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User Manual - HS Motion Group

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1. mms nnn nn 56 CORRE RE LOL gleg 58 User Manual LVD Introduction 1 1 1 1 1 1 1 2 1 2 Introduction Documentation About This Manual This manual describes the Servotronix LVD digital servo drive It provides the information required for installation configuration and basic operation of the LVD unit Note This document is meant for skilled personnel who have been trained to work with the equipment described Documentation Set for the LVD This manual is part of a documentation set The set consists of the following WB LVD User Manual Hardware installation configuration and operation WB LVD VarCom Reference Manual Parameters and commands used to program the LVD m LVD CANopen Reference Manual LVD implementation of CiA 402 and 301 protocols Safety The LVD is designed according to the guidelines of safety standard IEC 61800 5 1 second edition In addition the LVD is considered partly completed machinery according to EU directive 2006 42 EC Article 2 Clause g and is intended to be incorporated into other machinery Only qualified personnel are permitted to assemble commission and maintain this equipment Properly qualified personnel are persons who are familiar with the assembly installation commissioning and operation of motors and who have the appropriate qualifications for their jobs For safety perform all of the following W Read all available documentation before a
2. 6 2 2 Axis Manager Status Messages The Axis Manager interface displays the status of the drive in the status bar at the bottom left of the screen Warning Flashing yellow Fault Flashing red Indicates that the parameter values you have entered are out of range and cannot be used See Figure 6 1 Clicking the Warning message opens a dialog box that displays information and allows you to correct the error Indicates that a drive fault has occurred and drive has been disabled See Figure 6 2 Clicking the Fault message opens the Drive Status screen which displays faults and allows you to clear them See Figure 6 3 and Section 6 3 56 User Manual LVD Troubleshooting Communication The far left of the status bar is reserved for indicating Error communication errors This segment of the status bar is Steady red lit when Axis Manager is unable to communicate with a drive See Figure 6 4 Drive Disabled Figure 6 1 Warning Message in Status Bar Drive Disabled NENNEN Figure 6 2 Fault Message in Status Bar Figure 6 3 Faults Displayed in Drive Status Screen Communication Satis nine Pespanse Ted Du Leve Led Figure 6 4 Communication Error Message in Status Bar User Manual 57 Troubleshooting LVD 6 3 Faults Following are the fault notifications that the LVD recognizes To troubleshoot the problem perform the suggested solutions For detailed explanation of the co
3. Analog Differential Input 1 Low 9 Analog Input 1 Analog Differential Input 1 High e T Figure 3 11 I O Mating Connector Table 3 10 I O Mating Connector Item Specification Manufacturer Molex Part Number 0355070900 Crimp Pins Reel 0502128000 Bag 0502128100 Wire Gauge 24 30 AWG User Manual 15 Installation LVD Extended I O J7 Table 3 11 Extended I O Pin Function Description 1 ENC_STRB Encoder Strobe 2 ENC STRB Encoder Strobe 3 Digital input Digital input 5 4 Digital input Digital input 6 5 Digital output Digital output 2 6 Analog Input 2 Analog Differential Input 2 Low 7 Analog Input 2 Analog Differential Input 2 High Figure 3 12 Extended I O Connector Table 3 12 Extended I O Connector Item Specification Manufacturer Molex Part Number 0355070700 Crimp Pins Reel 0502128000 Bag 0502128100 Wire Gauge 24 30 AWG 16 User Manual LVD Installation External Enable J2 If the External Enable connector is being used the EN BYPASS switch DIP switch 2 must be set to the OFF position If the External Enable connector is not being used the DIP switch 2 must be set to the ON position Refer to Section 3 3 10 Table 3 13 External Enable Interface Pin Function Description 1 EXT EN External enable positive 2 EXT EN External enable negative Figure 3 13 External Enable Mating Connector 11 Dx Table 3 14 External Enable Mating
4. Help 3 Offline Online Serial E Drives Drive 1 Position Loop Status Motor n Feedback Lowe Enable Recorder Watch SavetoEEPROM AddDrive Remove Drive Current Loop Velocity Loop Motion Digital 10 Analog ID Parameters Homing Mim Pos Loop Out 1000000 RPM 100 Paisain 9 fat 100000 counts Pfb 50000 RPM 100 counts Additional Parameters Name Value Min Max Default Value Units Description pemax 5000 0 2147483647 100 counts Maximum allowed p pscale D D 2147483647 D counts Analog Position com Drive Disabled Figure 4 18 Position Loop Parameters Screen The position loop is implemented by a proportional integral derivative PID control algorithm with velocity and acceleration feed forward options 2 User configurable parameters are displayed in blue boxes in the Position Loop diagram You can click on a parameter box to modify its settings Alternately click Tune and use the Tuning utility to set and test the current loop parameters Refer to Section 4 6 9 The following parameters are user configurable in the Position Loop PGP Gets sets the proportional gain for the position PID loop PGI Gets sets the integral gain for the position PID loop PGD Gets sets the derivative gain for the position PID loop PGFFV Gets sets the feed forward velocity term gain
5. and or verify the following settings m For Serial communications set the COM port and the baud data transfer rate The COM port is the COM port of the host computer to which the serial cable is connected m The baud rate for the LVD is fixed at 115200 bps m For CANopen communications select the CAN interface device that is being used Currently only one device is defined At present Axis Manager can communicate only with the Peak Systems PCAN USB dongle For more information on this product go to the Peak Systems website In future software versions additional devices will be supported and will be available for selection in the list of CAN Devices From the toolbar select Add Drive The Add Drive dialog box opens 28 User Manual LVD Configuration x Drive Name Drive 1 Drive Address fi EDSFie Ei Figure 4 4 Add Drive Dialog Box Part One 5 Enter the required information in the dialog box Drive Name Drive Address EDS File Drive 1 is the default drive name It is recommended that you provide a name for the drive that reflects the function it performs such as Axis 1 or Axis X The drive address can be any value from 1 to 127 The value you enter must match the drive address defined by the DIP switches set during installation Note If you enter the wrong drive address that is the drive address does not match the DIP switch settings the drive will be
6. is shipped with factory defaults loaded To reset the drive to its factory defaults use the Load Factory Defaults option in the Drive Parameters screen Refer to Section 4 5 2 8 Click Finish The system displays a message indicating it is retrieving the parameters for the drive The Drives screen opens File View Tools Help recorder Watch Saveto EEPROM Add Drive Remove Drive O Drives Defined Drives Axis 1 Figure 4 6 Drives Screen Defined Drives 9 Inthe Defined Drives box click on the name of one of the drives If you have connected to only one drive the list will contain just one name The Drives screen indicates that the drive is now connected communicating with the host computer The drive is now online The options in the toolbar are now enabled File View Tools Help 8 Offline Online E Drives 1 Axis 1 Enable Recorder Watch SavetoEEPROM Add Drive Remove Drive O Axis 1 Connected Recorder Watch Figure 4 7 Drives Screen Drive Connected 30 User Manual LVD Configuration If you entered the wrong drive address in Step 5 or if the communication parameters are incorrect an error message is displayed when you attempt to make the connection Connecting x No online drives Found ILL Click OK The Drives screen indicates that the drive is defined but not connected File View Tools Help Offline online E Drives H Drive 1 Disconnected
7. on the screen during the upgrade operation If the upgrade operation is successful a message is displayed on screen and you can continue to Step 7 Turn the drive power off then turn it on Restore the drive parameters If the upgrade operation is unsuccessful a red fault message flashes and you are prompted to view the operation log file If the error persists send a copy of the operation log file to Servotronix Technical Support at tech support servotronix com 54 User Manual LVD Firmware Upgrade User Manual 55 Troubleshooting LVD 6 Troubleshooting 6 1 Built in Protection When a drive fault occurs the fault is automatically latched and the drive is disabled Faults must be explicitly cleared before the drive can be reenabled Drive faults are described in Section 6 3 6 2 Diagnostic Tools 6 2 1 LEDs The LVD has 2 LED indicators Refer to Section 3 6 Table 6 1 LED Indicators Name Color Function Bus Yellow ON Bus power is connected and powered to at least 5 VDC Status Green Blinking The drive is operational and ready to be enabled No faults ON The drive is enabled No faults Red ON A fault has been detected and needs attention The LED remains ON until the error is resolved by user or the system itself Blinking A fault that was detected no longer exists but has not yet been cleared Use the CLRFLT command or the Drive Status screen to clear the fault
8. s CAN ID or node address is set by means of 6 DIP switches The address can be a value in the range 0 63 Each device on the network must have a different address When interfacing to the LVD via the RS232 serial port the LVD address must be set to a non zero value When working with CAN bus the last device on the network must have a termination resistor between the CAN terminals The LVD provides this functionality via the DIP switch labeled CAN TERM Note When setting the switches refer to the labels on the LVD and not the numbers on the switches as shown in Figure 3 16 Table 3 19 Drive Address Switches T or Description on Switch SE ES ADD 5 Address 5 8 2 32 4 Address 4 7 24 16 3 Address 3 6 2228 2 Address 2 5 2 4 1 Address 1 4 pr ADD 0 Address 0 3 2 1 EN BYPASS External Enable Bypass 2 CAN TERM CAN Termination 1 Note EN BYPASS DIP switch 2 must be in the OFF position if External Enable is being used The switch must be in the ON position if External Enable is not in use di DRIVE ADDRESS SI SW1 A 39 ZS m oe M15 osd 9g O E a ui ous ms 111 Figure 3 16 DIP Switches 20 User Manual LVD Installation 3 3 11 Connecting the LVD The cables can be connected in any sequence Similarly the switches for the drive address can be set at any point during the installation Warning Make sure the power supplies are disconnected before making the cable connect
