PDrive
Contents
1. N R P N e P N R spr SP SE F Vref T Vref T Vref W pa S S d E Vref E Vref Vref w A CITT TTT io TI y Li 011107 Initial point in positive direction Initial point in negative direction Initial point at reference switch from reference switch from reference switch Positive traverse positive count direction J e Jil A se E FVref y T Vref S S Vref Vref we ted EE lw Il Initial point at reference switch Initial point in negative direction Initial point in positive direction from reference switch from reference switch The meanings of the abbreviations in the drawings are N Limit switch NSTOP P Limit switch PSTOP SP Start position NM feedback zero mark R Homing switch vref preset velocity User Manual for Setup Software PDrive Page 35 9 Project window 9 2 1 4 Homing type 2 Homing with limit switches without homing switch with feedback zero Negative traverse positive count direction N E N 4 e SP SP Vref T Vref Boas E G S Vref Vref Initial point in positive2. w TLE w TLL 9 2 1 8 Homing type 6 Sets the reference point to the actual position the following error is not lost The load does not move 9 2 1 9 Homing type 7 Using this type of homing can damage the mechanical stop on the machine The peak current Ipeak and the continuous current Irms are limited for the duration of the homing run A more severe limiting of the current is possible see parameter Homing Ipeak on screen page Current Loop Mechanical stop without limit switches without homing switch with feedback zero Negative traverse positive count direction Positive traverse positive count direction a Aa SN SS Y T Vref uF Vref Ej Vref Vref JE w III The meanings of the abbreviations in the drawings are N Limit switch NSTOP P Limit switch PSTOP SP Start position R Homing switch vref preset velocity NM feedback zero mark Page 38 User Manual for Setup Software PDrive 9 Project window 9 2 1 10 Homing type 8 Prerequisite an absolute encoder SSI is connected to to the encoder input X1 of the servo amplifier When the homing starts the absolute position is read at connector X1 The reference point is set to this position The load does not move 9 2 1 11 Homing type 9 Using this type of homing can damage the mechanical stop on the machine The peak current Ipeak and the continuous curr
3. 1 Motor Revs Position PUNIT Definition of the global unit for all position dependent parameters of the position controller Velocity VUNIT Definition of the global dimensional unit for soeed and velocity This unit applies to all speed velocity dependent parameters of the speed position controllers Acceleration ACCUNIT Definition of the dimensional unit for acceleration This unit is used for the ramps of the trajectory generator as well as for the braking acceleration ramps of the speed controller Resolution counts Motor Revs PGEARI PGEARO You can use the entry fields in this equation to determine the transmission ratio User Manual for Setup Software PDrive Page 19 9 Project window 9 1 3 1 DDA Page 20 CAN Fieldbus CAN Fieldbus Fieldbus Settings Adress Source for fieldbus synchronization D O none wi External Watchdog 100 FPGA functionality 0 Digital encoder simulation output 5 CAN Baud Rate CAN open 500 kB aud w Address ADDR The entry is the station address 1 63 of the servo amplifier This number is required by the fieldbus and for the parameter setting of the servo amplifier in multi axis systems for an unambiguous identification of the servo amplifier within the system External Watchdog EXTWD Definition of the monitoring watchdog time for fieldbus slot communication This monitoring is only active when the value is g
4. Page 30 Encoder Encoder Emulation Encoder Emulation e Quput 55 iw ROC 551 Resolution Baud Rate Lines Rev 0 200 kBaud wl Zero Pulse Offset 551 Clock lricr 0 Standard Ke 551 Code 0 binary wl Input Edge 1 falling Ke 551 Mode 0 Singleturn wi Encoder Emulation ENCMODE Selection of the digital encoder channel Resolution ENCOUT Determines the number of increments per turn that are output ROD Zero Pulse Offset ENCZERO Determines the position of the zero marker pulse when A B 1 The entry is referred to the zero crossing of the feedback unit Transmit Timeout SSI SSITOUT PMCtendo DD5 and PMCprotego D only The command SSIOUT sets the monoflop timeout of the SSI transmission No of Bits Multi Single Turn SSIREVOL PMCtendo DD5 and PMCprotego D only Command SSIREVOL sets the number of turns MultiTurn for SSI Transmission Baud Rate SSIOUT PMCtendo DD4 only Determines the serial transmission rate Change this only while the amplifier is disabled SSI Takt SSIINV PMCtendo DD4 only Determines whether the output level is normal or inverted Change this only while the amplifier is disabled SSI Code SSIGRAY Determines whether the output is in binary or GRAY code Change this only while the amplifier is disabled Number of SSI bits to read SSIRXD PMCtendo DD5 and PMCprotego D only Establishes the number of SSI bits to read Input Edge ENC
5. Hiperface EnDat only ENCLINES sets the resolution number of lines of the encoder input channel using an ENCODER as feedback unit In case of Rotary Motors it is the number of lines per revolution in case of linear Motors it is the number of lines per pole pitch With an ENDAT or Hiperface Encoder ENCLINES is read automatically during the initialization process Count Direction DIR PMCtendo DD5 and PMCprotego D only Defines the direction of rotation of the motor shaft in relation to the polarity of the set value Bandwidth MRESBW With a wide bandwidth the drive will respond more rapidly to control loop deviations gt smaller following error A very wide bandwidth only makes sense with low moments of inertia low KP and very high values of acceleration A narrower bandwidth produces a filter effect The speed and positional control are smoother the encoder emulation is quieter as well Observer Feedforward VLO This parameter applies a dynamic pre control to the actual value detection Luenberger monitor particularly for resolver feedback It reduces the phase shift in the detection of the actual value thus improving the stability of the speed control With VLO 1 the pre control is set to optimum with VLO 0 the monitor is switched off Feedback Filer Mode FLTMODE PMCtendo DD4 only Feedback Filter Mode User Manual for Setup Software PDrive Page 21 9 Project window Page 22 Number of multi turn b
6. PMCtendo DD4 only Sets the rated output current that is required The adjustment is usually made to 10 the standstill current for the motor that is connected The value that can be entered is limited to the rated current of the servo amplifier or the standstill current of the motor lo the lower of the two values Proportional Gain Kp_i MLGQ Determines the proportional gain of the current controller Integral Time Tn_i KTN Determines the integral action time integration time constant of the current controller lt Warning I2TLIM Sets the level as a percentage value of the r m s current above which a message will be sent Page 25 9 Project window 9 1 7 L DDA Page 26 Speed controller Velocity Loop m ACC DEC E dl dl Speed Limit pos Acc Ramp Pl Plus Prop Gain Ep yl PID T2 000 rpm me 0 65 20 1 me Speed Limit neg Dec Ramp Int Time Un wl DILL rpm m O ris Overspeed Emerg Dec Ramp 6000 rpm 10 me id Count Direction Disable Dec Ramp 1 positiv el 10 ms Feedback 0 4 me Speed Limit pos VLIM PMCtendo DD4 only Limits the motor speed The maximum value also depends on the used motor and encoder Speed limit pos VLIMP PMCtendo DD5 and PMCprotego D only Limits the motor speed The maximum value also depends on the used motor and encoder Speed limit neg VLIMN The VLIMN parameter defines the maximum velocity for the negative direction
7. Motion Control PMC 1 General Information 1 1 1 2 1 3 Page 2 General Information Copyright Copyright 2012 Pilz GmbH amp Co KG All rights reserved The implementation of technical changes which improve the performance of the product is subject to change without prior notification The product or parts of the content may be reproduced or transmitted in any form by printing photocopying microfilm or any other method or stored processed copied or distributed by electronic means without the written permission of Pilz GmbH Co KG Notice Pilz GmbH amp Co KG reserves the right to make amendments to this document at any time The examples given serve only as illustrations No guarantee is given for their suitability in particular applications Although the utmost care has been taken in the production of this document no liability can be accepted for any mistakes that it may contain We welcome any suggestions for the improvement of our products or documentation We reserve the right to make technical changes which lead to the improvement of the product Previously published editions Version Notes 12 2001 Initial version valid from software version version 2 01 V1 16 07 2002 Revised version valid from software version 2 03 V2 20 11 2002 Revised version valid from software version 2 04 V3 10 06 2003 Revised version valid from software version 2 05 V4 11 05 2004 Revised version
