the display format or the reverse conversion is outside of the workable area because either e Rotary motor and linear positional scaling are not representable or e the average factor for conversion of the position data from the display format into the internal format or reverse process is not representable Remedy Connect the drive with a PC and start DriveTop In the dialog box ocaling Mechanical system select a scaling setting Should another scaling installation other than one from DriveTop be used then the following parameters must be checked e S 0 0076 Position Data Scaling Type e S 0 0077 Linear Position Data Scaling Factor e S 0 0078 Linear Position Data Scaling Exponent e 0 0121 Input Revolutions of Load Gear e 0 0122 Output Revolutions of Load Gear e S 0 0123 Feed Constant C213 Attributes SS Display C2 13 Diagnostic message C213 Position data scaling error C213 Position data scaling error Diagnostic message number C213 1 30 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers C214 Velocity Data Scaling Error Cause The display format of the velocity data can be set with the help of the scaling parameter The internal drive format of the velocity data is dependent on the applied feedback and t
172. he controller resolution The factor for the conversion of the velocity data from the internal drive format into the display format or the reverse process is outside of the workable area Remedy Connect the drive with a PC and start DriveTop In the dialog box ocaling Mechanical system select a scaling setting Should another scaling installation other than one from DriveTop be used then the following parameters must be checked e S 0 0044 Velocity Data Scaling Type e S 0 0045 Velocity Data Scaling Factor e S 0 0046 Velocity Data Scaling Exponent e S 0 0121 Input Revolutions of Load Gear e 0 0122 Output Revolutions of Load Gear e S 0 0123 Feed Constant C214 Attributes SS Display C2 14 Diagnostic message C214 Velocity data scaling error C214 Velocity data scaling error Diagnostic message number C214 C215 Acceleration Data Scaling Error Cause The display format of the acceleration data can be set with the help of the scaling parameter The internal drive format of the acceleration data is dependent on the applied feedback and the controller resolution The factor for the conversion of the acceleration data from the internal drive format into the display format or the reverse process is outside of the workable area Remedy Connect the drive with a PC and start DriveTop In the dialog box ocaling Mechanical system select a scaling setting Should another scaling installation other than one f
173. he drive controller see project reference of the drive control For 2 Exchange motor Figure 1 2 Methodically measured signal amplitude over AK X31 1 2 1 12 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO an ECODRIVE DKC01 1 DKC11 1 Drive Controllers F822 Attributes SS Display F8 22 Diagnostic message F822 Motor Encoder Failure Signal too small F822 Motor Encoder Failure Signal too small Error number 822 Diagnostic message number F822 Error class Fatal F860 Overcurrent Short in Powerstage F870 24 V Error Description The current in the power transistor bridge has exceeded twice the peak current of the drive As a result the drive will be immediately turned off The drive has switched to a torque free condition An optional brake is immediately activated Cause 1 Short circuit in the motor cable 2 Defective power section of the drive controller 3 The current regulator was incorrectly parameterized Remedy For 1 Check the motor cable for a short For 2 Exchange drive controller For 3 The current regulator parameters should not deviate from the default values of the feedback F860 Attributes SS Display F8 60 Diagnostic message F860 Overcurrent Short in Powerstage F860 Overcurrent Short in Powerstage Error number 860 Diagnostic message number F860 Error class Fatal Description The DKC requires a 24
174. hough it is not in motion This can be explained by the gradual dissipation of the actual velocity Entering larger values will solve this problem Standstill window 20 Rpm INREF messages show that the internal position feedback value refers to the machine zero point The INREF message has the following properties e In applications with motors with resolver feedback the INREF message is only given after successful execution of the drive internally controlled homing procedure e In applications with motors with resolver feedback and absolute encoder option the INREF message is given after the supply voltage is switched on This requires that the Set Absolute Measurement command has previously been given 9 26 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Position Switch Point WSP The DKC has a function for actualizing a position switch point A switching signal is given at a position set by parameter which can be sent to a PLC for further processing This enables position dependent switching functions to be activated The logic of the position switch point is as follows Actual position gt Position switch point function Path switch point output 1 Actual position lt Position switch point function Path switch point output 0 The path switch point signal can be negated to adapt to a superordinate control Note The position swi
175. id SSI Parameter S 0 0022 C208 Invalid SSI Parameter S 0 0022 Diagnostic message number C208 C211 Invalid Feedback Data gt S 0 0022 Description Invalid data was found while processing the parameters stored in the motor feedback Causes 1 Defective motor feedback cable 2 Defective motor feedback Remedy For 1 Check the motor feedback cable For 2 Exchange the motor C211 Attributes SS Display C2 11 Diagnostic message C211 Invalid feedback data gt S 0 0022 C211 Invalid feedback data gt S 0 0022 Diagnostic message number C211 C212 Invalid Amplifier Data gt S 0 0022 Description During the installation of the drive data from the drive controller will be processed for drive identification If invalid data is detected this error message will be displayed Cause Defective hardware in the drive controller DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE anc Remedy Exchange drive controller C212 Attributes SS Display C2 12 Diagnostic message C212 Invalid amplifier data gt S 0 0022 C212 Invalid amplifier data gt S 0 0022 Diagnostic message number C212 C213 Position Data Scaling Error Cause The display format of the position data can be set with the help of the scaling parameter The internal drive format of the position data is dependent on the applied feedback and t
176. il it receives the home switch signal This point is the home point or reference point The control drive will then brake reverse direction and move back to the home point If the axisis located at the home switch cam at the start of the drive controlled homing procedure it will move away from the cam until the home switch signal is removed reverses direction and head back towards the home switch cam until the edge of the home point switching signal is received gt x Reference point switch signal gt Starting point Reference point V0031d1 drw Figure 9 25 Homing with Evaluation of the Home Switch DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 35 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Oe Ga abe al Homing with Evaluation of the Position Encoder Homing Mark The drive moves at the specified acceleration and velocity in the home direction and positions itself on the next homing Mark of the motor encoder This point is the home point Reference point Reference impulse of the motor generatar Starting point Reference mark S V0032d1 drw Figure 9 26 Homing with evaluation of the position transmitter homing mark Note Multiple homing marker pulses per motor revolution will appear with MKD motors e MKD025 MKD041 3 homing marks e MKDO71 MKDO90 MKD1 12 4 homing marks 9 36 General Drive Functions DOK ECODRV ASE 02VRS
177. ine using wire ferrules DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Serial Communication 10 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers RS 232 Connection 1 Pa RERO PAIE PC with 9 pin D SUB connector PC with 25 pin D SUB connector max 15 m Cable IKS 107 7 L ne SE lt 3 RxD TxD GND SJ DTR Al DSR Af RTS Al CTS DS ek 1 lien S bag DKC 2 IL max 15m i Cable IKS 102 1 eee A DKC 1 Set the external screen on top of the device AP0224d1 drw Figure 10 8 RS 232 Connection Note Only point to point connection with maximum cable length of 15mis possible the PC and drive controller unit must share a common central ground 10 14 Serial Communication DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PAR ECODRIVE DKC01 1 DKC11 1 Drive Controllers 11 Index A Absolute Format 9 5 Absolute Transmitter Monitoring 9 44 Absolute Transmitter Monitoring Window 9 44 absolute value transmitter 9 42 acceleration kinks 5 2 Activation and Parameters of Limit Switches 9 8 active mode 10 7 Actual position value measurement 1 5 Actual Position Value Output 1 5 9 31 adjustment of the home switch 9 34 appli
178. ing 9 5 module format 5 4 Module value 5 4 modulo area 9 5 modulo format 5 16 9 5 modulo processing 9 5 9 6 modulo value 9 5 modulus value 5 15 Moving Towards the Home Position 9 43 N Negating Position Speed and Torque Data 9 3 O offline mode 3 6 operating mode 9 6 9 33 Override Feature While Jogging 9 45 Override Feature with the Drive Control Homing Procedure 9 38 P parameter mode 3 8 9 6 parameterization mode 9 33 10 9 passive mode 10 7 position limit 5 3 position limits 1 2 1 4 5 9 9 7 Position loop monitoring 9 21 9 23 Positioning acceleration 5 1 Positioning jerk 5 1 Positioning mode 5 1 Positioning velocity 5 1 power supply 9 8 9 24 9 51 Preparations for Setting the Velocity Loop 9 17 Primary Mode of Operation for the Position Loop Monitor 9 23 Primary Mode of Operation for the Velocity Loop Monitor 9 22 R 9 2 9 8 ready for operation relay 9 12 reference point 1 5 referencing procedure 1 4 1 5 Relative positioning command after activation of the control opening 5 8 Relative positioning command after the jogging operation 5 7 Requirements for Activating the Control Drive 9 51 Requirements for Setting the Position Loop Monitor Correctly 9 23 Requirements for the operation of an absolute positioning command 5 3 Requirements for Using Absolute Transmitter Imitation 9 31 rotary scaling as applied to load 9 6 RS232 mode 10 1 RS485 mode 10 1 DOK ECODRV ASE 02VRS FK
179. ing Motor Interface 5 V 15 V 22p O 200R E k 2k A 2k SM o 4 __ e gt SM o Je e 2k 2k Z 200 d a 15 V 5 V Max allowable input voltage 30 V Max switching frequency 175 kHz AP0005d1 drw Figure 6 4 Stepping Motor Interface 6 4 DKCo1 1 Drive Controller with Stepping Motor Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 6 5 Types of Stepping Motor Signal Connections Signals can be exchanged with the stepping motor control in two ways e Differential signals e Open collector signals max 20 m Control X2 Channel Poy JL sui isch SM1 Channel Gs SM2 S S tsch SM2 Q Channel oe o sek Channel ce eR SC ek at 4 Inputs Input voltage min max OV 30 V Clock frequency max 175 kHz 5 V 200 Le a SM tr 50k oe 2K 2K SM C He hH 2k 2K VY al 200 15VO z 5V AP0219d1 drw Figure 6 5 Stepping Motor Transmission with Differential Signals DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Stepping Motor Interface 6 5 LEE aa es ECODRIVE DKC01 1 DKC11 1 Drive Controllers A AA R X2 oct SM1 Inputs Input voltage min max OV 30 V max 175 kHz Clock fre
180. ing a Motor With Integrated Absolute Encoder Function Optional 9 41 GER e el WEEN 9 45 9 10 Feedrate Override Function isa 9 46 O Ail Analog Kei 9 47 E ee 9 49 9 13 Activating the Drive Ata a tele Gaia de Ata ae i ee tae nn 9 51 Controller Enable siisi hetetess dere eege geet dente aren hoes dae Aera a aae kaa feeb ed tte 9 51 Drive ele NEE EE 9 51 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Contents III ECODRIVE DKC01 1 DKC11 1 Drive Controllers LA CREE Pan 10 Serial Communication 10 1 10 1 General Information for Serial Communication 10 1 10 2 Communication over the RS232 Interface cccceeeeceeeceeeneeeeeaeeeeneeceeeeeseaeeesaaeseneeeseaeeesaaeeseaeeeeeeeeaas 10 1 10 3 Communication over the RS485 Interface 10 2 Operation of Multiple Drives with DRIVETOP sis 10 2 Parameterization and Diagnostics via a SPS DLC 10 3 Parameterization and Diagnostics for Drive Group through the Operator Interface 10 4 10 4 Communication Procedures iii 10 5 Communication Parameters sisi 10 5 Setting of the Drive Address sise 10 6 Original State after Establishing the Control Voltage cccsceceeeeeeeeeeeseeeeeeeeeeeeeeseaeeeeeeseenees 10 7 Communication with a Specific Unit on the Bus 10 7 Param ter Structure s dan ui non EU ete ee Lee lge ege nn ete el 10 7 Writing Toa K rametert geesde deele EEEE nets nil AET 10 8 Reading of a Parameter 10 8 Writing to a List Type Parameter 10 8 Reading a
181. ing can lead to uncontrollable shaft movements The velocity loop monitor should be activated under normal circumstances and should only be deactivated in certain exceptions DANGER The velocity loop monitor can be deactivated for specific applications in which the control drive is specifically operated at its power limit An example Moving to a positive stop and similar situations 9 22 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Position Loop Monitoring The position loop monitor helps to diagnose errors in the position control loop Primary Mode of Operation for the Position Loop Monitor An estimated position feedback value is generated from the position command value If the difference between the measured and the estimated position feedback value is larger than the value entered in the monitoring window the control drive will execute its error handling routine according to the parameters which have been set see also Error Handling Possible Reasons for triggering the position loop monitor e Exceeding the torque or acceleration capability of the drive e Blocking of the axis mechanical system e Disruptions in the position feedback e Exceeding the maximum velocity of the motor by entering too large of a traversing velocity or giving too large of a position command value difference Requirements for Setting the Position Loop Mo
182. ing mode the positioning acceleration of the current Positioning blocl is copied to the parameter S 0 0260 Positioning acceleration S 0 0260 Attributes Name in German Positioning acceleration Name in English Positioning acceleration ID number S 0 0260 Editability P234 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_M V Extreme value check yes Unit German English S 0 0160 S 0 0160 combination check no Posit after the dec S 0 0160 cyc transmittable MDT Input value min max S 0 0160 S 0 0160 Default value 1000 000rad s S 0 0262 Command Basic Load Description When this command is set and enabled the default parameters in the motor for current velocity and position control loop settings will be loaded and activated The default parameters are not optimized for all applications They establish a stable control loop status When this command is executed parameters that have already been optimized may be overwritten see also Function description Initiating a command DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 49 ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0262 Attributes Name in German Name in English Kommando Urladen Command Basic Load OL aa es ID number S 0 0262 Editability P234 Function Command Memory no Data length 2 Byte validity check no Format BIN Extreme value check yes Unit German English
183. ing of velocity data 3000 A Figure 9 35 Analog output DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 47 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Signal selection Scaling Notes Current 10V Unit DKC01 1 040 7 Type current 40A command value type DKC01 1 030 3 Type current 30A current Velocity actual Scaleable value Velocity Scaleable command value Actual position Scaleable value Motor feedback fixed helps monitor motor feedback errors sine signal optimal range 15 18Vpp Motor feedback fixed helps monitor motor feedback errors cosine signal optimal range 15 18Vpp Current actual 10V Unit value type current Bleeder 10V 100 Continuous bleeder load load Bleeder load Figure 9 36 Analog output Signal selection Note Velocity and position data always refer to the motor shaft The scaleable output signals can reach overload if the scale is selected such that the current signal value exceeds the 10V limit The exceeded value is emulated in the displayable 10V range and makes it possible to examine signals with a higher resolution Oscilloscope for example Outputs Output voltage min max AK1 0V AK2 0V 10V 10V DA converter 8 Bit Resolution per bit 78 mV AP0212d1 drw Figure 9 37 Illustration of the diagnostic output connection 9 48 General Drive Functions DOK ECODRV ASE
184. ing type 0 0 0 unscaled 0 0 1 linear scaling 0 1 0 rotary scaling Bit 3 0 preferred scaling 1 parameter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 degree angles 1 reserved Bit5 reserved Bit6 Data reference 0 to the motor shaft 1 to the lead Bit 7 Processing format 0 absolut format 1 modulo format Bit 15 8 reserved E Figure 2 6 S 0 0076 Position Data Scaling Type Note Only the bits named here are supported by the product Notes 1 Same as S 0 0044 Note 1 2 Same as S 0 0044 Notes 2 3 See example Parameter Scaling Position Data under S 0 0077 S 0 0076 Attributes Name in German Wichtungsart f r Lagedaten Name in English Position Data Scaling Type ID number S 0 0076 Editability P23 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format BIN Extreme value check no Unit German English combination check yes Posit after the dec 0 cyc transmittable no Input value min max Default value 1010b DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0077 Linear Position Data Scaling Factor Description This ID number contains the scaling factor that is to be used to scale all position data in the drive The parameter is set to 1 if line
185. ions 9 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Metfective Nm Mmax Ured V Mmax Bipolar torque limit value ma R Torque to which is to be reduced Voltage between IRED1 and IRED2 4 Determining M effective in of Mmax at the given Ured 2 Determining Ured at the given M effective in of Mmax DG0001d1 drw Figure 9 6 Diagram for determining torque reduction max 20 m x oh Et 2 0 5 mm2 eo fe 0 5 me IRED 1 J om o IRED 2 5 2 AK1 dut ts OV Z o AK2 8 om h Inputs Inputs voltage min max between IRED1 IRED2 10 V 15 V between IRED1 0V IRED2 0V 10 V 15 V Input current E1 E2 0 5 mA Input resistance approx 20 kOhm Input drift 18 uV C AD converter 12 Bit Resolution per bit 4 8 mV 20k 20k ADC 12 Bit 20k _ AP0214d1 drw Figure 9 7 Connecting the analog torque reduction 9 10 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 VA eee al ECODRIVE DKC01 1 DKC11 1 Drive Controllers 9 3 Error Handling Many functions are monitored in connection with operating modes and parameter settings of the drive If a condition is recognized which will not allow proper functioning of the drive an error message is generated and the drive will automatically respond to the error Error handling Non fatal errors of the drive are responded with gt
186. ions to enable trading signals between control and drive controller systems Quadrature signals Forward backward signals Step and direction signals An internal homing procedure can help create a reference position The axis can be controlled via the jog function for set up operation The homing and jogging speeds can be influenced via the Feedrate Override Limit switch inputs and parametrical position limits are available to set travel range limits The drive controller status can be determined via status outputs 1 4 System Overview DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CEFA rA ECODRIVE DKC01 1 DKC11 1 Drive Controllers DKC01 1 DKC11 1 General Characteristics Direct Power Supply Connection The drive controller can be connected directly to single and three phase 230V power supplies or three phase power supplies ranging from 380V to 480V without transformers A power rectifier intermediate circuit capacitor and bleeder are included as standard equipment Integrated Brake Activation The optional brake in MKD motors is activated directly via the drive controller Actual Position Value Measurement ECODRIVE measures the actual position value via the motor feedback system e Incremental position measurement standard The actual position value will be set at a random value when the power supply is first turned on To give the actual position value a fixed reference point the reference point must
187. is available after re booting the system The position feedback permanently retains its reference to the machine zero point All the required data for the absolute measuring sytem is permanently either in the feedback position data memory or in the drive parameter data memory and is available after rebooting the drive system The parameter P 0 012 operates for the execution of this function see also Function description Disengagement of a command P 0 0012 Attributes Name in German Kommando AbsolutmaB setzen Name in English Command Set Absolute Measurement ID number P 0 0012 Editability P4 Function Command Memory no Data length 2Byte validity check no Format BIN Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 11 b Default value P 0 0013 Command value mode for modulo format Description The interpretation of the position command values like S 0 0047 Position command value andS 0 0258 Target position with a modulo function actuve is dependent on the setting of the mode For the setting of the mode the parameter P 0 0013 Command value mode for modulo format exists This parameter is functional only when S 0 0076 scaling type Position data had been activated for modulo format The folowing valued can be parameterized P 0 0013 Meaning 0 shortest path 1 Positive direction 2