9. the application do not disconnect the serial cable and do not turn off the drive Any of the actions may cause the drive to stop responding User Manual 53 Firmware Upgrade LVD If the upgrade operation is successful a message is displayed on screen and you can continue to Step 5 If the upgrade operation is unsuccessful a red fault message flashes and you are prompted to view the operation log file Turn off the drive power then turn it on If the drive does not respond after cycling power repeat the upgrade using the hardware boot method as described below in Section 5 4 5 4 Hardware Boot Upgrade The hardware boot method is used for upgrading a drive when the software boot method fails or when the drive does not respond when power is switched on Note Parameter settings are erased during the hardware boot upgrade and must be restored after the upgrade is completed These instructions assume that the hardware is functional 1 2 7 8 Make sure the drive power switch is off Complete the selections and information required in the Vulcan screen m Port Name m Make sure Boot Type is Hardware m Make sure Baud Rate is 19200 Browse to and select the firmware upgrade file i00 Using a non metallic instrument press and hold the boot switch on the side of the LVD see Figure 3 6 and simultaneously turn on the drive Press Burn to start the upgrade A progress bar and messages are displayed
10. Connector Item Specification Manufacturer Molex Part Number 0355070200 Crimp Pins Reel 0502128000 Bag 0502128100 Wire Gauge 24 30 AWG User Manual 17 Installation LVD RS 232 J3 0 Table 3 15 RS 232 Interface Pin Function Description 1 RX LVD RS 232 receive 2 TX LVD RS 232 transmit GND RS 232 ground Figure 3 14 RS 232 Mating Connector Table 3 16 RS 232 Mating Connector Item Specification Manufacturer Molex Part Number 0355070300 Crimp Pins Reel 0502128000 Bag 0502128100 Wire Gauge 24 30 AWG 18 User Manual LVD Installation CAN J3 1 and J3 2 Two connectors are provided for CAN bus connectivity Either connector can be used for input or output signals Pins are wired through so that drives can be daisy chained and controlled with a single connection to the user s CAN interface The CAN termination resistor should be activated in the last drive in the chain using the DIP switch labeled CAN TERM Table 3 17 CAN Interface Pin Function Description 1 CAN Low CAN low bus line 2 CAN High CAN high bus line 3 GND CAN ground Figure 3 15 CAN Mating Connector Table 3 18 CAN Mating Connector Item Specification Manufacturer Molex Part Number 0355070300 Crimp Pins Reel 0502128000 Bag 0502128100 Wire Gauge 24 30 AWG User Manual 19 Installation LVD 3 3 10 DIP Switches Drive Address SW1 The drive
11. DRIVETEMP to read the measured temperature 2 Reduce the load on the drive User Manual 59 Troubleshooting LVD Over Voltage Description Solution Bus voltage exceeds VBUSOV value 1 Check the bus power voltage 2 Increase the value of VBUSOV Position Command Error Description Solution The difference between two sequential position commands is greater than PDMAX Note Interpolated mode only 1 Check the motion controller configuration 2 Check the demanded velocity acceleration and deceleration 3 Increase PDMAX if needed or set it to zero in order to disable this functionality Position Error Description Solution The difference between the position command and the actual position is greater than PEMAX 1 Check control loops parameters 2 Check the demanded velocity acceleration and deceleration 3 Increase PEMAX Under Voltage Description Solution Bus voltage is lower than VBUSUV value 1 Verify bus power connection 2 Reduce the value of VBUSUV Velocity Error Fault Description Solution The difference between the velocity command and the actual velocity is greater than VEMAX 1 Check the parameter values in the control loops 2 Check the demanded velocity acceleration and deceleration 3 Increase VEMAX if needed or set it to O to disable this functionality 60 User Manual
12. Electrical Installation 3 3 1 Wiring Guidelines The environment into which any electronic control system is installed can effect its operation Attention to proper installation and field wiring are of prime importance to ensure long term and trouble free operation Be sure you are familiar with and follow the installation and wiring instructions in this section In addition to these practices some localities and industries may require applicable electrical and safety codes laws and standards Particular care should be used when designing the layout of an enclosure Efforts to separate power wires from small signal wires should be taken The following guidelines highlight some important wiring practices W Control and signal cables must be separated from power and motor cables User Manual Installation LVD 3 3 2 3 3 3 3 3 4 3 3 5 W Control and signal cables must be shielded to reduce the effects of radiated interference m Where control cables must cross power or motor cables they should cross at a 90 angle if possible This reduces the field coupling effect Enclosure The LVD is designed for panel assembly This panel assembly should then be mounted in a metallic enclosure Enclosures are supplied by the manufacturers of the final product and must meet the environmental IP rating of the end product To ensure proper grounding and to optimize EMC the enclosure should have continuous ground continuity maintaine
13. Overshoot 5 8 ee La Figure 4 19 Tuning Screen for Current Loop Clicking the Test button initiates a step command The tuning screen displays the response to the command with the gains currently configured Warning Use with caution As soon as the Test button is pressed Axis Manager activates the selected control loop and enables the drive and the motor will begin to move The tuning screen also displays information such as rise time and overshoot for the step response User Manual 45 Configuration LVD 4 6 10 Motion Profile Testing Axis Manager includes a motion profile testing utility The Motion screen has tabs for the three basic types of operation Torque current Velocity jog and Position When activated the Motion screen opens to the profile tab that corresponds to the operation mode currently defined in the Status screen See Section 4 3 2 m CURRENT operation mode Torque Profile tab W JOG operation mode Velocity Profile tab W POSITION operation mode Position Profile tab Each tab allows you to modify parameters issue commands and monitor feedback for the selected profile Figure 4 20 shows for example the Velocity Profile tab in the Motion screen Motion Profile Position Profile Torque Move Jog 1000000 RPM 100 GO Stop Profile Velocity Feedback o RPM 100 Acceleration 1000 RPM sec Deceleration 1000 RPM sec Position Position Feedback 19631049
14. R nies LIRE eu EAR pees EA 33 4 5 2 Loading and Saving Barameters nme 34 User Manual 4 6 Configuring Parameters iaia lalla amer tonne et nero et sans 36 4 6 1 Configuration Sequence rere ene tege EEN dE 36 4 6 2 Tuning and Testing re ERROR RU RU Re nent oats 37 4 6 3 Safety Limit Parameters cece testes eset eee eeeeetaeeeeteetaeenseenees 37 456 4 Motor Parameters clientela 39 4 6 5 Feedback Parameters eine EEN 40 4 6 6 Current Loop Parameters sisi 42 4 6 7 Velocity Loop Parametere 43 4 6 8 Position Loop Parametere 44 4 6 9 Control Loop Tuning eic ER DD pe E Eie Ee pe 45 4 6 10 Motion Profile Testihgi eer ia n 46 4 6 11 Data Recording io ed ex ee e ex rix eie dei den Eee xa LX Ve EA ed 47 4 7 Digital Inputs and Outputs nennen nennen menses nnn nnn nnn 49 4 8 Analog IANUS aeisi iara pene ete er prece debere rx poer pter ela pete pia e rnin 50 e ESCH to Un e 50 Firmware Upgrade 52 bi Pr paration ne i gege ee dee 52 5 2 Using Vulcan saio RR RR Ri 52 5 3 Software Boot Upgrade cirie oro 53 5 4 Hardware Boot Upgrade enemies esee esee nee 54 Troubleshooting 56 6 T Built ir PFOtecti ono eee oe ex qe vente ud ed de e d e e d c e x n 56 6 2 Diagnostic Tools e e HEEN RAPI ER QR REA ERI TRY SEENEN 56 6 2 1 LEDS uie eene nce ern teet de emen did d ce dude ped nee Fi ee e X D E 56 6 2 2 Axis Manager Status Messages
15. SERVOTRONIX always in motion bs LVD Servo Drive User Manual Manual Revision 3 1 Firmware Version 3 1 0 LVD Revision History Document Date Remarks Revision 3 1 Mar 2012 Digital I O update 3 0 Mar 2012 Support for additional inputs outputs Extended 1 0 External enable DIP switches Dimensions 2 1 Sep 2011 Updated Documentation Set Correction p 31 Load from File 2 0 May 2011 Chapters pages renumbered Figures 4 4 and 4 5 fixed 1 2 Mar 2011 1 1 Feb 2011 Table 3 1 updated to include specifications for brush DC and voice coil motors 1 0 Feb 2011 Initial release Hardware Firmware Software Remarks Revision Revision Revision 5 3 1 0 1 0 0 5 Important Notice 2012 Servotronix Motion Control Ltd All rights reserved No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Servotronix Motion Control Ltd Disclaimer The information in this manual was accurate and reliable at the time of its release Servotronix Motion Control Ltd reserves the right to change the specifications of the product described in this manual without notice at any time Trademarks Servotronix always in motion is a trademark of Servotronix Motion Control Ltd CANopen and CiA are registered community trademarks of CAN in Automation e V All other proprietary names mentioned in this manual are the trademarks of their respe
16. Serial Enable Recorder Watch Save to EEPROM AddDrive Remove Drive O Recorder Watch This Drive is neither available online nor has been loaded with SSV file To allow access to this drive please load a SSV file or make sure the drive is online Attempt to Reconnect Upload From SSV File Figure 4 8 Drives Screen Drive Disconnected From the toolbar select Remove Drive 10 Repeat Steps 5 through 9 using the correct drive address 11 Repeat Steps 5 through 9 for each drive that will be used in the application 4 3 2 Drive Status Screen W Inthe system tree click on the drive name to expand the node and select Status The Drive Status screen is displayed User Manual 31 Configuration LVD 4 4 File View Tools Help 9 Offline Online Esma Z Enable Recorder Watch Saveto EEPROM AddDrive Remove Drive O Ej Drives r Dis Drive Status Status E Operation Mode TORQUE X Current Faults No Faults Feedback unatoa Clear Faults Velocity Loop Status Disabled Position Loop Motion Digital ID Drive Address i3 Faults History No Faults Newest a Analog JO Clear Fauits Parameters History Homing Drive Temperature 30 Deg Celcius Bus Voltage 24388 nM PWM Frequency 16KHz C 100KHz Drive Time 0000 days 9 34 41 Firmware Version LVD Drive Version 2 10 1 Figure 4 9 Drive Status Screen Oldest Drive Enabled Time 0000 days 0 29 19 Ls D The Drive Status screen sh
