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SMT-BD1/p CD1-p PROFIBUS POSITIONER User manual

1. POL LL II TI POL LI III II TI PPO3 E We PPO4 JL LL LL PPOs LI III II LL IL LL LL TI TI PKW Parameter setting data PKE Parameter code bytes 1 to 2 IND Home position byte 3 PWE Parameter value bytes 5 to 8 PZD Process data cyclically transferred STW Control ZSW Status HSW Input command HIW Information feedback A PPO message can contain 1 or 2 modules called PKW and PZD Chapter 2 Commissioning 17 SMT BD1 p CD1 p User manual SINFRANOR Each module PKW or PZD is defined as input output and is consistant over the whole module length The communication is made by the reading or writing of PPO messages the PKW and PZD modules are input and output at the same time The master sends a message by a PPO write and receives a message by PPO read The PPO write and PPO read messages are cyclically transferred by the PROFIBUS DP Data_Exchange function The modules are consistant This means that the different words of a same message must be transmitted or received in one single transfer So it is not possible to directly read or write in the PLC inputs outputs area special functions must be used for the data reading or writing Example In the STEP7 software the SFC14 and SFC15 functions are used for the reading and writing of the consistant modules EN SFC14 ENO W 16 108 LADDR RET_VAL MW100 RECORD P M 40 0 BYTE 12 EN SFC15 ENO W 16 108 LADDR RET_VAL MW101 P M 20 0 BYTE 12 RECO
2. Check that the EPROM version is actually 50x x8 on the SMT BD1 p series and 51x x8 on the CD1 p series Check for no conducting dust that may involve short circuits on the amplifier logic board 2 2 Non stored faults 2 2 1 Bus fault Profibus This fault is only displayed when the Profibus communication is interrupted The fault is cancelled as soon as the communication is restored 2 2 2 UNDERVOLT fault If the fault occurs at the amplifier commissioning Check that the power supply is on 2 3 Stored faults lf a fault occurs on the amplifier it can generate the detection of several other faults which are only a consequence of the initial one In order to make diagnostic and maintenance easier the faults are displayed and processed with the priority described below For safety reasons the power must be turned off for the cancelling of some faults that requires the handling of the amplifier in this case the RESET is automatic when power is turned on again If power is not turned off do not forget to make a RESET immediately after the fault is cancelled 2 3 1 Busy fault Ifthe BUSY fault is continuously displayed after applying power to the amplifier the AUTOTEST procedure has failed and the amplifier is not ready for operation Ifthe BUSY fault is continuously displayed after the execution of the AUTOPHASING function the procedure has failed because of an external cause and the calculated parameters
3. Motor Brushless or synchronous motor Resolver Amplifier Current loop Current regulator Speed loop Speed regulator Position loop Position regulator Positioner Trajectory generator Field bus Profibus Enabled disabled Servo On Off SINFRANOR SERVO DRIVES amp MOTION CONTROL 2 ARCHITECTURE OF A POSITIONER Trajectory generator Position Current loop A loop y Current monitor Position monitor Speed monitor Resolver Electric device that transforms electrical energy into a mechanical movement This transformation is often made by means of current commutation Generally the movement is a rotation but there are also linear motors Electric motor which current commutation is made by mechanical brushes Electric brushless motor The current commutation is electronically made and requires a position sensor resolver encoder Hall sensor Absolute position sensor over one revolution The resolver is often used with a brushless motor Electric device for the control of electric motors It also includes a current regulator a speed servo control and sometimes a position servo control Used for the motor current control The motor torque is generally proportional to the current amplitude Allows the motor speed control with a speed input command Allows the motor position control Amplifier with position loop and trajectory generator that allows positioning Generates a speed
4. Speed profile trapezoidal or S curve Brake delay active defines the time between the brake enabling and the amplifier disabling brake activation relay open delay time amplifier disabling Brake delay inactive defines the time between the amplifier enabling and the brake disabling amplifier enabling delay time brake disabling relay closed 5 2 Manual motion parameters There are 2 types of manual motion basic positioning moving of the motor until a given position directly by the operator jog continuous movement when the jog signal is activated JOG for a movement in the positive direction and JOG for a movement in the negative direction The motion profile parameters are motion speed acceleration time deceleration time Chapter 2 Commissioning 15 SMT BD1 p CD1 p User manual SINFRANOR The parameters acceleration time and deceleration time define the time with regard to the max speed defined by the parameter Speed limitation When the motion speed is lower than the maximum speed the trajectory acceleration and deceleration times are proportionally smaller Max speed IDETTE 7 Motion speed Se SS parameter S Acceleration ramp Deceleration ramp 5 3 Encoder output parameters SMT BD1 p only The parameter Encoder resolution defines the encoder resolution on channels A and B X2 connector of the encoder position output for one motor shaft
5. Check that the motor speed does not exceed the speed limit defined below lf Maximum speed lt 900 rpm then the speed limit 900 rpm If 900 rom lt Maximum speed lt 3600 rpm then the speed limit 3600 rpm If 3600 rom lt Maximum speed lt 14000 rpm then the speed limit 14000 rpm Be careful about the torque mode operation where the motor speed is determined by the load 2 3 8 Pt fault Check the rated current value required with regard to the table of currents authorized in pulse mode cycle Check the rated current of the amplifier defined in the Rated current parameter with regard to the current required for the operation cycle Chapter 6 Fault finding 47 SMT BD1 p CD1 p User manual SINFRANOR 3 OPERATING PROBLEMS 3 1 Motor does not move Check that the amplifier is on Check that the power supply is on Check the amplifier fuses F1 and F2 and the motor connection Check the logic wiring of the signals FC FC and ENABLE Check that the amplifier is enabled 3 2 Motor supplied but no torque Check that the Maximum current and Rated current parameters have no zero value 3 3 Shaft locked eratic oscillations or rotation at maximum speed Check the resolver wiring on the X1 connector and the mechanical mounting of the resolver on the motor Check the value of the motor parameters number of pole pairs resolver wiring motor phase 3 4 Discontinuous motor rotati
6. SMT BD1 p CD1 p User manual SINFRANOR After the auto tuning procedure check that the motor correctly runs in both directions Check the response for a small movement without IDC saturation In case of loud noise in the motor at standstill and when running check the rigidity of the transmission between motor and load backlashes and elasticities in gears and couplings If necessary renew the auto tuning procedure by selecting a lower bandwidth If the problem remains renew the auto tuning procedure by activating the antiresonance filter Adjust more accurately the loop response stability by adjusting the stability gain 4 2 Regulator adjustment with vertical load In the case of an axis with unbalanced load constant torque due to a vertical load proceed as follows Select the current Limiting mode Select the regulator type PI or PI Initialize the speed loop gains corresponding to the unloaded motor run the auto tuning procedure with the motor uncoupled from its mechanical load Couple the motor with the load If possible make a speed control otherwise close the position loop with a stable gain Move the shaft by means of the speed input command until a maintaining position where one motor revolution is not dangerous for operator and machine far enough from the mechanical limit stops Run the auto tuning function with motor at standstill If the motor shaft is moving the auto tuning has not been accepted
7. Sequence speed modification rom 0 10000 word R W 807 Sequence torque modification 0 32767 word R W Notes PNU not available for BD1 p version 506 78 and CD1 p version 508 18 PNU available for CD1 p only R W Reading Writing A Lower value limit in position 32768 x position resolution B Upper value limit in position 32768 x position resolution 1 These limit values are theoretic values of the amplifier Saving E These parameters are saved in the EEPROM by instruction 729 S These parameters are saved in the EEPROM by the instruction Sequence writing 781 CAUTION The EEPROM life time is about 10000 writing cycles If you need to frequently write in the EEPROM we recommend to use the NovRAM option battery saved RAM instead of the standard EEPROM Chapter 5 Parameter setting by Profibus 31 SMT BD1 p CD1 p User manual SINFRANOR 2 Parameters description 2 1 Motor parameters Synchronous motor parameters PNU 700 701 702 Defines the parameters required for driving synchronous motors These parameters can be calculated by the auto phasing procedure Parameter Number of motor pole pairs 1 to 12 Motor phase order corresponds to the phase order U V W of the motor connection Sensor adjustment phase shift between resolver and motor rotor Conversion Motor phase 2 possible values 0x5555 or OxAAAA Sensor adjustment 5 4931640625e 3 number of pole pairs The value obtained is the shift in elec
8. When defining the network on the master please import the slave GSD file if this has not yet been done create a network with the master connect a slave on the network with the same address as defined in the slave Note When the communication is established the green RUN LED lights up 8 1 PPO message In the PROFIBUS DP communication model a slave module consists of a certain number of inputs outputs or inputs outputs modules Each module is defined by an identifier This identifier contains information on the module direction input output or input output on the number of bytes or words and on the module consistancy The configuration is defined in the DP master and is sent to the slave by means of the Chk_Cfg functions at the bus starting The slave checks if this configuration is compatible and configures itself before switching on to data exchange mode Data Exchange There is also a communication mechanism more complicated than a basic inputs outputs identifier the PPO messages These messages are often used in the device profiles There are 5 PPO types defined for the various device profiles under Profibus PKW PZD PKE IND PWE PZD1 PZD2 PZD PZD PZD PZD PZD PZD PZD PZD STW HSW 3 4 5 6 7 8 9 10 ZSW HIW 1st 2nd 3rd Ath 1st 2nd 3rd Ath 5th 6th 7th 8th 9th 10th Word Word Word Word Word Word Word Word Word Word Word Word Word Word
