Appendix D - AutomationDirect
Contents
1. Appendix Latest SureServo Firmware Revisions GZ Special Input Functions Mem Addr 0241 h Range 0 FFFF h Units bit Default 0 Control Modes P V T This parameter is new in firmware v2 10 This is a multi function parameter that controls the behavior of several different DI and DO alarm functions For most applications this parameter does not need to be changed However if you require some different behavior from some of the inputs or Alarm 08 you can modify certain behaviors by turning the parameter bits ON or OFF as described Set these parameter bits directly through software or manually set the parameter to the hexadecimal number that forms the binary bit pattern required for your application P2 65 Bit Number 151013210 7 6 5 58 2 Applicable DI DO 8 DI DI DI or DO 6 1 8 8 1 5 nia 1 8 8 DI or DO 05 07 new 16 14 Function Setting ALE08 function 17 15 Settings Bit 0 Contact type for DI assigned asVCSO and VCS1 P2 10 P2 17 codes 14 and 15 0 level sensing 1 rising edge sensing Bit 1 Contact type for DI assigned asTCSO and TCS1 P2 10 P2 17 codes 16 and 17 0 level sensing 1 rising edge sensing Bit 2 Contact type for DI8 when assigned as Fast D per bits 3 4 of this parameter P2 65 0 rising edge trigger or normally open contact 1 falling edge trigger or normally closed contact Bits 42. 4 Parameter setting not written to drive flash memory not retained when power is off 5 Parameter does not return to factory default when P2 08 is set to 10 6 Parameter may or may not return to factory default when switching control modes depending upon P1 01 setting 7 Block Transfer Parameters must be entered from the drive keypad Parameter values are in decimal format unless otherwise indicated by h for hexadecimal EZH Drive Status front panel display Mem Addr 0002 h Range 0 6 Units various Default 0 Control Modes P V T Setting 05 is corrected in firmware v2 10 to display the input frequency of the pulse command in 0 1kHz units The previous firmware displayed rpm instead This parameter shows the servo drive status Settings 00 M otor feedback absolute position counts 10 000 counts 1 rev 01 M otor feedback absolute position revs 02 Position command counts 03 Position command revs 04 Position error counts 05 Input frequency of pulse command 0 1kHz 06 Actual motor velocity rpm 07 Velocity input command V 08 Velocity input command rpm 09 Torque input command V 10 Torque input command 11 Current load of rated torque 12 Peak load of rated torque since powerup 13 Bus voltage 14 Ratio of load inertia to motor inertia Jim 15 M otor feedback captured position counts 16 M otor feedback captured position revs D 4 l SureServo AC Servo Systems User M
3. EN DIX D LATEST SURESERVO FIRMWARE REVISIONS In This Appendix SureServo Firmware Identification D 2 Overview of Changes in New Firmware Versions 2 Firmware Version 2 105 os os0 00924564540 09488 48 ER oS eS D 2 Firmware Version 2 10 ccnawe reeks ohh ROR 080 200 060 D 2 Drive Operation Changes in Firmware Version 2 10 Summary of Firmware v2 10 Parameter Changes D 3 Detailed Parameter Listings 000005 D 4 Appendix Latest SureServo Firmware Revisions ET SureServo Firmware Identification You can determine the firmware version of your SureServo drive by reading PO 00 Overview of Changes in New Firmware Versions Firmware Version 2 105 e P0 18 Added new parameter Servo On Time Record Firmware Version 2 10 SureServo firmware version v2 10 includes the following changes Reset active fault from keypad Torque limit function Changed parameter setting 05 0 02 PQ 17 Added Output Functions Status new parameter P1 33 New parameter settings 7 and 8 P1 56 Added Overload O utput Warning Threshold new parameter P2 10 P2 17 Changed parameter setting 06 P2 18 P2 22 New parameter setting 10 P2 32 Changed parameter default setting P2 64 Added Advanced Torque Limit M ode new parameter P2 65 Added Special Input Functions new parameter P3 08 Added Digital Input Software Control Mask new parameter P4 07 Changed parameter resolution Drive O