17. ain Screen Status Bar Contains menus and quick access buttons Contains a navigation menu for the System tree and Drive nodes Displays various interactive screens for viewing setting and testing parameters and drive configurations Displays messages and warnings Refer to the chapter Troubleshooting 4 2 3 Toolbar The toolbar provides Manager quick access to the most commonly used functions in Axis Offline Online Serial CANopen Enable Disable Recorder Watch Save to EEPROM Backward Forward Return to previously opened screens Disconnects communication between the drive and the computer Useful when the serial port is required for another application such as Vulcan A dropdown list Selects the protocol to be used for communication with the drive A toggle button Changes the Enabled Disabled state of the drive Opens the Recording application See Section 4 6 11 Opens the Watch dialog box Allows you to monitor a set of parameters at a selectable sample rate Writes the parameters to the drive s non volatile memory EEPROM User Manual 25 Configuration LVD 4 2 4 4 2 5 File Add Drive Opens a dialog box and prompts for the settings to establish the connection between a drive and Axis Manager Remove Drive Deletes the connection between the drive and Axis Manager Removes the drive node from the System tree Emergency Stop When pressed
18. allows you to set the functionality of up to four digital inputs and two digital outputs Digital IO Digital Inputs Input 1 State M Function Input 2 State ME Function Input 3 State IM Function Input 4 State BEN Function Input 5 State M Function Input 6 State MU Function General General ij General Generi General General X Digital Outputs Output 1 Rising Ed n Rising Ed lindow High 0 Polarty gd State MS Function XOR SET CLR x Polarty al window Th Falling Edge Falling Edge Window Low 0 vem Output 2 o d Rising Ed Window High 0 Polarty Pie State M Function DISABLED x Polarty Js Dinda Pid Falling Edge ri Faling Edge Window Low 0 Polly Rising Edge Falling Edge Ri Polarity ising Edge Falling Edge Rising Ed Polarty see Falling Edge Polarity Rising Edge Falling Edge Figure 4 22 Digital Inputs Outputs Screen State Displays the status of the inputs and outputs m 1 On green m O Off red Function B Digital Inputs Allows you to select the input functionality or to define the input as Disabled W Digital Outputs Allows you to select the event or condition that triggers an output signal or to define the output as Disabled Polarity Allows you to select whether or not to the logic of the output is inverted WB Rising Edge E Falling Edge m Window High High limit of the function window m Window Low Low limit of the function window User Ma
19. ation indicates whether the drive is enabled or disabled Warning messages are highlighted in yellow and may flash Warnings are displayed when you attempt to assign an invalid value to a parameter While a warning is in effect the drive remains in its current enabled disabled state Fault messages are highlighted in red and may flash Faults occur when settings or conditions may cause improper operation of the drive motor and or equipment damage When a fault occurs the drive becomes disabled User Manual 27 Configuration LVD For more information about status messages and how to resolve faults refer to the chapter Troubleshooting 4 3 Connecting to a Drive 4 3 1 Defining the Connection 1 From the Axis Manager toolbar select the type of communication protocol to be used for communication between the drive and the host computer m Serial RS 232 m CANopen From the Axis Manager toolbar select Tools Options to define and verify the settings for serial or CAN communication The Options dialog box opens Options TN x Connection Serial Port Name Baud Rate cons v 115200 x CANopen CAN Device PEAK USB CAN Changes of these settings will take effect only after reconnection OK Cancel Figure 4 3 Options Dialog Box The Options dialog box allows you to define the communication properties of the system Define
20. ces are located on the front and side panels of the LVD as shown in Figure 3 4 Figure 3 5 and Figure 3 6 Table 3 20 lists the functions of the LED indicators J2 J3 0 External J9 J7 J5 J8 RS 232 Enable yo Extended I O Halls Encoder Status LED BUS LED Figure 3 4 Front Panel SW1 Drive Address EN Bypass P2 P7 CAN Termination Logic Power BUS Power Motor Figure 3 5 Right Side Panel J3 2 J3 1 Boot CAN CAN Switch Figure 3 6 Left Side Panel 10 User Manual LVD Installation 3 3 9 Connector Pinouts Table 3 1 through Table 3 18 provide the pin assignments and detailed information you will need to prepare the cables required for the LVD When preparing the cables be sure the pinout and polarity of the mating connectors are in accordance with the printed labels on the LVD and as described in detail in this section Bus Power and Motor P7 Table 3 1 Bus Power and Motor Interface Description Pin Function gem Brushless DC Motor Brush DC amp Voice coil Motors 1 BUS VDC supply for the bus VDC supply for the bus regulated or unregulated regulated or unregulated 2 BUS Bus ground Bus ground 3 REGEN OUT Regeneration power output Regeneration power output 4 MPHASEC Motor phase C No connection 5 MPHASEB Motor phase B Motor terminal 1 6 MPHASEA Motor phase A Motor terminal 2 7 CHASSIS Motor ground Motor ground Refer to Section 3 3 3 Refer to Section 3 3 3 Warnin
21. counts Negative 2147483647 Positive 2147483647 GE 2147483647 counts n 2147483647 counts Negative Limit Switch INI Positive Limit Switch JE Position Limits Pos 2147483647 Neg 2147483647 DE Additional Parameters Name Value Min Max Default Value Units Description acclim 0 0 130000 0 RPM sec Maximum allowed acceler decstop 10000 0 130000 10000 RPM sec Stop Deceleration pdmax 0 0 2147483647 0 counts Tc Maximum allowed position peinpos 100 2147483547 100 counts Position error window pstop 21474835 2147483647 2147483647 2147483647 counts Crossing Pstop generates starttype 0 2 2 Motion start type Figure 4 20 Motion Screen Velocity Profile Tab Each tab has three sections Move Varies in each tab W Torque tab Apply Torque current W Velocity tab Jog W Position tab Move in encoder counts GO initiates the command Stop decelerates the drive to a halt using the DEC value 46 User Manual LVD Configuration Profile Varies in each tab m Torque tab Current Feedback W Velocity tab Velocity Feedback acceleration deceleration W Position tab Cruise Velocity acceleration deceleration Position Same in all three tabs Displays information about the position limits and position feedback Allows you to select the type of position limits WB Pos 2147483647 Neg 2147483647 W Pos Positive position limit Neg Negative position limit W Pos Positive position li
22. ctive owners Contact Information Servotronix Motion Control Ltd 21C Yagia Kapayim Street Petach Tikva 49130 Israel Tel 4972 3 927 3800 Fax 972 3 922 8075 Website www servotronix com Email info servotronix com User Manual LVD Customer Service Servotronix is committed to delivering quality customer service and support for all our products Our goal is to provide our customers with the information and resources so that they are available without delay if and when they are needed In order to serve in the most effective way we recommend that you contact your local sales representative for order status and delivery information product information and literature and application and field technical assistance If you are unable to contact your local sales representative for any reason please use the most relevant of the contact details below For technical support contact tech support servotronix com To order products contact orders servotronix com For all other inquiries regarding LVD drives or other Servotronix products contact customer service servotronix com Part Number For ordering the standard LVD use part number LVD48701 Warranty The warranty is valid for 12 months from the date of shipment and applies only if material or workmanship is found to be defective The warranty will be invalid if the customer fails to install operate or maintain the product in accordance with the ins
23. cy Maximum incremental encoder frequency Sample rate current loop Sample rate velocity loop Sample rate position loop Brushless DC Interpolated position mode PVT Position control Velocity control Torque current control Incremental encoder with Hall sensors or commutation tracks 7A 12 A 10 36 VDC 12 48 VDC 100 of operating voltage 16 or 100 kHz 3 MHz 16 kHz 5 33 kHz 2 66 kHz Table 2 3 Derating at 16 kHz PWM Frequency DC Brushless Motor 24 VDC 36 VDC 48 VDC Output current A 6 7 6 7 6 7 Maximum ambient 45 35 45 35 45 35 temperature C Input voltage V Table 2 4 Derating at 100 kHz PWM Frequency DC Brush Motor 24 to 48 DC 7 45 DC Brushless Motor DC Brush Motor 24 VDC 36 VDC 48 VDC Output current A 4 5 5 5 5 6 3 5 4 5 Maximum ambient 45 35 45 35 45 35 temperature C Input voltage V 24 VDC 48 VDC 6 5 5 5 45 45 User Manual LVD Product Description 2 2 3 Inputs and Outputs The 1 0 interfaces are located on the front panel of the LVD as shown in Figure 3 4 Table 2 5 LVD Input and Output Specifications Feature Specification Inputs Outputs External Enable 6 opto isolated digital inputs configurable as dedicated inputs over travel limits and Home Input Voltage Range 6 5V to 24V Maximum current consumption 10 7mA Input resistance 2 5KQ 2 configurable 10 VDC analog inputs Gain Erro
24. d User Manual 37 Configuration LVD Acceleration ACC Deceleration DEC ACCLIM Gets sets the acceleration rate in the velocity and position loops Gets sets the deceleration rate in the velocity and position loops Gets sets the maximum acceleration deceleration value If the drive detects acceleration or deceleration that is a higher than the ACCLIM Value it will issue a fault Setting ACCLIM to 0 disables this function Position PLIMPOS PLIMNEG PSTOPMODE PEMAX Gets sets the maximum position limit for motion The drive will not accept MOVE commands beyond this position Upon reaching this limit the drive will execute a STOP command Gets sets minimum position limit for motion The drive will not accept MOVE commands beyond this position Upon reaching this limit the drive will execute a STOP command Configures the STOP functionality Defines how the LVD reacts to the software position limits PLIMPOS and PLIMNEG Gets sets the position error value that triggers the position error fault This parameter is used in Point to Point Interpolated Position and Jog in Position operation modes 38 User Manual LVD Configuration 4 6 4 Motor Parameters Warning Disable the drive before modifying Motor parameters 1 In the System tree expand the Drive node and select Motor Motor Motor Details Motor Type eLoc zl Number Of Poles E Mo