188. is value is stored within the motor feedback data memory and must not be changed P 0 0018 Attributes Name in German Name in English ID number Function Data length Format Unit German English combination check Posit after the dec Input value min max Polpaarzahl Polpaarweite Number of Motor Pole Paris distance P 0 0018 Editability P23 Parameter Memory Param E prom 2Byte validity check Phase3 DEC OV Extreme value check no Polpaare bzw Pair of poles or mm dependent on P 0 4014 Motor type no 0 cyc transmittable no 1 4 Default value DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers OL aa es P 0 0019 Position Start Value Description The position start value serves the non absolute measuring system through the paramaterization of a defined initialization value for the Position feedback value 1 S 0 0051 The drive tests if the Position start value has been specified in communication phases 2 or 3 during the initialization of the position feedback Only then will the position feedback value 1 be set to this value The intial position value will function only with a single turn feedback P 0 0019 Attributes Name in German Lageanfangswert Name in English Position start value ID number P 0 0019 Editability P23 Function Parameter Memory no Data length 4Byte validity check no Format DEC_M
189. it German English mV mV combination check no Posit after the dec 1 cyc transmittable no Input value min max 10000 10000 Default value 0 P 0 4018 Offset of the Analog Velocity Command Input Description With this parameter a offset of the analog rotational velocity input be set An available offset which lies in the signal path of the analog signal can be regulated DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 31 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 4018 Attributes Name in German Offset des analogen Drehzahlsollwertes Name in English Offset of the analog velocity command input ID number P 0 4018 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English mV mV combination check no Posit after the dec 1 cyc transmittable no Input value min max 10000 10000 Default value 0 P 0 4019 Process Block Mode Description Setup of the process block mode relative process block absolute process block movement in positive direction or movement in negative direction for each seperate process block The first element of this list specifies the mode of the process block 0 the second specifies the mode of the process block 1 process mode Setup value 1h Absolute process block relative process block 2h Movement in positive
190. itive direction or Movement in the negative direction The drive controller moves continuously in the given direction until the start signal is removed i e one of the position limits or limit switchs is reached The desired position is meaningless in this positioning mode Speed v profile STANDSTILL WINDOW POS1 POS5 P E e i D st COO EE 1 AH START Caen FG gt INPOS INBWG Regulator release lt 14 ms Positioning inputs valid ex Position record No 1 XX Condition of the positive inputs not relevant Positioning acknowledgment outputs show the negated status of the positioning inputs ex position record No 01 negated Positioning acknowledgment outputs do not show that after valid record acceptance the position inputs are in an inverted condition ex Position record No 1 SV0003D1 drw Figure 5 7 Unending Movement in Positive Negative Direction DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Da Cera 5 4 Positioning Command Input Positioning command data will be established over the positioning command input window Positioning block input E Les Positioning block Target position Deg Speed 10 0000 Rpm Accelaration 100 000 rad s2 Jerk 0 000 rad s 3 Positioning mode absolute
191. itself in device opening AF then the number of the positioning command which immediately will be worked on can be read here P 0 4026 Attributes Name in German Verfahrsatzauswahl Name in English Process block selection ID number P 0 4026 Editability no Function Parameter Memory no Data length 2 Byte validity check no Format decimal Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 0 31 Default value P 0 4027 Function Parameter Description Bit list with different function in the company products ie can be turned of Structure of the parameter COOCOO LI L BitO 1 feedrate override from analogue channel 0 feedrate override from parameter S 0 0108 Bit 1 1 torque reduction from analogue channel O torque reduction from parameter S 0 0092 Bit2 1 switch off speed monitor 0 speed monitor active Bit3 free Bit4 1 invert position switch point 0 position switch point not inverted Bit 5 Bit 15 free EE Figure 3 12 P 0 4027 Function Parameter 3 36 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Pa CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4027 Attributes Name in German Funktionsparameter Name in English Function parameter ID number P 0 4027 Editability P2 Function rameter Memory paralle
192. ive Controllers Pa CREE PART 10 5 Operation Example Changing of the Positioning Command Data Assumption e Multiple drives are connected over a RS485 interface to a SPS PLC The currently entacted has the address 1 e The drive functions in positioning made It will use 4 positioning blocks e The target positions of the positioning block data should be changed over the RS485 interface Initiating communication to the desired axis BCD 01 CR Command for Switching to Drive A01 gt Response of the contacted drive All other drives function in passive mode Note There is not a signal reflection instead the drive transmitts the complete input sequence back after reception of the CR The resident memory mode is deactived Normally the parameter will be stored through writing in a EEPROM so that the data remains after the supply voltage is turned off If the application would require to proceed with frequent changes of the parameters during operation for example the changing of the target position of positioning data sets there is a danger of eventually exceeding the maximum allowable number of writing cycles of the EEPROM In order to avoid this possibility the resident memory must be turned off Turning off of the resident memory mode must be done after each time the power supply of the connected controller is turned on and is valid until the next time the power supply is turned off While non resident mode is active al
193. ive controller anal torque command value processing Analog torque input offset Em Figure 8 2 Input Offset Adjustment in Torque Regulation DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 DKC11 1 Drive Controller with Analog Torque Interface 8 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Analog Interface max 20 m 0 05 b 1 __ X3 5 mm E e 1 osme drones Ji DES RE eck IRED 1 o IRED 2 OAK z Oth OV eck Ak SR ts Inputs Input voltage min max between E1 E2 10 V 15 V between E1 0VM E2 0VM 10 V 15 V Input current E1 E2 0 5 mA Input resistance approx 20 kOhm Input drift 18 UV C AD converter 12 Bit Resolution per bit 4 8 mV 20k 20k ADC 12 Bit Jax _ AP0213d1 drw Figure 8 3 Connection Plan for the Analog Torque Interface 8 4 Velocity Supervision in Torque Regulation When ECODRIVE is used in torque regulation it supervises the velocity of the motor If the current actual motor velocity exceeds the velocity limit value by more than 12 5 or a maximum of 100rpms the drive controller disengages the torque and displays the diagnostic F879 Velocity Limit Value Exceeded This feature can be used to prevent an undefined accelaration up to the motor s maximum velocity Note The internal velocity supervision in the Torque regulation operating mode does not offer protection for people External super
194. l EEProm Data length 2 Byte validity check yes Format HEX Extreme value check no Unit German English combination check no Posit after the dec 5 cyc transmittable no Input value min max Default value 0 x 0008 P 0 4028 Impulse Wire Feedback Offset Description With this parameter the offset of the impulse feedback for resolve control will be stored It will be available during construction and stored in the feedback memory P 0 4028 Attributes Name in German Impulsdrahtgeber Offset Name in English Impulse wire feedback Offset ID number P 0 4028 Editability no Function Parameter Memory Feedb E prom Data length 4 Byte validity check no Format DEC Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value 100 0000 P 0 4029 Impulse Wire Feedback PIC Counter Value Description This parameter contains the information of the absolute position of the control The value will be actualized with each initializing position lt is not editable from the user DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 37 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4030 Jog Velocity P 0 4029 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Description
195. l parameter data is written to Ram memory only Turning off the resident memory A01 gt S 0 0269 7 w 1 CR Writing the List of the Target Positions in the Drive The target positions of all the axes are stored in the form of a list in the parameter P 0 4006 In order to change one or more of these values all of the relevant values of this list must be written If four target positions will be used then all 4 positions must be written even if only one of the positions should be changed A01 gt P 0 4006 7 w gt CR 100 0 CR Target position command 0 200 0 CR Target position command 1 300 0 CR Target position command 2 400 0 CR Target position command 3 lt CR CR Immediately after writing to the target positions the new values in the drive are active 10 12 Serial Communication DOK ECODRV ASE 02VRS FKB1 EN P 07 96 ECODRIVE DKC01 1 DKC11 1 Drive Controllers 10 6 Connection Technique RS485 Connection bad N RS485 bad RS485 Reg DA Termination resistanc 120 Ohm 0 6W AP002d1 drw Figure 10 7 RS485 Connection In the graphic above change SPS label to PLC and resistance to resistor Note There can be a maximum of 32 drives which are connected The maximum total cable length is 1000m A terminating connector is supplied with each unit The termination resistors must be installed at the end of the transmission l
196. le no Input value min max 0 100 Default value DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 45 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4044 Bleeder load ODS aa es Description With this parameter the average capacity will be read from which the damping resistance will be changed That means that the dampening resistance with its time capacity will be 100 acted upon For a secure drive the burden should be less than 80 The value is very strongly stabilized In order to tell if a processing cycle of the dampening resistance is not overly loaded the analog signal bleeder load must be considered P 0 4044 Attributes Name in German Bleederauslastung Name in English Bleeder Load ID number P 0 4044 Editability no Function Parameter Memory no Data length 2 Byte validity check no Format decimal Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 65536 Default value P 0 4045 Active Continuous Current Description This parameter shows how much current the drive can supply in the actual combination in continual operation Multiplied with the P 0 0051 torque constant of the motor yields the continual operational torque This parameter will calculate during heavy switching in the drive mode from the drive control and is not changeable With the activation of this limit th
197. ler S 0 0106 Attributes Name in German Stromregler Proportionalverstaerkung 1 Name in English Current Controller Proportional Gain 1 ID number S 0 0106 Editability P234 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English V A V A combination check no Posit after the dec 2 cyc transmittable no Input value min max 0 500 Default value 30 00 V A Description Integral Action Time 1 The value of this parameter depends on the motor and can be found in the motor data sheet 2ms will be loaded for the current contorller integral action time 1 with the command Basic load see also Function description Setting the current controller S 0 0107 Attributes Name in German Name in English Stromregler Nachstellzeit 1 Current Controller Integral Action Time 1 ID number S 0 0107 Editability P234 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format DEC OV Extreme value check yes Unit German English ms ms combination check no Posit after the dec 1 cyc transmittable no Input value min max 0 1 6553 5 Default value DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pace S 0 0108 Feedrate Override Description The feedrate override only works for drive controlled motion commands
198. leration change with respect to time in the operating mode with Drive internal interpolation e Referencing e Jogging Note At 0 value the jerk filter is shut off S 0 0193 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Positionier Ruck Positioning jerk S 0 0193 Parameter 4 Byte DEC_OV Editability Memory validity check Extreme value check S 0 0160 S 0 0160 combination check S 0 0160 0 S 0 0160 cyc transmittable Default value P234 Param E2prom Phase3 yes no no 0 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 47 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc S 0 0258 Target Position Description The target position will be assigned to the drive as a command value by the controller in the Drive internal interpolation operating mode The drive travels toward the target position with due regard to S 0 0259 Positioning velocity the S 0 0260 Positioning acceleration and S 0 0193 Positioning jerk In the Position control with positioning interface operating mode the target position of the current Positioning Position block will be copied to parameter S 0 0258 Positioning target position S 0 0258 Attributes Name in German Zielposition Name in English Target Position ID number S 0 0258 Editability P234 F
199. lidity check no Format decimal Extreme value check no Unit German English none none combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value Ss P 0 0522 Absolute Encoder Count Direction Description With this parameter the operational direction of the absolute encoder emulation will be set H the parameter 1 is set then the operation direction will be inverted That means the SSI interface recieves a given position value for the rotation of the motor in clockwise counterclockwise direction With the change of the operational direction the new command absolute measurement emulator setting must be processed through so that the given position will be changed through the inversion 3 22 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0522 Attributes Absolutgeber Zahlrichtung Name in German Name in English Absolute encoder count direction ID number P 0 0522 Editability P2 P3 Function Parameter Memory parallel EEProm Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 0 1 Default value P 0 1003 Velocity Feedback Value Filtertimebase Description The velocity feedback value filter will be used as a VZ1 low pass filte
200. logue procedures At the end all of the necessary installation requirements are set DriveTop can be physically connected to more that one drive controller at the same time with the use of an RS232 RS485 interface converter Under the menu Scanning DriveTop looks for connected drives lf DriveTop is connected to more than one drive with the RS485 interface Drive controller selection of which device is being communicated to is done from this menu DriveTop can be operated online as well as offline DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Preparation for Startup Procedure 3 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Options Language Help Contents Using Help Information over 3 9 Printing of the The language in which DriveTop functions and the language of the parameters and diagnostics of the drive controller can be selected or changed from this menu This menu accesses the online documentation The online documentation contains a large scope of information regarding the functioning qualities of the drive system parameter descriptions and diagnostic descriptions There are on screen general instructions to navigate through the help system Information regarding the software version of DriveTop Parameter Data DriveTop does not offer a direct possibility of printing the parameter files Parameter files are stored as ASCII files and can be viewed with almost any editor and printed Should para
201. lt value DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc S 0 0030 Manufacturer Version Description The drive firmware version can be read as text from this parameter Example DKC1 1 ASE 02V07 Release Version FirmwareType Hardware Type S 0 0030 Attributes Name in German Hersteller Version Name in English Manufacturer Version ID number S 0 0030 Editability no Function Parameter Memory fixed Data length 1Byte variable validity check no Format ASCII Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value S 0 0032 Primary Mode of Operation Description The mode of operation defined in this parameter will be activated in the drive when e the control and power sections are ready for operation e the controller enable RF is set e and the AH Start signal has been given The selection of the operating mode is made by entering a bit list Bit list Meaning 0000 0000 0000 0001 Torque regulation 0000 0000 0000 0010 Velocity regulation 0000 0000 0011 0011 Position regulation positioning interface with following error 0000 0000 0011 1011 Position regulation positioning interface without following error 1100 0000 0000 1011 Position regulation step motor interface without following error rotational fe
202. ltvorbereitung auf Komm Phase 4 Name in English C2 Communication phase 4 transition check ID number S 0 0128 Editability P3 Function Command Memory no Data length 2 Byte validity check no Format BIN Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 11 b Default value S 0 0135 Drive Status Word Description This parameter makes it possible to read the drive status word through the serial interface It is structured as follows Drive status word OOC no nO Bit 0 2 Control Information for device channel Bit 5 Change bit command Bit 6 amp 7 Real time status bits 1 amp 2 Bit 8 amp 9 Feedback operating mode 00 Main operating mode active 01 1 Secondary operating mode etc Bit 11 Change bit class 3 diagnostics Bit 12 Change bit class 2 diagnostics Bit 13 Drive lock error in class 1 diagnostics Bit 14 amp 15 Ready to operate 00 Drive not ready for power on since internal checks are not positively connected 01 Ready for power on 10 Control and power components ready to operate 11 In operation with torque eeh Figure 2 12 Structure of the Drive Status Word DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 37 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0135 Attributes Name in German Antriebs Status Name in English Dri
203. lue P 0 0519 Amplifier Peak Current 2 Description The drive offers the possibility of a changed length of peak current characteristic with reduced amplifier peak current and is therefore defined as a increased amplifier length current The parameter P 0 0519 specifies a amplifier peak current for this case It serves for the determination of the functioning points on the length of the peak current characterisic The value of this parameter is not editable because it is permantently programmed in the amplifier DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 0519 Attributes Name in German Verstarker Spitzenstrom 2 Name in English Amplifier Peak Current 2 ID number P 0 0519 Editability no Function Parameter Memory Verst E2prom Data length 4 Byte validity check Phase3 Format DEC_OV Extreme value check no Unit German English A A combination check no Posit after the dec 3 cyc transmittable no Input value min max 0 001 500 Default value P 0 0520 Hardware Number Description Parameter for identification of the hardware The parameter is determined during the manufacturing stage and cannot be changed S 0 0520 Attributes Name in German Hardware Kennung Name in English Hardware Number ID number P 0 0520 Editability not editable Function Parameter Memory Amplifier EEProm Data length 2 Byte va
204. lue min max 1 65535 Default value 1 2 18 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR CX EEO an Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0078 Linear Position Data Scaling Exponent This ID number contains the scaling exponent that is to be used to scale all position data in the drive if linear scaling has been selected If linear preferred scaling is selected this parameter will be set by the drive S 0 0078 Attributes Name in German Name in English Wichtungs Exponent transl Lagedaten Linear Position Data Scaling Exponent ID number S 0 0078 Editability P23 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 32 32 Default value 6 S 0 0079 Rotational Position Resolution Description If rotary position scaling is selected the LSB valence for all position data will be set in this parameter The LSB bit can be specified in the following manner Example If you would like a resolution of 0 01 degrees for the LSB a value of 36 000 must be parameterized If a preferred scaling was set in the parameter S 0 0076 Position Data Scaling Type the rotational position resolution will be set at 3 600 000 That means that the resolution for the LSB will be 0 0001 degrees
205. ly harm or device damage gt gt gt gt gt The drive components monitoring units make mal operation in the connected drives impossible In view of operator safety this fact cannot be relied on alone An incorrect work movement the size of which depends on the kind of malfunction and the operating status is in any case to be expected before the built in monitoring units become active Operator safety is therefore to be ensured by means of monitoring units or measures which are superordinated on the plant side These are provided according to the specific conditions of the plant after a danger and error analysis by the plant constructor The safety requirements which apply to the plant are included here The personal safety is ensured through the above mentioned fundementals of control or preventitive measures which must be placed above all else This will be planned according to specific conditions of the construction after a danger and error analysis from the manufacturer Those of which pass the accepted safety requirements will be included Pay close attention to Keep clear of the machine movement range Possible measures to prevent people unintentionally accessing the machine are protective fences protective railings protective coverings and or light curtains Sufficient strength of the fencing and covering against the maximum possible motion energy Mount Emergency Stop switch es in the immediate