9. ccc ccc cece eee nee nnn e RENEE ERR RR RR EEE SDE EE DEE RR ERE RER SEE SEE SEES RR EEE ES 21 2 EDITION OF Fe Te 21 ZU MONO SOO UCC EE 22 252 elle SCOUCN CO EE 22 SEENEN 23 2 4 Torque SEQUENCE CD1p ONY ccc ccccccccecc cece ena e ena e ena e ene e ene nn nn e eens anes snes enn enenenasenenenenenanenenengnes 23 ZOO GC CC ONO EE 24 2H LOGIC ee 24 CHAPTER 4 OPERATION eet EEN Ee 25 1 COMMUNICATION WEE 25 E E Conu WO EE 25 DZ SE COVA AA EE 25 Ge EE 26 TPES FCC OO AC EE 26 2 OPERATION DIRGR AM EE 27 2 1 Amplifier control Process 12 0 0 cece ccc cence cence een een e nen e nn EEE EEE AEE E EEDA EEDA EEDA AED E EASED EEE DESEO DEE BEDE BEES 27 SEENEN 28 3 DRIVING OF THE POSITIONER vs isn dee eege dee ENEE deisde EEN 29 3 1 EnaDiinG dl Sang EE 29 E dee a SCQUCIICE EE 29 EE 29 OR SOC CO CONT Clash ER 29 Contents 5 SMT BD1 p CD1 p User manual SINFRANOR CHAPTER 5 PARAMETER SETTING BY PROFIBUS e 30 T PARAME TER D WEE 30 2 PARAMETERS DESCRIPTION eeben 32 2 TMo prame E EE 32 PSL T a T EE 32 2 3 Application Dara nmieierg ne nnnen en ene ken knek keen nnek kk nn ener nnnnekk ennen nnnennee 33 2 4 Regulator parameters EE 35 2 0 POSHIONEl e Ee 37 210 ECOG OULDUE aca ou don cuwsndu SERENE EEEE ER stares EPET EREE TEENETE EPUL OTEL AEE 38 PEN POU ONS EE 38 2 8 Manual motion parameters 2 c cece cc canc ceca e nee e naan enn n nee ena s seen ene teen DASA EEDA SEED DASE E EDGES EEE DESE EEE EEE EES
10. 0 ccc cece cece NRK RENSEDE RE URE BRA RR EN EEE RS ANSA SATRAISASAEA ANSA A AE MARKER SE AV SEE E EEE ES 11 3 1 Motor parameter 11 EE 11 3 9 AQ USIMENL 10 A NOW MOOR ett EE EE 12 AT IO CUO a 12 3 5 Rotation COUNTING dechon ccccccc ence iari cena cena EDR Gees ens Seas SEES SEES SEES SEES ER 13 3 6 MaxiMUM application speed 13 3 7 Thermal sensor configuration on the CD7ppoositoner ccc cece cee e cence eeneteeseeneseeennetennneees 13 4 SERVO CONTROL ADUSTMENT ccc ccc cece RR NRK RR eee ee eee ene ene e ene e ene R ESSE EEE EE naE Ena EEE ES 13 4 1 gt Regulator parameters EE 13 4 2 Regulator adjustment with vertical Joad cece ence cence een n nnn end n A EdD AEE n EEDA EEE EEE EEE EE EEE BEES 14 yh e ee e EH 14 oe ea d EE 14 4 5 LIM Switches TEE 14 E ON GR ON EE 15 5 7 POSIHONEF para MEETS EE 15 5 2 Manual motion p rameters 54205 ELSE n anne nent nen e nana enna ese nananeennasnenananeenuasnenagans 15 5 3 Encoder output parameters SMT BD1 0 only tena tenes eens tne tnneenasenneennaes 16 O PROFIBUS ADDRESS eene E EAEE acer dentancase ecaueedeocaerasee 16 T PARAMETERS caw eee es cy ee eee ges eee ee ea 16 8 PROFIBUS COMMUNICATION 0 ccc cece cece kk kk ERR REE R RER E REE E RER nen RR RR EEE EEE ESSE ESSE SE ESE ESE EE ne EEE EES 17 Bl F PO MESTE EE 17 CO AN OG EE 19 6 3 Parameier Seting PAW EE 19 3 4 Global CORE EE 20 CHAPTER 3 PROGRAMMA a ve D 21 1 GENERAL DESCRIPTION 0
11. 3 1 speed sequence If the sequence is a homing bit 1 1 bits 3 to 7 have following meanings 3 0 positive direction 1 negative direction 4 0 without switch 1 with switch 5 0 without marker pulse 1 with marker pulse 6 0 stops the motor after the home position found 1 positions the motor on the home position 7 0 does not reset the position counter 1 resets the position counter 8 11 define the triggering for the logic inputs 0 End 1 Begin 2 Stop 3 Speed 4 Pos 12 14 reserved 15 0 conditional start 1 conditional stop Note To invalidate a sequence just send this instruction with the value 0 the other parameters will be ignored Sequence position PNU 783 This parameter defines the position for a positioning absolute or relative or the Reset value for a homing Parameter double word Unit depends on the position resolution Variation 32768 x resolution to 82768 x resolution 1 Sequence speed PNU 784 Defines the motion speed Parameter word Unit rom Variation 1 at max speed for a positioning can be negative if the sequence is a speed sequence Note This parameter is saved in with regard to the max application speed parameter even if the speed is indicated in rpm If this parameter is modified all soeed parameters of all sequences must be sent again Acceleration PNU 785 This parameter defines the positioning acceleration ramp For speed sequences it defines the real accele
12. SMT BD1 p CD1 p User manual SINFRANOR Chapter 4 Operation 1 COMMUNICATION The positioner is driven by Profibus with the PZD data area Master gt slave PLC gt positioner Control STW Input command HSW Slave gt master positioner gt PLC Status ZSW Feedback HIW 1 1 Control word Meaning Notes ON Enabling OFF 1 Stop braking and disabling Operational condition Amplifier ready OFF2 Operational condition Emergency stop maximum deceleration OFF3 EE Operation enabled Operational condition for the A sequence can be executed on a 6 bit edge positioner Stop Maximum braking Operational condition for the Must be set at 1 for a sequence execution positioner Intermediate stop Braking with programmed deceleration sequence Fault acknowledgment Amplifier fault reset direction Local Local mode control by RS 232 Resale positano ee Re eee rs lt I Bit Value 1 GE 1 1 ans 2 1 LIES 4 1 MM 0 GES 1 Ln 1 STE 0 Ue Wer BEC En AER During a positioning by bit 12 or bit 13 the 32 bit position input command is contained in words 5 and 6 of the PZD 1 2 Input command The input command is contained in HIW 2nd word of PZD PPO write It has different meanings according to the positioning or speed control In positioning mode Bits 0 to 7 number of the sequence to be executed Bits 8 to 15 logic inputs bits 0 to 7 These i
13. Send control word 0400h 2 PLC gt Positioner Send control word 0406h 3 PLC gt Positioner Send control word 0407h 4 PLC gt Positioner Send control word 043Fh 5 Positioner gt PLC Check status word xxxx xx11 xx11 0111b Notes The positioner bus cycle time is 1 ms check for at least 1 ms between 2 commands Inthe above procedure the positioner status is not checked at each stages but only at the end The disabling can be simply made by disabling one of the OFF1 or OFF2 or OFF3 bits 3 2 Starting a sequence When the positioner is in Operation enabled status a sequence is started by entering the sequence number in PZD 2 reversing bit 6 of the control word If a new sequence is started whereas the positioner is executing a sequence the positioner immediately executes the new sequence without stopping the motor 3 3 Other movements The other possible non programmed movements are jog or Jog bit 8 or 9 homing bit 11 absolute positioning bit 12 relative positioning bit 13 The movements are mutually exclusive including a sequence execution when a movement is running no other movement is possible For absolute or relative positionings the 32 bit position input command is contained in PZD5 and PZD6 3 4 Speed control It is also possible to control the positioner in speed mode switch to speed mode by means of parameter PNU 720 with disabled motor At power on t
14. Speed Gain Position resolution Following error threshold Positioner configuration User Output Dead band Position modulo Position reset Negative software limit switch Positive software limit switch Encoder output resolution Number of marker pulses Marker pulse shift Marker pulse width Encoder output programmation SEQ pulse duration INPOS window Unit rom Ms Ms Ms ppr pulse Ms Min 6553 6553 OD oO 100 oo Max 12 65535 32767 16384 32767 65535 65535 65535 65535 10000 16000 16000 16000 65535 65535 65535 65535 61545 65535 65535 65535 65534 32767 8192 32767 32767 16383 Size word word word word word word Boolean word word word word word word word word Boolean word Boolean word word Boolean word word word word word Boolean word word word word Word Word Word Word Word double double double double word word word word word double R W Saving R W R W R W R W W R W R W R W R W R W R W R W R W R W R W R W R W R W R W R W R W R W m mmm mM mmm mM mM mmm im mM mmm mMm mM mM mmm m mm m m m m mmm mmm m mm Default value 4 OxAAAA 0 0 Ox7FFF 0x4000 1 Ox7FFF 0x100 0 0x100 0 3000 0 1 0x64 0x3000 O OO Ox7FFFFFFF 0x80000000 0x400 1 0 0x10 Chapter 5 Parameter setting by Profibus SMT BD1 p CD
15. Speed in rpm Limitation 1 10000 according to the value of the Max speed parameter Note This value depends on the value of the Max speed parameter Acceleration ramp in manual motion PNU 761 Parameter This parameter defined in ms corresponds to the acceleration time at max speed Limitation 1 16000 Note The minimum value depends on the motor and on the system inertia Deceleration ramp in manual motion PNU 762 Parameter This parameter defined in ms corresponds to the deceleration time between max speed and standstill Limitation 1 16000 Note The minimum value depends on the motor and on the system inertia Speed in jog PNU 763 Parameter Speed in rpm Limitation 1 10000 according to the value of the Max speed parameter Note This value depends on the value of the Max speed parameter Acceleration ramp in jog PNU 764 Parameter This parameter defined in ms corresponds to the acceleration time from standstill up to max speed Limitation 1 16000 Note The minimum value depends on the motor and on the system inertia Deceleration ramp in jog PNU 765 Parameter This parameter defined in ms corresponds to the deceleration time from max speed down to standstill Limitation 1 16000 Note This parameter is also used for emergency stops with programmed braking Homing configuration PNU 766 This parameter defines the configuration of a manual homing Parameter bit description 3 Dir 4 Switch 5 Zero 6 Origin 7 R
16. are 4 global controls SYNC UNSYNC FREEZE and UNFREEZE When the master sends a global SYNC control the outputs of the addressed slave are frozen at their present values When the master sends the next data those are stored in the slave and the outputs status remains unchanged When the next SYNC control is sent the stored outputs values are switched through to the outputs An UNSYNC control can be used for ending the synchronous mode The FREEZE control also allows the slave to froze the inputs at their present values and to send them with the next data transfers The inputs are not updated until the next FREEZE control The FREEZE mode can be left by means of an UNFREEZE control The SMT BD1 p and CD1 p positioners accept the global controls SYNC UNSYNC FREEZE and UNFREEZE 20 Chapter 2 Commissioning SMT BD1 p CD1 p User manual SINFRANOR Chapter 3 Programmation 1 GENERAL DESCRIPTION Both SMT BD1 p and CD1 p amplifiers can have up to 128 pre programmed sequences Each sequence can be either an absolute motion or a relative motion or a homing or a speed profile or a torque sequence speed profile with current limitation The sequences can be automatically linked up when a sequence is over it can directly execute another sequence The SMT BD1 p and CD1 p positioners have got 8 programmable and virtual logic outputs triggering at the sequences execution and 8 virtual logic inputs allowing to