25. d between all metal panels This ground continuity is intended to be both a safety ground and a high frequency ground The unit should be mounted on a back plane which is installed into the enclosure Ideally the back plane should be an unpainted metallic surface to optimize electrical bonding of the frame and provide the lowest possible impedance path to earth ground These enclosures also provide added safety Grounding System grounding is essential for proper performance of the drive system A ground bus bar may be used as a single point ground for the system Safety grounding should be provided to all pieces of the system from a star point In addition to the safety grounding a high frequency ground must be provided that connects the back panel to the enclosure and to earth ground The objective is to provide an extremely low impedance path between the filters drives power supplies and earth ground This high frequency ground is accomplished with the use of a flat braid or copper bus bar It is important not to rely on a standard wire for the high frequency ground In general wire has an inductance of 8 nH per inch regardless of diameter At higher frequencies this unwanted inductance between grounds equates to limited filter performance When connecting high frequency grounds use the shortest braid possible Bonding The proper bonding of shielded cables is imperative for minimizing noise emissions and increasing immunity lev
26. defined but considered disconnected An error message No online drives found will be displayed when you attempt to make the connection To remedy select Remove Drive and then repeat the steps to connect the drive using the correct drive address This field is displayed only when CANopen communication is defined Click the browse button to select and load the EDS file The EDS electronic data sheet file can be downloaded from the LVD product page on the Servotronix website 6 Click Next Another dialog box prompts you for a parameter file x Select drive parameters source Upload from online drive Upload from PAM file Es Back Finish gt Cancel 4 Figure 4 5 Add Drive Dialog Box Part Two User Manual 29 Configuration LVD 7 Select the source of the parameters to be loaded Upload from The drive is considered online after its connection to online drive the host computer has been established Select this option if you want to upload the parameters that are currently in use in the drive Upon first use of the drive factory set parameters are loaded Afterwards the EEPROM contains the set of parameter values last saved Refer to Section 4 5 2 Upload from Select this option if you have saved parameters on your PRM file PC from this or another drive and want to load those parameters to this drive Browse to the prm file and select it Refer to Section 4 5 2 Note The drive
27. disables all the drives that are connected to Axis Manager Sidebar The sidebar on the left side of the screen contains a navigational menu that allows you to select the System and Drives you want to work with Axis Manager File View Tools H 9 Offline Online E Drives DND Status Motor Feedback Current Loop Velocity Loop Position Loop Motion Digital IO Analog IO Parameters Homing Figure 4 2 System Tree and Drive Node s The system tree root has one or more nodes Each node is a single drive in the system Each node is represented by a specific user defined name that is assigned during the configuration Each node has a specific drive address In the example shown in Figure 4 2 the system is called Drives and the drive is named LVD Note The system name is predefined and cannot be modified The drive name is user defined Menus The File menu provides options for saving and loading files that contain the configuration data for drives and systems m A drive is a single drive with a specific drive address it is one node on the system tree It is recommended to save individual drive configurations so that the settings and parameters can be reused for example to add a drive to the same system or to create another system with the same drive 26 User Manual LVD Configuration View Tools Help 4 2 6 The drive file is for use in Axis Manager only In addition to
28. els of the drive system Its effect is to reduce the impedance between the cable shield and the back panel Servotronix recommends that all shielded cables be bonded to the back panel Power input wiring does not require shielding screening if the power is fed to the cabinet enclosure via metalized conduit If the metalized conduit is used with proper high frequency grounds bonding technology and recommended wire routing then power input wire shielding has no affect In the event that metalized conduit is not implemented into the system shielded cable is required on the power input wires and proper bonding technologies should be implemented The motor and feedback cables should have the shield exposed as close to the drive as possible CE Filtering Techniques The LVD meets the CE Mark standards stated in the Standards Compliance section in this manual It is imperative to apply proper bonding and grounding techniques described above when incorporating EMC noise filtering components for the purpose of meeting this standard User Manual LVD Installation 3 3 6 Noise currents often occur in two types The first is conducted emissions that are passed through ground loops The quality of the system grounding scheme inversely determines the noise amplitudes in the lines These conducted emissions are of a common mode nature from line to neutral or ground The second is radiated high frequency emissions usually capacitively co
29. en Parameters in Activates Excel and displays the parameters currently Excel in RAM in an Excel worksheet 34 User Manual LVD Configuration Save to EEPROM Saves the parameters currently in RAM to the Load from EEPROM EEPROM Loads into RAM the parameter values last saved in the EEPROM Use this option to revert to the previous configuration Load Factory Loads the factory defined parameters from the Defaults drive s Flash memory The following diagram illustrates the relationships among the different types of memory Axis Manager Drive Configuration FLASH RAM EEPROM Load Factory Save to defaults EEPROM Stores firmware and Holds parameter values Non volatile memory for factory default duri li ti uring online operation UT parameter values EEPROM parameter values Drive Configuration EEPROM Stores firmware and factory default Holds parameter values Non volatile memory for during online operation 7 parameter values parameter values CLREEPROM loads defaults values to RAM and clears non volatile memory Figure 4 11 Drive Memory Architecture For more information on the commands for saving and loading parameters refer to the LVD VarCom Reference Manual User Manual 35 Configuration LVD 4 6 Configuring Parameters Warning Disable the drive before manipulating Motor and Feedback parameters Many parameters can be
30. example MPOLES is the VarCom equivalent of CANopen index 0x2442 VarCom instructions which are used with serial communications are detailed in the LVD VarCom Reference Manual CANopen instructions are described in the LVD CANopen Reference Manual Some variables are read only while others allow read write access Variables can be stored in the LVD s non volatile memory EEPROM for use at each power up Drives are shipped from the factory with motor parameters set to zero and application parameters set to their default values 4 2 Axis Manager Software 4 2 1 About Axis Manager Axis Manager is a graphic interface provided with the LVD to enable setup configuration and tuning of the drive Axis Manager allows you to program the drive parameters specifically for the motor to which the LVD is connected and for the particular operation that the drive will be performing in the machine The following sections present a brief overview of the menus and elements in the interface The functions are explained in greater depth where relevant elsewhere in this manual 4 2 2 Using Axis Manager From the Windows Start menu or the shortcut on your desktop activate Axis Manager 24 User Manual LVD Configuration Drive Status Sidebar R000 Sips 2317 diee 0000 ds 02219 Main Screen Status Bar asGNE do PE JT Figure 4 1 Axis Manager Software Interface The Axis Manager window has four function areas Toolbar Sidebar M
31. fferent emission profile it may become necessary to use differential mode chokes to provide additional noise attenuation to minimize the radiated emissions The use of a ferrite core placed at the drive end on each motor lead shown in the diagram below attenuates differential mode noise and lower frequency 30 60 MHz broadband emissions to within specifications You should wrap each motor lead through the core several times as shown in Figure 3 3 Warning Never wrap a ground lead through a core Differential Mode Filtering Common Mode Filtering To Motor To Motor From Drive From Drive Output Figure 3 3 Mode Line Filtering Common mode currents commonly occur from noise spikes created by the PWM switching frequency of the drive The use of a ferrite or iron powder core toroid places common mode impedance in the line between the motor and the drive The use of a common mode choke on the motor leads increases signal integrity of encoder outputs and associated 1 0 signals User Manual Installation LVD 3 3 7 I O Filtering 1 0 filtering may be desirable depending on system installation application and integration with other equipment To avoid unwanted signals entering and disturbing the drive system or other associated equipment place ferrite cores on 1 0 lines The Fair Rite Products Corporation has a varied selection of ferrite parts used for I O filtering and noise attenuation 3 3 8 Interfaces The unit interfa
32. for the position PID loop PGFFA Gets sets the feed forward acceleration term gain for the Position PID loop PGISATIN Gets sets the input saturation level for the position loop integrator VLIM Gets sets the velocity limit value Refer to the safety limit parameters in Section 4 6 3 44 User Manual LVD Configuration 4 6 9 The Position Loop screen also includes a table of Additional Parameters which are relevant to current but not to control You can modify these parameters in the same way you work with parameters in the Drive Parameters screen Refer to Section 4 5 1 and to the LVD VarCom Reference Manual To verify the behavior of the position control loop go to the Motion screen and use the Position Profile tab to test the current loop step response Refer to Section 4 6 10 Control Loop Tuning Each control loop screen has a Tune button that activates a dedicated Tuning utility Each Tuning screen enables vou to adjust the relevant control loop gains and parameters in order to achieve the desired performance Figure 4 19 shows for example the Tuning screen for the Current control loop ini xi Gains Zoom Pan Feedback on Top lai zo Jal Tom laz 65535 1200 r 1 lap 250000 I lad 0 rie 3 Torque 1000 m 600 i Record Length J 400 mSec 625 Test o 200 Results 1000 Rise Time 025 mSec