4. P2 22 e Setting 101 configures this output as a Servo Ready indicator and the output functions like a normally open contact Setting 005 configures this output as an At Position Indicator and the output functions like a normally closed contact prenre 1 P2 18 2 22 are effective only if P2 44 is set to zero 0 2 When P2 18 P2 22 DO Function digits are set to zero 0 the corresponding outputs are disabled D 10 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix Latest SureServo Firmware Revisions 2 2 Tuning Mode Mem Addr 0220 h Range 0 5 Unit n a Default 0 Control Modes P V T The default value for this parameter is changed in firmware v2 10 to 0 Manual Tuning Mode The previous firmware defaulted to 4 Settings 0 M anual Tuning Mode 1 Easy Tune Mode 2 PI Adaptive Auto Tune Mode 3 P Fixed Auto Tune M ode ratio is fixed response levels are adjusted 4 PDFF Adaptive Auto Tune M ode 5 PDFF Fixed Auto Tune M ode ratio fixed response levels are adjusted e PI Proportional Integral control e PDFF Pseudo Derivative Feedback and Feedforward control Explanation of Auto tuning 1 When switching from mode 2 or 4 to mode 3 or 5 fixed ratio modes the system will save the measured load inertia value automatically to P1 37 and then set the other corresponding auto tune parameters accordingly 2 When switching from mode 2 or 4 to mode 0 manual mode
5. load measurements will cease and all parameters will be set to system defaults 3 When switching from mode 0 to mode 3 or 5 fixed ratio modes P1 37 should be set to the proper mismatch ratio 4 When switching from mode 3 to mode 0 manual mode P2 00 P2 04 and P2 06 will retain the values determined by the auto tune mode 5 When switching from mode 5 to mode 0 manual mode the setting value of P2 00 P2 04 P2 06 P2 25 and P2 26 will retain the values determined by the auto tune mode 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l D 11 Mem Addr 0240 h Units n a Control Modes P V Appendix Latest SureServo Firmware Revisions Advanced Torque Limit Range 0 3 Default 0 This parameter is new in firmware v2 10 This parameter allows you to use a variable analog input Torque Limit whose range is clamped by one or more separate fixed Torque Limits The drive applies whichever applicable limit is more restrictive variable or fixed e The Torque Limit function must be enabled by P1 02 1x or by a DI with setting P2 10 P2 17 9 25 or 26 Different clamping characteristics are available depending upon which enabling method you use Use only one of the methods to enable the Torque Limit function gt NTL Negative Torque Limit PTL Positive Torque Limit 4 T_REF Analog Torque Input CN1 18 lt Applied Negative Torque Li
6. 84 83 DI8 Function 0 0 Disable Fast DI function for 8 Enable Fast Position Latch for D18 01 This is a new DI function that works in conjunction with P0 04 P0 05 Status Monitor setting 15 or 16 DI8 serves as a fast trigger to latch Position Counts 15 or Position Revs 16 into a Status M onitor Enable Fast DI Inhibit for D18 110 Works in conjunction with P2 17 07 Position Command Pause or 45 Inhibit Pulse Command Terminal Initiates quicker stop Fast DI response time is 0 0 0 1 ms vs 0 4 0 6 ms for normal DI Bit5 reserved must remain set 0 Bit 6 Disable ALEO8 Abnormal Pulse Control Command alarm 0 Enable 08 for Pulse Control Command gt 570 5 1 Disable ALEO8 for Pulse Control Command gt 570 kpps Bits 7 9 reserved must remain set 0 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual D 15 Appendix Latest SureServo Firmware Revisions P2 65 Settings continued Bit 10 System behavior when zero velocity clamp conditions are met when Low Velocity Clamp DI P2 10 P2 17 code 05 is active and the velocity of the motor is less than P1 38 setting valid only in velocity modes M otor halts at present position ramp settings disregarded 1 Velocity command is forced to Orpm using ramp settings Bit11 15 reserved must remain set 0 Hee Digital Input Software Control Mask Mem Adar 0308 h Range 0 FFFF h Units bit Defau