206. m parameter mode to operating mode Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 25 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac C101 Attributes SS Display C1 01 Diagnostic message C101 Invalid Communication Parameter S 0 0021 C101 Invalid Communication Parameter S 0 0021 S 0 0021 Diagnostic message number C101 C102 Limit Error Communication Parameter S 0 0021 Cause Parameters which exceed their limits were found during the switch from the parameter mode to operating mode Remedy Connect the control drive to a PC and activate DriveTop Select the Parameter List of Invalid Parameters menu and set valid parameters C102 Attributes SS Display C1 02 Diagnostic message C102 Limit Error Communication Parameter S 0 0021 C102 Limit Error Communication Parameter S 0 0021 Diagnostic message number C102 C200 Communication Phase 4 Transition Check Description The command C2 performs the last steps of the switch from parameter mode to operational mode Thereby numerous parameter checks will be conducted C200 Attributes SS Display C2 Diagnostic message C200 Communication phase 4 transitioncheck C200 Communication phase 4 transitioncheck Diagnostic message number C200 1 26 DIAGNOSTIC MESS
207. mat Unit German English Posit after the dec Input value min max S 0 0042 Homing Acceleration Description Referenzfahr Geschwindigkeit Homing velocity S 0 0041 Editability Parameter Memory 4Byte validity check DEC_MV Extreme value check S 0 0044 S 0 0044 combination check S 0 0044 cyc transmittable 0 S 0 0044 Default value P234 Param E2prom Phase3 yes no no 100 0000 Rpm The acceleration value for the ramp up to homing velocity with which the S 0 0148 Drive controlled homing procedure command is performed is set in this parameter S 0 0042 Attributes Name in German Name in English Referenzfahr Beschleunigung Homing acceleration ID number S 0 0042 Editability P234 Function Parameter Memory Param E2prom Data length 4Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0160 S 0 0160 combination check no Posit after the dec S 0 0160 cyc transmittable no Input value min max 0 S 0 0160 Default value 1000 000 rad s2 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc S 0 0043 Velocity Polarity Parameter Description The polarity of the velocity data that is applied to the application can be switched in this parameter The polarity will be switched externally at the command amp feedback input and actual value output and not within the con
208. meter files be printed it is suggested that the Microsoft editor Notepad be used Notepad is a part of Windows 3 1 and therefore available within Windows 3 1 To print a parameter file the following instructions are required An example of a parameter file X_Axis par e Under the Program Manager menu choose Run File e At the command prompt type Notepad X_Axis par and click the OK icon e Click on menu item File then click on Print The printing process will begin 3 10 Preparation for Startup Procedure DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 4 Motor and Drive Controller Selection 4 1 General Information on Selecting a Motor and Drive Controller An ECODRIVE system consists of a drive controller DKC and a servo motor MKD Selection documents selection lists can help in selecting the drive controller and motor for a specific application These documents can be obtained from INDRAMAT Certain information about the motor and drive controller is used at start up to answer questions to install parameters During online operation this information is read from the connected motor and drive controller and does not have to be entered by the user During offline operation the drive controller and motor are not connected necessitating the user to enter this information directly 4 2 Motor Selection Specific application information about th
209. meter scaling Bit 4 Unit of measure for linear scaling 0 meter m 1 inch in Unit of measure for rotary scaling 0 revolution 1 reserved Bit5 Unit of time 0 minute min 1 second sec Bit 6 Data reference 0 to the motor shaft 1 to the load Bit 15 7 reserved a Figure 2 4 S 0 0044 Velocity Data Scaling Type Notes 1 For the case of load side linear scaling changing the dimensional unit between meters metric and inches English will not result in an accurate conversion of data values to the new dimensional unit The change of the linear dimensional unit will result only in a decimal point shift scaling exponent change to the left change meter inches or to the right inches meters It is therefore recomended that the linear dimensional unit be selected once and not changed If the unit must be changed then all operational data values must be corrected and scaled to reflect the new unit 2 Preferred parameter scaling will automatically be selected if you use the parameter scaling amp mechanical setup dialog in DriveTop Preferred scaling will result in the following resolution Resolution with linear scaling 10 m min 10 in min Resolution with rotary scaling 10 rpm 10 rev s 3 See also example under S 0 0045 Velocity Data Scaling Factor DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers
210. mmand and actual position Selecting the Appropriate Position Control Mode In general the position control without following error is advantageous because in this mode the drive reaches the desired position the quickest No Kv factor dependent creeping Through a less rigid mechanical system undesireable acceleration knee points as well as the mechanical vibrations are loosened If the application allows the disadvantages of the following error then it is suggested that in this instance one uses the position control with following order Vibration will then be dampened through the reduction in the Kv factor A compromise is thereby created between the positioning and the load rigidity 5 2 DKCO1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 OLE aie ea ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 3 Positioning Operation Absolute Positioning Absolute positioning commands store the desired position as a firm absolute position in the machine coordinate system Example Absolute positioning with a desired position 700 Speed profile STANDSTILL WINDOW EECH E Au A 200 700 x POS1 POS5 AH START S f INPOS i e e gt INBWG Regulator release Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs do not sh
211. n check yes Posit after the dec 0 cyc transmittable no Input value min max Default value 1010b S 0 0161 Acceleration Data Scaling Factor Description If parameter scaling is set in S 0 0160 Acceleration data scaling type the scaling factor for all acceleration data in the drive will be determined in this parameter Structure of the parameter Bit 0 15 Factor Figure 2 15 S 0 0161 Scaling Factor for Acceleration 2 44 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0161 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max S 0 0162 Acceleration Data Scaling Exponent Description Wichtungs Faktor f r Beschleunigungsdaten Acceleration data scaling factor S 0 0161 Parameter 2 Byte DEC OV 0 1 65535 Editability Memory validity check Extreme value check combination check cyc transmittable Default value P23 Param E2prom Phase3 yes no no 1 If parameter scaling is set in S 0 0160 Acceleration data scaling type the scaling exponent for all acceleration data in the drive will be determined in this parameter Structure of the parameter Bit 15 Sign 0 positive 1 negative Bit 0 14 Exponent Figure 2 16 Scaling Exponent for Acceleration D
212. n half of one millisecond for the DKC units In order for the connected terminal devices PC or SPS to be given enough time for the data direction switch to occur the answer delay PLC time of the drive can be set in this parameter The entry is in ms The maximum setting is 200ms The default value for the answer delay is set at 1ms at the manufacturer From past experience most PC s will operate without any problems with this setting If communication problems occur for example a TIMEOUT message in DriveTop then the value for the answering delay can gradually be set DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Serial Communication 10 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE PART Setting of the Drive Address to a larger value until there are no more problems occurring For a safe margin the limit value so determined should be multiplied with 1 5 and then entered as the answering delay value In the case where the communication occurs over the RS485 bus then each of the bus communication devices must be provided with a unique bus address In order to avoid access conflicts each drive address must be used only once Note With the DKC 01 1 the setting of the drive address occurs over the RS232 interface with help from DriveTop The communication parameter P 0 4022 Drive Address establishes the active address of each of the units on the bus With DKC 02 1 and DKC 03 1 the RS485 address of the drive i
213. n the scaling of the torque and force data z Z e g only percentage scaling is supported 100 Motor stand still torque S 0 0084 Attributes Name in German Drehmoment Kraft Istwert Name in English Torque Force Feedback Value ID number S 0 0084 Editability no Function Parameter Memory no Data length 2 Byte validity check no Format DEC_MV Extreme value check no Unit German English S 0 0086 S 0 0086 combination check no Posit after the dec S 0 0086 cyc transmittable AT Input value min max S 0 0086 S 0 0086 Default value 2 20 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Pa CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0085 Torque Polarity Parameter Description The polarities for the given torque data that is related to the application can be switched in this parameter The polarity will be switched externally at the command amp feedback value input and actual value output not inside the controlled system The following applies to rotary motors Clockwise rotation when facing the motor shaft is the rule for a positive torque command value and a positive torque feedback value polarity Structure of the parameter SEW a a a Bit 0 Torque command value 0 positive polarity 1 negative polarity Bit 1 Torque command value additive 0 positive polarity 1 negative polarity L Bit 2 Torque feedback value 0 positive p
214. nd cannot be changed With the default parameter load the value of the parameter will be copied into the parameter S 0 0101 velocity loop integral action time With the default values a drive of the motor is possible for optimal adaptation on the machine connection the parameter S 0 0101 must sill be optimized P 0 4038 Attributes Name in German Name in English Defaultwert Drehzahlregler Nachstellzeit Default Velocity loop integral action time ID number P 0 4038 Editability no Function Parameter Memory Feedback Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English ms ms combination check no Posit after the dec 1 cyc transmittable no Input value min max 0 1 6553 5 Default value 3 42 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4039 Default Current Loop Proportional Gain Description The defaul value for the current loop proportional gain The parameter will be determined during the manufacturing stage and cannot be changed With the default parameter load the value of the parameter will be copied into the parameter S 0 0106 proportional gain 1 current regulator The current loop gain is already optimized and may not be changed P 0 4039 Attributes Name in German Default Stromregler Proportionalverstarkung Name in English Default current loop proporti
215. ne 3 1 3 4 Installationsof Drive Top tnt nan nr benne E Eesen Seene ES 3 2 Starting the Installation Program sir 3 2 3 5 Connection of the PCs with the Drive Controller 3 3 3 6 Minimal Installation for Operation of a DKC with Drive Top 3 4 3 7 Drive Top Start UP aert ets ati ate iis is teeth ante ae ate Cela 3 5 Scanning for Connected Drives issues 3 5 Online and Offline Operation sise 3 6 Diagnostic Une e EE 3 7 3 8 Drive Top Menu Structure iii 3 8 e EE 3 8 Parameter eerst sti eeu eae Si ME eh et An Ron em ee 3 8 SLATUP PTOCeQUrE esses iat tates neces AE a a A NS estimer dress sister tits ent 3 9 Drivers etant test na et nn tn E xls 3 9 Cu o a EET E n dla rare tete ir T de dede est net d esse ren tee Pda arr n ner te 3 10 Help inner hasta nement pendant etait late 3 10 3 9 Printing of the Parameter Data sise 3 10 4 Motor and Drive Controller Selection 4 1 4 1 General Information on Selecting a Motor and Drive Controller cccccccceeeeeseeeeeeeseeeeeseeeeeeeeeaes 4 1 4 2 Motor Selection 0c sereine nat MR el eee ee nd 4 1 4 3 Drive Controller S lection st asia ihn Me tA a at titi aed 4 3 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Contents ECODRIVE DKCO01 1 DKC11 1 Drive Controllers MBA Selecting the Drive Controller sise 4 3 Selecting the Overload Factor sisi 4 4 Selecting the PWM Frequency iii 4 4 5 DKC01 1 Drive Controller with Integrated Positioning Control 5 1 5 1 Fundemental Method of Operati
216. ned P 0 0501 motor speed for maximum velocity command voltage Rpm P 0 0500 Velocity command voltage for Max motor speed V P 0 0501 Attributes Name in German Drehzahl bei gew hlter Sollwert Vorgabe Name in English Motor speed for max velocity command ID number P 0 501 Editability no Function Parameter Memory parallel EEProm Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English Upm rpm combination check no Posit after the dec 0 cyc transmittable no Input value min max 1 30000 Default value 3000 P 0 0502 Line Count for the Incremental Encoder Description If the actual position value output is selected for incremental encoder emulation then the line count of the incremental encoder must be set DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0 502 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max P 0 0503 Reference Pulse Offset Description Strichzahl des Inkrementalgebers Line count for the incremental encoder P 0 0502 Editability Parameter Memory 4 Byte validity check decimal Extreme value check combination check e cyc transmittable 1 65536 Default value ODS aa es no parallel EEProm yes yes no no 1250 Wi
217. ng 1 18 Motor Type not Reported 1 3 N Not Homed 1 20 O Overcurrent Short in Powerstage 1 13 Overvoltage in the Power Stage 1 24 P Parameter Calculation Error gt S 0 0022 1 29 Position Data Scaling Error 1 32 Position Mode Lagless Positioning 1 46 Position Mode POSITION lagless positioning 1 47 Position Step Mode 1 46 Power Supply Driver Stage Fault 1 14 2 2 Index DOK ECODRV ASE 02VRS FKB1 EN P 07 96 RARES NPA ECODRIVE DKC01 1 DKC11 1 Drive Controllers R Ready for Power ON 1 45 Reset Button S1 1 1 Reset Class 1 Diagnostic 1 39 S Selected Process Block is not Programmed 1 22 Set Absolute Measuring 1 37 Setting Absolute Measuring Not Allowed Drive Enable 1 37 State diagnostic message 1 44 Switching to an Uninitialized Operating Mode 1 4 T Target Position Out of Range 1 19 1 23 TIPS FOR ELIMINATING MALFUNCTIONS 1 1 Torque Limit 0 1 21 Transition Command Phase X gt 2 1 38 Travel Limit Switch Detected 1 12 Travel Limit Value is Exceeded 1 11 Travel Zone Limit Switch Activated 1 25 U Undervoltage Error 1 7 W WARNING DIAGNOSTIC MESSAGES 1 17 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Index 2 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE anc Notes 2 4 Index DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EE an Directory of Customer Service Locations Germany Sales Area Central INDRAMAT GmbH D 97816 Lohr am Main Bgm Dr Nebel Str 2 Telef
218. ng command selection inputs binary coded POSQ1 POSQ5 Positioning command selection acknowledgements binary coded DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE PART Notes 5 18 DKCo1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 VEER ECODRIVE DKC01 1 DKC11 1 Drive Controllers 6 DKC01 1 Drive Controller with Stepping Motor Interface 6 1 General Information for Operation with Stepping Motor Interface The ECODRIVE acts as a conventional stepping motor drive controller in the stepping motor interface operating mode This enables conventional stepping motor controls to be attached to the ECODRIVE Note Because the ECODRIVE digitally replicates a stepping motor drive its use is not recommended for applications where precision is required INDRAMAT has a line of excellent drive systems with SERCOS interfaces for applications such as this 6 2 Setting the Operation Mode Position Control with Stepping Motor Interface The operating mode with stepping motor interface is set via the operating mode dialog Operating mode selection The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveTop and helps you to identify the actual online drive Name of axis Operating mode
219. ning interfaces e DKC11 1 with Analog interface e DKC02 1 with SERCOS interface e DKCO03 1 with PROFIBUS DP interface The instructions for the DKC01 1 and the DKC11 1 are described in the following section The DKC02 1 and DKCO03 1 have their own documentation DOK ECODRV ASE 02VRS FKB1 EN P 07 96 System Overview 1 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 3 Overview of DKC01 1 DKC11 1 Functions DKC01 1 Modes of Operation Lace CH Paro Servo Drive with Integrated Positioning Control SPS Control WO Card Selection of position settings Control inputs Pe GE Position actual value MS DOS PC Parameter Diagnostics Operating dat RS 232 ARS 485 Saved position settings 2 Position 1 2 Position 2 2 2 Position 32 Control drive processor Fine interpolation Position control gt Speed control Field oriented Stator voltage regulator Control drive DKCO1 1 with position interface AC servo motor MKD FS0200d1 drw Figure 1 1 Servo drive with integrated positioning control e Up to 32 position settings can be stored in the DKC01 1 and DKC11 1 These settings can be selected via parallel inputs The DKCO1 1 executes position settings independently e The drive controller can conform to mechanical transmission elements such as gear ratios or feed cons
220. nitor Correctly e Be sure that the velocity and position regulator loops are set properly e The axis in question should be checked in regards to its mechanical aspects and should be in its final condition Setting the Position Loop Monitor A typical processing or load cycle should be entered into the connected control system In so doing the maximum intended velocity and acceleration should be reached In the Maximum position variance parameter the maximum variance between measured and estimated position feedback values is continually displayed Note The contents of this parameter are not saved on line this means that when the power supply is turned on its contents equal zero The value determined for the maximum position variance acts as a help for setting the monitoring window The contents of the maximum position variance parameter multiplied by a safety factor are to be set in the Monitoring window parameter A safety factor between 1 5 and 2 0 is recommended DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE PAR 9 6 Status Message Ready for Work bb The current status of the drive can be determined by a superordinate control through different status messages and evaluated for technical control purposes Four status messages are available in addition to the potential free operating condition contact Bb which indicates readiness for use in
221. nterface The device follows the position command which will be developed out of the stepper motor signals A204 Attributes SS Display AF Diagnostic message A204 Position Regulation without Lag Stepper Drive Interface A204 Position Regulation without Lag Stepper Drive Interface Diagnostic message number A204 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 43 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac A206 Position Regulation Positioning Drive Description The drive is functioning in position regulation Positioning drive The drive is positioned on the selected target position with the given acceleration velocity and jerk A206 Attributes SS Display AF Diagnostic message A206 Position Regulation Positioning Drive A206 Position Regulation Positioning Drive Diagnostic message number A206 A207 Position Regulation without Lag Positioning Interface AF Drive Enable Description The drive is functioning in position regulation without lag Positioning Interface The drive is positioned on the selected target position with the given acceleration velocity and jerk A207 Attributes SS Display AF Diagnostic message A207 Position Mode POSITION lagless positioning A207 Position Mode POSITION lagless positioning Diagnostic message number A207 The drive enable signal has been applied The drive will follow the velocity command normal operation JF Jogging in
222. ntrollers Processing Position Data Position data can be processed in absolute or modulo format Absolute Format Motion in one direction will show a continually ascending or a continually descending position value when processing in absolute format In other words the position data is displayed as an absolute position over many revolutions of the motor or the load It overflows at the end of the position data presentation range Maximum Presentation Range with Absolute Position Data Processing The maximum presentation range with absolute position data processing is from 5461 to 5461 motor revolutions Modulo Format Position data for shafts or rotary tables which move endlessly in one direction is normally processed in modulo format This means that the position data overflows at a defined location at the modulo value If modulo processing selected a modulo value must be entered The position data will then lie within this modulo range The modulo value of a simple rotary table is normally set at 360 This means that after one revolution of the round table the position counter will begin again at 0 Different modes of modulo processing can be selected e Shortest Path The given target position is always approached via the shortest path If the distance in a given direction between the actual position and the target position is larger than half of the modulo value the drive will arrive at the target position from the o