33. g Use either Pin 7 or the LVD chassis itself for Motor ground Do not use both Figure 3 7 Bus Power and Motor Mating Connector For Bus Power and Motor signals either a single connector or two separate connectors can be used as specified in Table 3 2 Table 3 2 Bus Power and Motor Mating Connector Specification Item Bus and Motor Bus Motor Pins 1 2 3 Pins 4 5 6 7 Manufacturer Phoenix Contact Phoenix Contact Phoenix Contact Part Number 1754546 1754465 1754481 Wire Gauge 12 30 AWG 12 30 AWG 12 30 AWG User Manual 11 Installation LVD Logic Power P2 Table 3 3 Logic Power Interface Pin Function Description 1 Vcc 10 to 36 VDC power supply 2 GND Power supply ground Figure 3 8 Logic Power Mating Connector Table 3 4 Logic Power Mating Connector Item Specification Manufacturer Molex Part Number 0355070200 Crimp Pins Reel 0502128000 Bag 0502128100 Wire Gauge 24 30 AWG 12 User Manual LVD Installation Encoder J8 Table 3 5 Encoder Interface Pin Function Description Differential Encoder Single Ended Encoder 1 VENCODER 2 GND 3 Channel A 4 Channel A 5 Channel B 6 Channel B 7 Index 8 Index 5 VDC supply for the encoder Encoder ground Input from encoder channel A Input from encoder channel A complement Input from encoder channel B Input from encoder channel B complement Input from e
34. g brushed and brushless DC motors The LVD is powered by a 12 48 VDC supply and is capable of sourcing 7A RMS continuous current and 12A RMS peak current The LVD can be operated in current velocity or position mode The PWM switching frequency can be set up to 100 kHz Combined with advanced space vector modulation this enables operation with low inductance motors while minimizing current ripple and eliminating acoustic noise The LVD supports both RS 232 and CANopen communication interfaces and operates in compliance with DS402 CANopen device profile Configuration of the drive can be easily performed using the Axis Manager software supplied with the LVD 2 1 2 Product Options No product options are currently available 2 2 Technical Specifications 2 2 1 Mechanical Refer to Figure 3 2 for a mechanical drawing showing the dimensions of the LVD Table 2 1 LVD Mechanical Specifications Feature Specification Weight 250g not including mating connectors Dimensions LxWxH 117 x 83 5 x 21 5 mm Lx Wx H 4 6 x 3 3 x 0 85 inch Mounting Brackets for vertical or horizontal mounting User Manual 3 Product Description LVD 2 2 2 Electrical Table 2 2 LVD Electrical Specifications Feature Specification Motor Up to 475W Brush DC Control modes Feedback RMS continuous current RMS peak current Logic voltage separate supply Bus voltage separate supply Maximum output voltage PWM frequen
35. he LVD EE 7 3 2 2 Mounting Multiple LVD Untte sisi 7 3 3 Electrical Installation ouer ENNEN ENNER NENNEN yx ne a e ed e ege 7 3 3 1 Wiring GuidellDies EE 7 3 2 2 EncloSUlEG cot tef dese aaa 8 E SE ig tuell Le WEE 8 3 3 BONING EE 8 3 3 5 GE Filtering Techniques roter re een exe rr mienne ae 8 3 3 6 Motor Line Filtering sis sciare iene rie NEES a 9 3 957 VO Filtering EE 10 3 9 0 Jnterfaces esp E ERE E EE RE NT a yeaa ENT Te 10 3 3 9 Connector Pinouts urli ieri 11 EC KAREN ein 20 3 3711 Connecting the LVD idee SENNENG Ee 21 3 4 Axis Manager Software Installation cece e ee eee eee eens eee teense eee ea ee es 21 325 Power Us ER 22 316 Indicators Aula ll DES a ne NOAA AeA A ee EE 22 4 Configuration 24 4 1 Variables and Commands UU Etta 24 4 2 Axis Manager SOftWare isses pitis ex taupes date beds BOX ER Re bk pn ANE e e REN 24 4 2 1 About Axis Manager Gia det dee REN ia 24 4 2 2 USMO AXIS Manager een aa 24 LEM NE oe EE 25 42 4 Sidebar ioi regrette vo doi rte eva eU en T LYRA ead 26 4 2 5 Menus DU eU MURDER D ES MEA 26 4 2 6 Status Bar cs sic ek p C RR TEC ples EORR T eek eles IRR ta 27 4 3 eine lee EC REKT 28 4 31 Defining the Connection alora 28 GE Drive Status Screen EE 31 4 4 Enabling Disabling a Drive EEN EN NENNEN ENNEN RENE NENNEN SEN nin tud dead etnies 32 4 5 Managing Drive Parameters NEEN 33 4 5 1 Drive Parameters Screen asf EREN EAR ER ENN EA
36. ions Note Although the bus motor power and the logic power can be connected to the same power supply it is recommended that they be connected to separate power supplies to prevent electrical noise Note The CAN connectors are jumpered internally either connector can be used for input or output signals Connect the cables W Connect the LVD to ground Connect the bus power and the motor Connect the logic power Connect the encoder Connect the Hall sensors if required Connect the External Enable if required Set DIP switch 2 in accordance with the absence or presence of the External Enable connection W Connect the LVD to host computer through either the RS 232 or CAN interface Set the drive address switches Refer to Table 3 19 for the drive addresses and switch settings 3 4 Axis Manager Software Installation The Axis Manager is graphical management tool that allows you to configure drive parameters and control multiple drives The Axis Manager software is available for download from the Servotronix website 1 Onthe Servotronix website go to the LVD product page 2 Download and save the following file s to the host computer m AxisManagerSetup zip m If CAN communication protocol will be used also download the EDS file 3 Extract the AxisManager ZIP file It contains one file AxisManagerSetup exe 4 Run AxisManagerSetup exe and follow the on screen prompts to install the software By default the sof
37. le and the electrical angle Config Calculates and sets the drive s unit scaling according to the feedback parameters To configure the feedback parameters do the following m Select the type of feedback m Set the direction of the encoder m Set the encoder resolution Click Config If possible manually turn the motor shaft one rotation in the positive direction Look at the Position Feedback field and confirm that the number of counts is as expected If possible repeat Step 4 turning the shaft in the negative direction If you are satisfied with the behavior continue to the Current Loop parameters User Manual 41 Configuration LVD 4 6 6 Current Loop Parameters Warning Many parameters can be modified while the drive is enabled Exercise caution however as motor behavior will change 1 From the Drive node select Current Loop BER File View Tools 3 Offline or E Drives Ei Drive 1 Status Motor Feedback Velocity Loop Position Loop Motion Digital 10 Analog ID Parameters Homing Drive Disabled Help e Serial Enable Recorder Watch SavetoEEPROM Add Drive Remove Drive O Current Loop Tune lap 250000 Vd Io 10000 fat Additional Parameters Name Value Min 0 0 12t reduction limit icont 5000 000 m Drive continuous cu Default Va
38. led descriptions of parameters refer to the LVD VarCom Reference Manual Loading and Saving Parameters The LVD drive has several types of memory for storing the drive s parameters W Flash Non volatile memory It holds the drive s default parameter values It also contains the drive s firmware W RAM Volatile memory The drive s working memory Parameter values are maintained in RAM while you configure and test the drive and adjust parameters If power to the drive is disconnected any unsaved changes in the parameters will be lost m EEPROM Non volatile memory stores the parameters even when power is shut off After you have tested and confirmed that the drive is performing as intended save the parameters to the EEPROM You should also save them to a file as a backup During power up the LVD loads parameter values from the EEPROM to the RAM and a checksum of these parameter values is calculated If the checksum is invalid default parameter values which are hard coded in the drive s firmware are loaded into RAM and an EEPROM Checksum Fault is set The Drive Parameters screen also includes options for loading and saving the drive s parameters Save to File Axis Manager saves parameters in a file named prm This is a tab delimited text file which can be read using any text editor or spreadsheet application and uploaded directly from a PC to the drive Load from File Loads the parameters from prm file to RAM Op
39. lue Units Description 0 Ar mSec D 5 imax 12000 0 0 D Max 2147483647 18022 18022 6000 m Drive peak current 33554432 0 may Analog Current com Figure 4 16 Current Loop Parameters Screen The current loop is implemented by a proportional integral derivative PID control algorithm 2 User configurable parameters are displayed in blue boxes in the Current Loop diag ram You can click on a parameter box to modify its settings Alternately click Tune and use the Tuning utility to set and test the current loop parameters Refer to Section 4 6 9 The following parameters are user configurable in the Current Loop IGZ IGP IGI IGD ISAT Gets sets the separation term for gain paths of the current PID loop Gets sets the proportional gain for the current PID loop Gets sets the integral gain for the current PID loop Gets sets the derivative gain for the current PID loop Gets sets the current saturation value Refer to the safety limit parameters in Section 4 6 3 The Current Loop screen also includes a table of Additional Parameters which are relevant to current but not to control You can modify these parameters in the same way to Section 4 5 you work with parameters in the Drive Parameters screen Refer 1 and to the LVD VarCom Reference Manual To verify the behavior of the current control loop go to the Motion screen and use the Torque Profile tab to test the current loop ste
40. ming Gr Home Offset hometype 34 1 35 1 Homing Gr Home type homevelfast 1000 D 2147483647 1000 RPM 100 Homing Gr Fast home velocity homevelslow 1000 2147483547 1000 RPM 100 Homing Gr Slow home velocity i2tlim D D 2147483647 0 A 2 mSec Current Gro 12t reduction limit icont 5000 0 18022 5000 m Current Gro Drive continuous cu igd D 2147483547 Current Gro Current loop derivati nnna n DI ATAOICAT 10nn E Translate Figure 4 10 Drive Parameters Screen The Drive Parameters screen allows you to view and modify the drive parameter values Show by When this option is selected parameters are listed in Groups groups according to function such as velocity current and position When not selected parameters are listed alphabetically Change the To change a parameter value click on the row of the Value of a parameter you want to modify Parameter A dialog box opens showing the current value for the parameter as shown in the example User Manual 33 Configuration LVD 4 5 2 xi Units RPM sec Min Max 130000 Default 1000 New Value Cancel Note the displayed units minimum values and maximum values Be sure the parameter value you set is within the allowed range Note If you attempt to set a value that exceeds the limits of either the minimum or maximum value the parameter is not changed and an error message displays VALUE OUT OF BOUNDS For detai