8. Y Peer With the service bar you have a direct access to important service functions of the servo amplifier CLEAR FAULT dhl h e SAVE LOAD SAVE PTerm Starts PTerm exe PScope Starts PScope exe PEdit Starts PEdit exe Save Saves the current parameter motion task data set to a data medium hard drive floppy disk If the data set does not yet have a file name you will be prompted to enter a name and storage location Load Opens a parameter file A parameter data set is read from the data medium hard drive floppy disk If there is an active connection the data set is downloaded to the servo amplifier Save data in EEPROM Non volatile storage of the currently valid parameter set in the EEPROM of the servo amplifier In this way you can permanently save all the parameter changes that you have made since the last switch on reset of the servo amplifier Load default parameters to RAM EEPROM Cancel all the parameters that have been set up and load the manufacturer s default values STOP amplifier Stop the currently active service function and disables the power stage ENABLE Enables the power stage DISABLE Disables the power stage RESET amplifier Software reset of the servo amplifier Clear Fault Clear the present errors and warnings Page 15 8 Use 8 3 5 Status bar Current information about the data communication is shown here 8 3 6 Select servo amplifier Serv
9. E HS BS es E PMCtendo DD4 v Page 14 Tool bar 1948432568 MPSA EE ite 080000 en LU pmctendoDDA All symbols of the toolbar and their meaning Standard Windows New open save Search print send Connect Disconnect PC lt gt amplifier Reads actual parameters from the amplifier Clicking again diconnects the communication Save parameters to EEPROM Saves the current parameter data set permanent in the EEPROM of the servo amplifier Load default parameters to RAM EEPROM Reset all parameters and load the default parameters to RAM EEPROM PTerm Starts PTerm exe PScope Starts PScope exe PEdit Starts PEdit exe PMotion Starts PMotion exe STOP amplifier Stopps the current service function and disables power stage ENABLE Enables power stage DISABLE Disables power stage RESET amplifier Software reset of servo amplifier Clear Fault Clears the current errors and warnings Help topics Starts online help for PDrive Info Displays program information version number and copyright of PDrive Current device In offline mode selection as to whether a DD4 DD5 or PMCprotego D parameter file is to be created In online mode displays whether there is a connection to DD4 DD5 or PMCprotego D User Manual for Setup Software PDrive 8 Use 8 3 4 User Manual for Setup Software PDrive ye Service bar 7 j E STOP RESET CLEAR
10. Ethernet 192 168 1 16 Lancel Modern Serial COM Serial COM Serial COM 4 Serial Connection with on off Handshake at 9600 Baud Automatically connect when program starts Delete Connection parameter Device Baud rate Handshake PMCtendo DD4 PMCprimo Drive2 9600 XON XOFF PMCtendo DD5 PMCprimo Drive3 PMCprotego D 38400 XON XOFF User Manual for Setup Software PDrive Page 9 8 Use Page 10 PDrive is now reading the actual parameters of the servo amplifier A previously opened data set in PDrive will be overwritten with the new data Connect PC lt gt amplifier F Connecting to the servo amplifier Reading parameters From the servo amplifier If there is no communication possible you will receive this message Could nok connect to the servo amplifier In this case check the following 1 Is the servo amplifier s 24V supply voltage connected Has the correct PC interface been selected Has the correct servo amplifier interface been selected Has an incorrect connection cable been used ey 5 Has the correct baud rate been set Find the error rectify it and then restart the connection User Manual for Setup Software PDrive 8 Use 8 3 Screen layout i Demo pdr PDrive not connected Sel File Communication Yiew Programs Service Tools Title bar EE SES S o BE BH goe OO OO e i PmMctendo DDA E
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12. valid from software version 2 06 V5 24 02 2005 Revised version valid from software version 2 07 V6 23 08 2005 Revised version valid from software version 2 08 V7 16 11 2005 Revision V8 03 05 2006 Revised version valid from software version 3 0 V9 12 10 2007 Revised version valid from software version 3 1 V10 18 01 2008 Revised version valid from software version 3 2 V11 02 03 2010 Revised version valid from software version 3 3 V12 02 04 2012 Revised version valid from software version 3 4 User Manual for Setup Software PDrive 2 Table of contents 2 Table of contents 1 General Into Mat Nissan li ideados 2 1 1 e ee EEN 2 CR e e EE 2 a Previously EE HERE eer 2 2 Table Ol COMMIS armonia E eco E E N 3 3 nn e 4 4 oale ly GUIG Elle irrita AEREE 5 5 ee IER Manda lacas aorta alias liarla 6 6 Prescribed use Use as directed ccccssseeccesseeeceenseeseenseeseennsessonseesseaees 7 7 BES CU ON ori aaa caco 8 7 1 Hardware reourements EE 8 7 2 Installation under Microsoft Wmdows 8 8 PP e o E E 9 8 1 O E o q AA 9 2 COMEN a oa race 9 o RE PAP E E E 11 a 12 E WON AA 12 lt a 14 A EE 15 830 US EE 16 8 3 6 Select servo ampler nE EEE EEEE EE EEEN ESEE 16 o scrii eC ee N EEE 17 9 Seite le EE 18 9 1 Eeer 18 encore tenceeasnbacnenaeheaanucenanandl 18 ala EE 19 GE CAR ele EC 20 JA FEUD K EE 21 GES ER MO EE 23 MO Cunen col ee Ee 25 9 1 7 Spee
13. Tools and follow the instructions User Manual for Setup Software PDrive 8 Use 8 1 8 2 Use Notes The setup software is basically used in the same way as other Windows programs Use a decimal point as the decimal symbol do not use a comma Please note that after an alteration in a parameter on a screen page you must first press Return or select an other parameter on the page so that the parameter is transferred to the RAM of the servo amplifier If a reset of the servo amplifier is necessary to activate a function this will be recognized by the setup software which will make a reset after a software confirmation request The currently valid data set must be saved in the EEPROM of the servo amplifier in order to be permanently stored So execute the Save Data to EEPROM function on the service bar before you switch off the servo amplifier or quit processing the data set Connection Connect the interface cable to a serial interface on your PC and to the serial interface of the servo amplifier Start PDrive exe and click to the button Connect PC lt gt amplifier PDrive is trying to read data from the servo amplifier If you have never started a communication before you have to configure the communication parameters first PTerm Connect to Choose a connection set the connection parameters and click Use a connection you ve already defined or Caos to Connect create a new connection
14. direction Initial point at limit switch from reference switch Positive traverse positive count direction N F N P e e SP oF Vref Vref gt S VW S Vref Vref Initial point in negative direction Initial point at limit switch from reference switch The meanings of the abbreviations in the drawings are N Limit switch NSTOP P Limit switch PSTOP SP Start position feedback zero mark R Homing switch vref preset velocity NM Page 36 User Manual for Setup Software PDrive 9 Project window 9 2 1 5 Homing type 3 Before starting homing check the safety of the system since the load may move even if the limit switches are disconnected or defective Homing with limit switches with homing switch without feedback zero Negative traverse positive count direction N R gt N R gt N R gt spt spr spt F veer T Vref y T Vref _ _ um S S 5 Vref 7 Vref Vref Initial point at limit switch Initial point in positive direction Initial point in negative direction from reference switch from reference switch Positive traverse positive count direction N R PIN A Su A RH spr es E T Vref Vre FVref a mo S S S Vref Vre
15. n4 5 a E Error A3 4 gt Hext Infos A2 3 S InPosition Ai 2 Start MIT Ho x An d S MT_Restart ERR Z Y This screen is available only if an I O extension card is inserted into the servo amplifier The status of the 14 additional inputs and 8 outputs is displayed here Page 50 User Manual for Setup Software PDrive 9 Project window 9 5 3 Expansion card Profibus Baud Rate KB aud Address PROFIBUS Interface States Watchdog State DP State Input Output Butter PEE IND Output PEE IND Input PPO Type Profibus DP Expansion card PHO Ident no PEW PAE FWE M tendo DO 4 F Bus Control Interface Dutput gt Input gt P20 Profibus STW ASW PZDS PzD4 PzD5 H lt Za Hw PzD03 PzD4 P4065 H lt Device Control This screen is available only if a PROFIBUS extension card is inserted into the servo amplifier The PROFIBUS specific parameters the bus status and the data words in the transmit and receive directions as seen by the bus master are displayed on this screen page This page is helpful when searching for errors and commissioning the bus communication The data for input output are only transferred if the threshold monitoring for the servo amplifier is active in the master s hardware configuration Instrument Control e Profibus Device Control Control word 5 T OO MM OT E to hm CH ak oO OD BEE ER EE OT E GO Pi Sitch