223. o that it remains true to the process For example close the operation leave the collision area etc After 30 seconds the parameter Best Possible Deceleration P 0 0119 set reaction appears during operation Cause 1 Deficiency of the drive s internal blower 2 Deficiency of the control cabinet s climate control 3 Incorrect control cabinet dimensioning regarding the head ventilation Remedy For 1 If the blower fails exchange the drive controller For 2 Install climitization feature to the cabinet For 3 Check the dimensions of the control cabinet E250 Attributes SS Display E2 50 Diagnostic message E250 Heatsink Overtemperature Warning E250 Heatsink Overtemperature Warning Diagnostic message number E250 Warning class Non fatal DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 1 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac E251 Motor Overtemperature Warning Description The motor is too hot Within in a time frame of 30 seconds the drive follows the command value input Consequently there exists the possibility to shut down the motor with the control so that it remains true to the process For example close operation leave the collision area etc After 30 seconds the parameter Best Possible Deceleration P 0 0119 set reaction will appear during operation Cause The motor became overloaded The effective torque required of the motor was abov
224. of S 0 0124 Stand still window the holding brake will be immediately activated After 500ms the motor is torque free Switch to torque free state Figure 3 7 Reaction types The controller enable can be closed again at the earliest after the operation of the error reaction The drive will ignor the controller enable input until the error reaction operation of the drive is completed DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0119 Attributes Name in German Name in English Bestm gliche Stillsetzung Error Reaction best possible braking ODS aa es ID number P 0 0119 Editability P23 Function Parameter Memory Param E prom Data length 2Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 1 Default value 0 P 0 0123 Absolute Encoder Buffer Description In this parameter all the data will be secured which is necessary for the initializing of the position by the absolute encoder P 0 0123 Attributes Name in German Name in English Absolutgeber Buffer Absolute encoder buffer ID number P 0 0123 Editability no Function Parameter Memory Param E2prom Data length 2Byte variable validity check no Format HEX Extreme value check no Unit German English combination check
225. of DriveTop do the following steps e Turn onthe PC and start Windows e Place Diskette 1 in the disk drive e Activate the Windows Program Manager e At the menu click on FILE and choose from the drop down menu LOAD e At the command prompt type A INSTALL if the DriveTop diskette is in drive A e The order of the installation program is as follows After successful completion of the installation you will find the new program group icon INDRAMAT on your PC Within this group you will find the DriveTop icon and an icon for the ECODRIVE help system Indramat IHDRAMAT drive Tor e DriveT op 02v03 sel Figure 3 1 INDRAMAT program group with the DriveTop and ECODRIVE Help icons 3 2 Preparation for Startup Procedure DOK ECODRV ASE 02VRS FKB1 EN P 07 96 VEER ECODRIVE DKC01 1 DKC11 1 Drive Controllers 3 5 Connection of the PCs with the Drive Controller A serial communication cable is used for the data transfer between the PC and the drive controller This cable can be purchased from INDRAMAT and can be either a 9 pin or 25 pin D SUB connector The pin diagram of the cable is shown in the following figure max 15m i Cable IK
226. olarity 1 negative polarity Figure 2 7 S 0 0085 Torque Force Polarity Parameter Note If bit O is altered the drive will also set the value of bits 1 2 to match the value of bit 0 S 0 0085 Attributes Name in German Drehmoment Polarit ten Parameter Name in English Torque polarity parameter ID number S 0 0085 Editability P23 Function Parameter Memory Param E Prom Data length 2 Byte validity check Phase 3 Format BIN Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max Default value 0b DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 21 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Description S 0 0086 Torque Force Data Scaling Type ODS aa es At the present time only the percentage scaling for the torque force data is supported The following applies 100 S 0 0111 Motor current at standstill S 0 0086 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max S 0 0091 Bipolar Velocity Limit Value Description Wichtungsart f r Drehmoment Kraftdaten Torque Force data scaling type S 0 0086 Editability Parameter Memory 2 Byte validity check BIN Extreme value check combination check 0 cyc transmittable Default value 23 Param E2p
227. oltage is at OV the drive should be at a standstill The Analog Velocity Target Value Offset parameter can be used to compensate for offsets in the analog signal processing If the DKC together with the NC control system are being operated in the position control the offset setting can be used to adjust the static position deviation to zero The axis in position monitoring should be used to do this The offset parameter should be adjusted while the axis is at a standstill until the following error display for the NC control system displays the value zero Command Value Smoothing Analog Interface Position loop in NC control systems work with a specific cycle time Very often this cycle time is in the range from 5ms to 20ms The velocity command values produced by the NC affect the drive controller like springs and cause vibrations and noises in the machine mechanics In order to reduce the vibrations the command values can be filtered through the command value smoothing The rule of thumb is filter time constant 0 3 0 5 command value smoothing Formula 7 1 Specification of the Filter Time Constant for the Command Value Smoothing TRS tete gt lt e E2 OG IRED 1 o IRED 2 S AK1 Ess To AK2 8 o 1 Inputs Input voltage min max between E1 E2 10 V 15 V between E1 0VM E2 0VM 10 V 15 V Input current E1 E2 0 5 mA Input resistance approx 20 KOhm Input d
228. olute Measure was executed during the initial installation This enables execution of absolute process blocks without a homing procedure immediately after the supply voltage is switched on The status message INREF In Reference signals to the connected control system that the drive has a measurement relationship to the machine zero point Reference distance 1 0 00 ag z 5 Reference offset 1 0 00 Homing speed 1000 000 Homing accelaration 1000 000 mm s D 3 5 mm min Positioning jerk 0 000 mm s Absolute encoder monitoring window Absolute encode setting Figure 9 31 Drive controlled homing procedure with a motor with integrated absolute encoderfunction DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Setting the Absolute Position The relationship to the machine mechanical system the machine zero point must be established when a axis is initially installed with a motor with an absolute value encoder optional This is done by following these steps e Move the motor to a position known in relation to the machine zero point either via the jogging function or manually e Enter the value in the Reference Distance 1 parameter which should be given as the actual position value of this known position e Enter 0 in the Reference Offset 1 parameter e Press the Set Absolute Measure bu
229. on 09352 40 0 Telefax 09352 40 4885 Sales Area East INDRAMAT GmbH D 09120 Chemnitz BeckerstraBe 31 Telefon 0371 3555 0 Telefax 0371 3555 230 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Sales Area West INDRAMAT GmbH D 40849 Ratingen HarkortstraBe 25 Telefon 02102 4318 0 Telefax 02102 41315 Sales Area North INDRAMAT GmbH D 22085 Hamburg FahrhausstraBe 11 Telefon 040 227126 16 Telefax 040 227126 15 Sales Area South Sales Area South West INDRAMAT GmbH D 80339 M nchen RidlerstraBe 75 Telefon 089 540138 30 Telefax 089 540138 10 Europa INDRAMAT GmbH D 71229 Leonberg B blinger StraBe 25 Telefon 07152 972 6 Telefax 07152 972 727 Directory of Customer Service Locations in Germany INDRAMAT Service Hotline INDRAMAT GmbH Telefon D 0172 660 040 6 oder Telefon D 0171 333 882 6 Austria Austria Belgium Denmark G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT A 1140 Wien Hagelingasse 3 Telefon 1 9852540 400 Telefax 1 9852540 93 England Mannesmann Rexroth Ltd INDRAMAT Division Cirencester Glos GL7 1YG 4 Esland Place Love Lane Telefon 01285 658671 Telefax 01285 654991 G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT A 4061 Pasching RandistraBe 14 Telefon 07229 4401 36 Telefax 07229 4401 80 Finnland Rexroth Mecman OY SF 01720 Vantaa Riihimiehentie 3 Telefon 0 848511 Telefax 0 846387 Mannesmann Rexr
230. on for Position Control 5 1 5 2 Setting the Operation Mode Position Control with Position Interface 5 1 Position Control with Following Error ss 5 2 Position Control without Following Error sis 5 2 Selecting the Appropriate Position Control Mode 5 2 5 3 Positioning Re rte EE 5 3 ABSOlUte POSITIONIAG n e Eeer SES 5 3 Relative Positioning VE 5 4 Continuas Movement in Positive Negative Direction 5 9 5 4 Positioning Command Input iii 5 10 Command N M DE EE 5 10 Positioning Command Data iii 5 10 5 5 Choosing Starting and Selection of a Positioning Commande 5 13 Choosing a Positioning Command sis 5 13 Starting of Positioning Commandes nennt 5 13 Use of the Command Selection Inputs us 5 13 Interruption of Positioning Commande 5 14 5 6 Desired Positioning Manipulation through Modulus Scaling c ccceccceeeeeeeeeeeeeeeeeeeeeeeseaeeeeeeeeneees 5 15 5 7 Connection Illustration of the Positioning Interface 5 17 6 DKC01 1 Drive Controller with Stepping Motor Interface 6 1 6 1 General Information for Operation with Stepping Motor Interface cccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 6 1 6 2 Setting the Operation Mode Position Control with Stepping Motor Interface 6 1 Position Control with Following Error ss 6 2 Position Control Without Following Error sisi 6 2 Selecting the Appropriate Position Control Mode 6 2 6 3 Stepping Motor Signal Processing sisi 6 3 6 4 Stepping Motor Interface issues 6 4 morac
231. on the front side of the DKC gives information about Operating condition of the drive controller Drive controller or cable malfunctions Motor malfunctions Malfunctions caused by invalid parameter input Application errors 1 2 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 iP CREE PAR ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 2 Error Diagnostic Message UL Motor Type not Reported Description The settings for current regulation velocity command and position loop are stored in the feedback of the motor After powering up the drive compares the motr type stored in the parameters with the connected motor type If the two do not match the drive remains at this state By pressing the S1 button the drive overwrites its stored parameters with the control loop parameters fron the motor feedback Cause Motor was exchanged The paramter P 0 4036 contacted motor type from which the motor type is selected would be loaded Remedy Command C700 Basic Load or press the S1 button F208 Attributes SS Display UL Diagnostic message F208 Motor Type not reported F208 Motor Type not reported Diagnostic message number F208 Error class Non fatal Error number 208 PL Default Value of the Parameter Load Description After the exchange of the product EPROMs if the parameters have been changed in regards to the old product the drive displays PL By pressing the S1
232. onal Differences between DKC01 1 and DKC11 1 The DKC11 1 is a DKCO1 1 with reduced operating features The essential differences are shown in the following tables Type of Operation DKCO1 1 DKC11 1 Position control with position interface Position control with stepping motor interface Velocity control with analog interface Torque control with analog interface X X X X Figure 1 4 Overview Types of operation available with DKCO1 1 DKC11 1 Function DKCO1 1 DKC11 1 Transversing range limits via limit switch Position regulator loop monitoring X Status messages INPOS INBWG INREF Positional forward break over point function Control drive guided homing Jogging BUR Override function for jogging positioning and homing XIXIXIX IX IX Actual position output Incremental or absolute x lt x lt Built in error reaction Velocity regulator loop monitoring Analog diagnostic outputs Built in control of the motor brake Drift free standstill of the drive via the stop drive function lt lt lt lt ze x X lt lt lt ze Figure 1 5 Overview Functions available with the DKCO1 1 DKC11 1 1 6 System Overview DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PAR ECODRIVE DKC01 1 DKC11 1 Drive Controllers 2 Safety Instructions for Electrical Drive Controller 2 1 General Information
233. onal gain ID number P 0 4039 Editability no Function Parameter Memory Feedback Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English V A V A combination check no Posit after the dec 2 cyc transmittable no Input value min max 0 500 Default value P 0 4040 Digital Inputs Description Bit list for reading by the digital input signals of the DKC 1 means At the input there is a voltage of about 24V Bit 0 X4 2 drive enable signal Bit 1 X4 3 AH start Bit 2 X2 13 go to zero Bit 3 X2 14 zero switch Bit A X2 15 positive travel range limit switch L Bit5 X2 16 negative travel range limit switch Bit6 X2 17 jogging imput positive direction Bit 7 X2 18 jogging imput negative direction L Bit 8 X2 1 select block line 1 step motor input SM1 Bit 9 X2 2 select block line 2 step motor input SM1 Bit 10 X2 3 select block line 1 step motor input SM2 L Bit 11 X2 4 select block line 2 step motor input SM2 Bit 12 X2 5 select block line 5 Bit 13 free L Bit 14 free L Bit 15 Tree Figure 3 14 P 0 4040 digital inputs DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 43 ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4040 Attributes Name in German Digitale Eingange P 0 4041 Digital Outputs URI Ce ER PA Name in English Digital Inputs ID number P 0 4040 Editability no Function
234. ontroller Establishing a connection can be retried the program can be cancelled or you can go in the offline mode Online and Offline Operation Parameter Setup through Online Operation Startup Procedure Online operation is when a drive controller is in direct communication with the PC via the serial communication link That means that in online operation all the parameters that are in the current dialog screen of the start up Sequence are written directly to the drive controller and become immediately operative The user can also immediately test the results of his installation Parameter Setup through Offline Operation Startup Procedure Offline operation means that there is no connection to the drive controller from the PC The offline operation allows the initial operator a comfortable preparation of the parameter setting which then can be sent completely through a connection to the desired drive controller There remains only a small amount of work left over for the intial operator which can not be worked through offline because of the dependence of the machine 3 6 Preparation for Startup Procedure DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Oo eee al ECODRIVE DKC01 1 DKC11 1 Drive Controllers Diagnostic Window After a successful drive controller parameter scan the following diagnostic window will appear on the PC screen DriveTop 02V03 A01 Default D File Parameter Setup drive Drive Options Hel
235. operation and diagnosis of ECODRIVE drive controller DriveTop has a user friendly start up guide The intitial operator will be led through a series of functional dialogue for the input of all operational settings For each of these dialogues there are help instructions that can be activated with the push of a key The start up parameterization process is set up so that the user is only confronted with parameter settings that are only relevant to the chosen operating configuration 3 3 DriveTop System Requirements DriveTop is a Windows based application program The minimum PC requirements are e IBM compatable 80386 40MHz 80486 recommended e 4MB RAM 8MB recommended e 5MB free hard drive space for Drive Top and an additional 15 MB for the ECODRIVE help system e A free serial port e VGA graphics e Mouse or compatable pointing instrument e Windows 3 1 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Preparation for Startup Procedure 3 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Cena 3 4 Installation of DriveTop DriveTop will be on two 2 3 5 disks Dos format 1 44MB Note Please make a backup copy of the Drive Top installation diskettes Install the software from these copies Store the original diskettes in a safe place For installation on your computer you must use the installation programs on the diskettes It will not work if you simply copy the diskettes Starting the Installation Program For installation
236. or conditions External regulator release via control H Velocity actual 1 value reset o 5 Motor velocity Brake activation 1 o 0 L gt n lt 10 min A n gt 10min 1 4 0 100 200 300 400 500 A tms 1 The brake falls below a velocity of 10min 1 and is activated 2 The brake is activated after 400 ms even if the motor velocity gt 10 min 1 3 The brake is released at the same time the regulator release is set 4 Warning 100 ms after the brake has been activated the motor will become torque free SV0027d1 drw Figure 9 39 Brake Reaction after removal of the control enable Error Velocity actual value reset Motor torque 1 Brake activation 1 n lt 10 min n gt 10 min Time axis b IRC amgang 500 3 4 tims 1 The brake is activated when error reaction 1 is set 2 Error reaction The brake falls below a velocity of 10min and is activated The brake is activated after 400 ms even if the motor velocity gt 10mirt 3 Error reaction 3 is set the brake is activated as in section 2 after the 30 second error warning is completed 4 After the cause of the error is eliminated the brake will release when the regulator is released sv0026d1 ds4 Figure 9 40 Brake Reaction in error conditions 9 50 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 OL ae
237. ose from a list of available parameter files The data within these parameter files can be loaded into the drive controller Note In offline operation the content of the parameter files can be viewed and changed The actual parameters of a connected drive controller are stored in a parameter file on the PC Note DEFAULT PAR With the help of this parameter file you can restore the state of the parameters of the drive controller at any time For your own parameter data you should use other file names Under the Menu item End you can leave the DriveTop program As DriveTop is started all the parameter information is read from the connected drive controller Due to speed reasons the specific parameter values are only read from the contents of the parameters Often one would like to move from one drive controller to another without restarting the DriveTop program In order to refresh the parameter window one must perform a new parameter scan after plugging in the interface cable into the another drive controller In this menu one can examine and change a list of all of the parameters of the drive controller Therefore a Low Level possibility is required for parameter examination that needs to be used in certain exceptional cases Normally all the drive parameters regarding the start up procedure parameterization were implemented By switching from the parameter mode into the drive mode the actual parameters will be
238. oth N V S A Gesch ftsbereich INDRAMAT B 1740 Ternat Industrielaan 8 Telefon 02 5823180 Telefax 02 5824310 France Rexroth Sigma S A Division INDRAMAT F 92632 Gennevilliers Cedex Parc des Barbanniers 4 Place du Village Telefon 1 41475430 Telefax 1 47946941 BEC Elektronik AS DK 8900 Randers Zinkvej 6 Telefon 086 447866 Telefax 086 447160 France Rexroth Sigma S A Division INDRAMAT F 69634 Venissieux Cx 91 Bd 1 Joliot Curie Telefon 78785256 Telefax 78785231 France Italy Italy Netherlands Rexroth Sigma S A Division INDRAMAT F 31100 Toulouse 270 Avenue de lardenne Telefon 61499519 Telefax 61310041 Spain Rexroth S A Centro Industrial Santiago Obradors s n E 08130 Santa Perpetua de Mogoda Barcelona Telefon 03 718 68 51 Telex 591 81 Telefax 03 718 98 62 Rexroth S p A Divisione INDRAMAT 1 20063 Cernusco S N MI Via G Di Vittoria 1 Telefon 02 92365 270 Telefax 02 92108069 Spain Goimendi S A Division Indramat Jolastokieta Herrera Apartado 11 37 San Sebastion 20017 Telefon 043 40 01 63 Telex 361 72 Telefax 043 39 93 95 Rexroth S p A Divisione INDRAMAT Via Borgomanero 11 1 10145 Torino Telefon 011 7712230 Telefax 011 7710190 Sweden AB Rexroth Mecman INDRAMAT Division Varuvagen 7 S 125 81 Stockholm Telefon 08 727 92 00 Telefax 08 64 73 277 Hydraudyne Hydrauliek B V Kruisbroeksestraat 1a P O B
239. otor shaft in the case that the axis contains a holding ie it is self locking brake P 0 0097 Attributes Name in German Absolutgeber Uberwachungsfenster Name in English AbsoluteEncoderMonitoring Window ID number P 0 0097 Editability P234 Function Parameter Memory Param E2prom Data length 4Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max 0 S 0 0076 Default value 30 00 Deg P 0 0098 Maximum Model Deviation Description Under the maximum model deviation one can determine the maximum deviation between the real position feedback and one from a drive calculated position feedback module The parameter can be read from the Control window by the user as a help for the parameterization of S 0 0159 Two cases must be distinguished for understanding and utilizing the position feedback module e position control allowing following error In this operating mode the controlled system with the help of a model will be simulated The maximum deviation between the calculated position feedback module and the real position feedack will be stored in parameter P 0 0098 The model of the controll system in this case represents a first order feedback system which is only dependent on the Kv factor of the position controller e position control without following error In