7. Ed RevB 08 2011 SureServo AC Servo Systems User Manual l D 7 Appendix Latest SureServo Firmware Revisions GZ 6 Digital Input Terminal 1 D11 Mem Addr 020A h Ayi 6 Digital Input Terminal 8 D18 Mem Addr 0211 h Range 0 5 Units n a Default varies Control Modes P V T DI Function setting 06 is corrected in firmware v2 10 to invert the command polarity e Parameters P2 10 P2 17 determine the functions and active states of 011 DI7 respectively Settings BEBOS LDI Function DI Active State Unused DI Function Settings P2 10 P2 17 00 Input Disabled 01 Servo Enable 02 Alarm Reset 03 Gain Boost Switch 04 Clear Command see P2 50 05 Low Velocity Clamp see P1 38 06 Command Input Polarity Inverts the polarity of the Al Input Command Voltage by multiplying by 1 i e V bcomes V and vise versa 07 Position Command Pause Internal Indexer only 08 Command Trigger available in Pr mode only 09 Torque Limit Enable bi directional see DI settings 25 26 P1 02 P1 12 P2 64 10 Velocity Limit Enable see P1 02 P1 09 11 Position Command Select 0 12 Position Command Select 1 13 Position Command Select 2 14 Velocity Command Select 0 650 15 Velocity Command Select 1 16 Torque Command Select 0 17 Torque Command Select 1 18 Position Velocity Mode Select 0 Vel 1 Pos dual control 19 Velocity Torque M ode Select 0 Vel 1 Torg dual control 20 Position Tor
8. Forward 15 16 38 Jog Reverse Settings Bit 0 7 DI1 D18 DI controlled by external hardware DI controlled by Modbus communications Disable Virtual DI Enable Virtual DI control via Modbus communications j If a virtual DI and an actual DI are set to the same function that function is handled as a logical OR The function is active if either DI is active 0 1 Bit 8 15 DI9 DI16 0 1 D 16 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix Latest SureServo Firmware Revisions ZSA Input Status Mem Addr 0407 h Range 0 FFFF h Units bit Default O h Control Modes P V T The range for this parameter is increased in firmware v2 10 from eight bits to 16 bits It can also now be written to via Modbus communications in conjunction with P3 08 e Use this parameter to read the status of the digital inputs Refer to P2 10 P2 17 to assign DI functions The least significant bit bit 0 shows D11 status and bit 7 shows D18 status e Use this parameter in conjuction with P3 08 to change the status of actual and virtual Digital Inputs via Modbus communications 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual D 17 Appendix Latest SureServo Firmware Revisions ET D 18 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011
9. anual 2nd Ed RevB 08 2011 Appendix Latest SureServo Firmware Revisions 1 Output Functions Status Mem Addr 0011 h Range 0 1FF h Units n a Default 0 Control Modes P V T This parameter is new in firmware v2 10 This parameter allows you to read the status of all DO Functions via MODBUS communications regardless of whether or not they are assigned to physical digital outputs DO 1 DO5 DO Functions Indications bit 0 Servo Ready no faults bit 1 Servo On enabled bit 2 At Zero Velocity bit 3 AtVelocity Reached bit 4 At Position bit 5 At Torque Limit bit 6 At Overload O utput Warning Threshold bit 7 Active Fault bit 8 Electromagnetic Brake Control bit9 15 reserved 1 5 Servo On Time Record Mem Addr 0012 h Range 0 65 535 Units hr Default 0 Control Modes P V T This parameter is new in firmware v2 105 e This parameter stores and displays the total time that the servo drive is ON It is written to EEPROM once per hour 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual D 5 Appendix Latest SureServo Firmware Revisions Position Control Mode Internal Indexer Mem Addr 0121 h 3 Range 0 8 Units n a Default 0 Control Modes Pr Settings 7 and 8 are new with firmware v2 10 This parameter determines the specific type of control when using Pr control mode P1 01 with the internal indexer Refer to Chapter 5 for explanation and exa