16. 3 IA DEE 18 a EE 4 18 LEE 12 AR ee een er ee EN 26 H MN 26 A 47 MM 26 PI ae E 47 VOSPD eee 96 PBALMAX 18 VREF 34 EES ONE Eegeregie 18 VSC ALE OE 39 FS WHIT A 10 vey Ni 30 PEINPOS AAA AAA 40 VSTART A 24 PEMAX Aa 40 MON 19 DGEART 19 TTT o 19 DM porimgo 4 6 9 13 W PMODE EN 18 S CN 40 WPO E 47 Position regtster 47 is A a 47 o A 33 Eege 47 Profibus DP 51 UA EE 47 POOT un opener eee etree ere een eee ner een eee 12 User Manual for Setup Software PDrive Page 55 suoisenb Aue aney noA y yoddns esiuyaa JNO ELO asea g UOUELLLIOIL SIU Ul pajuasald solydeb pue x ay jo jelnyue pue oelmooe AUDIUEA ay 104 niqisuodsax OU jdeooe am jueudinba y jo LLOZ DA OCH Y HAWD Zlld adoos ay pue uoryeo1gnd jo au ay ye SNye s ay uo Bulpuadap jusuun9op SIU ul paes siiejep ay wo Aea Aew saines jonpoxd ey no JUIOd pinom am sanunoo auos ul HOY 09 Y HAWS Zjid JO ue ua ul Doud YO 2103 ZL NI LLSLZ SM 2USpe pajoajoJd pue paxa sibal ase Ajayes jo MIAS ay gd 13N4 JSJeS 9JAJ LOJES od SNI LIES oSlAd 9SSA SNISA OU ZONA ollNd OB3IOIADNA alld eil ed LINLINPpUI qu K af WER KL ez S USN SIS c Tt e cS e UN E Qo9o ia M Bn a Oo Ee Di opo oO SOT N D Q Coax 0 a BS DO E YO d odno O EO E st st GI O o gt oO QS CO O E sf gt a o 5 0 u O e UI e E D Y 3 O NN y O i O KU O Je D gt 2 Pae aot
17. CAPT PMCtendo DD4 only Determines the triggering edge and thus the quiescent level of the clock line Change this only while the amplifier is disabled SSI Mode SSIMODE PMCtendo DD4 only Determines the encoder type Single turn or Multi turn User Manual for Setup Software PDrive 9 Project window 9 1 11 Digital UO Digital 10 Digital Inputs Function Wars Input 7 Input 2 Input 3 Input 4 Ditital Outputs Function Wars Output 1 D Off Pei 0 Output 2 U ort wi U Input 1 Input 4 IN1MODE IN4MODE The command is used to configure the function of the digital inputs Var x INI TRIG IN4TRIG Auxiliary trigger variable for the digital inputs Output 1 Output 2 O1MODE O2MODE You can combine the following standard pre programmed functions with the digital outputs Var x O1TRIG O2TRIG Auxiliary variable for the digital outputs User Manual for Setup Software PDrive Page 31 9 Project window 9 1 12 Page 32 T DDA Analog I O Analog 10 Analog Inputs Function 1 Analog In 1 Velocity Cmd Analog In 2 Current Cmd Analog Input 1 Analog Output 1 Offset O ri Filter 1 me Velocity Scale 3000 rome ON Current Scale E ATOM Analog Input 2 Analog Output 2 Offset O ry Velocity Scale S000 rome Oh Current Scale E A Velocity Deadband 0 rei Analog Inputs Function ANCNFG The ANCNFG command configure the analog inputs Offset ANO
18. FF1 ANOFF2 Adjust the axis to standstill while the setpoint SW 0V Filter AVZ1 AVZ2 You can enter a filter time constant here for setpoint 1 clock rate 8 kHz 1st order filter Velocity Scale VSCALE1 VSCALE2 Scaling of the speed setpoint value Current Scale ISCALE1 ISCALE2 Scaling of the torque setpoint value Velocity Deadband ANDB Suppresses small input signals Analog Output 1 2 ANOUT1 ANOUT2 PMCtendo DD4 only Configuration of the analog outputs User Manual for Setup Software PDrive 9 Project window 9 2 9 2 1 GGG Positioning Homing Homing Homing Direction of Motion 1 positive Bud Homing Speed DUU ums Reference Offset 0 counta Acceleration Ramp 10 me Deceleration H app 10 me Reference traversing homing is an absolute task that is used to zero the drive for subsequent positioning operations You can choose between various types of homing After homing the drive reports InPosition and then enables the position controller in the servo amplifier The limit switch functions 2 PSTOP and 3 NSTOP must be activated for digital inputs 3 or 4 to achieve full homing functionality Be sure that the zero point of the machine reference point is in a position that allows the subsequent positioning operations The software limit switches that were set as parameters may be ineffective The axis could move to the hardware limit switch or even the mechan
19. Overspeed VOSPD Determines the upper limit for the motor speed If this limit is exceeded the servo amplifier switches into the fault condition Count direction DIR PMCtendo DD4 only Fixes the direction of rotation of the motor shaft referred to the polarity of the setpoint Acc Ramp ACC Limits the rate of increase of the internal setpoint processing during acceleration to the speed limit valid for both directions A jump or step in the setpoint that is provided will be turned into a smoother more favourable transition Dec Ramp DEC Limits the rate of decrease of the internal setpoint processing during braking to the zero speed valid for both directions A jump or step in the setpoint that is provided will be turned into a smoother more favourable transition Emerg Dec Ramp DECSTOP The breaking ramp for emergency breaking Disable Dec Ramp DECDIS When the output stage is disabled removal of the hardware or software enable the internal speed setpoint is set to 0 using the preset DECDIS ramp Pl Plus GVFR With the default setting the speed controller functions as a standard Pl controller with slight overshoot in the step response Prop Gain Kp v GV Determines the proportional gain Int Time Tn_v GVTN User Manual for Setup Software PDrive 9 Project window Determines the integral action time integration time constant J PID T2 GVT2 PMCtendo DD4 only DDA Affects the prop
20. R Ma Tool bar Y Setup Basic Set Menu bar ee E CAN Fieldbus Feedback Motor Current Loop velocity Loop Position Loop Project window Electronic Gearing Encoder Digital UO Analog UO ei Positioning Homing Position Data Motion Tasks 3 Position Registers E Expansion Card A Status Monitor Main window Servo amplifier selection Drive Standalone CANopen OFFLINE Servo amplifier mode Expansion Card Axis e EE Hardware Software Connect PC lt gt amplifier D Digital Velocity v none Service bar Mz gt a ll eH Ce o COST evr S ER eg For Help pre NUM O R Status bar Title bar The program name and the name of the currently opened document are displayed in the title bar Furthermore the connection status will be shown connected or not connected Tool bar The typical Windows style buttons can be used for a direct start of individual functions Menu bar Access to several program functions using Windows menus Main view The main frame allows changing parameters monitoring actual values of the servo amplifier and selecting functions The lower part of this window shows the communication status the operate mode the expansion cards and the axis status In a network the servo amplier can be changed in this window too Service bar Service functions for operating the servo amplifier Status bar Current information about the data communication is shown here Project window In a structure similar to Windows Ex
21. a amplifier selection Drive Standalone CANopen Tl 1 1 Primo motion control 1 Channels 10 Version O0FL Jul 9 2007 75 59 17 Ger 200 we 0 1 Primo motion control 16 Channels 20 Version 2 0071 Jul 9 2007 15 56 13 Ser Nr 12 H Node 0 CAN CARD2 tendo D04 5001 at ADDR 3 05402 1 1 Primo motion control 1 Channels 10 Version 2 007L Jul 9 2007 15 59 17 Ser Nr 2001 2 1 Primo motion control drive 3 Channels 10 Version 2 007L Jul 92007 15 59 17 Ger Nr 2280 3 1 Primo motion control 2 2 Version 2 00L Jul 9 2007 15 53 10 Ser Nr 102 tendo DDS 5343 at CON ADDR 2 D402 In a network you can change the actual servo amplifier here The following message box appears A Change serwo amplifier After clicking Yes PDrive reads the data of the chosen servo amplifier Page 16 User Manual for Setup Software PDrive 8 Use 8 3 7 Project window In a structure similar to Windows Explorer links to all screen pages are listed that you need for setup optimizing and monitoring of the servo amplifier The selected screen is shown in the main frame E I PMCprima Drive 2 MOTORS Tl Setup ay Os Os OG OR OR GO HM E gf Pos ES Ss 13 Basic Setup Units CAN Fieldbus Feedback Motor Current Loop Velocity Loop Position Loop Electronic Gearing Encoder Digital 1 0 Analog UO itioning Homing Position Data Motion Tasks Fosition Registers Expansion Card 1 Status Monitor Use
22. ange but the offset is used as a reference value within the position control of the servo amplifier Homing to the reference switch does not finish at zero but at the preset reference offset value The reference offset must be set before homing is started Acceleration Ramp ACCR Acceleration ramp for homing operation This ramp is also valid for jog mode Deceleration Ramp DECR Deceleration ramp for the homing operation This ramp is also valid for jog mode This deceleration ramp is only used if the operating mode allows it For homing to a hardware limit switch the emergency ramp Is used User Manual for Setup Software PDrive 9 Project window 9 2 1 2 Homing type 0 Sets the reference point to the setpoint position the following error is lost The load does not move 9 2 1 3 Homing type 1 Before starting homing check the safety of the system since the load may move even if the limit switches are disconnected or defective Homing without limit switches with homing switch with feedback zero Negative traverse positive count direction Negative traverse negative count direction e SP SP F Vret Vref pa feme pm a gt Vref Vref Homing with limit switches with homing switch with feedback zero Negative traverse positive count direction