41. mit Neg Negative position limit and stop on PSTOP The Motion screen also includes a table of Additional Parameters which are relevant to motion The parameters are the same in each tab You can modify these parameters in the same way you work with parameters in the Drive Parameters screen Refer to Section 4 5 1 and to the LVD VarCom Reference Manual 4 6 11 Data Recording Axis Manager has a data Recorder application for testing the drive s performance To activate the Recorder screen use either of the following m The Recorder button on the toolbar m The Recorder option in the Tools menu Recorder Drive 1 Drive Address 3 E ni x Grid Zoom Pan Default Scaling Data Persist ic T T T T T EU 600 800 400 Channels Sample Rate Start Condition Iv ia Do 62 50 E On Start Recording button click e v i C On Start Recording button click AND M b M m Points per Channel 2 M Jic gt E 12 SE RE zj Figure 4 21 Recorder Screen User Manual 47 Configuration LVD The Recorder allows recording of up to four different parameters The field below the plot area displays a textual summary of the currently defined settings for recording Grid Zoom Pan Default Scaling Data When enabled gridlines are displayed in the plot background When enabled allows you to select and enlarge a section of
42. mmands and parameters refer to the LVD VarCom Reference Manual Acceleration Deceleration Violation Description The motor acceleration or deceleration is greater than ACCLIM Solution 1 Check the values of control loop parameters 2 Check the demanded velocity acceleration and deceleration 3 Increase ACCLIM if needed or set it to O to disable this functionality Commutation Fault Description A mismatch between the position of the Hall sensors and the encoder Solution 1 Check MENCRES MENCDIR and the Halls cable 2 Use CONFIG to reset the Halls commutation angle EEPROM Checksum Fault Description Checksum error while loading parameters Solution 1 Use the LOAD command to reload the parameters from the EEPROM 2 Load the configuration file from the PC to the drive save the configuration and reset the drive 3 The EEPROM might be damaged The drive requires service EEPROM Reading Fault EEPROM Writing Fault Description The drive s firmware could not access the EEPROM during one of the following SAVE LOAD CLRHST TIMEON or TIMEEN Solution 1 Reset the drive and try again 2 The EEPROM might be damaged The drive requires service Encoder Line Break Description A disconnection of one of the encoder inputs was detected Solution 1 Check the encoder cable wiring 2 If single ended encoder is used set DIFFENC to 0 to configure the drive correctly 58 Use
43. modified while the drive is enabled Exercise caution however as motor behavior will change If a parameter cannot be modified while the drive is enabled Axis Manager will prompt you to disable the drive While setting the parameters pay close attention to any warning or error messages displayed by Axis Manager 4 6 1 Configuration Sequence It is recommended that you perform the drive configuration according to the sequence shown in Figure 4 12 SAFETY LIMIT PARAMETERS MOTOR PARAMETERS Y FEEDBACK PARAMETERS CURRENT LOOP PARAMETERS POSITION LOOP PARAMETERS SES DU MOTION PARAMETERS i 1 0 PARAMETERS HOMING Figure 4 12 Drive Parameter Configuration Sequence 36 User Manual LVD Configuration 4 6 2 Tuning and Testing Axis Manager provides several methods for modifying and testing parameters that you can use during the configuration process to optimize and evaluate the drive s performance m Tuning Available in each of the Control Loop parameter screens For more information refer to Section 4 6 9 m Motion Profile testing Accessed from the navigation menu in the Sidebar For more information refer to Section 4 6 10 H Recorder Accessed from the Toolbar For more information refer to Section 4 6 11 4 6 3 Safety Limit Parameters To ensure proper and safe operation of the drive begin the drive configuration by setti
44. ncoder Index Input from encoder Index complement 5 VDC supply for the encoder Encoder ground Input from encoder channel A Not in use Input from encoder channel B Not in use Input from encoder Index Not in use Figure 3 9 Encoder Mating Connector Table 3 6 Encoder Mating Connector Item Specification Manufacturer Molex Part Number 0355070800 Crimp Pins Reel 0502128000 Bag 0502128100 Wire Gauge 24 30 AWG User Manual 13 Installation LVD Hall Sensor J5 Table 3 7 Hall Sensor Interface Pin Function Description VHALL GND Hall sensor 1 Hall sensor 2 Oa BRI U N e Hall sensor 3 5 VDC supply for the Hall sensors Hall sensor ground Input from Hall sensor 1 Input from Hall sensor 2 Input from Hall sensor 3 Figure 3 10 Hall Sensor Mating Connector Table 3 8 Halls Sensor Mating Connector Item Specification Manufacturer Molex Part Number 0355070500 Crimp Pins Reel 0502128000 Bag 0502128100 Wire Gauge 24 30 AWG 14 User Manual LVD Installation 1 0 J9 Table 3 9 I O Interface Pin Function Description 1 Digital input common Return line for the Digital Inputs 2 Digital output common Return line for the Digital Output 3 Digital input Digital input 1 4 Digital input Digital input 2 5 Digital input Digital input 3 6 Digital input Digital input 4 7 Digital output Digital output 1 8 Analog Input 1
45. ng the parameters that define the limits of velocity current position and acceleration deceleration Warning Many parameters can be modified while the drive is enabled Exercise caution however as motor behavior will change While setting the parameters pay close attention to any warning or error messages displayed by Axis Manager It is easiest to use the Drive Parameters screen for viewing and modifying the values of the parameters The various configuration screens also enable access to the relevant parameters Current IMAX Gets sets the maximum peak current for the drive If motor current exceeds 1 2 of IMAX the drive will issue a fault ISAT Gets sets the current saturation value If you attempt to use a higher value the current command will not exceed the ISAT value and a fault will not be issued ICONT Gets sets the value of maximum continuous current for the drive I2TLIM Gets sets the IT integrator limit value If this value is exceeded the drive will issue a fault Setting I2TLIM to O disables this function Note The IT integrator limits the energy delivered to the motor to the continuous current rating of the drive it is calculated 12T Z Tt Velocity VOSPD Gets sets the velocity value that triggers the over speed protection fault VLIM Gets sets the velocity limit value The velocity command will not exceed the VLIM value Values higher than VLIM will be ignored and a fault will not be issue
46. nual 49 Configuration LVD 4 8 Analog Inputs 4 9 The Analog IO screen displays the analog input voltage level and allows you to set the analog input offset value Analog IO Analog Inputs Input 1 D 1 Value s Input 2 Offset 11528 Zero Offset E EE Value E Offset 11551 Zero Difset Figure 4 23 Analog Inputs Outputs Screen Value Zero Offset Displays the value of the analog input in millivolts In addition the graphic display indicates the current value of the input within the measurable range Sets the current value of the analog input to 0 making it the reference level for the input signal Homing The Homing screen allows you to select the methods and parameters to be used for homing the motor and to initiate and monitor the homing process Homing Find Home Stop Status HOMED Offset D counts Fast Velociy 100 RPM 100 Slow Velocity 1000 RPM 100 Acceleration 100000 RPM sec Show All Methods Only Show Methods Which Include Use Positive Cw Limit Switch I Use Home Switch l 6 TT Use Negative CCW Limit Switch IM Use Encoder Index Method 34 j I Home Position eeh Index Pulse Figure 4 24 Homing Screen Find Home Stop Status Initiates the homing process Stops the homing process Displays the current state of the system Homed or Not Homed 50 User Manual LVD Configuration Off
47. o modify its settings Alternately click Tune and use the Tuning utility to set and test the current loop parameters Refer to Section 4 6 9 The following parameters are user configurable in the Velocity Loop VGI Gets sets the integral gain for the velocity loop VGPR Gets sets the proportional gain for the velocity loop VGPF Gets sets the feedback proportional gain of the velocity loop VGDR Gets sets the derivative gain for the velocity loop VGDF Gets sets the feedback derivative gain for the velocity loop VLPF Gets sets the low pass filter cutoff frequency for the velocity loop VLIM Gets sets the velocity limit value Refer to the safety limit parameters in Section 4 6 3 The Velocity Loop screen also includes a table of Additional Parameters which are relevant to velocity but not to control You can modify these parameters in the same way you work with parameters in the Drive Parameters screen Refer to Section 4 5 1 and to the LVD VarCom Reference Manual User Manual 43 Configuration LVD To verify the behavior of the velocity control loop go to the Motion screen and use the Velocity Profile tab to test the current loop step response Refer to Section 4 6 10 4 6 8 Position Loop Parameters Warning Many parameters can be modified while the drive is enabled Exercise caution however as motor behavior will change 1 From the Drive node select Position Loop Axis Manager File View Tools
48. off1 15051 20000 20000 11538 my 10 Group Analog input offset 1 anoff2 11538 20000 20000 11538 mv 10 Group Analog input offset 2 dec 1000 1 30000 1000 sec Motion Group Deceleration decstop 10000 D 130000 10000 RPM sec Motion Group Stop Deceleration diffenc 0 0 1 0 Feedback Selects if differential dinfunc1 1 0 5 0 10 Group Digital input 1 function dinfunc2 1 0 5 0 10 Group Digital input 2 function dinfunc3 1 0 5 0 10 Group Digital input 3 function dinfunc4 1 D 5 0 10 Group Digital input 4 function dinpoll 0 D 1 0 10 Group Digital input polarity 1 dinpol2 0 1 0 10 Group Digital input polarity 2 dinpol3 D 1 0 10 Group Digital input polarity 3 dinpol4 D 0 1 0 10 Group Digital input polarity 4 dout1 D 1 0 10 Group Digital output 1 value dout2 0 D 1 0 10 Group Digital output 2 value doutfunc1 10 D 13 10 Group Digital output 1 func doutfunc2 0 0 13 0 10 Group Digital output 2 func doutpol D 0 1 1 10 Group Digital output polarit doutpol2 1 D 1 1 10 Group Digital output polarit doutwinhil 0 2147483647 2147483647 0 10 Group Digital output 1 high doutwinhi2 0 2147483647 2147483647 0 10 Group Digital output 2 high doutwinlo1 2147483647 2147483647 D 10 Group Digital output 1 low doutwinlo2 2147483647 2147483647 0 10 Group Digital output 2 low echo 1 D 1 1 Misc Group Echo on serial com homeacc 1000 D 130000 1000 RPM sec Homing Gr Homing acceleration homeoff 2147483647 2147483647 D counts Ho