17. by the amplifier 4 3 Enabling The enabling can be made by Profibus see operation diagram for the enabling procedure or by the BD1m PC software in local mode 4 4 Brake control e The SMT BD1 p amplifier is equipped with a brake control signal This brake control signal is low powered and cannot directly control the brake The BMM 05 AF single axis rack is therefore equipped with a power relay that allows the brake control the multiaxes rack is not equipped with this relay e The CD1 p amplifier has got a brake control made by transistor e The brake control is activated relay open or disabled relay closed according to the amplifier status disabled or enabled 4 5 Limit switches adjustment The limit switch inputs are inputs for a proximity sensor that stops the motor with maximum deceleration When both limit switches are correctly placed on the motor stroke they are a protection for the machine in case of incorrect movement The limit switches are only defined according to the physical motor rotation They are not depending on the selected rotation counting direction On Mavilor motors if the option rotation counting direction is normal the FC input must be wired in the positive motor counting direction For checking the limit switches move the motor in one direction activate the limit switch which is located in the movement direction artificially if necessary 14 Chapter 2 Commi
18. contact with the connectors the user himself must be earthed Place or store the drives on conducting or electrostatically neutral areas but not on plastic areas carpeting or insulation material that may be electrostatically loaded INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items Infranor reserves the right to change any information contained in this manual without notice This manual ts a translation of the original document and does not commit INFRANOR s responsibility The french manual is the only reference document INFRANOR May 2000 All rights reserved Edition 2 01 SMT BD1 p CD1 p User manual 3 SMT BD1 p CD1 p User manual INFRANOR Windows is a registered trade mark of MICROSOFT CORPORATION STEP7 is a registered trade mark of SIEMENS 4 SMT BD1 p CD1 p User manual SMT BD1 p CD1 p User manual SINFRANOR SERVO DRIVES amp MOTION CONTROL Contents PAGE SEENEN 5 CHAPTER 1 GENERAL DESCRIPTION euer gehen AE geed 7 TANTRODUC ON EE 7 2 gt ARCHITECTURE OFA POSITIONER EE 8 CHAPTER 2 COMMISSIONING sssiccsecinmsanatamitamecimecdusramtinnetimwesnttmetametanisans DE ege De 9 1 CHECKING THE AMPLIFIER HARDWARE CONEIGURATION cece eee eeeeeeeae seat eeeeeeanees 11 A PUTUNG INTO OPERATION oser see ENE aE beliowamesanmeneeeneom EFESIN Erres EFAN SERTAS EEN 11 3 MOTOR ADJUSTMENT
19. control word bit The positioner status must be checked in order to make sure that the command could be executed Chapter 4 Operation 27 SMT BD1 p CD1 p User manual SINFRANOR IVES amp MOTION CONTROL 2 2 Positioning mode Indexing over Operation Manual enabled move Indexing Drive task C 11 1 over C 13 Positioner activation C 4 1 Brake with LER Execution Positioner Execution of a sequence deceleration of a new function Acknowledgment of the command with edge sequence on S 12 hen position is reached S 10 1 Intermediate stop Continue drive task C 5 0 C 5 1 Brake with ramp i End JOG Motor Homing C 8 0 stopped over C 9 0 S 13 1 Intermediate Homing JOG stop i JOG Homing C 8 10r C 11 1 C 9 1 When the positioner is in Operation enabled status the following is possible starting a sequence execution bit 6 jog or jog bit 8 or 9 homing bit 11 absolute positioning bit 12 relative positioning bit 13 stopping the motor with a programmed deceleration the one defined by JOG bit 5 stopping the motor with maximum deceleration bit 4 End of move Edge on C 12 or 28 Chapter 4 Operation SMT BD1 p CD1 p User manual SINFRANOR 3 DRIVING OF THE POSITIONER 3 1 Enabling disabling The enabling procedure is defined in the diagram of section 2 1 Example of a simplified enabling Stages Communication Value 1 PLC gt Positioner
20. panel connector or the X6 rack rear connector If the fault occurs during the operation Check the motor temperature and look for the reason of this overheating mechanical shaft overload duty cycle too high 2 3 4 C AMP FAULT Check for the correct fan type with regard to the rated current required 2 3 5 POWER STAGE fault If the fault occurs at the amplifier commissioning Check the DC bus voltage and the terminal voltage of the power transformer secondary DC bus lt 370 VDC and V secondary lt 260 VAC If the fault occurs during the operation Check the braking system operation during the motor braking phases Check the sizing of the braking resistor with regard to the motor braking phases Check for the correct current cycle required with regard to the current table Check for no short circuit in the motor wiring and at the motor terminals 2 3 6 RESOLVER fault Check the resolver connection on the amplifier connector X1 Check for the presence of the P RES components Check that the resolver type is correct with regard to the P RES components see chapter 2 section 1 Check the connections between the resolver and the amplifier and at the resolver terminals 2 3 7 R D C fault If the fault occurs at the amplifier commissioning Check that the values of the P RES components with regard to the resolver transformation ratio are correct If the fault occurs during the operation
21. position loop gain PNU Defines the proportional gain that acts upon the position error KP1 Parameter 1 word Conversion 1 65536 Limitation 0 to 65535 Chapter 5 Parameter setting by Profibus 730 731 732 35 SMT BD1 p CD1 p User manual SINFRANOR Feedforward speed 1 PNU 733 Defines the feedforward speed amplitude KF corresponding to the speed input command derivation of the position input command This feedforward term allows to reduce the following error during the motor acceleration and deceleration phases Parameter 1 word Conversion 1 65536 Limitation 0 to 65535 Current control low pass filter PNU 734 Defines the cut off frequency at 3 dB Fev of the first order filter that acts upon the current control The value of this parameter is depending on the selected bandwidth Parameter 1 word Conversion Frequence Hz 1000 pi Ln 65536 parameter Limitation This parameter can take a value between 2832 1000 Hz and 61545 20 Hz Antiresonance filter PNU 735 Releases or inhibits the antiresonance filter Parameter 1 word 0 inhibits the filter 1 releases the filter Auto tuning PNU 736 This procedure identifies the specific motor and load parameters and calculates the regulator gain parameters Parameter 1 word 0 low bandwidth 1 medium bandwidth 2 high bandwidth 3 low bandwidth with antiresonance filter 4 medium bandwidth with antiresonance filter 5 high bandwi
22. rated current the Pt error display is blinking on the amplifier front panel When the RMS current I t drops below 85 of the rated current the blinking Pt error display is cancelled When the amplifier RMS current I t reaches the rated current value the Pt protection limits the amplifier current at this value The amplifier current limitation diagram in an extreme case motor overload or locked shaft is shown below Amplifier current t1 blinking display Max current t2 Current limitation Rated current time to t1 t2 The maximum current duration before the release of the blinking display t1 t0 and before the rated current limitation t2 t0 is calculated the same way as the Fusing mode see above 3 5 Rotation counting direction This possibility defines the position counting direction with regard to the motor rotation direction For the encoder position output the counting direction remains unchanged with regard to the motor rotation direction On Mavilor motors in normal rotation the position is incrementing in the motor CW rotation direction In reverse rotation the position is incrementing in the motor CCW rotation direction 3 6 Maximum application speed The parameter Max speed defines the maximum speed with which the amplifier can control the motor This parameter must be lower or equal to the max motor speed approximately 20 higher than the maximum motor rotation speed in t
23. width 65536 is equivalent to 360 Limitation Number of encoder pulses 1 16 Phase shift with regard to the resolver marker pulse 0 65535 Marker pulse width 16 32767 Note The amplifier takes into account the phase shift value with regard to the resolver marker pulse and the number of marker pulses during the homing procedure The encoder output only takes into account these values after the end of the procedure encoder output programmation Encoder output programmation PNU 754 This procedure programs the encoder output with the parameters defined above Limitation Writing only Execution With disabled amplifier Note The execution of this procedure takes approximately 5 s 2 7 Options Minimum SEQ Pulse PNU 756 Allows to define the minimum duration of the SEQ output This function is released by PNU 742 Parameter word Limitation 0 16000 ms Inpos window PNU 757 Defines a position window in which the INPOS signal is released This possibility is released by PNU 742 Parameter word Limitation 0 16000 ms 0 means no minimum duration for the SEQ output CAM position 1 and 2 PNU 758 759 Defines the positions between which bit 0 of the outputs bit 8 of HIW is activated This possibility is released by PNU 742 Parameter double word 38 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual SINFRANOR 2 8 Manual motion parameters Manual motion speed PNU 760 Parameter
24. with transmitter resolver 2 series are available the plug in SMT BD1 p series is available as a single axis block version or as a multi axis version that can receive up to six axes in a standard 19 rack Both versions are including a power supply unit the CD1 p series is a small sized and low current single axis version Both SMT BD1 p and CD1 p are operating with a PROFIBUS DP interface so driving and parameter setting can both be entirely made by the bus The specific software of the INFRANOR Profibus positioners that can be installed on a laptop makes the amplifier parameter setting easy thanks to the serial RS 232 link These drives have got the positioner function 128 positioning movements homing and speed profile can be programmed or combined The control simply consists in selecting one of these movements This manual is composed of 6 chapters 1 General description 2 Commissioning First commissioning of the amplifier 3 Programmation Movement programmation also called sequence 4 Operation Enabling disabling and control by Profibus 5 Parameter setting by Profibus Parameters list accessible via Profibus 6 Fault finding Diagnostics and fault elimination For the hardware drive installation dimensions wiring see the various manuals pertaining to each amplifier Chapter 1 General description 7 SMT BD1 p CD1 p User manual Sequence switch Profibus DP interface Electric motor
25. 1 p User manual SINFRANOR SERVO DRIVES amp MOTION CONTROL 758 CAM Position 1 double R W E 759 CAM Position 2 double R W E 760 Manual move speed rom 1 10000 word R W E 0x64 761 Manual mode acceleration ms 1 16000 word R W E 0x320 762 Manual mode deceleration ms 1 16000 word R W E 0x320 763 Speed in jog rom 1 10000 word R W E 0x1F4 764 Acceleration in jog ms 1 16000 word R W E 0x320 765 Deceleration in jog ms 1 16000 word R W E 0x320 766 Homing configuration 16 bits R W OxOFO 767 Position input command pulse A B double R W 0 770 Positioner software version double R 171 Profibus software version word R 773 Amplifier error double R 774 Motor position pulse double R 715 Resolver value pulse 0 65535 Word R 776 Motor speed 2767 32767 integer R 777 Motor current 32767 32767 Integer R 778 Error code CD1 p word R 780 Sequence reading word W 781 Sequence writing word W 782 Sequence control 16 bits R W S 783 Position pulse A B double R W S 784 Speed rpm 0 10000 word R W S 785 Acceleration ms 1 16000 word R W S 786 Deceleration ms 0 16000 word R W S 787 Delay time ms 0 16767 word R W S 788 Link 1 127 word R W S 789 Counter 0 16000 word R W S 790 Counter link 1 127 word R W S 791 Condition inputs 16 bits R W S 792 Programmable logic outputs 16 bits R W S 793 Triggering position pulse A B double R W S 796 Sequence position modification pulse A B double R W 797