23. arameter determines the deceleration braking time from v_cmd to zero User Manual for Setup Software PDrive Page 45 9 Project window 9 2 3 3 Page 46 Next Motion Task Select whether a new motion task should be started automatically after the present task is complete The InPosition signal is only enabled when the last motion task no further task is processed You can use the output function 16 Next InPos to generate a signal at a digital output when each target position within a sequence of motion tasks has been reached Next Number The number of the next task which starts automatically after the current task is complete Acc Dec Select the action to be taken when the target position for the present motion task is reached on v 0 The drive brakes to a stop in the target position The next motion task is then started beginning at The drive moves at v_cmd of the present motion task to the target position target position and then accelerates through to v_cmd of the next task complete at The changeover to the next task is brought so far forwards that the v_cmd of target position the next task is already achieved by the time the target of the present motion task has been reached Start Condition immediately The next task is started as soon as the target position is reached I O The next task is started by a signal at a digital input one of the terminals X3 11 14 Thi
24. ce The velocity can be defined in the motion block or provided as an analog setpoint digital digital setpoint provision through v_cmd Analog IN1 analog setpoint provision at input An In 1 terminals X3 4 5 is used The value is read at the start of the motion task V cmd This parameter determines the velocity of movement for digital setpoint provision If v_max is set to a value less than v_cmd at a later time the position controller uses the smaller value User Manual for Setup Software PDrive Page 43 9 Project window Page 44 User Manual for Setup Software PDrive 9 Project window t_acc total This parameter determines the acceleration ramp steepness depending on the selected units t dec total This parameter determines the deceleration ramp steepness depending on the selected units Ramp Determines which type of acceleration braking ramp is used to carry out a motion task Trapeze The drive is given a constant linear acceleration deceleration to the target speed Sine To limit any jolting the drive is accelerated decelerated within the acceleration time along an acceleration ramp without any disruptions The resulting speed characteristic corresponds to a sine curve The profile is stored in a table in the servo amplifier variable The acceleration braking ramps can be adjusted Acc Ramp T1 This parameter determines the acceleration time to v_cmd Dec Ramp T2 This p
25. d Keele ge acosado idad 26 9 1 8 POSO eet rell 28 9 1 9 Electronic EES 29 A e 30 SEO iii 31 CN e Kn e ie T EE 32 A A Me Le DE 33 deal le nl snoot oia 33 42 a 40 AS O A A E A E E E T 42 324 Position egil tea Eao 47 Jo SIA ooo EAER 48 GER de e E 48 9 5 Screen page Expansion Card 49 9 5 1 Expansion card DAT sra 49 32 e E ae aA D E 50 9 0 9 Profibus EIERE 51 9 5 4 Expansion card PICO MOisccisnisrion ideada recci n lssa dencia 52 95 6 Expansion Card ele ee EE 53 o a 54 User Manual for Setup Software PDrive Page 3 3 Symbols Page 4 Symbols Symbol A Meaning This symbol indicates a possible danger hazard risk to life and or health Ignorance may seriously affect health and cause dangerous injuries Iss This symbol indicates an important hint regarding the correct use of the product Ignorance may affect the performance of the machinery and or the surrounding This parameter applies only to a PMCtendo DD4 and PMCprimo Drive2 DDA TI This parameter applies only to a PMCtendo DD5 and 2 PMCprimo Drive3 DDS Pralego This parameter applies only to a PMCprotego D VER Reference to the according command in the onlne help example command VERT e Emphasis gt see page cross reference User Manual for Setup Software PDrive 4 Safety Guidelines 4 Safety Guidelines e When commissioning you must ensure that neither the controllers nor the amplif
26. e expansion card is configured using the software PASconfig SDrive If PDrive detects an installation of the PMCprotego S configuration software a button to start activate PASconfig SDrive will automatically be displayed User Manual for Setup Software PDrive Page 53 10 Index 10 Index A Eege 26 52 A A 34 PC GIN coran ica ita 19 NEE 20 ir TE 19 PIS POPE PE oo 18 O A aa 32 AN NONE rosado eae 32 KT ER ANOP MED 32 A O Fe 32 ANOU WEE 52 PINOUT EE 32 Ce Rue 32 ARI estarse rotas 27 AREE T oa 27 Gy ee A E E 32 Nee ER B BASIC setup 18 A 19 C SAW role 49 A A A 49 CAN lee TEE 20 ODA DO anodino 20 Communication 12 CYCLEMODE cistisaneisinrorborianria ioien 49 OYOLE EE 49 D eege 50 BEE 49 DE e 26 52 Be Ki 26 DECI OIE PO 34 PEO TOP ear TE 26 Digital lOs noni 31 HIE 21 26 28 29 Eege 34 E EGEAR ME 28 EGEARO cronica 28 Electronic Geartmg 29 ENCOAP WE 30 ING IN sirios EET 28 29 Seil LEE 21 ENCMO DE Suar aia 30 ENCOA EE 30 ENC OUT oeno a ecata 30 ENCZER EE 30 SC TR 40 Page 54 Expansion Car 49 Expansion card DAT 49 Expansion card DM omg 52 Expansion card PMCprotego 6 0068 53 SR e 28 ak 20 F A na 21 12 Fees NCO E oscense soii ccoeotepustotleiacad 21 o een eee ree eee 20 52 G Si 1 E WE 29 ca 29 SEENEN nneren Eesen 29 5 EE 29 EE 24 Cr DE 24 EE 28 GREPP KEE 28 A EEN 28 A BE 28 E noel ropa 28 Osa yc ae teow oda ieee ci 26 QUAD asociaciones 27 A e t
27. ee 26 NT 27 TN RE 26 H a EE 18 TLIN e E E 25 L KEE 25 INT MODE socere eea EA 31 INTR EE 31 INAMODE REENEN 31 JEE AR C E 31 Je VE e DT 8 A En 25 IS BEE 25 SOLE BE 32 e EE 32 K UI ocioteca ies 25 L toas 23 User Manual for Setup Software PDrive 10 Index M Project wmd 18 PTMIN couiscit nindascrriciinndicid s 41 MAXTEMPE ss 19 52 PUN tapioca iolieot 19 MBRAKE 29 Ee 40 e EE 24 AS option ploteo 40 UA a a E E covcceieennacany 24 MO E EN 24 R VE 24 MINTE 23 BEE 25 ll EE 24 RK 99 MINSA aereo recreacion ene ee 8 ROFFS QA 34 MIPE AK A ne nee PT oe CC E AA eee A me en 23 MEGO ME 25 S MONO iaa 48 a 23 Select servo amplifier oooooooonnnnnncnnnno 16 MPA S Esmosstabe roland dad 21 SERIA EN sins eines 18 le 23 SOIVICC oo eeceeccecceccecceeceeceeeceececcueceeeateaeeesaaeees 13 VIE 21 ele racer 18 MDHEGbPOLES cece eeeeceececeeeceeeeeeeeeeeeeaeeess 21 CRNE EE 40 VE 23 o a 30 MSPEED ME 23 lt A A 30 MTANGLP EE 24 SSIMOD EE 30 MTIME cocaleros 23 SOLO ME 30 ORK 24 SoOIREVO eebe ees 22 30 MITRE occ 23 O SS 22 30 AP a 23 SOTO ER 30 MU EE 24 EE 48 MVANGLR 24 SWONEG occncccnnccnncconononncnnnnnnnncnnncnnnnnnncnnoninns 41 MVANGLE cint nniimsicniaa iia cri 24 SS EE 41 OK D EE 24 UE 41 O IE SAO EE 20 52 N T VI EE 34 TOO ia 13 RI ENEE 18 O O1MODE een 31 V A EE 31 O2MOD E EE 31 VWBUSBAL coooconcccncccnnccnnccnnncnoncnnnnnnnncnnncnnnanoness 18 Sa A Un EEN 31 NO rotatorio clio col atera 2
28. ent Irms are limited for the duration of the homing run A more severe limiting of the current is possible see parameter Homing Ipeak on screen page Current Loop Mechanical stop without limit switches without homing switch without feedback zero Negative traverse positive count direction Positive traverse positive count direction N N S NS P Y m Vref F Vref ref Vref Vref gt e MN The meanings of the abbreviations in the drawings are N Limit switch NSTOP P Limit switch PSTOP SP Start position R Homing switch vref preset velocity NM feedback zero mark User Manual for Setup Software PDrive Page 39 9 Project window 9 2 2 Page 40 Position Data Position Data Settings Software Limit Switch Asis Type Mo at Position El 1 Neg Sw Limit Switch 0 Mas Following Error Y max pos DJ 2 Pos SW Limit Switch D 262144 counts 10000 ums In Position window Y mas nea 4000 counts 10000 pms Modulo Start Position a max 10239999 counts 49 me Modulo End Position 10239999 counts Axis type POSCNFG Here you select whether the axis is to be operated as a linear or a rotary axis Linear axis A linear axis is an axis with a limited range of travel A linear axis moves within the traversing limits that are given by the software limit switches both absolutely and relati
29. ermanently stored 192 255 RAM none volatile storage When the servo amplifier is switched on the RAM motion tasks are automatically initialized with the parameters of the EEPROM motion tasks 1 64 Motion task No Memory Precondition Note 1 200 EEPROM output stage disabled permanently stored 201 300 RAM none volatile storage When the servo amplifier is switched on the RAM motion tasks are automatically initialized with the parameters of the EEPROM motion tasks 1 100 All motion tasks are represented in tabular form All motion task parameters can be entered in the table directly The standard Windows operations are available Cut Copy Paste Delete The clipboard operations cut copy and paste are only possible for complete rows so for these operations the appropriate row must be selected A line can be selected either by clicking on the row number or through the keyboard shortcuts lt Shift gt lt Space gt Double clicking a line number in the table opens the screen page for the associated motion task The SW enable is automatically set when the motion task starts The motion task is only started in OPMODE 8 However the SW enable is set in all OPMODEs The drive can be accelerated by an analog setpoint that is applied if the START command is executed in OPMODE 1 or 3 The motion task is not started if the target position is beyond the defined SW limit switches warnin