10. e control modes 18 20 are for dual control modes DI Active State Settings P2 10 P2 17 0 Normally Closed use N C contact 1 Normally O pen use N O contact Examples for P2 10 P2 17 Setting 101 configures this input for Servo On command and requires a normally open contact to be connected to it Setting 21 configures this input for Fault Stop circuit monitoring and requires a normally closed contact to be wired to it 2nd Ed RevB 8 1 SureServo AC Servo Systems User Manual D 9 Appendix Latest SureServo Firmware Revisions GZZY 6 Digital Output Terminal 1 DO1 Mem Addr 0212 h GZA 6 Digital Ouput Terminal 5 005 Mem Addr 0216 h Range 0 0 Units n a Default varies Control Modes P V T DO Function setting 10 is new with firmware v2 10 e If P2 44 is set to its default value of zero 0 parameters P2 18 P2 22 determine the functions and active states of DO1 20 5 respectively Settings LDO Function DO Active State Unused DO Function Settings P2 18 P2 22 00 Output Disabled 01 Servo Ready no faults 02 Servo On enabled 03 At Zero Velocity 04 AtVelocity Reached 05 At Position 06 At Torque Limit 07 Active Fault 08 Electromagnetic Brake Control 09 Homing Completed 10 At Overload O utput W arning Threshold DO Active State Settings P2 18 P2 22 0 Acts like a Normally Closed contact 1 Acts like a Normally O pen contact Examples for P2 18
11. he DI acts as an edge trigger and initiates only one cycle 8 Incremental O ne Cycle Auto Running M ode This setting operates the same as setting 6 except that the DI acts as an edge trigger and initiates only one cycle D 6 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix Latest SureServo Firmware Revisions GE Overload Output Warning Threshold Mem Addr 0138 h Range 0 120 Units Default 120 disabled Control Modes P V T This parameter is new in firmware v2 10 This parameter sets the level of the overload output warning threshold When the system reaches threshold time level set by this parameter it activates the Overload Warning DO signal P2 18 P2 22 10 new setting in this firmware and displays ALE23 on the LED Display ALE23 does not need to be cleared since it is only a warning rather than a fault The setting of this parameter is a percentage of the continuous overload time required to initiate the Overload Fault ALE06 The ALE06 Overload Fault times are set by P1 31 and are discussed in Chapter 1 of this manual toL warning to L fault X setting value of P1 56 Example for 100 750W systems operating at 200 OL and P1 56 60 For 100 750W systems t fault 200 OL 85 per Chapter 1 OL charts toL warning 85 x 60 5 Disable this parameter by setting it higher than 100 so that the drives faults before it reaches the O L Warning 2nd
12. ion TCS1 17 TCSO 16 q p 0 0 NTL 0 torque P1 02 1x PTL T_REF Al NTL 0 torque or dae A PTL P1 12 NTL 0 torque DI ee i 0 P2 10 P2 17 9 i i NTL 0 torque PTL from P1 14 NTL 0 torque DI a a PTL T_REF Al P2 10 P2 17 25 reverse A ga a NTL 0 torque DI i PTL 3 P2 10 P2 17 26 0 TCS Torque Command Select DI function P2 10 P2 17 16 TCSO 8 17 1651 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l D 13 Appendix Latest SureServo Firmware Revisions ET P2 64 Settings continued 3 Reverse Torque Limit Torque Limit applies only in reverse direction IfT REF gt 0 TLy 0 If NTL lt T_REF lt 0 T_REF IfT_REF lt NTL TLy NTL Torque Limit Clamp Selection for P2 64 3 Torque Enable Motor Torque Comand Select DI Active Torque Clam Method Direction TCS1 17 TCSO 16 q p 0 0 NTL T_REF Al pene 9 or ea 1 0 torque NTL from P1 13 DI PvE 7 0 PTL 0 torque 1 i NTL from P1 14 PTL 0 torque NTL T_REFAI DI forward PTL 0 torque P2 10 P2 17 25 I NTL 12 revert PTL 0 torque NTL 3 DI forward PTL 0 torque P2 10 P2 17 26 I NTL T_REF Al PTL 0 torque TCS Torque Command Select DI function P2 10 P2 17 16 1650 amp 17 TCS1 D 14 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011