49. ows the current properties and status of the selected drive It allows you to select the drive s Operation Mode and PWM Frequency All other fields are read only It also displays current and previous faults If No Faults is displayed in the Current Faults field you can proceed to configure the parameters for the drive Enabling Disabling a Drive Warning The drive must be disabled while parameters are being set The state of the drive is indicated in the following locations m Toolbar m Status bar at bottom of window W Status field in the Drive Status screen To disable the drive use either of the following m The Disable button on the toolbar W The Disable option in the Tools menu Similarly to enable the drive use either of the following m The Enable button on the toolbar H The Enable option in the Tools menu 32 User Manual LVD Configuration 4 5 Managing Drive Parameters 4 5 1 Drive Parameters Screen m In the System tree expand the Drive node and select Parameters The Drive Parameters screen is displayed Drive Parameters Save to File Load from File pen Parameters in Excel Online Drive Save to EEPROM Load from EEPROM Load Factory Defaults Show by Groups Name vaue Mn Max Defautvalue Unis Grup acc 1000 1 130000 1000 RPM sec Motion Group Acceleration acclim 0 0 130000 0 RPM sec Motion Group Maximum allowed a an
50. p response Refer to Section 4 6 10 42 User Manual LVD Configuration 4 6 7 Velocity Loop Parameters Warning Many parameters can be modified while the drive is enabled Exercise caution however as motor behavior will change 1 From the Drive node select Velocity Loop Axis Manager la x File View Tools 3 Offline Or E Drives Help e Eau z Enable Recorder Watch Save to EEPROM Add Drive Remove Drive O B Dee Velocity Loop atus Motor Feedback Lowe AMD vod Current Loop a 0 Position Loop O Motion po Y Digital 10 Voor Analog IO Parameters 25000 mA RPM 100 Homing Vemd FP Vin O fat e vi Vel Loop Out 1000000 RPM 100 VH 500 4 v Hz Vapf 25000 m RPM 100 Additional Parameters Value 0 Name vemax vospd vscale Defaut Value Units Description 0 RPM 100 Maximum allowed v RPM 100 Velocity over speed RPM1004 Analog Velocity com Max 2147483647 2147483647 33554432 Min 2147483647 D 12500000 2000000 D Drive Disabled Figure 4 17 Velocity Loop Parameters Screen The velocity loop is implemented by a pseudo derivative feed forward PDFF control algorithm 2 User configurable parameters are displayed in blue boxes in the Velocity Loop diagram You can click on a parameter box t
51. r 1 5 Offset Error lt 1 5 Analog to Digital 12 Bit Resolution Worst accuracy 11 978 bits Band width 8K 2 opto isolated digital outputs controllable over the CAN bus Maximum current consumption 110mA 1 opto isolated digital input optional bypass using DIP switch Input Voltage Range 6 5V to 24V Maximum current consumption 10 7mA Input resistance 2 2KQ 2 2 4 Communication The communication interfaces are located on the front and side panels of the LVD as shown in Figure 3 4 and Figure 3 6 Table 2 6 LVD Communication Specifications Feature Specification Serial RS 232 115 kbps CAN CANopen DS301 CANopen DS402 2 2 5 Environment Table 2 7 LVD Environment Specifications Feature Specification Operating temperature Storage temperature Humidity 10 to 45 C 14 to 113 F 25 to 55 C 13 to 131 F 5 to 95 non condensing Note the effect of ambient temperatures on output current as specified in Table 2 3 and Table 2 4 User Manual Installation LVD 3 Installation 3 1 Preparation If not using ready made cable assemblies use Molex hand crimping tool 63819 0500 to crimp the wires for all connectors except P7 Bus Power and Motor Wires for all connectors except P7 must be 24 30 AWG For P7 the range is 12 30 AWG Any deviation from these specifications may cause wires to come loose Before crimping strip 2 mm at the end of wire as sho
52. r Manual LVD Troubleshooting General Error Description Undefined error occurred Solution Contact Technical Support for assistance Halls Address Read Failed Description The drive s firmware could not access the parallel to serial converter Solution 1 Reset the drive and try again 2 The parallel to serial converter might be damaged The drive requires service I2T Limit Description Solution Energy usage is higher than I2TLIM 1 Check the parameter values in the control loops 2 Check the demanded velocity acceleration and deceleration and motor load 3 Increase I2TLIM if needed or set it to O to disable this functionality Illegal Halls Description Solution Illegal state for the HALLS sensors reading 1 Check Halls cable wiring 2 Check that the Halls sensor is functioning Over Current Description Solution Hardware or software over current was detected 1 Check the Current Loop parameters IGP IGI 2 Increase IMAX or reduce ISAT Over Speed Description Solution Actual speed exceeds VOSPD value 1 Check the Velocity Loop parameters VGI VGPR VGPF 2 Increase VOSPD or reduce VLIM Over Temperature Description The temperature of the drive is higher than 90 C 194 F or lower than 30 C 22 F or the temperature sensor has a malfunction Solution 1 Check the drive operation conditions using
53. r the Software Boot Type upgrade method the rate is 115200 For the Hardware Boot Type upgrade method the rate is 19200 Vulcan automatically sets the correct baud rate when the Boot Type is changed Boot Type The method used for burning the new firmware on the drive s flash memory either Software or Hardware as explained below Processor Displays the Type and Revision of the processor used in the LVD Read only field New Version The path and name of the file containing the firmware File upgrade Burn Starts the burning operation 5 3 Software Boot Upgrade The software boot method is used for upgrading a drive that is operational and able to communicate with the PC via a serial connection Note Parameter settings are not erased during the software boot upgrade However the ECHO parameter is set to 0 inactive during the upgrade and will need to be reset after the procedure is completed 1 2 Turn the drive power off then turn it on Complete the selections and information required in the Vulcan screen m Port name m Make sure Boot Type is Software m Make sure Baud Rate is 115200 Browse to and select the firmware upgrade file i00 Press Burn to start the upgrade A progress bar and messages are displayed on the screen during the upgrade operation When performing a software boot upgrade parameters are automatically backed up and restored Warning During the burning operation do not close
54. set Fast Velocity Slow Velocity Acceleration Sets an offset in counts for the Home position The velocity used during search for the home switch The velocity used during search for the index signal The value of acceleration and deceleration during the homing process Show All Methods Only Shows Methods Which Include Method graphic When selected displays the complete list of 35 homing methods per CANopen standard For more information about homing methods refer to the document CANopen Device Profile Drives and Motion Control CiA Draft Standard Proposal 402 When selected allows you to choose one or more options for the home search W Position CW Limit Switch W Negative CCW Limit Switch W Home Switch has two options level trigger or edge trigger m Encoder Index Lists either all methods or just the homing methods that match the option s selected A graphic display representing the method selected for the homing process User Manual 51 Firmware Upgrade LVD 5 5 1 5 2 Firmware Upgrade Note Upgrading the drive is a sensitive operation Pay close attention when performing this task The Vulcan application is used for upgrading the LVD firmware Vulcan burns firmware onto the drive s flash memory via a serial connection Vulcan is available for download from the Servotronix website Preparation 1 Important Before upgrading the firmware backup
55. ssembling and commissioning Incorrect handling of products can result in personal injury and equipment damage Strictly heed all technical information regarding installation requirements W Itis vital to ensure that all system components are connected to earth ground Electrical safety is provided through a low resistance earth ground connection chassis W Beaware that during operation the product has electrically charged components and hot surfaces The heat sink can reach a temperature of 80 C 176 F Power cables can carry a high voltage even when the motor is not rotating W To avoid electric arcing and hazards to personnel and electric contacts never disconnect or connect the product while the power source is energized User Manual 1 Introduction LVD 1 3 Standards Compliance CE The LVD is designed to meet the CE mark requirements for EMC UL Testing for conformance to UL508C is pending UL508C conformance will apply only to operation up to 32 VDC E ROHS The LVD complies with the Directive on the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment 2002 95 EC commonly referred to as the Restriction of Hazardous Substances Directive RoHS 2 User Manual LVD Product Description 2 Product Description 2 1 Overview 2 1 1 General Description The LVD is a compact low voltage single axis servo drive LVD is a fully digital amplifier designed for drivin
56. ters Warning Disable the drive before modifying Feedback parameters 1 File View Tools Help E Drives a Status Motor Feedback Current Loop Velocity Loop Position Loop Motion Digital 10 Analog IO Parameters Homing Q Ofine Onine serial 7 Enable Recorder Watch Save to EEPROM Add Drive Remove Drive O Feedback Position Feedback counts Halls HalsC HalsB HalsA i feti Electrical Angle 30 0 degrees Feedback Direction y le e PRD Angle 00 degrees Halls Section Encoder Resolution 5000 Hof lines Config Figure 4 15 Feedback Parameters Screen The Feedback Parameters screen contains the following elements In the System tree expand the Drive node and select Feedback Position Feedback counts This field shows the motor position in encoder counts Displays the motor position in encoder counts relative to its initial position when the drive was turned on 40 User Manual LVD Configuration Feedback Type Select the device to be used for feedback AB Halls or Index Feedback Direction Select either clockwise or counterclockwise for the positive direction of feedback Encoder Resolution Enter the encoder resolution of lines Note Enter the number of lines per revolution not counts per revolution Halls This section of the screen displays an animation representing the status of the Hall sensors the motor shaft ang