30. f Vref Initial point in positive direction Initial point in negative direction Initial point at limit switch from reference switch from reference switch 9 2 1 6 Homing type 4 Homing with limit switches without homing switch without feedback zero Negative traverse positive count direction N H N P SP SF a ese L F Vref Bes e pue 5 gt Vref Vref Initial point in positive direction Initial point at limit switch from limit switch Positive traverse positive count direction N pa N P e So SP F Vref F Vref o e Vref Vref Initial point in negative direction Initial point at limit switch from limit switch Page 37 User Manual for Setup Software PDrive 9 Project window 9 2 1 7 Homing type 5 Behavior for successively repeated starts of Homing 5 The position controller can only hold the motor in the zero position by passing the zero mark by 1 count On a repeated start of Homing 5 depending on the position 1 count in advance of or 1 count behind the zero mark and the count direction the movement may be a full motor turn Homing with limit switches without homing switch with feedback zero Negative traverse positive count direction Positive traverse positive count direction B P SP SP Vref Vref
31. fier are displayed here Compare to the runtime status you can simply calculate when an error occurs Top left is the error history with the time run time when the error occured Top right is information about the frequency for every error Below these frames the actual errors and warnings are listed You can find a list of all warnings and error messages in the installation manual of the servo amplifier 9 4 Monitor Monitor Description Parameter Actual Value Unit Digital In Outputs Ft Drive DAT E z Ft Motor Ml2T E IN S Effective Current A Current D Component ID A pa Current D Component IO A IN2 e Bus Voltage VII V Regen Power FEAL W 5 Heat Sink Temperature TEMPH ale NZ Internal Temperature TEMPE E Motor Thermistor Resistance TEMP Ulm NA 5 Mechanical Angle of Rotation PRO mech Angle of Rotation PAD Ino Actual Velocity y rpm 5 Velocity Command CMD rpm SE Position PFE counts Following Error PE counts OUT P Analog Input 1 ANINI mi Analog Input 2 ANIM mV ASCII Command 1 OUT a ASCII Command 2 ASCII Command 3 ASCII Command 4 ASCII Command 5 All important parameters are displayed Additionally you can see the value of 5 parameters Fill in the ASCII names of the parameters you want to see Page 48 User Manual for Setup Software PDrive 9 Project window 9 5 9 5 1 Screen page Expansion Card The design of screen page expansion card depends on the installed expansion card Expansion card DA1 Ex
32. g messages n06 n07 and n08 User Manual for Setup Software PDrive 9 Project window 9 2 3 2 Edit Motion Task Parameters x Motion Task 4cc Dec Next Motion Task Mumber 1 Lac total without i 0 me Unit t_dec_total Next Humber Counts La 0 me Type Ramp Ace Dec Absolute iw Trapeze a emd Acc Ramp T1 Start Condition 0 counts me V cmd Source i Dec Ramp Te Start by 1 0 Edge Digital me Y cmd ly EES Delay Time 0 counter Zus i me Te SSC Number Displays the active motion task number Unit Unit for path and speed entries See screen page Units Mechanical Type This selection determines whether the motion task is interpreted as a relative or an absolute task Absolut movement to an absolute target position relative to the reference point Relativ soll relative to last target setpoint position in connection with motion block changeover e g summing operation Relativ st relative to actual position at start in connection with motion block changeover e g register control Relativ In Pos when the load is in the InPosition window relative to last target position when the load is not in the InPosition window relative to actual position at start Relativ Latch pos contact our applications department Relativ Latch neg contact our applications department x_cmd This parameter defines the distance or the target position depending on the motion type V_cmd_ Sour
33. he system printer or saved to a file Print preview Use these functions in the same way as for any other Windows Print setup software Send Sends the actual data file via E mail Exit Terminates the program Communication Connect Disconnect PC lt amplifier Connect or disconnect PDrive and servo amplifier Save parameters to EEPROM Saves the current parameter data set permanent in the EEPROM of the servo amplifier Load default parameters to RAM EEPROM Reset all parameters and load the default parameters to RAM EEPROM View Toolbar Status bar Service bar Switch to show hide the toolbar above or the service bar and status bar below Programs PTerm PScope PEdit PMotion Starts the tools PTerm terminal program PScope scope function PEdit text editor or PMotion motion generator User Manual for Setup Software PDrive 8 Use Service STOP amplifier Stops the current service function ENABLE amplifier Enables the servo amplifier by software DISABLE amplifier Disables the servo amplifier by software RESET amplifier Software reset of servo amplifier CLRFAULT Clears the current errors and warnings Tools Options Settings for using the program Show tooltips Default values for PMCprimo Drive User Manual for Setup Software PDrive Page 13 8 Use 8 3 3 A
34. ical stop There is a risk of damage If the reference point zero point of the machine is approached with excessive velocity for instance because of high moments of inertia it may be overshot and in the worst case move to the hardware limit switch or even the mechanical stop There is a risk of damage The position controller cannot be operated without first making a reference traverse homing A homing reference traverse must be made after the 24 V supply voltage has been switched on The start signal must not be removed during homing The start signal must remain present until the InPosition message appears The SW enable is set automatically when homing starts Homing is only started in OPMODE 8 However the SW enable is set in all OPMODEs The drive can be accelerated by an analog setpoint that is applied if the START command is executed in OPMODE 1 or 3 User Manual for Setup Software PDrive Page 33 9 Project window 9 2 1 1 Page 34 Homing NREF You can choose which type of reference traverse should be performed No Function Reference point is O Set Home Reference the setpoint position immediately 1 Home Switch and Zero the first feedback zero mark outside the home Pulse switch 2 Limit Switch and Zero the first feedback zero mark outside the limit Pulse switch 3 Home Switch without Zero the edge of the home switch Pulse 4 Limit Switch without Zero the edge of the limit swi
35. iers present any risk to persons plant or machinery Appropriate protection and precautionary measures must be put in place e To avoid personal injury and material damage only qualified trained personnel should work on the devices Only specialist staff with extensive knowledge of drive technology and control engineering should be permitted to program a running drive online Data stored on data media is not protected from unintended changes by third parties Data must be checked for accuracy before it is loaded on to the hardware e The installation and operating instructions must be read carefully and all safety regulations observed before installation and initial operation as danger to personnel and damage to machinery may be caused Only qualified and well trained specialists who are familiar with the transportation installation initial operation maintenance and operation of the units as well as with the relevant standards may carry out the corresponding works e Technical data and indications Type tag and documentation are to be kept absolutely User Manual for Setup Software PDrive Page 5 5 About this manual Page 6 About this manual This documentation explains the use of the PDrive exe setup software for setting parameters and configuring servo amplifiers of the PMCtendo DD4 5 PMCprimo Drive2 3 and PMCprotego D series The series PMCprimo Drive2 3 differ from the series PMCtendo DD4 5 only in the motion c
36. iers to suit the mains power supply voltage or the system conditions for multi axis systems with parallel connected DC link circuits Response to Loss of Input Phase PMODE Handles the message Phase missing Hardware HVER Display the version and revision level of the servo amplifier hardware Firmware VER Display the version and revision level of the servo amplifier firmware Name ALIAS Here you can assign a name 8 chars max to the servo amplifier Serial Number SERIALNO Display the serial number of the servo amplifier Run Time TRUN Display the operational time of the servo amplifier saved at 8 min intervals User Manual for Setup Software PDrive 9 Project window Ambient temperature switch off threshold MAXTEMPE Definition of the threshold for the maximum permitted ambient temperature If this value is exceeded an error is triggered Set Software Enable on Bootup AENA Definition of the status of the software enable on switching on the instrument or after using Reset to clear errors Quick Boot BOOT This can be used to change the behaviour of the amplifier during the initialisation phase If Quick Boot is activated the internal servo amplifier settings will only be recompiled when changes are made 9 1 2 Units Units User Units Position D Incr wi Velocity 0 Standard Mode ka Acceleration 0 me Ke Mechanical Conversion 1048576 counts Resolution