240. ow that after valid record acceptance the position inputs are in an inverted condition SV0001D1 drw Figure 5 2 Absolute Positioning Command Requirements for the Operation of an Absolute Positioning Command e The drive must be homed e The working area can be restricted to the position limit Absolute positioning commands will only be completed when the desired position lies within the admissible working area DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Oe te fein a Relative Positioning In a relative positioning command the desired position is referred to as a relative distance from the actual position Through a string of relative positioning commands a string of distances can be positioned Note If the relative positioning is used in order to start a string of position Commande it is important to consider that under the following requirements the string will be lost e Removing and reapplying of the drive controller enable signal e Jogging between positioning commands e Unending movement in the positive negative direction between positioning commands e Through the activation of a relative positioning command after an interrupted absolute positioning command e Homing e Setting an absolute distance In this case the relative positioning is set in respect to the actual position If the acceptan
241. ox 32 NL 5280 AA Boxtel Telefon 04116 51951 Telefax 04116 51483 Switzerland Rexroth SA D partement INDRAMAT Chemin de l Ecole 6 CH 1036 Sullens Telefon 021 731 43 77 Telefax 021 731 46 78 Telefon 052 720 21 00 Telefax 052 720 21 11 Switzerland Russia Rexroth AG Tschudnenko E B Geeschaftsbereich INDRAMAT Arsenia 22 GewerbestraBe 3 153000 Ivanovo CH 8500 Frauenfeld RuBland Telefon 093 22 39 633 Directory of Customer Service Locations without Germany DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Directory of Customer Service Locations ECODRIVE DKC01 1 DKC11 1 Drive Controllers Outside of Europa Argentina Mannesmann Rexroth S A I C Division INDRAMAT Acassusso 48 41 7 1605 Munro Buenos Aires Argentina Telefon 01 756 01 40 01 756 02 40 Telex 262 66 rexro ar Telefax 01 756 01 36 Argentina Nakase Asesoramiento Tecnico Diaz Velez 2929 1636 Olivos Provincia de Buenos Aires Argentina Argentina Telefon 01 790 52 30 Australia Australian Industrial Machenery Services Pty Ltd Unit 3 45 Horne ST Campbellfield VIC 2061 Australia Telefon 03 93 59 0228 Telefax 03 93 59 02886 URI Ce EE Pees Brazil Mannesmann Rexroth Automa o Ltda Divisao INDRAMAT Rua Georg Rexroth 609 Vila Padre Anchieta BR 09 951 250 Diadema SP Caixa Postal 377 BR 09 901 970 Diadema SP Telefon 011 745 90 65 011 745 90 70 Telefax 011 745 90 50 Canada
242. p Operating mode Speed regulation with analog interface Drive status A013 Ready for Power ON DKC1 1 030 3 Target values Power Section Speed 0 0000 Rpm actual peak current 30 000 A Torque 0 0 amp actual cont current 9 498 A cur Torque limit 400 0 Bleeder load 0 _ Drive enabled VY Ready xa le kv Drive stop f x5 Inputs Outputs ae Sen i D i Saal i ie Tae D SS Hi Home switch kv Way point switch z Motor MKD041B 144 6G0 Homing command Ref Homed nu _ Travel limit In motion Position 44 739 Deg _ Travel limit _ In position Speed 0 7762 Rpm _ Jog Current 0 00 A _ Jog Torque 0 0 COM2 9600 11 40 Figure 3 6 Diagnostic Window The diagnostic window displays the following e Drive controller status and error messages e Command value and actual value e Power on status and status signals e Model descriptions of installed components Instruction The diagnostic window appears only in online operation In offline operation a graphic with the ECODRIVE components is shown instead of the diagnostic window DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Preparation for Startup Procedure 3 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE PAR 3 8 DriveTop Menu Structure Files Load File Save File Exit Alt F4 Parameter Scan List of All Parameters List of the Invalid Parameters Mode Motor Type You can cho
243. parameter values for e The percent duty cycle ED e the maximum peak torque Mmax Increasing the overload factor corresponds to an increase in the short duration torque Mkb M UF 2 100 dN F P 0 00061 MKB Short period operational torque in Nm MdN Stand still torque in Nm Figure 3 1 Overload factor 3 2 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 0006 Attributes Name in German berlastfaktor Name in English Overload factor ID number P 0 0006 Editability P234 Function Parameter Memory Param E2prom Data length 2Byte validity check Phase 3 Format DEC ON Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 1 500 Default value 100 P 0 0009 Error Message Number Description If an error ocurs during cyclic operation then it will be diagnosed and displayed on a seven segment display At the same time a bit will be set in the S 0 0011 status class and the change bit for this status class in the drive status word S 0 0135 The machine control can determine the queued eror condition passed to the drives diagnostic display by reading this parameter which contains only the three least significant decimals of the diagnostics message number P 0 0001 in range 201 899 and determine a specific error reaction or custom di
244. peed profile STANDSTILL WINDOW JI POS1 POS5 POSQ1 POSQ5 AA START INPOS INBWG Regulator release lt 14ms Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment outputs show after valid record acceptance the number of the active position records SV0036d1 drw Figure 5 4 Interruption of Relative Positioning Commands Note After the interruption of a relative positioning command another relative positioning command will be started with its relative position taken from the actual position The relation of the string of distances is lost 5 6 DKC01 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 OLE ee ea ECODRIVE DKC01 1 DKC11 1 Drive Controllers Relative Positioning Command after the Jogging Operation Example Interruption of the relative positioning command after the jogging operation with selected position 600 Speed profile STANDSTILL WINDOW _ POS1 POS5 L d 1 1 01 SS EE AH START oe gt INPOS 1 EE i f i i i i N INBWG El oNN e E gt Regulator release Jog ra ss S lt 14ms Positioning inputs valid Positioning acknowledgment outputs show the negated status of the positioning inputs Positioning acknowledgment
245. play CA Diagnostic message C400 Command Switch to parameter mode C400 Command Switch to parameter mode Diagnostic message number C400 C401 Active Drive Transition is not Permissable Cause The command C400 switch from operational to parameter mode would be started without the control enable being activated Remedy End the command and turn off the drive enable then the command can be started from the beginning C401 Attributes SS Display C4 01 Diagnostic message C401 Drive active Transition is not Permissable C401 Drive active Transition is not Permissable Diagnostic message number C401 1 36 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PAR ECODRIVE DKC01 1 DKC11 1 Drive Controllers C500 Reset Class 1 Diagnostic Description The command for erasing errors S 0 0099 Reset Class 1 Diagnostics was activated via the connected control system All internal drive errors are erased However the errors must have been previously corrected C500 Attributes SS Display C5 Diagnostic message C500 Reset class 1 diagnostic error reset C500 Reset class 1 diagnostic error reset Diagnostic message number C500 C600 Drive Controlled Homing Procedure Description The command S 0 0148 Drive Controlled Homing Procedure was activated via the connected control system The control drive automatically performs the internal drive homing procedure Give the
246. position limit is set in the drive the warning E253 Target position beyond the travel range will be generated S 0 0049 Attributes Name in German Lage Grenzwert positiv Name in English Positive position limit value ID number S 0 0049 Editability P234 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max S 0 0076 S 0 0076 Default value 10000 00 Deg S 0 0050 Negative position limit value Description The Negative position limit value describes the maximum extent of travel in a negative direction The position limit is only active if all position data is referenced to the home point i e the drive is homed Bit O in parameter S 0 0403 Position feedback value status is set to 1 The position limit values can be switched off through bit 4 in the S 0 0055 Position polarity parameter If a target position on the other side of the position limit is set in the drive the warning E253 Target position beyond the travel range will be generated 2 12 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0050 Attributes Name in German Lage Grenzwert negativ Name in English Negative position limit value ID number S 0 0050 Editability P2
247. pposite direction e Positive Direction The given target position is always approached in a positive direction e Negative Direction The given target position is always approached in a negative direction DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa Cera Boundary Conditions for Modulo Processing Several boundary conditions which are checked in the general parameter test which occurs when switching from parameter mode into operating mode must be met for proper modulo processing If necessary violations of these requirements are displayed with the diagnosis C227 Modulo Field Error 9 2 Drive limits The contents of the S 0 0103 Modulo Value parameter may not be larger than half of the maximum travel range The maximum travel range refers to the 4096 motor shaft revolutions The product of S 0 0103 Modulo Value 4 and S 0 0121 Input revolutions of load gear must be smaller than 2163 with rotary scaling and position data referenced at the load Drive limitations The position limit control is active gt not active Position actual value 4479 Deg Position limit positive 360 00 Deg negative 000 Deg Limit switches are configured gt active not active Reaktion to exceeding traversing range gt Warning Error Speed limit bipolar 2000 0000 Rpm Figure 9 4 Drive limits 9 6
248. prom Data length 2 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0086 S 0 0086 combination check no Posit after the dec S 0 0086 cyc transmittable MDT Input value min max 0 calculated peak torque Default value 500 0 S 0 0093 Torque Force Data Scaling Factor Description The scaling factor for all torque force data in the drive are set in this parameter The parameter has no meaning at the present time percentage scaling can be set for torque and force data because only S 0 0093 Attributes Name in German Wichtungs Faktor f r Drehmoment Kraftdaten Name in English Torque Force data scaling factor ID number S 0 0093 Editability P23 Function Parameter Memory Param E2prom Data length 2 Byte validity check Phase3 Format DEC_OV Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 1 65535 Default value 1 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE PAR S 0 0094 Torque Force Data Scaling Exponent Description The scaling exponent for all torque force data in the drive are set in this parameter The parameter has no meaning at the present time because only percentage scaling can be set for torque and force data S 0 0094 Attributes Name in German Wichtungs Exponent f r Drehmom
249. quency AP0218d1 ds4 Figure 6 6 Stepping Motor Signal Transmission with Open Collector Signals Note Transmitting the stepping motor signals as differential signals is recommended because the differential signals have a higher interference resistance DOK ECODRV ASE 02VRS FKB1 EN P 07 96 6 6 DKCo1 1 Drive Controller with Stepping Motor Interface HP RO PAIE 7 7 1 7 2 ECODRIVE DKC01 1 DKC11 1 Drive Controllers DKC01 1 DKC11 1 Drive Controller with Analog Speed Interface General Notes for Operating with an Analog Speed Interface In the Speed Regulation with Analog Interface operating mode the ECODRIVE acts like a conventional analog servo drive This makes it very easy to operate with normal NC control systems Note The digital signal processing in ECODRIVE might lead to interferences It is therefore not recommended that ECODRIVE be used in precision applications INDRAMAT has a line of excellent drive systems with SERCOS interfaces for applications of that type Setting the Operating Mode Speed Regulation with Analog Interface The Speed Regulation with Analog Command Value operating mode can be set through the Operating mode selection dialog box Operating mode selection The following entry gives a name to the axis Choose as you please f i x axis The name appears in the headline of DriveTop and helps you to identify the actual online drive
250. r This filter time constant is adjusted within this parameter With the input of 500usec the filter is non functionable see also Function description Setting the velocity loop P 0 1003 Attributes Name in German Geschwindigkeitsistwert Filterzeitkonstante Name in English velocity feedback value filtertimebase ID number P 0 1003 Editability P234 Function Parameter Memory Param E prom Data length 2 Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English us us combination check no Posit after the dec 0 cyc transmittable no Input value min max 500 65535 Default value 1500 P 0 4000 Current Zero Trim Phase U Description This parameter serves the display of the determined result of the zero trim procedure of the current feedback sensor of the U phase P 0 4000 Attributes Name in German StrommeB Nullabgleich Phase U Name in English Current Zero Trim Phase U ID number P 0 4000 Editability no Function Parameter Memory Verst E2prom Data length 2 Byte validity check no Format DEC_MV Extreme value check no Unit German English combination check no Posit after the dec 2 cyc transmittable no Input value min max 100 00 100 00 Default value DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 23 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 4001 Current Zero Trim Phase V Description This p
251. r would exhibit All graticule line count value can be set between 1 and 65536 lines per revolution DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 29 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc Homing Marker Pulse Offset The relative position of the homing marker impulse of the incremental encoder to be emulated can be extended with the homing marker pulse offset parameter Shifting the homing marker pulseis necessary when the position of the home switch switching flank and the homing marker pulsee do not permit a well defined homing procedure Controlling the relative position of the homing marker pulse makes the manual adjustment of the home switch cam unnecessary The homing marker pulse offset applies to the motor shaft and can be entered in the range from 0 359 9 A positive offset value shifts the relative position of the homing marker pulse clockwise with respect to the motor shaft keyway Illustration of the Incremental Actual Position Value Output Connections max 40 m CNC Incremental generator input 0 Vext Difference outputs Output voltage min max HIGH 2 5 V 5V LOW OV 0 5V Output current tout max 20 mA Output frequency max 504 kHz Overload protection Outputs may not be short circuited Danger of damage AP0216d1 drw Figure 9 21 Incremental actual position value output 9 30 General Drive Functions DOK ECODRV A
252. reacts There can be addresses set from 0 to 99 The selection of the drive with the desired address is successful in a terminal program through BCD Drive Address see also Function description Communication parameter P 0 4022 Attributes Name in German Name in English Antriebsadresse Drive address ID number P 0 4022 Editability P2 Function Parameter Memory parallel EEProm Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 0 99 Default value 1 P 0 4023 C4 Command Switch to Parameter Mode Description Switching command from drive mode ie out of phase 3 P3 into the parameter mode Phase 2 P2 The command can only be processed if the control opening in turned off see also Function description Communication parameter 3 34 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai P 0 4024 Test Status P 0 4025 Password ECODRIVE DKC01 1 DKC11 1 Drive Controllers P 0 4023 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Description C4 Umschalten auf Phase 2 C4 Command Switch to parameter mode P 0 4023 Parameter 2 Byte binary 0 11 b Editability Memory validity check
253. rence between G Types In Pos functions as described during S 0 0148 parameter Command K Types Old firmware S 0 0148 used to return to home This command can no longerbe executed with K type Fb s Results in C6 04 diagnostic S 0 0057 Attributes Name in German Name in English Positionierfenster Position window ID number S 0 0057 Editability P234 Function Parameter Memory Param E prom Data length 4 Byte validity check Phase3 Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable no Input value min max 0 S 0 0076 Default value 10 00 Deg DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 15 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0059 Position Switch Flag Parameter Description The flag for the position switch point is dependent on the position feedback value If S 0 0051 Position feedback value 1 is less than S 0 0060 Position switch point the corresponding flag is set to 0 If the position feedback value is larger than or equal to the position switch point the corresponding flag will be set to 1 The status of the output path switch point at pinx2 19 corresponds to this flag S 0 0059 Attributes Name in German Positionsschaltpunkt Parameter Name in English Position switch flag parameter ID number S 0 0059 Editability no Function Parameter Memory
254. rift 18 UV C AD converter 12 Bit Resolution per bit 4 8 mV 20k ADC 12 Bit 20 Jax AP0213d1 drw Figure 7 3 Connection Diagram of the Analog Speed Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 DKC11 1 Drive Controller with Analog Speed Interface 7 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE PART Notes 7 4 DKCO1 1 DKC11 1 Drive Controller with Analog Speed Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 8 DKCO01 1 DKC11 1 Drive Controller with Analog Torque Interface 8 1 General Instructions for Operation with Torque Interface ECODRIVE can also be operated in the Torque regulation operating mode The drive may have to generate a defined torque in special applications Examples of this type of applications are e Clamping of work pieces e Master slave operation for multiple axes Note INDRAMAT must be notified before ECODRIVE is used in this operating mode Danger of accidents caused by uncontrolled axis movements If ECODRIVE is to be used as a torque regulated control drive the protection mechanisms must be used to prevent WARNING people or machines from being damaged Be aware without external supervision the motor velocity during torque regulation can clime up to the maximum velocity as a result of very small command value settings if there is no opposing torque in effect D
255. ription The defaul value for the velocity loop delay time The parameter will be determined during the manufacturing stage and cannot be changed With the default parameter load the value of the parameter will be copied into the parameter P 0 0004 velocity encoder smoothing time constant P 0 4042 Attributes Name in German Defaultwert Drehzahlregler Glattungszeitkonstante Name in English Default Velocity loop delay time ID number P 0 4042 Editability no Function Parameter Memory Feedback Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English us us combination check no Posit after the dec 0 cyc transmittable no Input value min max 500 65535 Default value P 0 4043 Bleed Overload Factor Description The parameter describes the short timed overloadablility of the installed damping resistance lf the bleed overload factor 60 then the peak capacity of the damping resistance is 60 times larger than the time capacity The parameter will be determined during the manufacturing stage and cannot be changed P 0 4043 Attributes Name in German Name in English Bleeder berlastfaktor Bleederoverloadfactor ID number P 0 4043 Editability no Function Parameter Memory Amplifier EEProm Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English combination check no Posit after the dec 0 cyc transmittab
256. rman English combination check no Posit after the dec 0 cyc transmittable no Input value min max Default value S 0 0022 IDN List of Invalid Op Data for Comm Ph 3 Description Before the drive executes the phase delayed switch from 3 to 4 that was initiated with the command Communication phase 4 transition check S 0 0128 it will check the parameters for following items e Validity of the parameter e Parameter value is found within the possible input range between the min and max input value attributes e Compatibility with other parameters If a parameter checks proves negative this operating data will be written inthis ID No list The drive then responds to the transition command with the communication error diagnostic message e C201 Parameter record incomplete or e C202 Parameter limit value error or e C203 Parameter conversion error This IDN list of invalid parameters may be displayed and edited through the DriveTop menu selection Parameter List of all invalid parameters S 0 0022 Attributes Name in German IDN Liste ung ltige Betriebsdaten Phase3 Name in English IDN List of Invalid Op Data for Comm Ph 3 ID number S 0 0022 Editability no Function Parameter Memory no Data length 2Byte variable validity check no Format IDN Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max Defau
257. rom Phase3 no yes MDT Ob The bipolar velocity limit value describes the maximum allowable velocity that is symmetrical in both directions The maximun input value is restricted by S 0 0113 Motor maximum speed S 0 0091 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Default value Geschwindigkeits Grenzwert bipolar Bipolar Velocity Limit Value S 0 0091 Editability Parameter Memory 4 Byte validity check DEC_OV Extreme value check S 0 0044 S 0 0044 combination check S 0 0044 cyc transmittable 0 S 0 0113 3000 0000 RPM P234 Param E2prom Phase3 yes no MDT 2 22 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 VE CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0092 Bipolar Torque Force Limit Value Description This parameter describes the maximum allowable torque that is symmetrical in both directions accelerating braking The evaluation refers to the percentage of the motor current at standstill 100 Motor current at standstill Note The maximum torque is also influenced by e P 0 0006 Overload factor e P 0 4011 Switching Fregquency S 0 0092 Attributes Name in German Drehmoment Kraft Grenzwert bipolar Name in English Bipolar Torque Force Limit Value ID number S 0 0092 Editability P234 Function Parameter Memory Param E