26. 1 second the ir fault is released and the amplifier is disabled otherwise the blinking Pt error display is cancelled When the amplifier RMS current l t reaches the rated current value the It protection limits the amplifier current at this value The amplifier current limitation diagram in an extreme case motor overload or locked shaft is shown below Amplifier current t1 blinking display Max current t2 Current limitation t3 Pt fault Rated current 1 second time t0 t1 t2 t3 The maximum current duration before the release of the blinking display depends on the value of the rated current and max current parameters This value is calculated as follows rated curent max current Ta second t t 200 dyn The maximum current duration before the limitation at the rated current also depends on the value of the rated current and max current parameters This value is calculated as follows rated curent T second t t 240 max current max NOTE When the Maximum current Rated current ratio is close to 1 the values of Tdyn and Tmax calculated above are quite below the real values But this formula remains very precise as long as the Maximum current Rated current ratio is higher than 3 2 12 Chapter 2 Commissioning SMT BD1 p CD1 p User manual SINFRANOR Current limitation in Limiting mode When the amplifier RMS current Pt reaches 85 of the
27. 39 2 9 SEQUENCE Reading Writing 2 cccceccccncencenae ena n ena kk kk kk kk kk RR RR ER RER eens eens enesenseneseneasnnssnnssnnasnags 41 CHAPTER 6 FAULT FINDING en 45 e ene 45 11 SIIB Dau E EE 45 Pe AC 10 QUE EE 45 LEE EE 46 CPLA Al Te LE 46 VA ee EE 46 2 2 NO SIOVEO RE 46 EE ee 46 OPERATING PROBLEM G EE 48 3 EE ee ee ee ee 48 3 2 Motor Supplied Dut NO torque cc cece cece cence een nen nee e nn nA ene DEAE EEDA EEE D EEE E EDDA EE EEDA EE EEE E EE EEE EEE EES 48 3 3 Shaft locked eratic oscillations or rotation at MAXIMUM Spee 48 3 4 Discontinuous motor rotation with Zero torque POSITIONS cccc cece cence cece nee eeenaeeeeenaeeennenetenenanees 48 3 5 Loud crackling noise in the motor at stade 48 3 6 Loud noise in the motor at standstill and WHEN running 48 3 7 SEQUENCE not executed cence cence nance net eeneneeneneeneneens anes enaa senses ennanennanennansnatsnnansnnansenenes 48 4 SERVICE AND MAINTENANCE EE 48 APPENDIX cecar ea E E A E EA E Seneca a eateries eee rr Ser 49 1 CURRENT LOOPS ADJUSTMENT SMT BD1 P ccc cece cece eee e cena teen eee cnet eeeaee sense eeaeeeeaeeeenees 49 2 USE OF THE CET ee TEE 50 6 Contents SMT BD1 p CD1 p User manual SINFRANOR Chapter 1 General description 1 INTRODUCTION INFRANOR Profibus positioners are digital PWM servo amplifiers that provide motion servo control for AC sinusoidal motors brushless
28. Alt F3 allow to save the oscilloscope curves in a file and key Alt F2 allows to reload these files These files are compatible with the BPCW 2 6 software Note The SMT BD1 p has got two oscilloscope channels in continuous mode and three channels with the continuous trigger mode and single trigger Appendix 51
29. Counter link 1 If the execution starts at sequence 1 the programme will be the following Sequence 1 Start of sequence nr 1 then link parameter Link to sequence nr 2 Sequence 2 First execution of sequence nr 2 then connection to sequence nr 1 parameter Counter link Sequence 1 Execution of sequence nr 1 then connection to sequence nr 2 parameter Link Sequence 2 Second execution of sequence nr 2 then connection to sequence nr 3 parameter Link Sequence 3 Execute sequence nr 3 then end the programme NNN 2 6 Logic outputs Outputs The action on the 8 logic outputs can be defined as follows do not modify the output status set the output at 1 set the output at O reverse the output toggle Triggering The outputs triggering moment can be defined during a motion the 5 different ways described below HOLD logic BEGIN logic SPEED logic POS logic output when END logic output at output when output when the reaching the output at sequence speed is motor passes a position end of sequence end beginning reached position trajectory In a homing sequence the outputs trigger only at the end of the sequence In a speed sequence the HOLD and POS triggering is not possible Triggering position Defines the position where the logic output must be triggered when it is programmed in POS triggering see Triggering above 24 Chapter 3 Programmation
30. File Report F3 Single Move F4 Sequence Setup F5 Run Sequence F6 Profibus F3 Enable Enabling in local mode F4 Disable Disabling in local mode Profibus address 1 Chapter 2 Commissioning SMT BD1 p CD1 p User manual SINFRANOR 1 CHECKING THE AMPLIFIER HARDWARE CONFIGURATION The amplifier standard configuration for MAVILOR motors equipped with a TAMAGAWVA resolver is the following SMT BD1 p positioner e Resolver adjustment card P RES 4 x 12 7 KQ 1 e Current loops adjustment e Motor thermal probe PTC Jumper MN e Positive control logic Jumpers E F G closed e No auxiliary supply Jumper JK closed and jumper KL open e SW1 OFF on all switches CD1 p positioner e Resolver P RES adjustment board 4 x 12 7 KQ 1 For the amplifier adjustment to other motor or resolver types or to another control logic see Installation manual 2 PUTTING INTO OPERATION For the first amplifier powering see installation manual pertaining to each amplifier type The logic voltage auxiliary supply on the SMT BD1 p and 24 V on the CD1 p must be applied to the amplifier before the power voltage CAUTION When turning off the amplifier wait for at least 5 seconds before turning power on again 3 MOTOR ADJUSTMENT 3 1 Motor parameter setting Select the amplifier and fan types required for the motor used Select the amplifier current limitation mode The Fusing mode is recommen
31. MSB and PSD6 LSB contain the motor position In speed mode Motor speed Ox7FFF corresponds to the maximum motor speed 26 Chapter 4 Operation SMT BD1 p CD1 p User manual SINFRANOR 2 Operation diagram 2 1 Amplifier control process Power ENABLE S 6 1 ON inhibited OFF 1 control xxxx X1XX XXXX Xxx0 ENABLE not ready C 3 0 control Error XXXX X1XX XXXX X110 Operation inhibition Ready for S 0 1 3 1 Error ENABLE Operation inhibited ON Error reset C 0 1 C 7 1 Enabling OFF1 OFF3 OFF2 C 0 0 C 2 0 C 1 0 Deceleration OFF1 active Fast brake OFF3 Active OFF2 active S 4 0 phase 1 5 0 phase 1 Motor Motor stop stop S 1 0 OFF1 active OFF3 active phase 2 phase 2 Disabled disabled disabled Operation SEN enabled Notes ENABLE Enabling C n Indicates bit n of the control word see section 2 2 S n Indicates bit n of the status word see section 2 2 This diagram describes the amplifier behaviour The enabling process includes 5 stages ENABLE inhibited ENABLE not ready Ready for ENABLE Ready and Operation enabled The 3 OFF1 OFF2 and OFF3 functions allow various ways to disable the motor The functions Error and OFF are effective at each level of the diagram OFF3 is a stop with maximum deceleration OFF2 has a priority over OFF 1 which has a priority over OFF3 Contrarily to the parameter setting there is no direct acknowledgment for each
32. Profibus class 2 master device The address modification is only possible when the bus is not running In this case the address will be automatically saved in the amplifier EEPROM and will be operational at the bus starting The identity number of the SMT BD1 p and CD1 p positioners under Profibus is 0x00C7 7 PARAMETERS SAVING When all adjustments are made the parameters must be saved in the EEPROM with disabled amplifier 16 Chapter 2 Commissioning SMT BD1 p CD1 p User manual SINFRANOR 8 PROFIBUS COMMUNICATION The Profibus communication is a master slave communication The INFRANOR positioner is a slave amplifier and the only important parameter to be defined for the communication is the amplifier address on the bus All other parameters communication speed configuration parameters are defined in the PLC master and will be automatically sent to the positioner the available communication speeds are 9 6 KB 19 2 KB 93 72 KB 187 5 KB 500 KB 1 5 KB 3 KB 6 KB 12 KB and will be automatically detected by the positioner the configuration used will be sent to the slave at the bus starting The available configurations are PPO1 PPO2 PPO3 or PPO4 default parameter setting not used by the positioner These various possibilities are pre defined in a GSD file proper to each product range running with Profibus The file for the INFRANOR positioner is INFROOC7 GSD and is provided by the PC BD1m disk
33. RD In the above example the SFC14 and SFC15 functions are used for reading or writing the PZD module PPO2 case The W 16 108 address is the physical module address on the network that is obtained when connecting the slave to the network This address is the same for the reading SFC14 and writing SFC15 because the module is an input output module The result of the reading will be transferred in the memory area at the address 40 by SFC14 12 bytes The SFC15 function will transfer the data at the address 20 12 bytes on the bus The PKW will require a SFC14 reading and a SFC15 writing and the PZD will require a SFC14 and a SFC15 PKW is by definition used for the positioner parameter setting and PZD is used for its operational control The INFRANOR positioner uses the PPO messages mechanism for communicating by Profibus DP The SMT BD1 p and CD1 p positioners accept the PPO1 PPO2 PPO3 or PPO4 types 18 Chapter 2 Commissioning SMT BD1 p CD1 p User manual 8 2 Configuration Normally the identifiers of the various PPO types are automatically provided by the GSD file Otherwise they can be manually defined with values indicated in the table below PPO type PK PD Type 1 ReadPPO1 WritePPO1 Configuration Type 2 ReadPPO2 WritePPO2 Configuration PKW 4 words Inputs outputs module 4 words Consistency OxF3 PKW 4 words Inputs outputs module 4 words Consistency OxF3 SINFRANOR SERVO DRIVES a
34. SINFRANOR Rated current PNU Defines the rated current limitation in the motor Parameter 1 word Conversion in percentage of the current rating x 3 051850948e 3 Limitation 6554 20 to 16384 50 Execution Note This parameter is defined according to the amplifier and motor specifications I t mode PNU Parameter 1 word 0 limiting mode 1 fusing mode Note See manual of the SMT BD1 standard amplifier for the Ft protection mode Current limitation PNU Defines the current limitation in the motor with regard to the value defined by the maximum current Parameter 1 word Limitation 0 to 32767 100 of Imax Current rating Voltage identification PNU Gives the amplifier current rating and voltage Parameter bit4 0 230 V amplifier 1 400 V amplifier Bits 3 2 1 0 Rating Arms in 230 V Rating Arms in 400 V 1 2 25 1 8 2 4 5 2 7 3 7 5 5 1 4 10 5 7 2 5 16 5 14 6 27 30 d 45 8 45 60 9 60 90 10 90 11 120 Limitation CD1 p only The CD1 p positioner has 2 digital PI regulators for the D Q current loops The gains are the following Proportional gain for D speed loop PNU Integral gain for D speed loop PNU Proportional gain for Q speed loop PNU Integral gain for Q speed loop PNU 2 3 Application parameters Amplifier mode PNU Defines the amplifier operation mode position speed or torque Parameter 1 word 1 torque mode 2 speed mode with PI regulator 4 position mode 8 speed mode with P regulator 16 spee