37. its SSIREVOL PMCtendo DD5 and PMCprotego D only Defines the number of multi turn bits in an SSI communication Number of SSI bits to read SSIRXD PMCtendo DD5 and PMCprotego D only Establishes the number of SSI bits to read Resolver Signal RK The RK parameter can be used to correct any amplitude difference that may exist between the sine and cosine signals from the resolver Press the button Calculate RK for automatic calculation No overvoltage surveillance DRVCONFIG Bit 6 Monitoring of the maximum voltage of the sine cosine encoder at X1 is deactivated No overflow surveillance DRVCONFIG Bit 7 Overflow monitoring of a multi turn encoder is switched off Single turn executed as multi turn encoder DRVCONFIG Bit 8 A single turn encoder is treated as a multi turn encoder The absolute position within a revolution is taken on power up A reference run is not required Angle of rotation Shows the mechanical angle of rotation User Manual for Setup Software PDrive 9 Project window 9 1 5 Motor Motor Motor Type Current Advance elect 1 Rotary Motor w D 0 Inmas lo Number of Poles Motor Unit Limit Phi elect 5 A 6 0 1 min K an lo max L ao mH Stator Wind Resistance ll 1 2000 Maumum Speed Brake SE di 3000 rpm Or without w Velocity threshold commutation error 1500 ron Motor Type MTYPE MTYPE sets the amplifiers control algorithms to different motor ty
38. ng current by increasing speed during field weakening Slip Correct Factor MCTR Induction Motor only Correction factor for the rotor armature time constant increases the torque in the field weakening range stationary range Rated Frequency MFR PMCtendo DD5 and PMCprotego D with asynchronous motor only Rated frequency of the asynchronous motor Rated Voltage MUR PMCtendo DD5 and PMCprotego D with asynchronous motor only Rated voltage of the asynchronous motor Initial Voltage Factor VSTART PMCtendo DD5 and PMCprotego D with async motor only Initial voltage as a fraction of the rated voltage Power Factor MCOSPHI PMCtendo DD5 and PMCprotego D with async motor only Power factor of the asynchronous motor User Manual for Setup Software PDrive 9 Project window 9 1 6 Current controller Current Loop LAA LOS Ipeak pos Proportional Gain kpi 3 A 1 337 Ipeak neg Integral Time Tri 3 A 1 216 me Homing Ipeak ES A lims 1 35 A Ft Warning DU E Ipeak pos IPEAK DDA User Manual for Setup Software PDrive Sets the required pulse current r m s value The value that can be entered is limited to the rated peak current of the motor or amplifier the lower of the two values Ipeak neg IPEAKN Sets the intended pulse current r m s value for the negative range Homing IPeak REFIP The REFIP parameter can be used to set the peak current for homing to a stop Irms ICONT
39. ontrol functionality For this reason the series PMCprimo Drive2 3 is not mentioned furthermore in this manual Parameters for the PMCtendo DD4 are concerning the PMCprimo Drive2 too and parameters for the PMCtendo DD5 the PMCprimo Drive3 Detailed descriptions of functions and parameters are located in the Object Reference Guide The setup software must be installed on a personal computer PC The PC is connected to the servo amplifier by a communication cable The setup software initiates the communication between PC and servo amplifier With very little effort you can alter parameters and instantly observe the effect on the servo amplifier since there is a continuous online connection to the amplifier At the same time important actual values are read out from the servo amplifier and displayed on the monitor of the PC Any interface modules expansion cards which may be built into the servo amplifier are automatically recognized and the additional parameters required for position control or motion block definition are made available You can save sets of data on data media archiving and load them again You can also print out the data sets We provide you with default sets of motor specific data for all the reasonable combinations of servo amplifier and motor In most applications you will be able to commission your drive without any problems just by using these default values Knowledge of the Microsoft Windows operating s
40. op Inhibit voltage Fast stop switch on 1 Operation enabled Fast stop ink ramp Pause stop rfg Setpoint enable Reset Fault Jogging ono reserved PD enable inkibit Start homing run e Manubacturer specitic Manutacturer specitic Manubacturer specitic Manutacturer pecific State Diagram Status word LW OO ol Om E w mI OCH LO Ready for switch on Switched on Operation enabled Error Voltage inhibited Fast stop Switch an inhibit Warming Setpoint actual value m Remote Setpoint reached Limit active Mode dependent Mode dependent Manubacturer speciic Manubacturer specitic Close On this screen page the bit states are displayed for the control word STW and the status word ZSW The instrument state given by the status word is made visible in the state machine The present state is shown in black All other states are shown in gray In addition the previous state is indicated by accentuation of the number for the corresponding arrow symbol User Manual for Setup Software PDrive Page 51 9 Project window 9 5 4 Page 52 Expansion card PMCprimo Ifa PMCprimo MC1P expansion card is installed in the servo amplifier servo amplifier edition PMCprimo Drive2 3 several parameters have to be set on defined values and therefore they cannot be edited by the user When connecting PDrive to the servo amplifier those parameters are checked and set automatically on their defined values Afte
41. ortional gain P gain at medium frequencies I Feedback GVFBT PMCtendo DD4 only DD A If necessary the time constant for the PT1 filter in the actual speed feedback tachometer smoothing can be altered LP Frequency ARLPF PMCtendo DD5 and PMCprotego D only Protege pp Frequency limit low pass filter HP Frequency ARHPF PMCtendo DD5 and PMCprotego D only Prolego pp Frequency limit high pass filter User Manual for Setup Software PDrive Page 27 9 Project window 9 1 8 L DDA H DDA 3 0 n eg D D D 5 Tagg DD 5 Page 28 Position controller Position Loop FF Factor Speed 1 Velocity Command Prop Gain Ep pl 0 1 Feedback Je 0 No Feedback La Count Direction 1 D negative E 1 Feedback EXTPOS The EXTPOS command defines the feedback source for the drive position control loop Prop Gain Kp p GP Determines the proportional gain for the position controller Tn GPTN PMCtendo DD4 only Determines the integral action time integration time constant for the position controller Prop Gain Kp v GPV Determines the proportional gain for the speed section of the controller FF Faktor Speed GPFFV Determines the feed forward factor for the position controller FF Faktor Current GPFFT PMCtendo DD4 only Position control loop feed forward for the current command Count Direction DIR PMCtendo DD5 and PMCprotego D only The DIR va
42. pansion card D A LAM 1 Court D Start offset 1000 Lengtk FOO CAM 3 U U U Positioning Mode 0 normal positioning 1 U 1048576 Hm Cycle length d d 11 poa Rev 1048576 Rey The expansion card DA1 is available only for PMCtendo DD4 with a special firmware version For getting information please consult our applications department CAM 1 CAM 2 CAM1 CAM2 Position cams for the digital outputs O1 and O2 Syntax CAMx number Start offset length number number of signals in one cycle max 30 Start offset Start position 1 CAM Length CAM length Example CAM1 5 1000 500 Output O1 5 CAM 1 CAM starts at 1000 each CAM 500 units long Number 0 deletes the definition Cycle length CYCLES CYCLES Defines the whole cam cyclein 2 motor cycles Position mode CYCLEMODE 0 normal positioning Rotating direction depends on the actual position 1 shortest positioning The cycle length is considered the axis takes the shortest way to the position only positive positioning The axis moves only in positive direction only negative positioning The axis moves only in negative direction User Manual for Setup Software PDrive Page 49 9 Project window 9 5 2 Expansion card D1 Expansion card Di Start MT Tipps 12 D GHD Start MT _Hext 11 244 DC F_Error_Clear 10 a Reserved Reference q eS PosReg 4 AT H gt PosReg 3 AG F gt PosReg 2 AS 6 gt PosReg 1
43. pes lo MICONT The standstill current is the r m s current value that the motor requires at standstill to produce the standstill torque defines the maximum value for the entry of Irms in the current controller lomax MIPEAK The peak current r m s value should not exceed 4 x the rated current of the motor The actual value is also determined by the peak current of the servo amplifier that is used defines the maximum value for the entry of Ipeak in the current controller H H El Therm Time Constant MTIME PMCtendo DD5 and PMCprotego D only Profego DDS Motor thermal time constant to calculate MI2T with MICONT Maximum Speed MSPEED Maximum permissible speed of the motor Limits the entry for the parameter SPEED LIMIT Number of Poles MPOLES The number of motor poles per turn of the motor L L ML PMCtendo DD5 and PMCprotego D only Prolego DDS Inductance of the motor phase phase You can take this value from the motor manual Y L L PMCtendo DD4 only DDA Inductance of the motor phase phase You can take this value from the motor manual Stator Wind Resistance MRS The parameter describes the stator winding resistance phase phase in Ohm Brake MBRAKE If you want to operate a 24V holding brake in the motor directly from the servo amplifier this parameter can be used to enable the brake function Velocity threshold commutation error VCOMM Defines the velocity threshold for commutation erro