13. lt 0 Control Modes P V T This parameter is new in firmware v2 10 The upper eight bits of this parameter are effective only in Pr Mode e The lower byte of this parameter allows some or all of the drive s Digital Inputs to be controlled via Modbus communications instead of via external hardware The Dls are controlled by external hardware by default Control of any or all of the DIs can be changed to Modbus communication by setting the corresponding bit of the P3 08 lower byte to a logic one e The upper byte of this parameter provides an additional eight Virtual Digital Inputs for use only in Pr control mode These Virtual DI have factory assigned functions and are controlled only via Modbus communications e Use P4 07 to write to the actual and virtual DI that are enabled and configured for Modbus control using this parameter P3 08 P3 08 Bit i5 ma i ma ma a0 o 89 ey aes eA sa ee ie e Actual CN1 DI DI8 DI7 DI6 D1I5 D14 D13 DI2 DI1 Pr Mode Virtual DI D116 D115 DI14 D113 12 D111 D110 P3 08 Virtual DI Factory Assigned Functions Bit DI DI Function Code Function Description 8 9 08 Command Trigger Pr mode only 9 10 11 Position Command Select 0 650 10 1 12 Position Command Select 1 PCS1 11 12 13 Position Command Select 2 PCS2 12 13 02 Alarm Reset 13 14 27 Start Home M ove Trigger 14 5 37 Jog
14. mit lt TLp Applied Positive Torque Limit 0 a Settings 0 Disable Advanced Torque Limit function 1 Bi directional Torque Limit Torque Limit applies in both forward and reverse directions If T_REF lt PTL TLp T_REF If T_REF gt PTL TLp PTL If T_REF lt NTL TLy T_REF lf T_REF gt NTL TLy NTL Torque Limit Clamp Selection for P2 64 1 Torque Enable Motor Torque Comand Select DI Baler Active Torque Clam Method Direction 651 17 TCSO 16 q p P1 02 1x 0 0 Pt V Modes T_REF Al Pr Vz Modes 0 torque forward or or 0 1 NTL PTL from P1 12 DI reverse 1 0 NTL PTL from P1 13 P2 10 P2 17 09 1 1 NTL PTL from P1 14 DI forward NTL PTL from T_REF N A P2 10 P2 17 25 reverse l NTL PTL from P1 12 DI forward N A NTL PTL from P1 13 P2 10 P2 17 26 reverse NTL PTL from T_REF TCS Torque Command Select DI function P2 10 P2 17 16 TCS0 amp 17 TCS1 D 12 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix Latest SureServo Firmware Revisions ee P2 64 Settings continued 2 Forward Torque Limit Torque Limit applies only in forward direction IfT REF lt 0 TLp 0 If 0 lt T_REF lt PTL TLp T_REF If T REF gt PTL TLp PTL Torque Limit Clamp Selection for P2 64 2 Torque Enable Motor Torque Comand Select DI i Active Torque Clam Method Direct
15. mples of Index Mode and internal position indexing Settings 0 Absolute Position M ode Absolute Positioning The system will move to new positions based on the values set in P1 15 P1 30 which are interpreted as target positions referenced from the home position 1 Incremental Position M ode Incremental Positioning The system will move to new positions based on the values set in P1 15 P1 30 which are interpreted as distances to move from the current position 2 Forward Operation Index Mode The system will go to the programmed index position only in the forward direction 3 Reverse O peration Index M ode The system will go to the programmed index position only in the reverse direction 4 Shortest Path Index Mode The system will go to the programmed index position by determining and using the shortest path and direction 5 Absolute Auto Position M ode The system will move to new positions referenced from the home position based on the Auto Position Mode internal function The Auto Position Mode DI setting 42 of P2 10 P2 17 acts as a level trigger for this move 6 Incremental Auto Position Mode The system will move to new positions referenced from the current position based on the Auto Position Mode internal function The Auto Position Mode DI setting 42 of P2 10 P2 17 acts as a level trigger for this move 7 Absolute O ne Cycle Auto Running M ode This setting operates the same as setting 5 except that t