258. rom DriveTop be used then the following parameters must be checked e S 0 0160 Acceleration Data Scaling Type e S 0 0161 Acceleration Data Scaling Factor e S 0 0162 Acceleration Data Scaling Exponent e S 0 0121 Input Revolutions of Load Gear DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 31 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pac e 0 0122 Output Revolutions of Load Gear e S 0 0123 Feed Constant C215 Attributes SS Display C2 15 Diagnostic message C215 Acceleration data scaling error C215 Acceleration data scaling error Diagnostic message number C215 C216 Torque Data Scaling Error Cause The display format of the torque data can be set with the help of the scaling parameter The factor for the conversion of the torque data from the internal drive format into the display format or the reverse process is outside of the workable area Remedy Connect the drive with a PC and start DriveTop Select a scaling setting in the Scaling Mechanical system dialog box Should a scaling installation other than one from DriveTop be used then the following parameters must be checked e S 0 0086 Torque Force Data Scaling Type e S 0 0093 Torque Force Data Scaling Factor e S 0 0094 Torque Force Data Scaling Exponent C216 Attributes SS Display C2 16 Diagnostic message C216 Torque Force data scaling error C216 Torque Force data scaling error Diagnostic messag
259. rrent limiting active Diagnostic message number E257 Warning class Non fatal E258 Selected Process Block is not Programmed Cause A positioning block was selected for which there is no set target position positioning velocity etc Remedy Select another positioning block or enter the required data E258 Attributes SS Display E2 58 Diagnostic message E258 Selected process block is not programmed E258 Selected process block is not programmed Diagnostic message number E258 Warning class Non fatal E259 Command Velocity Limit Active Description The velocity command value is limited to the value set in the S 0 0091 Bipolar Velocity Limit parameter when in the position and velocity control operating modes This warning is given if the value in the S 0 0036 Velocity Command Value parameter reaches this limit Cause S 0 0091 Bipolar Velocity Limit parameter was set too low Remedy In normal operation set the S 0 0091 Bipolar Velocity Limit parameter to a value 10 higher than the NC operation velocity 1 22 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers E259 Attributes SS Display E2 59 Diagnostic message E259 Command velocity limit active E259 Command velocity limit active Diagnostic message number E259 Warning class Non fatal E264 Target Position not Representable Cause When usin
260. rrent regulator 1 integral action timeve The current loop integral action time is already optimized and may not be changed P 0 4049 Attributes Name in German Defaultwert Stromregler Nachstellzeit Name in English Default Current loop integral action time ID number P 0 4049 Editability no Function Parameter Memory Feedback Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English ms ms combination check no Posit after the dec 1 cyc transmittable no Input value min max 0 6553 5 Default value P 0 4050 Delay Answer RS232 485 Description Defining the minimal time that must pass after the last symbol of a telegram would be received over the serial interface and before the first symbol of the reaction may be sent This time span will be required with the drive of an RS485 for the switch from send to recieve drive ie required switch For the drive of a RS232 this parameter is not necessary and inspite of this should be set at 1ms see also Function description Communication parameter P 0 4050 Attributes Antwortverz gerung RS232 485 Delay answer RS232 485 Name in German Name in English ID number P 0 4050 Editability P2 P3 P4 Function Parameter Memory yes Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English ms ms combination check no Posit after the dec 0 cyc transmittable no Input value min
261. rs Pa CREE Pac Reference Distance 1 Reference Offset 1 Homing velocity Homing acceleration and Positioning Jerk Positioning Window Homing Parameters When the internal homing procedure is finished the control drive positions itself on the home point and enters the value of the Reference Distance 1 parameter in the current actual position value The home point can be offset in relation to the home reference of the motor encoder via this parameter When the motor is attached to a specific mechanical system the home mark of the motor encoder is in an arbitrary position with respect to the desired home point Zero should initially be entered in the reference offset parameter when setting up After the first homing attempt calculate the difference between the desired home point and the position where the control drive stops at the end of the first homing procedure This value should be entered in the Reference Offset 1 parameter while paying attention to its sign After another homing procedure the control drive will be in the desired home position These parameters determine the motion profile of the control drive while executing the drive controlled homing procedure These parameters must be set for each specific application The drive must be positioned on the home point at the end of the homing process If the control drive moves around the home point within the positioning window the control drive will recognize the succes
262. rs during installation The description of the individual parameters is divided into two subsections 1 General description The function of the parameter is given in this section 2 Attributes Description of the significance of the parameter and help for setting and editing parameter values are in the attributes section This includes the list of charcteristics and characteristic values used to classify the parameters They are necessary for the complete description of the parameter However if you would like a quick overview of the significance of the parameter they are not relevant DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 General Information 1 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Definitions The following abbreviations are used Data length 2Byte the data length for the operating data is 2 Bytes 4Byte the data length for the operating data is 4 Bytes 1Byte variable this is operating data of variable length list the length of a single data element is 1 Byte 2Byte variable this is operating data of variable length list the length of a single data element is 2 Bytes 4Byte variable this is operating data of variable length list the length of a single data element is 4 Bytes Format BIN the display format for the operating data should be binary Note Leading zeros of BIN Format data are not transmitted via ASCII strings over the RS232 485 serial interface nor displa
263. s parameter is used to set the velocity command value This together with S 0037 Additive Velocity Command Value determine the effective Velocity Command Value for the drive In the position control operating modes this parameter displays the output error signal of the position controller S 0 0036 Attributes Name in German Name in English ID number Function Data length Format Geschwindigkeits Sollwert Velocity Command Value S 0 0036 Parameter 4Byte DEC_MV Editability Memory validity check Extreme value check P234 no no yes DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Standard parameters 2 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Unit German English Posit after the dec Input value min max Description S 0 0044 S 0 0044 combination check S 0 0044 cyc transmittable S 0 0044 S 0 0044 Default value S 0 0037 Additive Velocity Command Value The additive velocity command value is added to the S 0 0036 Velocity command value in the drive S 0 0037 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max S 0 0040 Velocity Feedback Value Description The velocity feedback value is updated by the drive controller Geschwindigkeits Sollwert additiv Additive velocity command value S 0 0037 Parameter 4Byte DEC_MV Editability Memory validit
264. s the same as the SERCOS or PROFIBUS address With these units the address will be set with the address selection switch on the device 10 6 Serial Communication DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR EX EEO ai ECODRIVE DKC01 1 DKC11 1 Drive Controllers Original State after Establishing the Control Voltage After turning on the control voltage all drives conntected over the RS485 bus of the are in the passive mode With the passive mode there is no possibility of communication In order to reach the active mode a drive must be targeted and contacted through a change drive command Communication with a Specific Unit on the Bus Parameter Structure In order to establish communication with a unit on the bus a CHANGE DRIVE command must be issued with the target to the specific drive address on the bus With each CD command the contacted drive will be activated and all other drives will be switched into the passive mode The contacted drive reports with its prompt From this point the communication continues with the activated drive until communication is switched to another drive through a subsequent CHANGE DRIVE command Example BCD 04 CR Command for switching communication to Drive 4 A04 gt Response of the contacted drive All other drives switched All parameters of the drive controller are stored in a stamdard parameter structure Each parameter consists of 7 elements The table below defines
265. se 2 A002 Communication Phase 2 A002 A003 Communication Phase 3 A003 Communication Phase 3 A003 With the set control the function drive halt would be activated The drive stop function serves to stop the motor with a defined acceleration and defined jerk The acceleration or the jerk limit of the inputted position block functions during linked block operation The acceleration limit and bipolar jerk value function during jogging operation and stepper motor interface The drive will be brought to stand still by the velocity command zero switch during torque regulation and velocity regulation A010 Attributes SS Display Diagnostic message Diagnostic message number AH A010 Drive Halt A010 Drive Halt A010 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 41 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE Pace A012 Control and Power Sections Ready for Operation Description The drive is supplied with control voltage and the power is switched on The drive is ready for power delivery A012 Attributes SS Display Ab Diagnostic message A012 Control and Power Sections Ready for operation A012 Control and Power Sections Ready for Operation Diagnostic message number A012 A013 Ready for Power Description The drive is supplied with a control voltage there are no errors in the control drive The drive is ready to be turned on A013 Attributes SS Display bb
266. serve the following purposes e Cable Failure Monitoring e Acknowledgement of assumption of active commands Speed profile STANDSTILL WINDOW _ POS1 POS5 POSQ1 POSQ5 AR START i 1 S INPOS oe INBWG Regulator release 14 ms Positioning inputs valid ex Position record No 1 XX Condition of the positive inputs not relevant Positioning acknowledgment outputs show the negated status of the positioning inputs ex position record No 01 negated Positioning acknowledgment outputs do not show that after valid record acceptance el the position inputs are in an inverted condition ex Position record No 1 SV0003D1 drw Figure 5 9 Use of the Command Selection Acknowledgments DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Integrated Positioning Control 5 13 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Note After activation of the AH Start Signals the transfer of the new positioning commands will be acknowledged after about 14 ms by means of the command selection acknowledgement outputs At the same time the drive controller will set the In Position Output logic 0 if the new desired position is not reached See also Status Messages Interruption of Positioning Commands Positioning commands can be interrupted during the command operation through removal of the start signal AH START
267. seseesseeseeeneeen eenn rser nnen nsernssnnssrnssnnsnne 1 36 C401 Active Drive Transition is not Permissable ssesesesesesesesesesesesssesssrsrrerrrerererrerrrrerrrren 1 36 C500 Reset Class 1 Diagnostic 42828 tint ain tiie enti dr fon tite 1 36 C600 Drive Controlled Homing Procedure 1 37 C601 Homing Procedure not Possible without Drive Enable cccccsccccesseeeseesteeessssteeeeesaaes 1 37 C602 Zero Switch to Home Reference Error us 1 38 C603 Homing Procedure not Possible in this Operating Mode 1 38 C604 Homing Procedure not Possible with Absolute Measurement Control 1 38 C700 Basic Load i reine aii Re Mii TR LE tee M es gett Me 1 39 C800 Load Basic Parameters iii 1 40 1 5 Stat diagnostic MESSAGE TE 1 41 A002 Communication Phase 2 iii 1 41 A003 Communication Phase 3 iii 1 41 ACTO Drive Hall een aint Me Dees An ep foie a ei dpt actos Gert ets 1 41 A012 Control and Power Sections Ready for Operation 1 42 AQ13 Ready tor POWT oero 2 te eaten nt dire nana en age en ny a nn nie 1 42 A100 Drive in Torque Mode iii 1 42 A101 Drive in Velocity Mode iii 1 43 A203 Position Control Stepper Drive Interface 1 43 A204 Position Regulation without Lag Stepper Drive Interface 1 43 A206 Position Regulation Positioning Drive ss 1 44 A207 Position Regulation without Lag Positioning Interface 1 44 AE Drive Enano sa nt ege ee 1 44 JF Jogging in the Positive Direction 0 cc eeeeceeeeennee
268. sful completion of the homing procedure and will display the INREF In Reference message Note The Positioning Window parameter is also used in connection with the positioning sets Override Feature with the Drive Control Homing Procedure The velocity at which the control drive moves during the homing procedure can be controlled with the feedrate override feature The value in the Feedrate override parameter determines at what proportional velocity in relation to the programmed homing velocity the drive should move In other words at 100 the control drive will move at 100 of the homing velocity value A continual reduction of the velocity can be made via the analog command value input To do this the Feedrate Override Variable via Analog Input field must be activated Detailed information on this can be found in the chapter Feedrate Override Function 9 38 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 HER ER Max ECODRIVE DKC01 1 DKC11 1 Drive Controllers Home Switch Configuration The home switch cam should be configured as shown the figure shown below to ensure that the homing procedure can be started from any position in the transversing range Limit switch cams Reference switch point cams XX0001d1 ds4 Figure 9 28 Configuration of the home switch cam Connecting the Home Command and Home Switch Inputs max 20 m J D to reset 0 5 mm2 Pek Hehe iiin Ne
269. sfully executed This message must be processed immediately for applications which require a measurement relationship DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 33 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Oe aie a clockwise ratation Direction of rotation when viewing the motor shaft x gt counterclockwise rotation Home to a switch active Home to the zero pulse active Reference distance 1 0 000 mm Reference offset 1 0 000 mm mm min mm s Positioning jerk 0 000 mm s Homing speed 1000 000 Homing accelaration 1000 000 i Positioning window mm Feedr override via analog input Feedrate override Figure 9 24 Drive controlled homing procedure for motors with resolver feedback Determining the Direction of Motion During the Homing Procedure The user must determine the direction of motion for the drive controlled homing procedure in conjunction with the machine mechanical system the adjustment of the home switch and or the determination of the home point This determination always occurs in relation to the motor shaft without regard to the axis mechanical system 9 34 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Homing with Evaluation of the Home Switch The drive is in motion at the specified acceleration and velocity in the home direction unt
270. shes if the drive controller acts in a relative absolute or positioning command with a desired position Data Receiving The given positioning command data is not intially active Upon sending of the positioning command the data is first written into the drive controller During the setup it is helpful if the data can be directly tested For this case all the given positioning commands can be loaded into the drive controller through the Data Transmission key without the window having to leave the screen 5 12 DKCo1 1 Drive Controller with Integrated Positioning Control DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 5 5 Choosing Starting and Selection of a Positioning Command Choosing a Positioning Command There are five binary position command selection inputs in the DKC1 POS1 POS5 The command number of the desired positioning command is selected as binary signal types in the command Starting of Positioning Commands Positioning commands will be activated fundementally by a low to high signal transition at the AH Start input Use of the Command Selection Inputs The correct transfer and operation of positioning commands can be monitored through the command selection acknowledgements POSQ1 POSQ5 _ of the connected drive controller There are five corresponding command selection acknowledgements for the five command selection inputs The command acknowledgements
271. ssrnssrnssrnssrnssrnssrnsnnns 3 43 P 0 4040 Digital Bloe LCE 3 43 P 0 4041 Digital Outputs iii 3 44 P 0 4042 Default Velocity Loop Delay Time ss 3 45 P 0 4043 Bleed Overload Factor 3 45 REENEN 3 46 P 0 4045 Active Continuous Current sisicscsescscscsesesesesesesesesesesesees 3 46 P 0 4046 Active Peak Current ccccccccccccccccccccecececeeceeceeeeseeeseeseseeeeseseeeseeeeeeeeeeeeeeeeeeeeeeeeseeeeees 3 47 P 0 4047 Motor Ioductance a aa a e anar a an Aaah aaa aiaa 3 48 P 0 4048 Stator Resistance ou ccccccccccccccceccecececeeeceeeeseceeeeeeeseseeeseseseeeseeeseseeeeeeeeeeeeeeeeeeeeseeees 3 48 P 0 4049 Default Current Loop Integral Action Time 3 49 P 0 4050 Delay Answer RS232 485 iii 3 49 P 0 4094 Command Parameter Default Set 3 50 4 1 IV Contents DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 1 General Information Structure of this Document All standard and product specific parameters are listed in this chapter in ascending numerical order It suppliments to the entries made in the Functional Description and represents a complete description of all parameters used in the ECODRIVE product Note The parameter description is especially significant when you are using the serial interface RS485 232 from the drive controllerunit You do not require detailed knowledge of the significance of each parameter if you are using the DriveTop to set paramete
272. t 1 44 Drive in Torque Mode 1 45 Drive in Velocity Mode 1 46 E Erroneous Scaling of the Acceleration Data 1 33 Erroneous Scaling of the Torque Data 1 34 Erroneous Scaling of the Velocity Data 1 33 Error Diagnostic Message 1 3 Error in Velocity Regulator Loop 1 15 Exceeding the Position Limit 1 24 Excessive Deviation 1 7 External Short at Status Outputs 1 9 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Index 2 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers MERE Pac H Heatsink Overtemperature Alert 1 17 Heatsink Overtemperature Shutdown 1 5 Homing Not Permitted in this Operating Mode 1 41 Homing Not Permitted Without Drive Enable 1 40 Homing of Absolute Encoder Not Possible 1 42 Incomplete Communication Parameters S 0 0021 1 26 Invalid Amplifier Data gt S 0 0022 1 31 Invalid Feedback Data gt S 0 0022 1 31 Invalid Parameter gt S 0 0022 1 28 Invalid SSI Parameter gt S 0 0022 1 30 J JB Jogging in a Negative Direction 1 48 JF Jogging in a Positive Direction 1 47 Jog Position Limit Value Exceeded 1 25 L Limit Error Communication Parameter S 0 0021 1 27 Limit Error Parameter gt S 0 0022 1 28 Load Error LCA 1 29 Low Battery Voltage 1 9 Modulo Range Error 1 36 Motor Encoder Error Quadrant Error 1 8 Motor Encoder Failure Signals too Small 1 12 Motor Feedback Data Reading Error 1 35 Motor Feedback Initializing Error 1 35 Motor Overtemperature Shutdown 1 5 Motor Overtemperature Warni
273. t in the drive e Command execution terminated in the drive e Command is not yet completed e Command execution is not possible error e Command was successfully completed e Command operation interrupted in the drive e Command is not set in the drive The command status will be transmitted in the form of a bit list The meaning of each bit is displayed below Sean NA V Bit 0 reserved reserved 0 Command not set in the drive 1 Command set in the drive Bit1 0 Command execution interrupted in the drive 1 Command execution enabled in the drive 0 Command executed correctly 1 Command not yet executed Bit 3 0 No error 1 Error command execution not possible Bit 8 0 Current operating data is valid 1 Current operating data is not valid a Figure 10 6 Command reception data status Ending a Parameter Command The general form for ending a parameter command is as follows A01 gt ID number of the parameter 7 w 0 carriage return 10 10 Serial Communication DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR CX EEO an Error Message ECODRIVE DKC01 1 DKC11 1 Drive Controllers If illegal parameter access is attempted or for example writing access to a read only data block element is attempted an error message is issued by the drive List of the possible error codes Error code 1001 1009 2001 2002 2003 2004 2005 3002 3003 3004 3005 4001 4002 400