44. plorer links to all screen pages are listed that you need for setup optimizing and monitoring of the servo amplifier The selected screen is shown in the main frame The top level of the tree shows the name of the connected servo amplifier User Manual for Setup Software PDrive Page 11 8 Use 8 3 1 8 3 2 Page 12 Title bar The program name and the name of the currently opened document are displayed in the title bar Furthermore the connection status will be shown connected or not connected Menu bar File New Creates a new parameter file Open Opens a parameter file A parameter data set is read from the data medium hard drive floppy disk If there is an active connection the data set is downloaded to the servo amplifier Save parameters Saves the current parameter data set to a data medium hard disk diskette while keeping the file name if the data set already has a name If the data set has not yet got a name you will be prompted to enter a name and storage location Save parameters as Saves the current parameter data set to a data medium hard disk diskette You will be prompted to enter a name and storage location Export as FB for SoftPLC Exports the actual parameters into a EXP file This file can be imported in the windows program CoDeSys for a Software PLC Print The current data set will be printed out You can choose whether the print data are sent to t
45. r Manual for Setup Software PDrive The top level of the tree shows the name of the connected servo amplifier PMCprimo Drive2 MOTOR3 in the example Below there is a summary of all pages for parametrization and setup of the servo amplifier Setup Positioning combines all pages which deal with moving and motion tasks Under Expansion Card you can setup expansion cards Status and Monitor display the current status of the servo amplifier and important parameters Page 17 9 Project window 9 1 9 1 1 Profaga DD E Page 18 Project window Setup Basic setup Basic Setup Power Supply Servo amplifier Regeneration Resistor Hardware 2 Internal External Firmware Mas Regeneration Power Mame yt DAMNEO Serial Number Aun Time Max Mains Voltage Ambient temperature switch off threshold 2 480 wl Y 65 E Response to Loss of Input Phase 1 Waring we C Set Software Enable on Bootup Quick B oot Regeneration resistor PBALRES Internal The internal regeneration resistor is used External An external regeneration resistor connected to the terminals Rbex and Rs is used Ohm PMCtendo DD5 and PMCprotego D only Sets the value of the regeneration resistor in unit Ohm Max Regeneration Power PBALMAX Set the maximum Regen Power Max Mains Voltage VBUSBAL This parameter is used to adjust the regeneration and switch off levels of the servo amplif
46. r monitoring H Motor Unit MUNIT PMCtendo DD4 only DDa Unit for all speed dependent motor parameters User Manual for Setup Software PDrive Page 23 9 Project window T Pratega Y DDS Delen DD E Delen DD 5 Delen DD E Page 24 Current Advance MTANGLP not for Induction Motor A current dependent phase advance to make use of the reluctance torque for motors with magnets embedded in the rotor Limit Phi MVANGLF not for Induction Motor Velocity dependent Lead Limit Phi Start Phi MVANGLB not for Induction Motor Velocity dependent Lead Start Phi Rated Speed MVR Induction Motor only In asynchronous motor mode the parameter MVR must be set to the rated speed of the motor This is the threshold for the start of field attenuation Rotor Time Constant MTR Induction Motor only Defines the rotor time constant under rated load Tr Lh Rr Lh is die magnetizing inductance and Rr is the rotor resistance Field Level MIMR Induction Motor only Magnetizing Current Induction Motor KP GF Induction Motor only Proportional gain P of the flux controller The flux controller is implemented as a PI controller TN GFTN Induction Motor only Reset I time of the flux controller Field Correct Factor MCFW Induction Motor only Correction factor for field weakening The correction factor compensates for non linearity of the motor inductance with reducing magnetizi
47. r that the access to these parameters is denied for the user The following message appears while saving the parameters on the servo amplifier a PDrive A Expansion Card PmCprimo E The primo default parameters hawe to be loaded The motor must be disabled Load primo default parameters Connect without loading primo default parameters Cancel Disconnect PMCprimo default values Analog Outputs 1 2 ANOUTx 6 Digital Inputs 1 2 3 4 INXMODE 0 Setpoint Ramp ACC DEC 1 Ambient Temperature Switch off Threshold MAXTEMPE 65 FPGA functionality FPGA 0 Source for fieldbus synchronization SYNCSRC 0 Attention The automatically loading of PMCprimo default values can be deselected in the menu Tools gt Options Changing the PMCprimo default values can cause unexpected effects in the amplifier User Manual for Setup Software PDrive 9 Project window 9 5 5 Expansion card PMCprotego S Expansion card PmMEprotego 5 ID Ho SeralNo Version PAS contig SOrive Status Interface Power G STO Hun G Contig a Speed Fault ES Error Stack hmmizz No Index CPU Error Inputs 551 551 SIL3 R eset 552 505 SLS 55A SDI Left SDI Right SBT V0OVOOOVDOO Outputs Ready STO Ack SOS Ack SDI Ack SAA Ack SBT Warming SBC SIL3STO G In online mode this view displays status information along with the error stack from a built in PMCprotego S expansion card Th
48. reater than 0 and the output stage is enabled Source for fieldbus synchronization SYNCSRC Defines the synchronisation source if the control loop is synchronised via an interface FPGA functionality FPGA PMCtendo DD4 only Defines the FPGA program that is to be loaded in the initialisation phase Baud Rate CAN open CBAUD The entry is the transmission rate of the servo amplifier User Manual for Setup Software PDrive 9 Project window 9 1 4 T DDA Feedback Feedback Feedback Type O A Hipertace ke Offset Bandwidth 0 300 Encoder Lines Observer Feedformard 20 i 90 1000 0 5 Feedback Filter Mode ER ON 16 KHz L ke 120 Resolver Signal AK Angle of Rotation 16354 no overvoltage surveillance no overflow surveillance single tum executed as multi turn encoder Warning An incorrect setting can cause the motor to run away even with a speed setpoint n 0 Feedback Type FBTYPE The FBTYPE command is used to select the type of feedback device that is used for the commutation and velocity controller Offset MPHASE Compensates for a mechanical position error of the resolver encoder in the motor Change this only while the amplifier is disabled If an encoder with EnDat or Hiperface is used as a feedback unit the offset is automatically transmitted to the servo amplifier Number of Poles MRESPOLES resolver only Standard resolvers have 2 poles Encoder Lines ENCLINES
49. riable defines the count direction for feedback information Resolution ENCIN EGEARO EGEARI PMCtendo DD5 and PMCprotego D only ENCIN sets the resolution number of pulses of the encoder input channel using a digital encoder as feedback unit In case an external feedback system is used the ratio can be set by EGEARI and EGEARO The feedback turn are set by EGEARI the motor turn by EGEARO User Manual for Setup Software PDrive 9 Project window 9 1 9 Electronic Gearing Electronic Gearing External Gearing Source 6 Sin Encoder X1 el Position Lines per 8192 Revolution Ratio D 4096 8192 External Gearing Source GEARMODE The servo amplifier can be controlled through different interfaces and from various sources Ratio GEARO GEARI You can use the entry fields in this equation to determine the transmission ratio Input Filter GEARFILT PMCtendo DD5 and PMCprotego D only This command GEARFILT can be used to configure the filter and determine the corresponding frequency of the electronic gearing filter Count Direction DIR PMCtendo DD5 and PMCprotego D only The DIR variable defines the count direction for feedback information Lines per Revolution ENCIN PMCtendo DD4 only ENCIN sets the resolution number of pulses of the encoder input channel using a digital encoder as feedback unit User Manual for Setup Software PDrive Page 29 9 Project window 9 1 10