35. SMT BD1 p CD1 p User manual SINFRANOR SERVO DRIVES amp MOTION CONTROL SMT BD1 p CD1 p gb PROFIBUS POSITIONER User manual INFRANOR SMT BD1 p CD1 p User manual 1 SMT BD1 p CD1 p User manual INFRANOR 2 SMT BD1 p CD1 p User manual SMT BD1 p CD1 p User manual SINFRANOR This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors This manual may be used in conjunction with appropriate and referenced drawings pertaining to the various specific models Maintenance procedures should be attempted only by highly skilled technicians EN 60 204 1 standard using proper test equipment The conformity with the standards and the CE approval are only valid if the items are installed according to the recommendations of the racks and amplifiers manuals The user assumes any responsability for damages due to the non answering of the connections recommendations and diagrams Any contact with electrical parts even after power down may involve physical damage Wait for at least 5 minutes after power down before handling the amplifiers a residual voltage of several hundreds of volts may remain during a few minutes INFRANOR drives are conceived to be best protected against electrostatic discharges However some components are particularly sensitive and may be damaged Before handling the drives and particularly before any
36. TIME ES TIME ra RANGE F4 RANGE rs CHANNEL re SIGNAL Fv F8 MODE ra TRIGGER eg Eaes Fee See 0 25 DIU Speed Ref AUTO TRIGGER 1iU DIU 0 000 Channel selector Triggering moment cursor Function keys Triggering level Keys F1 and F2 modifiy the time basis cursor trigger Keys F3 and F4 modify the amplitude of the channel indicated by the channel selector Key F5 sets the channel selector on channels 1 2 or 3 Key F6 allocates a signal to the channel indicated by the channel selector signal Scale factor Meaning Speed Mon 10 V for max speed speed monitor Speed ref rom speed input command applied to the speed loops Imon 10 V for rating current monitor lref 10 V for rating current input command applied to the current loops Iq 10 V for rating quadrature current monitor Id 10 V for rating direct current monitor Pt current consumption resolver 65536 ppr position provided by the resolver Error Pos position resolution following error Key F8 modifies the operation mode Continue Continuous signal acquisition and display Single Trigger one single triggering single strike Continuous Trigger continuous triggering 50 SMT BD1 p CD1 p User manual SINFRANOR Key F9 allows to define the triggering mode on positive level on negative level on rising edge on descending edge on an amplifier fault In mode Continuous Trigger or Single Trigger key
37. a homing sequence 2 4 Torque sequence CD1p only Torque sequence parameters Motion type Torque Torque input command 40 0 Speed rpm 500 Acceleration ms 400 Deceleration ms 400 Delay time ms 120 Next sequence Outputs 87654321 ee 1 Outputs triggering Hold Start condition 8 1 gtt E X Stop The Acceleration and Deceleration parameters are acceleration and deceleration times In a torque sequence the motor runs at constant speed until it is locked The current then raises up to the value defined in percentage of the max current value defined by the Max current parameter When the motor has got a zero speed and the current is reached the positioner is holding at this current during the time defined by the Delay time parameter Chapter 3 Programmation 23 SMT BD1 p CD1 p User manual SINFRANOR If the time delay exceeds 16000 the torque holding is infinite The torque sequence can be left either by the START signal that starts another sequence or by the signal of a stop condition The triggering of the HOLD outputs allows the outputs activation when the motor speed is zero and the current is reached 2 5 Sequence control The sequences linkage is controlled by the parameters Link Counter and Counter link Example Sequence 1 Link 2 Counter 1 Counter link 1 Sequence 2 Link 3 Counter 2 Counter link 1 Sequence 3 Link 1 Counter 1
38. are wrong Check that the ENABLE input is actually activated Then check that the motor is unloaded and the shaft movement is free during the procedure Ifthe BUSY fault is continuously displayed after the execution of the AUTOTUNING function the procedure has failed because of an external cause and the calculated parameters are wrong Check that the ENABLE input is actually open Then check that the motor is unloaded and the shaft movement is free during the procedure This fault may also occur during a homing procedure which time out is too low 2 3 2 EEPROM fault Check for the presence of the EEPROM and check its correct orientation Ifthe fault remains the EEPROM is not correctly initialized CHECKSUM or is not compatible with the amplifier software This fault may occur if the motor is enabled during a parameter saving or during a sequences transfer between PC and amplifier To cancel this fault if it is 46 Chapter 6 Fault finding SMT BD1 p CD1 p User manual SINFRANOR due to the parameters renew the amplifier parameter setting and the parameter saving due to the sequences send the sequences to the amplifier again 2 3 3 C MOTOR fault If the fault occurs when commissioning the amplifier Check the configuration of the MN and OP jumpers with regard to the type of thermal switch used in the motor Check the connection between the thermal switch and the amplifier on the X1 front
39. control a sequence start or stopping the virtual logic inputs and outputs are only visible on the bus and have no physical existence The programmation consists in initializing the sequences with the desired values 2 EDITION OF A SEQUENCE Parameters of a sequence Type Defines the motion type ABS absolute positioning REL relative positioning HOME axis homing SPEED speed profile Position Position to be reached in absolute or relative mode according to above mentioned parameter If the motion type is a homing procedure Position then indicates the value to be loaded in the position counter at the home position found Speed Defines the motion speed in rpm Acceleration Defines the acceleration ramp in ms Deceleration Defines the deceleration ramp in ms This parameter can be equal to 0 if a sequences linkage can be made without stopping the motor See also section 3 9 Manual motion parameters for the definition of the parameters motion speed acceleration time and deceleration time Delay Time Defines in ms the delay time at the end of the positioning orTimeOut If the motion is a homing procedure this parameter defines in seconds the time out that is the time after which the amplifier releases an error if it does not find the home position When this value is 0 the time out protection is not activated Link Defines the sequence to be executed after the present one Counter Defines how many time
40. d mode with PI regulator Execution This instruction must be executed with disabled positioner In standard the amplifier is always configurated in position mode at power on Chapter 5 Parameter setting by Profibus 33 711 712 713 715 716 717 718 719 720 SMT BD1 p CD1 p User manual SINFRANOR Max speed PNU 721 Defines the maximum application speed and the speed scale as well Parameter 1 word Limitation This parameter varies between 100 rpm and 10000 rpm Execution With disabled amplifier Motor rotation direction PNU 722 This instruction allows to reverse the motor rotation direction with regard to the input command It also reverses the position feedback Parameter 1 word 0 normal 1 reversed Execution With disabled amplifier Acceleration ramp PNU 723 Defines the motor acceleration or deceleration time that corresponds to the maximum speed Parameter 1 word Conversion in second x 0 0005 Limitation 1 without acceleration ramp at 65535 30 s Note This parameter can only be used in speed mode Motor thermal sensor PNU 725 Defines the motor thermal sensor type used Parameter Boolean 0 NTC sensor 1 PTC sensor Brake delay active PNU 726 Defines the time between the brake release and the amplifier disabling Parameter 1 word Unit ms Limitation 0 16000 Brake delay inactive PNU 727 Defines the time between the amplifier enabling and the brake inhibition Para
41. ded for the commissioning phases In Fusing mode the amplifier is disabled when the current limitation threshold is reached In Limiting mode the current is only limited at the value defined by the Rated current parameter when the limitation threshold is reached The parameter Max current defines the maximum current value supplied by the amplifier It can vary between 20 and 100 of the amplifier current rating This parameter is defined according to the amplifier and motor specifications The Rated current parameter defines the limitation threshold of the RMS current I t supplied by the amplifier It can vary between 20 and 50 of the amplifier current rating This threshold is set according to the amplifier and motor specifications Check that the values of the Maximum current and Rated current parameters are complying with motor and amplifier Otherwise modify them according to the appropriate motor and amplifier specifications The Max speed parameter defines the maximum motor rotation speed The speed range is between 100 and 10000 rpm and the resolution is 5 rpm Check that its value is complying with motor and application Otherwise modify it according to the motor and application specifications 3 2 Current loops CD1 p When the motor used is not contained in the motor list the current loops gain values must be defined according to the supply voltage 230 V or 400 V to the amplifier current rating and to the m
42. dth with antiresonance filter 6 low bandwidth with high stiffness filter 7 medium bandwidth with high stiffness filter 8 high bandwidth with high stiffness filter Limitation Writing only Execution With disabled amplifier and ENABLE signal activated or enabled amplifier and motor at standstill Zero speed Note When executing this procedure the speed loop bandwidth can be selected low medium or high These values correspond to the cut off frequency for a 45 speed loop phase shift The reading indicates the previously selected bandwidth 0 1 2 3 4 or 5 Before executing this instruction check for free motor shaft rotation over one revolution that is not dangerous for the operator The auto tuning procedure is not required when the regulator parameters are known Feedforward acceleration gain PNU 737 Defines the feedforward acceleration corresponding to the acceleration input command second derivation of the position input command This feedforward term allows to reduce the following error during the motor acceleration and deceleration phases Parameter word Conversion 1 Limitation 0 to 65535 Feedforward Speed 2 gain PNU 738 This gain value is equal to the damping speed gain value Feedforward friction gain value The feed forward friction gain allows to cancel the load viscous friction effect load viscous friction torque is proportional to axis speed This feedforward term allows to reduce the following er