57. the drive parameters the file contains the settings defined when establishing the connection between Axis Manager and the drive refer to Section 4 3 1 m Drive address m EDS file location if using CANopen m Motor name if selected from the Motors database m A system is a configuration of multiple drives it is the root of the tree When you conFigure multiple drives saving the system saves the settings and parameters of all the drives contained in the system The system file is for use in Axis Manager only Open Loads the drive or system configuration file from the host computer Save Saves Saves As the drive or system configuration file to the host computer Close System Closes the currently loaded system configuration Recent Systems Displays a list of recently opened systems Exit Closes Axis Manager For more options and information regarding parameter and configuration files refer to Section 4 5 2 The View menu provides an option to refresh the screen You can also use F5 for this purpose The Tools menu provides access to the same functions that are on the Axis Manager toolbar described in Section 4 2 3 It also has an Options item which opens a dialog box for selecting communication settings The Help menu allows you to view the current version and build of Axis Manager Status Bar The status bar at the bottom of the computer screen displays the status of the drive A constant notific
58. the drive parameters since parameter settings may be lost during the upgrade After the upgrade is completed the parameters can be reloaded restored On the Servotronix website go to the LVD product page Download and save the VulcanSetup ZIP file to the host computer Run VulcanSetup exe and follow the on screen prompts to install the software By default the software is installed under Windows Program Files in the folder Servotronix Vulcan Using Vulcan 1 2 From the Windows Start menu go to All Programs gt Servotronix gt Drive Tools Vulcan Typically you will use the Software Boot Type upgrade method according to the instructions in Section 5 3 If using the Hardware Boot Type method follow the instructions in Section 5 4 Vulcan 1 0 0 9 2 xl r Port Name 4 Baud Rate Processor e comi 115200 Type Boot Type Le Software Revision m New Version File IC Program Files Servotronis LD 4 2 10 2 100 NW Bum Figure 5 1 Vulcan Application for Firmware Upgrade 52 User Manual LVD Firmware Upgrade Port Name The COM port of the host computer to which the LVD is connected by means of a serial cable Make sure this COM port is not used by any other application If the port name is not included in the list use the blank field to type in the name of the port you want to use Baud Rate Fo
59. the plot When enabled allows you to use the mouse to drag the plot Resets the plot to its default size Displays the data in textual format rather than as graph Persist Adds newly recorded data on top of the existing plot rather than clearing data and starting a new plot Legend When enabled a legend for the plotted parameters is displayed above the plot Channels Allow you to select up to four parameters for recording Sample Rate Points per Channel Start Condition Show Start Recording Allows you to set the time interval between two consecutive samples Defined in microseconds The LVD sampling rate is 62 5 us Allows you to select the number of data points to record A maximum of 8184 points can be recorded for all channels combined The green bar below this field indicates the current usage of the recording buffer WB On Start Recording button click Recording will begin when the Start Recording button is pressed WB On Start Recording button click AND options Recording will begin when defined conditions exist after the Start Recording button has been pressed This is the trigger point Trigger Point Sets the number of points to be recorded prior to the trigger point AXY Marks the trigger point with a vertical line on the plot Begins the recording User Manual LVD Configuration 4 7 Digital Inputs and Outputs The Digital IO screen displays the status of the IOs and
60. tor Phase 120 Figure 4 13 Motor Parameters Screen The Motor screen lets you define the properties of the motor that is connected to the drive either by selecting a motor from a predefined list or by manually entering values To load a predefined motor use the following option Select Motor Press this button and select a motor from a list of attributes from known motors Parameters for these motors will be List loaded automatically Refer to Figure 4 14 To manually enter motor attributes use the Motor Details options Motor Type Select either BLDC brushless DC or DC brush DC Number of Enter the number of individual poles for the motor Poles Note Not pairs of poles Motor Phase Note Motor phase can be defined after testing in Current Loop User Manual 39 Configuration LVD Known Motors B0504 050B RO B1515 1506 R00 B1525 1504 R00 x Motor Details Motor P N B0504 0504 R00 Motor Type Slotted BLDC Tes mNm 314 Tpk mNm 122 Pdiss W 5 83 Whnl RPM 68871 les 0 453 Km mNmAwW0 5 13 Kt mNm A 6 93 tm msec 125 te msec 0 06 Jm Kg m2 2 12E 08 Kd mNm KRPM 1 40E 04 BC Aal 22 3 Tf mNm 0 21 Weight g 24 Vif DC 50 Ipk A 1 761 Ke V KRPM 0 726 L mH 1 68 Rc Ohm 28 4 Poles 4 Figure 4 14 List of Predefined Motors 3 When finished setting the Motor parameters continue to the Feedback parameters 4 6 5 Feedback Parame
61. tructions in this user manual During the warranty period the owner must pay the cost of shipping the product to the factory for repair and Servotronix will pay for shipping the repaired product to the customer After the warranty period has expired all shipping costs will be the responsibility of the customer Before returning the product the customer must first request a Return Materials Authorization RMA number from Servotronix by email to rma servotronix com The complete Warranty Statement can be found in the Terms and Conditions document on the Servotronix website www servotronix com customer service html User Manual LVD Contents 1 Introduction 1 il Documentation EE 1 1 1 1 About This Manual rci ere x e Ce Y e Y a 1 1 1 2 Documentation Set for the DND 1 IZ Safety ER 1 1 3 Standards Compliance e NENNEN exem e e tenant 2 2 Product Description 3 aO Emm 3 2 1 1 General Description ENNEN 3 2 12 Product Options e vxor eoo otv ed co eov eva se ced x cu e 3 2 2 Technical Specifications nennen menm nnne nnn nnn 3 2 2 1 Mechanicadl n eee SR TN EIS Ee 3 2 2 2 E de UE 4 2 2 3 Inputs and Outputs eiii dede edd e re a eh nc deve NEEN 5 2 2 4 Corrimu nicati ON oed eR ARIAL E ERE ERRARE EE 5 2 2 5 LENVironment e e t a M c a e c Ee e 5 3 Installation 6 3 1 Preparation 2t kno AE pev ooa bea tok puo void ok pee E alee Av uv Roda eqs 6 3 2 Mechanical Installation meme nnn nnns 7 3 2 1 Mounting t
62. tware is installed under Windows Programs in the folder Servotronix Axis Manager User Manual 21 Installation LVD 5 When the installation is complete you will see the Axis Manager shortcut on your desktop 3 5 Power Up 1 Turn on logic power 2 Turn on bus power 3 Make sure the Bus and Status LEDs on the front panel light up as described in the following section 3 6 Indicators The LVD has LEDs on the front panel as shown in Figure 3 17 Table 3 20 lists the functions of the LED indicators Status LED BUS LED Figure 3 17 LED Indicators on Front Panel Table 3 20 LED Indicators Name Color Function Bus Yellow ON Bus power is connected and powered to at least 5 VDC Status Green Blinking The drive is operational and ready to be enabled No faults ON The drive is enabled No faults Red ON A fault has been detected and needs attention Blinking A fault that was detected no longer exists but has not yet been cleared CLRFLT command For more information about faults refer to the chapter Troubleshooting 22 User Manual LVD Installation User Manual 23 Configuration LVD 4 Configuration 4 1 Variables and Commands Drive functionality is configured using various commands and variables which are communicated over the serial port or over CAN bus Commands and variables are identified by both a mnemonic VarCom name and a CANopen index For
63. upled from line to line and are differential in nature To properly mount the filters the enclosure should have an unpainted metallic surface This allows for more surface area to be in contact with the filter housing and provides a lower impedance path between this housing and the back plane The back panel in turn has a high frequency ground strap connection to the enclosure frame or earth ground Motor Line Filtering Motor filtering may not be necessary for CE compliance of LVD systems However this additional filtering increases the reliability of the system Poor non metallic enclosure surfaces and lengthy unbonded or unshielded motor cables that couple noise line to line differential are just some of the factors that lead to the necessity of motor lead filtering Motor lead noise may be either common mode or differential The common mode conducted currents occur between each motor lead and ground line to neutral Differential radiated currents exist from one motor lead to another line to line The filtering of the lines feeding the motor provide additional attenuation of noise currents that enter surrounding cables and equipment I O ports in close proximity Differential mode currents commonly occur with lengthy motor cables As the cable length increases so does its capacitance and its ability to couple noise from line to line While every final system is different and every application of the product causes a slightly di
64. wn in Figure 3 1 BRUSH BELL MOUTH INSULATION STRIP LENGTH Figure 3 1 Stripped Wire in Crimp Pin To set the switches on the unit you will need a precision small screwdriver To mount the unit you will need M4 or 8 screws and an appropriate fastening tool 4 screws are needed for the side brackets 2 screws are needed for the rear bracket User Manual LVD Installation 3 2 Mechanical Installation Fe 117 wl 54 5 6pls for M4 or 8 Imperial Screws 108 5 0 5 EE IE FG ds 21 5 op Le ad bee To D al i CEJ 83 5 Es CE iq 16 0 gt Dy 50 0 HN TONDI UTI D Figure 3 2 LVD Dimensions and Mounting Holes 3 2 1 Mounting the LVD The unit can be positioned vertically or horizontally The unit can be mounted using the bracket on the rear which has two mounting holes Alternately it can be mounted using the two side brackets each of which has two mounting holes 3 2 2 Mounting Multiple LVD Units When mounting multiple LVD units within a cabinet or enclosure it is recommended that the units be spaced at least 20 mm apart It is important to maintain an ambient temperature within the enclosure that does not exceed 45 C 113 F 3 3

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