274. ta length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 0 2 Default value 1 P 0 4021 Baud Rate RS232 485 Description There can be different baud rates set for the communication over the serial interface Seiting in parameter P 0 4021 EE 1 Baud rate Baud 9600 19200 Figure 3 11 adjustable baud rates Note The baud rate is not adjustable in the list of all parameters in Drive Top because locks itself out of other communication see also Function description Communication parameter DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Specific Product Parameters 3 33 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac P 0 4021 Attributes Baud Rate RS232 485 Baud rate RS232 485 Name in German Name in English ID number P 0 4021 Editability P2 P3 P4 Function Parameter Memory parallel EEProm Data length 2 Byte validity check yes Format decimal Extreme value check yes Unit German English combination check no Posit after the dec cyc transmittable no Input value min max 0 3 Default value 0 P 0 4022 Drive Address Description The drive address will be set here With communication over RS485 interface with more than one drive each drive must contain different addresses so that at anytime only the addressed drive
275. tants e All position speed and acceleration data can be weighted rotary or linear depending on the the axial kinetics e An internal homing procedure can help create a reference position e The axis can be controlled via the jog function for set up operation e The positioning speed can be influenced with the Feedrate Override e Limit switch inputs and parametrical position limits are available to set travel range limits e The drive controller status can be determined via status outputs 1 2 System Overview DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Obese ad Control with position regulator Parameter Diagnosis Operating data Position command value Position interface ECODRIVE DKC01 1 DKC11 1 Drive Controllers Servo Drive with Analog Velocity Interface and Integrated Actual Position Value Register Control drive DKCO1 1 or AC servo motor DKC11 1 with analog interface MKD Ms Dos PC Diagnosis Parameter Operating dat RS 232 A RS 485 Control drive ES processor Speed comma value analog Speed control GE Field oriented stator voltage regulator Positio actual value 111 UILLUUUULLUUULULLIULUUL ILL LinearmaBstab FS0201d1 drw Figure 1 2 Servo drive with analog velocity interface and integrated actual position value register e The scaling factor
276. tch point function is only active in control drives which have been homed because the absolute relationship to the machine s zero point can only be known in a control drive in which the homing procedure has been carried out Position Switch Point When Using Motors With Resolver Feedback Standard Before using the position switch point function the drive controlled homing procedure must be executed Position Switch Point When Using Motors with Resolver Feedback and Absolute Encoder Optional If a switch signal is needed within the travel region of an axis it is usually realized with a cam actuated switch attached to the machine mechanical system By using a motor with absolute encoder optional ECODRIVE saves the unnecessary expenditure for a mechanical cam switch When using a motor with absolute encoder the homing procedure is available as soon as the supply voltage is turned on Consequently the position switch point signal is also valid and can be used as a replacement for a mechanical cam switch DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 27 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc Illustration of Status Output Connections max 20m RE p l x2 113 1 ee NF it NS OC LIMIT ioc LIMIT 0 5 mme oq we Position switch point i 19 4 WSP In reference i INREF HIGH In motion i INBWG In position i SE INPOS OV Ee e EE ON Outputs T 1 Output voltag
277. te 2 3 Example Acceleration data scaling Suppose that loadside linear scaling as desired with acceleration units in M s2 The Parameter 1 scaling mechanical system dialog in DriveTop will set the preferred acceleration data scaling options on the drive as follows Parameter Value S 0 0159 Acceleration data scaling type 1001001 Bit 2 0 001 linear scaling Bit 3 1 Preferred parameter scaling Bit 4 0 Dimensional unit in meters m Bit 5 0 Time unit in seconds s DG 1 Data referenced at load DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 43 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac S 0 0161 Acceleration data scaling factor 1 S 0 0162 Acceleration data scaling exponent 6 Now suppose that the decimal value 1234567 is stored in the relavent acceleration data register The datum value will be interpreted and displayed as or 1234 567X10 mm s or as the value would be displayed in the IDN lists 1234 467 mm s2 with respect to the load Note that the least significant decimal value is determined by the scaling exponent in this exaple as 10 m s or 10 mm s S 0 0160 Attributes Name in German Wichtungsart f r Beschleunigungsdaten Name in English Acceleration data scaling type ID number S 0 0160 Editability P23 Function Parameter Memory Param E prom Data length 2 Byte validity check Phase3 Format BIN Extreme value check no Unit German English combinatio
278. ted motor has an absolute encoder The absolute position information is stored in the motor feedback This memory has a battery powered backup for the electronic circuit The battery is designed for a operating life of 10 years If the battery voltage drops below 2 8 V this message appears The absolute encoder function is preserved for about 2 weeks Instructions for Exchanging Batteries Have the following tools and accessories ready e Torx screwdriver size 10 e Needle nose pliers torque wrench e New packaged battery Part No 257101 If the control voltage of the installed battery is turned off the absolute position is lost The absolute position must be re established through the process of the command Set Absolute Measurement F248 Attributes SS Display F2 48 Diagnostic message F248 Low Battery Voltage F248 Low Battery Voltage Error number 248 Diagnostic message number F248 Error class Non fatal F262 Status Outputs Short Circuited Description If the status outputs of the DKC are short circuited the drive controller will issue an error Cause Short circuited outputs X2 6 X2 7 X2 8 X2 9 X2 10 X2 20 X2 21 X2 22 Remedy Eliminate short circuit DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DIAGNOSTIC MESSAGE DESCRIPTION 1 9 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc F262 Attributes SS Display F2 62 Diagnostic message F262 Status Outputs Short Circuited F262 Stat
279. tes a compromise between the positioning action and the load rigidity 6 2 DKCo1 1 Drive Controller with Stepping Motor Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Oe Gaile al ECODRIVE DKC01 1 DKC11 1 Drive Controllers 6 3 Stepping Motor Signal Processing In the operating mode Position Control with Stepping Motor Interface the DKC converts impulses from external inputs into defined position changes The following modes can be selected e Quadrature signals e Forward backward signals e Step and direction signals The steps per revolution executed by the drive controller can be adjusted Step drive signal processing Interface mode de Quadrature signal gt a a Forward back signal 5 J LI LILEL Step and direction signal oe Steps per rotation 1250 Figure 6 2 Stepping Motor Signal Processing DOK ECODRV ASE 02VRS FKB1 EN P 07 96 DKC01 1 Drive Controller with Stepping Motor Interface 6 3 ECODRIVE DKC01 1 DKC11 1 Drive Controllers CEA 6 4 Stepping Motor Interface Interface Mode 1 Quadrature signal SM 1 SM 2 Counter clockwise Clockwise t1 71 4 us 2 Forward backwards signal SM 1 SM 2 Counter clockwise Clockwise l t2 25 6 us 3 Step and direction signals SM1 SM2 Counter clockwise tL o Clockwise ai r ka iL22 8us 1325 6us V0200d4 drw Figure 6 3 Stepping Motor Interface Mode Stepp
280. th this parameter the position of the reference pulse of the emulated incremental encoder output can be shifted P 0 0503 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Referenzimpuls Offset Reference pulse offset P 0 0503 Editability Parameter Memory 2 Byte validity check decimal Extreme value check Grad Degree combination check 1 cyc transmittable 0 359 9 Default value P 0 0504 Command Filter Smoothing Time Constant Description no parallel EEProm yes yes no no 0 The analog velocity command value is filtered according to the recorded time constant P 0 0504 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Sollwertfilter Glattungszeitkonstante Command filter smoothing time constant P 0 0504 Editability Parameter Memory 4 Byte validity check decimal Extreme value check ms ms combination check 2 cyc transmittable 0 5 1000 00 Default value no Param E Prom yes yes no no 5 00 3 16 Specific Product Parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LR Ce EE an P 0 0508 Commutation Offset P 0 0509 Slot Angle Description ECODRIVE DKC01 1 DKC11 1 Drive Controllers This parameter with synchronous motors gives the of
281. the Positive Direction The drive moves with a jogging velocity in the positive direction The motor is turning clockwise when viewing the motor shaft JB Jogging in the Negative Direction The drive moves with a jogging velocity in the negative direction The motor is turning counter clockwise when viewing the motor shaft 1 44 DIAGNOSTIC MESSAGE DESCRIPTION DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Oe Goals al ECODRIVE DKC01 1 DKC11 1 Drive Controllers 2 Index 4 4 kHz Fault 1 16 A Absolute Encoder Error Position Deviation 1 10 Absolute Measuring System Not Installed 1 38 Active Drive Switch Not Allowed 1 39 AF Control Drive Enable 1 47 B Basic Load 1 42 Bleeder Overtemperature Shutdown 1 6 Bleeder Overtemperature Warning 1 18 C Command Base parameter load 1 43 Command Diagnostic Message 1 26 Command Drive Controlled Homing Procedure 1 40 Command Velocity Limitation Active 1 23 Command Set Emulation Absolute Value 1 36 Communication Phase 2 1 44 Communication Phase 3 1 44 Communication Phase 3 Transition Check 1 26 Communication Phase 4 Transition Check 1 27 Condition Display H1 1 2 Continuous Current Limiting Active 1 21 Control and Power Sections Ready for Operation 1 45 Crossing Velocity Limit S 0 0092 Value 1 16 D DC 24 Volt Voltage Disturbance 1 14 Default Value of the Load Parameter 1 3 DIAGNOSTIC MESSAGE DESCRIPTION 1 1 Distance Homing Switch Reference Mark Erroneous 1 41 Drive Hal
282. the controller ram when the controller is turned on In Torque regulation if the maximum motor speed is exceeded by more than 12 5 the drive will be switched into a torque free state and the error message F879 Velocity limit value exceeded will result S 0 0113 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Maximalgeschwindigkeit des Motors Maximum Motor Speed nmax S 0 0113 Editability Parameter Memory 4 Byte validity check DEC ON Extreme value check S 0 0044 S 0 0044 combination check S 0 0044 cyc transmittable 0 S 0 0044 Default value P23 Feedb E2prom Phase3 yes no no 2 32 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Pa CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0116 Resolution of Rotational Feedback 1 Description For motors with resolver feedback the resolution of the rotational feedback is equal to the number of motor pole pairs That means that a motor with 4 pole pairs has a resolver with 4 electrical cycles per motor mechanical revolution This value is stored in feedback memory and cannot be changed S 0 0116 Attributes Name in German Rotationsgeber 1 Aufl sung Name in English Resolution of rotational feedback 1 ID number S 0 0116 Editability P23 Function Parameter Memory Feedb E2prom Data length 4 Byte validity
283. the individual elements and the access possibilities The following sections will reference the each diagrammed parameter structure Element No Nr Data Block Element Access Possibilities 1 ID number Read 2 Name Read 3 Attribute Read 4 Unit Read 5 Min input value Read 6 Max input value Read 7 Operational datum Read Write Figure 10 5 Parameter Structure Note In the Appendix A there is a parameter description with detailed specifications of the qualities of all the operational parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Serial Communication 10 7 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE PART Writing To a Parameter Writing to a parameter is allowed generally in the following manner A01 gt ID number of the parameter data block element number w operational datum Carriage Return After a completed writing operation the unit responds again with its prompt For example in order to write to the datum value of the parameter P 0 0004 the following input is required A01 gt P 0 0004 7 w 500 Carriage Return A01 gt The drive writes the value 500 to the operating data data block element 7 Reading of a Parameter The general form for reading a parameter is as follows A01 gt ID number of the parameter data block element number r carriage return The drive responds with the contents of the contacted data block element again For
284. the jogging inputs X2 17 18 If the drive stop signal is not active 24V on X4 3 then the drive will follow the stepping signals on X2 1 4 Drive Stop Start During Positioning Operation If the drive stop signal is active OV on X4 3 then the drive will remain in position control at the current position If the control drive is in motion when the drive stop is activated then drive controlled braking will be applied with maximum torque until the drive reaches standstill When the drive stop command has been given the drive can still be moved via the jogging inputs X2 17 18 When the start signal is activated the previously selected positioning set is started Drive Stop Start During a Drive Controlled Homing Procedure If the drive controlled homing procedure signal is activated 24V on X2 13 and the start signal is activated afterwards 24V on X4 3 then the drive will execute its internal homing procedure DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 51 ECODRIVE DKC01 1 DKC11 1 Drive Controllers LRI Ce EE PA Control Enable and Drive Stop Connections l wu 4 1 Control voltage connectiorfor DKC 24V Regulator release gt oe RF Drive stop start gt 3 AH Start Serge vga Control voltage zero point lt DV Bb Ready PES SS 7 Se i Inputs Input voltage min max HIGH 16 V 30 V LOW 0 5 V DV Input resistance approx 8 KOhm
285. tion For the step motor interface the position command value will be determined through the evaluation of the step pulse signals present at this interface The position command value that is determined is this fashion can be read here For the positioning interface the position command value will be generated by the internal position command value interpolator The active position command value can be read here DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Standard parameters 2 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE PAR S 0 0047 Attributes Name in German Lage Sollwert Name in English Position Command Value ID number S 0 0047 Editability P234 Function Parameter Memory no Data length 4 Byte validity check no Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable MDT Input value min max S 0 0076 S 0 0076 Default value S 0 0049 Positive position limit value Description The Positive position limit value describes the maximum extent of travel in a positive direction The position limit is only active if all position data is referenced to the home point i e the drive is homed Bit O in parameter S 0 0403 Position feedback value status is set to 1 The position limit values can be switched off through bit 4 in the S 0 0055 Position polarity parameter If a target position on the other side of the
286. tion don t care V0035d1 drw Figure 9 32 Moving towards the home position DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 43 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE Pac Absolute EncoderMonitoring To ensure the safety of the absolute encoder function the DKC has a monitoring system which can recognize errors in determining the absolute actual position value The current actual position is saved when the DKC supply voltage is turned off When it is turned on again the actual position which was saved is compared to the current motor position as read from the motor encoder H the difference between the two position values is greater than the value entered in the Absolute Transmitter Monitoring Window parameter the error message F276 Absolute Transmitter Error is given Different circumstances can trigger that absolute encoder monitor e The shaft was moved while the control drive was turned off e The motor encoder is showinga function error Setting the Absolute Encoder Monitoring Window The value for the absolute encoder monitoring window must be determined specifically for each application It should be selected such that possible movements of the shaft while the power is turned off are taken into account so that the monitor is not unnecessarily activated 9 44 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Oe Gaal al ECODRIVE DKC01 1 DKC11 1 Drive
287. tivate the drive and to carry out motion there are more installations required Note Detailed installation instructions are found in the Project Planning Manual 3 4 Preparation for Startup Procedure DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Oe Goals al ECODRIVE DKC01 1 DKC11 1 Drive Controllers 3 7 DriveTop Start Up DriveTop can be started by double clicking on the DriveTop icon Scanning for Connected Drives After DriveTop starts running it searches for connected drives Thereby every drive address between 1 and 99 will be tested DriveTop Searching for connected drives Number of drives found 0 Figure 3 4 Scanning of the drive addresses If one or more drive controllers are found the parameter settings from the drive will be classified Note Multiple drives may be found when the PC is connected by an RS232 RS485 interface converter to more drives which are interfaced with an RS485 DOK ECODRV ASE 02VRS FKB1 EN P 07 96 Preparation for Startup Procedure 3 5 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Wee all If no drive is found then the following dialogue appears DriveTop No drive could be found Retry Cancel or Offline Ben e Figure 3 5 Dialogue appearing after failed scan Reasons for this error can be e The 24Vdc control voltage for the DKC is not turned on or not connected e Problem in the connection between PC and the drive c
288. tor shaft Load Unit of measure for position data Motes Deg inch Processing of position data is absolute Feed constant k 100 00 HA Coupling ratio input sl H Coupling ratio output n2 H modulo Mode shortest way positive direction negative direction Figure 9 3 Rotary Scaling In applications where a rotary table or rotating shaft is to be driven all output variables of the shaft should be entered in rotary units To do this select rotary scaling and enter the mechanical transmission data of the axis Coupling ratio input turns n1 and output turns n2 A standard arrangement for a typical mechanical system is shown in the figure Other mechanical combinations such as those with multi leveled transmissions can be derived from this standard arrangement For example a toothed gear or wheel transmission system can be configured by counting the input wheel teeth Z1 and entering that value in the output turns n2 parameter and counting the output wheel teeth Z2 and entering that value in the input turns n1 parameter Mechanical transmission ratio n1 n2 Z2 Z1 Data References The position velocity and acceleration data which is displayed can be referenced to either the load side or the motor side in the rotary scaling mode The load side is normally selected 9 4 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Co
289. trol system velocity regulator The following applies to rotary motors Clockwise rotation when facing the motor shaft is the rule for a positive velocity command value difference and a positive velocity feedback value polarity Structure of the parameter BETTER Bit 0 Velocity command value 0 Positive polarity 1 Negative polarity Bit 1 Velocity command value additive 0 Positive polarity 1 Negative polarity Bit 2 Velocity feedback value 0 Positive polarity 1 Negative polarity Figure 2 3 S 0 0043 Velocity Polarity Parameter S 0 0043 Attributes Name in German Geschwindigkeits Polaritaten Parameter Name in English Velocity polarity parameter ID number S 0 0043 Editability P23 Function Parameter Memory Param E2prom Data length 2Byte validity check Phase3 Format BIN Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max 0 Default value 0b 2 8 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LA CREE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0044 Velocity Data Scaling Type Description Various scaling types can be defined for the velocity data in the drive Examples RPM gt rotary mm min gt linear Structure of the parameter Bit 2 0 Scaling type 0 0 0 unscaled 0 0 1 linear scaling 0 1 0 rotary scaling Bit 3 0 preferred scaling 1 para
290. tton After the Set Absolute Measure command is executed the current actual position value is set equal to the value which is entered in the Reference Distance 1 parameter as long as the controller enable is currently deactivated If the controller enable is active the calculation for accepting the homing position is made The actual acceptance of the homing value in the actual position value occur only after the control enable is deactivated 9 42 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO an ECODRIVE DKC01 1 DKC11 1 Drive Controllers Moving Towards the Home Position In the Position Control with Step Motor Interface operating mode it may be helpful to activate drive motion towards the home position via an external switching signal Doing this makes executing a homing procedure for the stepping motor control unnecessary The velocity acceleration and jerk with which motion to the home position should be carried out can be entered via the appropriate homing motion parameters The drivedrive moves to the home position when the NF signal is set and the start signal is given This requires that the control drive has been homed or in other words that the Set Absolute Measure command has been successfully executed Regulator release RF Control drive guided homing NF Start nr ee v ti Ze t1 gt 2ms Reference position Meaningless signal condi