43. e position Homing procedure diagram Switch detection Switch search programmed speed a First marker pulse out of the switch IVR I Withdrawal from the switch a Positioning on the origin Start speed 4 marker pulse lf Switch 1 and Zero 1 or Origin 1 the speed can be reversed by the switch detection or by a limit switch 22 Chapter 3 Programmation SMT BD1 p CD1 p User manual SINFRANOR Procedure diagram with switch Switch search programmed speed 4 SE Ge Load the position counter LY with the Pos value Return to home Start position speed 4 When sequence 0 contains a homing procedure no other sequence can be executed at power on before sequence 0 2 3 Speed sequence The speed sequences are defined by these parameters motion speed motion time acceleration time deceleration time When the motion time exceeds 16000 ms this means an infinite motion the stop condition can be used for stopping the sequence The sequences linkage allows to create speed profiles Sequence 1 Speed 1500 Tacc 2000 l Sequence 3 Time 0 Sequence 2 Speed 2000 Tdec 0 Speed 3000 Tacc 3000 Link 2 Tacc 3000 Time 0 Time 0 Tdec 1500 Tdec 0 Link 1 Link 3 Note The parameters acceleration and deceleration are real acceleration and deceleration times and not acceleration and deceleration ramps as they are in a positioning sequence or
44. eset Note The motion speed and the acceleration and deceleration ramps are those of the manual motion Positioner software version PNU 770 Reading of the positioner software version Parameter 32 bits in hexadecimal Example Version 506 78 is coded as 0x00050678 Profibus software version PNU 771 Software version reading of the positioner Profibus interface Parameter 16 bits in hexadecimal Example Version 3 01 is coded as 0x0301 Chapter 5 Parameter setting by Profibus 39 SMT BD1 p CD1 p User manual SINFRANOR Amplifier error code PNU 773 Reading of the amplifier error code Parameter 3 bytes Byte 1 low weight Bits Meaning Descriptions e It Resolver converter error Position following error Memory error Profibus DP mode error Power stage error Resolver cable interruption error Power undervoltage error Amplifier temperature error 24 V CD1 p 24 V error TMOT Motor temperature error Watchdog error Homing procedure timeout error E2PPAR Parameters EEPROM checksum error E2PSEQ Sequences EEPROM checksum error Motor position PNU 774 Reading of the motor position Parameter 32 bits Resolver value PNU 775 Reading of the value provided by the resolver This value is an absolute position over one revolution Parameter 16 bits Speed monitor PNU 776 Motor speed monitor Parameter integer 0x7FFF corresponds to the maximum motor speed Current monit
45. he amplifier is always in positioning mode the PLC must send the speed input command in PZD2 16 bits full scale of the PPO write the PLC can read the motor speed monitor in PZD2 16 bits full scale of the PPO read Chapter 4 Operation 29 SMT BD1 p CD1 p User manual SINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 5 Parameter setting by Profibus 1 PARAMETER LIST PNU 700 701 702 703 704 710 711 712 713 715 716 717 718 719 720 721 722 123 725 726 727 728 729 730 731 132 ES 734 735 736 if 138 139 740 741 742 743 744 745 746 747 748 750 751 752 753 754 756 757 30 Parameter Number of motor pole pairs Motor phases order Resolver shift Phase lead Auto phasing procedure Max current Rated current tr protection mode Current limitation Current Voltage rating Kp gain of D current loop Ki gain of D current loop Kp gain of Q current loop Ki gain of Q current loop Amplifier mode Max motor speed Motor rotation direction Acceleration ramp Motor thermal sensor configuration Brake control active delay Brake control inactive delay Manual brake control Saving inan EEPROM Proportional speed loop gain Integral speed loop gain Proportional position loop gain Feedforward Speed 1 Gain Current control filter Anti resonance filter Auto tuning procedure Feedforward Acceleration gain Feedforward Speed 2 Gain Damping
46. he application This margin allows a speed overshooting and avoids a position loop saturation which would involve a position following error This margin can be smaller when the loop bandwidth is high and the accelerations low 3 Thermal sensor configuration on the CD1 p positioner There are 2 possible sensor types that can be software configurated PTC sensor the triggering will occur at a value of about 3 3 KOhms of the thermal sensor resistor that is 140 C NTC sensor the triggering will occur at a value of about 3 3 kOhms of the thermal sensor resistor that is 140 C 4 SERVO CONTROL ADJUSTMENT 4 1 Regulator parameters The auto tuning procedure identifies the motor and load specifications and calculates the regulator gain parameters During the procedure the operator can select 3 bandwidths Low Medium and High and 3 filters standard antiresonance and high stiffness the last filter is only available for CD1 p These values correspond to the cut off frequency for a 45 speed loop phase shift The auto tuning can be executed with disabled or enabled motor i e vertical load but the ENABLE signal must always be activated If the motor is equipped with a brake unlock the brake manually before starting the procedure Check for free motor shaft rotation over one revolution that is not dangerous for operator and machine before starting the auto tuning with filter standard Chapter 2 Commissioning 13
47. meter 1 word Unit ms Limitation 0 16000 Manual brake control PNU 728 This instruction enables or inhibits the brake Parameter 1 word 0 inhibits the brake relay output relay closed 1 releases the brake relay output relay open Limitation Writing only Saving in the EEPROM PNU 729 Saves all amplifier parameters in the EEPROM Parameter none Limitation Writing only Execution With amplifier disabled Note All parameters modified by the other instructions except for the sequence parameters are not saved This instruction must be used to store them definitively in the amplifier 34 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual 2 4 Regulator parameters The structure of the regulator used for the SMT BD1 p is shown below Position input command Pos monitor Speed monitor The structure of the regulator used for the CD1 p is shown below SINFRANOR SERVO DRIVES amp MOTION CONTROL Measured speed All gain parameters KF1 KF2 KP1 KP2 Kl KA KC and Fev are automatically calculated during the auto tuning procedure Proportional speed loop gain PNU Defines the proportional regulator gain KP2 that acts upon the speed error Parameter 1 word Conversion 1 16 Limitation 0 to 65535 Integral speed loop gain PNU Defines the integral regulator gain KI that acts upon the speed error Parameter 1 word Conversion 1 256 Limitation 0 to 65535 Proportional
48. mp MOTION CONTROL PZD Inputs outputs module 2 words Consistency OxF 1 PZD Inputs outputs module 6 words Consistency OxF5 Type 3 PZD ReadPPO3 WritePPO3 Inputs outputs module 2 words Consistency Configuration OxF 1 Ee PZD ReadPPO4 Write PPO4 Inputs outputs module 6 words Consistency Configuration OxF5 Example When PPO2 is used the identifiers are OxF3 and OxF5 4 words for PKW and 6 words for PZD 8 3 Parameter setting PKW The parameter area PKW allows to read or modify a parameter Parameter identifier PKE Bit 1 15 12 11 10 SPM AK Instruction or reply code 0 15 SPM Toggle bit for parameter data signal processing PNU Parameter number 1 1999 8 3 1 Instruction Reply PKW Instructions code master gt slave Instruction Positive Negative rode reply code reply code No instruction Read a parameter i Modify a parameter word 1 Modify a parameter double word 2 The reply code mentioned in the above table includes the normal replies associated with the instructions The parameter code PKE is always of 16 bits Bits 0 to 10 include the parameter number PNU Bit 11 indicates an event message the parameter is modified by the amplifier and sent by the amplifier Bits 12 to 15 include the instruction or reply code Chapter 2 Commissioning 19 SMT BD1 p CD1 p User manual SINFRANOR Reply codes slave gt master Reply code Function Cid 0 No f
49. nditions bits 1 and 3 1 bit6 0 The value will be 0x0A40 Logic outputs PNU 792 This parameter defines the effect on the logic outputs in this sequence Parameter word bit description 0 7 mask s for the outputs 0 to 7 8 15 mask r for the outputs 0 to 7 The combination of the s and r masks gives rs 01 gt sets at 1 the corresponding output 00 gt sets at 0 the corresponding output 10 gt keeps the output unchanged 11 gt reverses the output Example If no output is modified the value is OxFFOO Chapter 5 Parameter setting by Profibus 43 SMT BD1 p CD1 p User manual SINFRANOR Triggering position PNU 793 Defines the position that triggers the inputs when the motor passes this position Parameter double Note This parameter is only effective when the inputs triggering type is a position Torque input command PNU 794 Defines the torque value in percentage for a torque sequence Parameter word Note Ox7FFF corresponds to the max current defined by PNU 710 Modification of sequence position PNU 796 This parameter directly modifies the position parameter of a sequence in the RAM the sequence must be valid This modification has an immediate result Parameter double word Home PKW number of the sequence to be modified Unit depends on the position resolution Variation 32768 x resolution to 32768 x resolution 1 Note This position value is not saved in the EEPROM consequently it will be los
50. nputs are used for the sequence start or stop conditions In speed mode Speed input command on 16 bits Ox7FFF corresponds to maximum speed Chapter 4 Operation 25 SMT BD1 p CD1 p User manual SINFRANOR 1 3 Status Value Notes Ready for enabling Ready for enabling ENABLE Not ready Error Amplifier fault after error reset is in disabled status No OFF2 OFF2 Instruction OFF2 available 5 No OFF3 OFF3 Instruction OFF3 available Enabling inhibited Enabling Warning signal the amplifier goes on operating No following error Following error Operation via Profibus Operation in local mode Input command Acknowledgment of a sequence triggering acknowledgment Rina EE EE 2 4 0 0 12 N 3 1 di A 5 Notes When the motor reaches a limit switch the following error is activated bit 8 and the amplifier fault is not activated bit 3 The motor remains enabled When switching from the Profibus mode to local mode or vice versa the amplifier is disabled 1 4 Feedback The feedback is included in HIW 2nd word of PZD PPO read It has got different meanings according to positioning or speed control In positioning mode Bits 0 to 7 of the HIW number of the running sequence otherwise OxFF Bits 8 to 15 of the HIW programmable logic outputs 0 to 7 If PPO2 or PPO4 are used PZD3 contains the current monitor in the motor PZD4 contains the motor speed PZD5