16. peration Changes in Firmware Version 2 10 Reset Active Fault from Keypad Active faults can now be reset from the keypad Press and hold the UP and DOWN Arrow Keys simultaneously for two seconds to clear the fault Torque Limit Function Torque limits are now always in effect whenever they are programmed to do so by using P1 02 and or P1 12 P1 14 This includes the torque limits being in effect during the homing operation With previous firmware the torque limits were not effective until after the homing operation was completed D 2 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix Latest SureServo Firmware Revisions ee Summary of Firmware v2 10 Parameter Changes Parameters Changed in Firmware v2 10 Addresses Description Mdbs Change Dec Octal Hex i factory now reads Firmware Version set 0000 40001 9 3 setting 05 corrected Drive Status Front Panel Display Output Functions Status 0 Read Only 1FF h parameter Position Control Mode new settings when using internal indexer HS laiii 7 ere lag Overload Output Warning Threshold Digital Input Terminal 1 8 D11 D18 Digital O utput Terminal 1 5 D01 D05 0 16 0002 40003 2 0011 40018 21 MEW new 0 120 0138 40313 0 parameter 020A 40523 1012 setting 06 0211 40530 1021 corrected 0212 40531 1022 new setting 0216 40535 1026 0 default setting changed
17. que M ode Select 0 Torq 1 Pos dual control 21 Fault Stop Normally Closed 22 Reverse Inhibit O vertravel Normally Closed 23 Forward Inhibit O vertravel Normally Closed 24 Home Sensor 25 Torque Limit Enable Reverse reverse direction only see settings 09 26 P1 02 P1 12 P2 64 26 Torque Limit Enable Forward forward direction only see settings 09 25 P1 02 P1 13 P2 64 27 Start Home M ove Trigger D 8 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Appendix Latest SureServo Firmware Revisions eee P2 10 P2 17 DI Function Settings continued 28 Index Mode Select 0 IM SO 29 Index Mode Select 1 IM S1 30 Index Mode Select 2 IM S2 31 Index Mode Select 3 IM S3 32 Index Mode Select 4 IM S4 33 Index Mode Control 0 IM CO 34 Index Mode Control 1 IMC1 35 Index Mode Manual Continuous Operation 36 Index Mode Manual Single Step O peration 37 Jog Forward 38 Jog Reverse 39 Step Reverse Pr mode only 40 Step Forward Pr mode only 41 Return to Index 1 Auto Index Mode only return motor to 1st position 42 Auto Position mode 43 Electronic Gear Numerator Select 0 EGN S0 see P2 60 P2 62 44 Electronic Gear Numerator Select 1 EGNS1 see P2 60 P2 62 45 Inhibit Pulse Command Terminal Causes external pulse input command to be invalid 1 When 2 10 P2 17 are set to zero 0 the corresponding inputs are disabled 2 Settings 11 17 are for singl
18. to 0 Advanced Torque Limit 2 new Mode 0 3 0240 40577 0 parameter 0 145 0 110 Tuning Mode 0 5 0220 40545 0 Special Input Functions a thy Pi 0241 40578 1 Digital Input Software 0 Control M ask FFFF h 0 FFFF h new 0308 40777 1410 parameter parameter 0404 41032 2007 now 16 bits Input Status Read only register Parameter cannot be set when the servo drive is enabled Parameter is effective only after power to the servo drive has been cycled Parameter setting not written to drive flash memory not retained when power is off Parameter does not return to factory default when P2 08 is set to 10 Parameter may or may not return to factory default when switching control modes depending upon P1 01 setting Block Transfer Parameters must be entered from the drive keypad Control Mode Abbreviations P Position control mode T Torque control mode V Velocity control mode Parameter values are in decimal format unless otherwise indicated by h for hexadecimal 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l D 3 Appendix Latest SureServo Firmware Revisions Detailed Parameter Listings Parameter N otes 1 Read only register Parameter cannot be set when the servo drive is enabled 3 Parameter is effective only after power to the servo drive has been cycled
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