50. s is only meaningful with Acceleration Deceleration to v 0 Condition the digital input must have the function 15 Start MT Next assigned and the target position must have been reached You can pre select the logic with the Start with parameter Time The next task is started with a defined delay after the target position has been reached You can enter the delay time with the Delay time parameter This is only meaningful with Acceleration Deceleration to v 0 I O or Time The next task is started by a signal at a digital input one of the terminals X3 11 14 or after a defined delay This is only meaningful with Acceleration Deceleration to v 0 The trigger is the event that occurs first the start signal or the end of the delay time Condition the digital input must have the function 15 Start_MT Next assigned and the target position must have been reached You can pre select the logic with the Start with parameter and enter the delay time with the Delay time parameter Start by UO Edge The logic for the digital input that has the function 15 Start next Motion Task assigned to it LOW level 0 7 V HIGH level 12 30 V 7 mA Delay Time The entry in ms for the delay time between reaching the target position and starting the next task User Manual for Setup Software PDrive 9 Project window 9 2 4 Position registers Position Registers Enable Position
51. sregisters Current Position 0 Position Registers disabled wg counts Mo active check Signal if Position No active check Signal if Position J DO M Mm E GO M E bl Pl P P3 P PS PR PF PB P PIO P P P PI4 P15 PIB Exceeding or falling of up to 16 position values in the motion way can be monitored The actual position is visible as well Enable Positionsregisters WPOS The fast position registers are enabled by WPOS No active 1 16 WPOSE Enable Fast Position Registers 1 16 check WPOSX Mode of Fast Position Registers 1 16 Signal WPOSP Polarity of Fast Position Registers 1 16 if Position P1 P16 The variables P1 P16 contain the position values for the position thresholds 1 16 User Manual for Setup Software PDrive Page 47 9 Project window 9 3 Status Status Error Warnings Error History hmm sid Error Frequency Count e F20 Slot error 1550 FOS following error DR F20 Slot error 1550 F 4 feedback E F20 Slot error 550 FOS undervoltage 148 F20 Slot error 1550 FOB motor temperature 5 F20 Slot error 1550 F15 ft mas 1 F16 supply BTE IA F16 supply BTE 180 F16 supply BTB 1346 F20 Slot error 11 FOS undervoltage 1346 F23 CAN bus off 1 EI supply BTE 1346 FOS undervoltage 1346 Mm wi Actual Errors Ee Actual M arnings ua AD no w Kl Run Time 1591 13 KR The actual error status and the run time monitor of the servo ampli
52. t for a modulo axis V_max pos PVMAX This parameter is used to adjust the maximum speed of movement to suit the limits of the operative machinery V max neg PVMAXN The parameter PVMAXN defines the maximum velocity in the negative direction that is permitted for a motion task User Manual for Setup Software PDrive 9 Project window a max PTMIN A drive is always so dimensioned that it can provide more power than the application requires This parameter determines the limit for the maximum mechanical acceleration time to v_max that must not be exceeded by the drive 1 Neg SW limit switch 2 Pos SW limit switch SWCNFG Configuration variables for the position register SWCNFG is a binary coded bit variable and is transferred to the ASCII terminal program as a decimal number at Position SWE1 SWE2 The variable contains the position value for the position register User Manual for Setup Software PDrive Page 41 9 Project window 9 2 3 9 2 3 1 Page 42 DDA Motion task Overview Moton Tasks BE UV 0_C 0_ACC 0_DEC O_ TAB EN ECK Type Ea moo CA on E La ho e ae Munar 1 Sere eee ee Current Position SE Delete all Reference Point For each positioning task you must define motion tasks These motion tasks are selected by a motion task number and stored in the servo amplifier Motion task No Memory Precondition Note 1 180 EEPROM output stage disabled p
53. tch Pulse 5 within one Revolution and the next feedback zero mark Zero Pulse 6 Set Ref Point immediately the actual position on Position Command 7 Moveto Mechanical Stop _ the first feedback zero mark outside the mechanical stop Ref Ipeak and Zero Pulse Peak current is limited to Homing Ipeak during the movement See screen page Current Loop 8 Move to an absolute SSI the read position from the SSI input at the Position beginning of the homing 9 Move to Mechanical Stop the actual position when the drive is at the mechanical Ref Ipeak without Zero stop and the following error reaches Pulse 50 of the max allowable following error Peak current is limited to Homing Ipeak during the movement see screen page Current Loop Direction of Motion DREF Determines the direction of motion for homing The setting distance dependent is only relevant for Homing 5 within one turn In this case the direction is chosen to give the shortest distance to the zero mark This parameter also defines the direction of motion for a Modulo type of axis Homing Speed VREF Speed for the homing operation The sign is automatically fixed by the selected direction of motion Reference Offset ROFFS With the reference offset you can assign an absolute position value other than 0 to the reference point With an offset for the reference position you are not actually making a physical ch
54. tting of a drive that is running Sets of data that are stored on data media are not safe from undesirable alteration by third parties So after you have loaded a set of data you must check all the parameters before enabling the servo amplifier The servo amplifiers are components that are built into electrical equipment or machines and can only be operated as integral components of such equipment The BTB RTO contact must be wired into the safety loop of the system The safety loop and the Stop and Emergency Stop functions must fulfil the requirements of EN 60204 EN 292 and VDI 2853 User Manual for Setup Software PDrive Page 7 7 Installation 7 1 7 2 Page 8 Installation Hardware requirements Minimum specification for the PC Operating system Windows 2000 XP Vista or 7 Hardware Minimum requirements of operating system Interface one free serial interface Ethernet interface optional Installation under Microsoft Windows The PC interface X6 RS232 of the servo amplifier is connected to the serial interface of the PC You can order the necessary programming cable from us or make one up yourself The pin assignment can be found in the installation manual of the servo amplifiers Start your PC and insert the Motion Control Tools CD into the CD ROM drive The installation software will start automatically Otherwise start Minstall exe on the CD ROM Click on Install Motion Control
55. vely A reference point must be set Modulo axis Axis with a limited range of movement The minimum position is SRND and the maximum position is ERND 1 If the maximum position ERND 1 is reached it automatically switches over to SRND The absolute target positions have to be in the defined range If a motion task is started which has a absolute position outside the range a warning n08 is displayed wrong motion task Relative moves are calculated in a way that the target position always is in the defined range A positioning in a axis like this gives two possibilities of direction to the target position DREF gives the possibility to restrict the direction This axis type also needs a homing move Max Following Error PEMAX The following error is the maximum difference window between the position setpoint and the actual position that is permitted during processing If the value leaves this window then the position controller generates an error message and brakes the drive using the emergency ramp In Position window PEINPOS Sets the InPosition window Determines at which distance from the set position the InPosition message should be reported The drive moves precisely to the target position Modulo Start Position SRND The SRND parameter is used to define the start of the range of movement for a modulo axis Modulo End Position ERND The ERND parameter is used to define the end of the range of movemen
56. ystem and the use of a personal computer is assumed You must follow the safety installation and commissioning instructions in the installation manual for the servo amplifier that is used We provide training and familiarization courses on request User Manual for Setup Software PDrive 6 Prescribed use Use as directed 6 GGG Prescribed use Use as directed The setup software PDrive is intended to be used for altering or storing the operational parameters for the servo amplifiers of the PMCtendo DD4 5 PMCprimo Drive2 3 and PMCprotego D series The servo amplifier that is connected is commissioned with the aid of the software whereby the drive can be directly controlled by the setup and service functions The characteristic nature of a PC means that these functions are not functionally safe without further measures A PC program might be unexpectedly disturbed or stopped so that in the event of a malfunction any movements that have already been initiated cannot be stopped from the PC The manufacturer of the machine must carry out a hazard analysis for the machine and is responsible for the functional mechanical and personnel safety aspects of the machine This applies especially to the initiation of movements with the aid of functions in the commissioning software Only personnel who have extensive knowledge in the fields of drive technology and control technology are permitted to carry out online parameter se
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