51. ofibus OPERATION section 3 2 The amplifier parameters are accessible via the serial link and the BD1m PC software or by the PKW of the PROFIBUS DP CAUTION Do not make the drive parameter setting by means of both BD1m PC software and Profibus at the same time INSTALLATION OF THE PC SOFTWARE At first connect the serial RS232 link between PC and amplifier The BD1m software is operating with DOS or Windows 95 98 in full screen mode To install the software insert the disk in driver A and start the installation programme by entering A INSTALL Enter the communication port COM1 or COM2 and the selected language and start the installation by clicking on INSTALL Chapter 2 Commissioning 9 SMT BD1 p CD1 p User manual SINFRANOR Menu treeing of the BD1m PC software Amplifier parameters menu F2 Parameters F2 F2 Motor Parameters menu for the motor adjustment F4 Auto phasing F5 Motor parameters F7 Current Limit TI TI TI TI TI i O eJ C oO OD D 3 or CD Wa oO O gt Q OD 5 E Q m rm alf E D sl a dl E D ola Q Q CH CD F3 F3 Controller Servo control parameters menu F2 Auto tuning F3 Controller param SN m Q eg SCH lt F4 F4 Encoder F6 F6 Scale factor factor Position scaling F7 F7 General param F7 General param F8 Manual move Manual movement parameters LKH Save EEPROM Parameters saving in the EEPROM p10
52. on with zero torque positions Check the connection of the three phases cables between motor and amplifier 3 5 Loud crackling noise in the motor at standstill Check that the Motor Amplifier Controller ground connections comply with the recommendations 3 6 Loud noise in the motor at standstill and when running Check the rigidity of the mechanical transmission chain between motor and load backlash and elasticity in the gearboxes and couplings Execute the AUTOTUNING command again by choosing a lower bandwidth Medium or Low 3 7 Sequence not executed In operation enabled status the motor does not move at a sequence start in following cases e f after power on the operator wants to start a positioning sequence whereas sequence 0 is a homing sequence that is not yet executed e A start condition has been defined for this sequence and is not fulfilled e One or two limit switches activated 4 SERVICE AND MAINTENANCE When exchanging an amplifier on a machine proceed as follows Check that the new amplifier has the same hardware configuration as the old amplifier including its address Plug the parameters EEPROM of the old amplifier on the new one The new amplifier is configurated like the old one 48 Chapter 6 Fault finding SMT BD1 p CD1 p User manual SINFRANOR Appendix 1 CURRENT LOOPS ADJUSTMENT SMT BD1 p For the BL and MA MAVILOR motor series the current loop adjustmen
53. or PNU 777 Motor current monitor Parameter integer 0x7FFF corresponds to the maximum current rating in the motor 40 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual OINFRANOR Error code PNU 778 Extra Error code for CD1 p Parameter word Bit 0 2 2 Power voltage error 3 Out of 24 Vdc range 18 V to 29 V 4 Motor phases earth short circuit 5 Braking system error 6 Fan error T Motor holding brake error Bit 3 IGBT module error Bit4 Power undervoltage This error has no influence on the AOK signal Bit9 400 V power stage initialization error Bit 10 Power configuration error Bit 11 Current measurement offset error Bit 15 Current error 2 9 Sequence Reading Writing A sequence is defined by a list of parameters PNU 782 to PNU 793 Sequence control Position Speed Acceleration Deceleration Delay time Link Counter Counter link Condition Logic outputs Output position CAUTION When the parameter position resolution is modified all position values in the sequences are also modified When the parameter Max motor speed is modified all soeed parameters in the sequences are modified as well Consequently when the sequences parameters are sent to the positioner it must be previously programmed with the correct parameters position resolution and max motor speed All sequences are saved in the EEPROM The direct access to a sequence is not pos
54. otor inductance Chapter 2 Commissioning 11 SMT BD1 p CD1 p User manual SINFRANOR 3 3 Adjustment to a new motor Uncouple the motor from the mechanical load and check that the motor shaft is free and for free rotation 1 revolution that is not dangerous for the operator Execute the auto phasing procedure the amplifier must be disabled and the ENABLE signal must be activated in order to define the parameters Number of pole pairs Motor phase and Resolver adjustment Please note that during the auto phasing procedure the motor is automatically enabled and then disabled when the procedure is over If the motor is equipped with a brake unlock the brake manually before starting the procedure The auto phasing procedure calculates the following parameters The parameter Number of pole pairs defines the number of motor pole pairs The parameter Phases order defines the motor phases order The parameter Resolver offset defines the mechanical shift between both motor and resolver references Define the parameter Phase lead from the specific motor parameters the effects of this parameter are particularly useful on low inductance motors running at high speeds 3 4 Pt protection Current limitation in Fusing mode When the amplifier RMS current I t reaches 85 of the rated current the Pt error display is blinking on the amplifier front panel If the RMS current H has not dropped below 85 of the rated current within
55. ows to get a motor position modulo only useful for rotating axes Parameter double word Position CLEAR input PNU 746 This function is released by PNU 742 and allows to reset the position counter at this value when the CLEAR input is activated this value is generally 0 This function is useful for rotating axes Parameter double word Negative software limit switch PNU 747 Defines the value of the negative software limit switch which release is defined by PNU 742 Parameter double word Positive software limit switch PNU 748 Defines the value of the positive software limit switch which release is defined by PNU 742 Parameter double word Chapter 5 Parameter setting by Profibus 37 SMT BD1 p CD1 p User manual SINFRANOR 2 6 Encoder output Encoder output resolutions PNU 750 Defines the encoder output resolution Parameter 1 word encoder resolution Limitation The encoder resolution is limited by the maximum application speed Max speed Max encoder resolution 100 900 8192 900 3600 4096 3600 14000 1024 Execution With disabled amplifier Note The encoder output is only effective after the end of the encoder output programmation procedure Encoder output marker pulse PNU 751 752 753 Parameter Number of encoder pulses 1 16 Phase shift with regard to the resolver marker pulse 0 65535 Marker pulse width 16 32767 Conversion Marker pulse phase shift 65536 is equivalent to 360 Marker pulse
56. profile acceleration step speed deceleration that allows positioning start position gt arrival position Digital link that allows real time data exchange between various electric devices The characteristic of field busses is their high protection and fault correction level as well as a predictable communication time Fieldbus initially defined by Siemens This bus is widely used in automation When a motor is enabled it is controlled by the amplifier and the servo loops are operating When it is disabled its rotation is free and there is no current in the motor Chapter 1 General description SMT BD1 p CD1 p User manual SINFRANOR Chapter 2 Commissioning The various stages of a first amplifier commissioning are described below Current regulator adjustment Motor adjustment Definition of the current limitations and of the It protection section 2 3 Adjustment of the motor control parameters Speed limitation definition Rotation direction i Adjustment of the servo control parameters according to Servo control adjustment the load section 2 4 Definition of the resolution CONFIGURATION Limit switches sections 2 5 and 2 6 Following error Profibus address PROFIBUS COMMUNICATION Start communication between PLC and positioner section 2 8 Both operation stages are Sequences programmation PROGRAMMATION section 3 1 Operational phase sequences execution by Pr
57. ration time Parameter word Unit ms Variation 1 to 16000 Note The real minimum value depends on the motor and the inertia 42 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual SINFRANOR Deceleration PNU 786 This parameter defines the positioning deceleration ramp For speed sequences it defines the actual deceleration time Parameter word Unit ms Variation 0 to 16000 Note The real minimum value depends on the motor and the inertia The value 0 allows to link up to another sequence parameter Link without stopping Delay time Time out PNU 787 This parameter defines either a delay time at the end of the positioning for a positioning sequence or a movement time at constant speed for a speed sequence or the time out for a homing sequence Parameter word Unit ms for the positioning and speed sequences s for the homing sequences Variation 0 to 16000 Link PNU 788 Parameter 0 127 number of the link sequence 1 no link Counter PNU 789 Parameter word Variation 1 32767 A no counter 1 conditional link Counter link conditional jump PNU 790 Parameter 0 127 number of the link sequence 1 no link Note For a conditional jump the counter value must be 1 Start conditions PNU 791 This parameter defines the condition inputs for the start of this sequence Parameter word bit description 0 7 The inputs O to 7 must be set at 0 8 15 The inputs O to 7 must be set at 1 Example Co
58. revolution Binary and decimal values are both accepted The maximum encoder resolution per revolution is limited by the motor rotation speed as shown in the table below Max possible speed rpm 900 3600 10000 Max encoder resolution 8192 4096 1024 The parameter Number of zero pulse defines the number of marker pulses on channel Z for one motor shaft revolution The adjustment range is between 1 and 16 The parameter Zero pulse origin shift defines the shift between the first marker pulse on channel Z and the resolver reference position The adjustment range is between 0 and 32 767 The value 32 767 corresponds to one motor shaft revolution The parameter Zero pulse width defines the marker pulses width on channel Z in ppr The adjustment range is between 8 and 32 767 The value 32 767 corresponds to one motor shaft revolution Caution The encoder output is not available on the CD1 p series amplifiers eventhough these parameters are existing 6 PROFIBUS ADDRESS Each amplifier of the network is identified by one single address 1 to 125 The positioner is delivered with the default address 126 which is not an operational address This address must be modified before putting the bus into operation The SMT BD1 p or CD1 p address can be modified by the serial RS 232 link BD1m PC software The new address must be saved in the EEPROM and the amplifier must be switched on in order to get the new address operational or by a
59. ront panel They are indicating the fault type ONO sys OO coded faults Amplifier rated current overload blinking display Idyn signal Pt threshold is reached oe 5 continuous etc SE disabled Pt fault E IT Position following error Position i ae Resolver cable interruption Resolver ge Power stage failure power supply overvoltage Power stage internal switch protection short circuit between phases R D C Resolver converter failure Mee EECH imine E a s Moe S S S S s Chi see Amplifier automatic procedure Busy blinking display procedure running continuous display operating error Q Led is unlit e Led is lit All these faults are stored in the amplifier except for the Undervolt and Profibus faults 1 2 CD1 p fault LEDs Only 3 red fault LEDs are available on the CD1 p front panel green ON SYS yellow red ERROR AP red green BUS O BUSY yellow Chapter 6 Fault finding 45 SMT BD1 p CD1 p User manual SINFRANOR 1 3 Fault reset The reset of a stored fault can be made via the fault RESET input of X4 pin 13 only on SMT BD1 p via the serial link by the control issued from Profibus by switching off the amplifier power supply 2 FAULT FINDING 2 1 System fault If the red SYS LED is lit at power on the logic board is defective Check that the EPROM firmware memory is correctly plugged on the amplifier