291. unction Parameter Memory no Data length 4 Byte validity check no Format DEC_MV Extreme value check yes Unit German English S 0 0076 S 0 0076 combination check no Posit after the dec S 0 0076 cyc transmittable MDT Input value min max S 0 0076 S 0 0076 Default value S 0 0259 Positioning Velocity Description In the Drive internal interpolation operating mode the S 0 0258 Target position is approached with the positioning velocity In the Block controlled operating mode the positioning velocity of the current Positioning block is copied to the parameter S 0 0259 Positioning velocity S 0 0259 Attributes Name in German Name in English Positionier Geschwindigkeit Positioning velocity ID number S 0 0259 Editability P234 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC_M V Extreme value check yes Unit German English S 0 0044 S 0 0044 combination check no Posit after the dec S 0 0044 cyc transmittable MDT Input value min max S 0 0044 S 0 0044 Default value 1 0000 Rpm 2 48 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Oe ey feibn a ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0260 Positioning Acceleration Description Positioning acceleration is used in the Drive internal interpolation operating mode to accelerate up to the S 0 0259 Positioning velocity In the Block controlled operation operat
292. us Outputs Short Circuited Error number F262 Diagnostic message number 262 Error class Non fatal F276 Absolute Encoder Error Position Deviation gt P 0 0097 Description When turning off the drive controller with a absolute encoder multiturn the actual feedback position will be stored When powered up the absolute position given by the encoder is compared to the stored position If the deviation is larger than the paramaterized Absolute Encoder Monitoring Window the error F276 Absolute Encoder Error will appear and be given to the control system Cause 1 Turning on for the first time invalid stored position 2 The motor was moved further than allowed by the parameter in the absolute encoder monitoring window P 0 0097 while it was turned off 3 Incorrect position initialization Remedy For 1 Press S1 to reset the error and set the absolute position For 2 The motor was moved while turned off and sits outside of its permissible position Check to see if the displayed position is correct in relation to the machine zero point Reset subsequent errors For 3 An accident may occur by accidental shaft movement Check absolute position informartion A feedback defect is present if the absolute position information is false The motor should be exchanged and sent to the INDRAMAT Customer Service see also the Absolute Encoder Monitoring function description F276 Attributes SS Display F2 76
293. utput s i H _ Negation of position velocity and torque data Data positioning with respect to molor shalt Load Unit of measure for position data Meter gt Bes gt Inch Processing of position data is absolute modulo Value 36 000 Fj mm Mode shortest way positive direction negative direction Figure 9 1 Scaling Mechanical system DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Vr CRRA In applications where a linear carriage is to be moved all output variables of the shaft should be entered in linear units and recorded Linear scaling should be selected and the mechanical data of the shaft entered Feed constant transmission input revolutions and transmission output revolutions A standard arrangement of a mechanical system with a circular rotation shaft is pictured in the diagram Other similiar mechanical combinations can be derived from this standard configuration The feed constant for rack and pinion mechanism can be calculated as follows Feed advance constant effective diameter n Formula 9 1 Calculation of the feed constant with a rack and pinion mechanism Dm Actual pinion diameter AP0004d1 drw Figure 9 2 Drive system with rack and pinion The unit of the feed constant to be entered depends on the unit of measure which has been selected for the position data
294. ve status word ID number S 0 0135 Editability Function Parameter Memory SS Data length 2 Byte validity check no Format binary Extreme value check no Unit German English combination check no Posit after the dec 5 cyc transmittable no Input value min max Default value S 0 0138 Bipolar Acceleration Limit Value Description The bipolar accelaration describes the maximum allowable accelaration that is symmetrical in both directions acceleration and decelaration When Alt Drive halt is used the drive brakes with this decelaration until the velocity 0 During the jogging operation the drive accelerates and brakes at this decelaration S 0 0138 Attributes Name in German Beschleunigung bipolar Name in English Bipolar acceleration limit value ID number S 0 0138 Editability P234 Function Parameter Memory Param E2prom Data length 4 Byte validity check Phase3 Format DEC MV Extreme value check yes Unit German English S 0 0160 S 0 0160 combination check no Posit after the dec S 0 0160 cyc transmittable MDT Input value min max 0 S 0 0160 Default value 1000 000 rad s2 S 0 0140 Controller Type Description The device type of the manufacturer can be found in text form in the operating data for the controller type Example DKC01 1 040 7 2 38 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ce EEO ai S 0 0141 Motor Type ECODRIVE DKC01
295. ve Controllers Pa CREE PAR Calibrating the Absolute Encoder Emulation Setting up the absolute encoder emulation requires a one time calibration This calibration procedure is made up of the following steps e The polarity of the position information which is transmitted should first be checked for accuracy to prevent positive feedback in the position regulator loop Additionally the position display of the connected control system should be watched while moving the shaft at the same time The movement can be controlled manually with the battery box or with the jogging function If the position does not change in requisite manner the output polarity 09 must be reversed with the Absolute encoder counting direction parameter e The shaft should be moved to a position known in reference to the machine coordinate system e The desired output position should be entered in the Home position parameter e If the drive is in the desired position the Set absolute encoder emulation command should be selected Doing this sets the current transmitted position equal to the value given as the home position Illustration of Absolute Actual Position Value Output Connections Difference outputs Output voltage min max HIGH 2 5V 5V LOW OV 0 5 V Output current lout max 20 mA Overload protection Outputs may not be short circuited Danger of damage Difference inputs Input voltage min ma
296. vicinity of the operator so it can be easily reached Check that the Emergency Stop works before start up Isolate the drive controller power connection via an Emergency Stop circuit or use a safe starting lockout to protect against unintentional start up Before handling or moving into the dangerous voltage area bring the control device to a safe standstill Electrical equipment above the main switch should be kept voltage free and ensured that no power could be turned on again Maintenance Work and Repair Cleaning before long periods of non use Avoid the operation of high frequency remote control and audio equipment in the area of the device or its wiring ff the usage of the device is unavoidable before the initial operation of the system and the fail safes of the system can be tested In these cases of necessity the EMV Test of construction is necessary 2 4 Safety Instructions for Electrical Drive Controller DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LR Ee EE an ECODRIVE DKC01 1 DKC11 1 Drive Controllers 2 5 Protection during Assembly and Handling Explanation Improper handling and assembly of certain power components or use under without following the requirements can lead to injury Careful Possible bodily harm through improper handling Injury through pinching sheering cutting trimming The general installation and safety instruction must be following during handling and assembly Use suit
297. vision devices and if necessary constructive precautions must be taken before personal protection safety can be guaranteed 8 4 DKCo1 1 DKC11 1 Drive Controller with Analog Torque Interface DOK ECODRV ASE 02VRS FKB1 EN P 07 96 ERA EESTI PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 9 General Drive Functions 9 1 Scaling and Mechanical System Data With ECODRIVE it is possible to process position velocity and acceleration data with respect to machine kinematics and mechanical transmission elements The Scaling Mechanical System dialog in DriveTop provides all the settings which are necessary to allow machine mechanical systems to work with the drive controller Note Entering the data is only necessary in the Position control with positioning interface operating mode Entering the scaling and mechanical system data is not mandatory in the torque control velocity control and position control with step pulse interface operating modes because the adjustments prescribed by these parameters take place in the superordinate machine control However entering this data in the operating mode can be advantageous because the DRIVE TOP diagnostic window will show the position and speed output variables scaled in units appropriate for the application Linear Scaling Scaling mechanical system Type of scaling linear rotary Feed constant k 10 000 Coupling ratio input ail H Coupling ratio o
298. warning Structure of the parameter L Bit 0 negation 0 E2 3 not inverted 24 V gt travel range exceeded 1 E2 3 inverted 0 V gt travel range exceeded Bit 1 activation 0 travel range limit switch is not active 1 travel range limit is active Figure 3 6 P 0 0090 Travel Limit Parameter P 0 0090 Attributes Name in German Fahrbereichgrenzschalter Parameter Name in English Travel limit parameter ID number P 0 0090 Editability P23 Function Parameter Memory Param E2prom Data length 2Byte validity check Phase3 Format BIN Extreme value check no Unit German English combination check no Posit after the dec 0 cyc transmittable no Input value min max ef Default value DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Specific Product Parameters 3 11 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREPE anc P 0 0097 AbsoluteEncoderMonitoring Window Description With the use of a absolute encoder the drive memory data and actual feedback position value on the axis will be compared during the command execution of window 3 gt 4 If the difference is larger than what is parameterized in parameter P 0 0097 the error message F276 Absolute encoder error will be given This error indicates that the absolute position of the axis has changed since the last time it was taken out of operating mode As a default value one can typically use 30 degrees with respect to the m
299. x HIGH 2V 5 V LOW OV 0 8 V Input resistance 12 KOhm Clock frequency 100 1000 kHz AP0215d1 drw Figure 9 23 Absolute actual position value output 9 32 General Drive Functions DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LA CREPE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers 9 8 Drive controlled Homing Procedure In the Position Control with Positioning Interface and Position Control with Step Motor Interface operating modes the internal homing procedure can establish the measurement relationship to the machine s zero point Note In operating modes with the analog interface the measurement relationship to the machine zero point should be set via the connected control system Consequently the Drive Controlled Homing Procedure function is not available in these applications Homing When Using a Motor With Resolver Feedback Standard Absolute positioning sets and position limit value monitoring can only be used after the drive controlled homing procedure is successfully executed The homing procedure should be used in the following situations when using a motor with resolver feedback e After turning on the control voltage e Whenever there is a transition from operating mode to parameterization mode and back to operating mode The status message INREF signals to a connected control system that the drive has established a measurement relationship or in other words that the homing procedure was succes
300. x 09352 40 4885 Abt END HP Service Hotline Tel 0172 660 040 6 or 0171 333 882 6 Changes in the content of this document and the availability of the products are reserved DOK ECODRV ASE 02VRS FKB1 EN P 07 96 LACE PART ECODRIVE DKC01 1 DKC11 1 Drive Controllers Contents 1 System Overview 1 1 1 1 Ecodrive the Economical Control Drive for Automation 1 1 1 2 Ecodrive a Family of Control Drives sisi 1 1 1 3 Overview of DKC01 1 DKC11 1 Functions iii 1 2 DKC01 1 Modes of Operation sisi 1 2 DKC01 1 DKC11 1 General Characteristics ss 1 5 Functional Differences between DKC01 1 and DKC11 1 1 6 2 Safety Instructions for Electrical Drive Controller 2 1 2A General IMOrMAatiOMss coicenavegscessedgedeetecgdeg Eed ERR cg cas dde a R ea net neue es RRE i 2 1 2 2 Protection against Contact with Electrical Components sssseesseesesesressrnesrnssrnssrrssrnssrnnsrnssrnssrnnsrene 2 2 2 3 Protection from the Safe and Seperated Low Voltages esseesseessreesrnssrnesrresrnssrrssrnssrnssrnssrnssrnnsrnnt 2 3 2 4 Protection from Dangerous Movements teeter eset eaeeeeeeeaaeeeeeeaaaeeeeeeaeeeeeetaeeeeesaeeeeenes 2 3 2 5 Protection during Assembly and Handling ss 2 5 3 Preparation for Startup Procedure 3 1 3 1 General Instruction for Startup Procedure us 3 1 3 2 Drive Top Startup Procedure and Diagnostics 3 1 3 3 DriveTop System Requirements sien
301. y After this raise the S 0 0100 Velocity Loop Proportional Gain until it becomes unstable again e Reduce the S 0 0100 Velocity loop proportional gain until the oscillation goes away on its own The value found using this process is called the Critical Velocity Loop Proportional Gain DOK ECODRV ASE 02VRS FKB1 EN P 07 96 General Drive Functions 9 17 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CREE PART Determining the Critical Integral Action Time e Set S 0 0100 Velocity Loop Proportional Gain 0 5 x critical proportional gain Set S 0 0101 to its default value e Lower S 0 0101 Velocity Loop Integral Action Time until unstable operating behavior results e Raise S 0 0101 Velocity Loop Integral Action Time until continuous oscillation stops The value found using this process is called the Critical Integral Action Time Determining the Velocity Regulator Loop Setting The critical value which is determined can be used to derive a control setting which possesses the following characteristics e Independent from changes to the axis since there is a large enough safety margin to the stability limits e Safe reproduction of the characteristics in production machines The following table shows many of the most frequently used application types and the corresponding regulator loop settings machines tools Velocity Velocity Loop Loop Proportional Integral Action Application Type Gain Time
302. y be configured to be either active high or active low Connecting the Travel Limit Switch lt a INPOS i 0 lt i r max 20m e Positive Pur limit switch AT NF 0 5 mre er NS OT EO LIMITS o Dm oe LIMIT Negative gt eG J0G limit switch ec JOG lt oq WSP lt oq INREF lt ENG Inputs min max Input voltage HIGH 16V 30 V LOW 0 5 V 8V Input resistance approx 8R AP0221d1 drw Figure 9 5 Connecting the travel limit switches Reaction to Traverse Range Violations The drive has several responses to going beyond the traverse range The following responses can be selected The drive reacts to going beyond the traverse range by switching the velocity command value to zero without turning off the control enable and without opening the bb contact The warning is automatically recalled when command values are given which lead to the proper traversing range The drive reacts to going beyond the traverse range by switching the velocity command value to zero automatically turning off the controller enable and opening the bb contact To resume operation clear the error turn on the mains power supply and enable the controller again As long as the traverse range is exceeded only command values which lead back into the proper tradverse range will be accepted Command values outside of this range result in another error 9 8 General Drive Functions DOK ECO
303. y check Extreme value check S 0 0044 S 0 0044 combination check S 0 0044 cyc transmittable S 0 0044 S 0 0044 Default value OL aes no MDT P234 no no yes no AT every 500ms This can be transferred via the serial communication interface S 0 0040 Attributes Name in German Name in English ID number Function Data length Format Unit German English Posit after the dec Input value min max Geschwindigkeits Istwert Velocity Feedback Value S 0 0040 Parameter 4Byte DEC_MV Editability Memory validity check Extreme value check S 0 0044 S 0 0044 combination check S 0 0044 cyc transmittable S 0 0044 S 0 0044 Default value no no no no no AT 2 6 Standard parameters DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Oe te PAR ECODRIVE DKC01 1 DKC11 1 Drive Controllers S 0 0041 Homing Velocity Description Determines the velocity for the S 0 0148 Drive controlled homing procedure command in conjunction with the S 0 0108 Feedrate Override parameter In the case of a drive motor with an absolute encoder K type feedback option if the S 0 0148 Drive controlled homing procedure is initiated then the drive will proceed to the reference point home position that was determined with the Set absolute measurement P 0 0012 command with this velocity S 0 0041 Attributes Name in German Name in English ID number Function Data length For
304. yed in DriveTop For example the datum value 0000 0000 0011 1011 would be transmitted and displayed as 11 1011 HEX the display format for the operating data should be hexadecimal DEC_OV the display format for the operating data should be decimal without a sign DEC_MV the display format for the operating data should be decimal with a sign ASCII the operating data is an ASCII string IDN the operating data is an ID number Edit no the operating data can not be edited P2 the operating data can only be edited in communication phase 2 P23 the operating data can only be edited in communication phase 2 and 3 P234 the operating data can be edited in any communication phase P3 the operating data can only be edited in communication phase 3 P4 the operating data can only be edited in communication phase 4 Memory fixed the operating data is programmed in the drive no the operating data is not buffered in the drive the value after turning on the drive controller is not defined Param E prom the operating data is buffered in the parameter E prom IC2 on the drive controller main circuit board Ampl E2prom the operating data is buffered in the E prom from the drive controller Feedb E prom the operating data is buffered in the E2prom from the motor feedback data memory only for MDD and MKD motors 1 2 General Information DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 LR Ce EEO ai ECODRIVE
305. ype 2 40 B Bipolar Acceleration Limit Value 2 38 Bipolar Torque Force Limit Value 2 23 Bipolar Velocity Limit Value 2 22 C C1 Communication Phase 3 Transition Check 2 36 C2 Communication Phase 4 Transition Check 2 36 C6 Drive Controlled Homing Procedure 2 41 Command Basic Load 2 49 Controller Type 2 38 Current Regulator 1 Integral Action Time 2 29 D Definitions 1 2 Diagnostic Message 2 24 Drive Status Word 2 37 F Feed Constant 2 35 Feedrate Override 2 30 G General Information 1 1 H Home Switch 2 52 Homing Acceleration 2 7 Homing Parameter 2 40 Homing Velocity 2 7 IDN List of all operational Data 2 2 IDN List of Invalid Op Data for Comm Ph 2 2 2 IDN List of Invalid Op Data for Comm Ph 3 2 3 IDN List of Backup Operation Data 2 47 Input Revolutions of Load Gear 2 33 Interface Status 2 1 DOK ECODRV ASE 02VRS FKB1 EN P e 07 96 Index 4 1 ECODRIVE DKC01 1 DKC11 1 Drive Controllers Pa CECE PAT L Linear Position Data Scaling Exponent 2 19 Linear Position Data Scaling Factor 2 18 Manufacturer Class 3 Diagnostics 2 46 Manufacturer Version 2 4 Mask Class 2 Diagnostic 2 25 Mask Class 3 Diagnostic 2 25 Maximum Motor Speed 2 32 Modulo Value 2 27 Monitoring Window 2 42 Motor Current at Standstill 2 31 Motor Peak Current 2 30 Motor Type 2 39 N Negative position limit value 2 12 O Output Revolutions of Load Gear 2 34 P Parameter Buffer Mode 2 50 Position Command Value 2 11
306. ys be in reference to the motor P 0 0040 Attributes Name in German Wichtg von Geschwindigk Analogausgabe Kanal 1 Name in English Scaling of velocity data analog output Channel 1 ID number P 0 0040 Editability P234 Function Parameter Memory Param E2prom Data length 2Byte validity check Phase3 Format DEC OV Extreme value check yes Unit German English Upm 10V Rpm 10V Rpm 10V combination check no Posit after the dec 0 cyc transmittable no Input value min max 1 65535 Default value 3000 Rpm 10V P 0 0041 Scaling of Velocity Analog Output Channel 2 Description With the selections in the parameter P 0 039 signal select analog output channel 1 the scaling will be established with the parameter P 0 0041 Thereby a unit of Upm 10V will always be established on the motor An eventual existing operational translation will not be considered P 0 0041 Attributes Name in German Wichtg von Geschwindigk Analogausgabe Kanal2 Name in English Scaling factor for velocity data Channel 2 ID number P 0 0041 Editability P234 Function Parameter Memory Param E2prom Data length 2Byte validity check Phase3 Format DEC_OV Extreme value check yes Unit German English Upm 10V Rpm 10V combination check no Posit after the dec 0 cyc transmittable no Input value min max 1 65535 Default value 3000 P 0 0042 Scaling for Position Data on Analog Output Channel 1 Description With the selection numbers

ECODRIVE DKC01.1/DKC11.1 Drive Controllers

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