60. ror during the motor acceleration and deceleration phases Parameter word Conversion 1 16 Limitation 0 to 65535 36 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual SINFRANOR Speed loop damping gain PNU 739 This gain is used for getting the maximum servo loop stiffness Parameter word Conversion 1 16 Limitation 0 to 65535 2 5 Positioner parameters Position resolution PNU 740 Defines the position resolution ppr Parameter 1 word Limitation 0 corresponding to a resolution of 65536 full scale or from 512 to 65534 always an even number Execution With disabled amplifier Note This position resolution consequently defines the format of both position input command and position feedback Position threshold error PNU 741 Defines the position error triggering threshold Parameter 1 word Conversion See position resolution Positioner configuration PNU 742 Parameter bit description 0 Negative software limit switch 17 Positive software limit switch A CLEAR input active 5 Forward only Position Modulo 9 Speed modulation 12 Minimum Sequence Pulse 13 Inpos windows 14 CAM function 15 0 trapezoidal profile 1 S curve profile Note not available on BD1 p version 506 78 User output PNU 743 Defines the outputs of bits 8 to 15 of HIW Parameter byte Position modulo PNU 745 Defines the position after which the position counter is reset at 0 This function all
61. s the sequence must be executed This counter is decremented each time a sequence is over Counter link Defines the number of the sequence to be executed when the counter See above is not at O Logic outputs Defines the possible effect on the outputs Triggering Defines the outputs triggering moment Chapter 3 Programmation 24 SMT BD1 p CD1 p User manual SINFRANOR Triggering position Defines the outputs triggering position 2 1 Motion sequence A motion sequence is defined by the position to be reached absolute or relative the motion speed the acceleration ramp the deceleration ramp a delay time at the end of the motion Linkage example of 2 motion sequences without stopping the deceleration ramp of the first sequence is 0 sequence 1 sequence 2 with Tdec 0 and link 2 delay time 2 2 Homing sequence A homing sequence is defined by the motion speed the acceleration ramp the deceleration ramp a time out a position reset value the control 5 bits Dir Searching direction 0 for the positive direction and 1 for the negative direction Switch Homing with switch detection Zero Homing with marker pulse detection Origin In a case with switch this parameter allows to come back to the home position motion reversal otherwise the motor will be stopped after the braking Reset Load the position reset value in the position counter at the hom
62. sible The transfer requires a buffer the command PNU 780 allows to transfer the EEPROM parameters to the buffer and the command PNU 781 allows to transfer the buffer parameters to the EEPROM The writing or reading of the buffer parameters are made by the commands PNU 782 to PNU 793 Reading of a sequence PNU 780 Parameter 0 127 sequence number Note This instruction transfers the sequence parameters from the EEPROM to the buffer This allows the parameter values to be read in the buffer see below Writing of a sequence PNU 781 Parameter 0 127 sequence number 128 checksum Note This instruction transfers the sequence parameters from the buffer to the EEPROM The sequence parameters must of course be previously written in the buffer see below When all sequences are written a sequence must be written with a value of 128 this allows to update the checksum in the EEPROM otherwise the amplifier will indicate an EEPROM fault at its next powering The writing in the EEPROM is not instantaneous wait at first for the amplifier reply before writing other parameters All instructions below allow the access to the parameters of the sequence contained in the buffer Chapter 5 Parameter setting by Profibus 41 SMT BD1 p CD1 p User manual SINFRANOR Sequence control PNU 782 Parameter bit description 0 1 valid sequence 0 non valid sequence 1 0 positioning 1 homing 2 0 absolute positioning 1 relative positioning
63. ssioning SMT BD1 p CD1 p User manual SINFRANOR check that the motor is stopping if the motor does not stop the limit switches are reversed wired Check also in the opposite direction Notes The motor is stopped with maximum deceleration by a limit switch Recall The limit switches are wired as normally closed 5 CONFIGURATION 5 1 Positioner parameters Position resolution defines the position resolution for one motor revolution according to the number of decimals and the unit required The adjustment range is between 16 and 65536 ppr Following error defines the following error triggering threshold It is important to correctly adjust this value in order to get a good protection It can be adjusted like follows 1 Make the motor rotating with the desired operation cycles and measure the maximum following error threshold either by means of the BD1m PC software oscilloscope or by reducing the following error threshold value until the fault is triggered 2 Then set the following error threshold at this value plus a margin of 30 to 50 Example Adjustment of the following error threshold on an axis with Position resolution 5000 Maximum following error measured by oscilloscope 0 05 V The following error value is 0 05 10 x 32767 164 The threshold is set at 246 margin 50 Note In the BD1m PC software if the number of decimals is set at 3 the value that must be entered is 0 246
64. t at the power supply cut off At the next power up find the position at the former saved value by command PNU 781 But a sequence position must not be modified during a sequence execution Modification of a sequence speed PNU 797 This parameter directly modifies the soeed parameter of a sequence in the RAM the sequence must be valid This modification has an immediate result Parameter word Home PKW number of the sequence to be modified Unit rom Variation 1 to max speed for a positioning can be negative if the sequence is a speed sequence Notes Eventhough the speed may be given in rpm this parameter is saved in with regard to the application maximum speed parameter If this parameter is modified all soeed parameters of all sequences must be sent again This speed value is not saved in the EEPROM Consequently it will be lost at the power supply cut off At the next power up find the former saved speed value by command PNU 781 But a sequence speed must not be modified during the execution 44 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual SINFRANOR Chapter 6 Fault finding 1 DIAGNOSTICS A fault diagnostic can be made by display front panel LED display by serial link clear fault display by the BD1 m PC software by Profibus link by error code At an error triggering the amplifier is disabled 1 1 SMT BD1 p fault LEDs 5 red LEDs are available on the SMT BD1 p f
65. trical degrees Execution With disabled amplifier Auto phasing PNU 704 Parameter None Limitation Writing only Note This procedure allows the automatic calculation of the motor parameters number of motor pole pairs motor phase order resolver offset The motor must first be disabled and uncoupled from the mechanical load The ENABLE signal X4 connector must also be active Before executing the procedure check for free motor shaft rotation over one revolution that is not dangerous for the operator When the motor parameters are known it is not necessary to execute the auto phasing Phase lead coefficient PNU 703 Parameter 16 bits 55 7446 Conversion 4 57771654e 5 electrical degree 1000 rpm Phase shift _ 0 6 10 Kt Np Max MotorSpeed Wee rated tang Kt motor torque constant NM Arms Np number of motor pole pairs Max MotorSpeed maximum motor speed rpm lrated motor current Arms with U S EEN Phase lead coefficient electrical degree 1000 Gig ge Coef MaxMotorSpeed 2 2 Current parameters Maximum current PNU 710 Defines the max current limitation in the motor Parameter 1 word Conversion in percentage of the amplifier current rating x 3 051850948e 3 Limitation 6554 20 to 32767 100 Execution Note This parameter is defined according to the amplifier and motor specifications 32 Chapter 5 Parameter setting by Profibus SMT BD1 p CD1 p User manual
66. ts are made by means of the B1 B2 B3 jumpers or by the customization boards PC1 PC2 PC3 PC4 according to the table below Ee SS Ss SS E Eed El Ss a a BM B3 B3 B2 B2 Pca E E PC B2 B3 B3 PC1 B2 Cl PC1 RA 270 KQ CA 470 pF C14 82 pF PC2 RA 220 KQ CA 560 pF C14 100 pF PC3 RA 160 KQ CA 680 pF C14 150 pF PC4 RA 120 KQ CA 820 pF C14 150 pF The adjustment of the current loop P I regulators according to the power board current rating and to the motor phase phase inductance is made as follows Calculation of G 1 4xC x with C current rating A phase phase inductance mH 4 A 8 A 12 A AND 17 A AMPLIFIERS If G lt 60 current loop jumpers x3 on B3 position If 60 lt G lt 100 current loop jumpers x3 on B2 position If G gt 100 current loop jumpers x3 on B1 position 30 A 45 A AND 60 A AMPLIFIERS If G lt 100 current loop jumpers x3 on B3 position If 100 lt G lt 250 current loop jumpers x3 on B2 position If G gt 250 current loop jumpers x3 on B1 position 70 AAND 100 A AMPLIFIERS Calculation of the RA CA and C14 components of the current loops RA G KQ CA 130 G nF C14 CA 6 nF Appendix 49 SINFRANOR SERV 2 USE OF THE BD1m PC OSCILLOSCOPE Under Windows 95 98 switch to full screen mode before using the oscilloscope Oscilloscope screen F8 in the main menu Esc QUIT Fi
67. unction Value of the transferred parameter word Value of the transferred parameter double word Instruction cannot be executed see error code PKW interface inhibited For instructions that cannot be executed the slave answers with an error number in the 4 word of the PKW bits 7 and 8 Error number Description e PNU unlegal Parameter cannot be changed Exceeding of lower or upper limit Home position error Incorrect data type Instruction cannot be executed during operation Other error 8 3 2 Parameter value PWE PWE includes the data for the parameter to be transferred word bytes 7 MSB and 8 LSB double word bytes 5 MSB to 8 LSB 8 3 3 Rule of the instruction reply communication The master sends an instruction to the slave with the message PPO write It repeats this instruction until it gets a reply from the slave by PPO read This procedure guarantees the instruction reply communication by the operator Just one single instruction can be executed at once A slave provides the reply until the master sends a new instruction An instruction 8 bytes must be completely transferred in a message and a reply as well If no parameter setting information is required the master must send 0 in AK no instruction 8 4 Global control The PROFIBUS DP global control mechanism can be used for synchronizing the outputs and inputs of several modules and several slaves There

SMT-BD1/p CD1-p PROFIBUS POSITIONER User manual

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